diff --git a/src/DotRecast.Detour/DtNavMeshQuery.cs b/src/DotRecast.Detour/DtNavMeshQuery.cs
index 9eca19b..1c1ccae 100644
--- a/src/DotRecast.Detour/DtNavMeshQuery.cs
+++ b/src/DotRecast.Detour/DtNavMeshQuery.cs
@@ -21,6 +21,7 @@ freely, subject to the following restrictions:
 using System;
 using System.Collections.Generic;
 using System.Collections.Immutable;
+using System.Numerics;
 using DotRecast.Core;
 
 namespace DotRecast.Detour
@@ -1437,8 +1438,7 @@ namespace DotRecast.Detour
             if (straightPath.Count > 0 && DetourCommon.VEqual(straightPath[straightPath.Count - 1].pos, pos))
             {
                 // The vertices are equal, update flags and poly.
-                straightPath[straightPath.Count - 1].flags = flags;
-                straightPath[straightPath.Count - 1].refs = refs;
+                straightPath[straightPath.Count - 1] = new StraightPathItem(straightPath[straightPath.Count - 1].pos, flags, refs);
             }
             else
             {
diff --git a/src/DotRecast.Detour/PathUtils.cs b/src/DotRecast.Detour/PathUtils.cs
index 034534d..c46989f 100644
--- a/src/DotRecast.Detour/PathUtils.cs
+++ b/src/DotRecast.Detour/PathUtils.cs
@@ -38,7 +38,7 @@ namespace DotRecast.Detour
             steerPosRef = 0;
 
             // Find steer target.
-            var straightPath = new List<StraightPathItem>();
+            var straightPath = new List<StraightPathItem>(MAX_STEER_POINTS);
             var result = navQuery.FindStraightPath(startPos, endPos, path, ref straightPath, MAX_STEER_POINTS, 0);
             if (result.Failed())
             {
diff --git a/src/DotRecast.Detour/StraightPathItem.cs b/src/DotRecast.Detour/StraightPathItem.cs
index 3a6099b..d675bf4 100644
--- a/src/DotRecast.Detour/StraightPathItem.cs
+++ b/src/DotRecast.Detour/StraightPathItem.cs
@@ -23,11 +23,11 @@ using DotRecast.Core;
 namespace DotRecast.Detour
 {
     //TODO: (PP) Add comments
-    public class StraightPathItem
+    public readonly struct StraightPathItem
     {
-        public RcVec3f pos;
-        public int flags;
-        public long refs;
+        public readonly RcVec3f pos;
+        public readonly int flags;
+        public readonly long refs;
 
         public StraightPathItem(RcVec3f pos, int flags, long refs)
         {
diff --git a/src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs b/src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs
index 7bb1ab9..85330e0 100644
--- a/src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs
+++ b/src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs
@@ -809,6 +809,7 @@ public class TestNavmeshTool : IRcTool
                         }
                     }
 
+                    m_straightPath = new(MAX_POLYS);
                     m_navQuery.FindStraightPath(m_spos, epos, m_polys, ref m_straightPath, MAX_POLYS, DtNavMeshQuery.DT_STRAIGHTPATH_ALL_CROSSINGS);
                 }
 
diff --git a/src/DotRecast.Recast.DemoTool/Tools/TestNavmeshToolImpl.cs b/src/DotRecast.Recast.DemoTool/Tools/TestNavmeshToolImpl.cs
index 2b78f80..19da000 100644
--- a/src/DotRecast.Recast.DemoTool/Tools/TestNavmeshToolImpl.cs
+++ b/src/DotRecast.Recast.DemoTool/Tools/TestNavmeshToolImpl.cs
@@ -7,8 +7,8 @@ namespace DotRecast.Recast.DemoTool.Tools
 {
     public class TestNavmeshToolImpl : ISampleTool
     {
-        private const int MAX_POLYS = 256;
-        private const int MAX_SMOOTH = 2048;
+        public const int MAX_POLYS = 256;
+        public const int MAX_SMOOTH = 2048;
 
         private Sample _sample;
         private readonly TestNavmeshToolOption _option;