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)
//);
}
void Start()
{
floor10x8 = GameObject.FindGameObjectsWithTag("Floor10x8");
floor8x5 = GameObject.FindGameObjectsWithTag("Floor8x5");
gm = GameObject.FindGameObjectWithTag("GameManager").GetComponent <GameManager>();
fire = GameObject.FindGameObjectWithTag("Fire").GetComponent <Fire>();
previousPos = transform.position;
r2 = raySensor.GetRayPerceptionInput();
exits = GameObject.FindGameObjectsWithTag("Exit");
}
/// <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;
}
