NavMeshLink custom traversal — parabolic jump, ladder climb, and physics jump

agent.AutoTraverseLinks = false;

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 peakHeight = MathF.Abs( end.z - start.z ) + 25f;
        var mid = (start + end) / 2f;
        var duration = MathF.Max( 0.75f,
            ((mid.WithZ(peakHeight) - start) + (end - mid.WithZ(peakHeight))).Length / agent.MaxSpeed );

        TimeSince elapsed = 0;
        while ( elapsed < duration )
        {
            var t = elapsed / duration;
            var pos = Vector3.Lerp( start, end, t );
            pos.z = MathX.Lerp( start.z, end.z, t ) + 4f * peakHeight * t * (1f - t);
            agent.SetAgentPosition( pos );
            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;
        const float climbSpeed = 100f;

        var t0 = (start - initialPos).Length / climbSpeed;
        var t1 = (endVertical - start).Length / climbSpeed;
        var t2 = (end - endVertical).Length / climbSpeed;
        var total = t0 + t1 + t2;

        TimeSince elapsed = 0;
        while ( elapsed < total )
        {
            Vector3 pos;
            if      ( elapsed < t0 )      pos = Vector3.Lerp( initialPos,  start,       elapsed / t0 );
            else if ( elapsed < t0 + t1 ) pos = Vector3.Lerp( start,       endVertical, (elapsed - t0) / t1 );
            else                          pos = Vector3.Lerp( endVertical,  end,         (elapsed - t0 - t1) / t2 );
            agent.SetAgentPosition( pos );
            await Task.Frame();
        }

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

public sealed class NavigationLinkTraversal : Component
{
    [RequireComponent] NavMeshAgent Agent { get; set; }
    [RequireComponent] Rigidbody Body { get; set; }

    protected override void OnEnabled()
    {
        Agent.AutoTraverseLinks = false;
        Agent.LinkEnter += PhysicsJump;
    }

    protected override void OnDisabled() => Agent.LinkEnter -= PhysicsJump;

    private async void PhysicsJump()
    {
        var start = Agent.CurrentLinkTraversal.Value.AgentInitialPosition;
        var end   = Agent.CurrentLinkTraversal.Value.LinkExitPosition;

        Agent.UpdatePosition = false;
        Body.Velocity = Agent.MaxSpeed * (end.WithZ(0) - start.WithZ(0)).Normal * 1.25f
                      + Vector3.Up * MathF.Max( 500f, (end.z - start.z) * 8f );

        TimeSince t = 0;
        while ( true )
        {
            Agent.SetAgentPosition( WorldPosition );
            var tr = Scene.Trace
                .Ray( WorldPosition + Vector3.Up * 0.1f, WorldPosition + Vector3.Down * 1000 )
                .IgnoreGameObjectHierarchy( GameObject )
                .Run();
            if ( tr.Hit && t > 0.5f && tr.Distance < 4f ) break;
            await Task.Frame();
        }

        Agent.SetAgentPosition( WorldPosition );
        Agent.UpdatePosition = true;
        Agent.CompleteLinkTraversal();
    }
}