8 hours, personal space.
Today was all about getting the minions to stop stacking on top on one another and give each other some damn personal space. As of the moment they never attempt to occupy the same position. They do at times touch, but only because they are at the corner of their assigned node. And that's fine. Tried loads of things. Giving them rigid bodies and just hoping that made things better. Disallowing velocity on those rigid bodies so they stop floating away. Making them kinematic when not in moving. All bad. Created an occupied nodes list, moved it around between scripts till it made sense. Realized that the attack range was coming off the body in certain instances (it was a frame or two's worth of motion ahead in some cases). Fixed that. Decided to have minions make the node they occupy unwalkable. This was not enough to adjust pathing because my simplify function works off raycasting. So these nodes made unwalkable are also assigned an invisible blocker collider that will cause the path to reflect their presence. Tidiness, when minions are destroyed they clean up this effect. Tried to keep track of the current and old walkable status of nodes on the minions, this lead to complications when a minion traveled through an occupied node because it would pick up the modified walkable value not the initial. Currently now looking at the initial arrangement of the grid for answers as to how nodes are to be reset when the minion leaves them. This seems to be working well. There is now a bunch of commented out junk code in my recently cleaned up scripts.