ABSTRACT
Traditional pathfinding has been focused on finding the shortest route from A to B. However, as gamers demand more realism, this is no longer sufficient. A node that is visible or exposed to the enemy should have a higher cost, while a node that is concealed from the enemy should have a lower cost. Navigation meshes are a popular, efficient method of representing navigable regions of a virtual environment; however, it is not as straightforward to perform tactical pathfinding on these navigation representations. There has been a lot of work on creating an optimal NavMesh representation of a virtual environment, though this is not necessarily required for the purposes of tactical pathfinding. The NavMesh can be more finely tessellated to provide increased detail in areas of different movement properties or tactical significance. Cover spots in game levels can be represented as discrete points. This is often the case with waypoint graph navigation representations.
