public float[] GetObservations()
{
float[] observations = new float[m_DetectableTags.Count + 2];
output = Cast();
if (output.hitGo != null)
{
// Find the index of the tag of the object that was hit.
for (var i = 0; i < m_DetectableTags.Count; i++)
{
if (output.hitGo.CompareTag(m_DetectableTags[i]))
{
observations[i] = 1.0f;
float distance = output.Distance / m_CastingDistance;
distance = distance * Random.Range(1.0f - m_CastingDistanceRandom, 1.0f);
observations[observations.Length - 1] = distance;
break;
}
}
}
else
{
observations[observations.Length - 2] = 1.0f;
}
return(observations);
}
public PerceptionOutput Cast()
{
m_CurrentAngle = m_AngleDeg + Random.Range(-m_AngleDegRandom, m_AngleDegRandom);
m_CastingDir = Quaternion.Euler(0, m_CurrentAngle, 0) * m_RobotTrans.forward;
m_HitDetect = Physics.BoxCast(
m_RobotTrans.position + new Vector3(0.0f, m_OffsetHeight, 0.0f),
new Vector3(m_CastSphereSize, m_CastBoxWidth, m_CastBoxDepth),
m_CastingDir,
out m_Hit,
Quaternion.identity,
m_CastingDistance);
output = new PerceptionOutput();
if (m_HitDetect)
{
float hitDistance = Vector3.Distance(m_RobotTrans.position + new Vector3(0.0f, m_OffsetHeight, 0.0f), m_Hit.point);
output.Distance = hitDistance;
output.hitGo = m_Hit.collider.gameObject;
}
else
{
output.Distance = 0.0f;
output.hitGo = null;
}
return(output);
}
public void DrawCasterGizmos(bool inEditMode)
{
// TODO: Draw the actual outputs which were created a moment ago. Now we make a new Cast
// if (inEditMode)
output = Cast();
m_CastingDir = Quaternion.Euler(0, m_CurrentAngle, 0) * m_RobotTrans.forward;
if (Mathf.FloorToInt(m_AngleDeg) == 0)
{
Gizmos.color = m_GizmoFrontColor;
}
else
{
Gizmos.color = m_GizmoColor;
}
float drawDistance = output.Distance > 0 ? output.Distance : m_CastingDistance;
Matrix4x4 cubeTransform = Matrix4x4.TRS(
m_RobotTrans.position + m_CastingDir * drawDistance + new Vector3(0.0f, m_OffsetHeight, 0.0f),
m_RobotTrans.rotation * Quaternion.Euler(0, m_CurrentAngle, 0),
Vector3.one);
Matrix4x4 oldGizmosMatrix = Gizmos.matrix;
Gizmos.matrix *= cubeTransform;
Gizmos.DrawWireCube(Vector3.zero - new Vector3(0f, 0f, 0.01f), new Vector3(m_CastSphereSize, m_CastBoxWidth, m_CastBoxDepth) * 1.5f);
Gizmos.matrix = oldGizmosMatrix;
Vector3 startVec = Quaternion.Euler(0, m_CurrentAngle, 0) * m_RobotTrans.forward * drawDistance;
Gizmos.DrawRay(m_RobotTrans.position + new Vector3(0.0f, m_OffsetHeight, 0.0f), startVec);
}
