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For example, say I was rafting down a river but there was a small bridge in the way. That would significantly change the difficulty but not necessarily stop the progress.

Is there a way for me to include polygon layers (from a buffer) or lines or points into the cost path to represent a change in terrain?

I'm using ArcMap 10.6.1.

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Make sure your features have a populated cost field, then convert your feature class to a raster.

Eg:

(Note that the last three require either 3D Analyst, Spatial Analyst or Advanced license.)

Be sure to use a consistent cell size and snap raster.

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