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);
}
/// <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>
/// <param name="output">Output class that will be written to with raycast results.</param>
///
public static RayPerceptionOutput PerceiveStatic(RayPerceptionInput input)
{
RayPerceptionOutput output = new RayPerceptionOutput();
output.rayOutputs = new RayPerceptionOutput.RayOutput[input.angles.Count];
for (var rayIndex = 0; rayIndex < input.angles.Count; rayIndex++)
{
DebugDisplayInfo.RayInfo debugRay;
output.rayOutputs[rayIndex] = PerceiveSingleRay(input, rayIndex, out debugRay);
}
return(output);
}
public RayPerceptionSensor(string name, RayPerceptionInput rayInput)
{
var numObservations = rayInput.OutputSize();
m_Shape = new[] { numObservations };
m_Name = name;
m_RayPerceptionInput = rayInput;
m_Observations = new float[numObservations];
if (Application.isEditor)
{
m_DebugDisplayInfo = new DebugDisplayInfo();
}
}
/// <summary>
/// Evaluate the raycast results of a single ray from the RayPerceptionInput.
/// </summary>
/// <param name="input"></param>
/// <param name="rayIndex"></param>
/// <param name="debugRayOut"></param>
/// <returns></returns>
static RayPerceptionOutput.RayOutput PerceiveSingleRay(
RayPerceptionInput input,
int rayIndex,
out DebugDisplayInfo.RayInfo debugRayOut
)
{
var unscaledRayLength = input.rayLength;
var unscaledCastRadius = input.castRadius;
var extents = input.RayExtents(rayIndex);
var startPositionWorld = extents.StartPositionWorld;
var endPositionWorld = extents.EndPositionWorld;
var rayDirection = endPositionWorld - startPositionWorld;
// If there is non-unity scale, |rayDirection| will be different from rayLength.
// We want to use this transformed ray length for determining cast length, hit fraction etc.
// We also it to scale up or down the sphere or circle radii
var scaledRayLength = rayDirection.magnitude;
// Avoid 0/0 if unscaledRayLength is 0
var scaledCastRadius = unscaledRayLength > 0 ?
unscaledCastRadius * scaledRayLength / unscaledRayLength :
unscaledCastRadius;
// Do the cast and assign the hit information for each detectable tag.
bool castHit;
float hitFraction;
GameObject hitObject;
if (input.castType == RayPerceptionCastType.Cast3D)
{
RaycastHit rayHit;
if (scaledCastRadius > 0f)
{
castHit = Physics.SphereCast(startPositionWorld, scaledCastRadius, rayDirection, out rayHit,
scaledRayLength, input.layerMask);
}
else
{
castHit = Physics.Raycast(startPositionWorld, rayDirection, out rayHit,
scaledRayLength, input.layerMask);
}
// If scaledRayLength is 0, we still could have a hit with sphere casts (maybe?).
// To avoid 0/0, set the fraction to 0.
hitFraction = castHit ? (scaledRayLength > 0 ? rayHit.distance / scaledRayLength : 0.0f) : 1.0f;
hitObject = castHit ? rayHit.collider.gameObject : null;
}
else
{
RaycastHit2D rayHit;
if (scaledCastRadius > 0f)
{
rayHit = Physics2D.CircleCast(startPositionWorld, scaledCastRadius, rayDirection,
scaledRayLength, input.layerMask);
}
else
{
rayHit = Physics2D.Raycast(startPositionWorld, rayDirection, scaledRayLength, input.layerMask);
}
castHit = rayHit;
hitFraction = castHit ? rayHit.fraction : 1.0f;
hitObject = castHit ? rayHit.collider.gameObject : null;
}
var rayOutput = new RayPerceptionOutput.RayOutput
{
hasHit = castHit,
hitFraction = hitFraction,
hitTaggedObject = false,
hitTagIndex = -1
};
if (castHit)
{
// Find the index of the tag of the object that was hit.
for (var i = 0; i < input.detectableTags.Count; i++)
{
if (hitObject.CompareTag(input.detectableTags[i]))
{
rayOutput.hitTaggedObject = true;
rayOutput.hitTagIndex = i;
break;
}
}
}
debugRayOut.worldStart = startPositionWorld;
debugRayOut.worldEnd = endPositionWorld;
debugRayOut.rayOutput = rayOutput;
debugRayOut.castRadius = scaledCastRadius;
return(rayOutput);
}
internal void SetRayPerceptionInput(RayPerceptionInput input)
{
// TODO make sure that number of rays and tags don't change
m_RayPerceptionInput = input;
}
