/// <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>
/// 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());
if (Application.isEditor)
{
m_DebugDisplayInfo = new DebugDisplayInfo();
}
}
/// <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);
}
internal void SetRayPerceptionInput(RayPerceptionInput rayInput)
{
// Note that change the number of rays or tags doesn't directly call this,
// but changing them and then changing another field will.
if (m_RayPerceptionInput.OutputSize() != rayInput.OutputSize())
{
Debug.Log(
"Changing the number of tags or rays at runtime is not " +
"supported and may cause errors in training or inference."
);
// Changing the shape will probably break things downstream, but we can at least
// keep this consistent.
SetNumObservations(rayInput.OutputSize());
}
m_RayPerceptionInput = rayInput;
}
/// <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>
internal 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,
HitGameObject = hitObject
};
if (castHit)
{
// Find the index of the tag of the object that was hit.
var numTags = input.DetectableTags?.Count ?? 0;
for (var i = 0; i < numTags; i++)
{
var tagsEqual = false;
try
{
var tag = input.DetectableTags[i];
if (!string.IsNullOrEmpty(tag))
{
tagsEqual = hitObject.CompareTag(tag);
}
}
catch (UnityException e)
{
// If the tag is null, empty, or not a valid tag, just ignore it.
}
if (tagsEqual)
{
rayOutput.HitTaggedObject = true;
rayOutput.HitTagIndex = i;
break;
}
}
}
debugRayOut.worldStart = startPositionWorld;
debugRayOut.worldEnd = endPositionWorld;
debugRayOut.rayOutput = rayOutput;
debugRayOut.castRadius = scaledCastRadius;
return(rayOutput);
}
/// <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>
internal 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;
RaycastHit rayHit = new RaycastHit();;
if (input.CastType == RayPerceptionCastType.Cast3D)
{
if (scaledCastRadius > 0f)
{
// castHit = Physics.SphereCast(startPositionWorld, scaledCastRadius, rayDirection, out rayHit,
// scaledRayLength, input.LayerMask);
System.Random rnd = new System.Random();
castHit = (rnd.Next(2) == 0);
}
else
{
// castHit = Physics.Raycast(startPositionWorld, rayDirection, out rayHit,
// scaledRayLength, input.LayerMask);
System.Random rnd = new System.Random();
castHit = (rnd.Next(2) == 0);
}
// 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 ray2Hit;
if (scaledCastRadius > 0f)
{
ray2Hit = Physics2D.CircleCast(startPositionWorld, scaledCastRadius, rayDirection,
scaledRayLength, input.LayerMask);
}
else
{
ray2Hit = Physics2D.Raycast(startPositionWorld, rayDirection, scaledRayLength, input.LayerMask);
}
castHit = ray2Hit;
hitFraction = castHit ? ray2Hit.fraction : 1.0f;
// hitObject = castHit ? ray2Hit.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);
}
