Pathfinding is going off the navmesh

[emrys90]

I have a navmesh that looks like this

My pathfinding is causing the agent to walk through the water, which is the empty area in the center of the screenshot.

Any ideas what I am doing wrong? Here's my code for finding the path. I probably screwed something up, it wasn't easy trying to figure out how to actually find a path using DotRecast. Had to use OpenAI and a lot of trial and error to try and figure it out lol.

    private unsafe void FindPath(DtNavMesh navMesh, PathRequest request)
    {
        var startPosition = new RcVec3f(request.StartPosition.x, request.StartPosition.y, request.StartPosition.z);
        var endPosition = new RcVec3f(request.EndPosition.x, request.EndPosition.y, request.EndPosition.z);
        var navQuery = new DtNavMeshQuery(navMesh);

        // Find the start and end polygons on the navmesh
        var filter = DtQueryNoOpFilter.Shared;
        var halfExtents = new RcVec3f(2.0f, 4.0f, 2.0f); // Extent for search area

        var startPolyResult = navQuery.FindNearestPoly(startPosition, halfExtents, filter, out var startPolyRef, out _, out _); 
        if (!startPolyResult.Succeeded())
        {
            this.LogError($"Failed to find start position reference: {startPolyResult}");
            request.Failed();
            return;
        }

        var endPolyResult = navQuery.FindNearestPoly(endPosition, halfExtents, filter, out var endPolyRef, out _, out var canReachTarget);
        if (!endPolyResult.Succeeded())
        {
            this.LogError($"Failed to find end position reference: {endPolyResult}");
            request.Failed();
            return;
        }
        
        _pathCache.Clear();
        var pathResult = navQuery.FindPath(startPolyRef,
            endPolyRef,
            startPosition,
            endPosition,
            filter,
            ref _pathCache,
            DtFindPathOption.AnyAngle
        );

        if (!pathResult.Succeeded())
        {
            this.LogError("Failed to find end position reference");
            request.Failed();
            return;
        }

        // Output the path as an array of points
        Span<DtStraightPath> straightPath = stackalloc DtStraightPath[256];
        navQuery.FindStraightPath(startPosition, endPosition, _pathCache, _pathCache.Count, straightPath, out var straightPathCount, 256, 0);
        
        var resultPath = new NetVector3[straightPathCount];
        for (int i = 0; i < straightPathCount; i++)
        {
            var pos = straightPath[i].pos;
            resultPath[i] = new NetVector3(pos.X, pos.Y, pos.Z);
        }

        request.Success(resultPath, canReachTarget);
    }