public SeObservation GetObservation()
{
var characterPosition = GetPlayerPosition();
var sphere = new BoundingSphereD(characterPosition, radius: 25.0);
var rayCastResults = sensors.CastRaysAroundPlayer(Character, 30, 16);
var transformedResults = rayCastResults.Select(x =>
{
if (x.IsHit)
{
return(x.HitDistance.Value / x.MaxDistance);
}
return(1);
}).ToList();
return(new SeObservation
{
AgentID = "se0",
Position = new PlainVec3D(characterPosition), // Consider reducing allocations.
Velocity = new PlainVec3D(GetPlayerVelocity()),
Extent = AgentExtent,
// Entities = CollectSurroundingEntities(sphere), // TODO(PP): Don't return both entities and blocks (duplicate work).
// Blocks = CollectSurroundingBlocks(sphere),
RayCastResults = transformedResults,
});
}