internal void RegisterSensor(GridSensorBase sensor)
{
#if MLA_UNITY_PHYSICS_MODULE
if (sensor.GetProcessCollidersMethod() == ProcessCollidersMethod.ProcessAllColliders)
{
GridOverlapDetectedAll += sensor.ProcessDetectedObject;
}
else
{
GridOverlapDetectedClosest += sensor.ProcessDetectedObject;
}
#endif
}
/// <inheritdoc/>
public override ISensor[] CreateSensors()
{
m_GridPerception = new BoxOverlapChecker(
m_CellScale,
m_GridSize,
m_RotateWithAgent,
m_ColliderMask,
gameObject,
AgentGameObject,
m_DetectableTags,
m_InitialColliderBufferSize,
m_MaxColliderBufferSize
);
// debug data is positive int value and will trigger data validation exception if SensorCompressionType is not None.
m_DebugSensor = new GridSensorBase("DebugGridSensor", m_CellScale, m_GridSize, m_DetectableTags, SensorCompressionType.None);
m_GridPerception.RegisterDebugSensor(m_DebugSensor);
m_Sensors = GetGridSensors().ToList();
if (m_Sensors == null || m_Sensors.Count < 1)
{
throw new UnityAgentsException("GridSensorComponent received no sensors. Specify at least one observation type (OneHot/Counting) to use grid sensors." +
"If you're overriding GridSensorComponent.GetGridSensors(), return at least one grid sensor.");
}
// Only one sensor needs to reference the boxOverlapChecker, so that it gets updated exactly once
m_Sensors[0].m_GridPerception = m_GridPerception;
foreach (var sensor in m_Sensors)
{
m_GridPerception.RegisterSensor(sensor);
}
if (ObservationStacks != 1)
{
var sensors = new ISensor[m_Sensors.Count];
for (var i = 0; i < m_Sensors.Count; i++)
{
sensors[i] = new StackingSensor(m_Sensors[i], ObservationStacks);
}
return(sensors);
}
else
{
return(m_Sensors.ToArray());
}
}
/// <inheritdoc/>
public override ISensor[] CreateSensors()
{
List <ISensor> m_Sensors = new List <ISensor>();
m_BoxOverlapChecker = new BoxOverlapChecker(
m_CellScale,
m_GridSize,
m_RotateWithAgent,
m_ColliderMask,
gameObject,
m_DetectableTags,
m_InitialColliderBufferSize,
m_MaxColliderBufferSize
);
// debug data is positive int value and will trigger data validation exception if SensorCompressionType is not None.
m_DebugSensor = new GridSensorBase("DebugGridSensor", m_CellScale, m_GridSize, m_DetectableTags, SensorCompressionType.None);
m_BoxOverlapChecker.RegisterDebugSensor(m_DebugSensor);
var gridSensors = GetGridSensors();
if (gridSensors == null || gridSensors.Length < 1)
{
throw new UnityAgentsException("GridSensorComponent received no sensors. Specify at least one observation type (OneHot/Counting) to use grid sensors." +
"If you're overriding GridSensorComponent.GetGridSensors(), return at least one grid sensor.");
}
foreach (var sensor in gridSensors)
{
if (ObservationStacks != 1)
{
m_Sensors.Add(new StackingSensor(sensor, ObservationStacks));
}
else
{
m_Sensors.Add(sensor);
}
m_BoxOverlapChecker.RegisterSensor(sensor);
}
// Only one sensor needs to reference the boxOverlapChecker, so that it gets updated exactly once
((GridSensorBase)m_Sensors[0]).m_BoxOverlapChecker = m_BoxOverlapChecker;
return(m_Sensors.ToArray());
}
internal void RegisterDebugSensor(GridSensorBase debugSensor)
{
#if MLA_UNITY_PHYSICS_MODULE
GridOverlapDetectedDebug += debugSensor.ProcessDetectedObject;
#endif
}