NavMesh Links: Custom Jump and Ladder Traversal for AI Agents

public sealed class JumpLink : NavMeshLink
{
    protected override void OnLinkEntered( NavMeshAgent agent )
    {
        ParabolicJump( agent );
    }

    private async void ParabolicJump( NavMeshAgent agent )
    {
        var start = agent.CurrentLinkTraversal.Value.AgentInitialPosition;
        var end = agent.CurrentLinkTraversal.Value.LinkExitPosition;

        var heightDifference = end.z - start.z;
        var peakHeight = MathF.Abs( heightDifference ) + 25f;
        var mid = (start + end) / 2f;

        var startToMid = mid.WithZ( peakHeight ) - start;
        var midToEnd = end - mid.WithZ( peakHeight );
        var duration = MathF.Max( 0.75f, (startToMid + midToEnd).Length / agent.MaxSpeed );

        TimeSince timeSinceStart = 0;

        while ( timeSinceStart < duration )
        {
            var t = timeSinceStart / duration;
            var newPosition = Vector3.Lerp( start, end, t );
            var yOffset = 4f * peakHeight * t * (1f - t);
            newPosition.z = MathX.Lerp( start.z, end.z, t ) + yOffset;

            agent.SetAgentPosition( newPosition );
            await Task.Frame();
        }

        agent.SetAgentPosition( end );
        agent.CompleteLinkTraversal();
    }
}

public sealed class LadderLink : NavMeshLink
{
    protected override void OnLinkEntered( NavMeshAgent agent )
    {
        ClimbLadder( agent );
    }

    private async void ClimbLadder( NavMeshAgent agent )
    {
        var initialPos = agent.CurrentLinkTraversal.Value.AgentInitialPosition;
        var start = agent.CurrentLinkTraversal.Value.LinkEnterPosition;
        var endVertical = start.WithZ( agent.CurrentLinkTraversal.Value.LinkExitPosition.z );
        var end = agent.CurrentLinkTraversal.Value.LinkExitPosition;

        var climbSpeed = 100f;
        var startDuration = (start - initialPos).Length / climbSpeed;
        var climbDuration = (endVertical - start).Length / climbSpeed;
        var endDuration = (end - endVertical).Length / climbSpeed;
        var totalTime = startDuration + climbDuration + endDuration;

        TimeSince timeSinceStart = 0;

        while ( timeSinceStart < totalTime )
        {
            Vector3 pos;
            if ( timeSinceStart < startDuration )
                pos = Vector3.Lerp( initialPos, start, timeSinceStart / startDuration );
            else if ( timeSinceStart < startDuration + climbDuration )
                pos = Vector3.Lerp( start, endVertical, (timeSinceStart - startDuration) / climbDuration );
            else
                pos = Vector3.Lerp( endVertical, end, (timeSinceStart - startDuration - climbDuration) / endDuration );

            agent.SetAgentPosition( pos );
            await Task.Frame();
        }

        agent.SetAgentPosition( end );
        agent.CompleteLinkTraversal();
    }
}