public SimpleTestGridSensor(
string name,
Vector3 cellScale,
Vector3Int gridNumSide,
bool rotateWithAgent,
int[] channelDepth,
string[] detectableObjects,
LayerMask observeMask,
GridDepthType depthType,
GameObject root,
SensorCompressionType compression,
int maxColliderBufferSize,
int initialColliderBufferSize
) : base(
name,
cellScale,
gridNumSide,
rotateWithAgent,
channelDepth,
detectableObjects,
observeMask,
depthType,
root,
compression,
maxColliderBufferSize,
initialColliderBufferSize)
{
}
/// <summary>
/// Sets the parameters of the grid sensor
/// </summary>
/// <param name="detectableObjects">array of strings representing the tags to be detected by the sensor</param>
/// <param name="channelDepth">array of ints representing the depth of each channel</param>
/// <param name="gridDepthType">enum representing the GridDepthType of the sensor</param>
/// <param name="cellScaleX">float representing the X scaling of each cell</param>
/// <param name="cellScaleZ">float representing the Z scaling of each cell</param>
/// <param name="gridWidth">int representing the number of cells in the X direction. Width of the Grid</param>
/// <param name="gridHeight">int representing the number of cells in the Z direction. Height of the Grid</param>
/// <param name="observeMaskInt">int representing the layer mask to observe</param>
/// <param name="rotateToAgent">bool if true then the grid is rotated to the rotation of the transform the rootReference</param>
/// <param name="debugColors">array of colors corresponding the the tags in the detectableObjects array</param>
public virtual void SetParameters(string[] detectableObjects, int[] channelDepth, GridDepthType gridDepthType,
float cellScaleX, float cellScaleZ, int gridWidth, int gridHeight, int observeMaskInt, bool rotateToAgent, Color[] debugColors)
{
this.ObserveMask = observeMaskInt;
this.DetectableObjects = detectableObjects;
this.ChannelDepth = channelDepth;
this.gridDepthType = gridDepthType;
this.CellScaleX = cellScaleX;
this.CellScaleZ = cellScaleZ;
this.GridNumSideX = gridWidth;
this.GridNumSideZ = gridHeight;
this.RotateToAgent = rotateToAgent;
this.DiffNumSideZX = (GridNumSideZ - GridNumSideX);
this.OffsetGridNumSide = (GridNumSideZ - 1f) / 2f;
this.DebugColors = debugColors;
}
public GridSensor(
string name,
Vector3 cellScale,
Vector3Int gridNum,
bool rotateWithAgent,
int[] channelDepths,
string[] detectableObjects,
LayerMask colliderMask,
GridDepthType depthType,
GameObject rootReference,
SensorCompressionType compression,
int maxColliderBufferSize,
int initialColliderBufferSize
)
{
m_Name = name;
m_CellScale = cellScale;
m_GridSize = gridNum;
m_RotateWithAgent = rotateWithAgent;
m_RootReference = rootReference;
m_MaxColliderBufferSize = maxColliderBufferSize;
m_InitialColliderBufferSize = initialColliderBufferSize;
m_ColliderMask = colliderMask;
m_GridDepthType = depthType;
m_ChannelDepths = channelDepths;
m_DetectableObjects = detectableObjects;
m_CompressionType = compression;
if (m_GridSize.y != 1)
{
throw new UnityAgentsException("GridSensor only supports 2D grids.");
}
if (m_GridDepthType == GridDepthType.Counting && m_DetectableObjects.Length != m_ChannelDepths.Length)
{
throw new UnityAgentsException("The channels of a CountingGridSensor is equal to the number of detectableObjects");
}
InitGridParameters();
InitDepthType();
InitCellPoints();
ResetPerceptionBuffer();
m_ObservationSpec = ObservationSpec.Visual(m_GridSize.x, m_GridSize.z, m_CellObservationSize);
m_PerceptionTexture = new Texture2D(m_GridSize.x, m_GridSize.z, TextureFormat.RGB24, false);
m_ColliderBuffer = new Collider[Math.Min(m_MaxColliderBufferSize, m_InitialColliderBufferSize)];
}
/// <inheritdoc/>
public override void SetParameters(string[] detectableObjects, int[] channelDepth, GridDepthType gridDepthType,
float cellScaleX, float cellScaleZ, int gridWidth, int gridHeight, int observeMaskInt, bool rotateToAgent, Color[] debugColors)
{
this.ObserveMask = observeMaskInt;
this.DetectableObjects = detectableObjects;
this.ChannelDepth = channelDepth;
if (DetectableObjects.Length != ChannelDepth.Length)
{
throw new UnityAgentsException("The channels of a CountingGridSensor is equal to the number of detectableObjects");
}
this.gridDepthType = gridDepthType;
this.CellScaleX = cellScaleX;
this.CellScaleZ = cellScaleZ;
this.GridNumSideX = gridWidth;
this.GridNumSideZ = gridHeight;
this.RotateToAgent = rotateToAgent;
this.DiffNumSideZX = (GridNumSideZ - GridNumSideX);
this.OffsetGridNumSide = (GridNumSideZ - 1f) / 2f;
this.DebugColors = debugColors;
}
public static void SetComponentParameters(GridSensorComponent gridComponent, string[] detectableObjects, int[] channelDepth, GridDepthType gridDepthType,
float cellScaleX, float cellScaleZ, int gridWidth, int gridHeight, int colliderMaskInt, bool rotateWithAgent, Color[] debugColors)
{
gridComponent.DetectableObjects = detectableObjects;
gridComponent.ChannelDepths = channelDepth;
gridComponent.DepthType = gridDepthType;
gridComponent.CellScale = new Vector3(cellScaleX, 0.01f, cellScaleZ);
gridComponent.GridSize = new Vector3Int(gridWidth, 1, gridHeight);
gridComponent.ColliderMask = colliderMaskInt;
gridComponent.RotateWithAgent = rotateWithAgent;
gridComponent.DebugColors = debugColors;
}
