diff --git a/src/DotRecast.Detour/PathUtils.cs b/src/DotRecast.Detour/PathUtils.cs
index d6479ce..034534d 100644
--- a/src/DotRecast.Detour/PathUtils.cs
+++ b/src/DotRecast.Detour/PathUtils.cs
@@ -28,24 +28,21 @@ namespace DotRecast.Detour
     {
         private const int MAX_STEER_POINTS = 3;
 
-
-        public static SteerTarget GetSteerTarget(DtNavMeshQuery navQuery, RcVec3f startPos, RcVec3f endPos,
-            float minTargetDist, List<long> path)
+        public static bool GetSteerTarget(DtNavMeshQuery navQuery, RcVec3f startPos, RcVec3f endPos,
+            float minTargetDist,
+            List<long> path,
+            out RcVec3f steerPos, out int steerPosFlag, out long steerPosRef)
         {
+            steerPos = RcVec3f.Zero;
+            steerPosFlag = 0;
+            steerPosRef = 0;
+
             // Find steer target.
             var straightPath = new List<StraightPathItem>();
             var result = navQuery.FindStraightPath(startPos, endPos, path, ref straightPath, MAX_STEER_POINTS, 0);
             if (result.Failed())
             {
-                return null;
-            }
-
-            float[] steerPoints = new float[straightPath.Count * 3];
-            for (int i = 0; i < straightPath.Count; i++)
-            {
-                steerPoints[i * 3] = straightPath[i].GetPos().x;
-                steerPoints[i * 3 + 1] = straightPath[i].GetPos().y;
-                steerPoints[i * 3 + 2] = straightPath[i].GetPos().z;
+                return false;
             }
 
             // Find vertex far enough to steer to.
@@ -53,26 +50,22 @@ namespace DotRecast.Detour
             while (ns < straightPath.Count)
             {
                 // Stop at Off-Mesh link or when point is further than slop away.
-                if (((straightPath[ns].GetFlags() & DtNavMeshQuery.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0)
-                    || !InRange(straightPath[ns].GetPos(), startPos, minTargetDist, 1000.0f))
+                if (((straightPath[ns].flags & DtNavMeshQuery.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0)
+                    || !InRange(straightPath[ns].pos, startPos, minTargetDist, 1000.0f))
                     break;
                 ns++;
             }
 
             // Failed to find good point to steer to.
             if (ns >= straightPath.Count)
-                return null;
+                return false;
 
-            RcVec3f steerPos = RcVec3f.Of(
-                straightPath[ns].GetPos().x,
-                startPos.y,
-                straightPath[ns].GetPos().z
-            );
-            int steerPosFlag = straightPath[ns].GetFlags();
-            long steerPosRef = straightPath[ns].GetRef();
+            steerPos = straightPath[ns].pos;
+            steerPos.y = startPos.y;
+            steerPosFlag = straightPath[ns].flags;
+            steerPosRef = straightPath[ns].refs;
 
-            SteerTarget target = new SteerTarget(steerPos, steerPosFlag, steerPosRef, steerPoints);
-            return target;
+            return true;
         }
 
         public static bool InRange(RcVec3f v1, RcVec3f v2, float r, float h)
diff --git a/src/DotRecast.Detour/SteerTarget.cs b/src/DotRecast.Detour/SteerTarget.cs
deleted file mode 100644
index 39edf60..0000000
--- a/src/DotRecast.Detour/SteerTarget.cs
+++ /dev/null
@@ -1,20 +0,0 @@
-using DotRecast.Core;
-
-namespace DotRecast.Detour
-{
-    public class SteerTarget
-    {
-        public readonly RcVec3f steerPos;
-        public readonly int steerPosFlag;
-        public readonly long steerPosRef;
-        public readonly float[] steerPoints;
-
-        public SteerTarget(RcVec3f steerPos, int steerPosFlag, long steerPosRef, float[] steerPoints)
-        {
-            this.steerPos = steerPos;
-            this.steerPosFlag = steerPosFlag;
-            this.steerPosRef = steerPosRef;
-            this.steerPoints = steerPoints;
-        }
-    }
-}
\ No newline at end of file
diff --git a/src/DotRecast.Recast.DemoTool/Tools/TestNavmeshToolImpl.cs b/src/DotRecast.Recast.DemoTool/Tools/TestNavmeshToolImpl.cs
index 4c012a6..2b78f80 100644
--- a/src/DotRecast.Recast.DemoTool/Tools/TestNavmeshToolImpl.cs
+++ b/src/DotRecast.Recast.DemoTool/Tools/TestNavmeshToolImpl.cs
@@ -67,22 +67,21 @@ namespace DotRecast.Recast.DemoTool.Tools
             while (0 < polys.Count && smoothPath.Count < MAX_SMOOTH)
             {
                 // Find location to steer towards.
-                SteerTarget steerTarget = PathUtils.GetSteerTarget(navQuery, iterPos, targetPos, SLOP, polys);
-                if (null == steerTarget)
+                if (!PathUtils.GetSteerTarget(navQuery, iterPos, targetPos, SLOP,
+                        polys, out var steerPos, out var steerPosFlag, out var steerPosRef))
                 {
                     break;
                 }
 
-                bool endOfPath = (steerTarget.steerPosFlag & DtNavMeshQuery.DT_STRAIGHTPATH_END) != 0
+                bool endOfPath = (steerPosFlag & DtNavMeshQuery.DT_STRAIGHTPATH_END) != 0
                     ? true
                     : false;
-                bool offMeshConnection = (steerTarget.steerPosFlag
-                                          & DtNavMeshQuery.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0
+                bool offMeshConnection = (steerPosFlag & DtNavMeshQuery.DT_STRAIGHTPATH_OFFMESH_CONNECTION) != 0
                     ? true
                     : false;
 
                 // Find movement delta.
-                RcVec3f delta = steerTarget.steerPos.Subtract(iterPos);
+                RcVec3f delta = steerPos.Subtract(iterPos);
                 float len = (float)Math.Sqrt(RcVec3f.Dot(delta, delta));
                 // If the steer target is end of path or off-mesh link, do not move past the location.
                 if ((endOfPath || offMeshConnection) && len < STEP_SIZE)
@@ -111,7 +110,7 @@ namespace DotRecast.Recast.DemoTool.Tools
                 }
 
                 // Handle end of path and off-mesh links when close enough.
-                if (endOfPath && PathUtils.InRange(iterPos, steerTarget.steerPos, SLOP, 1.0f))
+                if (endOfPath && PathUtils.InRange(iterPos, steerPos, SLOP, 1.0f))
                 {
                     // Reached end of path.
                     iterPos = targetPos;
@@ -122,7 +121,7 @@ namespace DotRecast.Recast.DemoTool.Tools
 
                     break;
                 }
-                else if (offMeshConnection && PathUtils.InRange(iterPos, steerTarget.steerPos, SLOP, 1.0f))
+                else if (offMeshConnection && PathUtils.InRange(iterPos, steerPos, SLOP, 1.0f))
                 {
                     // Reached off-mesh connection.
                     RcVec3f startPos = RcVec3f.Zero;
@@ -132,7 +131,7 @@ namespace DotRecast.Recast.DemoTool.Tools
                     long prevRef = 0;
                     long polyRef = polys[0];
                     int npos = 0;
-                    while (npos < polys.Count && polyRef != steerTarget.steerPosRef)
+                    while (npos < polys.Count && polyRef != steerPosRef)
                     {
                         prevRef = polyRef;
                         polyRef = polys[npos];
@@ -311,7 +310,7 @@ namespace DotRecast.Recast.DemoTool.Tools
             {
                 var status = navQuery.FindRandomPointAroundCircle(startRef, spos, dist, filter, frand, constraint,
                     out var randomRef, out var randomPt);
-                
+
                 if (status.Succeeded())
                 {
                     points.Add(randomPt);