diff --git a/src/DotRecast.Detour/DtNavMesh.cs b/src/DotRecast.Detour/DtNavMesh.cs
index 4c930a9..0a3365a 100644
--- a/src/DotRecast.Detour/DtNavMesh.cs
+++ b/src/DotRecast.Detour/DtNavMesh.cs
@@ -1221,13 +1221,15 @@ namespace DotRecast.Detour
             return RcVec3f.Lerp(pmin, pmax, tmin);
         }
 
-        public float? GetPolyHeight(DtMeshTile tile, DtPoly poly, RcVec3f pos)
+        public bool GetPolyHeight(DtMeshTile tile, DtPoly poly, RcVec3f pos, out float height)
         {
+            height = 0;
+            
             // Off-mesh connections do not have detail polys and getting height
             // over them does not make sense.
             if (poly.GetPolyType() == DtPoly.DT_POLYTYPE_OFFMESH_CONNECTION)
             {
-                return null;
+                return false;
             }
 
             int ip = poly.index;
@@ -1241,7 +1243,7 @@ namespace DotRecast.Detour
 
             if (!DtUtils.PointInPolygon(pos, verts, nv))
             {
-                return null;
+                return false;
             }
 
             // Find height at the location.
@@ -1278,7 +1280,8 @@ namespace DotRecast.Detour
 
                     if (DtUtils.ClosestHeightPointTriangle(pos, v[0], v[1], v[2], out var h))
                     {
-                        return h;
+                        height = h;
+                        return true;
                     }
                 }
             }
@@ -1299,7 +1302,8 @@ namespace DotRecast.Detour
 
                     if (DtUtils.ClosestHeightPointTriangle(pos, v[0], v[1], v[2], out var h))
                     {
-                        return h;
+                        height = h;
+                        return true;
                     }
                 }
             }
@@ -1309,7 +1313,8 @@ namespace DotRecast.Detour
             // closest. This should almost never happen so the extra iteration here is
             // ok.
             var closest = ClosestPointOnDetailEdges(tile, poly, pos, false);
-            return closest.y;
+            height = closest.y;
+            return true;
         }
 
         public void ClosestPointOnPoly(long refs, RcVec3f pos, out RcVec3f closest, out bool posOverPoly)
@@ -1317,10 +1322,9 @@ namespace DotRecast.Detour
             GetTileAndPolyByRefUnsafe(refs, out var tile, out var poly);
             closest = pos;
 
-            float? h = GetPolyHeight(tile, poly, pos);
-            if (null != h)
+            if (GetPolyHeight(tile, poly, pos, out var h))
             {
-                closest.y = h.Value;
+                closest.y = h;
                 posOverPoly = true;
                 return;
             }
diff --git a/src/DotRecast.Detour/DtNavMeshQuery.cs b/src/DotRecast.Detour/DtNavMeshQuery.cs
index e3a0347..c6ab7c0 100644
--- a/src/DotRecast.Detour/DtNavMeshQuery.cs
+++ b/src/DotRecast.Detour/DtNavMeshQuery.cs
@@ -551,11 +551,12 @@ namespace DotRecast.Detour
                 return DtStatus.DT_SUCCSESS;
             }
 
-            float? h = m_nav.GetPolyHeight(tile, poly, pos);
-            if (!h.HasValue)
+            if (!m_nav.GetPolyHeight(tile, poly, pos, out var h))
+            {
                 return DtStatus.DT_FAILURE | DtStatus.DT_INVALID_PARAM;
+            }
 
-            height = h.Value;
+            height = h;
             return DtStatus.DT_SUCCSESS;
         }
 
@@ -3424,6 +3425,7 @@ namespace DotRecast.Detour
 
                 curNode = nextNode;
             } while (curNode != null);
+
             path.Reverse();
             return DtStatus.DT_SUCCSESS;
         }
diff --git a/src/DotRecast.Recast/RecastFilledVolumeRasterization.cs b/src/DotRecast.Recast/RecastFilledVolumeRasterization.cs
index ecae556..5ed8338 100644
--- a/src/DotRecast.Recast/RecastFilledVolumeRasterization.cs
+++ b/src/DotRecast.Recast/RecastFilledVolumeRasterization.cs
@@ -365,8 +365,7 @@ namespace DotRecast.Recast
             return s;
         }
 
-        private static float[] SlabsCylinderIntersection(float[] rectangle, RcVec3f start, RcVec3f end, RcVec3f axis, float radiusSqr,
-            float[] s)
+        private static float[] SlabsCylinderIntersection(float[] rectangle, RcVec3f start, RcVec3f end, RcVec3f axis, float radiusSqr, float[] s)
         {
             if (Math.Min(start.x, end.x) < rectangle[0])
             {
@@ -702,8 +701,7 @@ namespace DotRecast.Recast
             return null;
         }
 
-        private static float? XSlabSegmentIntersection(float[] rectangle, float x, float y, float z, float dx, float dy, float dz,
-            float slabX)
+        private static float? XSlabSegmentIntersection(float[] rectangle, float x, float y, float z, float dx, float dy, float dz, float slabX)
         {
             float x2 = x + dx;
             if ((x < slabX && x2 > slabX) || (x > slabX && x2 < slabX))
@@ -719,8 +717,7 @@ namespace DotRecast.Recast
             return null;
         }
 
-        private static float? ZSlabSegmentIntersection(float[] rectangle, float x, float y, float z, float dx, float dy, float dz,
-            float slabZ)
+        private static float? ZSlabSegmentIntersection(float[] rectangle, float x, float y, float z, float dx, float dy, float dz, float slabZ)
         {
             float z2 = z + dz;
             if ((z < slabZ && z2 > slabZ) || (z > slabZ && z2 < slabZ))