# Sensor System Sensors are MonoBehaviour components that poll the environment at a configurable interval and write a float value into an `AIBehavior.State` key (or a `WorldStatesManager` category). When the written value changes, the existing state-change pipeline fires automatically — no extra code needed. *** ## Adding a Sensor 1. Add a sensor component (`RangeSensor` or `LineOfSightSensor`) to the same GameObject as `AIBehavior`. 2. The sensor auto-discovers the `AIBehavior` via `GetComponent`. Alternatively, drag the reference into the sensor's **Behavior** field. 3. Set the **State Key** to match the key used in your action requirements (e.g. `"playerInRange"`). 4. Configure detection parameters in the Inspector. 5. Done — the sensor polls every **Update Interval** seconds and writes the result directly into behavior state. *** ## Common Inspector Fields | Field | Description | | ------------------------ | -------------------------------------------------------------------------------------------------------------------------------- | | **Behavior** | The AIBehavior this sensor writes to. Leave empty to auto-find on the same GameObject. | | **State Key** | The State key written on each poll. Must match a key used in action requirements. | | **Update Interval** | How often (seconds) the sensor polls. Default 0.2 s. Lower = more responsive; higher = cheaper. | | **Write Target** | `BehaviorState` (writes to the linked AIBehavior's local State) or `WorldState` (writes to a named WorldStatesManager category). | | **World State Category** | Category name used when Write Target is `WorldState`. | *** ## Output Modes All built-in sensors support three output modes: | Mode | Written value | | ----------------- | -------------------------------------------------------------------- | | `Boolean` | `1` if at least one target is detected; `0` otherwise | | `Count` | Number of detected targets | | `NearestDistance` | Distance (world units) to the nearest detected target; `0` when none | *** ## RangeSensor Detects objects within a configurable sphere radius. | Field | Description | | ------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------- | | **Radius** | Detection radius in world units | | **Detection Layer** | Physics layers to scan. Ignored when Require Target Binder is true. | | **Required Tag** | Only include objects with this tag. Leave empty for any tag. | | **Require Target Binder** | When true, uses `TargetBinderRegistry.All` as the candidate source instead of `Physics.OverlapSphere`. No Collider required on target objects. | | **Output Mode** | Boolean / Count / NearestDistance | Green wire-sphere gizmo is drawn in Scene view when the object is selected. *** ## LineOfSightSensor Detects objects within a sphere, optionally filtered by a field-of-view cone, with a line-of-sight raycast to remove occluded targets. | Field | Description | | ------------------------- | ---------------------------------------------------------------------------------------------------------- | | **Radius** | Maximum detection range | | **Field Of View Angle** | Half-angle (degrees) of the FOV cone from `transform.forward`. `0` = full 360°. E.g. `45` = 90° total FOV. | | **Detection Layer** | Physics layers scanned by the initial sphere. | | **Obstruction Layer** | Physics layers that block line-of-sight raycasts (walls, terrain, etc.). | | **Required Tag** | Only include objects with this tag. | | **Require Target Binder** | Same as RangeSensor — uses TargetBinderRegistry when true. | | **Output Mode** | Boolean / Count / NearestDistance | Yellow wire-sphere and FOV cone rays are drawn in Scene view when selected. **Detection pipeline:** `OverlapSphereNonAlloc` → (optional) tag filter → (optional) FOV angle check → `Physics.Linecast` obstruction check → output. *** ## Force Poll Call `sensor.ForcePoll()` from code to trigger an immediate poll outside the interval schedule. Returns the value written to state. Useful for synchronising state at scene load or testing via Editor scripts. *** ## Performance Notes * `_updateInterval` (default 0.2 s) gates all polling — sensors do not run every frame. * The `States` indexer suppresses redundant `OnStateChange` events when the written value does not change — stable frames produce no re-plan overhead. * `RangeSensor` and `LineOfSightSensor` use a static pre-allocated `Collider[64]` overlap buffer — zero per-poll GC. * `RequireTargetBinder = true` skips the physics overlap entirely, which can be cheaper in scenes where targets are already tracked in `TargetBinderRegistry`. --- # Agent Instructions This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. 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