public void TestStaticPerceiveNoTags()
{
SetupScene();
var obj = new GameObject("agent");
var perception = obj.AddComponent <RayPerceptionSensorComponent3D>();
perception.RaysPerDirection = 0; // single ray
perception.MaxRayDegrees = 45;
perception.RayLength = 20;
perception.DetectableTags = null;
var radii = new[] { 0f, .5f };
foreach (var castRadius in radii)
{
perception.SphereCastRadius = castRadius;
var castInput = perception.GetRayPerceptionInput();
var castOutput = RayPerceptionSensor.Perceive(castInput);
Assert.AreEqual(1, castOutput.RayOutputs.Length);
// Expected to hit the cube
Assert.AreEqual("cube", castOutput.RayOutputs[0].HitGameObject.name);
Assert.AreEqual(-1, castOutput.RayOutputs[0].HitTagIndex);
}
}
public void TestStaticPerceiveInvalidTags()
{
SetupScene();
var obj = new GameObject("agent");
var perception = obj.AddComponent <RayPerceptionSensorComponent3D>();
perception.RaysPerDirection = 0; // single ray
perception.MaxRayDegrees = 45;
perception.RayLength = 20;
perception.DetectableTags = new List <string>();
perception.DetectableTags.Add("Bad tag");
perception.DetectableTags.Add(null);
perception.DetectableTags.Add("");
perception.DetectableTags.Add(k_CubeTag);
var radii = new[] { 0f, .5f };
foreach (var castRadius in radii)
{
perception.SphereCastRadius = castRadius;
var castInput = perception.GetRayPerceptionInput();
// There's no clean way that I can find to check for a defined tag without
// logging an error.
LogAssert.Expect(LogType.Error, "Tag: Bad tag is not defined.");
var castOutput = RayPerceptionSensor.Perceive(castInput);
Assert.AreEqual(1, castOutput.RayOutputs.Length);
// Expected to hit the cube
Assert.AreEqual("cube", castOutput.RayOutputs[0].HitGameObject.name);
Assert.AreEqual(3, castOutput.RayOutputs[0].HitTagIndex);
}
}
public void GetSensorStuff()
{
// this is a GetComponent<> in the real code
// RayPerceptionSensorComponent attached to child gameobject of agent gameobject
// This object is rotated to move sensor around
RayPerceptionSensorComponent3D rayComponent = new RayPerceptionSensorComponent3D();
var lengthOfRayOutputs = RayPerceptionSensor
.Perceive(rayComponent.GetRayPerceptionInput())
.RayOutputs
.Length;
var rayDistances = new float[5];
List <float[]> rayBuffers = new List <float[]>()
{
new float[(2 + 2) * lengthOfRayOutputs],
new float[(2 + 2) * lengthOfRayOutputs],
new float[(2 + 2) * lengthOfRayOutputs],
new float[(2 + 2) * lengthOfRayOutputs],
new float[(2 + 2) * lengthOfRayOutputs]
};
var rayOutputs = RayPerceptionSensor
.Perceive(rayComponent.GetRayPerceptionInput())
.RayOutputs;
for (int i = 0; i < 5; i++)
{
rayOutputs[i].ToFloatArray(2, 0, rayBuffers[i]);
}
// add just the distances to a new float array which represents all the ray cast distances
var distances1 = rayBuffers[0][3];
var distances2 = rayBuffers[1][3];
var distances3 = rayBuffers[2][3];
var distances4 = rayBuffers[3][3];
var distances5 = rayBuffers[4][3];
// I want to convert these distances into Vector3's
// assuming this script is attached to gameobject the rays are cast from
//RayCastHitLocation(
// transform.rotation,
// transform.position,
// distances1.ReverseNormalise(rayComponent.RayLength)
//);
}
/// <summary>
/// Sets up arrays which can be used to store vector information from the ray perception sensor
/// </summary>
private void SetUpRayBuffers()
{
var lengthOfRayOutPuts = RayPerceptionSensor
.Perceive(_eyes.GetRayPerceptionInput())
.RayOutputs
.Length;
_rayBuffers = new List <float[]>()
{
new float[(2 + 2) * lengthOfRayOutPuts],
new float[(2 + 2) * lengthOfRayOutPuts],
new float[(2 + 2) * lengthOfRayOutPuts],
new float[(2 + 2) * lengthOfRayOutPuts],
new float[(2 + 2) * lengthOfRayOutPuts]
};
}
public List<float> GetSensorData()
{
// check for the sensor data
RayPerceptionInput input = distanceSensorComponent.GetRayPerceptionInput();
RayPerceptionOutput output = RayPerceptionSensor.Perceive(input);
var list = output.RayOutputs;
//RayPerceptionOutput.RayOutput output0 = (RayPerceptionOutput.RayOutput)list.GetValue(0);
//print(output0.HitFraction);
List<float> hitFractions = new List<float>();
foreach (var listItem in list)
{
RayPerceptionOutput.RayOutput outputRef = (RayPerceptionOutput.RayOutput)listItem;
hitFractions.Add(outputRef.HitFraction);
}
return hitFractions;
}
void Update()
{
if (Input.GetKeyDown(KeyCode.R))
{
ReSetPosition();
}
if (Input.GetKeyDown(KeyCode.P))
{
// 레이퍼셉션의 각 태그번호를 가져오는 코드
r3 = RayPerceptionSensor.Perceive(r2);
for (int i = 0; i < r3.RayOutputs.Length; i++)
{
print(r3.RayOutputs[i].HitTagIndex + ", " + i + "번째");
}
}
}
public override void OnActionReceived(float[] vectorAction)
{
// 만일 vectorAction의 0번 값이 0이면 왼쪽으로 회전하고, 1이면 회전하지 않고, 2면 오른쪽으로 회전하게 하고 싶다.
float rotvalue = vectorAction[0] - 1;
rotY += rotvalue * rotSpeed;
transform.localEulerAngles = new Vector3(0, rotY, 0);
// 만일 vectorAction의 1번 값이 0이면 가만히 있고, 1이면 앞으로 움직인다.
Vector3 dir = transform.forward * vectorAction[1];
transform.position += dir * moveSpeed * Time.deltaTime;
//가만히 있을 때 받는 벌점
if (transform.position == previousPos)
{
AddReward(-1.0f / gm.CustomMaxStep);
}
// 탈출 시간에 따른 벌점
AddReward(-1.0f / gm.CustomMaxStep);
// 불이랑 가까워 졌을 때 받는 벌점
float nowFireDisFromPlayer = Vector3.Distance(transform.position, transform.position);
float preFiredisFromPlayer = Vector3.Distance(transform.position, previousPos);
if (preFiredisFromPlayer >= nowFireDisFromPlayer)
{
AddReward(-10.0f / gm.CustomMaxStep);
}
if (detectEixt == false)
{
// 레이퍼셉션의 각 태그번호를 가져오는 코드
r3 = RayPerceptionSensor.Perceive(r2);
for (int i = 0; i < r3.RayOutputs.Length; i++)
{
//print(r3.RayOutputs[i].HitTagIndex + ", " + i + "번째");
// 만약 레이에서 출구가 감지되면 상점
if (r3.RayOutputs[i].HitTagIndex == 1)
{
AddReward(1.0f);
detectEixt = true;
break;
}
}
}
else
{
// 레이퍼셉션의 각 태그번호를 가져오는 코드
r3 = RayPerceptionSensor.Perceive(r2);
for (int i = 0; i < r3.RayOutputs.Length; i++)
{
//print(r3.RayOutputs[i].HitTagIndex + ", " + i + "번째");
// 만약 레이에서 출구가 감지되지 않는다면 벌점
if (r3.RayOutputs[i].HitTagIndex == 1)
{
break;
}
if (i == r3.RayOutputs.Length)
{
AddReward(-10.0f);
}
}
}
//전프레임 위치 저장
previousPos = transform.position;
// 불을 감지했을 때 결정할 함수(네비게이션)
//OnDetectFireDecision();
}
