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>
/// Set up the list of ISensors on the Agent. By default, this will select any
/// SensorBase's attached to the Agent.
/// </summary>
public void InitializeSensors()
{
// Get all attached sensor components
SensorComponent[] attachedSensorComponents;
if (m_PolicyFactory.useChildSensors)
{
attachedSensorComponents = GetComponentsInChildren <SensorComponent>();
}
else
{
attachedSensorComponents = GetComponents <SensorComponent>();
}
sensors.Capacity += attachedSensorComponents.Length;
foreach (var component in attachedSensorComponents)
{
sensors.Add(component.CreateSensor());
}
// Support legacy CollectObservations
var param = m_PolicyFactory.brainParameters;
if (param.vectorObservationSize > 0)
{
collectObservationsSensor = new VectorSensor(param.vectorObservationSize);
if (param.numStackedVectorObservations > 1)
{
var stackingSensor = new StackingSensor(collectObservationsSensor, param.numStackedVectorObservations);
sensors.Add(stackingSensor);
}
else
{
sensors.Add(collectObservationsSensor);
}
}
// Sort the Sensors by name to ensure determinism
sensors.Sort((x, y) => x.GetName().CompareTo(y.GetName()));
#if DEBUG
// Make sure the names are actually unique
for (var i = 0; i < sensors.Count - 1; i++)
{
Debug.Assert(!sensors[i].GetName().Equals(sensors[i + 1].GetName()), "Sensor names must be unique.");
}
#endif
// Create a buffer for writing vector sensor data too
int numFloatObservations = 0;
for (var i = 0; i < sensors.Count; i++)
{
if (sensors[i].GetCompressionType() == SensorCompressionType.None)
{
numFloatObservations += sensors[i].ObservationSize();
}
}
m_VectorSensorBuffer = new float[numFloatObservations];
}
public override ISensor CreateSensor()
{
var rayAngles = GetRayAngles(raysPerDirection, maxRayDegrees);
m_RaySensor = new RayPerceptionSensor(sensorName, rayLength, detectableTags, rayAngles,
transform, GetStartVerticalOffset(), GetEndVerticalOffset(), sphereCastRadius, GetCastType(),
rayLayerMask
);
if (observationStacks != 1)
{
var stackingSensor = new StackingSensor(m_RaySensor, observationStacks);
return(stackingSensor);
}
return(m_RaySensor);
}
