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Something I do know is that their cone of vision expands to roughly 180 degrees when they are alert if that helps at all. Either way, a guide from someone who has figured this out would be great.
- Cover objects only block vision to one tile directly behind them (in a 90 degree angle). Any space behind the object is considered visible. (The agent will press themselves against cover objects, so there is a clear visual indication.
- Cover Blocks all vision up to a 90* angle from the agent. The guards can't see you unless you're directly in front of them in some way.
- Guards have their peripheral vision marked in a lighter red as "noticed". Moving into this space will NOT make the guard see you, but they will notice something moving and investigate on their next turn. The exception to this is when a guard is ready to shoot, but has lost the target. On overwatch, the guard will turn to follow the moving agent and then shoot, if you move too many squares in the orange.
- Here's a tricky one: When a guard walks straight directly beside you when you're pressed up against a wall, they will not notice you. However, if a guard TURNS towards the direction of your agent from that position, their vision cone shifts onto the agent, meaning they will notice something and then see your agent.
- When a guard is looking around, they will notice if an agent is hiding in cover within one tile, and will investigate even if they can't see them. (The won't shoot, but will move to the agent's position next turn)
Lastly, there is no horizontal element to cover, in the tactical view, all cover objects look like the same-size boxes, even if their models are different.
EDIT: A trick could work anyway but I think it will make you lost an alarm level, need be checked. Wait them in front of a door closed. So when they open the door your character could stun them. But I think it won't avoid the alarm level lost I don't remember. So the trick would be let them enter and stun from their back, or long range, or just skip them. :-)
Just a note about this. Distracted/alerted guards look around, and will see you if you're beside them in cover. Unaware guards don't do this. If a guard's routine patrol leads him through a doorway, and your agent is on the other side, he'll walk past without suspicion. If he came to investigate the door being opened, or footsteps outside the door, he'll check both sides. If you're not ambushing, try not to be there.
If you played the new XCOM, then you know how cover works -- when you're pressed against cover, draw an imaginary line that runs along the edge of the square between your agent and the cover, extending in both directions. Guards on the other side of the line cannot see you.
However, if a guard is alerted or distracted, then at the end of their move they do a "look around", which I think covers 180 degress. In addition, they "peek" around one square in each direction, meaning that you will be noticed (but not spotted) if you're hiding "just around the corner". You'll see a yellow notice marker drop where your agent is hiding.
As a final aside, note how distractions work -- guards who don't see an agent always go to the "last" distraction. So if a guard saw you and you hid (meaning that the guard goes into your last square, a noise, a door opening, someone moving in their notice zone will cause them to forget about what they saw and go after the new "thing".
I haven't seen often such enemies but a few time anyway.