Separate grid sensor and component (#5209)

4 年前 · 3fbcc26c
--- a/Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/FoodCollectorArea.prefab
+++ b/Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/FoodCollectorArea.prefab
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--- a/com.unity.ml-agents.extensions/Runtime/Sensors/GridSensor.cs
+++ b/com.unity.ml-agents.extensions/Runtime/Sensors/GridSensor.cs
 using System;
+using System.Linq;
+using System.Runtime.CompilerServices;
+[assembly: InternalsVisibleTo("Unity.ML-Agents.Extensions.EditorTests")]
+    /// Enum describing what kind of depth type the data should be organized as
+    /// </summary>
+    public enum GridDepthType { Channel, ChannelHot, Counting };
+
+    /// <summary>
-    [AddComponentMenu("ML Agents/Grid Sensor", (int)MenuGroup.Sensors)]
-    public class GridSensor : SensorComponent, ISensor, IBuiltInSensor
+    public class GridSensor : ISensor, IBuiltInSensor
-        public string Name;
+        string Name;

        //
        // Main Parameters
-        /// The width of each grid cell.
-        /// </summary>
-        [Header("Grid Sensor Settings")]
-        [Tooltip("The width of each grid cell")]
-        [Range(0.05f, 1000f)]
-        public float CellScaleX = 1f;
-
-        /// <summary>
-        /// The depth of each grid cell.
+        /// The scale of each grid cell.
-        [Tooltip("The depth of each grid cell")]
-        [Range(0.05f, 1000f)]
-        public float CellScaleZ = 1f;
-
-        /// <summary>
-        /// The width of the grid .
-        /// </summary>
-        [Tooltip("The width of the grid")]
-        [Range(2, 2000)]
-        public int GridNumSideX = 16;
+        Vector3 CellScale;
-        /// The depth of the grid .
+        /// The number of grid on each side.
-        [Tooltip("The depth of the grid")]
-        [Range(2, 2000)]
-        public int GridNumSideZ = 16;
-
-        /// <summary>
-        /// The height of each grid cell. Changes how much of the vertical axis is observed by a cell.
-        /// </summary>
-        [Tooltip("The height of each grid cell. Changes how much of the vertical axis is observed by a cell")]
-        [Range(0.01f, 1000f)]
-        public float CellScaleY = 0.01f;
+        Vector3Int GridNumSide;
-        [Tooltip("Rotate the grid based on the direction the agent is facing")]
-        public bool RotateToAgent;
+        bool RotateWithAgent;
-        [Tooltip("Array holding the depth of each channel")]
-        public int[] ChannelDepth;
+        int[] ChannelDepth;
-        [Tooltip("List of tags that are detected")]
-        public string[] DetectableObjects;
+        string[] DetectableObjects;
-        [Tooltip("The layer mask")]
-        public LayerMask ObserveMask;
-
-        /// <summary>
-        /// Enum describing what kind of depth type the data should be organized as
-        /// </summary>
-        public enum GridDepthType { Channel, ChannelHot };
+        LayerMask ObserveMask;
-        [Tooltip("The data layout that the grid should output")]
-        public GridDepthType gridDepthType = GridDepthType.Channel;
+        GridDepthType gridDepthType = GridDepthType.Channel;
-        [Tooltip("The reference of the root of the agent. This is used to disambiguate objects with the same tag as the agent. Defaults to current GameObject")]
-        public GameObject rootReference;
+        GameObject rootReference;
+
+        int MaxColliderBufferSize;
-        [Header("Collider Buffer Properties")]
-        [Tooltip("The absolute max size of the Collider buffer used in the non-allocating Physics calls.  In other words" +
-            " the Collider buffer will never grow beyond this number even if there are more Colliders in the Grid Cell.")]
-        public int MaxColliderBufferSize = 500;
-        [Tooltip(
-            "The Estimated Max Number of Colliders to expect per cell.  This number is used to " +
-            "pre-allocate an array of Colliders in order to take advantage of the OverlapBoxNonAlloc " +
-            "Physics API.  If the number of colliders found is >= InitialColliderBufferSize the array " +
-            "will be resized to double its current size.  The hard coded absolute size is 500.")]
-        public int InitialColliderBufferSize = 4;
+        int InitialColliderBufferSize;
        Collider[] m_ColliderBuffer;

        float[] m_ChannelBuffer;
        /// <summary>
        /// The total number of observations per cell of the grid. Its equivalent to the "channel" on the outgoing tensor.
        /// </summary>
-        [HideInInspector]
-        public int ObservationPerCell;
-
-        /// <summary>
-        /// The total number of observations that this GridSensor provides. It is the length of m_PerceptionBuffer.
-        /// </summary>
-        [HideInInspector]
-        public int NumberOfObservations;
+        int ObservationPerCell;
-        [HideInInspector]
-        public int[] ChannelOffsets;
+        int[] ChannelOffsets;
-        protected float[] m_PerceptionBuffer;
+        internal float[] m_PerceptionBuffer;
-        protected float[] m_ChannelHotDefaultPerceptionBuffer;
+        float[] m_ChannelHotDefaultPerceptionBuffer;
-        protected Color[] m_PerceptionColors;
+        Color[] m_PerceptionColors;
-        protected Texture2D m_perceptionTexture2D;
+        Texture2D m_perceptionTexture2D;

        //
        // Utility Constants Calculated on Init
-        /// Number of PNG formated images that are sent to python during training.
-        /// </summary>
-        private int NumImages;
-
-        /// <summary>
-        /// Number of relevant channels on the last image that is sent/
-        /// </summary>
-        private int NumChannelsOnLastImage;
-
-        /// <summary>
-        protected float InverseSphereRadius;
+        float InverseSphereRadius;
-        private int NumCells;
-
-        /// <summary>
-        /// Difference between GridNumSideZ and gridNumSideX.
-        /// </summary>
-        protected int DiffNumSideZX = 0;
+        int NumCells;
-        protected float OffsetGridNumSide = 7.5f; //  (gridNumSideZ - 1) / 2;
-
-        /// <summary>
-        /// Half of the grid in the X direction
-        /// </summary>
-        private float HalfOfGridX;
-
-        /// <summary>
-        /// Half of the grid in the z direction
-        /// </summary>
-        private float HalfOfGridZ;
-
-        /// <summary>
-        /// Used in the PointToCell method to scale the x value to land in the calculated cell.
-        /// </summary>
-        private float PointToCellScalingX;
-
-        /// <summary>
-        /// Used in the PointToCell method to scale the y value to land in the calculated cell.
-        /// </summary>
-        private float PointToCellScalingZ;
-
-        /// <summary>
-        /// Bool if initialized or not.
-        /// </summary>
-        protected bool Initialized = false;
+        float OffsetGridNumSide = 7.5f; //  (gridNumSideZ - 1) / 2;
-        private ObservationSpec m_ObservationSpec;
+        ObservationSpec m_ObservationSpec;
-        /// <summary>
-        /// Array of Colors used for the grid gizmos.
-        /// </summary>
-        [Header("Debug Options")]
-        [Tooltip("Array of Colors used for the grid gizmos")]
-        public Color[] DebugColors;
+        SensorCompressionType m_CompressionType = SensorCompressionType.PNG;
-        /// The height of the gizmos grid.
+        /// Array of colors displaying the DebugColors for each cell in OnDrawGizmos. Only updated if ShowGizmos.
-        [Tooltip("The height of the gizmos grid")]
-        public float GizmoYOffset = 0f;