realvirtual.Sensor Class Reference

Detects MUs and GameObjects using collider or raycast methods with PLC signal integration for industrial automation. More...

Inheritance diagram for realvirtual.Sensor:

Public Member Functions
delegate void	OnEnterDelegate (GameObject obj)
	Delegate function for GameObjects entering the Sensor.
delegate void	OnExitDelegate (GameObject obj)
	Delegate function for GameObjects leaving the Sensor.
void	SetNetworkControlled ()
	Sets the sensor to be controlled by network synchronization.
void	SetOccupied (bool value)
	Manually sets the occupied state of the sensor.
void	DeleteMUs ()
	Delete all MUs in Sensor Area.
void	OnMUPartsDestroyed (GameObject obj)
void	OnMUDelete (MU muobj)
Public Member Functions inherited from realvirtual.realvirtualBehavior
void	PreStartSim ()
	Is called by the realvirtualController before the component is started.
void	StartSim ()
	Is called by the realvirtualController to start or stop the component.
void	StopSim ()
Vector3	DirectionToVector (DIRECTION direction)
	Transfers the direction enumeration to a vector.
DIRECTION	VectorToDirection (bool torotatoin, Vector3 vector)
	Transfers a vector to the direction enumeration.
float	GetLocalScale (Transform thetransform, DIRECTION direction)
List< BehaviorInterfaceConnection >	UpdateConnectionInfo ()
List< Signal >	GetConnectedSignals ()
void	SetVisibility (bool visibility)
	Sets the visibility of this object including all subobjects.
List< BehaviorInterfaceConnection >	GetConnections ()
List< Signal >	GetSignals ()
GameObject	GetChildByName (string name)
	Gets a child by name.
List< GameObject >	GetChildsByName (string name)
	Gets all child by name.
GameObject	GetChildByNameAlsoHidden (string name)
List< GameObject >	GetAllMeshesWithGroup (string group)
List< GameObject >	GetAllWithGroup (string group)
List< GameObject >	GetAllWithGroups (List< string > groups)
List< GameObject >	GetAllMeshesWithGroups (List< string > groups)
List< string >	GetMyGroups ()
List< GameObject >	GetMeshesWithSameGroups ()
List< GameObject >	GetAllWithSameGroups ()
MeshRenderer	GetMeshRenderer ()
	Gets the mesh renderers in the childrens.
void	SetCollider (bool enabled)
	sets the collider in all child objects
void	ErrorMessage (string message)
	Displays an error message.
void	ChangeConnectionMode (bool isconnected)
void	Log (string message)
	Logs a message.
void	Log (string message, object obj)
	Logs a message with a relation to an object.
void	Warning (string message, object obj)
	Logs a warinng with a relation to an object.
void	Error (string message, object obj)
	Logs an error with a relation to an object.
void	Error (string message)
	Logs an error.
GameObject	DebugPosition (string debugname, Vector3 position, Quaternion quaternation, float scale)
	Displays a gizmo for debugging positions.
void	SetFreezePosition (bool enabled)
	Freezes all child components to the current poosition.
void	SetRbConstraints (RigidbodyConstraints constraints)
virtual void	AwakeAlsoDeactivated ()
Public Member Functions inherited from realvirtual.ISignalInterface
List< BehaviorInterfaceConnection >	GetConnections ()
List< Signal >	GetSignals ()

Public Attributes
bool	DisplayStatus
string	LimitSensorToTag
	Limits the function of the sensor to a certain MU tag - also MU names are working.
bool	UseRaycast
Vector3	RayCastDirection
float	RayCastLength
	Raycast length in millimeters.
float	RayCastDisplayWidth
	Raycast display line width in Unity units.
List< string >	AdditionalRayCastLayers
bool	ShowSensorLinerenderer
Material	MaterialOccupied
	Material for displaying the occupied status.
Material	MaterialNotOccupied
	Material for displaying the not occupied status.
bool	PauseOnSensor
	Pause simulation if sensor is getting high - can be used for debuging.
PLCInputBool	SensorOccupied
	Boolean PLC input for the Sensor signal - is true if the Sensor is occuied..
PLCInputBool	SensorNotOccupied
	Boolen PLC input for the Sensor - is true if the Sensor is NOT occuied.
Game4AutomationEventMUSensor	EventMUSensor
	Unity event which is called for MU enter and exit. On enter it passes MU and true. On exit it passes MU and false.
Game4AutomationEventGameobjectSensor	EventNonMUGameObjectSensor
	Unity event which is called for non MU objects enter and exit. On enter it passes gameobject (on which the collider was detected) and true. On exit it passes gameobject and false.
bool	Occupied
	True if sensor is occupied.
GameObject	LastTriggeredBy
	Last MU which has triggered the sensor.
float	RayCastDistance
	Last RayCast Distance in millimeters if Raycast is used.
int	LastTriggeredID
	Last MUID which has triggered the sensor.
int	LastTriggeredGlobalID
	Last GloabalID which has triggerd the sensor.
int	Counter
int	ColliderCounter
List< MU >	CollidingMus
List< GameObject >	CollidingObjects
Public Attributes inherited from realvirtual.realvirtualBehavior
string	Name
	The name of the component if it should be different from the GameObject name.
ActiveOnly	Active
GameObject	FromTemplate
realvirtualController	realvirtualController
bool	HideNonG44Components
bool	SceneIsAdditive
bool	ForceStop

Events
OnEnterDelegate	EventEnter
	Event triggered when a GameObject enters the sensor.
OnExitDelegate	EventExit
	Event triggered when a GameObject exits the sensor.

Additional Inherited Members
Public Types inherited from realvirtual.realvirtualBehavior
enum	ActiveOnly {   Always , Connected , Disconnected , Never ,   DontChange }
Static Public Member Functions inherited from realvirtual.realvirtualBehavior
static bool	DirectionIsLinear (DIRECTION direction)
	Gets back if the direction is linear or a rotation.
Protected Member Functions inherited from realvirtual.realvirtualBehavior
bool	hidename ()
bool	hideactiveonly ()
virtual void	OnStopSim ()
virtual void	OnPreStartSim ()
virtual void	OnStartSim ()
MU	GetTopOfMu (GameObject obj)
	Gets the top of an MU component (the first MU script going up in the hierarchy)
void	InitGame4Automation ()
	Initialiates the components and gets the reference to the realvirtualController in the scene.
virtual void	AfterAwake ()
void	Awake ()
Properties inherited from realvirtual.ISignalInterface
GameObject	gameObject [get]

Detailed Description

Detects MUs and GameObjects using collider or raycast methods with PLC signal integration for industrial automation.

The Sensor is a fundamental component in realvirtual for implementing detection and presence sensing in automation systems. It simulates various types of industrial sensors including proximity sensors, photoelectric sensors, and vision sensors. The sensor can detect MUs entering or leaving its detection area and communicate this information to control systems.

Key Features:

• Two detection modes: Collider-based (volume detection) or Raycast-based (beam detection)
• Configurable detection filtering by MU tags or names for selective sensing
• Visual feedback through material changes showing occupied/not occupied states
• PLC signal integration with both normally open (SensorOccupied) and normally closed (SensorNotOccupied) outputs
• Unity Events for custom scripting integration (EventEnter and EventExit)
• Support for detecting both MUs and standard GameObjects
• Real-time visualization of sensor state in Unity Editor and runtime
• Debugging features including pause-on-detection and status display

Detection Modes:

• Collider Mode: Uses Unity trigger colliders for volumetric detection areas
• Raycast Mode: Simulates beam-type sensors with configurable direction and length

Common Applications:

• Conveyor belt position detection
• Part presence verification at workstations
• Safety light curtains and barriers
• End position detection for drives and cylinders
• Counting and tracking of products
• Collision avoidance for AGVs and robots
• Quality control and inspection stations

The Sensor component integrates with:

• PLC systems through PLCInputBool signals
• Drive components for limit switch functionality
• Transport surfaces for product tracking
• Grip and Fixer components for part detection
• Custom control logic through Unity Events

Performance Considerations:

• Use layer filtering to optimize raycast performance
• Consider using tag filtering to reduce unnecessary detections
• Disable visual feedback (DisplayStatus) in production builds for better performance

For detailed documentation see: https://doc.realvirtual.io/components-and-scripts/sensor

Member Function Documentation

DeleteMUs()

void realvirtual.Sensor.DeleteMUs

(

)

Delete all MUs in Sensor Area.

OnEnterDelegate()

delegate void realvirtual.Sensor.OnEnterDelegate

(

GameObject

obj

)

Delegate function for GameObjects entering the Sensor.

OnExitDelegate()

delegate void realvirtual.Sensor.OnExitDelegate

(

GameObject

obj

)

Delegate function for GameObjects leaving the Sensor.

SetNetworkControlled()

void realvirtual.Sensor.SetNetworkControlled

(

)

Sets the sensor to be controlled by network synchronization.

SetOccupied()

void realvirtual.Sensor.SetOccupied

(

bool

value

)

Manually sets the occupied state of the sensor.

Member Data Documentation

EventMUSensor

Game4AutomationEventMUSensor realvirtual.Sensor.EventMUSensor

Unity event which is called for MU enter and exit. On enter it passes MU and true. On exit it passes MU and false.

EventNonMUGameObjectSensor

Game4AutomationEventGameobjectSensor realvirtual.Sensor.EventNonMUGameObjectSensor

Unity event which is called for non MU objects enter and exit. On enter it passes gameobject (on which the collider was detected) and true. On exit it passes gameobject and false.

LastTriggeredBy

GameObject realvirtual.Sensor.LastTriggeredBy

Last MU which has triggered the sensor.

LastTriggeredGlobalID

int realvirtual.Sensor.LastTriggeredGlobalID

Last GloabalID which has triggerd the sensor.

LastTriggeredID

int realvirtual.Sensor.LastTriggeredID

Last MUID which has triggered the sensor.

LimitSensorToTag

string realvirtual.Sensor.LimitSensorToTag

Limits the function of the sensor to a certain MU tag - also MU names are working.

MaterialNotOccupied

Material realvirtual.Sensor.MaterialNotOccupied

Material for displaying the not occupied status.

MaterialOccupied

Material realvirtual.Sensor.MaterialOccupied

Material for displaying the occupied status.

Occupied

bool realvirtual.Sensor.Occupied

True if sensor is occupied.

PauseOnSensor

bool realvirtual.Sensor.PauseOnSensor

Pause simulation if sensor is getting high - can be used for debuging.

RayCastDisplayWidth

float realvirtual.Sensor.RayCastDisplayWidth

Raycast display line width in Unity units.

RayCastDistance

float realvirtual.Sensor.RayCastDistance

Last RayCast Distance in millimeters if Raycast is used.

RayCastLength

float realvirtual.Sensor.RayCastLength

Raycast length in millimeters.

SensorNotOccupied

PLCInputBool realvirtual.Sensor.SensorNotOccupied

Boolen PLC input for the Sensor - is true if the Sensor is NOT occuied.

SensorOccupied

PLCInputBool realvirtual.Sensor.SensorOccupied

Boolean PLC input for the Sensor signal - is true if the Sensor is occuied..

Event Documentation

EventEnter

OnEnterDelegate realvirtual.Sensor.EventEnter

Event triggered when a GameObject enters the sensor.

EventExit

OnExitDelegate realvirtual.Sensor.EventExit

Event triggered when a GameObject exits the sensor.