Summon Cooldown Idea
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The idea that I have is to give every summon a short cooldown, but increase that cooldown based on how much health the summon is missing at the time it's unsummoned or dies.
For example, lets use the Bear and say it's base cooldown is 1.5 seconds:
It gets unsummoned (dies) at 0%. The cooldown is 1.5x10 = 15 seconds.
It gets unsummoned at 50% (you wanted to resummon to get one at full health). The cooldown is 1.5x5 = 7.5 seconds.
It gets unsummoned at 100% (because you ran away from it). The cooldown is 1.5x1 = 1.5 seconds.In this system you could still set the different tiers of summons to have different cooldowns, but not as harshly punish people that are having them unsummoned for non-combat reasons. (I.e. running from pack to pack)