[Trumpcard]

Regarding going out of agro range, i dont think it will matter, its no different than the if condition thats done AFTER the dist calculation in that regards so i dont think it should matter.. It shouldnt change how it works..

The variants I see are just ones that dont that the square root into account, they simply square and add the delta x and y componets..
They are only less CPU intensive because they dont actually calc the distance, but the distance^2

One way to get around the sqrt function is to square the dist, but we'd need to compare the cost of op's of a sqrt vs. a square as its trading one operation for another.

Theres really no point in taking a wall into account in a distance calc before checking for the existance of a line of sight connection between the nodes, if that failed, then there would be no point in going further..

If we represent a wall as a line, its relatively simple to determine if we intersect another line on our trip from point a to point b, the best best would be an ifVisible() check that would determine a LOS based on the node map... I dont have alot of experience using them, but I dont think they'd be too difficult to figure out...