/// <summary>
/// Creates perception vector to be used as part of an observation of an agent.
/// </summary>
/// <returns>The partial vector observation corresponding to the set of rays</returns>
/// <param name="rayDistance">Radius of rays</param>
/// <param name="rayAngles">Anlges 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 heigh offset of ray from center of agent.</param>
/// <param name="endOffset">Ending height offset of ray from center of agent.</param>
public List <float> Perceive(float rayDistance,
float[] rayAngles, string[] detectableObjects,
float startOffset, float endOffset)
{
perceptionBuffer.Clear();
objects.Clear();
// For each ray sublist stores categorial information on detected object
// along with object distance.
foreach (float angle in rayAngles)
{
endPosition = transform.TransformDirection(
PolarToCartesian(rayDistance, angle));
endPosition.y = endOffset;
if (Application.isEditor)
{
Debug.DrawRay(transform.position + new Vector3(0f, startOffset, 0f) - transform.forward * Consts.GroundScale,
endPosition, Color.black, 0.01f, true);
}
//extra 3 for 1,if not found object 2, enemy isalive, the distance to the object
float[] subList = new float[detectableObjects.Length + 3];
if (Physics.SphereCast(transform.position +
new Vector3(0f, startOffset, 0f) - transform.forward * Consts.GroundScale, Consts.GroundScale,
endPosition, out hit, rayDistance))
{
for (int i = 0; i < detectableObjects.Length; i++)
{
if (hit.collider.gameObject.CompareTag(detectableObjects[i]))
{
//objects.Add(hit.collider.gameObject);
if (hit.collider.gameObject.CompareTag("Enemy"))
{
if (player != null)
{
rewardFlag = false;
player.AddReward(0.001f);
}
//Debug.Log("detect enemy at pos" + hit.point);
}
if (hit.collider.gameObject.CompareTag("target"))
{
if (enemy != null)
{
enemy.AddReward(0.001f);
}
}
subList[i] = 1;
subList[detectableObjects.Length + 1] = hit.point.x - transform.position.x;
subList[detectableObjects.Length + 2] = hit.point.z - transform.position.z;
break;
}
}
}
else
{
subList[detectableObjects.Length] = 1f;
}
string test = "";
foreach (var item in subList)
{
test += item.ToString();
test += ",";
}
//Debug.Log(test);
perceptionBuffer.AddRange(subList);
}
return(perceptionBuffer);
}
