diff --git a/src/DotRecast.Detour.Crowd/DtPathCorridor.cs b/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
index 1f69989..36d1e85 100644
--- a/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
+++ b/src/DotRecast.Detour.Crowd/DtPathCorridor.cs
@@ -430,13 +430,13 @@ namespace DotRecast.Detour.Crowd
             if (status.Succeeded())
             {
                 m_path = MergeCorridorStartMoved(m_path, visited);
-                
+
                 // Adjust the position to stay on top of the navmesh.
                 m_pos = result;
-                Result<float> hr = navquery.GetPolyHeight(m_path[0], result);
-                if (hr.Succeeded())
+                status = navquery.GetPolyHeight(m_path[0], result, out var h);
+                if (status.Succeeded())
                 {
-                    m_pos.y = hr.result;
+                    m_pos.y = h;
                 }
 
                 return true;
diff --git a/src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs b/src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs
index 7eae0e4..fdaaa31 100644
--- a/src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs
+++ b/src/DotRecast.Detour.Extras/Jumplink/NavMeshGroundSampler.cs
@@ -50,13 +50,12 @@ namespace DotRecast.Detour.Extras.Jumplink
             RcAtomicFloat minHeight = new RcAtomicFloat(pt.y);
             navMeshQuery.QueryPolygons(pt, halfExtents, filter, new PolyQueryInvoker((tile, poly, refs) =>
             {
-                Result<float> h = navMeshQuery.GetPolyHeight(refs, pt);
-                if (h.Succeeded())
+                var status = navMeshQuery.GetPolyHeight(refs, pt, out var h);
+                if (status.Succeeded())
                 {
-                    float y = h.result;
-                    if (y > minHeight.Get() && y < maxHeight)
+                    if (h > minHeight.Get() && h < maxHeight)
                     {
-                        minHeight.Exchange(y);
+                        minHeight.Exchange(h);
                         found.Set(true);
                     }
                 }
diff --git a/src/DotRecast.Detour/DtNavMeshQuery.cs b/src/DotRecast.Detour/DtNavMeshQuery.cs
index 0d5fa0f..73e1c30 100644
--- a/src/DotRecast.Detour/DtNavMeshQuery.cs
+++ b/src/DotRecast.Detour/DtNavMeshQuery.cs
@@ -529,17 +529,19 @@ namespace DotRecast.Detour
         /// @param[in] pos A position within the xz-bounds of the polygon. [(x, y, z)]
         /// @param[out] height The height at the surface of the polygon.
         /// @returns The status flags for the query.
-        public Result<float> GetPolyHeight(long refs, RcVec3f pos)
+        public DtStatus GetPolyHeight(long refs, RcVec3f pos, out float height)
         {
+            height = default;
+            
             var status = m_nav.GetTileAndPolyByRef(refs, out var tile, out var poly);
             if (status.Failed())
             {
-                return Results.Of<float>(status, "");
+                return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
             }
 
             if (!RcVec3f.IsFinite2D(pos))
             {
-                return Results.InvalidParam<float>();
+                return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
             }
 
             // We used to return success for offmesh connections, but the
@@ -551,12 +553,18 @@ namespace DotRecast.Detour
                 var v0 = new RcVec3f { x = tile.data.verts[i], y = tile.data.verts[i + 1], z = tile.data.verts[i + 2] };
                 i = poly.verts[1] * 3;
                 var v1 = new RcVec3f { x = tile.data.verts[i], y = tile.data.verts[i + 1], z = tile.data.verts[i + 2] };
-                var distSqr = DetourCommon.DistancePtSegSqr2D(pos, v0, v1, out var tseg);
-                return Results.Success(v0.y + (v1.y - v0.y) * tseg);
+                DetourCommon.DistancePtSegSqr2D(pos, v0, v1, out var t);
+                height = v0.y + (v1.y - v0.y) * t;
+                
+                return DtStatus.DT_SUCCSESS;
             }
 
-            float? height = m_nav.GetPolyHeight(tile, poly, pos);
-            return null != height ? Results.Success(height.Value) : Results.InvalidParam<float>();
+            float? h = m_nav.GetPolyHeight(tile, poly, pos);
+            if (!h.HasValue)
+                return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
+
+            height = h.Value;
+            return DtStatus.DT_SUCCSESS;
         }
 
         /// Finds the polygon nearest to the specified center point.
diff --git a/src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs b/src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs
index 91c868b..7f74906 100644
--- a/src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs
+++ b/src/DotRecast.Recast.Demo/Tools/TestNavmeshTool.cs
@@ -247,10 +247,10 @@ public class TestNavmeshTool : IRcTool
                         polys = PathUtils.FixupCorridor(polys, visited);
                         polys = PathUtils.FixupShortcuts(polys, m_navQuery);
 
-                        Result<float> polyHeight = m_navQuery.GetPolyHeight(polys[0], result);
-                        if (polyHeight.Succeeded())
+                        var status = m_navQuery.GetPolyHeight(polys[0], result, out var h);
+                        if (status.Succeeded())
                         {
-                            iterPos.y = polyHeight.result;
+                            iterPos.y = h;
                         }
 
                         // Handle end of path and off-mesh links when close enough.
@@ -265,8 +265,7 @@ public class TestNavmeshTool : IRcTool
 
                             break;
                         }
-                        else if (offMeshConnection
-                                 && PathUtils.InRange(iterPos, steerTarget.steerPos, SLOP, 1.0f))
+                        else if (offMeshConnection && PathUtils.InRange(iterPos, steerTarget.steerPos, SLOP, 1.0f))
                         {
                             // Reached off-mesh connection.
                             // Advance the path up to and over the off-mesh connection.
@@ -300,7 +299,8 @@ public class TestNavmeshTool : IRcTool
 
                                 // Move position at the other side of the off-mesh link.
                                 iterPos = endPos;
-                                iterPos.y = m_navQuery.GetPolyHeight(polys[0], iterPos).result;
+                                m_navQuery.GetPolyHeight(polys[0], iterPos, out var eh);
+                                iterPos.y = eh;
                             }
                         }
 
@@ -383,11 +383,10 @@ public class TestNavmeshTool : IRcTool
                         // Adjust height.
                         if (hit.result.path.Count > 0)
                         {
-                            Result<float> result = m_navQuery
-                                .GetPolyHeight(hit.result.path[hit.result.path.Count - 1], m_hitPos);
+                            var result = m_navQuery.GetPolyHeight(hit.result.path[hit.result.path.Count - 1], m_hitPos, out var h);
                             if (result.Succeeded())
                             {
-                                m_hitPos.y = result.result;
+                                m_hitPos.y = h;
                             }
                         }
                     }