internal void RegisterSensor(GridSensorBase sensor)
{
if (sensor.GetProcessCollidersMethod() == ProcessCollidersMethod.ProcessAllColliders)
{
GridOverlapDetectedAll += sensor.ProcessDetectedObject;
}
else
{
GridOverlapDetectedClosest += sensor.ProcessDetectedObject;
}
}
/// <inheritdoc/>
public override ISensor[] CreateSensors()
{
List <ISensor> m_Sensors = new List <ISensor>();
m_BoxOverlapChecker = new BoxOverlapChecker(
m_CellScale,
m_GridSize,
m_RotateWithAgent,
m_ColliderMask,
gameObject,
m_DetectableTags,
m_InitialColliderBufferSize,
m_MaxColliderBufferSize
);
// debug data is positive int value and will trigger data validation exception if SensorCompressionType is not None.
m_DebugSensor = new GridSensorBase("DebugGridSensor", m_CellScale, m_GridSize, m_DetectableTags, SensorCompressionType.None);
m_BoxOverlapChecker.RegisterDebugSensor(m_DebugSensor);
var gridSensors = GetGridSensors();
if (gridSensors == null || gridSensors.Length < 1)
{
throw new UnityAgentsException("GridSensorComponent received no sensors. Specify at least one observation type (OneHot/Counting) to use grid sensors." +
"If you're overriding GridSensorComponent.GetGridSensors(), return at least one grid sensor.");
}
foreach (var sensor in gridSensors)
{
if (ObservationStacks != 1)
{
m_Sensors.Add(new StackingSensor(sensor, ObservationStacks));
}
else
{
m_Sensors.Add(sensor);
}
m_BoxOverlapChecker.RegisterSensor(sensor);
}
// Only one sensor needs to reference the boxOverlapChecker, so that it gets updated exactly once
((GridSensorBase)m_Sensors[0]).m_BoxOverlapChecker = m_BoxOverlapChecker;
return(m_Sensors.ToArray());
}
internal void RegisterDebugSensor(GridSensorBase debugSensor)
{
GridOverlapDetectedDebug += debugSensor.ProcessDetectedObject;
}
