diff --git a/CHANGELOG.md b/CHANGELOG.md
index d09eff3..febdd1e 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -14,6 +14,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Fix raycast shortcuts ([@Sarofc](https://github.com/Sarofc)) [#72](https://github.com/ikpil/DotRecast/issues/72)
 - Fix dynamic mesh bounds calculation ([@ppiastucki](https://github.com/ppiastucki)) [#77](https://github.com/ikpil/DotRecast/issues/77)
     - issuer : [@OhJeongrok](https://github.com/OhJeongrok)
+- Fix Support non-tiled dynamic nav meshes ([@ppiastucki](https://github.com/ppiastucki))
 
 ### Changed
 - Changed data structure of 'neis' from List<byte> to byte[] for optimized memory usage and improved access speed in `DtLayerMonotoneRegion`
diff --git a/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs b/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs
index 82a0104..5c5a253 100644
--- a/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs
+++ b/src/DotRecast.Detour.Dynamic/DtDynamicNavMesh.cs
@@ -62,8 +62,8 @@ namespace DotRecast.Detour.Dynamic
             navMeshParams.orig.X = voxelFile.bounds[0];
             navMeshParams.orig.Y = voxelFile.bounds[1];
             navMeshParams.orig.Z = voxelFile.bounds[2];
-            navMeshParams.tileWidth = voxelFile.cellSize * voxelFile.tileSizeX;
-            navMeshParams.tileHeight = voxelFile.cellSize * voxelFile.tileSizeZ;
+            navMeshParams.tileWidth = voxelFile.useTiles ? voxelFile.cellSize * voxelFile.tileSizeX : voxelFile.bounds[3] - voxelFile.bounds[0];
+            navMeshParams.tileHeight = voxelFile.useTiles ? voxelFile.cellSize * voxelFile.tileSizeZ: voxelFile.bounds[5] - voxelFile.bounds[2];
             navMeshParams.maxTiles = voxelFile.tiles.Count;
             navMeshParams.maxPolys = 0x8000;
             foreach (var t in voxelFile.tiles)