- A\* based
-- Cached nodes *\_
- **\* This means that most of map discovery or waypoint creation will be done offline
- h2. Navigation
- h3. Goals
- ** Steering behaviour
- \* Swimming
- **\* Support getting out of water
- **\* Float in the same place if until a path is found
- **\* Eventually support navigation under water as long as the pathfinder supports it too
- ** Able to get out of lava, acid, etc
- **\* Ideally it should request quickly a new path to the pathfinder, instead of improvising on the movement code
- ** Never, ever, get stuck in the same place. Wander around if there nothing better to do.
- \* Able to rocket-jump*(as a last resource measure, when they're thrown into space void)\_
+- Cached nodes _(applies to both plans)_
+ - This means that most of map discovery or waypoint creation will be done offline
+
+Navigation
+----------
+
+### Goals
+
+- Steering behaviour
+
+- Swimming
+ - Support getting out of water
+ - Float in the same place if until a path is found
+ - Eventually support navigation under water as long as the pathfinder supports it too
+
+- Able to get out of lava, acid, etc
+ - Ideally it should request quickly a new path to the pathfinder, instead of improvising on the movement code
+
+- Never, ever, get stuck in the same place. Wander around if there nothing better to do.
+
+- Able to rocket-jump _(as a last resource measure, when they're thrown into space void)_
- Plan A - Waypoint based
- - Avoid path congestion \_(this happens when more than one bot on the same team are traveling over the same path)\_
+ - Avoid path congestion _(this happens when more than one bot on the same team are traveling over the same path)_
- Filter insanely quick movements (aka shaking)