Fix combat BT stuck on spline, LOS through target capsule, NoTeam targeting

- Attack/CoverShootCycle: de-escalate to Alerted on failure so decorator
  can re-trigger when threat returns (fixes BT stuck on spline branch)
- UpdateThreat: keep BB ThreatActor during brief perception gaps instead
  of clearing immediately (use LOS timeout for graceful degradation)
- HasLineOfSight: ignore actors up the attachment chain so trace doesn't
  hit the target Pawn's capsule when aiming at its AimTarget child actor
- NoTeam actors (spectators, editor pawns) treated as Neutral instead of
  Hostile, plus SpectatorPawn explicit filter in perception
- BB debug key ThreatPawnName shows owning Pawn name (resolved via
  perception's LastThreatOwningPawn) instead of cryptic AimTarget name
- FindOwningPawn promoted to public static on PerceptionComponent

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Unreal/PS_AI_Agent/Plugins/PS_AI_Behavior/Source/PS_AI_Behavior/Private/BT/PS_AI_Behavior_BTService_EvaluateReaction.cpp

@@ -23,13 +23,13 @@ void UPS_AI_Behavior_BTService_EvaluateReaction::TickNode(
 	Super::TickNode(OwnerComp, NodeMemory, DeltaSeconds);
 
 	APS_AI_Behavior_AIController* AIC = Cast<APS_AI_Behavior_AIController>(OwnerComp.GetAIOwner());
-	if (!AIC) return;
+	if (!AIC) { UE_LOG(LogPS_AI_Behavior, Warning, TEXT("EvaluateReaction: no AIC!")); return; }
 
 	UPS_AI_Behavior_PersonalityComponent* Personality = AIC->GetPersonalityComponent();
-	if (!Personality) return;
+	if (!Personality) { UE_LOG(LogPS_AI_Behavior, Warning, TEXT("[%s] EvaluateReaction: no PersonalityComponent!"), *AIC->GetName()); return; }
 
 	UBlackboardComponent* BB = OwnerComp.GetBlackboardComponent();
-	if (!BB) return;
+	if (!BB) { UE_LOG(LogPS_AI_Behavior, Warning, TEXT("[%s] EvaluateReaction: no BB!"), *AIC->GetName()); return; }
 
 	// ─── Check for hostility change → update TeamId dynamically ────────
 	APawn* Pawn = AIC->GetPawn();

Unreal/PS_AI_Agent/Plugins/PS_AI_Behavior/Source/PS_AI_Behavior/Private/BT/PS_AI_Behavior_BTService_UpdateThreat.cpp

@@ -4,6 +4,7 @@
 #include "PS_AI_Behavior_AIController.h"
 #include "PS_AI_Behavior_PerceptionComponent.h"
 #include "PS_AI_Behavior_PersonalityComponent.h"
+#include "PS_AI_Behavior_Statics.h"
 #include "PS_AI_Behavior_Settings.h"
 #include "PS_AI_Behavior_Definitions.h"
 #include "BehaviorTree/BlackboardComponent.h"
@@ -65,19 +66,157 @@ void UPS_AI_Behavior_BTService_UpdateThreat::TickNode(
 
 	BB->SetValueAsFloat(PS_AI_Behavior_BB::ThreatLevel, FinalThreat);
 
-	// Update threat actor and location
+	UE_LOG(LogPS_AI_Behavior, Log, TEXT("[%s] UpdateThreat: raw=%.2f, stored=%.2f, final=%.2f"),
+		*AIC->GetName(), RawThreat, StoredThreat, FinalThreat);
+
+	// ─── Update threat actor and location with LOS tracking ─────────
+	FUpdateThreatMemory* Memory = reinterpret_cast<FUpdateThreatMemory*>(NodeMemory);
 	AActor* ThreatActor = Perception->GetHighestThreatActor();
+	AActor* CurrentBBTarget = Cast<AActor>(BB->GetValueAsObject(PS_AI_Behavior_BB::ThreatActor));
+
 	if (ThreatActor)
 	{
+		// Target switched by perception (higher score) → reset LOS tracking
+		if (ThreatActor != CurrentBBTarget)
+		{
+			Memory->TimeSinceLOS = 0.0f;
+			Memory->bHadLOS = true;
+			Memory->bInvestigating = false;
+			Memory->LastVisiblePosition = ThreatActor->GetActorLocation();
+			BB->ClearValue(PS_AI_Behavior_BB::LastKnownTargetPosition);
+
+			UE_LOG(LogPS_AI_Behavior, Log, TEXT("[%s] UpdateThreat: target switched to '%s', LOS tracking reset"),
+				*AIC->GetName(), *ThreatActor->GetName());
+		}
+
 		BB->SetValueAsObject(PS_AI_Behavior_BB::ThreatActor, ThreatActor);
+
+		// Debug: write the owning Pawn's name so BB shows who we're actually targeting
+		if (ThreatActor != CurrentBBTarget)
+		{
+			APawn* OwningPawn = Perception->LastThreatOwningPawn.Get();
+			BB->SetValueAsString(PS_AI_Behavior_BB::ThreatPawnName,
+				OwningPawn ? OwningPawn->GetName() : ThreatActor->GetName());
+		}
+
+		// ─── LOS check ──────────────────────────────────────────────
+		const APawn* Pawn = AIC->GetPawn();
+		const bool bHasLOS = Pawn
+			? UPS_AI_Behavior_Statics::HasLineOfSight(Pawn->GetWorld(), Pawn, ThreatActor, EyeHeightOffset)
+			: false;
+
+		if (bHasLOS)
+		{
+			// Can see target → update last visible position, reset timer
+			Memory->LastVisiblePosition = ThreatActor->GetActorLocation();
+			Memory->TimeSinceLOS = 0.0f;
+			Memory->bHadLOS = true;
+			Memory->bInvestigating = false;
+
 			BB->SetValueAsVector(PS_AI_Behavior_BB::ThreatLocation, ThreatActor->GetActorLocation());
+			BB->ClearValue(PS_AI_Behavior_BB::LastKnownTargetPosition);
 		}
 		else
 		{
-		// No valid threat — clear BB and force threat to zero
+			// Cannot see target → accumulate time, write last known position
+			Memory->TimeSinceLOS += DeltaSeconds;
+
+			// Write ThreatLocation as the LAST VISIBLE position (not real-time)
+			if (!Memory->LastVisiblePosition.IsZero())
+			{
+				BB->SetValueAsVector(PS_AI_Behavior_BB::ThreatLocation, Memory->LastVisiblePosition);
+			}
+			else
+			{
+				BB->SetValueAsVector(PS_AI_Behavior_BB::ThreatLocation, ThreatActor->GetActorLocation());
+			}
+
+			// Phase 1: after LOSLostTimeout → write LastKnownTargetPosition for investigation
+			if (Memory->TimeSinceLOS > LOSLostTimeout && !Memory->bInvestigating)
+			{
+				Memory->bInvestigating = true;
+				BB->SetValueAsVector(PS_AI_Behavior_BB::LastKnownTargetPosition, Memory->LastVisiblePosition);
+
+				UE_LOG(LogPS_AI_Behavior, Log,
+					TEXT("[%s] UpdateThreat: LOS lost for %.0fs → investigating last known position %s"),
+					*AIC->GetName(), Memory->TimeSinceLOS, *Memory->LastVisiblePosition.ToString());
+			}
+
+			// Phase 2: after 2x timeout → give up, clear target so NPC can re-evaluate
+			if (Memory->TimeSinceLOS > LOSLostTimeout * 2.0f)
+			{
+				UE_LOG(LogPS_AI_Behavior, Log,
+					TEXT("[%s] UpdateThreat: LOS lost for %.0fs → clearing target, de-escalating"),
+					*AIC->GetName(), Memory->TimeSinceLOS);
+
 				BB->ClearValue(PS_AI_Behavior_BB::ThreatActor);
+				BB->ClearValue(PS_AI_Behavior_BB::LastKnownTargetPosition);
+				BB->ClearValue(PS_AI_Behavior_BB::ThreatPawnName);
+				Memory->TimeSinceLOS = 0.0f;
+				Memory->bInvestigating = false;
+				Memory->bHadLOS = true;
+			}
+		}
+	}
+	else if (CurrentBBTarget)
+	{
+		// Perception lost the actor momentarily, but we had a target in BB.
+		// Don't clear immediately — use the LOS tracking timeout instead.
+		// This prevents brief perception gaps (1-2 ticks) from dropping the target.
+		Memory->TimeSinceLOS += DeltaSeconds;
+
+		// Keep ThreatLocation at last visible position
+		if (!Memory->LastVisiblePosition.IsZero())
+		{
+			BB->SetValueAsVector(PS_AI_Behavior_BB::ThreatLocation, Memory->LastVisiblePosition);
+		}
+
+		// Phase 1: after LOSLostTimeout → investigate last known position
+		if (Memory->TimeSinceLOS > LOSLostTimeout && !Memory->bInvestigating)
+		{
+			Memory->bInvestigating = true;
+			BB->SetValueAsVector(PS_AI_Behavior_BB::LastKnownTargetPosition, Memory->LastVisiblePosition);
+
+			UE_LOG(LogPS_AI_Behavior, Log,
+				TEXT("[%s] UpdateThreat: perception lost target for %.0fs → investigating last known position %s"),
+				*AIC->GetName(), Memory->TimeSinceLOS, *Memory->LastVisiblePosition.ToString());
+		}
+
+		// Phase 2: after 2x timeout → give up, clear target
+		if (Memory->TimeSinceLOS > LOSLostTimeout * 2.0f)
+		{
+			UE_LOG(LogPS_AI_Behavior, Log,
+				TEXT("[%s] UpdateThreat: perception lost target for %.0fs → clearing target, de-escalating"),
+				*AIC->GetName(), Memory->TimeSinceLOS);
+
+			BB->ClearValue(PS_AI_Behavior_BB::ThreatActor);
+			BB->ClearValue(PS_AI_Behavior_BB::LastKnownTargetPosition);
+			BB->ClearValue(PS_AI_Behavior_BB::ThreatPawnName);
+			Memory->TimeSinceLOS = 0.0f;
+			Memory->bInvestigating = false;
+			Memory->bHadLOS = true;
+		}
+	}
+	else
+	{
+		// No threat actor at all (never had one)
+		Memory->TimeSinceLOS = 0.0f;
+		Memory->bInvestigating = false;
+		Memory->bHadLOS = true;
+
+		if (FinalThreat > 0.0f)
+		{
+			// Threat exists but no specific actor target (e.g. gunshot from friendly).
+			FVector ThreatLoc;
+			if (Perception->GetGunShotStimulusLocation(ThreatLoc))
+			{
+				BB->SetValueAsVector(PS_AI_Behavior_BB::ThreatLocation, ThreatLoc);
+			}
+		}
+		else
+		{
 			BB->ClearValue(PS_AI_Behavior_BB::ThreatLocation);
-		BB->SetValueAsFloat(PS_AI_Behavior_BB::ThreatLevel, 0.0f);
+		}
 	}
 
 	// Sync to PersonalityComponent
@@ -90,5 +229,7 @@ void UPS_AI_Behavior_BTService_UpdateThreat::TickNode(
 
 FString UPS_AI_Behavior_BTService_UpdateThreat::GetStaticDescription() const
 {
-	return TEXT("Updates Blackboard threat data from perception.\nWrites: ThreatActor, ThreatLocation, ThreatLevel.");
+	return FString::Printf(
+		TEXT("Updates Blackboard threat data from perception.\nLOS timeout: %.0fs (clear at %.0fs)\nWrites: ThreatActor, ThreatLocation, ThreatLevel, LastKnownTargetPosition."),
+		LOSLostTimeout, LOSLostTimeout * 2.0f);
 }

Unreal/PS_AI_Agent/Plugins/PS_AI_Behavior/Source/PS_AI_Behavior/Private/BT/PS_AI_Behavior_BTTask_Attack.cpp

@@ -6,9 +6,12 @@
 #include "PS_AI_Behavior_Definitions.h"
 #include "PS_AI_Behavior_PersonalityComponent.h"
 #include "PS_AI_Behavior_PersonalityProfile.h"
+#include "PS_AI_Behavior_Statics.h"
 #include "BehaviorTree/BlackboardComponent.h"
 #include "Navigation/PathFollowingComponent.h"
 #include "NavigationSystem.h"
+#include "EnvironmentQuery/EnvQuery.h"
+#include "EnvironmentQuery/EnvQueryManager.h"
 
 UPS_AI_Behavior_BTTask_Attack::UPS_AI_Behavior_BTTask_Attack()
 {
@@ -21,15 +24,25 @@ EBTNodeResult::Type UPS_AI_Behavior_BTTask_Attack::ExecuteTask(
 	UBehaviorTreeComponent& OwnerComp, uint8* NodeMemory)
 {
 	APS_AI_Behavior_AIController* AIC = Cast<APS_AI_Behavior_AIController>(OwnerComp.GetAIOwner());
-	if (!AIC || !AIC->GetPawn()) return EBTNodeResult::Failed;
+	if (!AIC || !AIC->GetPawn())
+	{
+		UE_LOG(LogPS_AI_Behavior, Warning, TEXT("Attack: FAILED — no AIC or Pawn"));
+		return EBTNodeResult::Failed;
+	}
 
 	UBlackboardComponent* BB = OwnerComp.GetBlackboardComponent();
-	if (!BB) return EBTNodeResult::Failed;
+	if (!BB)
+	{
+		UE_LOG(LogPS_AI_Behavior, Warning, TEXT("[%s] Attack: FAILED — no BB"), *AIC->GetName());
+		return EBTNodeResult::Failed;
+	}
 
 	AActor* Target = Cast<AActor>(BB->GetValueAsObject(PS_AI_Behavior_BB::ThreatActor));
 	if (!Target)
 	{
-		UE_LOG(LogPS_AI_Behavior, Warning, TEXT("[%s] Attack: no ThreatActor in BB."), *AIC->GetName());
+		UE_LOG(LogPS_AI_Behavior, Warning, TEXT("[%s] Attack: FAILED — no ThreatActor in BB"), *AIC->GetName());
+		// De-escalate so decorator can re-trigger when threat returns
+		AIC->SetBehaviorState(EPS_AI_Behavior_State::Alerted);
 		return EBTNodeResult::Failed;
 	}
 
@@ -40,8 +53,11 @@ EBTNodeResult::Type UPS_AI_Behavior_BTTask_Attack::ExecuteTask(
 	{
 		if (!IPS_AI_Behavior_Interface::Execute_IsTargetActorValid(Pawn, Target))
 		{
+			UE_LOG(LogPS_AI_Behavior, Warning, TEXT("[%s] Attack: FAILED — IsTargetActorValid returned false for '%s'"),
+				*AIC->GetName(), *Target->GetName());
 			BB->ClearValue(PS_AI_Behavior_BB::ThreatActor);
-			BB->SetValueAsFloat(PS_AI_Behavior_BB::ThreatLevel, 0.0f);
+			// De-escalate so decorator can re-trigger when threat returns
+			AIC->SetBehaviorState(EPS_AI_Behavior_State::Alerted);
 			return EBTNodeResult::Failed;
 		}
 	}
@@ -51,12 +67,16 @@ EBTNodeResult::Type UPS_AI_Behavior_BTTask_Attack::ExecuteTask(
 	Memory->bMovingToTarget = false;
 	Memory->bAttacking = false;
 	Memory->bInRange = false;
+	Memory->bHasLOS = true;
+	Memory->bSeekingFiringPos = false;
+	Memory->bEQSQueryRunning = false;
 	Memory->RepositionTimer = 0.0f;
+	Memory->LOSCheckTimer = 0.0f;
 	Memory->CombatType = EPS_AI_Behavior_CombatType::Melee;
 	Memory->MinRange = 100.0f;
 	Memory->MaxRange = AttackMoveRadius;
 
-	// CombatType from interface (depends on weapon/pawn)
+	// CombatType from interface
 	if (Pawn->Implements<UPS_AI_Behavior_Interface>())
 	{
 		Memory->CombatType = IPS_AI_Behavior_Interface::Execute_GetBehaviorCombatType(Pawn);
@@ -72,7 +92,14 @@ EBTNodeResult::Type UPS_AI_Behavior_BTTask_Attack::ExecuteTask(
 		}
 	}
 
-	// Melee: approach to half MinRange (get close). Ranged: approach to midpoint of band.
+	// ─── Initial LOS check (ranged only) ────────────────────────────
+	if (Memory->CombatType == EPS_AI_Behavior_CombatType::Ranged)
+	{
+		Memory->bHasLOS = UPS_AI_Behavior_Statics::HasLineOfSight(
+			Pawn->GetWorld(), Pawn, Target, EyeHeightOffset);
+	}
+
+	// Melee: approach to half MinRange. Ranged: approach to midpoint of band.
 	const float ApproachRange = (Memory->CombatType == EPS_AI_Behavior_CombatType::Melee)
 		? Memory->MinRange * 0.5f : (Memory->MinRange + Memory->MaxRange) * 0.5f;
 
@@ -81,7 +108,8 @@ EBTNodeResult::Type UPS_AI_Behavior_BTTask_Attack::ExecuteTask(
 	if (DistToTarget <= Memory->MaxRange)
 	{
 		Memory->bInRange = true;
-		if (Pawn->Implements<UPS_AI_Behavior_Interface>())
+		// Only start attacking if we have LOS (ranged) or always (melee)
+		if (Memory->bHasLOS && Pawn->Implements<UPS_AI_Behavior_Interface>())
 		{
 			IPS_AI_Behavior_Interface::Execute_BehaviorStartAttack(Pawn, Target);
 			Memory->bAttacking = true;
@@ -101,14 +129,12 @@ EBTNodeResult::Type UPS_AI_Behavior_BTTask_Attack::ExecuteTask(
 		}
 	}
 
-	UE_LOG(LogPS_AI_Behavior, Warning, TEXT("[%s] Attack: started on '%s' (%s, range=[%.0f-%.0f], dist=%.0f, inRange=%d, attacking=%d, hasInterface=%d)"),
+	UE_LOG(LogPS_AI_Behavior, Warning, TEXT("[%s] Attack: started on '%s' (%s, range=[%.0f-%.0f], dist=%.0f, inRange=%d, LOS=%d, attacking=%d)"),
 		*AIC->GetName(), *Target->GetName(),
 		Memory->CombatType == EPS_AI_Behavior_CombatType::Ranged ? TEXT("Ranged") : TEXT("Melee"),
 		Memory->MinRange, Memory->MaxRange, DistToTarget,
-		Memory->bInRange ? 1 : 0, Memory->bAttacking ? 1 : 0,
+		Memory->bInRange ? 1 : 0, Memory->bHasLOS ? 1 : 0, Memory->bAttacking ? 1 : 0);
-		Pawn->Implements<UPS_AI_Behavior_Interface>() ? 1 : 0);
 
-	// Stay InProgress — the Decorator Observer Aborts will pull us out
 	return EBTNodeResult::InProgress;
 }
 
@@ -126,40 +152,56 @@ void UPS_AI_Behavior_BTTask_Attack::TickTask(
 	AActor* Target = BB ? Cast<AActor>(BB->GetValueAsObject(PS_AI_Behavior_BB::ThreatActor)) : nullptr;
 	if (!Target)
 	{
-		BB->SetValueAsFloat(PS_AI_Behavior_BB::ThreatLevel, 0.0f);
+		// De-escalate so decorator can re-trigger when threat returns
+		AIC->SetBehaviorState(EPS_AI_Behavior_State::Alerted);
 		FinishLatentTask(OwnerComp, EBTNodeResult::Failed);
 		return;
 	}
 
-	// Check if target is still valid (alive, not despawning) via interface
 	APawn* Pawn = AIC->GetPawn();
+
+	// Validate target
 	if (Pawn && Pawn->Implements<UPS_AI_Behavior_Interface>())
 	{
 		if (!IPS_AI_Behavior_Interface::Execute_IsTargetActorValid(Pawn, Target))
 		{
-			// Target is dead/invalid — clear BB, StopAttack called by OnTaskFinished
 			AIC->StopMovement();
 			BB->ClearValue(PS_AI_Behavior_BB::ThreatActor);
-			BB->SetValueAsFloat(PS_AI_Behavior_BB::ThreatLevel, 0.0f);
+			// De-escalate so decorator can re-trigger when threat returns
-			FinishLatentTask(OwnerComp, EBTNodeResult::Succeeded);
+			AIC->SetBehaviorState(EPS_AI_Behavior_State::Alerted);
+			FinishLatentTask(OwnerComp, EBTNodeResult::Failed);
 			return;
 		}
 	}
 
 	FAttackMemory* Memory = reinterpret_cast<FAttackMemory*>(NodeMemory);
 
-	// Tick reposition cooldown
+	// Tick cooldowns
 	if (Memory->RepositionTimer > 0.0f)
 	{
 		Memory->RepositionTimer -= DeltaSeconds;
 	}
 
+	// ─── Periodic LOS check (ranged only) ───────────────────────────
+	if (Memory->CombatType == EPS_AI_Behavior_CombatType::Ranged)
+	{
+		Memory->LOSCheckTimer -= DeltaSeconds;
+		if (Memory->LOSCheckTimer <= 0.0f)
+		{
+			Memory->LOSCheckTimer = LOSCheckInterval;
+			Memory->bHasLOS = UPS_AI_Behavior_Statics::HasLineOfSight(
+				Pawn->GetWorld(), Pawn, Target, EyeHeightOffset);
+		}
+	}
+	// Melee always has "LOS" (they just rush)
+
 	const float DistToTarget = FVector::Dist(Pawn->GetActorLocation(), Target->GetActorLocation());
 	const bool bCanReposition = (Memory->RepositionTimer <= 0.0f);
 
+	// ─── MOVEMENT LOGIC ─────────────────────────────────────────────
 	if (Memory->CombatType == EPS_AI_Behavior_CombatType::Melee)
 	{
-		// ─── Melee: continuously chase target (no cooldown — always pursue) ──
+		// Melee: continuously chase target (no LOS check — just rush)
 		if (AIC->GetMoveStatus() == EPathFollowingStatus::Idle && DistToTarget > Memory->MinRange)
 		{
 			AIC->MoveToLocation(
@@ -169,19 +211,52 @@ void UPS_AI_Behavior_BTTask_Attack::TickTask(
 	}
 	else
 	{
-		// ─── Ranged: maintain distance between MinRange and MaxRange ─
+		// ─── Ranged: LOS-aware positioning ──────────────────────────
-		const float MidRange = (Memory->MinRange + Memory->MaxRange) * 0.5f;
+		if (Memory->bSeekingFiringPos)
-
+		{
+			// Waiting for firing position move to complete
 			if (AIC->GetMoveStatus() == EPathFollowingStatus::Idle)
 			{
+				Memory->bSeekingFiringPos = false;
+				// Re-check LOS immediately after arriving
+				Memory->LOSCheckTimer = 0.0f;
+			}
+		}
+		else if (!Memory->bHasLOS && !Memory->bEQSQueryRunning &&
+			AIC->GetMoveStatus() == EPathFollowingStatus::Idle)
+		{
+			// No LOS and idle → find a firing position
+			// Check if investigation (last known position) is active
+			const FVector LastKnownPos = BB->GetValueAsVector(PS_AI_Behavior_BB::LastKnownTargetPosition);
+			if (!LastKnownPos.IsZero())
+			{
+				// Investigation mode: go to last known position
+				AIC->MoveToLocation(
+					LastKnownPos, 100.0f, /*bStopOnOverlap=*/true,
+					/*bUsePathfinding=*/true, /*bProjectGoal=*/true, /*bCanStrafe=*/false);
+				Memory->bSeekingFiringPos = true;
+
+				UE_LOG(LogPS_AI_Behavior, Log, TEXT("[%s] Attack: investigating last known position %s"),
+					*AIC->GetName(), *LastKnownPos.ToString());
+			}
+			else
+			{
+				// No investigation yet — try EQS for a flanking position
+				RunFiringPositionQuery(OwnerComp, NodeMemory, Pawn, Target);
+			}
+		}
+		else if (Memory->bHasLOS && AIC->GetMoveStatus() == EPathFollowingStatus::Idle)
+		{
+			// Has LOS — normal range maintenance
+			const float MidRange = (Memory->MinRange + Memory->MaxRange) * 0.5f;
+
 			if (bCanReposition && DistToTarget < Memory->MinRange)
 			{
-				// Too close — back away to midpoint of band
+				// Too close — back away
 				const FVector AwayDir = (Pawn->GetActorLocation() - Target->GetActorLocation()).GetSafeNormal2D();
 				const float RetreatDist = MidRange - DistToTarget + 50.0f;
 				const FVector RetreatPoint = Pawn->GetActorLocation() + AwayDir * RetreatDist;
 
-				// Project to navmesh
 				UNavigationSystemV1* NavSys = FNavigationSystem::GetCurrent<UNavigationSystemV1>(GetWorld());
 				if (NavSys)
 				{
@@ -191,53 +266,64 @@ void UPS_AI_Behavior_BTTask_Attack::TickTask(
 						AIC->MoveToLocation(
 							NavLoc.Location, 50.0f, /*bStopOnOverlap=*/true,
 							/*bUsePathfinding=*/true, /*bProjectGoal=*/false, /*bCanStrafe=*/false);
-						// Longer cooldown after retreat to prevent repeated backing
 						Memory->RepositionTimer = RepositionCooldown * 3.0f;
-
-						UE_LOG(LogPS_AI_Behavior, Verbose, TEXT("[%s] Attack: backing away %.0fcm (dist=%.0f < min=%.0f)"),
-							*AIC->GetName(), RetreatDist, DistToTarget, Memory->MinRange);
 					}
 				}
 			}
 			else if (DistToTarget > Memory->MaxRange)
 			{
-				// Too far — advance toward target to midpoint of band (no cooldown — chase aggressively)
+				// Too far — advance
 				AIC->MoveToLocation(
 					Target->GetActorLocation(), MidRange, /*bStopOnOverlap=*/true,
 					/*bUsePathfinding=*/true, /*bProjectGoal=*/true, /*bCanStrafe=*/false);
-
-				UE_LOG(LogPS_AI_Behavior, Verbose, TEXT("[%s] Attack: advancing to midRange=%.0f (dist=%.0f > max=%.0f)"),
-					*AIC->GetName(), MidRange, DistToTarget, Memory->MaxRange);
 			}
-			// else: between MinRange and MaxRange — hold position, Pawn handles shooting
 		}
 	}
 
-	// ─── Toggle attack based on range (with hysteresis to prevent flickering) ──
+	// ─── Toggle attack based on range + LOS ─────────────────────────
-	// Enter range at MaxRange, leave range at MaxRange + buffer
 	const float EnterRange = Memory->MaxRange;
-	const float LeaveRange = Memory->MaxRange * 1.1f; // 10% hysteresis
+	const float LeaveRange = Memory->MaxRange * 1.1f;
 	const bool bNowInRange = Memory->bInRange
-		? (DistToTarget <= LeaveRange)   // already in range → need to go PAST LeaveRange to exit
+		? (DistToTarget <= LeaveRange)
-		: (DistToTarget <= EnterRange);  // not in range → need to get WITHIN EnterRange to enter
+		: (DistToTarget <= EnterRange);
 
-	if (bNowInRange && !Memory->bInRange)
+	// For ranged: require LOS to attack. For melee: always allow.
+	const bool bCanAttack = (Memory->CombatType == EPS_AI_Behavior_CombatType::Melee) || Memory->bHasLOS;
+
+	if (bNowInRange && bCanAttack && !Memory->bInRange)
 	{
-		// Entered range → start attacking
+		// Entered range with LOS → start attacking
 		Memory->bInRange = true;
 		if (Pawn->Implements<UPS_AI_Behavior_Interface>() && !Memory->bAttacking)
 		{
 			IPS_AI_Behavior_Interface::Execute_BehaviorStartAttack(Pawn, Target);
 			Memory->bAttacking = true;
-			UE_LOG(LogPS_AI_Behavior, Warning, TEXT("[%s] Attack: in range (%.0f <= %.0f) — StartAttack on '%s'"),
+			UE_LOG(LogPS_AI_Behavior, Warning, TEXT("[%s] Attack: in range + LOS → StartAttack on '%s'"),
-				*AIC->GetName(), DistToTarget, AttackRange, *Target->GetName());
+				*AIC->GetName(), *Target->GetName());
 		}
-		else if (!Pawn->Implements<UPS_AI_Behavior_Interface>())
+	}
+	else if (bNowInRange && !bCanAttack && Memory->bAttacking)
 	{
-			UE_LOG(LogPS_AI_Behavior, Error, TEXT("[%s] Attack: in range but Pawn does NOT implement IPS_AI_Behavior_Interface — StartAttack cannot be called!"),
+		// In range but lost LOS → stop attacking (stay in range though)
+		if (Pawn->Implements<UPS_AI_Behavior_Interface>())
+		{
+			IPS_AI_Behavior_Interface::Execute_BehaviorStopAttack(Pawn);
+			Memory->bAttacking = false;
+			UE_LOG(LogPS_AI_Behavior, Warning, TEXT("[%s] Attack: in range but NO LOS → StopAttack"),
 				*AIC->GetName());
 		}
 	}
+	else if (bNowInRange && bCanAttack && !Memory->bAttacking)
+	{
+		// In range, regained LOS → restart attacking
+		if (Pawn->Implements<UPS_AI_Behavior_Interface>())
+		{
+			IPS_AI_Behavior_Interface::Execute_BehaviorStartAttack(Pawn, Target);
+			Memory->bAttacking = true;
+			UE_LOG(LogPS_AI_Behavior, Warning, TEXT("[%s] Attack: LOS regained → StartAttack on '%s'"),
+				*AIC->GetName(), *Target->GetName());
+		}
+	}
 	else if (!bNowInRange && Memory->bInRange)
 	{
 		// Left range → stop attacking
@@ -246,8 +332,8 @@ void UPS_AI_Behavior_BTTask_Attack::TickTask(
 		{
 			IPS_AI_Behavior_Interface::Execute_BehaviorStopAttack(Pawn);
 			Memory->bAttacking = false;
-			UE_LOG(LogPS_AI_Behavior, Warning, TEXT("[%s] Attack: out of range (%.0f > %.0f) — StopAttack"),
+			UE_LOG(LogPS_AI_Behavior, Warning, TEXT("[%s] Attack: out of range → StopAttack"),
-				*AIC->GetName(), DistToTarget, AttackRange);
+				*AIC->GetName());
 		}
 	}
 }
@@ -260,14 +346,12 @@ EBTNodeResult::Type UPS_AI_Behavior_BTTask_Attack::AbortTask(
 	{
 		AIC->StopMovement();
 	}
-	// StopAttack is called by OnTaskFinished (covers all exit paths)
 	return EBTNodeResult::Aborted;
 }
 
 void UPS_AI_Behavior_BTTask_Attack::OnTaskFinished(
 	UBehaviorTreeComponent& OwnerComp, uint8* NodeMemory, EBTNodeResult::Type TaskResult)
 {
-	// Always stop attacking when the task ends, regardless of how it ended
 	APS_AI_Behavior_AIController* AIC = Cast<APS_AI_Behavior_AIController>(OwnerComp.GetAIOwner());
 	if (AIC)
 	{
@@ -281,8 +365,99 @@ void UPS_AI_Behavior_BTTask_Attack::OnTaskFinished(
 	Super::OnTaskFinished(OwnerComp, NodeMemory, TaskResult);
 }
 
+// ─── EQS Firing Position Query ──────────────────────────────────────────────
+
+void UPS_AI_Behavior_BTTask_Attack::RunFiringPositionQuery(
+	UBehaviorTreeComponent& OwnerComp, uint8* NodeMemory,
+	APawn* Pawn, AActor* Target)
+{
+	FAttackMemory* Memory = reinterpret_cast<FAttackMemory*>(NodeMemory);
+
+	if (!FiringPositionQuery)
+	{
+		// No EQS query configured → fallback: advance toward target
+		APS_AI_Behavior_AIController* AIC = Cast<APS_AI_Behavior_AIController>(OwnerComp.GetAIOwner());
+		if (AIC)
+		{
+			const float MidRange = (Memory->MinRange + Memory->MaxRange) * 0.5f;
+			AIC->MoveToLocation(
+				Target->GetActorLocation(), MidRange, /*bStopOnOverlap=*/true,
+				/*bUsePathfinding=*/true, /*bProjectGoal=*/true, /*bCanStrafe=*/false);
+			Memory->bSeekingFiringPos = true;
+
+			UE_LOG(LogPS_AI_Behavior, Verbose,
+				TEXT("[%s] Attack: no EQS query, fallback advance toward target"),
+				*AIC->GetName());
+		}
+		return;
+	}
+
+	UWorld* World = Pawn->GetWorld();
+	UEnvQueryManager* EQSManager = UEnvQueryManager::GetCurrent(World);
+	if (!EQSManager)
+	{
+		return;
+	}
+
+	Memory->bEQSQueryRunning = true;
+	TWeakObjectPtr<AActor> WeakTarget = Target;
+
+	FEnvQueryRequest Request(FiringPositionQuery, Pawn);
+	Request.Execute(EEnvQueryRunMode::SingleResult,
+		FQueryFinishedSignature::CreateUObject(this,
+			&UPS_AI_Behavior_BTTask_Attack::OnFiringPositionQueryFinished,
+			&OwnerComp, NodeMemory, WeakTarget));
+
+	UE_LOG(LogPS_AI_Behavior, Verbose, TEXT("[%s] Attack: EQS firing position query launched"),
+		*Pawn->GetName());
+}
+
+void UPS_AI_Behavior_BTTask_Attack::OnFiringPositionQueryFinished(
+	TSharedPtr<FEnvQueryResult> Result,
+	UBehaviorTreeComponent* OwnerComp, uint8* NodeMemory,
+	TWeakObjectPtr<AActor> WeakTarget)
+{
+	if (!OwnerComp || !NodeMemory) return;
+
+	FAttackMemory* Memory = reinterpret_cast<FAttackMemory*>(NodeMemory);
+	Memory->bEQSQueryRunning = false;
+
+	APS_AI_Behavior_AIController* AIC = Cast<APS_AI_Behavior_AIController>(OwnerComp->GetAIOwner());
+	if (!AIC || !AIC->GetPawn()) return;
+
+	AActor* Target = WeakTarget.Get();
+
+	if (Result.IsValid() && Result->IsSuccessful())
+	{
+		const FVector FiringPos = Result->GetItemAsLocation(0);
+		AIC->MoveToLocation(
+			FiringPos, 50.0f, /*bStopOnOverlap=*/true,
+			/*bUsePathfinding=*/true, /*bProjectGoal=*/false, /*bCanStrafe=*/false);
+		Memory->bSeekingFiringPos = true;
+
+		UE_LOG(LogPS_AI_Behavior, Log, TEXT("[%s] Attack: EQS found firing position %s"),
+			*AIC->GetName(), *FiringPos.ToString());
+	}
+	else
+	{
+		// EQS found nothing — fallback: advance toward target
+		if (Target)
+		{
+			const float MidRange = (Memory->MinRange + Memory->MaxRange) * 0.5f;
+			AIC->MoveToLocation(
+				Target->GetActorLocation(), MidRange, /*bStopOnOverlap=*/true,
+				/*bUsePathfinding=*/true, /*bProjectGoal=*/true, /*bCanStrafe=*/false);
+			Memory->bSeekingFiringPos = true;
+		}
+
+		UE_LOG(LogPS_AI_Behavior, Log, TEXT("[%s] Attack: EQS no result, fallback advance"),
+			*AIC->GetName());
+	}
+}
+
 FString UPS_AI_Behavior_BTTask_Attack::GetStaticDescription() const
 {
-	return FString::Printf(TEXT("Range-aware attack.\nFallback radius: %.0fcm\nReposition cooldown: %.1fs"),
+	return FString::Printf(TEXT("LOS-aware attack.\nFallback radius: %.0fcm\nLOS check: every %.1fs\nEQS query: %s"),
-		AttackMoveRadius, RepositionCooldown);
+		AttackMoveRadius, LOSCheckInterval,
+		FiringPositionQuery ? *FiringPositionQuery->GetName() : TEXT("None (fallback)"));
 }

Unreal/PS_AI_Agent/Plugins/PS_AI_Behavior/Source/PS_AI_Behavior/Private/BT/PS_AI_Behavior_BTTask_CoverShootCycle.cpp

@@ -7,8 +7,10 @@
 #include "PS_AI_Behavior_PersonalityComponent.h"
 #include "PS_AI_Behavior_PersonalityProfile.h"
 #include "PS_AI_Behavior_Definitions.h"
+#include "PS_AI_Behavior_Statics.h"
 #include "BehaviorTree/BlackboardComponent.h"
 #include "Navigation/PathFollowingComponent.h"
+#include "CollisionQueryParams.h"
 #include "EngineUtils.h"
 
 UPS_AI_Behavior_BTTask_CoverShootCycle::UPS_AI_Behavior_BTTask_CoverShootCycle()
@@ -137,6 +139,8 @@ void UPS_AI_Behavior_BTTask_CoverShootCycle::TickTask(
 	AActor* Target = Cast<AActor>(BB->GetValueAsObject(PS_AI_Behavior_BB::ThreatActor));
 	if (!Target)
 	{
+		// De-escalate so decorator can re-trigger when threat returns
+		AIC->SetBehaviorState(EPS_AI_Behavior_State::Alerted);
 		FinishLatentTask(OwnerComp, EBTNodeResult::Failed);
 		return;
 	}
@@ -149,8 +153,9 @@ void UPS_AI_Behavior_BTTask_CoverShootCycle::TickTask(
 		{
 			AIC->StopMovement();
 			BB->ClearValue(PS_AI_Behavior_BB::ThreatActor);
-			BB->SetValueAsFloat(PS_AI_Behavior_BB::ThreatLevel, 0.0f);
+			// De-escalate so decorator can re-trigger when threat returns
-			FinishLatentTask(OwnerComp, EBTNodeResult::Succeeded);
+			AIC->SetBehaviorState(EPS_AI_Behavior_State::Alerted);
+			FinishLatentTask(OwnerComp, EBTNodeResult::Failed);
 			return;
 		}
 	}
@@ -185,7 +190,68 @@ void UPS_AI_Behavior_BTTask_CoverShootCycle::TickTask(
 		Memory->Timer -= DeltaSeconds;
 		if (Memory->Timer <= 0.0f)
 		{
-			// Timer expired → peek and shoot
+			// LOS check before peeking — no point shooting into a wall
+			const bool bHasLOS = UPS_AI_Behavior_Statics::HasLineOfSight(
+				Pawn->GetWorld(), Pawn, Target, 150.0f);
+
+			if (!bHasLOS)
+			{
+				// No LOS → skip Peeking, force Advancing immediately to find a better position
+				UE_LOG(LogPS_AI_Behavior, Log,
+					TEXT("[%s] CoverShootCycle: no LOS to target from cover, skipping peek → advancing"),
+					*AIC->GetName());
+
+				Memory->SubState = EPS_AI_Behavior_CombatSubState::Advancing;
+				BB->SetValueAsEnum(PS_AI_Behavior_BB::CombatSubState,
+					static_cast<uint8>(EPS_AI_Behavior_CombatSubState::Advancing));
+
+				// Release current cover point
+				APS_AI_Behavior_CoverPoint* OldPoint =
+					Cast<APS_AI_Behavior_CoverPoint>(BB->GetValueAsObject(PS_AI_Behavior_BB::CoverPoint));
+				if (OldPoint)
+				{
+					OldPoint->Release(Pawn);
+				}
+
+				// Find a cover with better firing angle
+				const FVector NpcLoc = Pawn->GetActorLocation();
+				const FVector ThreatLoc = Target->GetActorLocation();
+				EPS_AI_Behavior_NPCType NPCType = EPS_AI_Behavior_NPCType::Any;
+				if (UPS_AI_Behavior_PersonalityComponent* Personality = AIC->GetPersonalityComponent())
+				{
+					NPCType = Personality->GetNPCType();
+				}
+
+				float NewScore = -1.0f;
+				APS_AI_Behavior_CoverPoint* NewPoint =
+					FindAdvancingCover(GetWorld(), NpcLoc, ThreatLoc, NPCType, NewScore);
+
+				if (NewPoint)
+				{
+					NewPoint->Claim(Pawn);
+					BB->SetValueAsObject(PS_AI_Behavior_BB::CoverPoint, NewPoint);
+					BB->SetValueAsVector(PS_AI_Behavior_BB::CoverLocation, NewPoint->GetActorLocation());
+
+					AIC->MoveToLocation(
+						NewPoint->GetActorLocation(), 80.0f, /*bStopOnOverlap=*/true,
+						/*bUsePathfinding=*/true, /*bProjectGoal=*/true, /*bCanStrafe=*/false);
+					Memory->bMoveRequested = true;
+					Memory->CycleCount = 0;
+				}
+				else
+				{
+					// No better cover → stay, retry next cycle
+					Memory->SubState = EPS_AI_Behavior_CombatSubState::AtCover;
+					Memory->PhaseDuration = FMath::RandRange(Memory->EffCoverMin, Memory->EffCoverMax);
+					Memory->Timer = Memory->PhaseDuration;
+					Memory->CycleCount = 0;
+					BB->SetValueAsEnum(PS_AI_Behavior_BB::CombatSubState,
+						static_cast<uint8>(EPS_AI_Behavior_CombatSubState::AtCover));
+				}
+				break;
+			}
+
+			// Has LOS → peek and shoot normally
 			Memory->SubState = EPS_AI_Behavior_CombatSubState::Peeking;
 			Memory->PhaseDuration = FMath::RandRange(Memory->EffPeekMin, Memory->EffPeekMax);
 			Memory->Timer = Memory->PhaseDuration;
@@ -412,6 +478,18 @@ APS_AI_Behavior_CoverPoint* UPS_AI_Behavior_BTTask_CoverShootCycle::FindAdvancin
 			Score += AdvancementBias * AdvanceRatio * 0.3f;
 		}
 
+		// LOS bonus — strongly favor covers with clear line of sight to the target
+		{
+			const FVector TraceStart = Point->GetActorLocation() + FVector(0, 0, 150.0f);
+			FHitResult Hit;
+			FCollisionQueryParams Params(SCENE_QUERY_STAT(CoverLOS), true);
+			if (!const_cast<UWorld*>(World)->LineTraceSingleByChannel(
+				Hit, TraceStart, ThreatLoc, ECC_Visibility, Params))
+			{
+				Score += 0.3f;  // Clear LOS from this cover
+			}
+		}
+
 		if (Score > OutScore)
 		{
 			OutScore = Score;

Unreal/PS_AI_Agent/Plugins/PS_AI_Behavior/Source/PS_AI_Behavior/Private/PS_AI_Behavior_AIController.cpp

@@ -16,6 +16,7 @@
 #include "BehaviorTree/Blackboard/BlackboardKeyType_Int.h"
 #include "BehaviorTree/Blackboard/BlackboardKeyType_Object.h"
 #include "BehaviorTree/Blackboard/BlackboardKeyType_Vector.h"
+#include "BehaviorTree/Blackboard/BlackboardKeyType_String.h"
 
 APS_AI_Behavior_AIController::APS_AI_Behavior_AIController()
 {
@@ -171,6 +172,18 @@ void APS_AI_Behavior_AIController::SetupBlackboard()
 		CombatSubStateEntry.EntryName = PS_AI_Behavior_BB::CombatSubState;
 		CombatSubStateEntry.KeyType = NewObject<UBlackboardKeyType_Enum>(BlackboardAsset);
 		BlackboardAsset->Keys.Add(CombatSubStateEntry);
+
+		// LastKnownTargetPosition (vector — for LOS investigation)
+		FBlackboardEntry LastKnownEntry;
+		LastKnownEntry.EntryName = PS_AI_Behavior_BB::LastKnownTargetPosition;
+		LastKnownEntry.KeyType = NewObject<UBlackboardKeyType_Vector>(BlackboardAsset);
+		BlackboardAsset->Keys.Add(LastKnownEntry);
+
+		// ThreatPawnName (debug: name of the Pawn behind ThreatActor)
+		FBlackboardEntry ThreatPawnNameEntry;
+		ThreatPawnNameEntry.EntryName = PS_AI_Behavior_BB::ThreatPawnName;
+		ThreatPawnNameEntry.KeyType = NewObject<UBlackboardKeyType_String>(BlackboardAsset);
+		BlackboardAsset->Keys.Add(ThreatPawnNameEntry);
 	}
 
 	UBlackboardComponent* RawBBComp = nullptr;
@@ -306,8 +319,6 @@ void APS_AI_Behavior_AIController::SetGenericTeamId(const FGenericTeamId& InTeam
 
 ETeamAttitude::Type APS_AI_Behavior_AIController::GetTeamAttitudeTowards(const AActor& Other) const
 {
-	const uint8 OtherTeamId = FGenericTeamId::NoTeam;
-
 	// Try to get the other actor's team ID
 	const APawn* OtherPawn = Cast<APawn>(&Other);
 	if (!OtherPawn)
@@ -336,11 +347,38 @@ ETeamAttitude::Type APS_AI_Behavior_AIController::GetTeamAttitudeTowards(const A
 				OtherTeam = TeamComp->GetGenericTeamId().GetId();
 			}
 		}
+
+		// 3) Fallback: check if Pawn implements IPS_AI_Behavior_Interface → derive TeamId from NPCType
+		if (OtherTeam == FGenericTeamId::NoTeam && OtherPawn->Implements<UPS_AI_Behavior_Interface>())
+		{
+			const EPS_AI_Behavior_NPCType OtherNPCType =
+				IPS_AI_Behavior_Interface::Execute_GetBehaviorNPCType(const_cast<APawn*>(OtherPawn));
+			if (OtherNPCType != EPS_AI_Behavior_NPCType::Any)
+			{
+				OtherTeam = PS_AI_Behavior_Team::MakeTeamId(OtherNPCType);
+			}
+		}
 	}
 
-	// NoTeam (255) → Neutral
+	// ─── NoTeam handling ────────────────────────────────────────────────
-	if (TeamId == FGenericTeamId::NoTeam || OtherTeam == FGenericTeamId::NoTeam)
+	if (TeamId == FGenericTeamId::NoTeam)
 	{
+		// We have no team → can't determine attitude
+		return ETeamAttitude::Neutral;
+	}
+
+	if (OtherTeam == FGenericTeamId::NoTeam)
+	{
+		// NoTeam = not part of the behavior system (spectators, editor pawns, etc.) → always Neutral
+		static bool bLoggedNoTeamWarning = false;
+		if (!bLoggedNoTeamWarning)
+		{
+			bLoggedNoTeamWarning = true;
+			UE_LOG(LogPS_AI_Behavior, Warning,
+				TEXT("GetTeamAttitudeTowards: '%s' has NoTeam (no AIController team, no TeamComponent, no Interface). "
+					 "Add UPS_AI_Behavior_TeamComponent to fix team detection. Treating as Neutral."),
+				OtherPawn ? *OtherPawn->GetName() : *Other.GetName());
+		}
 		return ETeamAttitude::Neutral;
 	}
 

Unreal/PS_AI_Agent/Plugins/PS_AI_Behavior/Source/PS_AI_Behavior/Private/PS_AI_Behavior_PerceptionComponent.cpp

@@ -13,7 +13,9 @@
 #include "Perception/AISense_Hearing.h"
 #include "Perception/AISense_Damage.h"
 #include "GameFramework/Pawn.h"
+#include "GameFramework/SpectatorPawn.h"
 #include "AIController.h"
+#include "BehaviorTree/BlackboardComponent.h"
 
 UPS_AI_Behavior_PerceptionComponent::UPS_AI_Behavior_PerceptionComponent()
 {
@@ -83,7 +85,7 @@ void UPS_AI_Behavior_PerceptionComponent::HandlePerceptionUpdated(const TArray<A
  * Returns the Pawn itself — used for team/attitude checks.
  * Returns nullptr if no Pawn can be found.
  */
-static APawn* FindOwningPawn(AActor* Actor)
+APawn* UPS_AI_Behavior_PerceptionComponent::FindOwningPawn(AActor* Actor)
 {
 	if (!Actor) return nullptr;
 
@@ -318,6 +320,9 @@ AActor* UPS_AI_Behavior_PerceptionComponent::GetHighestThreatActor(
 		if (OwningPawn == Owner) continue;
 		if (AIC && OwningPawn == AIC->GetPawn()) continue;
 
+		// Skip spectator pawns (editor camera, spectating players, etc.)
+		if (OwningPawn->IsA<ASpectatorPawn>()) continue;
+
 		// Get the threat target (PS_AimTargetActor or Pawn itself — for BB targeting)
 		AActor* ThreatTarget = GetThreatTarget(OwningPawn);
 		if (!ThreatTarget) ThreatTarget = OwningPawn;
@@ -338,7 +343,7 @@ AActor* UPS_AI_Behavior_PerceptionComponent::GetHighestThreatActor(
 				// Allied teams (Civilian ↔ Protector) → allow gunfire through
 				if (AIC->GetGenericTeamId().GetId() == GetActorTeamId(OwningPawn))
 				{
-					UE_LOG(LogPS_AI_Behavior, Verbose, TEXT("[%s] Target '%s': SKIPPED (same team 0x%02X)"),
+					UE_LOG(LogPS_AI_Behavior, Log, TEXT("[%s] Target '%s': SKIPPED (same team 0x%02X)"),
 						*Owner->GetName(), *OwningPawn->GetName(), GetActorTeamId(OwningPawn));
 					continue;
 				}
@@ -361,7 +366,7 @@ AActor* UPS_AI_Behavior_PerceptionComponent::GetHighestThreatActor(
 
 				if (!bActorHasGunshot)
 				{
-					UE_LOG(LogPS_AI_Behavior, Verbose, TEXT("[%s] Target '%s': SKIPPED (attitude=%d, not hostile, no gunshot, theirTeam=0x%02X, myTeam=0x%02X)"),
+					UE_LOG(LogPS_AI_Behavior, Log, TEXT("[%s] Target '%s': SKIPPED (attitude=%d, not hostile, no gunshot, theirTeam=0x%02X, myTeam=0x%02X)"),
 						*Owner->GetName(), *OwningPawn->GetName(), static_cast<int32>(Attitude),
 						GetActorTeamId(OwningPawn), AIC->GetGenericTeamId().GetId());
 					continue; // Not hostile, no gunshot — skip
@@ -441,24 +446,27 @@ AActor* UPS_AI_Behavior_PerceptionComponent::GetHighestThreatActor(
 	float CurrentTargetScore = -1.0f;
 	if (AIC)
 	{
-		if (UBlackboardComponent* BB = AIC->GetBlackboardComponent())
+		if (const UBlackboardComponent* BB = AIC->GetBlackboardComponent())
 		{
 			CurrentTarget = Cast<AActor>(BB->GetValueAsObject(PS_AI_Behavior_BB::ThreatActor));
 		}
 	}
 
+	APawn* BestOwningPawn = nullptr;
+
 	for (const auto& Pair : ScoreMap)
 	{
 		const FActorScore& Entry = Pair.Value;
 
-		UE_LOG(LogPS_AI_Behavior, Log, TEXT("[%s] Target '%s': type=%d, hostile=%d, score=%.0f"),
+		UE_LOG(LogPS_AI_Behavior, Log, TEXT("[%s] Target '%s' (pawn='%s'): type=%d, hostile=%d, score=%.0f"),
-			*Owner->GetName(), *Entry.Actor->GetName(),
+			*Owner->GetName(), *Entry.Actor->GetName(), *Pair.Key->GetName(),
 			static_cast<int32>(Entry.ActorType), Entry.bIsHostile ? 1 : 0, Entry.Score);
 
 		if (Entry.Score > BestScore)
 		{
 			BestScore = Entry.Score;
 			BestThreat = Entry.Actor;
+			BestOwningPawn = Cast<APawn>(Pair.Key);
 		}
 
 		// Track current target's score for persistence check
@@ -476,15 +484,32 @@ AActor* UPS_AI_Behavior_PerceptionComponent::GetHighestThreatActor(
 		{
 			BestThreat = CurrentTarget;
 			BestScore = CurrentTargetScore;
+			// Find the owning Pawn for the kept target
+			for (const auto& Pair : ScoreMap)
+			{
+				if (Pair.Value.Actor == CurrentTarget) { BestOwningPawn = Cast<APawn>(Pair.Key); break; }
+			}
 		}
 	}
 
+	// Store the owning Pawn for callers (UpdateThreat reads this for debug display)
+	LastThreatOwningPawn = BestOwningPawn;
+
 	if (BestThreat)
 	{
-		UE_LOG(LogPS_AI_Behavior, Log, TEXT("[%s] → Best target: '%s' (score=%.0f%s)"),
+		UE_LOG(LogPS_AI_Behavior, Log, TEXT("[%s] → Best target: '%s' (pawn='%s', score=%.0f%s)"),
-			*Owner->GetName(), *BestThreat->GetName(), BestScore,
+			*Owner->GetName(), *BestThreat->GetName(),
+			BestOwningPawn ? *BestOwningPawn->GetName() : TEXT("?"),
+			BestScore,
 			(BestThreat == CurrentTarget) ? TEXT(" [kept]") : TEXT(""));
 	}
+	else if (PerceivedActors.Num() > 0)
+	{
+		UE_LOG(LogPS_AI_Behavior, Warning,
+			TEXT("[%s] GetHighestThreatActor: perceived %d actors but ALL were filtered out (myTeam=0x%02X). Check TeamIds and attitude."),
+			*Owner->GetName(), PerceivedActors.Num(),
+			AIC ? AIC->GetGenericTeamId().GetId() : 255);
+	}
 
 	return BestThreat;
 }
@@ -512,6 +537,9 @@ float UPS_AI_Behavior_PerceptionComponent::CalculateThreatLevel()
 		APawn* OwningPawn = FindOwningPawn(RawActor);
 		if (!OwningPawn) continue;
 
+		// Skip spectator pawns
+		if (OwningPawn->IsA<ASpectatorPawn>()) continue;
+
 		// Get the threat target for position-based calculations
 		AActor* ThreatTarget = GetThreatTarget(OwningPawn);
 		if (!ThreatTarget) ThreatTarget = OwningPawn;

Unreal/PS_AI_Agent/Plugins/PS_AI_Behavior/Source/PS_AI_Behavior/Private/PS_AI_Behavior_PersonalityComponent.cpp

@@ -88,6 +88,12 @@ EPS_AI_Behavior_State UPS_AI_Behavior_PersonalityComponent::EvaluateReaction() c
 	const float EffectiveFleeThresh   = FleeThresh * (0.5f + Courage * 0.5f) * (1.5f - Caution * 0.5f);
 	const float EffectiveAttackThresh = AttackThresh * (1.5f - Aggressivity * 0.5f);
 
+	UE_LOG(LogPS_AI_Behavior, Log,
+		TEXT("[%s] EvaluateReaction: threat=%.2f, aggr=%.2f, courage=%.2f, caution=%.2f | attackThresh=%.2f, fleeThresh=%.2f, alertThresh=%.2f"),
+		GetOwner() ? *GetOwner()->GetName() : TEXT("?"),
+		PerceivedThreatLevel, Aggressivity, Courage, Caution,
+		EffectiveAttackThresh, EffectiveFleeThresh, AlertThresh);
+
 	// Decision cascade
 	if (PerceivedThreatLevel >= EffectiveFleeThresh && Courage < 0.7f)
 	{
@@ -231,10 +237,15 @@ void UPS_AI_Behavior_PersonalityComponent::DrawDebugInfo() const
 		{
 			DebugTeamId = AIC->GetGenericTeamId().GetId();
 
-			// Get ThreatActor from Blackboard
+			// Get threat target name from Blackboard (prefer Pawn name for readability)
 			if (const UBlackboardComponent* BB = AIC->GetBlackboardComponent())
 			{
-				if (AActor* ThreatActor = Cast<AActor>(BB->GetValueAsObject(PS_AI_Behavior_BB::ThreatActor)))
+				const FString PawnName = BB->GetValueAsString(PS_AI_Behavior_BB::ThreatPawnName);
+				if (!PawnName.IsEmpty())
+				{
+					ThreatActorName = PawnName;
+				}
+				else if (AActor* ThreatActor = Cast<AActor>(BB->GetValueAsObject(PS_AI_Behavior_BB::ThreatActor)))
 				{
 					ThreatActorName = ThreatActor->GetName();
 				}
@@ -274,11 +285,15 @@ void UPS_AI_Behavior_PersonalityComponent::DrawDebugInfo() const
 	}
 
 	// ─── Build text ─────────────────────────────────────────────────────
+	// Decode faction from TeamId
+	const uint8 DebugFaction = PS_AI_Behavior_Team::GetFaction(DebugTeamId);
+	const FString FactionStr = DebugFaction > 0 ? FString::Printf(TEXT(" F%d"), DebugFaction) : TEXT("");
+
 	const FString DebugText = FString::Printf(
-		TEXT("%s [%s] Team:%d %s\n%s  Threat:%.2f → %s%s"),
+		TEXT("%s [%s%s] %s\n%s  Threat:%.2f → %s%s"),
 		*NPCName,
 		*UEnum::GetDisplayValueAsText(NPCType).ToString(),
-		DebugTeamId,
+		*FactionStr,
 		bHostile ? TEXT("HOSTILE") : TEXT(""),
 		*UEnum::GetDisplayValueAsText(CurrentState).ToString(),
 		ThreatLevel,

Unreal/PS_AI_Agent/Plugins/PS_AI_Behavior/Source/PS_AI_Behavior/Private/PS_AI_Behavior_Statics.cpp

@@ -0,0 +1,60 @@
+// Copyright Asterion. All Rights Reserved.
+
+#include "PS_AI_Behavior_Statics.h"
+#include "Perception/AISense_Hearing.h"
+#include "CollisionQueryParams.h"
+#include "Engine/World.h"
+
+void UPS_AI_Behavior_Statics::ReportGunfire(UObject* WorldContext, FVector Location,
+	AActor* Shooter, bool bIsEnemyFire, float Loudness, float MaxRange)
+{
+	UWorld* World = GEngine ? GEngine->GetWorldFromContextObject(WorldContext, EGetWorldErrorMode::LogAndReturnNull) : nullptr;
+	if (!World)
+	{
+		UE_LOG(LogPS_AI_Behavior, Warning, TEXT("ReportGunfire: invalid WorldContext."));
+		return;
+	}
+
+	const FName Tag = bIsEnemyFire ? PS_AI_Behavior_Tags::EnemyFire : PS_AI_Behavior_Tags::PlayerFire;
+
+	UAISense_Hearing::ReportNoiseEvent(
+		World,
+		Location,
+		Loudness,
+		Shooter,
+		MaxRange,
+		Tag);
+
+	UE_LOG(LogPS_AI_Behavior, Verbose, TEXT("ReportGunfire: at %s by '%s' (tag=%s, loudness=%.1f)"),
+		*Location.ToString(),
+		Shooter ? *Shooter->GetName() : TEXT("null"),
+		*Tag.ToString(),
+		Loudness);
+}
+
+bool UPS_AI_Behavior_Statics::HasLineOfSight(const UWorld* World, const AActor* Source,
+	const AActor* Target, float EyeHeightOffset)
+{
+	if (!World || !Source || !Target) return false;
+
+	const FVector TraceStart = Source->GetActorLocation() + FVector(0, 0, EyeHeightOffset);
+	const FVector TraceEnd = Target->GetActorLocation();
+
+	FHitResult Hit;
+	FCollisionQueryParams Params(SCENE_QUERY_STAT(BehaviorLOS), true);
+	Params.AddIgnoredActor(Source);
+	Params.AddIgnoredActor(Target);
+
+	// Also ignore actors up the attachment chain (e.g. AimTarget → ChildActor → Character capsule)
+	// This handles cases where Owner/Instigator aren't set but the actor is physically attached.
+	for (const AActor* Cur = Target->GetAttachParentActor(); Cur; Cur = Cur->GetAttachParentActor())
+	{
+		Params.AddIgnoredActor(Cur);
+	}
+	for (const AActor* Cur = Source->GetAttachParentActor(); Cur; Cur = Cur->GetAttachParentActor())
+	{
+		Params.AddIgnoredActor(Cur);
+	}
+
+	return !World->LineTraceSingleByChannel(Hit, TraceStart, TraceEnd, ECC_Visibility, Params);
+}

Unreal/PS_AI_Agent/Plugins/PS_AI_Behavior/Source/PS_AI_Behavior/Public/BT/PS_AI_Behavior_BTService_UpdateThreat.h

@@ -22,7 +22,26 @@ class PS_AI_BEHAVIOR_API UPS_AI_Behavior_BTService_UpdateThreat : public UBTServ
 public:
 	UPS_AI_Behavior_BTService_UpdateThreat();
 
+	/** Seconds without LOS before writing LastKnownTargetPosition and starting investigation. */
+	UPROPERTY(EditAnywhere, Category = "Threat|LOS", meta = (ClampMin = "5.0"))
+	float LOSLostTimeout = 20.0f;
+
+	/** Eye height offset for LOS traces (cm above pawn origin). */
+	UPROPERTY(EditAnywhere, Category = "Threat|LOS", meta = (ClampMin = "50.0", ClampMax = "200.0"))
+	float EyeHeightOffset = 150.0f;
+
 protected:
 	virtual void TickNode(UBehaviorTreeComponent& OwnerComp, uint8* NodeMemory, float DeltaSeconds) override;
 	virtual FString GetStaticDescription() const override;
+
+private:
+	struct FUpdateThreatMemory
+	{
+		float TimeSinceLOS = 0.0f;
+		FVector LastVisiblePosition = FVector::ZeroVector;
+		bool bHadLOS = true;
+		bool bInvestigating = false;
+	};
+
+	virtual uint16 GetInstanceMemorySize() const override { return sizeof(FUpdateThreatMemory); }
 };

Unreal/PS_AI_Agent/Plugins/PS_AI_Behavior/Source/PS_AI_Behavior/Public/BT/PS_AI_Behavior_BTTask_Attack.h

@@ -4,9 +4,12 @@
 
 #include "CoreMinimal.h"
 #include "BehaviorTree/BTTaskNode.h"
+#include "EnvironmentQuery/EnvQueryTypes.h"
 #include "PS_AI_Behavior_Definitions.h"
 #include "PS_AI_Behavior_BTTask_Attack.generated.h"
 
+class UEnvQuery;
+
 /**
  * BT Task: Move toward the threat actor and delegate combat to the Pawn.
  *
@@ -37,6 +40,22 @@ public:
 	UPROPERTY(EditAnywhere, Category = "Attack", meta = (ClampMin = "0.5", ClampMax = "5.0"))
 	float RepositionCooldown = 1.5f;
 
+	/** Eye height offset for line-of-sight traces (cm above actor origin). */
+	UPROPERTY(EditAnywhere, Category = "Attack|LOS", meta = (ClampMin = "50.0", ClampMax = "200.0"))
+	float EyeHeightOffset = 150.0f;
+
+	/** How often to check LOS (seconds). Avoids per-frame traces. */
+	UPROPERTY(EditAnywhere, Category = "Attack|LOS", meta = (ClampMin = "0.1", ClampMax = "1.0"))
+	float LOSCheckInterval = 0.2f;
+
+	/**
+	 * EQS query asset for finding a firing position with clear LOS.
+	 * Compose in editor: OnCircle generator + LineOfSight filter + Distance tests.
+	 * If null, fallback: advance directly toward the target.
+	 */
+	UPROPERTY(EditAnywhere, Category = "Attack|LOS")
+	TObjectPtr<UEnvQuery> FiringPositionQuery;
+
 protected:
 	virtual EBTNodeResult::Type ExecuteTask(UBehaviorTreeComponent& OwnerComp, uint8* NodeMemory) override;
 	virtual void TickTask(UBehaviorTreeComponent& OwnerComp, uint8* NodeMemory, float DeltaSeconds) override;
@@ -50,11 +69,24 @@ private:
 		bool bMovingToTarget = false;
 		bool bAttacking = false;      // true when BehaviorStartAttack is active
 		bool bInRange = false;        // true when within MaxRange of target
+		bool bHasLOS = true;          // true when line-of-sight to target is clear
+		bool bSeekingFiringPos = false; // true when moving to a flanking/firing position
 		EPS_AI_Behavior_CombatType CombatType = EPS_AI_Behavior_CombatType::Melee;
 		float MinRange = 100.0f;      // backs away if closer
 		float MaxRange = 300.0f;      // advances if farther
 		float RepositionTimer = 0.0f;
+		float LOSCheckTimer = 0.0f;   // cooldown for LOS trace checks
+		bool bEQSQueryRunning = false; // true while an EQS query is in flight
 	};
 
 	virtual uint16 GetInstanceMemorySize() const override { return sizeof(FAttackMemory); }
+
+	/** Run the EQS firing position query. Falls back to advancing toward target if no query asset. */
+	void RunFiringPositionQuery(UBehaviorTreeComponent& OwnerComp, uint8* NodeMemory,
+		APawn* Pawn, AActor* Target);
+
+	/** Callback when the EQS query completes. */
+	void OnFiringPositionQueryFinished(TSharedPtr<FEnvQueryResult> Result,
+		UBehaviorTreeComponent* OwnerComp, uint8* NodeMemory,
+		TWeakObjectPtr<AActor> WeakTarget);
 };

Unreal/PS_AI_Agent/Plugins/PS_AI_Behavior/Source/PS_AI_Behavior/Public/PS_AI_Behavior_AIController.h

@@ -101,6 +101,9 @@ protected:
 	UPROPERTY(Transient)
 	TObjectPtr<UPS_AI_Behavior_PersonalityComponent> PersonalityComp;
 
+	/** Shut down all AI systems when the NPC dies. Called automatically by SetBehaviorState(Dead). */
+	void HandleDeath();
+
 private:
 	/** Initialize Blackboard with required keys. */
 	void SetupBlackboard();

Unreal/PS_AI_Agent/Plugins/PS_AI_Behavior/Source/PS_AI_Behavior/Public/PS_AI_Behavior_Definitions.h

@@ -185,4 +185,6 @@ namespace PS_AI_Behavior_BB
 	inline const FName CurrentSpline   = TEXT("CurrentSpline");
 	inline const FName SplineProgress  = TEXT("SplineProgress");
 	inline const FName CombatSubState          = TEXT("CombatSubState");
+	inline const FName LastKnownTargetPosition = TEXT("LastKnownTargetPosition");
+	inline const FName ThreatPawnName          = TEXT("ThreatPawnName"); // Debug: name of the owning Pawn behind ThreatActor
 }

Unreal/PS_AI_Agent/Plugins/PS_AI_Behavior/Source/PS_AI_Behavior/Public/PS_AI_Behavior_PerceptionComponent.h

@@ -64,6 +64,13 @@ public:
 	/** Extract an actor's TeamId (checking controller, then TeamComponent). Returns NoTeam if unresolvable. */
 	static uint8 GetActorTeamId(const AActor* Actor);
 
+	/** Walk Owner/Instigator chain to find the Pawn that owns a perceived actor (weapon, AimTarget, etc.). */
+	static APawn* FindOwningPawn(AActor* Actor);
+
+	/** The owning Pawn of the last selected ThreatActor (set by GetHighestThreatActor). */
+	UPROPERTY(Transient)
+	TWeakObjectPtr<APawn> LastThreatOwningPawn;
+
 protected:
 	virtual void BeginPlay() override;
 

Unreal/PS_AI_Agent/Plugins/PS_AI_Behavior/Source/PS_AI_Behavior/Public/PS_AI_Behavior_Statics.h

@@ -0,0 +1,56 @@
+// Copyright Asterion. All Rights Reserved.
+
+#pragma once
+
+#include "CoreMinimal.h"
+#include "Kismet/BlueprintFunctionLibrary.h"
+#include "PS_AI_Behavior_Definitions.h"
+#include "PS_AI_Behavior_Statics.generated.h"
+
+/**
+ * Static helpers for the PS AI Behavior plugin.
+ * Call from Blueprint or C++ to interact with the behavior system.
+ */
+UCLASS()
+class PS_AI_BEHAVIOR_API UPS_AI_Behavior_Statics : public UBlueprintFunctionLibrary
+{
+	GENERATED_BODY()
+
+public:
+
+	/**
+	 * Report a gunfire noise event so all nearby NPCs react.
+	 * Uses tag "EnemyFire" or "PlayerFire" depending on bIsEnemyFire.
+	 *
+	 * Compatible with existing ReportNoiseEvent calls using those tags.
+	 *
+	 * - Enemies (non-hostile) hearing this will become hostile toward the shooter.
+	 * - Civilians hearing this will flee based on their personality traits.
+	 * - Already-hostile enemies treat this as additional threat.
+	 *
+	 * @param WorldContext  Any world-context object (self, weapon, etc.)
+	 * @param Location      World location of the gunshot.
+	 * @param Shooter       The actor who fired (Instigator for perception).
+	 * @param bIsEnemyFire  True = tag "EnemyFire", False = tag "PlayerFire".
+	 * @param Loudness      Noise loudness (default 1.0). Scales with HearingRange.
+	 * @param MaxRange      Override max hearing range (0 = use sense default).
+	 */
+	UFUNCTION(BlueprintCallable, Category = "PS AI Behavior|Perception",
+		meta = (WorldContext = "WorldContext", DefaultToSelf = "Shooter"))
+	static void ReportGunfire(UObject* WorldContext, FVector Location,
+		AActor* Shooter, bool bIsEnemyFire = false,
+		float Loudness = 1.0f, float MaxRange = 0.0f);
+
+	/**
+	 * Check if there is a clear line-of-sight between two actors.
+	 * Traces from the source actor's eye height to the target actor's location.
+	 *
+	 * @param World          The world to trace in.
+	 * @param Source         The actor looking (trace starts at Source + EyeHeightOffset).
+	 * @param Target         The actor being looked at (trace ends at Target location).
+	 * @param EyeHeightOffset  Height offset above Source's origin for the trace start (cm).
+	 * @return True if line-of-sight is clear (no blocking geometry).
+	 */
+	static bool HasLineOfSight(const UWorld* World, const AActor* Source, const AActor* Target,
+		float EyeHeightOffset = 150.0f);
+};