diff --git a/apps/openmw/mwphysics/contacttestresultcallback.cpp b/apps/openmw/mwphysics/contacttestresultcallback.cpp
index f8209e3636..5829ee02f5 100644
--- a/apps/openmw/mwphysics/contacttestresultcallback.cpp
+++ b/apps/openmw/mwphysics/contacttestresultcallback.cpp
@@ -2,6 +2,8 @@
 
 #include <BulletCollision/CollisionDispatch/btCollisionObject.h>
 
+#include "components/misc/convert.hpp"
+
 #include "ptrholder.hpp"
 
 namespace MWPhysics
@@ -20,7 +22,7 @@ namespace MWPhysics
             collisionObject = col1Wrap->m_collisionObject;
         PtrHolder* holder = static_cast<PtrHolder*>(collisionObject->getUserPointer());
         if (holder)
-            mResult.push_back(holder->getPtr());
+            mResult.emplace_back(ContactPoint{holder->getPtr(), Misc::Convert::toOsg(cp.m_positionWorldOnB), Misc::Convert::toOsg(cp.m_normalWorldOnB)});
         return 0.f;
     }
 
diff --git a/apps/openmw/mwphysics/contacttestresultcallback.hpp b/apps/openmw/mwphysics/contacttestresultcallback.hpp
index 03fc362992..fbe12d5dc2 100644
--- a/apps/openmw/mwphysics/contacttestresultcallback.hpp
+++ b/apps/openmw/mwphysics/contacttestresultcallback.hpp
@@ -7,6 +7,8 @@
 
 #include "../mwworld/ptr.hpp"
 
+#include "physicssystem.hpp"
+
 class btCollisionObject;
 struct btCollisionObjectWrapper;
 
@@ -23,7 +25,7 @@ namespace MWPhysics
                                          const btCollisionObjectWrapper* col0Wrap,int partId0,int index0,
                                          const btCollisionObjectWrapper* col1Wrap,int partId1,int index1) override;
 
-        std::vector<MWWorld::Ptr> mResult;
+        std::vector<ContactPoint> mResult;
     };
 }
 
diff --git a/apps/openmw/mwphysics/physicssystem.cpp b/apps/openmw/mwphysics/physicssystem.cpp
index 513e8d59b4..9a777bd454 100644
--- a/apps/openmw/mwphysics/physicssystem.cpp
+++ b/apps/openmw/mwphysics/physicssystem.cpp
@@ -403,15 +403,15 @@ namespace MWPhysics
             return osg::Vec3f();
     }
 
-    std::vector<MWWorld::Ptr> PhysicsSystem::getCollisions(const MWWorld::ConstPtr &ptr, int collisionGroup, int collisionMask) const
+    std::vector<ContactPoint> PhysicsSystem::getCollisionsPoints(const MWWorld::ConstPtr &ptr, int collisionGroup, int collisionMask) const
     {
         btCollisionObject* me = nullptr;
 
-        ObjectMap::const_iterator found = mObjects.find(ptr);
+        auto found = mObjects.find(ptr);
         if (found != mObjects.end())
             me = found->second->getCollisionObject();
         else
-            return std::vector<MWWorld::Ptr>();
+            return {};
 
         ContactTestResultCallback resultCallback (me);
         resultCallback.m_collisionFilterGroup = collisionGroup;
@@ -420,6 +420,14 @@ namespace MWPhysics
         return resultCallback.mResult;
     }
 
+    std::vector<MWWorld::Ptr> PhysicsSystem::getCollisions(const MWWorld::ConstPtr &ptr, int collisionGroup, int collisionMask) const
+    {
+        std::vector<MWWorld::Ptr> actors;
+        for (auto& [actor, point, normal] : getCollisionsPoints(ptr, collisionGroup, collisionMask))
+            actors.emplace_back(actor);
+        return actors;
+    }
+
     osg::Vec3f PhysicsSystem::traceDown(const MWWorld::Ptr &ptr, const osg::Vec3f& position, float maxHeight)
     {
         ActorMap::iterator found = mActors.find(ptr);
diff --git a/apps/openmw/mwphysics/physicssystem.hpp b/apps/openmw/mwphysics/physicssystem.hpp
index 31707465b9..36ef762d3e 100644
--- a/apps/openmw/mwphysics/physicssystem.hpp
+++ b/apps/openmw/mwphysics/physicssystem.hpp
@@ -57,6 +57,13 @@ namespace MWPhysics
     class Actor;
     class PhysicsTaskScheduler;
 
+    struct ContactPoint
+    {
+        MWWorld::Ptr mObject;
+        osg::Vec3f mPoint;
+        osg::Vec3f mNormal;
+    };
+
     struct LOSRequest
     {
         LOSRequest(const std::weak_ptr<Actor>& a1, const std::weak_ptr<Actor>& a2);
@@ -145,6 +152,7 @@ namespace MWPhysics
             void debugDraw();
 
             std::vector<MWWorld::Ptr> getCollisions(const MWWorld::ConstPtr &ptr, int collisionGroup, int collisionMask) const; ///< get handles this object collides with
+            std::vector<ContactPoint> getCollisionsPoints(const MWWorld::ConstPtr &ptr, int collisionGroup, int collisionMask) const;
             osg::Vec3f traceDown(const MWWorld::Ptr &ptr, const osg::Vec3f& position, float maxHeight);
 
             std::pair<MWWorld::Ptr, osg::Vec3f> getHitContact(const MWWorld::ConstPtr& actor,
diff --git a/apps/openmw/mwworld/worldimp.cpp b/apps/openmw/mwworld/worldimp.cpp
index dbe6af3268..095bb14543 100644
--- a/apps/openmw/mwworld/worldimp.cpp
+++ b/apps/openmw/mwworld/worldimp.cpp
@@ -1577,21 +1577,26 @@ namespace MWWorld
         float minRot = door.getCellRef().getPosition().rot[2];
         float maxRot = minRot + osg::DegreesToRadians(90.f);
 
-        float diff = duration * osg::DegreesToRadians(90.f);
-        float targetRot = std::min(std::max(minRot, oldRot + diff * (state == MWWorld::DoorState::Opening ? 1 : -1)), maxRot);
+        float diff = duration * osg::DegreesToRadians(90.f) * (state == MWWorld::DoorState::Opening ? 1 : -1);
+        float targetRot = std::min(std::max(minRot, oldRot + diff), maxRot);
         rotateObject(door, objPos.rot[0], objPos.rot[1], targetRot, MWBase::RotationFlag_none);
 
         bool reached = (targetRot == maxRot && state != MWWorld::DoorState::Idle) || targetRot == minRot;
 
         /// \todo should use convexSweepTest here
         bool collisionWithActor = false;
-        std::vector<MWWorld::Ptr> collisions = mPhysics->getCollisions(door, MWPhysics::CollisionType_Door, MWPhysics::CollisionType_Actor);
-        for (MWWorld::Ptr& ptr : collisions)
+        for (auto& [ptr, point, normal] : mPhysics->getCollisionsPoints(door, MWPhysics::CollisionType_Door, MWPhysics::CollisionType_Actor))
         {
+
             if (ptr.getClass().isActor())
             {
+                osg::Vec3f direction = osg::Quat(diff, osg::Vec3f(0, 0, 1)) * point - point;
+                direction.normalize();
+                if (direction * normal < 0) // door is turning away from actor
+                    continue;
+
                 collisionWithActor = true;
-                
+
                 // Collided with actor, ask actor to try to avoid door
                 if(ptr != getPlayerPtr() )
                 {