Waypoint based with trajectory biasing:
Trajectory scoring:
https://www.youtube.com/watch?v=K9iiUgzcUFI
https://www.youtube.com/watch?v=Em6aiUOApTA
https://github.com/prl-mushr
https://github.com/mit-racecar
Inflated navmesh waypointing:
https://www.youtube.com/watch?v=VvHs545FOMQ
Local steering avoidance:
https://www.youtube.com/watch?v=-0EnkadM-lo
Basically, this system is a modification of the Valkyria Chronicles combat system to incorporate more realistic and deadly combat, using various aspects of tabletop Ballad/SoS game rules, while keeping interface/gameplay relatively simple and streamlined.
It also adheres more to classic/traditional/pure tactic-game standards like those from the XCom series.
Aesthetically, it intends to still keep the cool visual aspect of Valkryia Chronicles such as a full non-uniform 3D environment and flashing character/unit potentials/talents during movements/actions.
Cover concealment ratings exist in 50%, 70%, 80%, and 90% categories. Take note that if you decide to shoot out from behind cover on your turn, your Cover concealment rating will have to be effectively dropped down by 1 level, (eg. 70% goes to 50%, 80% to 70%, 90% to 80%, etc.) to a minimum of 50% cover rating.
Unlike the original Valkyria Chronicles game, anything in the 3D environment can be improvised as concealment, and potentially cover, depending on the material and structure of the 3D world. It’s up to the players to discover these on their own. (eg. playing around with distances from window/corners, etc. while still having cover and concealment)
Forward traejectories
Reverse Trajectories
Score traejectories in terms of distnce to waypoint
OR (if reversing away from target)
ALignment to open tangent ? Should never reerse into a direction that doesntface target
Reed Shepp to goal or surround goal
If waypoint goal cannot be seen, clamp intermediary additional waypoint to edge of next corridoor before goal can be seen. (or Refunnel)
Replan paath if moved out of cordiroor?
TO avoid being stuck in local minimal:
For chosen trajectory at given point and orientation, mark as visited in relation to waypoint being negotiated.
Waypoint is considered cleared only if traveling direction approaches towards next visible waypoint ahead is attained and visible.
If using inflated navmesh:
Outside inflated navmesh? Reverse out or forward and repath once within navmesh.
Early Anticipate narrow corners, angle of approach?
If using best trajectory scan