public int Write(WriteAdapter adapter)
{
var expectedObservations = m_Shape[0];
if (m_Observations.Count > expectedObservations)
{
// Too many observations, truncate
Debug.LogWarningFormat(
"More observations ({0}) made than vector observation size ({1}). The observations will be truncated.",
m_Observations.Count, expectedObservations
);
m_Observations.RemoveRange(expectedObservations, m_Observations.Count - expectedObservations);
}
else if (m_Observations.Count < expectedObservations)
{
// Not enough observations; pad with zeros.
Debug.LogWarningFormat(
"Fewer observations ({0}) made than vector observation size ({1}). The observations will be padded.",
m_Observations.Count, expectedObservations
);
for (int i = m_Observations.Count; i < expectedObservations; i++)
{
m_Observations.Add(0);
}
}
adapter.AddRange(m_Observations);
return(expectedObservations);
}
/// <summary>
/// Default implementation of Write interface. This creates a temporary array, calls WriteObservation,
/// and then writes the results to the WriteAdapter.
/// </summary>
/// <param name="adapter"></param>
public virtual int Write(WriteAdapter adapter)
{
// TODO reuse buffer for similar agents, don't call GetObservationShape()
var numFloats = this.ObservationSize();
float[] buffer = new float[numFloats];
WriteObservation(buffer);
adapter.AddRange(buffer);
return(numFloats);
}
public int Write(WriteAdapter adapter)
{
using (TimerStack.Instance.Scoped("RayPerceptionSensor.Perceive"))
{
PerceiveStatic(
m_RayDistance, m_Angles, m_DetectableObjects, m_StartOffset, m_EndOffset,
m_CastRadius, m_Transform, m_CastType, m_Observations, m_LayerMask,
m_DebugDisplayInfo
);
adapter.AddRange(m_Observations);
}
return(m_Observations.Length);
}
public int Write(WriteAdapter adapter)
{
using (TimerStack.Instance.Scoped("RayPerceptionSensor.Perceive"))
{
Array.Clear(m_Observations, 0, m_Observations.Length);
var numRays = m_RayPerceptionInput.angles.Count;
var numDetectableTags = m_RayPerceptionInput.detectableTags.Count;
if (m_DebugDisplayInfo != null)
{
// Reset the age information, and resize the buffer if needed.
m_DebugDisplayInfo.Reset();
if (m_DebugDisplayInfo.rayInfos == null || m_DebugDisplayInfo.rayInfos.Length != numRays)
{
m_DebugDisplayInfo.rayInfos = new DebugDisplayInfo.RayInfo[numRays];
}
}
// For each ray, do the casting, and write the information to the observation buffer
for (var rayIndex = 0; rayIndex < numRays; rayIndex++)
{
DebugDisplayInfo.RayInfo debugRay;
var rayOutput = PerceiveSingleRay(m_RayPerceptionInput, rayIndex, out debugRay);
if (m_DebugDisplayInfo != null)
{
m_DebugDisplayInfo.rayInfos[rayIndex] = debugRay;
}
rayOutput.ToFloatArray(numDetectableTags, rayIndex, m_Observations);
}
// Finally, add the observations to the WriteAdapter
adapter.AddRange(m_Observations);
}
return(m_Observations.Length);
}
