Index: source/simulation2/helpers/Pathfinding.h
===================================================================
--- source/simulation2/helpers/Pathfinding.h
+++ source/simulation2/helpers/Pathfinding.h
@@ -142,6 +142,11 @@
 	const int NAVCELLS_PER_TILE = 4;
 
 	/**
+	 * A modifier in calculating the position of outer box points for static obstructions.
+	 */
+	const fixed STATIC_OBSTRUCTION_OUTER_PATH_MODIFIER = fixed::FromFloat(6.0f);
+
+	/**
 	 * Size of a navcell in metres ( = TERRAIN_TILE_SIZE / NAVCELLS_PER_TILE)
 	 */
 	const fixed NAVCELL_SIZE = fixed::FromInt((int)TERRAIN_TILE_SIZE) / Pathfinding::NAVCELLS_PER_TILE;
Index: source/simulation2/helpers/VertexPathfinder.cpp
===================================================================
--- source/simulation2/helpers/VertexPathfinder.cpp
+++ source/simulation2/helpers/VertexPathfinder.cpp
@@ -555,6 +555,9 @@
 
 	entity_pos_t pathfindClearance = request.clearance;
 
+	// Outer path clearance buffer
+	fixed pathOuterClearance = request.clearance.Multiply(Pathfinding::STATIC_OBSTRUCTION_OUTER_PATH_MODIFIER);
+
 	// Convert each obstruction square into collision edges and search graph vertexes
 	for (size_t i = 0; i < squares.size(); ++i)
 	{
@@ -568,8 +571,11 @@
 		// Expand the vertexes by the moving unit's collision radius, to find the
 		// closest we can get to it
 
-		CFixedVector2D hd0(squares[i].hw + pathfindClearance + EDGE_EXPAND_DELTA,   squares[i].hh + pathfindClearance + EDGE_EXPAND_DELTA);
-		CFixedVector2D hd1(squares[i].hw + pathfindClearance + EDGE_EXPAND_DELTA, -(squares[i].hh + pathfindClearance + EDGE_EXPAND_DELTA));
+		fixed expansionW = squares[i].hw + EDGE_EXPAND_DELTA;
+		fixed expansionH = squares[i].hh + EDGE_EXPAND_DELTA;
+
+		CFixedVector2D hd0(expansionW + pathfindClearance, expansionH + pathfindClearance);
+		CFixedVector2D hd1(expansionW + pathfindClearance, -(expansionH + pathfindClearance));
 
 		// Check whether this is an axis-aligned square
 		bool aa = (u.X == fixed::FromInt(1) && u.Y == fixed::Zero() && v.X == fixed::Zero() && v.Y == fixed::FromInt(1));
@@ -578,26 +584,67 @@
 		vert.status = Vertex::UNEXPLORED;
 		vert.quadInward = QUADRANT_NONE;
 		vert.quadOutward = QUADRANT_ALL;
+
+		// Create new vectors for outer corners of the current square
+		// Note the extra condition (i >= staticShapesNb); it 'should'
+		// result in less conditional checks when false.
 		vert.p.X = center.X - hd0.Dot(u); vert.p.Y = center.Y + hd0.Dot(v); if (aa) vert.quadInward = QUADRANT_BR; m_Vertexes.push_back(vert);
-		if (vert.p.X < rangeXMin) rangeXMin = vert.p.X;
-		if (vert.p.Y < rangeZMin) rangeZMin = vert.p.Y;
-		if (vert.p.X > rangeXMax) rangeXMax = vert.p.X;
-		if (vert.p.Y > rangeZMax) rangeZMax = vert.p.Y;
+		if (i >= staticShapesNb){
+			if (vert.p.X < rangeXMin) rangeXMin = vert.p.X;
+			if (vert.p.Y < rangeZMin) rangeZMin = vert.p.Y;
+			if (vert.p.X > rangeXMax) rangeXMax = vert.p.X;
+			if (vert.p.Y > rangeZMax) rangeZMax = vert.p.Y;
+		}
 		vert.p.X = center.X - hd1.Dot(u); vert.p.Y = center.Y + hd1.Dot(v); if (aa) vert.quadInward = QUADRANT_TR; m_Vertexes.push_back(vert);
-		if (vert.p.X < rangeXMin) rangeXMin = vert.p.X;
-		if (vert.p.Y < rangeZMin) rangeZMin = vert.p.Y;
-		if (vert.p.X > rangeXMax) rangeXMax = vert.p.X;
-		if (vert.p.Y > rangeZMax) rangeZMax = vert.p.Y;
+		if (i >= staticShapesNb){
+			if (vert.p.X < rangeXMin) rangeXMin = vert.p.X;
+			if (vert.p.Y < rangeZMin) rangeZMin = vert.p.Y;
+			if (vert.p.X > rangeXMax) rangeXMax = vert.p.X;
+			if (vert.p.Y > rangeZMax) rangeZMax = vert.p.Y;
+		}
 		vert.p.X = center.X + hd0.Dot(u); vert.p.Y = center.Y - hd0.Dot(v); if (aa) vert.quadInward = QUADRANT_TL; m_Vertexes.push_back(vert);
-		if (vert.p.X < rangeXMin) rangeXMin = vert.p.X;
-		if (vert.p.Y < rangeZMin) rangeZMin = vert.p.Y;
-		if (vert.p.X > rangeXMax) rangeXMax = vert.p.X;
-		if (vert.p.Y > rangeZMax) rangeZMax = vert.p.Y;
+		if (i >= staticShapesNb){
+			if (vert.p.X < rangeXMin) rangeXMin = vert.p.X;
+			if (vert.p.Y < rangeZMin) rangeZMin = vert.p.Y;
+			if (vert.p.X > rangeXMax) rangeXMax = vert.p.X;
+			if (vert.p.Y > rangeZMax) rangeZMax = vert.p.Y;
+		}
 		vert.p.X = center.X + hd1.Dot(u); vert.p.Y = center.Y - hd1.Dot(v); if (aa) vert.quadInward = QUADRANT_BL; m_Vertexes.push_back(vert);
-		if (vert.p.X < rangeXMin) rangeXMin = vert.p.X;
-		if (vert.p.Y < rangeZMin) rangeZMin = vert.p.Y;
-		if (vert.p.X > rangeXMax) rangeXMax = vert.p.X;
-		if (vert.p.Y > rangeZMax) rangeZMax = vert.p.Y;
+		if (i >= staticShapesNb){
+			if (vert.p.X < rangeXMin) rangeXMin = vert.p.X;
+			if (vert.p.Y < rangeZMin) rangeZMin = vert.p.Y;
+			if (vert.p.X > rangeXMax) rangeXMax = vert.p.X;
+			if (vert.p.Y > rangeZMax) rangeZMax = vert.p.Y;
+		}
+
+		// Additionally, compute the outer corner vertices
+		if (i < staticShapesNb)
+		{
+			CFixedVector2D hd0Outer(expansionW + pathOuterClearance, expansionH + pathOuterClearance);
+			CFixedVector2D hd1Outer(expansionW + pathOuterClearance, -(expansionH + pathOuterClearance));
+
+			vert.p.X = center.X - hd0Outer.Dot(u); vert.p.Y = center.Y + hd0Outer.Dot(v); if (aa) vert.quadInward = QUADRANT_BR; m_Vertexes.push_back(vert);
+			if (vert.p.X < rangeXMin) rangeXMin = vert.p.X;
+			if (vert.p.Y < rangeZMin) rangeZMin = vert.p.Y;
+			if (vert.p.X > rangeXMax) rangeXMax = vert.p.X;
+			if (vert.p.Y > rangeZMax) rangeZMax = vert.p.Y;
+			vert.p.X = center.X - hd1Outer.Dot(u); vert.p.Y = center.Y + hd1Outer.Dot(v); if (aa) vert.quadInward = QUADRANT_TR; m_Vertexes.push_back(vert);
+			if (vert.p.X < rangeXMin) rangeXMin = vert.p.X;
+			if (vert.p.Y < rangeZMin) rangeZMin = vert.p.Y;
+			if (vert.p.X > rangeXMax) rangeXMax = vert.p.X;
+			if (vert.p.Y > rangeZMax) rangeZMax = vert.p.Y;
+			vert.p.X = center.X + hd0Outer.Dot(u); vert.p.Y = center.Y - hd0Outer.Dot(v); if (aa) vert.quadInward = QUADRANT_TL; m_Vertexes.push_back(vert);
+			if (vert.p.X < rangeXMin) rangeXMin = vert.p.X;
+			if (vert.p.Y < rangeZMin) rangeZMin = vert.p.Y;
+			if (vert.p.X > rangeXMax) rangeXMax = vert.p.X;
+			if (vert.p.Y > rangeZMax) rangeZMax = vert.p.Y;
+			vert.p.X = center.X + hd1Outer.Dot(u); vert.p.Y = center.Y - hd1Outer.Dot(v); if (aa) vert.quadInward = QUADRANT_BL; m_Vertexes.push_back(vert);
+			if (vert.p.X < rangeXMin) rangeXMin = vert.p.X;
+			if (vert.p.Y < rangeZMin) rangeZMin = vert.p.Y;
+			if (vert.p.X > rangeXMax) rangeXMax = vert.p.X;
+			if (vert.p.Y > rangeZMax) rangeZMax = vert.p.Y;
+		}
+
 
 		// Add the edges: