diff --git a/apps/openmw/mwmechanics/aipackage.cpp b/apps/openmw/mwmechanics/aipackage.cpp
index 5130488e3e..1797e31720 100644
--- a/apps/openmw/mwmechanics/aipackage.cpp
+++ b/apps/openmw/mwmechanics/aipackage.cpp
@@ -414,5 +414,8 @@ DetourNavigator::Flags MWMechanics::AiPackage::getNavigatorFlags(const MWWorld::
     if (actorClass.canWalk(actor))
         result |= DetourNavigator::Flag_walk;
 
+    if (actorClass.isBipedal(actor) && getTypeId() != TypeIdWander)
+        result |= DetourNavigator::Flag_openDoor;
+
     return result;
 }
diff --git a/apps/openmw/mwworld/scene.cpp b/apps/openmw/mwworld/scene.cpp
index 2f6c0330f3..f68f1008c0 100644
--- a/apps/openmw/mwworld/scene.cpp
+++ b/apps/openmw/mwworld/scene.cpp
@@ -29,6 +29,7 @@
 #include "../mwphysics/actor.hpp"
 #include "../mwphysics/object.hpp"
 #include "../mwphysics/heightfield.hpp"
+#include "../mwphysics/convert.hpp"
 
 #include "player.hpp"
 #include "localscripts.hpp"
@@ -40,25 +41,45 @@
 
 namespace
 {
+    osg::Quat makeActorOsgQuat(const ESM::Position& position)
+    {
+        return osg::Quat(position.rot[2], osg::Vec3(0, 0, -1));
+    }
 
-    void setNodeRotation(const MWWorld::Ptr& ptr, MWRender::RenderingManager& rendering, bool inverseRotationOrder)
+    osg::Quat makeInversedOrderObjectOsgQuat(const ESM::Position& position)
+    {
+        const float xr = position.rot[0];
+        const float yr = position.rot[1];
+        const float zr = position.rot[2];
+
+        return osg::Quat(xr, osg::Vec3(-1, 0, 0))
+                * osg::Quat(yr, osg::Vec3(0, -1, 0))
+                * osg::Quat(zr, osg::Vec3(0, 0, -1));
+    }
+
+    osg::Quat makeObjectOsgQuat(const ESM::Position& position)
+    {
+        const float xr = position.rot[0];
+        const float yr = position.rot[1];
+        const float zr = position.rot[2];
+
+        return osg::Quat(zr, osg::Vec3(0, 0, -1))
+            * osg::Quat(yr, osg::Vec3(0, -1, 0))
+            * osg::Quat(xr, osg::Vec3(-1, 0, 0));
+    }
+
+    void setNodeRotation(const MWWorld::Ptr& ptr, MWRender::RenderingManager& rendering, const bool inverseRotationOrder)
     {
         if (!ptr.getRefData().getBaseNode())
             return;
 
-        osg::Quat worldRotQuat(ptr.getRefData().getPosition().rot[2], osg::Vec3(0,0,-1));
-        if (!ptr.getClass().isActor())
-        {
-            float xr = ptr.getRefData().getPosition().rot[0];
-            float yr = ptr.getRefData().getPosition().rot[1];
-            if (!inverseRotationOrder)
-                worldRotQuat = worldRotQuat * osg::Quat(yr, osg::Vec3(0,-1,0)) *
-                    osg::Quat(xr, osg::Vec3(-1,0,0));
-            else
-                worldRotQuat = osg::Quat(xr, osg::Vec3(-1,0,0)) * osg::Quat(yr, osg::Vec3(0,-1,0)) * worldRotQuat;
-        }
-
-        rendering.rotateObject(ptr, worldRotQuat);
+        rendering.rotateObject(ptr,
+            ptr.getClass().isActor()
+            ? makeActorOsgQuat(ptr.getRefData().getPosition())
+            : (inverseRotationOrder
+                ? makeInversedOrderObjectOsgQuat(ptr.getRefData().getPosition())
+                : makeObjectOsgQuat(ptr.getRefData().getPosition()))
+        );
     }
 
     void addObject(const MWWorld::Ptr& ptr, MWPhysics::PhysicsSystem& physics,
@@ -84,23 +105,6 @@ namespace
 
         ptr.getClass().insertObject (ptr, model, physics);
 
-        if (const auto object = physics.getObject(ptr))
-        {
-            const auto navigator = MWBase::Environment::get().getWorld()->getNavigator();
-            const DetourNavigator::ObjectShapes shapes {
-                *object->getShapeInstance()->getCollisionShape(),
-                object->getShapeInstance()->getAvoidCollisionShape()
-            };
-            navigator->addObject(reinterpret_cast<std::size_t>(object), shapes,
-                object->getCollisionObject()->getWorldTransform());
-        }
-        else if (const auto actor = physics.getActor(ptr))
-        {
-            const auto navigator = MWBase::Environment::get().getWorld()->getNavigator();
-            const auto playerHalfExtents = physics.getHalfExtents(MWBase::Environment::get().getWorld()->getPlayerPtr());
-            navigator->addAgent(playerHalfExtents);
-        }
-
         if (useAnim)
             MWBase::Environment::get().getMechanicsManager()->add(ptr);
 
@@ -111,6 +115,71 @@ namespace
         MWBase::Environment::get().getWorld()->applyLoopingParticles(ptr);
     }
 
+    void addObject(const MWWorld::Ptr& ptr, const MWPhysics::PhysicsSystem& physics, DetourNavigator::Navigator& navigator)
+    {
+        if (const auto object = physics.getObject(ptr))
+        {
+            if (ptr.getClass().isDoor() && !ptr.getCellRef().getTeleport())
+            {
+                const auto shape = object->getShapeInstance()->getCollisionShape();
+
+                btVector3 aabbMin;
+                btVector3 aabbMax;
+                shape->getAabb(btTransform::getIdentity(), aabbMin, aabbMax);
+
+                const auto center = (aabbMax + aabbMin) * 0.5f;
+
+                const auto distanceFromDoor = MWBase::Environment::get().getWorld()->getMaxActivationDistance() * 0.5f;
+                const auto toPoint = aabbMax.x() - aabbMin.x() < aabbMax.y() - aabbMin.y()
+                        ? btVector3(distanceFromDoor, 0, 0)
+                        : btVector3(0, distanceFromDoor, 0);
+
+                const auto& transform = object->getCollisionObject()->getWorldTransform();
+                const btTransform closedDoorTransform(
+                    MWPhysics::toBullet(makeObjectOsgQuat(ptr.getCellRef().getPosition())),
+                    transform.getOrigin()
+                );
+
+                const auto start = DetourNavigator::makeOsgVec3f(closedDoorTransform(center + toPoint));
+                const auto startPoint = physics.castRay(start, start - osg::Vec3f(0, 0, 1000), ptr, {},
+                    MWPhysics::CollisionType_World | MWPhysics::CollisionType_HeightMap | MWPhysics::CollisionType_Water);
+                const auto connectionStart = startPoint.mHit ? startPoint.mHitPos : start;
+
+                const auto end = DetourNavigator::makeOsgVec3f(closedDoorTransform(center - toPoint));
+                const auto endPoint = physics.castRay(end, end - osg::Vec3f(0, 0, 1000), ptr, {},
+                    MWPhysics::CollisionType_World | MWPhysics::CollisionType_HeightMap | MWPhysics::CollisionType_Water);
+                const auto connectionEnd = endPoint.mHit ? endPoint.mHitPos : end;
+
+                navigator.addObject(
+                    reinterpret_cast<std::size_t>(object),
+                    DetourNavigator::DoorShapes(
+                        *shape,
+                        object->getShapeInstance()->getAvoidCollisionShape(),
+                        connectionStart,
+                        connectionEnd
+                    ),
+                    transform
+                );
+            }
+            else
+            {
+                navigator.addObject(
+                    reinterpret_cast<std::size_t>(object),
+                    DetourNavigator::ObjectShapes {
+                        *object->getShapeInstance()->getCollisionShape(),
+                        object->getShapeInstance()->getAvoidCollisionShape()
+                    },
+                    object->getCollisionObject()->getWorldTransform()
+                );
+            }
+        }
+        else if (const auto actor = physics.getActor(ptr))
+        {
+            const auto playerHalfExtents = physics.getHalfExtents(MWBase::Environment::get().getWorld()->getPlayerPtr());
+            navigator.addAgent(playerHalfExtents);
+        }
+    }
+
     void updateObjectRotation (const MWWorld::Ptr& ptr, MWPhysics::PhysicsSystem& physics,
                                     MWRender::RenderingManager& rendering, bool inverseRotationOrder)
     {
@@ -137,24 +206,19 @@ namespace
         MWWorld::CellStore& mCell;
         bool mRescale;
         Loading::Listener& mLoadingListener;
-        MWPhysics::PhysicsSystem& mPhysics;
-        MWRender::RenderingManager& mRendering;
 
         std::vector<MWWorld::Ptr> mToInsert;
 
-        InsertVisitor (MWWorld::CellStore& cell, bool rescale, Loading::Listener& loadingListener,
-            MWPhysics::PhysicsSystem& physics, MWRender::RenderingManager& rendering);
+        InsertVisitor (MWWorld::CellStore& cell, bool rescale, Loading::Listener& loadingListener);
 
         bool operator() (const MWWorld::Ptr& ptr);
-        void insert();
+
+        template <class AddObject>
+        void insert(AddObject&& addObject);
     };
 
-    InsertVisitor::InsertVisitor (MWWorld::CellStore& cell, bool rescale,
-        Loading::Listener& loadingListener, MWPhysics::PhysicsSystem& physics,
-        MWRender::RenderingManager& rendering)
-    : mCell (cell), mRescale (rescale), mLoadingListener (loadingListener),
-      mPhysics (physics),
-      mRendering (rendering)
+    InsertVisitor::InsertVisitor (MWWorld::CellStore& cell, bool rescale, Loading::Listener& loadingListener)
+    : mCell (cell), mRescale (rescale), mLoadingListener (loadingListener)
     {}
 
     bool InsertVisitor::operator() (const MWWorld::Ptr& ptr)
@@ -165,7 +229,8 @@ namespace
         return true;
     }
 
-    void InsertVisitor::insert()
+    template <class AddObject>
+    void InsertVisitor::insert(AddObject&& addObject)
     {
         for (std::vector<MWWorld::Ptr>::iterator it = mToInsert.begin(); it != mToInsert.end(); ++it)
         {
@@ -182,7 +247,7 @@ namespace
             {
                 try
                 {
-                    addObject(ptr, mPhysics, mRendering);
+                    addObject(ptr);
                 }
                 catch (const std::exception& e)
                 {
@@ -577,8 +642,9 @@ namespace MWWorld
         mLastPlayerPos = pos.asVec3();
     }
 
-    Scene::Scene (MWRender::RenderingManager& rendering, MWPhysics::PhysicsSystem *physics)
-    : mCurrentCell (0), mCellChanged (false), mPhysics(physics), mRendering(rendering)
+    Scene::Scene (MWRender::RenderingManager& rendering, MWPhysics::PhysicsSystem *physics,
+                  DetourNavigator::Navigator& navigator)
+    : mCurrentCell (0), mCellChanged (false), mPhysics(physics), mRendering(rendering), mNavigator(navigator)
     , mPreloadTimer(0.f)
     , mHalfGridSize(Settings::Manager::getInt("exterior cell load distance", "Cells"))
     , mCellLoadingThreshold(1024.f)
@@ -706,9 +772,10 @@ namespace MWWorld
 
     void Scene::insertCell (CellStore &cell, bool rescale, Loading::Listener* loadingListener)
     {
-        InsertVisitor insertVisitor (cell, rescale, *loadingListener, *mPhysics, mRendering);
+        InsertVisitor insertVisitor (cell, rescale, *loadingListener);
         cell.forEach (insertVisitor);
-        insertVisitor.insert();
+        insertVisitor.insert([&] (const MWWorld::Ptr& ptr) { addObject(ptr, *mPhysics, mRendering); });
+        insertVisitor.insert([&] (const MWWorld::Ptr& ptr) { addObject(ptr, *mPhysics, mNavigator); });
 
         // do adjustPosition (snapping actors to ground) after objects are loaded, so we don't depend on the loading order
         AdjustPositionVisitor adjustPosVisitor;
@@ -720,6 +787,7 @@ namespace MWWorld
         try
         {
             addObject(ptr, *mPhysics, mRendering);
+            addObject(ptr, *mPhysics, mNavigator);
             MWBase::Environment::get().getWorld()->scaleObject(ptr, ptr.getCellRef().getScale());
             const auto navigator = MWBase::Environment::get().getWorld()->getNavigator();
             const auto player = MWBase::Environment::get().getWorld()->getPlayerPtr();
diff --git a/apps/openmw/mwworld/scene.hpp b/apps/openmw/mwworld/scene.hpp
index c8578fc354..00f5f98b83 100644
--- a/apps/openmw/mwworld/scene.hpp
+++ b/apps/openmw/mwworld/scene.hpp
@@ -30,6 +30,7 @@ namespace Loading
 
 namespace DetourNavigator
 {
+    class Navigator;
     class Water;
 }
 
@@ -63,6 +64,7 @@ namespace MWWorld
             bool mCellChanged;
             MWPhysics::PhysicsSystem *mPhysics;
             MWRender::RenderingManager& mRendering;
+            DetourNavigator::Navigator& mNavigator;
             std::unique_ptr<CellPreloader> mPreloader;
             float mPreloadTimer;
             int mHalfGridSize;
@@ -91,7 +93,8 @@ namespace MWWorld
 
         public:
 
-            Scene (MWRender::RenderingManager& rendering, MWPhysics::PhysicsSystem *physics);
+            Scene (MWRender::RenderingManager& rendering, MWPhysics::PhysicsSystem *physics,
+                   DetourNavigator::Navigator& navigator);
 
             ~Scene();
 
diff --git a/apps/openmw/mwworld/worldimp.cpp b/apps/openmw/mwworld/worldimp.cpp
index b467a687aa..bfa6b5124a 100644
--- a/apps/openmw/mwworld/worldimp.cpp
+++ b/apps/openmw/mwworld/worldimp.cpp
@@ -235,7 +235,7 @@ namespace MWWorld
 
         mWeatherManager.reset(new MWWorld::WeatherManager(*mRendering, mFallback, mStore));
 
-        mWorldScene.reset(new Scene(*mRendering.get(), mPhysics.get()));
+        mWorldScene.reset(new Scene(*mRendering.get(), mPhysics.get(), *mNavigator));
     }
 
     void World::fillGlobalVariables()
diff --git a/components/detournavigator/asyncnavmeshupdater.cpp b/components/detournavigator/asyncnavmeshupdater.cpp
index bea6ffa57c..168ec8f417 100644
--- a/components/detournavigator/asyncnavmeshupdater.cpp
+++ b/components/detournavigator/asyncnavmeshupdater.cpp
@@ -46,9 +46,11 @@ namespace DetourNavigator
         return stream << "unknown";
     }
 
-    AsyncNavMeshUpdater::AsyncNavMeshUpdater(const Settings& settings, TileCachedRecastMeshManager& recastMeshManager)
+    AsyncNavMeshUpdater::AsyncNavMeshUpdater(const Settings& settings, TileCachedRecastMeshManager& recastMeshManager,
+            OffMeshConnectionsManager& offMeshConnectionsManager)
         : mSettings(settings)
         , mRecastMeshManager(recastMeshManager)
+        , mOffMeshConnectionsManager(offMeshConnectionsManager)
         , mShouldStop()
         , mThread([&] { process(); })
     {
@@ -124,9 +126,10 @@ namespace DetourNavigator
 
         const auto recastMesh = mRecastMeshManager.get().getMesh(job.mChangedTile);
         const auto playerTile = getPlayerTile();
+        const auto offMeshConnections = mOffMeshConnectionsManager.get().get(job.mChangedTile);
 
         const auto status = updateNavMesh(job.mAgentHalfExtents, recastMesh.get(), job.mChangedTile, playerTile,
-            mSettings, *job.mNavMeshCacheItem);
+            offMeshConnections, mSettings, *job.mNavMeshCacheItem);
 
         const auto finish = std::chrono::steady_clock::now();
 
diff --git a/components/detournavigator/asyncnavmeshupdater.hpp b/components/detournavigator/asyncnavmeshupdater.hpp
index bba788c3c4..d2d72a290a 100644
--- a/components/detournavigator/asyncnavmeshupdater.hpp
+++ b/components/detournavigator/asyncnavmeshupdater.hpp
@@ -2,6 +2,7 @@
 #define OPENMW_COMPONENTS_DETOURNAVIGATOR_ASYNCNAVMESHUPDATER_H
 
 #include "navmeshcacheitem.hpp"
+#include "offmeshconnectionsmanager.hpp"
 #include "tilecachedrecastmeshmanager.hpp"
 #include "tileposition.hpp"
 
@@ -32,7 +33,8 @@ namespace DetourNavigator
     class AsyncNavMeshUpdater
     {
     public:
-        AsyncNavMeshUpdater(const Settings& settings, TileCachedRecastMeshManager& recastMeshManager);
+        AsyncNavMeshUpdater(const Settings& settings, TileCachedRecastMeshManager& recastMeshManager,
+            OffMeshConnectionsManager& offMeshConnectionsManager);
         ~AsyncNavMeshUpdater();
 
         void post(const osg::Vec3f& agentHalfExtents, const std::shared_ptr<NavMeshCacheItem>& mNavMeshCacheItem,
@@ -58,6 +60,7 @@ namespace DetourNavigator
 
         std::reference_wrapper<const Settings> mSettings;
         std::reference_wrapper<TileCachedRecastMeshManager> mRecastMeshManager;
+        std::reference_wrapper<OffMeshConnectionsManager> mOffMeshConnectionsManager;
         std::atomic_bool mShouldStop;
         std::mutex mMutex;
         std::condition_variable mHasJob;
diff --git a/components/detournavigator/flags.hpp b/components/detournavigator/flags.hpp
index 38c0f13f6a..f52c0faf5a 100644
--- a/components/detournavigator/flags.hpp
+++ b/components/detournavigator/flags.hpp
@@ -10,6 +10,7 @@ namespace DetourNavigator
         Flag_none = 0,
         Flag_walk = 1 << 0,
         Flag_swim = 1 << 1,
+        Flag_openDoor = 1 << 2,
     };
 }
 
diff --git a/components/detournavigator/makenavmesh.cpp b/components/detournavigator/makenavmesh.cpp
index 71e8881683..07f2225046 100644
--- a/components/detournavigator/makenavmesh.cpp
+++ b/components/detournavigator/makenavmesh.cpp
@@ -100,9 +100,31 @@ namespace
         }
     }
 
+    std::vector<float> getOffMeshVerts(const std::vector<OffMeshConnection>& connections)
+    {
+        std::vector<float> result;
+
+        result.reserve(connections.size() * 6);
+
+        const auto add = [&] (const osg::Vec3f& v)
+        {
+            result.push_back(v.x());
+            result.push_back(v.y());
+            result.push_back(v.z());
+        };
+
+        for (const auto& v : connections)
+        {
+            add(v.mStart);
+            add(v.mEnd);
+        }
+
+        return result;
+    }
+
     NavMeshData makeNavMeshTileData(const osg::Vec3f& agentHalfExtents, const RecastMesh& recastMesh,
-        const int tileX, const int tileY, const osg::Vec3f& boundsMin, const osg::Vec3f& boundsMax,
-        const Settings& settings)
+        const std::vector<OffMeshConnection>& offMeshConnections, const int tileX, const int tileY,
+        const osg::Vec3f& boundsMin, const osg::Vec3f& boundsMax, const Settings& settings)
     {
         rcContext context;
         rcConfig config;
@@ -280,6 +302,12 @@ namespace
                 polyMesh.flags[i] = Flag_swim;
         }
 
+        const auto offMeshConVerts = getOffMeshVerts(offMeshConnections);
+        const std::vector<float> offMeshConRad(offMeshConnections.size(), getRadius(settings, agentHalfExtents));
+        const std::vector<unsigned char> offMeshConDir(offMeshConnections.size(), DT_OFFMESH_CON_BIDIR);
+        const std::vector<unsigned char> offMeshConAreas(offMeshConnections.size(), AreaType_ground);
+        const std::vector<unsigned short> offMeshConFlags(offMeshConnections.size(), Flag_openDoor);
+
         dtNavMeshCreateParams params;
         params.verts = polyMesh.verts;
         params.vertCount = polyMesh.nverts;
@@ -293,13 +321,13 @@ namespace
         params.detailVertsCount = polyMeshDetail.nverts;
         params.detailTris = polyMeshDetail.tris;
         params.detailTriCount = polyMeshDetail.ntris;
-        params.offMeshConVerts = nullptr;
-        params.offMeshConRad = nullptr;
-        params.offMeshConDir = nullptr;
-        params.offMeshConAreas = nullptr;
-        params.offMeshConFlags = nullptr;
+        params.offMeshConVerts = offMeshConVerts.data();
+        params.offMeshConRad = offMeshConRad.data();
+        params.offMeshConDir = offMeshConDir.data();
+        params.offMeshConAreas = offMeshConAreas.data();
+        params.offMeshConFlags = offMeshConFlags.data();
         params.offMeshConUserID = nullptr;
-        params.offMeshConCount = 0;
+        params.offMeshConCount = static_cast<int>(offMeshConnections.size());
         params.walkableHeight = getHeight(settings, agentHalfExtents);
         params.walkableRadius = getRadius(settings, agentHalfExtents);
         params.walkableClimb = getMaxClimb(settings);
@@ -358,7 +386,8 @@ namespace DetourNavigator
     }
 
     UpdateNavMeshStatus updateNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh* recastMesh,
-        const TilePosition& changedTile, const TilePosition& playerTile, const Settings& settings,
+        const TilePosition& changedTile, const TilePosition& playerTile,
+        const std::vector<OffMeshConnection>& offMeshConnections, const Settings& settings,
         NavMeshCacheItem& navMeshCacheItem)
     {
         log("update NavMesh with mutiple tiles:",
@@ -419,7 +448,7 @@ namespace DetourNavigator
         const osg::Vec3f tileBorderMin(tileBounds.mMin.x(), boundsMin.y() - 1, tileBounds.mMin.y());
         const osg::Vec3f tileBorderMax(tileBounds.mMax.x(), boundsMax.y() + 1, tileBounds.mMax.y());
 
-        auto navMeshData = makeNavMeshTileData(agentHalfExtents, *recastMesh, x, y,
+        auto navMeshData = makeNavMeshTileData(agentHalfExtents, *recastMesh, offMeshConnections, x, y,
             tileBorderMin, tileBorderMax, settings);
 
         if (!navMeshData.mValue)
diff --git a/components/detournavigator/makenavmesh.hpp b/components/detournavigator/makenavmesh.hpp
index 7a60152d71..f9c304ee99 100644
--- a/components/detournavigator/makenavmesh.hpp
+++ b/components/detournavigator/makenavmesh.hpp
@@ -1,6 +1,7 @@
 #ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_MAKENAVMESH_H
 #define OPENMW_COMPONENTS_DETOURNAVIGATOR_MAKENAVMESH_H
 
+#include "offmeshconnectionsmanager.hpp"
 #include "settings.hpp"
 #include "navmeshcacheitem.hpp"
 #include "tileposition.hpp"
@@ -47,7 +48,8 @@ namespace DetourNavigator
     NavMeshPtr makeEmptyNavMesh(const Settings& settings);
 
     UpdateNavMeshStatus updateNavMesh(const osg::Vec3f& agentHalfExtents, const RecastMesh* recastMesh,
-        const TilePosition& changedTile, const TilePosition& playerTile, const Settings& settings,
+        const TilePosition& changedTile, const TilePosition& playerTile,
+        const std::vector<OffMeshConnection>& offMeshConnections, const Settings& settings,
         NavMeshCacheItem& navMeshCacheItem);
 }
 
diff --git a/components/detournavigator/navigator.cpp b/components/detournavigator/navigator.cpp
index 359a9a316e..1c232a17c5 100644
--- a/components/detournavigator/navigator.cpp
+++ b/components/detournavigator/navigator.cpp
@@ -47,6 +47,20 @@ namespace DetourNavigator
         return result;
     }
 
+    bool Navigator::addObject(std::size_t id, const DoorShapes& shapes, const btTransform& transform)
+    {
+        if (addObject(id, static_cast<const ObjectShapes&>(shapes), transform))
+        {
+            mNavMeshManager.addOffMeshConnection(
+                id,
+                toNavMeshCoordinates(mSettings, shapes.mConnectionStart),
+                toNavMeshCoordinates(mSettings, shapes.mConnectionEnd)
+            );
+            return true;
+        }
+        return false;
+    }
+
     bool Navigator::updateObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform)
     {
         return mNavMeshManager.updateObject(id, shape, transform, AreaType_ground);
@@ -67,6 +81,11 @@ namespace DetourNavigator
         return result;
     }
 
+    bool Navigator::updateObject(std::size_t id, const DoorShapes& shapes, const btTransform& transform)
+    {
+        return updateObject(id, static_cast<const ObjectShapes&>(shapes), transform);
+    }
+
     bool Navigator::removeObject(std::size_t id)
     {
         bool result = mNavMeshManager.removeObject(id);
@@ -76,6 +95,7 @@ namespace DetourNavigator
         const auto water = mWaterIds.find(id);
         if (water != mWaterIds.end())
             result = mNavMeshManager.removeObject(water->second) || result;
+        mNavMeshManager.removeOffMeshConnection(id);
         return result;
     }
 
diff --git a/components/detournavigator/navigator.hpp b/components/detournavigator/navigator.hpp
index 3e60d72e02..e33f7c4abf 100644
--- a/components/detournavigator/navigator.hpp
+++ b/components/detournavigator/navigator.hpp
@@ -19,6 +19,19 @@ namespace DetourNavigator
         {}
     };
 
+    struct DoorShapes : ObjectShapes
+    {
+        osg::Vec3f mConnectionStart;
+        osg::Vec3f mConnectionEnd;
+
+        DoorShapes(const btCollisionShape& shape, const btCollisionShape* avoid,
+                   const osg::Vec3f& connectionStart,const osg::Vec3f& connectionEnd)
+            : ObjectShapes(shape, avoid)
+            , mConnectionStart(connectionStart)
+            , mConnectionEnd(connectionEnd)
+        {}
+    };
+
     class Navigator
     {
     public:
@@ -32,10 +45,14 @@ namespace DetourNavigator
 
         bool addObject(std::size_t id, const ObjectShapes& shapes, const btTransform& transform);
 
+        bool addObject(std::size_t id, const DoorShapes& shapes, const btTransform& transform);
+
         bool updateObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform);
 
         bool updateObject(std::size_t id, const ObjectShapes& shapes, const btTransform& transform);
 
+        bool updateObject(std::size_t id, const DoorShapes& shapes, const btTransform& transform);
+
         bool removeObject(std::size_t id);
 
         bool addWater(const osg::Vec2i& cellPosition, const int cellSize, const btScalar level,
diff --git a/components/detournavigator/navmeshmanager.cpp b/components/detournavigator/navmeshmanager.cpp
index bfca44f794..07df5c7af3 100644
--- a/components/detournavigator/navmeshmanager.cpp
+++ b/components/detournavigator/navmeshmanager.cpp
@@ -28,7 +28,8 @@ namespace DetourNavigator
     NavMeshManager::NavMeshManager(const Settings& settings)
         : mSettings(settings)
         , mRecastMeshManager(settings)
-        , mAsyncNavMeshUpdater(settings, mRecastMeshManager)
+        , mOffMeshConnectionsManager(settings)
+        , mAsyncNavMeshUpdater(settings, mRecastMeshManager, mOffMeshConnectionsManager)
     {}
 
     bool NavMeshManager::addObject(std::size_t id, const btCollisionShape& shape, const btTransform& transform,
@@ -90,6 +91,34 @@ namespace DetourNavigator
         mCache.erase(agentHalfExtents);
     }
 
+    void NavMeshManager::addOffMeshConnection(std::size_t id, const osg::Vec3f& start, const osg::Vec3f& end)
+    {
+        if (!mOffMeshConnectionsManager.add(id, OffMeshConnection {start, end}))
+            return;
+
+        const auto startTilePosition = getTilePosition(mSettings, start);
+        const auto endTilePosition = getTilePosition(mSettings, end);
+
+        addChangedTile(startTilePosition, ChangeType::add);
+
+        if (startTilePosition != endTilePosition)
+            addChangedTile(endTilePosition, ChangeType::add);
+    }
+
+    void NavMeshManager::removeOffMeshConnection(std::size_t id)
+    {
+        if (const auto connection = mOffMeshConnectionsManager.remove(id))
+        {
+            const auto startTilePosition = getTilePosition(mSettings, connection->mStart);
+            const auto endTilePosition = getTilePosition(mSettings, connection->mEnd);
+
+            addChangedTile(startTilePosition, ChangeType::remove);
+
+            if (startTilePosition != endTilePosition)
+                addChangedTile(endTilePosition, ChangeType::remove);
+        }
+    }
+
     void NavMeshManager::update(osg::Vec3f playerPosition, const osg::Vec3f& agentHalfExtents)
     {
         const auto playerTile = getTilePosition(mSettings, toNavMeshCoordinates(mSettings, playerPosition));
diff --git a/components/detournavigator/navmeshmanager.hpp b/components/detournavigator/navmeshmanager.hpp
index 6636402bf0..acec44eb9e 100644
--- a/components/detournavigator/navmeshmanager.hpp
+++ b/components/detournavigator/navmeshmanager.hpp
@@ -3,6 +3,7 @@
 
 #include "asyncnavmeshupdater.hpp"
 #include "cachedrecastmeshmanager.hpp"
+#include "offmeshconnectionsmanager.hpp"
 #include "sharednavmesh.hpp"
 
 #include <BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h>
@@ -37,6 +38,10 @@ namespace DetourNavigator
 
         void reset(const osg::Vec3f& agentHalfExtents);
 
+        void addOffMeshConnection(std::size_t id, const osg::Vec3f& start, const osg::Vec3f& end);
+
+        void removeOffMeshConnection(std::size_t id);
+
         void update(osg::Vec3f playerPosition, const osg::Vec3f& agentHalfExtents);
 
         void wait();
@@ -48,6 +53,7 @@ namespace DetourNavigator
     private:
         const Settings& mSettings;
         TileCachedRecastMeshManager mRecastMeshManager;
+        OffMeshConnectionsManager mOffMeshConnectionsManager;
         std::map<osg::Vec3f, std::shared_ptr<NavMeshCacheItem>> mCache;
         std::map<osg::Vec3f, std::map<TilePosition, ChangeType>> mChangedTiles;
         AsyncNavMeshUpdater mAsyncNavMeshUpdater;
diff --git a/components/detournavigator/offmeshconnectionsmanager.hpp b/components/detournavigator/offmeshconnectionsmanager.hpp
new file mode 100644
index 0000000000..0b8f2010b9
--- /dev/null
+++ b/components/detournavigator/offmeshconnectionsmanager.hpp
@@ -0,0 +1,112 @@
+#ifndef OPENMW_COMPONENTS_DETOURNAVIGATOR_OFFMESHCONNECTIONSMANAGER_H
+#define OPENMW_COMPONENTS_DETOURNAVIGATOR_OFFMESHCONNECTIONSMANAGER_H
+
+#include "settings.hpp"
+#include "settingsutils.hpp"
+#include "tileposition.hpp"
+
+#include <osg/Vec3f>
+
+#include <boost/optional.hpp>
+
+#include <map>
+#include <mutex>
+#include <unordered_map>
+#include <unordered_set>
+#include <vector>
+
+namespace DetourNavigator
+{
+    struct OffMeshConnection
+    {
+        osg::Vec3f mStart;
+        osg::Vec3f mEnd;
+    };
+
+    class OffMeshConnectionsManager
+    {
+    public:
+        OffMeshConnectionsManager(const Settings& settings)
+            : mSettings(settings)
+        {}
+
+        bool add(const std::size_t id, const OffMeshConnection& value)
+        {
+            const std::lock_guard<std::mutex> lock(mMutex);
+
+            if (!mValuesById.insert(std::make_pair(id, value)).second)
+                return false;
+
+            const auto startTilePosition = getTilePosition(mSettings, value.mStart);
+            const auto endTilePosition = getTilePosition(mSettings, value.mEnd);
+
+            mValuesByTilePosition[startTilePosition].insert(id);
+
+            if (startTilePosition != endTilePosition)
+                mValuesByTilePosition[endTilePosition].insert(id);
+
+            return true;
+        }
+
+        boost::optional<OffMeshConnection> remove(const std::size_t id)
+        {
+            const std::lock_guard<std::mutex> lock(mMutex);
+
+            const auto itById = mValuesById.find(id);
+
+            if (itById == mValuesById.end())
+                return boost::none;
+
+            const auto result = itById->second;
+
+            mValuesById.erase(itById);
+
+            const auto startTilePosition = getTilePosition(mSettings, result.mStart);
+            const auto endTilePosition = getTilePosition(mSettings, result.mEnd);
+
+            removeByTilePosition(startTilePosition, id);
+
+            if (startTilePosition != endTilePosition)
+                removeByTilePosition(endTilePosition, id);
+
+            return result;
+        }
+
+        std::vector<OffMeshConnection> get(const TilePosition& tilePosition)
+        {
+            std::vector<OffMeshConnection> result;
+
+            const std::lock_guard<std::mutex> lock(mMutex);
+
+            const auto itByTilePosition = mValuesByTilePosition.find(tilePosition);
+
+            if (itByTilePosition == mValuesByTilePosition.end())
+                return result;
+
+            std::for_each(itByTilePosition->second.begin(), itByTilePosition->second.end(),
+                [&] (const std::size_t v)
+                {
+                    const auto itById = mValuesById.find(v);
+                    if (itById != mValuesById.end())
+                        result.push_back(itById->second);
+                });
+
+            return result;
+        }
+
+    private:
+        const Settings& mSettings;
+        std::mutex mMutex;
+        std::unordered_map<std::size_t, OffMeshConnection> mValuesById;
+        std::map<TilePosition, std::unordered_set<std::size_t>> mValuesByTilePosition;
+
+        void removeByTilePosition(const TilePosition& tilePosition, const std::size_t id)
+        {
+            const auto it = mValuesByTilePosition.find(tilePosition);
+            if (it != mValuesByTilePosition.end())
+                it->second.erase(id);
+        }
+    };
+}
+
+#endif