/// <summary>
/// Creates the RayPerceptionSensor.
/// </summary>
/// <param name="name">The name of the sensor.</param>
/// <param name="rayInput">The inputs for the sensor.</param>
public RayPerceptionSensor(string name, RayPerceptionInput rayInput)
{
m_Name = name;
m_RayPerceptionInput = rayInput;
SetNumObservations(rayInput.OutputSize());
m_DebugLastFrameCount = Time.frameCount;
m_RayPerceptionOutput = new RayPerceptionOutput();
}
/// <summary>
/// Evaluates the raycasts to be used as part of an observation of an agent.
/// </summary>
/// <param name="input">Input defining the rays that will be cast.</param>
/// <returns>Output struct containing the raycast results.</returns>
public static RayPerceptionOutput Perceive(RayPerceptionInput input)
{
RayPerceptionOutput output = new RayPerceptionOutput();
output.RayOutputs = new RayPerceptionOutput.RayOutput[input.Angles.Count];
for (var rayIndex = 0; rayIndex < input.Angles.Count; rayIndex++)
{
output.RayOutputs[rayIndex] = PerceiveSingleRay(input, rayIndex);
}
return(output);
}
