It was so successful on the consoles because it was an absolutely fantastic game built with the consoles in mind from the ground up.
It was one of the first games to successfully combine the linear shooting/military feel found in games like Medal Of Honor with the arena shooting of Unreal and Quake. The speed of the game was built exclusively for a controller. Things like the dedicated melee and grenade button were excellent additions which moved away from having to select a dedicated melee weapon which was just clunky on a controller.
The level design took advantage of the slower pace giving the player more diverse terrain to fight in. The AI was also the best AI we've ever seen in an FPS. They used the levels to their advantage, had different personalities, and would work together.
The vehicles were also sort of a revolution. They were seamlessly integrated with the gameplay and really felt like they were a part of the environment. This was a big step for FPSs as most FPSs with vehicles up until that point always featured dedicated vehicle sections or the vehicles felt disconnected from the game world.
The regenerating health also played into the pace of the game. Since the game wasn't moving a mile a second they could get away with the player having to take cover from time to time. This mechanic played straight into the varied environments. Instead of big, flat and open terrain featured in PC shooters, Halo had a lot of hills and whatnot for players to get away from enemies and use the terrain to cover themselves. This forced them to think of a mechanic that would allow a player to survive longer when they couldn't move as fast. Thus the regenerating health instead of health pick ups.
The games focus was also not on suriving and action/adventure like a lot of the FPSs before it. As I said, it was more like Medal of Honor where the goal was to just clear the level of enemies and get to the end. Regenerating health kept the focus on the fighting and away from scrouging for life. It was a different mechanic that was bulit for the slower pace of the game.
PC gamers hated on it because it was a bit slower pace than the PC games that they were playing at the time. This was also a time where PC gamers didn't play console games like they do today. They didn't fully understand you couldn't have a game with the pace of Unreal or Quake work very well on the consoles. Bungie knew this and built the whole game with a controller in mind. Most FPSs built on the console until then were attempting to be like PC shooters in every way possible. This only hampered them.
A two weapon limit (only seen in the Ghost Recon and Rainbow Six series), dedicated grenade and melee button, seamless vehicles, slower pace, large, static aiming reticules, uncompromised split-screen co-op, and 4 player split screen competitive play with totally custom gameplay options really made Halo what it was. The fact that they didn't try to make it like other PC shooters where you could carry an endless supply of weapons, had to equip your grenades or your melee weapon to use them, have to fast of a pace, and have reticule bloom were all a part of why Halo was so damn successful. It was an FPS made for the Xbox. That's why PC people didn't like it, it wasn't a PC shooter in any way.
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