public override ISensor CreateSensor()
{
var rayAngles = GetRayAngles(raysPerDirection, maxRayDegrees);
var rayPerceptionInput = new RayPerceptionInput();
rayPerceptionInput.rayLength = rayLength;
rayPerceptionInput.detectableTags = detectableTags;
rayPerceptionInput.angles = rayAngles;
rayPerceptionInput.startOffset = GetStartVerticalOffset();
rayPerceptionInput.endOffset = GetEndVerticalOffset();
rayPerceptionInput.castRadius = sphereCastRadius;
rayPerceptionInput.transform = transform;
rayPerceptionInput.castType = GetCastType();
rayPerceptionInput.layerMask = rayLayerMask;
m_RaySensor = new RayPerceptionSensor(sensorName, rayPerceptionInput);
if (observationStacks != 1)
{
var stackingSensor = new StackingSensor(m_RaySensor, observationStacks);
return(stackingSensor);
}
return(m_RaySensor);
}
public override ISensor CreateSensor()
{
var rayAngles = GetRayAngles(raysPerDirection, maxRayDegrees);
m_RaySensor = new RayPerceptionSensor(sensorName, rayLength, detectableTags, rayAngles,
transform, GetStartVerticalOffset(), GetEndVerticalOffset(), sphereCastRadius, GetCastType(),
rayLayerMask
);
if (observationStacks != 1)
{
var stackingSensor = new StackingSensor(m_RaySensor, observationStacks);
return(stackingSensor);
}
return(m_RaySensor);
}
/// <summary>
/// Creates perception vector to be used as part of an observation of an agent.
/// Each ray in the rayAngles array adds a sublist of data to the observation.
/// The sublist contains the observation data for a single ray. The list is composed of the following:
/// 1. A one-hot encoding for detectable objects. For example, if detectableObjects.Length = n, the
/// first n elements of the sublist will be a one-hot encoding of the detectableObject that was hit, or
/// all zeroes otherwise.
/// 2. The 'length' element of the sublist will be 1 if the ray missed everything, or 0 if it hit
/// something (detectable or not).
/// 3. The 'length+1' element of the sublist will contain the normalised distance to the object hit.
/// NOTE: Only objects with tags in the detectableObjects array will have a distance set.
/// </summary>
/// <returns>The partial vector observation corresponding to the set of rays</returns>
/// <param name="rayDistance">Radius of rays</param>
/// <param name="rayAngles">Angles of rays (starting from (1,0) on unit circle).</param>
/// <param name="detectableObjects">List of tags which correspond to object types agent can see</param>
/// <param name="startOffset">Starting height offset of ray from center of agent.</param>
/// <param name="endOffset">Ending height offset of ray from center of agent.</param>
public override IList <float> Perceive(float rayDistance,
float[] rayAngles, string[] detectableObjects,
float startOffset = 0.0f, float endOffset = 0.0f)
{
var perceptionSize = (detectableObjects.Length + 2) * rayAngles.Length;
if (m_PerceptionBuffer == null || m_PerceptionBuffer.Length != perceptionSize)
{
m_PerceptionBuffer = new float[perceptionSize];
}
const float castRadius = 0.5f;
const bool legacyHitFractionBehavior = true;
RayPerceptionSensor.PerceiveStatic(
rayDistance, rayAngles, detectableObjects, startOffset, endOffset, castRadius,
transform, RayPerceptionSensor.CastType.Cast3D, m_PerceptionBuffer, legacyHitFractionBehavior
);
return(m_PerceptionBuffer);
}