First of all, it isn't the final product yet so anything can change. The worlds are probably huge enough to keep you and your explorer heart busy. I like the whole idea of an "open-world shooter" it was called? I just give a minus to the lifebars. They just take too much of the screen capacity in my opinion by what i saw. And that was not even a raid. All in all i'm still excited to play it and didn't regret to pre-order it. Peace!
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I was thinking the same about the health bars but you have to consider the fact that with space magic and other players everywhere, Destiny will be a lot more hectic than something like Halo, and you'll want to know whether an enemy is a threat or has already been beaten up before you use your super on it. Also, there will be frequent and strong boss fights, and bosses will have to be bullet-sponge-y because of the 3-6 players, and it has to feel like you're doing damage--so health bars.