Separate boxoverlap out of GridSensor (#5238)

4 年前 · ca2f0b78
--- a/Project/Assets/ML-Agents/Examples/FoodCollector/Prefabs/FoodCollectorArea.prefab
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--- a/Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockCollabAreaGrid.prefab
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--- a/Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockCollab.onnx
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--- a/Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockCollab.onnx.meta
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--- a/com.unity.ml-agents.extensions/Editor/GridSensorComponentEditor.cs
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+                    var objectTag = detectableTags.GetArrayElementAtIndex(i);
-                EditorGUILayout.LabelField("Collider and Buffer", EditorStyles.boldLabel);
-                EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_MaxColliderBufferSize)), true);
-                EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_InitialColliderBufferSize)), true);
+                EditorGUILayout.LabelField("Observation Settings", EditorStyles.boldLabel);
+                EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_UseOneHotTag)), new GUIContent("One-Hot Tag Index"), true);
+                EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_CountColliders)), new GUIContent("Detectable Tag Count"), true);
+            EditorGUILayout.LabelField("Sensor Settings", EditorStyles.boldLabel);
+            EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_ObservationStacks)), true);
+            EditorGUI.EndDisabledGroup();
+            EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_CompressionType)), true);
-                EditorGUILayout.LabelField("Sensor Settings", EditorStyles.boldLabel);
-                EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_ObservationStacks)), true);
+                EditorGUILayout.LabelField("Collider and Buffer", EditorStyles.boldLabel);
+                EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_InitialColliderBufferSize)), true);
+                EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_MaxColliderBufferSize)), true);
-            EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_CompressionType)), true);

            EditorGUILayout.LabelField("Debug Gizmo", EditorStyles.boldLabel);
            EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_ShowGizmos)), true);
            var debugColors = so.FindProperty(nameof(GridSensorComponent.m_DebugColors));
-            var detectableObjectSize = so.FindProperty(nameof(GridSensorComponent.m_DetectableObjects)).arraySize;
+            var detectableObjectSize = so.FindProperty(nameof(GridSensorComponent.m_DetectableTags)).arraySize;
            if (detectableObjectSize != debugColors.arraySize)
            {
                debugColors.arraySize = detectableObjectSize;
--- a/com.unity.ml-agents.extensions/Runtime/Sensors/GridSensorComponent.cs
+++ b/com.unity.ml-agents.extensions/Runtime/Sensors/GridSensorComponent.cs
+using System.Collections.Generic;
+using System.Runtime.CompilerServices;
+[assembly: InternalsVisibleTo("Unity.ML-Agents.Extensions.EditorTests")]
 namespace Unity.MLAgents.Extensions.Sensors
 {
    /// <summary>
    public class GridSensorComponent : SensorComponent
    {
-        protected GridSensor m_Sensor;
+        // dummy sensor only used for debug gizmo
+        GridSensorBase m_DebugSensor;
+        List<ISensor> m_Sensors;
+        internal BoxOverlapChecker m_BoxOverlapChecker;
-        // <summary>
+        /// <summary>
        /// Name of the generated <see cref="GridSensor"/> object.
        /// Note that changing this at runtime does not affect how the Agent sorts the sensors.
        /// </summary>
        }

        [HideInInspector, SerializeField]
-        internal int[] m_ChannelDepths = new int[] { 1 };
-        /// <summary>
-        /// Array holding the depth of each channel.
-        /// Note that changing this after the sensor is created has no effect.
-        /// </summary>
-        public int[] ChannelDepths
-        {
-            get { return m_ChannelDepths; }
-            set { m_ChannelDepths = value; }
-        }
-
-        [HideInInspector, SerializeField]
-        internal string[] m_DetectableObjects;
+        internal string[] m_DetectableTags;
-        public string[] DetectableObjects
+        public string[] DetectableTags
-            get { return m_DetectableObjects; }
-            set { m_DetectableObjects = value; }
+            get { return m_DetectableTags; }
+            set { m_DetectableTags = value; }
        }

        [HideInInspector, SerializeField]
        }

        [HideInInspector, SerializeField]
-        internal GridDepthType m_DepthType = GridDepthType.Channel;
-        /// <summary>
-        /// The data layout that the grid should output.
-        /// Note that changing this after the sensor is created has no effect.
-        /// </summary>
-        public GridDepthType DepthType
-        {
-            get { return m_DepthType; }
-            set { m_DepthType = value; }
-        }
-
-        [HideInInspector, SerializeField]
        internal int m_MaxColliderBufferSize = 500;
        /// <summary>
        /// The absolute max size of the Collider buffer used in the non-allocating Physics calls.  In other words
            set { m_ObservationStacks = value; }
        }

+        [HideInInspector, SerializeField]
+        internal bool m_UseOneHotTag = true;
+        /// <summary>
+        /// Whether to use one-hot representation of detected tag as observation.
+        /// Note that changing this after the sensor is created has no effect.
+        /// </summary>
+        public bool UseOneHotTag
+        {
+            get { return m_UseOneHotTag; }
+            set { m_UseOneHotTag = value; }
+        }
+
+        [HideInInspector, SerializeField]
+        internal bool m_CountColliders = false;
+        /// <summary>
+        /// Whether to use the number of count for each detectable tag as observation.
+        /// Note that changing this after the sensor is created has no effect.
+        /// </summary>
+        public bool CountColliders
+        {
+            get { return m_CountColliders; }
+            set { m_CountColliders = value; }
+        }
+
-            m_Sensor = new GridSensor(
-                m_SensorName,
+            List<ISensor> m_Sensors = new List<ISensor>();
+            m_BoxOverlapChecker = new BoxOverlapChecker(
-                m_ChannelDepths,
-                m_DetectableObjects,
-                m_DepthType,
-                m_CompressionType,
-                m_MaxColliderBufferSize,
-                m_InitialColliderBufferSize
+                m_DetectableTags,
+                m_InitialColliderBufferSize,
+                m_MaxColliderBufferSize
-            if (ObservationStacks != 1)
+            // 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();
+        }
+
+        /// <summary>
+        /// Get an array of GridSensors to be added in this component.
+        /// Override this method and return custom GridSensor implementations.
+        /// </summary>
+        /// <returns>Array of grid sensors to be added to the component.</returns>
+        protected virtual GridSensorBase[] GetGridSensors()
+        {
+            List<GridSensorBase> sensorList = new List<GridSensorBase>();
+            if (m_UseOneHotTag)
+            {
+                var sensor = new OneHotGridSensor(m_SensorName + "-OneHot", m_CellScale, m_GridSize, m_DetectableTags, m_CompressionType);
+                sensorList.Add(sensor);
+            }
+            if (m_CountColliders)
-                return new ISensor[] { new StackingSensor(m_Sensor, ObservationStacks) };
+                var sensor = new CountingGridSensor(m_SensorName + "-Counting", m_CellScale, m_GridSize, m_DetectableTags, m_CompressionType);
+                sensorList.Add(sensor);
-            return new ISensor[] { m_Sensor };
+            return sensorList.ToArray();
        }

        /// <summary>
        {
-            if (m_Sensor != null)
+            if (m_Sensors != null)
-                m_Sensor.CompressionType = m_CompressionType;
-                m_Sensor.RotateWithAgent = m_RotateWithAgent;
-                m_Sensor.ColliderMask = m_ColliderMask;
+                m_BoxOverlapChecker.RotateWithAgent = m_RotateWithAgent;
+                m_BoxOverlapChecker.ColliderMask = m_ColliderMask;
+                foreach (var sensor in m_Sensors)
+                {
+                    ((GridSensorBase)sensor).CompressionType = m_CompressionType;
+                }
            }
        }

            {
-                if (m_Sensor == null)
+                if (m_BoxOverlapChecker == null || m_DebugSensor == null)
-                var cellColors = m_Sensor.PerceiveGizmoColor();
-                var cellPositions = m_Sensor.GetGizmoPositions();
-                var rotation = m_Sensor.GetGridRotation();
+
+                m_DebugSensor.ResetPerceptionBuffer();
+                m_BoxOverlapChecker.UpdateGizmo();
+                var cellColors = m_DebugSensor.PerceptionBuffer;
+                var rotation = m_BoxOverlapChecker.GetGridRotation();
-                for (var i = 0; i < cellPositions.Length; i++)
+                for (var i = 0; i < m_DebugSensor.PerceptionBuffer.Length; i++)
-                    var cubeTransform = Matrix4x4.TRS(cellPositions[i] + gizmoYOffset, rotation, scale);
+                    var cellPosition = m_BoxOverlapChecker.GetCellGlobalPosition(i);
+                    var cubeTransform = Matrix4x4.TRS(cellPosition + gizmoYOffset, rotation, scale);
-                    var colorIndex = cellColors[i];
+                    var colorIndex = cellColors[i] - 1;
-                        debugRayColor = m_DebugColors[colorIndex];
+                        debugRayColor = m_DebugColors[(int)colorIndex];
                    }
                    Gizmos.color = new Color(debugRayColor.r, debugRayColor.g, debugRayColor.b, .5f);
                    Gizmos.DrawCube(Vector3.zero, Vector3.one);
--- a/com.unity.ml-agents.extensions/Runtime/Sensors/BoxOverlapChecker.cs.meta
+++ b/com.unity.ml-agents.extensions/Runtime/Sensors/BoxOverlapChecker.cs.meta
 fileFormatVersion: 2
-guid: 801669c0cdece6b40b2e741ad0b119ac
+guid: e039296229a084578823e21bce9cf834
 MonoImporter:
  externalObjects: {}
  serializedVersion: 2
--- a/com.unity.ml-agents.extensions/Tests/Editor/GridSensors/BoxOverlapCheckerTests.cs.meta
+++ b/com.unity.ml-agents.extensions/Tests/Editor/GridSensors/BoxOverlapCheckerTests.cs.meta
 fileFormatVersion: 2
-guid: a55ecbf349308fc42be9872f9894bafa
+guid: 087f04a0f817c45f4a709ed36fe5ba1a
 MonoImporter:
  externalObjects: {}
  serializedVersion: 2
--- a/com.unity.ml-agents.extensions/Tests/Editor/GridSensors/GridSensorTests.cs.meta
+++ b/com.unity.ml-agents.extensions/Tests/Editor/GridSensors/GridSensorTests.cs.meta
 fileFormatVersion: 2
-guid: 056b95810b761d543a0dbbf7e7709e20
+guid: 2a8626afd640a4edd942dac3d8d6bc85
 MonoImporter:
  externalObjects: {}
  serializedVersion: 2
--- a/com.unity.ml-agents.extensions/Runtime/Sensors/CountingGridSensor.cs.meta
+++ b/com.unity.ml-agents.extensions/Runtime/Sensors/CountingGridSensor.cs.meta
 fileFormatVersion: 2
-guid: 630b065522bc281409501355842d8af4
+guid: a99e8702817b641c2a3ccb6520403e9b
 MonoImporter:
  externalObjects: {}
  serializedVersion: 2
--- a/com.unity.ml-agents.extensions/Runtime/Sensors/GridSensorBase.cs.meta
+++ b/com.unity.ml-agents.extensions/Runtime/Sensors/GridSensorBase.cs.meta
 fileFormatVersion: 2
-guid: e27c92ddd6b03714bbfcde95c7c2a376
+guid: 2454efb6b02aa414dae2cb8573e87682
 MonoImporter:
  externalObjects: {}
  serializedVersion: 2
--- a/com.unity.ml-agents.extensions/Runtime/Sensors/OneHotGridSensor.cs.meta
+++ b/com.unity.ml-agents.extensions/Runtime/Sensors/OneHotGridSensor.cs.meta
 fileFormatVersion: 2
-guid: e1ae8cd2fe32b0f4ca9b2dfd370fa1b7
+guid: 914f5ab90be9e411d83642035abebc2c
 MonoImporter:
  externalObjects: {}
  serializedVersion: 2
--- a/com.unity.ml-agents.extensions/Tests/Editor/GridSensors/SimpleTestGridSensor.cs.meta
+++ b/com.unity.ml-agents.extensions/Tests/Editor/GridSensors/SimpleTestGridSensor.cs.meta
 fileFormatVersion: 2
-guid: 06b1a7a5dba5ce345ad8dc4d97deef62
+guid: 72f121528c63749688e53aa926f2cb0a
 MonoImporter:
  externalObjects: {}
  serializedVersion: 2
--- a/com.unity.ml-agents.extensions/Runtime/Sensors/BoxOverlapChecker.cs
+++ b/com.unity.ml-agents.extensions/Runtime/Sensors/BoxOverlapChecker.cs
+using System;
+using System.Runtime.CompilerServices;
+using UnityEngine;
+
+[assembly: InternalsVisibleTo("Unity.ML-Agents.Extensions.EditorTests")]
+namespace Unity.MLAgents.Extensions.Sensors
+{
+    internal class BoxOverlapChecker
+    {
+        Vector3 m_CellScale;
+        Vector3Int m_GridSize;
+        bool m_RotateWithAgent;
+        LayerMask m_ColliderMask;
+        GameObject m_RootReference;
+        string[] m_DetectableTags;
+        int m_InitialColliderBufferSize;
+        int m_MaxColliderBufferSize;
+
+        int m_NumCells;
+        Vector3 m_HalfCellScale;
+        Vector3 m_CellCenterOffset;
+        Vector3[] m_CellLocalPositions;
+        Collider[] m_ColliderBuffer;
+
+        public event Action<GameObject, int> GridOverlapDetectedAll;
+        public event Action<GameObject, int> GridOverlapDetectedClosest;
+        public event Action<GameObject, int> GridOverlapDetectedDebug;
+
+        public BoxOverlapChecker(
+            Vector3 cellScale,
+            Vector3Int gridSize,
+            bool rotateWithAgent,
+            LayerMask colliderMask,
+            GameObject rootReference,
+            string[] detectableTags,
+            int initialColliderBufferSize,
+            int maxColliderBufferSize)
+        {
+            m_CellScale = cellScale;
+            m_GridSize = gridSize;
+            m_RotateWithAgent = rotateWithAgent;
+            m_ColliderMask = colliderMask;
+            m_RootReference = rootReference;
+            m_DetectableTags = detectableTags;
+            m_InitialColliderBufferSize = initialColliderBufferSize;
+            m_MaxColliderBufferSize = maxColliderBufferSize;
+
+            m_NumCells = gridSize.x * gridSize.z;
+            m_HalfCellScale = new Vector3(cellScale.x / 2f, cellScale.y, cellScale.z / 2f);
+            m_CellCenterOffset = new Vector3((gridSize.x - 1f) / 2, 0, (gridSize.z - 1f) / 2);
+            m_ColliderBuffer = new Collider[Math.Min(m_MaxColliderBufferSize, m_InitialColliderBufferSize)];
+
+            InitCellLocalPositions();
+        }
+
+        public bool RotateWithAgent
+        {
+            get { return m_RotateWithAgent; }
+            set { m_RotateWithAgent = value; }
+        }
+
+        public LayerMask ColliderMask
+        {
+            get { return m_ColliderMask; }
+            set { m_ColliderMask