Store reference to BulletShapeInstance for btCollisionShape

To keep btCollisionShape lifetime.

apps/openmw/mwworld/scene.cpp

@@ -151,11 +151,9 @@ namespace
         {
             if (ptr.getClass().isDoor() && !ptr.getCellRef().getTeleport())
             {
-                const auto shape = object->getShapeInstance()->getCollisionShape();
-
                 btVector3 aabbMin;
                 btVector3 aabbMax;
-                shape->getAabb(btTransform::getIdentity(), aabbMin, aabbMax);
+                object->getShapeInstance()->getCollisionShape()->getAabb(btTransform::getIdentity(), aabbMin, aabbMax);
 
                 const auto center = (aabbMax + aabbMin) * 0.5f;
 
@@ -182,12 +180,7 @@ namespace
 
                 navigator.addObject(
                     DetourNavigator::ObjectId(object),
-                    DetourNavigator::DoorShapes(
+                    DetourNavigator::DoorShapes(object->getShapeInstance(), connectionStart, connectionEnd),
-                        *shape,
-                        object->getShapeInstance()->getAvoidCollisionShape(),
-                        connectionStart,
-                        connectionEnd
-                    ),
                     transform
                 );
             }
@@ -195,10 +188,7 @@ namespace
             {
                 navigator.addObject(
                     DetourNavigator::ObjectId(object),
-                    DetourNavigator::ObjectShapes {
+                    DetourNavigator::ObjectShapes(object->getShapeInstance()),
-                        *object->getShapeInstance()->getCollisionShape(),
-                        object->getShapeInstance()->getAvoidCollisionShape()
-                    },
                     object->getTransform()
                 );
             }

apps/openmw/mwworld/worldimp.cpp

@@ -1533,10 +1533,7 @@ namespace MWWorld
 
     void World::updateNavigatorObject(const MWPhysics::Object& object)
     {
-        const DetourNavigator::ObjectShapes shapes {
+        const DetourNavigator::ObjectShapes shapes(object.getShapeInstance());
-            *object.getShapeInstance()->getCollisionShape(),
-            object.getShapeInstance()->getAvoidCollisionShape()
-        };
         mShouldUpdateNavigator = mNavigator->updateObject(DetourNavigator::ObjectId(&object), shapes, object.getTransform())
             || mShouldUpdateNavigator;
     }

apps/openmw_test_suite/detournavigator/navigator.cpp

@@ -5,6 +5,9 @@
 #include <components/misc/rng.hpp>
 #include <components/loadinglistener/loadinglistener.hpp>
 #include <components/esm/loadland.hpp>
+#include <components/resource/bulletshape.hpp>
+
+#include <osg/ref_ptr>
 
 #include <BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h>
 #include <BulletCollision/CollisionShapes/btBoxShape.h>
@@ -15,6 +18,7 @@
 
 #include <array>
 #include <deque>
+#include <memory>
 
 MATCHER_P3(Vec3fEq, x, y, z, "")
 {
@@ -84,14 +88,15 @@ namespace
     };
 
     template <std::size_t size>
-    btHeightfieldTerrainShape makeSquareHeightfieldTerrainShape(const std::array<btScalar, size>& values,
+    std::unique_ptr<btHeightfieldTerrainShape> makeSquareHeightfieldTerrainShape(const std::array<btScalar, size>& values,
         btScalar heightScale = 1, int upAxis = 2, PHY_ScalarType heightDataType = PHY_FLOAT, bool flipQuadEdges = false)
     {
         const int width = static_cast<int>(std::sqrt(size));
         const btScalar min = *std::min_element(values.begin(), values.end());
         const btScalar max = *std::max_element(values.begin(), values.end());
         const btScalar greater = std::max(std::abs(min), std::abs(max));
-        return btHeightfieldTerrainShape(width, width, values.data(), heightScale, -greater, greater, upAxis, heightDataType, flipQuadEdges);
+        return std::make_unique<btHeightfieldTerrainShape>(width, width, values.data(), heightScale, -greater, greater,
+                                                           upAxis, heightDataType, flipQuadEdges);
     }
 
     template <std::size_t size>
@@ -107,6 +112,27 @@ namespace
         return surface;
     }
 
+    template <class T>
+    osg::ref_ptr<const Resource::BulletShapeInstance> makeBulletShapeInstance(std::unique_ptr<T>&& shape)
+    {
+        osg::ref_ptr<Resource::BulletShape> bulletShape(new Resource::BulletShape);
+        bulletShape->mCollisionShape = std::move(shape).release();
+        return new Resource::BulletShapeInstance(bulletShape);
+    }
+
+    template <class T>
+    class CollisionShapeInstance
+    {
+    public:
+        CollisionShapeInstance(std::unique_ptr<T>&& shape) : mInstance(makeBulletShapeInstance(std::move(shape))) {}
+
+        T& shape() { return static_cast<T&>(*mInstance->mCollisionShape); }
+        const osg::ref_ptr<const Resource::BulletShapeInstance>& instance() const { return mInstance; }
+
+    private:
+        osg::ref_ptr<const Resource::BulletShapeInstance> mInstance;
+    };
+
     TEST_F(DetourNavigatorNavigatorTest, find_path_for_empty_should_return_empty)
     {
         EXPECT_EQ(mNavigator->findPath(mAgentHalfExtents, mStepSize, mStart, mEnd, Flag_walk, mAreaCosts, mOut),
@@ -185,9 +211,8 @@ namespace
         }};
         const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
 
-        btBoxShape boxShape(btVector3(20, 20, 100));
+        CollisionShapeInstance compound(std::make_unique<btCompoundShape>());
-        btCompoundShape compoundShape;
+        compound.shape().addChildShape(btTransform(btMatrix3x3::getIdentity(), btVector3(0, 0, 0)), new btBoxShape(btVector3(20, 20, 100)));
-        compoundShape.addChildShape(btTransform(btMatrix3x3::getIdentity(), btVector3(0, 0, 0)), &boxShape);
 
         mNavigator->addAgent(mAgentHalfExtents);
         mNavigator->addHeightfield(mCellPosition, mHeightfieldTileSize * (surface.mSize - 1), mShift, surface);
@@ -221,7 +246,7 @@ namespace
             Vec3fEq(204, -204, 1.99998295307159423828125)
         )) << mPath;
 
-        mNavigator->addObject(ObjectId(&compoundShape), ObjectShapes(compoundShape, nullptr), btTransform::getIdentity());
+        mNavigator->addObject(ObjectId(&compound.shape()), ObjectShapes(compound.instance()), btTransform::getIdentity());
         mNavigator->update(mPlayerPosition);
         mNavigator->wait(mListener, WaitConditionType::allJobsDone);
 
@@ -267,13 +292,12 @@ namespace
         }};
         const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
 
-        btBoxShape boxShape(btVector3(20, 20, 100));
+        CollisionShapeInstance compound(std::make_unique<btCompoundShape>());
-        btCompoundShape compoundShape;
+        compound.shape().addChildShape(btTransform(btMatrix3x3::getIdentity(), btVector3(0, 0, 0)), new btBoxShape(btVector3(20, 20, 100)));
-        compoundShape.addChildShape(btTransform(btMatrix3x3::getIdentity(), btVector3(0, 0, 0)), &boxShape);
 
         mNavigator->addAgent(mAgentHalfExtents);
         mNavigator->addHeightfield(mCellPosition, mHeightfieldTileSize * (surface.mSize - 1), mShift, surface);
-        mNavigator->addObject(ObjectId(&compoundShape), ObjectShapes(compoundShape, nullptr), btTransform::getIdentity());
+        mNavigator->addObject(ObjectId(&compound.shape()), ObjectShapes(compound.instance()), btTransform::getIdentity());
         mNavigator->update(mPlayerPosition);
         mNavigator->wait(mListener, WaitConditionType::allJobsDone);
 
@@ -305,9 +329,9 @@ namespace
             Vec3fEq(204, -204, 1.99998295307159423828125)
         )) << mPath;
 
-        compoundShape.updateChildTransform(0, btTransform(btMatrix3x3::getIdentity(), btVector3(1000, 0, 0)));
+        compound.shape().updateChildTransform(0, btTransform(btMatrix3x3::getIdentity(), btVector3(1000, 0, 0)));
 
-        mNavigator->updateObject(ObjectId(&compoundShape), ObjectShapes(compoundShape, nullptr), btTransform::getIdentity());
+        mNavigator->updateObject(ObjectId(&compound.shape()), ObjectShapes(compound.instance()), btTransform::getIdentity());
         mNavigator->update(mPlayerPosition);
         mNavigator->wait(mListener, WaitConditionType::allJobsDone);
 
@@ -350,8 +374,8 @@ namespace
             0, -25, -100, -100, -100,
             0, -25, -100, -100, -100,
         }};
-        btHeightfieldTerrainShape shape = makeSquareHeightfieldTerrainShape(heightfieldData1);
+        CollisionShapeInstance heightfield1(makeSquareHeightfieldTerrainShape(heightfieldData1));
-        shape.setLocalScaling(btVector3(128, 128, 1));
+        heightfield1.shape().setLocalScaling(btVector3(128, 128, 1));
 
         const std::array<btScalar, 5 * 5> heightfieldData2 {{
             -25, -25, -25, -25, -25,
@@ -360,12 +384,12 @@ namespace
             -25, -25, -25, -25, -25,
             -25, -25, -25, -25, -25,
         }};
-        btHeightfieldTerrainShape shape2 = makeSquareHeightfieldTerrainShape(heightfieldData2);
+        CollisionShapeInstance heightfield2(makeSquareHeightfieldTerrainShape(heightfieldData2));
-        shape2.setLocalScaling(btVector3(128, 128, 1));
+        heightfield2.shape().setLocalScaling(btVector3(128, 128, 1));
 
         mNavigator->addAgent(mAgentHalfExtents);
-        mNavigator->addObject(ObjectId(&shape), ObjectShapes(shape, nullptr), btTransform::getIdentity());
+        mNavigator->addObject(ObjectId(&heightfield1.shape()), ObjectShapes(heightfield1.instance()), btTransform::getIdentity());
-        mNavigator->addObject(ObjectId(&shape2), ObjectShapes(shape2, nullptr), btTransform::getIdentity());
+        mNavigator->addObject(ObjectId(&heightfield2.shape()), ObjectShapes(heightfield2.instance()), btTransform::getIdentity());
         mNavigator->update(mPlayerPosition);
         mNavigator->wait(mListener, WaitConditionType::allJobsDone);
 
@@ -424,6 +448,8 @@ namespace
 
     TEST_F(DetourNavigatorNavigatorTest, path_should_be_around_avoid_shape)
     {
+        osg::ref_ptr<Resource::BulletShape> bulletShape(new Resource::BulletShape);
+
         std::array<btScalar, 5 * 5> heightfieldData {{
             0,   0,    0,    0,    0,
             0, -25,  -25,  -25,  -25,
@@ -431,8 +457,9 @@ namespace
             0, -25, -100, -100, -100,
             0, -25, -100, -100, -100,
         }};
-        btHeightfieldTerrainShape shape = makeSquareHeightfieldTerrainShape(heightfieldData);
+        std::unique_ptr<btHeightfieldTerrainShape> shapePtr = makeSquareHeightfieldTerrainShape(heightfieldData);
-        shape.setLocalScaling(btVector3(128, 128, 1));
+        shapePtr->setLocalScaling(btVector3(128, 128, 1));
+        bulletShape->mCollisionShape = shapePtr.release();
 
         std::array<btScalar, 5 * 5> heightfieldDataAvoid {{
             -25, -25, -25, -25, -25,
@@ -441,11 +468,14 @@ namespace
             -25, -25, -25, -25, -25,
             -25, -25, -25, -25, -25,
         }};
-        btHeightfieldTerrainShape shapeAvoid = makeSquareHeightfieldTerrainShape(heightfieldDataAvoid);
+        std::unique_ptr<btHeightfieldTerrainShape> shapeAvoidPtr = makeSquareHeightfieldTerrainShape(heightfieldDataAvoid);
-        shapeAvoid.setLocalScaling(btVector3(128, 128, 1));
+        shapeAvoidPtr->setLocalScaling(btVector3(128, 128, 1));
+        bulletShape->mAvoidCollisionShape = shapeAvoidPtr.release();
+
+        osg::ref_ptr<const Resource::BulletShapeInstance> instance(new Resource::BulletShapeInstance(bulletShape));
 
         mNavigator->addAgent(mAgentHalfExtents);
-        mNavigator->addObject(ObjectId(&shape), ObjectShapes {shape, &shapeAvoid}, btTransform::getIdentity());
+        mNavigator->addObject(ObjectId(instance->getCollisionShape()), ObjectShapes(instance), btTransform::getIdentity());
         mNavigator->update(mPlayerPosition);
         mNavigator->wait(mListener, WaitConditionType::allJobsDone);
 
@@ -666,19 +696,19 @@ namespace
             0, -25, -100, -100, -100,
             0, -25, -100, -100, -100,
         }};
-        btHeightfieldTerrainShape shape = makeSquareHeightfieldTerrainShape(heightfieldData);
+        CollisionShapeInstance heightfield(makeSquareHeightfieldTerrainShape(heightfieldData));
-        shape.setLocalScaling(btVector3(128, 128, 1));
+        heightfield.shape().setLocalScaling(btVector3(128, 128, 1));
 
         mNavigator->addAgent(mAgentHalfExtents);
-        mNavigator->addObject(ObjectId(&shape), ObjectShapes(shape, nullptr), btTransform::getIdentity());
+        mNavigator->addObject(ObjectId(&heightfield.shape()), ObjectShapes(heightfield.instance()), btTransform::getIdentity());
         mNavigator->update(mPlayerPosition);
         mNavigator->wait(mListener, WaitConditionType::allJobsDone);
 
-        mNavigator->removeObject(ObjectId(&shape));
+        mNavigator->removeObject(ObjectId(&heightfield.shape()));
         mNavigator->update(mPlayerPosition);
         mNavigator->wait(mListener, WaitConditionType::allJobsDone);
 
-        mNavigator->addObject(ObjectId(&shape), ObjectShapes(shape, nullptr), btTransform::getIdentity());
+        mNavigator->addObject(ObjectId(&heightfield.shape()), ObjectShapes(heightfield.instance()), btTransform::getIdentity());
         mNavigator->update(mPlayerPosition);
         mNavigator->wait(mListener, WaitConditionType::allJobsDone);
 
@@ -804,24 +834,25 @@ namespace
         }};
         const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
 
-        const std::vector<btBoxShape> boxShapes(100, btVector3(20, 20, 100));
+        std::vector<CollisionShapeInstance<btBoxShape>> boxes;
+        std::generate_n(std::back_inserter(boxes), 100, [] { return std::make_unique<btBoxShape>(btVector3(20, 20, 100)); });
 
         mNavigator->addAgent(mAgentHalfExtents);
 
         mNavigator->addHeightfield(mCellPosition, mHeightfieldTileSize * (surface.mSize - 1), mShift, surface);
 
-        for (std::size_t i = 0; i < boxShapes.size(); ++i)
+        for (std::size_t i = 0; i < boxes.size(); ++i)
         {
             const btTransform transform(btMatrix3x3::getIdentity(), btVector3(i * 10, i * 10, i * 10));
-            mNavigator->addObject(ObjectId(&boxShapes[i]), ObjectShapes(boxShapes[i], nullptr), transform);
+            mNavigator->addObject(ObjectId(&boxes[i].shape()), ObjectShapes(boxes[i].instance()), transform);
         }
 
         std::this_thread::sleep_for(std::chrono::microseconds(1));
 
-        for (std::size_t i = 0; i < boxShapes.size(); ++i)
+        for (std::size_t i = 0; i < boxes.size(); ++i)
         {
             const btTransform transform(btMatrix3x3::getIdentity(), btVector3(i * 10 + 1, i * 10 + 1, i * 10 + 1));
-            mNavigator->updateObject(ObjectId(&boxShapes[i]), ObjectShapes(boxShapes[i], nullptr), transform);
+            mNavigator->updateObject(ObjectId(&boxes[i].shape()), ObjectShapes(boxes[i].instance()), transform);
         }
 
         mNavigator->update(mPlayerPosition);
@@ -858,14 +889,15 @@ namespace
 
     TEST_F(DetourNavigatorNavigatorTest, update_changed_multiple_times_object_should_delay_navmesh_change)
     {
-        const std::vector<btBoxShape> shapes(100, btVector3(64, 64, 64));
+        std::vector<CollisionShapeInstance<btBoxShape>> shapes;
+        std::generate_n(std::back_inserter(shapes), 100, [] { return std::make_unique<btBoxShape>(btVector3(64, 64, 64)); });
 
         mNavigator->addAgent(mAgentHalfExtents);
 
         for (std::size_t i = 0; i < shapes.size(); ++i)
         {
             const btTransform transform(btMatrix3x3::getIdentity(), btVector3(i * 32, i * 32, i * 32));
-            mNavigator->addObject(ObjectId(&shapes[i]), ObjectShapes(shapes[i], nullptr), transform);
+            mNavigator->addObject(ObjectId(&shapes[i].shape()), ObjectShapes(shapes[i].instance()), transform);
         }
         mNavigator->update(mPlayerPosition);
         mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@@ -874,7 +906,7 @@ namespace
         for (std::size_t i = 0; i < shapes.size(); ++i)
         {
             const btTransform transform(btMatrix3x3::getIdentity(), btVector3(i * 32 + 1, i * 32 + 1, i * 32 + 1));
-            mNavigator->updateObject(ObjectId(&shapes[i]), ObjectShapes(shapes[i], nullptr), transform);
+            mNavigator->updateObject(ObjectId(&shapes[i].shape()), ObjectShapes(shapes[i].instance()), transform);
         }
         mNavigator->update(mPlayerPosition);
         mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@@ -882,7 +914,7 @@ namespace
         for (std::size_t i = 0; i < shapes.size(); ++i)
         {
             const btTransform transform(btMatrix3x3::getIdentity(), btVector3(i * 32 + 2, i * 32 + 2, i * 32 + 2));
-            mNavigator->updateObject(ObjectId(&shapes[i]), ObjectShapes(shapes[i], nullptr), transform);
+            mNavigator->updateObject(ObjectId(&shapes[i].shape()), ObjectShapes(shapes[i].instance()), transform);
         }
         mNavigator->update(mPlayerPosition);
         mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@@ -926,16 +958,16 @@ namespace
         }};
         const HeightfieldSurface surface = makeSquareHeightfieldSurface(heightfieldData);
 
-        const btBoxShape oscillatingBoxShape(btVector3(20, 20, 20));
+        CollisionShapeInstance oscillatingBox(std::make_unique<btBoxShape>(btVector3(20, 20, 20)));
         const btVector3 oscillatingBoxShapePosition(32, 32, 400);
-        const btBoxShape boderBoxShape(btVector3(50, 50, 50));
+        CollisionShapeInstance boderBox(std::make_unique<btBoxShape>(btVector3(50, 50, 50)));
 
         mNavigator->addAgent(mAgentHalfExtents);
         mNavigator->addHeightfield(mCellPosition, mHeightfieldTileSize * (surface.mSize - 1), mShift, surface);
-        mNavigator->addObject(ObjectId(&oscillatingBoxShape), ObjectShapes(oscillatingBoxShape, nullptr),
+        mNavigator->addObject(ObjectId(&oscillatingBox.shape()), ObjectShapes(oscillatingBox.instance()),
                               btTransform(btMatrix3x3::getIdentity(), oscillatingBoxShapePosition));
         // add this box to make navmesh bound box independent from oscillatingBoxShape rotations
-        mNavigator->addObject(ObjectId(&boderBoxShape), ObjectShapes(boderBoxShape, nullptr),
+        mNavigator->addObject(ObjectId(&boderBox.shape()), ObjectShapes(boderBox.instance()),
                               btTransform(btMatrix3x3::getIdentity(), oscillatingBoxShapePosition + btVector3(0, 0, 200)));
         mNavigator->update(mPlayerPosition);
         mNavigator->wait(mListener, WaitConditionType::allJobsDone);
@@ -952,7 +984,7 @@ namespace
         {
             const btTransform transform(btQuaternion(btVector3(0, 0, 1), n * 2 * osg::PI / 10),
                                         oscillatingBoxShapePosition);
-            mNavigator->updateObject(ObjectId(&oscillatingBoxShape), ObjectShapes(oscillatingBoxShape, nullptr), transform);
+            mNavigator->updateObject(ObjectId(&oscillatingBox.shape()), ObjectShapes(oscillatingBox.instance()), transform);
             mNavigator->update(mPlayerPosition);
             mNavigator->wait(mListener, WaitConditionType::allJobsDone);
         }

apps/openmw_test_suite/detournavigator/recastmeshobject.cpp

@@ -14,20 +14,22 @@ namespace
 
     struct DetourNavigatorRecastMeshObjectTest : Test
     {
-        btBoxShape mBoxShape {btVector3(1, 2, 3)};
+        btBoxShape mBoxShapeImpl {btVector3(1, 2, 3)};
-        btCompoundShape mCompoundShape {true};
+        CollisionShape mBoxShape {nullptr, mBoxShapeImpl};
+        btCompoundShape mCompoundShapeImpl {true};
+        CollisionShape mCompoundShape {nullptr, mCompoundShapeImpl};
         btTransform mTransform {btQuaternion(btVector3(1, 2, 3), 1), btVector3(1, 2, 3)};
 
         DetourNavigatorRecastMeshObjectTest()
         {
-            mCompoundShape.addChildShape(mTransform, std::addressof(mBoxShape));
+            mCompoundShapeImpl.addChildShape(mTransform, std::addressof(mBoxShapeImpl));
         }
     };
 
     TEST_F(DetourNavigatorRecastMeshObjectTest, constructed_object_should_have_shape_and_transform)
     {
         const RecastMeshObject object(mBoxShape, mTransform, AreaType_ground);
-        EXPECT_EQ(std::addressof(object.getShape()), std::addressof(mBoxShape));
+        EXPECT_EQ(std::addressof(object.getShape()), std::addressof(mBoxShapeImpl));
         EXPECT_EQ(object.getTransform(), mTransform);
     }
 
@@ -58,14 +60,14 @@ namespace
     TEST_F(DetourNavigatorRecastMeshObjectTest, update_for_compound_shape_with_same_transform_and_changed_child_transform_should_return_true)
     {
         RecastMeshObject object(mCompoundShape, mTransform, AreaType_ground);
-        mCompoundShape.updateChildTransform(0, btTransform::getIdentity());
+        mCompoundShapeImpl.updateChildTransform(0, btTransform::getIdentity());
         EXPECT_TRUE(object.update(mTransform, AreaType_ground));
     }
 
     TEST_F(DetourNavigatorRecastMeshObjectTest, repeated_update_for_compound_shape_without_changes_should_return_false)
     {
         RecastMeshObject object(mCompoundShape, mTransform, AreaType_ground);
-        mCompoundShape.updateChildTransform(0, btTransform::getIdentity());
+        mCompoundShapeImpl.updateChildTransform(0, btTransform::getIdentity());
         object.update(mTransform, AreaType_ground);
         EXPECT_FALSE(object.update(mTransform, AreaType_ground));
     }
@@ -73,7 +75,7 @@ namespace
     TEST_F(DetourNavigatorRecastMeshObjectTest, update_for_changed_local_scaling_should_return_true)
     {
         RecastMeshObject object(mBoxShape, mTransform, AreaType_ground);
-        mBoxShape.setLocalScaling(btVector3(2, 2, 2));
+        mBoxShapeImpl.setLocalScaling(btVector3(2, 2, 2));
         EXPECT_TRUE(object.update(mTransform, AreaType_ground));
     }
 }

apps/openmw_test_suite/detournavigator/tilecachedrecastmeshmanager.cpp

@@ -62,22 +62,25 @@ namespace
     {
         TileCachedRecastMeshManager manager(mSettings);
         const btBoxShape boxShape(btVector3(20, 20, 100));
-        EXPECT_TRUE(manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground));
+        const CollisionShape shape(nullptr, boxShape);
+        EXPECT_TRUE(manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground));
     }
 
     TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, add_object_for_existing_object_should_return_false)
     {
         TileCachedRecastMeshManager manager(mSettings);
         const btBoxShape boxShape(btVector3(20, 20, 100));
-        manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground);
+        const CollisionShape shape(nullptr, boxShape);
-        EXPECT_FALSE(manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground));
+        manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
+        EXPECT_FALSE(manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground));
     }
 
     TEST_F(DetourNavigatorTileCachedRecastMeshManagerTest, add_object_should_add_tiles)
     {
         TileCachedRecastMeshManager manager(mSettings);
         const btBoxShape boxShape(btVector3(20, 20, 100));
-        ASSERT_TRUE(manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground));
+        const CollisionShape shape(nullptr, boxShape);
+        ASSERT_TRUE(manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground));
         for (int x = -1; x < 1; ++x)
             for (int y = -1; y < 1; ++y)
                 ASSERT_TRUE(manager.hasTile(TilePosition(x, y)));
@@ -88,8 +91,9 @@ namespace
         TileCachedRecastMeshManager manager(mSettings);
         const btBoxShape boxShape(btVector3(20, 20, 100));
         const btTransform transform(btMatrix3x3::getIdentity(), btVector3(getTileSize(mSettings) / mSettings.mRecastScaleFactor, 0, 0));
-        manager.addObject(ObjectId(&boxShape), boxShape, transform, AreaType::AreaType_ground);
+        const CollisionShape shape(nullptr, boxShape);
-        EXPECT_TRUE(manager.updateObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground,
+        manager.addObject(ObjectId(&boxShape), shape, transform, AreaType::AreaType_ground);
+        EXPECT_TRUE(manager.updateObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground,
                                          [&] (const auto& v) { onChangedTile(v); }));
         EXPECT_THAT(
             mChangedTiles,
@@ -102,8 +106,9 @@ namespace
     {
         TileCachedRecastMeshManager manager(mSettings);
         const btBoxShape boxShape(btVector3(20, 20, 100));
-        manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground);
+        const CollisionShape shape(nullptr, boxShape);
-        EXPECT_FALSE(manager.updateObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground,
+        manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
+        EXPECT_FALSE(manager.updateObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground,
                                           [&] (const auto& v) { onChangedTile(v); }));
         EXPECT_EQ(mChangedTiles, std::vector<TilePosition>());
     }
@@ -112,7 +117,8 @@ namespace
     {
         TileCachedRecastMeshManager manager(mSettings);
         const btBoxShape boxShape(btVector3(20, 20, 100));
-        manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground);
+        const CollisionShape shape(nullptr, boxShape);
+        manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
         EXPECT_NE(manager.getMesh(TilePosition(-1, -1)), nullptr);
         EXPECT_NE(manager.getMesh(TilePosition(-1, 0)), nullptr);
         EXPECT_NE(manager.getMesh(TilePosition(0, -1)), nullptr);
@@ -123,7 +129,8 @@ namespace
     {
         TileCachedRecastMeshManager manager(mSettings);
         const btBoxShape boxShape(btVector3(20, 20, 100));
-        manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground);
+        const CollisionShape shape(nullptr, boxShape);
+        manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
         EXPECT_EQ(manager.getMesh(TilePosition(1, 0)), nullptr);
     }
 
@@ -132,14 +139,15 @@ namespace
         TileCachedRecastMeshManager manager(mSettings);
         const btBoxShape boxShape(btVector3(20, 20, 100));
         const btTransform transform(btMatrix3x3::getIdentity(), btVector3(getTileSize(mSettings) / mSettings.mRecastScaleFactor, 0, 0));
+        const CollisionShape shape(nullptr, boxShape);
 
-        manager.addObject(ObjectId(&boxShape), boxShape, transform, AreaType::AreaType_ground);
+        manager.addObject(ObjectId(&boxShape), shape, transform, AreaType::AreaType_ground);
         EXPECT_NE(manager.getMesh(TilePosition(0, -1)), nullptr);
         EXPECT_NE(manager.getMesh(TilePosition(0, 0)), nullptr);
         EXPECT_NE(manager.getMesh(TilePosition(1, 0)), nullptr);
         EXPECT_NE(manager.getMesh(TilePosition(1, -1)), nullptr);
 
-        manager.updateObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground, [] (auto) {});
+        manager.updateObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground, [] (auto) {});
         EXPECT_NE(manager.getMesh(TilePosition(-1, -1)), nullptr);
         EXPECT_NE(manager.getMesh(TilePosition(-1, 0)), nullptr);
         EXPECT_NE(manager.getMesh(TilePosition(0, -1)), nullptr);
@@ -151,12 +159,13 @@ namespace
         TileCachedRecastMeshManager manager(mSettings);
         const btBoxShape boxShape(btVector3(20, 20, 100));
         const btTransform transform(btMatrix3x3::getIdentity(), btVector3(getTileSize(mSettings) / mSettings.mRecastScaleFactor, 0, 0));
+        const CollisionShape shape(nullptr, boxShape);
 
-        manager.addObject(ObjectId(&boxShape), boxShape, transform, AreaType::AreaType_ground);
+        manager.addObject(ObjectId(&boxShape), shape, transform, AreaType::AreaType_ground);
         EXPECT_EQ(manager.getMesh(TilePosition(-1, -1)), nullptr);
         EXPECT_EQ(manager.getMesh(TilePosition(-1, 0)), nullptr);
 
-        manager.updateObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground, [] (auto) {});
+        manager.updateObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground, [] (auto) {});
         EXPECT_EQ(manager.getMesh(TilePosition(1, 0)), nullptr);
         EXPECT_EQ(manager.getMesh(TilePosition(1, -1)), nullptr);
     }
@@ -165,7 +174,8 @@ namespace
     {
         TileCachedRecastMeshManager manager(mSettings);
         const btBoxShape boxShape(btVector3(20, 20, 100));
-        manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground);
+        const CollisionShape shape(nullptr, boxShape);
+        manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
         manager.removeObject(ObjectId(&boxShape));
         EXPECT_EQ(manager.getMesh(TilePosition(-1, -1)), nullptr);
         EXPECT_EQ(manager.getMesh(TilePosition(-1, 0)), nullptr);
@@ -177,14 +187,15 @@ namespace
     {
         TileCachedRecastMeshManager manager(mSettings);
         const btBoxShape boxShape(btVector3(20, 20, 100));
+        const CollisionShape shape(nullptr, boxShape);
 
-        manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground);
+        manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
         EXPECT_NE(manager.getMesh(TilePosition(-1, -1)), nullptr);
         EXPECT_NE(manager.getMesh(TilePosition(-1, 0)), nullptr);
         EXPECT_NE(manager.getMesh(TilePosition(0, -1)), nullptr);
         EXPECT_NE(manager.getMesh(TilePosition(0, 0)), nullptr);
 
-        manager.updateObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground, [] (auto) {});
+        manager.updateObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground, [] (auto) {});
         EXPECT_NE(manager.getMesh(TilePosition(-1, -1)), nullptr);
         EXPECT_NE(manager.getMesh(TilePosition(-1, 0)), nullptr);
         EXPECT_NE(manager.getMesh(TilePosition(0, -1)), nullptr);
@@ -196,7 +207,8 @@ namespace
         TileCachedRecastMeshManager manager(mSettings);
         const auto initialRevision = manager.getRevision();
         const btBoxShape boxShape(btVector3(20, 20, 100));
-        manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground);
+        const CollisionShape shape(nullptr, boxShape);
+        manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
         EXPECT_EQ(manager.getRevision(), initialRevision + 1);
     }
 
@@ -204,9 +216,10 @@ namespace
     {
         TileCachedRecastMeshManager manager(mSettings);
         const btBoxShape boxShape(btVector3(20, 20, 100));
-        manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground);
+        const CollisionShape shape(nullptr, boxShape);
+        manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
         const auto beforeAddRevision = manager.getRevision();
-        manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground);
+        manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
         EXPECT_EQ(manager.getRevision(), beforeAddRevision);
     }
 
@@ -215,9 +228,10 @@ namespace
         TileCachedRecastMeshManager manager(mSettings);
         const btBoxShape boxShape(btVector3(20, 20, 100));
         const btTransform transform(btMatrix3x3::getIdentity(), btVector3(getTileSize(mSettings) / mSettings.mRecastScaleFactor, 0, 0));
-        manager.addObject(ObjectId(&boxShape), boxShape, transform, AreaType::AreaType_ground);
+        const CollisionShape shape(nullptr, boxShape);
+        manager.addObject(ObjectId(&boxShape), shape, transform, AreaType::AreaType_ground);
         const auto beforeUpdateRevision = manager.getRevision();
-        manager.updateObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground, [] (auto) {});
+        manager.updateObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground, [] (auto) {});
         EXPECT_EQ(manager.getRevision(), beforeUpdateRevision + 1);
     }
 
@@ -225,9 +239,10 @@ namespace
     {
         TileCachedRecastMeshManager manager(mSettings);
         const btBoxShape boxShape(btVector3(20, 20, 100));
-        manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground);
+        const CollisionShape shape(nullptr, boxShape);
+        manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
         const auto beforeUpdateRevision = manager.getRevision();
-        manager.updateObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground, [] (auto) {});
+        manager.updateObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground, [] (auto) {});
         EXPECT_EQ(manager.getRevision(), beforeUpdateRevision);
     }
 
@@ -235,7 +250,8 @@ namespace
     {
         TileCachedRecastMeshManager manager(mSettings);
         const btBoxShape boxShape(btVector3(20, 20, 100));
-        manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground);
+        const CollisionShape shape(nullptr, boxShape);
+        manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground);
         const auto beforeRemoveRevision = manager.getRevision();
         manager.removeObject(ObjectId(&boxShape));
         EXPECT_EQ(manager.getRevision(), beforeRemoveRevision + 1);
@@ -272,7 +288,8 @@ namespace
     {
         TileCachedRecastMeshManager manager(mSettings);
         const btBoxShape boxShape(btVector3(20, 20, 100));
-        ASSERT_TRUE(manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground));
+        const CollisionShape shape(nullptr, boxShape);
+        ASSERT_TRUE(manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground));
         const osg::Vec2i cellPosition(0, 0);
         const int cellSize = std::numeric_limits<int>::max();
         ASSERT_TRUE(manager.addWater(cellPosition, cellSize, osg::Vec3f()));
@@ -314,7 +331,8 @@ namespace
     {
         TileCachedRecastMeshManager manager(mSettings);
         const btBoxShape boxShape(btVector3(20, 20, 100));
-        ASSERT_TRUE(manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground));
+        const CollisionShape shape(nullptr, boxShape);
+        ASSERT_TRUE(manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground));
         const osg::Vec2i cellPosition(0, 0);
         const int cellSize = 8192;
         ASSERT_TRUE(manager.addWater(cellPosition, cellSize, osg::Vec3f()));
@@ -330,7 +348,8 @@ namespace
         const osg::Vec2i cellPosition(0, 0);
         const int cellSize = 8192;
         const btBoxShape boxShape(btVector3(20, 20, 100));
-        ASSERT_TRUE(manager.addObject(ObjectId(&boxShape), boxShape, btTransform::getIdentity(), AreaType::AreaType_ground));
+        const CollisionShape shape(nullptr, boxShape);
+        ASSERT_TRUE(manager.addObject(ObjectId(&boxShape), shape, btTransform::getIdentity(), AreaType::AreaType_ground));
         ASSERT_TRUE(manager.addWater(cellPosition, cellSize, osg::Vec3f()));
         ASSERT_TRUE(manager.removeObject(ObjectId(&boxShape)));
         for (int x = -6; x < 6; ++x)

components/detournavigator/cachedrecastmeshmanager.cpp

@@ -8,7 +8,7 @@ namespace DetourNavigator
         : mImpl(settings, bounds, generation)
     {}
 
-    bool CachedRecastMeshManager::addObject(const ObjectId id, const btCollisionShape& shape,
+    bool CachedRecastMeshManager::addObject(const ObjectId id, const CollisionShape& shape,
                                             const btTransform& transform, const AreaType areaType)
     {
         if (!mImpl.addObject(id, shape, transform, areaType))

components/detournavigator/cachedrecastmeshmanager.hpp

@@ -12,7 +12,7 @@ namespace DetourNavigator
     public:
         CachedRecastMeshManager(const Settings& settings, const TileBounds& bounds, std::size_t generation);
 
-        bool addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform,
+        bool addObject(const ObjectId id, const CollisionShape& shape, const btTransform& transform,
                        const AreaType areaType);
 
         bool updateObject(const ObjectId id, const btTransform& transform, const AreaType areaType);

components/detournavigator/navigator.hpp

@@ -10,6 +10,8 @@
 #include "waitconditiontype.hpp"
 #include "heightfieldshape.hpp"
 
+#include <components/resource/bulletshape.hpp>
+
 #include <variant>
 
 namespace ESM
@@ -27,11 +29,10 @@ namespace DetourNavigator
 {
     struct ObjectShapes
     {
-        const btCollisionShape& mShape;
+        osg::ref_ptr<const Resource::BulletShapeInstance> mShapeInstance;
-        const btCollisionShape* mAvoid;
 
-        ObjectShapes(const btCollisionShape& shape, const btCollisionShape* avoid)
+        ObjectShapes(const osg::ref_ptr<const Resource::BulletShapeInstance>& shapeInstance)
-            : mShape(shape), mAvoid(avoid)
+            : mShapeInstance(shapeInstance)
         {}
     };
 
@@ -40,9 +41,9 @@ namespace DetourNavigator
         osg::Vec3f mConnectionStart;
         osg::Vec3f mConnectionEnd;
 
-        DoorShapes(const btCollisionShape& shape, const btCollisionShape* avoid,
+        DoorShapes(const osg::ref_ptr<const Resource::BulletShapeInstance>& shapeInstance,
                    const osg::Vec3f& connectionStart,const osg::Vec3f& connectionEnd)
-            : ObjectShapes(shape, avoid)
+            : ObjectShapes(shapeInstance)
             , mConnectionStart(connectionStart)
             , mConnectionEnd(connectionEnd)
         {}

components/detournavigator/navigatorimpl.cpp

@@ -34,11 +34,13 @@ namespace DetourNavigator
 
     bool NavigatorImpl::addObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform)
     {
-        bool result = mNavMeshManager.addObject(id, shapes.mShape, transform, AreaType_ground);
+        CollisionShape collisionShape {shapes.mShapeInstance, *shapes.mShapeInstance->getCollisionShape()};
-        if (shapes.mAvoid)
+        bool result = mNavMeshManager.addObject(id, collisionShape, transform, AreaType_ground);
+        if (const btCollisionShape* const avoidShape = shapes.mShapeInstance->getAvoidCollisionShape())
         {
-            const ObjectId avoidId(shapes.mAvoid);
+            const ObjectId avoidId(avoidShape);
-            if (mNavMeshManager.addObject(avoidId, *shapes.mAvoid, transform, AreaType_null))
+            CollisionShape collisionShape {shapes.mShapeInstance, *avoidShape};
+            if (mNavMeshManager.addObject(avoidId, collisionShape, transform, AreaType_null))
             {
                 updateAvoidShapeId(id, avoidId);
                 result = true;
@@ -62,11 +64,13 @@ namespace DetourNavigator
 
     bool NavigatorImpl::updateObject(const ObjectId id, const ObjectShapes& shapes, const btTransform& transform)
     {
-        bool result = mNavMeshManager.updateObject(id, shapes.mShape, transform, AreaType_ground);
+        const CollisionShape collisionShape {shapes.mShapeInstance, *shapes.mShapeInstance->getCollisionShape()};
-        if (shapes.mAvoid)
+        bool result = mNavMeshManager.updateObject(id, collisionShape, transform, AreaType_ground);
+        if (const btCollisionShape* const avoidShape = shapes.mShapeInstance->getAvoidCollisionShape())
         {
-            const ObjectId avoidId(shapes.mAvoid);
+            const ObjectId avoidId(avoidShape);
-            if (mNavMeshManager.updateObject(avoidId, *shapes.mAvoid, transform, AreaType_null))
+            const CollisionShape collisionShape {shapes.mShapeInstance, *avoidShape};
+            if (mNavMeshManager.updateObject(avoidId, collisionShape, transform, AreaType_null))
             {
                 updateAvoidShapeId(id, avoidId);
                 result = true;

components/detournavigator/navmeshmanager.cpp

@@ -47,16 +47,17 @@ namespace DetourNavigator
         , mAsyncNavMeshUpdater(settings, mRecastMeshManager, mOffMeshConnectionsManager)
     {}
 
-    bool NavMeshManager::addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform,
+    bool NavMeshManager::addObject(const ObjectId id, const CollisionShape& shape, const btTransform& transform,
                                    const AreaType areaType)
     {
+        const btCollisionShape& collisionShape = shape.getShape();
         if (!mRecastMeshManager.addObject(id, shape, transform, areaType))
             return false;
-        addChangedTiles(shape, transform, ChangeType::add);
+        addChangedTiles(collisionShape, transform, ChangeType::add);
         return true;
     }
 
-    bool NavMeshManager::updateObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform,
+    bool NavMeshManager::updateObject(const ObjectId id, const CollisionShape& shape, const btTransform& transform,
                                       const AreaType areaType)
     {
         return mRecastMeshManager.updateObject(id, shape, transform, areaType,

components/detournavigator/navmeshmanager.hpp

@@ -24,10 +24,10 @@ namespace DetourNavigator
     public:
         NavMeshManager(const Settings& settings);
 
-        bool addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform,
+        bool addObject(const ObjectId id, const CollisionShape& shape, const btTransform& transform,
                        const AreaType areaType);
 
-        bool updateObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform,
+        bool updateObject(const ObjectId id, const CollisionShape& shape, const btTransform& transform,
                           const AreaType areaType);
 
         bool removeObject(const ObjectId id);

components/detournavigator/recastmeshmanager.cpp

@@ -35,7 +35,7 @@ namespace DetourNavigator
     {
     }
 
-    bool RecastMeshManager::addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform,
+    bool RecastMeshManager::addObject(const ObjectId id, const CollisionShape& shape, const btTransform& transform,
                                       const AreaType areaType)
     {
         const auto object = mObjects.lower_bound(id);

components/detournavigator/recastmeshmanager.hpp

@@ -35,7 +35,7 @@ namespace DetourNavigator
     public:
         RecastMeshManager(const Settings& settings, const TileBounds& bounds, std::size_t generation);
 
-        bool addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform,
+        bool addObject(const ObjectId id, const CollisionShape& shape, const btTransform& transform,
                        const AreaType areaType);
 
         bool updateObject(const ObjectId id, const btTransform& transform, const AreaType areaType);

components/detournavigator/recastmeshobject.cpp

@@ -22,15 +22,36 @@ namespace DetourNavigator
             }
             return result;
         }
+
+        std::vector<RecastMeshObject> makeChildrenObjects(const osg::ref_ptr<const Resource::BulletShapeInstance>& instance,
+                                                          const btCompoundShape& shape, const AreaType areaType)
+        {
+            std::vector<RecastMeshObject> result;
+            for (int i = 0, num = shape.getNumChildShapes(); i < num; ++i)
+            {
+                const CollisionShape collisionShape {instance, *shape.getChildShape(i)};
+                result.emplace_back(collisionShape, shape.getChildTransform(i), areaType);
+            }
+            return result;
         }
 
-    RecastMeshObject::RecastMeshObject(const btCollisionShape& shape, const btTransform& transform,
+        std::vector<RecastMeshObject> makeChildrenObjects(const osg::ref_ptr<const Resource::BulletShapeInstance>& instance,
+                                                          const btCollisionShape& shape, const AreaType areaType)
+        {
+            if (shape.isCompound())
+                return makeChildrenObjects(std::move(instance), static_cast<const btCompoundShape&>(shape), areaType);
+            return std::vector<RecastMeshObject>();
+        }
+    }
+
+    RecastMeshObject::RecastMeshObject(const CollisionShape& shape, const btTransform& transform,
             const AreaType areaType)
-        : mShape(shape)
+        : mShapeInstance(shape.getShapeInstance())
+        , mShape(shape.getShape())
         , mTransform(transform)
         , mAreaType(areaType)
-        , mLocalScaling(shape.getLocalScaling())
+        , mLocalScaling(mShape.get().getLocalScaling())
-        , mChildren(makeChildrenObjects(shape, mAreaType))
+        , mChildren(makeChildrenObjects(mShapeInstance, mShape.get(), mAreaType))
     {
     }
 
@@ -57,20 +78,4 @@ namespace DetourNavigator
                     || result;
         return result;
     }
-
-    std::vector<RecastMeshObject> makeChildrenObjects(const btCollisionShape& shape, const AreaType areaType)
-    {
-        if (shape.isCompound())
-            return makeChildrenObjects(static_cast<const btCompoundShape&>(shape), areaType);
-        else
-            return std::vector<RecastMeshObject>();
-    }
-
-    std::vector<RecastMeshObject> makeChildrenObjects(const btCompoundShape& shape, const AreaType areaType)
-    {
-        std::vector<RecastMeshObject> result;
-        for (int i = 0, num = shape.getNumChildShapes(); i < num; ++i)
-            result.emplace_back(*shape.getChildShape(i), shape.getChildTransform(i), areaType);
-        return result;
-    }
 }

components/detournavigator/recastmeshobject.hpp

@@ -3,8 +3,12 @@
 
 #include "areatype.hpp"
 
+#include <components/resource/bulletshape.hpp>
+
 #include <LinearMath/btTransform.h>
 
+#include <osg/ref_ptr>
+
 #include <functional>
 #include <vector>
 
@@ -13,10 +17,26 @@ class btCompoundShape;
 
 namespace DetourNavigator
 {
+    class CollisionShape
+    {
+    public:
+        CollisionShape(osg::ref_ptr<const Resource::BulletShapeInstance> instance, const btCollisionShape& shape)
+            : mShapeInstance(std::move(instance))
+            , mShape(shape)
+        {}
+
+        const osg::ref_ptr<const Resource::BulletShapeInstance>& getShapeInstance() const { return mShapeInstance; }
+        const btCollisionShape& getShape() const { return mShape; }
+
+    private:
+        osg::ref_ptr<const Resource::BulletShapeInstance> mShapeInstance;
+        std::reference_wrapper<const btCollisionShape> mShape;
+    };
+
     class RecastMeshObject
     {
         public:
-            RecastMeshObject(const btCollisionShape& shape, const btTransform& transform, const AreaType areaType);
+            RecastMeshObject(const CollisionShape& shape, const btTransform& transform, const AreaType areaType);
 
             bool update(const btTransform& transform, const AreaType areaType);
 
@@ -36,16 +56,13 @@ namespace DetourNavigator
             }
 
         private:
+            osg::ref_ptr<const Resource::BulletShapeInstance> mShapeInstance;
             std::reference_wrapper<const btCollisionShape> mShape;
             btTransform mTransform;
             AreaType mAreaType;
             btVector3 mLocalScaling;
             std::vector<RecastMeshObject> mChildren;
     };
-
-    std::vector<RecastMeshObject> makeChildrenObjects(const btCollisionShape& shape, const AreaType areaType);
-
-    std::vector<RecastMeshObject> makeChildrenObjects(const btCompoundShape& shape, const AreaType areaType);
 }
 
 #endif

components/detournavigator/tilecachedrecastmeshmanager.cpp

@@ -14,14 +14,14 @@ namespace DetourNavigator
         : mSettings(settings)
     {}
 
-    bool TileCachedRecastMeshManager::addObject(const ObjectId id, const btCollisionShape& shape,
+    bool TileCachedRecastMeshManager::addObject(const ObjectId id, const CollisionShape& shape,
                                                 const btTransform& transform, const AreaType areaType)
     {
         std::vector<TilePosition> tilesPositions;
         const auto border = getBorderSize(mSettings);
         {
             auto tiles = mTiles.lock();
-            getTilesPositions(shape, transform, mSettings, [&] (const TilePosition& tilePosition)
+            getTilesPositions(shape.getShape(), transform, mSettings, [&] (const TilePosition& tilePosition)
                 {
                     if (addTile(id, shape, transform, areaType, tilePosition, border, tiles.get()))
                         tilesPositions.push_back(tilePosition);
@@ -218,7 +218,7 @@ namespace DetourNavigator
         it->second.reportNavMeshChange(recastMeshVersion, navMeshVersion);
     }
 
-    bool TileCachedRecastMeshManager::addTile(const ObjectId id, const btCollisionShape& shape,
+    bool TileCachedRecastMeshManager::addTile(const ObjectId id, const CollisionShape& shape,
         const btTransform& transform, const AreaType areaType, const TilePosition& tilePosition, float border,
         std::map<TilePosition, CachedRecastMeshManager>& tiles)
     {

components/detournavigator/tilecachedrecastmeshmanager.hpp

@@ -22,11 +22,11 @@ namespace DetourNavigator
     public:
         TileCachedRecastMeshManager(const Settings& settings);
 
-        bool addObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform,
+        bool addObject(const ObjectId id, const CollisionShape& shape, const btTransform& transform,
                        const AreaType areaType);
 
         template <class OnChangedTile>
-        bool updateObject(const ObjectId id, const btCollisionShape& shape, const btTransform& transform,
+        bool updateObject(const ObjectId id, const CollisionShape& shape, const btTransform& transform,
             const AreaType areaType, OnChangedTile&& onChangedTile)
         {
             const auto object = mObjectsTilesPositions.find(id);
@@ -56,7 +56,7 @@ namespace DetourNavigator
                         changed = true;
                     }
                 };
-                getTilesPositions(shape, transform, mSettings, onTilePosition);
+                getTilesPositions(shape.getShape(), transform, mSettings, onTilePosition);
                 std::sort(newTiles.begin(), newTiles.end());
                 for (const auto& tile : currentTiles)
                 {
@@ -110,7 +110,7 @@ namespace DetourNavigator
         std::size_t mRevision = 0;
         std::size_t mTilesGeneration = 0;
 
-        bool addTile(const ObjectId id, const btCollisionShape& shape, const btTransform& transform,
+        bool addTile(const ObjectId id, const CollisionShape& shape, const btTransform& transform,
                      const AreaType areaType, const TilePosition& tilePosition, float border,
                      std::map<TilePosition, CachedRecastMeshManager>& tiles);
 

components/resource/bulletshape.cpp

@@ -6,6 +6,7 @@
 #include <BulletCollision/CollisionShapes/btBoxShape.h>
 #include <BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h>
 #include <BulletCollision/CollisionShapes/btCompoundShape.h>
+#include <BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h>
 
 namespace Resource
 {
@@ -75,6 +76,9 @@ btCollisionShape* BulletShape::duplicateCollisionShape(const btCollisionShape *s
         return new btBoxShape(*boxshape);
     }
 
+    if (shape->getShapeType() == TERRAIN_SHAPE_PROXYTYPE)
+        return new btHeightfieldTerrainShape(static_cast<const btHeightfieldTerrainShape&>(*shape));
+
     throw std::logic_error(std::string("Unhandled Bullet shape duplication: ")+shape->getName());
 }