diff --git a/pkgs/development/libraries/collada-dom/default.nix b/pkgs/development/libraries/collada-dom/default.nix
new file mode 100644
index 000000000000..1cb5c4853969
--- /dev/null
+++ b/pkgs/development/libraries/collada-dom/default.nix
@@ -0,0 +1,35 @@
+{ stdenv, lib, fetchFromGitHub, cmake, boost, libxml2, minizip, readline }:
+
+stdenv.mkDerivation {
+  pname = "collada-dom";
+  version = "unstable-2020-01-03";
+
+  src = fetchFromGitHub {
+    owner = "rdiankov";
+    repo = "collada-dom";
+    rev = "c1e20b7d6ff806237030fe82f126cb86d661f063";
+    sha256 = "sha256-A1ne/D6S0shwCzb9spd1MoSt/238HWA8dvgd+DC9cXc=";
+  };
+
+  postInstall = ''
+    chmod +w -R $out
+    ln -s $out/include/*/* $out/include
+  '';
+
+  nativeBuildInputs = [ cmake ];
+
+  buildInputs = [
+    boost
+    libxml2
+    minizip
+    readline
+  ];
+
+  meta = with lib; {
+    description = "Lightweight version of collada-dom, with only the parser.";
+    homepage = "https://github.com/rdiankov/collada-dom";
+    license = licenses.mit;
+    maintainers = with maintainers; [ marius851000 ];
+    platforms = platforms.all;
+  };
+}
diff --git a/pkgs/development/libraries/openscenegraph/default.nix b/pkgs/development/libraries/openscenegraph/default.nix
index 6b446882ba13..6ed7d846de20 100644
--- a/pkgs/development/libraries/openscenegraph/default.nix
+++ b/pkgs/development/libraries/openscenegraph/default.nix
@@ -2,6 +2,7 @@
   libX11, libXinerama, libXrandr, libGLU, libGL,
   glib, ilmbase, libxml2, pcre, zlib,
   AGL, Carbon, Cocoa, Foundation,
+  boost,
   jpegSupport ? true, libjpeg,
   exrSupport ? false, openexr,
   gifSupport ? true, giflib,
@@ -9,7 +10,7 @@
   tiffSupport ? true, libtiff,
   gdalSupport ? false, gdal,
   curlSupport ? true, curl,
-  colladaSupport ? false, opencollada,
+  colladaSupport ? false, collada-dom,
   opencascadeSupport ? false, opencascade,
   ffmpegSupport ? false, ffmpeg,
   nvttSupport ? false, nvidia-texture-tools,
@@ -20,7 +21,7 @@
   lasSupport ? false, libLAS,
   luaSupport ? false, lua,
   sdlSupport ? false, SDL2,
-  restSupport ? false, asio, boost,
+  restSupport ? false, asio,
   withApps ? false,
   withExamples ? false, fltk, wxGTK,
 }:
@@ -48,7 +49,7 @@ stdenv.mkDerivation rec {
     ++ lib.optional tiffSupport libtiff
     ++ lib.optional gdalSupport gdal
     ++ lib.optional curlSupport curl
-    ++ lib.optional colladaSupport opencollada
+    ++ lib.optional colladaSupport collada-dom
     ++ lib.optional opencascadeSupport opencascade
     ++ lib.optional ffmpegSupport ffmpeg
     ++ lib.optional nvttSupport nvidia-texture-tools
@@ -59,9 +60,10 @@ stdenv.mkDerivation rec {
     ++ lib.optional lasSupport libLAS
     ++ lib.optional luaSupport lua
     ++ lib.optional sdlSupport SDL2
-    ++ lib.optionals restSupport [ asio boost ]
+    ++ lib.optional restSupport asio
     ++ lib.optionals withExamples [ fltk wxGTK ]
     ++ lib.optionals stdenv.isDarwin [ AGL Carbon Cocoa Foundation ]
+    ++ lib.optional (restSupport || colladaSupport) boost
   ;
 
   cmakeFlags = lib.optional (!withApps) "-DBUILD_OSG_APPLICATIONS=OFF" ++ lib.optional withExamples "-DBUILD_OSG_EXAMPLES=ON";
diff --git a/pkgs/development/libraries/recastnavigation/default.nix b/pkgs/development/libraries/recastnavigation/default.nix
new file mode 100644
index 000000000000..d39d1a713219
--- /dev/null
+++ b/pkgs/development/libraries/recastnavigation/default.nix
@@ -0,0 +1,27 @@
+{ stdenv, lib, fetchFromGitHub, cmake, libGL, SDL2, libGLU }:
+
+stdenv.mkDerivation rec {
+  pname = "recastai";
+  # use latest revision for the CMake build process and OpenMW
+  # OpenMW use e75adf86f91eb3082220085e42dda62679f9a3ea
+  version = "unstable-2021-03-05";
+
+  src = fetchFromGitHub {
+    owner = "recastnavigation";
+    repo = "recastnavigation";
+    rev = "c5cbd53024c8a9d8d097a4371215e3342d2fdc87";
+    sha256 = "sha256-QP3lMMFR6fiKQTksAkRL6X9yaoVz2xt4QSIP9g6piww=";
+  };
+
+  nativeBuildInputs = [ cmake ];
+
+  buildInputs = [ libGL SDL2 libGLU ];
+
+  meta = with lib; {
+    homepage = "https://github.com/recastnavigation/recastnavigation";
+    description = "Navigation-mesh Toolset for Games";
+    license = licenses.zlib;
+    maintainers = with maintainers; [ marius851000 ];
+    platforms = platforms.all;
+  };
+}
diff --git a/pkgs/games/openmw/default.nix b/pkgs/games/openmw/default.nix
index cfde63ac7264..edc8147a2b77 100644
--- a/pkgs/games/openmw/default.nix
+++ b/pkgs/games/openmw/default.nix
@@ -13,29 +13,46 @@
 , unshield
 , openal
 , libXt
+, lz4
+, recastnavigation
 }:
 
 let
-  openscenegraph_ = openscenegraph.overrideDerivation (self: {
+  openscenegraph_openmw = (openscenegraph.override { colladaSupport = true; })
+    .overrideDerivation (self: {
+      src = fetchFromGitHub {
+        owner = "OpenMW";
+        repo = "osg";
+        rev = "bbe61c3bc510a4f5bb4aea21cce506519c2d24e6";
+        sha256 = "sha256-t3smLqstp7wWfi9HXJoBCek+3acqt/ySBYF8RJOG6Mo=";
+      };
+    });
+
+  bullet_openmw = bullet.overrideDerivation (old: rec {
+    version = "3.17";
     src = fetchFromGitHub {
-      owner = "OpenMW";
-      repo = "osg";
-      # commit does not exist on any branch on the target repository
-      rev = "1556cd7966ebc1c80b6626988d2b25fb43a744cf";
-      sha256 = "0d74hijzmj82nx3jkv5qmr3pkgvplra0b8fbjx1y3vmzxamb0axd";
+      owner = "bulletphysics";
+      repo = "bullet3";
+      rev = version;
+      sha256 = "sha256-uQ4X8F8nmagbcFh0KexrmnhHIXFSB3A1CCnjPVeHL3Q=";
     };
+    patches = [];
+    cmakeFlags = (old.cmakeFlags or []) ++ [
+      "-DUSE_DOUBLE_PRECISION=ON"
+      "-DBULLET2_MULTITHREADING=ON"
+    ];
   });
 
 in
 mkDerivation rec {
-  version = "0.46.0";
   pname = "openmw";
+  version = "0.47.0";
 
   src = fetchFromGitHub {
     owner = "OpenMW";
     repo = "openmw";
     rev = "${pname}-${version}";
-    sha256 = "0rm32zsmxvr6b0jjihfj543skhicbw5kg6shjx312clhlm035w2x";
+    sha256 = "sha256-Xq9hDUTCQr79Zzjk0CsiXclVTHK6nrSowukIQqVdrKY=";
   };
 
   nativeBuildInputs = [ cmake pkg-config wrapQtAppsHook ];
@@ -43,26 +60,28 @@ mkDerivation rec {
   buildInputs = [
     SDL2
     boost
-    bullet
+    bullet_openmw
     ffmpeg
     libXt
     mygui
     openal
-    openscenegraph_
+    openscenegraph_openmw
     unshield
+    lz4
+    recastnavigation
   ];
 
   cmakeFlags = [
-    "-DDESIRED_QT_VERSION:INT=5"
     # as of 0.46, openmw is broken with GLVND
     "-DOpenGL_GL_PREFERENCE=LEGACY"
+    "-DOPENMW_USE_SYSTEM_RECASTNAVIGATION=1"
   ];
 
   meta = with lib; {
     description = "An unofficial open source engine reimplementation of the game Morrowind";
-    homepage = "http://openmw.org";
+    homepage = "https://openmw.org";
     license = licenses.gpl3Plus;
-    maintainers = with maintainers; [ abbradar ];
+    maintainers = with maintainers; [ abbradar marius851000 ];
     platforms = platforms.linux;
   };
 }
diff --git a/pkgs/games/openmw/tes3mp.nix b/pkgs/games/openmw/tes3mp.nix
index 72b698ceb730..37ad603d7cf5 100644
--- a/pkgs/games/openmw/tes3mp.nix
+++ b/pkgs/games/openmw/tes3mp.nix
@@ -9,6 +9,7 @@
 , symlinkJoin
 , mygui
 , crudini
+, bullet
 }:
 
 # revisions are taken from https://github.com/GrimKriegor/TES3MP-deploy
@@ -70,7 +71,8 @@ let
 
     nativeBuildInputs = oldAttrs.nativeBuildInputs ++ [ makeWrapper ];
 
-    buildInputs = oldAttrs.buildInputs ++ [ luajit ];
+    buildInputs = (builtins.map (x: if x.pname or "" == "bullet" then bullet else x) oldAttrs.buildInputs)
+      ++ [ luajit ];
 
     cmakeFlags = oldAttrs.cmakeFlags ++ [
       "-DBUILD_OPENCS=OFF"
@@ -79,6 +81,11 @@ let
       "-DRakNet_LIBRARY_DEBUG=${raknet}/lib/libRakNetLibStatic.a"
     ];
 
+    prePatch = ''
+      substituteInPlace components/process/processinvoker.cpp \
+        --replace "\"./\"" "\"$out/bin/\""
+    '';
+
     # https://github.com/TES3MP/openmw-tes3mp/issues/552
     patches = [ ./tes3mp.patch ];
 
diff --git a/pkgs/top-level/all-packages.nix b/pkgs/top-level/all-packages.nix
index ab07fff7e6c1..300f713caf0a 100644
--- a/pkgs/top-level/all-packages.nix
+++ b/pkgs/top-level/all-packages.nix
@@ -15839,6 +15839,8 @@ with pkgs;
 
   cointop = callPackage ../applications/misc/cointop { };
 
+  collada-dom = callPackage ../development/libraries/collada-dom { };
+
   cog = callPackage ../development/web/cog { };
 
   cosmopolitan = callPackage ../development/libraries/cosmopolitan { };
@@ -19229,6 +19231,8 @@ with pkgs;
 
   readosm = callPackage ../development/libraries/readosm { };
 
+  recastnavigation = callPackage ../development/libraries/recastnavigation { };
+
   rinutils = callPackage ../development/libraries/rinutils { };
 
   kissfft = callPackage ../development/libraries/kissfft { };