diff --git a/dep/PackageList.txt b/dep/PackageList.txt
index 85bd19361c..d17a5656f1 100644
--- a/dep/PackageList.txt
+++ b/dep/PackageList.txt
@@ -58,7 +58,8 @@ gSOAP (a portable development toolkit for C and C++ XML Web services and XML dat
 
 recastnavigation (Recast is state of the art navigation mesh construction toolset for games)
   https://github.com/recastnavigation/recastnavigation
-  Version: 2c85309280dbc9c82029e7ab16dfb01b9235c74e
+  Version: 3a619d773deb7e3a15ee215217c825995fe71312
+  Custom changes: https://github.com/TrinityCore/recastnavigation/tree/3.3.5
 
 StormLib (a pack of modules, written in C++, which are able to read and also to write files from/to the MPQ archives)
   http://www.zezula.net/en/mpq/stormlib.html
diff --git a/dep/recastnavigation/Detour/Source/DetourCommon.cpp b/dep/recastnavigation/Detour/Source/DetourCommon.cpp
index 3886f14b04..e89580a099 100644
--- a/dep/recastnavigation/Detour/Source/DetourCommon.cpp
+++ b/dep/recastnavigation/Detour/Source/DetourCommon.cpp
@@ -226,7 +226,14 @@ bool dtClosestHeightPointTriangle(const float* p, const float* a, const float* b
 
 	// If point lies inside the triangle, return interpolated ycoord.
 	if (u >= epsilon && v >= epsilon && (u+v) <= denom - epsilon) {
-		h = a[1] + (v0[1]*u + v1[1]*v) / denom;
+		if (denom == 0.f && u == 0.f && v == 0.f)
+			h = a[1];
+		else
+			h = a[1] + (v0[1] * u + v1[1] * v) / denom;
+
+		if (!dtMathIsfinite(h))
+			return false;
+
 		return true;
 	}
 	return false;
diff --git a/dep/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp b/dep/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp
index c18db1c196..9e47082428 100644
--- a/dep/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp
+++ b/dep/recastnavigation/Detour/Source/DetourNavMeshQuery.cpp
@@ -1301,8 +1301,8 @@ dtStatus dtNavMeshQuery::initSlicedFindPath(dtPolyRef startRef, dtPolyRef endRef
 	m_query.raycastLimitSqr = FLT_MAX;
 	
 	// Validate input
-	if (!m_nav->isValidPolyRef(startRef) || !m_nav->isValidPolyRef(endRef)
-		|| !startPos || !dtVisfinite(startPos) ||
+	if (!m_nav->isValidPolyRef(startRef) || !m_nav->isValidPolyRef(endRef) ||
+		!startPos || !dtVisfinite(startPos) ||
 		!endPos || !dtVisfinite(endPos) || !filter)
 	{
 		return DT_FAILURE | DT_INVALID_PARAM;
diff --git a/src/server/game/Movement/PathGenerator.cpp b/src/server/game/Movement/PathGenerator.cpp
index 61b8e637bf..86cc41878c 100644
--- a/src/server/game/Movement/PathGenerator.cpp
+++ b/src/server/game/Movement/PathGenerator.cpp
@@ -820,10 +820,12 @@ dtStatus PathGenerator::FindSmoothPath(float const* startPos, float const* endPo
         dtPolyRef visited[MAX_VISIT_POLY];
 
         uint32 nvisited = 0;
-        _navMeshQuery->moveAlongSurface(polys[0], iterPos, moveTgt, &_filter, result, visited, (int*)&nvisited, MAX_VISIT_POLY);
+        if (dtStatusFailed(_navMeshQuery->moveAlongSurface(polys[0], iterPos, moveTgt, &_filter, result, visited, (int*)&nvisited, MAX_VISIT_POLY)))
+            return DT_FAILURE;
         npolys = FixupCorridor(polys, npolys, MAX_PATH_LENGTH, visited, nvisited);
 
-        _navMeshQuery->getPolyHeight(polys[0], result, &result[1]);
+        if (dtStatusFailed(_navMeshQuery->getPolyHeight(polys[0], result, &result[1])))
+            return DT_FAILURE;
         result[1] += 0.5f;
         dtVcopy(iterPos, result);
 
@@ -868,7 +870,8 @@ dtStatus PathGenerator::FindSmoothPath(float const* startPos, float const* endPo
                 }
                 // Move position at the other side of the off-mesh link.
                 dtVcopy(iterPos, connectionEndPos);
-                _navMeshQuery->getPolyHeight(polys[0], iterPos, &iterPos[1]);
+                if (dtStatusFailed(_navMeshQuery->getPolyHeight(polys[0], iterPos, &iterPos[1])))
+                    return DT_FAILURE;
                 iterPos[1] += 0.5f;
             }
         }