The developer wrote a fantastic article about this game for the Penny Arcade Report a couple of weeks ago http://penny-arcade.com/report/editorial-article/the-art-of-stealth-mark-of-the-ninja-and-2d-stealth-design
Definitely worth reading. I love what they're trying to do. The best stealth game for me was Batman, because of three very important things:
1. Batman controlled perfectly. You never second guessed your button presses. Metal Gear Solid always ties a bunch of stuff to the circle button, which makes doing what you want harder.
2. You had all the information you needed. The detective vision helped you understand your opposition, how they were armed and what their status was (calm, searching, or alert). The enemy color coding and x-ray vision made it easy to determine location and behavior without having to meticulously study routes.
3. Botching the stealth didn't end the game. As Batman you had the tools to deal with a situation if things went south. You could flee or fight. The smart player could make either tactic work.
@Brodehouse said it best below:
Batman and Assassin's Creed nailed it, in that you're a predator who is using stealth because it's tactically efficient, not because you're clumsy and useless. Stealth should be a fun way to gain an advantage, not an arduous and annoying necessity to maintain.
In both Batman and Assassin's Creed stealth is often optional. It's also actually fun because of the reasons above. I think both games have shown that giving the player more information doesn't break the fun of stealthy action. It just changes the challenge.
Stealth games are currently like approaching a carpentry project with only a vague idea of how the tools you need to build a something actually work. You can figure it out as you go, but your shelf might be wobbly. Batman and the AC games show you how the tools work. No matter what you build, it's going to be cool.
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