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The recovery times are:
ready 0-16 days
tired 8-12 days
shaken 14-20 days
A soldier is considered ready after a mission if his current will is better then 67% of maximum will. Tired is 33-66% and shaken is below 33%.
Tired and shaken match my experience, not sure what the ready recovery time is (Maybe the time to fully regain maximum will?). It does look like an error slipped in there, 0-6 would fit the progression better.
(all data from GameData.ini)
Wound recovery times are also kinds borked in vanilla. Lightly wounded can spend more time than gravely wounded depending on your rolls, so I'd say it's some kind of design decision by firaxis.
Potentially... but I've certainly missed my opportunity to do so on this run. There's only one facility left on the map, and it's being guarded by an Alien King.
Incidentally, I've made an observation that might explain SOME of the variance in how quickly soldiers get fatigued... all three of the 'un-tired' soldiers from the example I mentioned in the OP had some form of Light Armor, if one assumed that Skirmisher Armor is counted as light. (Which would make sense, from a programming-standpoint - the attached grappling-hook indicates that it's based on the Spider-suit.) My Grenadier, wearing Heavy Armor, was the most exhausted soldier on the team. So, at the very least, Light and Heavy Armor modify the rate you lose Willpower at. My theory - still untested - is that moving DOES sap Willpower, in small amount, when you're wearing Medium and Heavy (probably more in Heavy) Armor, but that wearing Light Armor removes that drain.
I've basically given up on actually understanding how it works, for now. I got the Weary Warriors achievement, following Cake's strategy, more or less. Went into a Blacksite with a single Reaper at half Will, snuck past everything, set up the bomb and evac'd out without ever being spotted. The achievement awards even if you 'team' consists of a SINGLE weary warrior, apparently. (Then I reloaded my save from before embarking so that I could bring a fireteam and fight the Alien Ruler guarding the instalation instead of sneaking past it.)
But the simple explanation would be. do not do 2 mission in a row with the same troops in 7 days. and things will be fine. the chosen stronghold assault usually makes troops tired.
But even then you can push them one more mission if absolutely needed. then they get a chance of random negative traits.
If will drops below half.
They are immune to injury and fatiuge. They don't care if their arm is damaged.. With the spark bit they can also get 2 free repairs per mission.
Give them superior expanded mag + Superior scope and they can wreck stuff. Give them threat assment then they get an inaite 50% high cover with a free overwatch shot. Anything that shoots at them will either miss or if does land will either be negated by the armour. They are immune to fire/posion/bound/daze/mind control as well. Organic PSI will not hurt them.
The following causes will loss:
* Seeing an enemy unit (50% chance, cannot reduce Will to 0, maximum 33% will loss per mission)
* Seeing a civilian die (maximum 25% will loss per mission)
* Being wounded
* Seeing a squad member die, be captured, be panicked, or fall unconscious
* Whatever "HorrorM1WillRollData" refers to (800% chance)