More experimentation

Updates to CameraSensor / CameraSensorComponent:
* new settings object to set up layer masks, depth, etc
* support for arbitrary # channels returned by the sensor
* channels include depth, layer mask, RGB, or grayscale

Updates to VisualFoodCollector:
* food doesn't roll (for now), simplifies learning without stacking
* added layers

Updates to mlagents_envs:
* decode multiple pngs packed into a single observation

ml-agents-envs/mlagents_envs/rpc_utils.py

     :param image_bytes: input byte array corresponding to image
     :return: processed numpy array of observation from environment
     """
+    # we may have multiple pngs, so first
+    png_header = b"\x89PNG\r\n\x1a\n"
+    images = []
-        image = Image.open(io.BytesIO(image_bytearray))
-        # Normally Image loads lazily, this forces it to do loading in the timer scope.
-        image.load()
-    s = np.array(image, dtype=np.float32) / 255.0
-    if gray_scale:
-        s = np.mean(s, axis=2)
-        s = np.reshape(s, [s.shape[0], s.shape[1], 1])
-    return s
+        image_byte_splits = image_bytearray.split(png_header)
+        for image_bytes in image_byte_splits:
+            if len(image_bytes) > 0:
+                # add back the header
+                image = Image.open(io.BytesIO(png_header + image_bytes))
+                # Normally Image loads lazily, this forces it to do loading in the timer scope.
+                image.load()
+                images.append(image)
+
+    arrs = list(map(lambda i: np.array(i, dtype=np.float32) / 255.0, images))
+    return np.concatenate(arrs, axis=2)
 
 
 @timed
         return img
     else:
         img = process_pixels(obs.compressed_data, gray_scale)
+        # We can drop additional channels since they may need to be added to include
+        # numbers of observation channels not divisible by 3.
+        expected_channels = list(obs.shape)[2]
+        actual_channels = list(img.shape)[2]
+        if actual_channels > expected_channels:
+            img = img[..., 0:expected_channels]
         # Compare decompressed image size to observation shape and make sure they match
         if list(obs.shape) != list(img.shape):
             raise UnityObservationException(

Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/Area.prefab

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+      value: 0
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+      value: 0
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Project/Assets/ML-Agents/Examples/FoodCollector/Scenes/VisualFoodCollector.unity.meta

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   externalObjects: {}
   userData: 

Project/Assets/ML-Agents/Examples/FoodCollector/Scripts/FoodCollectorAgent.cs

 
     public override void Heuristic(float[] actionsOut)
     {
+        actionsOut[0] = 0f;
+        actionsOut[1] = 0f;
+        actionsOut[2] = 0f;
         if (Input.GetKey(KeyCode.D))
         {
             actionsOut[2] = 2f;
         }
         if (collision.gameObject.CompareTag("badFood"))
         {
+            //Debug.Log("Colliding with bad food!");
             Poison();
             collision.gameObject.GetComponent<FoodLogic>().OnEaten();
 

Project/ProjectSettings/TagManager.asset

   - 
   - 
   - invisible
-  - 
-  - 
-  - 
-  - 
-  - 
-  - 
-  - 
-  - 
+  - pit
+  - goal
+  - agent
+  - badFood
+  - food
+  - floor
+  - walls
+  - laser
   - 
   - 
   - 

Project/ProjectSettings/ProjectVersion.txt

-m_EditorVersion: 2018.4.17f1
+m_EditorVersion: 2018.4.18f1

Project/ProjectSettings/DynamicsManager.asset

   m_ClothInterCollisionDistance: 0
   m_ClothInterCollisionStiffness: 0
   m_ContactsGeneration: 1
-  m_LayerCollisionMatrix: ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffebffffffddffffffeffffffff5fffffffbffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff
+  m_LayerCollisionMatrix: ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff
   m_AutoSimulation: 1
   m_AutoSyncTransforms: 1
   m_ReuseCollisionCallbacks: 1

Project/ProjectSettings/EditorBuildSettings.asset

 EditorBuildSettings:
   m_ObjectHideFlags: 0
   serializedVersion: 2
-  m_Scenes: []
+  m_Scenes:
+  - enabled: 0
+    path: Assets/ML-Agents/Examples/FoodCollector/Scenes/VisualFoodCollectorOld.unity
+    guid: dbc5c542957ef47bd8ebe87fc1000c37
+  - enabled: 0
+    path: Assets/ML-Agents/Examples/FoodCollector/Scenes/FoodCollector.unity
+    guid: 11583205ab5b74bb4bb1b9951cf9e437
+  - enabled: 1
+    path: Assets/ML-Agents/Examples/FoodCollector/Scenes/VisualFoodCollector.unity
+    guid: f20e977ac950e415792850aabc6c6812
   m_configObjects: {}

Project/ProjectSettings/GraphicsSettings.asset

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   m_PreloadedShaders: []
   m_SpritesDefaultMaterial: {fileID: 10754, guid: 0000000000000000f000000000000000,

com.unity.ml-agents/Editor/CameraSensorComponentEditor.cs

                 EditorGUILayout.PropertyField(so.FindProperty("m_Width"), true);
                 EditorGUILayout.PropertyField(so.FindProperty("m_Height"), true);
                 EditorGUILayout.PropertyField(so.FindProperty("m_Grayscale"), true);
+                EditorGUILayout.PropertyField(so.FindProperty("m_CameraSensorSettings"), true);
             }
             EditorGUI.EndDisabledGroup();
             EditorGUILayout.PropertyField(so.FindProperty("m_Compression"), true);

com.unity.ml-agents/Runtime/Sensors/CameraSensorComponent.cs

             set { m_Grayscale = value; }
         }
 
+        [HideInInspector, SerializeField]
+        CameraSensorSettings m_CameraSensorSettings = new CameraSensorSettings();
+
+        /// <summary>
+        /// Whether to render the main camera.
+        /// </summary>
+        public CameraSensorSettings CameraSensorSettings
+        {
+            get { return m_CameraSensorSettings; }
+            set { m_CameraSensorSettings = value; }
+        }
+
+        /// <summary>
+        ///
+        /// </summary>
+
         [HideInInspector, SerializeField, FormerlySerializedAs("compression")]
         SensorCompressionType m_Compression = SensorCompressionType.PNG;
 
         /// <returns>The created <see cref="CameraSensor"/> object for this component.</returns>
         public override ISensor CreateSensor()
         {
-            m_Sensor = new CameraSensor(m_Camera, m_Width, m_Height, Grayscale, m_SensorName, m_Compression);
+            m_Sensor = new CameraSensor(m_Camera, m_Width, m_Height, Grayscale, m_SensorName, m_Compression, m_CameraSensorSettings);
             return m_Sensor;
         }
 
         /// <returns>The observation shape of the associated <see cref="CameraSensor"/> object.</returns>
         public override int[] GetObservationShape()
         {
-            return CameraSensor.GenerateShape(m_Width, m_Height, Grayscale);
+            if (m_Sensor == null)
+            {
+                CreateSensor();
+            }
+            return m_Sensor.GenerateShape();
         }
 
         /// <summary>

com.unity.ml-agents/Runtime/Sensors/CameraSensor.cs

+using System;
+using System.Collections.Generic;
+using System.IO.Compression;
+using System.Linq;
+using UnityEngine.Rendering;
+using Object = UnityEngine.Object;
+    internal enum CameraSensorPassType
+    {
+        RGB,
+        Depth,
+        Segmentation,
+        AutoSegmentation
+    }
+
+    struct CameraSensorPass
+    {
+        public CameraSensorPassType PassType;
+        public Camera Camera;
+
+        public CameraSensorPass(CameraSensorPassType passType, Camera camera)
+        {
+            PassType = passType;
+            Camera = camera;
+        }
+    }
+
     /// <summary>
     /// A sensor that wraps a Camera object to generate visual observations for an agent.
     /// </summary>
         string m_Name;
         int[] m_Shape;
         SensorCompressionType m_CompressionType;
+        Shader uberReplacementShader = Shader.Find("Hidden/UberReplacement");
+        static readonly int _objectColor = Shader.PropertyToID("_ObjectColor");
+        static readonly int _categoryColor = Shader.PropertyToID("_CategoryColor");
+        static readonly int _layerNumber = Shader.PropertyToID("_LayerNumber");
+        CameraSensorSettings m_Settings;
+        List<CameraSensorPass> m_Passes;
 
         /// <summary>
         /// The Camera used for rendering the sensor observations.
             set { m_Camera = value; }
         }
 
+        internal List<CameraSensorPass> CreatePasses()
+        {
+            var passes = new List<CameraSensorPass>();
+            if (!m_Settings.DisableCamera)
+            {
+                passes.Add(new CameraSensorPass(CameraSensorPassType.RGB, m_Camera));
+            }
+
+            if (m_Settings.EnableDepth)
+            {
+                passes.Add(new CameraSensorPass(CameraSensorPassType.Depth, CreateHiddenCamera("depthCam")));
+            }
+
+            if (m_Settings.LayerMasks.Length > 0)
+            {
+                passes.Add(new CameraSensorPass(CameraSensorPassType.Segmentation, CreateHiddenCamera("segmentationCam")));
+            }
+
+            if (m_Settings.EnableAutoSegment)
+            {
+                passes.Add(new CameraSensorPass(CameraSensorPassType.AutoSegmentation, CreateHiddenCamera("autoSegmentationCam")));
+            }
+            return passes;
+        }
+
+        Camera CreateHiddenCamera(string name)
+        {
+            var go = new GameObject (name, typeof (Camera));
+            go.hideFlags = HideFlags.HideAndDontSave;
+            go.transform.parent = m_Camera.transform;
+
+            var newCamera = go.GetComponent<Camera>();
+            return newCamera;
+        }
+
         /// <summary>
         /// The compression type used by the sensor.
         /// </summary>
             set { m_CompressionType = value; }
         }
-
 
         /// <summary>
         /// Creates and returns the camera sensor.
         public CameraSensor(
             Camera camera, int width, int height, bool grayscale, string name, SensorCompressionType compression)
         {
-            m_Camera = camera;
+            m_Settings = new CameraSensorSettings();
+            Camera = camera;
-            m_Shape = GenerateShape(width, height, grayscale);
+            m_Passes = CreatePasses();
+            m_Shape = GenerateShape();
+            OnSceneChange();
+        }
+
+        public CameraSensor(
+            Camera camera,
+            int width,
+            int height,
+            bool grayscale,
+            string name,
+            SensorCompressionType compression,
+            CameraSensorSettings settings
+        ) : this(camera, width, height, grayscale, name, compression)
+        {
+            m_Settings = settings;
+            Camera = camera;
+            m_Width = width;
+            m_Height = height;
+            m_Grayscale = grayscale;
+            m_Name = name;
+            m_CompressionType = compression;
+            m_Passes = CreatePasses();
+            m_Shape = GenerateShape();
+            OnSceneChange();
+        }
+
+        public void OnSceneChange()
+        {
+            var segPasses = m_Passes.Where(
+                p => p.PassType == CameraSensorPassType.Segmentation || p.PassType == CameraSensorPassType.AutoSegmentation
+            );
+            // NOTE: This avoids the expensive search for all renderers if we don't need segmentation.
+            if (!segPasses.Any()) return;
+
+            var renderers = Object.FindObjectsOfType<Renderer>();
+            // var renderers = m_Camera.transform.root.GetComponentsInChildren<Renderer>();
+            var mpb = new MaterialPropertyBlock();
+            foreach (var r in renderers)
+            {
+                GameObject gameObject = r.gameObject;
+                var id = gameObject.GetInstanceID();
+                var layer = gameObject.layer;
+                var tag = gameObject.tag;
+
+                mpb.SetColor(_objectColor, ColorEncoding.EncodeIDAsColor(id));
+                mpb.SetColor(_categoryColor, ColorEncoding.EncodeLayerAsColor(layer));
+                mpb.SetInt(_layerNumber, layer);
+                r.SetPropertyBlock(mpb);
+            }
+        }
+
+        internal List<float[,]> GetObservationChannels()
+        {
+            UpdateCameras();
+            OnSceneChange();
+            var channels = new List<float[,]>();
+            foreach (var pass in m_Passes)
+            {
+                var disableAntialiasing = pass.PassType != CameraSensorPassType.RGB;
+                var texture = ObservationToTexture(pass.Camera, m_Width, m_Height, disableAntialiasing);
+                var width = texture.width;
+                var height = texture.height;
+
+                var texturePixels = texture.GetPixels();
+                if (pass.PassType == CameraSensorPassType.RGB || pass.PassType == CameraSensorPassType.AutoSegmentation)
+                {
+                    var r = new float[texture.width, texture.height];
+                    var g = new float[texture.width, texture.height];
+                    var b = new float[texture.width, texture.height];
+                    for (var h = height - 1; h >= 0; h--)
+                    {
+                        for (var w = 0; w < width; w++)
+                        {
+                            var currentPixel = texturePixels[(height - h - 1) * width + w];
+                            if (m_Grayscale)
+                            {
+                                r[h, w] = (currentPixel.r + currentPixel.g + currentPixel.b) / 3f;
+                            }
+                            else
+                            {
+                                // For Color32, the r, g and b values are between 0 and 1.
+                                r[h, w] = currentPixel.r;
+                                g[h, w] = currentPixel.g;
+                                b[h, w] = currentPixel.b;
+                            }
+                        }
+                    }
+
+                    if (m_Grayscale)
+                    {
+                        channels.Add(r);
+                    }
+                    else
+                    {
+                        channels.Add(r); channels.Add(g); channels.Add(b);
+                    }
+                }
+                else if (pass.PassType == CameraSensorPassType.Depth)
+                {
+                    var depth = new float[texture.width, texture.height];
+                    for (var h = height - 1; h >= 0; h--)
+                    {
+                        for (var w = 0; w < width; w++)
+                        {
+                            var currentPixel = texturePixels[(height - h - 1) * width + w];
+                            depth[h, w] = (currentPixel.r + currentPixel.g + currentPixel.b) / 3f;
+                        }
+                    }
+
+                    channels.Add(depth);
+                }
+                else if (pass.PassType == CameraSensorPassType.Segmentation)
+                {
+                    var layerChannels = new List<float[,]>();
+                    foreach (var layer in m_Settings.LayerMasks)
+                    {
+                        layerChannels.Add(new float[texture.width, texture.height]);
+                    }
+                    for (var h = height - 1; h >= 0; h--)
+                    {
+                        for (var w = 0; w < width; w++)
+                        {
+                            var currentPixel = texturePixels[(height - h - 1) * width + w];
+                            // layer index is encoded in the red channel, divided by 100
+                            var currentPixelIndex = (int)Math.Round((double) currentPixel.r * 100f);
+                            // Try to decode the "r" channel as one of our layer IDs
+                            var foundLayerIndex = Array.FindIndex(m_Settings.LayerMasks, i => i == currentPixelIndex);
+                            if (foundLayerIndex >= 0)
+                            {
+                                // We found it, so set the value to 1
+                                var layerChannel = layerChannels[foundLayerIndex];
+                                layerChannel[h, w] = 1f;
+                            }
+                        }
+                    }
+                    foreach (var layerChannel in layerChannels) channels.Add(layerChannel);
+                }
+                // else if (pass.PassType == CameraSensorPassType.AutoSegmentation)
+                // {
+                //     var r = new float[texture.width, texture.height];
+                //     var g = new float[texture.width, texture.height];
+                //     var b = new float[texture.width, texture.height];
+                //     for (var h = height - 1; h >= 0; h--)
+                //     {
+                //         for (var w = 0; w < width; w++)
+                //         {
+                //             var currentPixel = texturePixels[(height - h - 1) * width + w];
+                //             // For Color32, the r, g and b values are between 0 and 1.
+                //             r[h, w] = currentPixel.r;
+                //             g[h, w] = currentPixel.g;
+                //             b[h, w] = currentPixel.b;
+                //         }
+                //     }
+                //
+                //     channels.Add(r);
+                //     channels.Add(g);
+                //     channels.Add(b);
+                // }
+
+                DestroyTexture(texture);
+            }
+            return channels;
+        }
+
+        // Texture2D MakeGrayscale (tex : Texture2D) {
+        //     var texColors = tex.GetPixels();
+        //     for (i = 0; i < texColors.Length; i++) {
+        //         var grayValue = texColors[i].grayscale;
+        //         texColors[i] = Color(grayValue, grayValue, grayValue, texColors[i].a);
+        //     }
+        //     tex.SetPixels(texColors);
+        //     tex.Apply();
+        // }
+        internal List<Texture2D> GetObservationTextures()
+        {
+            UpdateCameras();
+            OnSceneChange();
+            var textures = new List<Texture2D>();
+            var singleChannels = new List<float[]>();
+            foreach (var pass in m_Passes)
+            {
+                var disableAntialiasing = pass.PassType != CameraSensorPassType.RGB;
+                var texture = ObservationToTexture(pass.Camera, m_Width, m_Height, disableAntialiasing);
+                var width = texture.width;
+                var height = texture.height;
+
+                var texturePixels = texture.GetPixels();
+                if (pass.PassType == CameraSensorPassType.RGB)
+                {
+                    if (m_Grayscale)
+                    {
+                        // turn to grayscale
+                        for (var i = 0; i < texturePixels.Length; ++i)
+                        {
+                            var grayVal = texturePixels[i].grayscale;
+                            texturePixels[i] = new Color(grayVal, grayVal, grayVal, texturePixels[i].a);
+                        }
+                        texture.SetPixels(texturePixels);
+                        texture.Apply();
+                        textures.Add(texture);
+                    }
+                    else
+                    {
+                        textures.Add(texture);
+                    }
+                }
+                else if (pass.PassType == CameraSensorPassType.Depth)
+                {
+                    // single channel -- convert to grayscale and add to single channels list
+                    var channelVals = new float[texturePixels.Length];
+                    for (var i = 0; i < texturePixels.Length; ++i)
+                    {
+                        channelVals[i] = texturePixels[i].grayscale;
+                    }
+                    singleChannels.Add(channelVals);
+                    DestroyTexture(texture);
+                }
+                else if (pass.PassType == CameraSensorPassType.Segmentation)
+                {
+                    var layerChannels = new List<float[]>();
+                    foreach (var layer in m_Settings.LayerMasks)
+                    {
+                        layerChannels.Add(new float[texturePixels.Length]);
+                    }
+                    for (var i = 0; i < texturePixels.Length; ++i)
+                    {
+                        var currentPixel = texturePixels[i];
+                        // layer index is encoded in the red channel, divided by 100
+                        var currentPixelIndex = (int)Math.Round((double) currentPixel.r * 100f);
+                        // Try to decode the "r" channel as one of our layer IDs
+                        var foundLayerIndex = Array.FindIndex(m_Settings.LayerMasks, j => j == currentPixelIndex);
+                        if (foundLayerIndex >= 0)
+                        {
+                            // We found it, so set the value to 1
+                            var layerChannel = layerChannels[foundLayerIndex];
+                            layerChannel[i] = 1f;
+                        }
+                    }
+                    foreach (var layerChannel in layerChannels) singleChannels.Add(layerChannel);
+                    // Since we captured these layers as a float array, we need to destroy the texture
+                    DestroyTexture(texture);
+                }
+                else if (pass.PassType == CameraSensorPassType.AutoSegmentation)
+                {
+                    if (m_Grayscale)
+                    {
+                        // turn to grayscale
+                        for (var i = 0; i < texturePixels.Length; ++i)
+                        {
+                            var grayVal = texturePixels[i].grayscale;
+                            texturePixels[i] = new Color(grayVal, grayVal, grayVal, texturePixels[i].a);
+                        }
+                        texture.SetPixels(texturePixels);
+                        texture.Apply();
+                        textures.Add(texture);
+                    }
+                    else
+                    {
+                        textures.Add(texture);
+                    }
+                }
+            }
+            // Single channels need to be converted to colors and assigned to new textures.
+            // if we have 5 channels, we will need ceil(5/3) textures.  Or, 2.
+            var numNewTextures = (int) Math.Ceiling(singleChannels.Count / 3f);
+            for (var i = 0; i < numNewTextures; ++i)
+            {
+                var tex = new Texture2D(m_Width, m_Height, TextureFormat.RGB24, false);
+                var colors = new Color[m_Width * m_Height];
+                var begin = i * 3;
+                for (var j = 0; j < m_Width * m_Height; ++j)
+                {
+                    var firstChannelVal = singleChannels[begin][j];
+                    var secondChannelVal = 0f;
+                    if (singleChannels.Count > begin + 1)
+                    {
+                        secondChannelVal = singleChannels[begin + 1][j];
+                    }
+
+                    var thirdChannelVal = 0f;
+                    if (singleChannels.Count > begin + 2)
+                    {
+                        thirdChannelVal = singleChannels[begin + 2][j];
+                    }
+                    colors[j] = new Color(firstChannelVal, secondChannelVal, thirdChannelVal);
+                }
+                tex.SetPixels(colors);
+                tex.Apply();
+                textures.Add(tex);
+            }
+            return textures;
+        }
+
+        public void UpdateCameras()
+        {
+            foreach (var pass in m_Passes)
+            {
+                if (pass.PassType == CameraSensorPassType.RGB)
+                    continue;
+
+                // cleanup capturing camera
+                pass.Camera.RemoveAllCommandBuffers();
+                pass.Camera.ResetReplacementShader();
+
+                // copy all "main" camera parameters into capturing camera
+                pass.Camera.CopyFrom(m_Camera);
+
+                // setup command buffers and replacement shaders
+                SetupCameraWithReplacementShader(pass.Camera, uberReplacementShader, pass.PassType);
+            }
+
+            // cache materials and setup material properties
+            // if (!opticalFlowMaterial || opticalFlowMaterial.shader != opticalFlowShader)
+            //     opticalFlowMaterial = new Material(opticalFlowShader);
+            // opticalFlowMaterial.SetFloat("_Sensitivity", opticalFlowSensitivity);
+        }
+
+        static void SetupCameraWithReplacementShader(Camera cam, Shader shader, CameraSensorPassType passType)
+        {
+            var cb = new CommandBuffer();
+            Color clearColor = Color.black;
+            int mode = -1;
+            if (passType == CameraSensorPassType.Depth)
+            {
+                mode = 2;
+                clearColor = Color.white;
+            }
+            else if (passType == CameraSensorPassType.Segmentation)
+            {
+                //Debug.Log("Setting shader mode to 3");
+                mode = 3;
+            }
+            else if (passType == CameraSensorPassType.AutoSegmentation)
+            {
+                mode = 1;
+            }
+
+            if (mode < 0)
+            {
+                throw new Exception("Error: unexpected pass type");
+            }
+            cb.SetGlobalInt("_OutputMode", mode);
+            cam.AddCommandBuffer(CameraEvent.BeforeForwardOpaque, cb);
+            cam.AddCommandBuffer(CameraEvent.BeforeFinalPass, cb);
+            cam.SetReplacementShader(shader, "");
+            cam.backgroundColor = clearColor;
+            cam.clearFlags = CameraClearFlags.SolidColor;
         }
 
         /// <summary>
         /// <returns>Compressed image.</returns>
         public byte[] GetCompressedObservation()
         {
+            var allBytes = new List<byte>();
-                var texture = ObservationToTexture(m_Camera, m_Width, m_Height);
+                var textures = GetObservationTextures();
-                var compressed = texture.EncodeToPNG();
-                DestroyTexture(texture);
-                return compressed;
+                foreach (var tex in textures)
+                {
+                    allBytes.AddRange(tex.EncodeToPNG());
+                    DestroyTexture(tex);
+                }
+
+                return allBytes.ToArray();
             }
         }
 
         {
             using (TimerStack.Instance.Scoped("CameraSensor.WriteToTensor"))
             {
-                var texture = ObservationToTexture(m_Camera, m_Width, m_Height);
-                var numWritten = Utilities.TextureToTensorProxy(texture, writer, m_Grayscale);
-                DestroyTexture(texture);
+                var numWritten = 0;
+                var channels = GetObservationChannels();
+                for (var channelInd = 0; channelInd < channels.Count; ++channelInd)
+                {
+                    for (var h = 0; h < m_Height; ++h)
+                    {
+                        for (var w = 0; w < m_Width; ++w)
+                        {
+                            writer[h, w, channelInd] = channels[channelInd][h, w];
+                            numWritten++;
+                        }
+                    }
+                }
                 return numWritten;
             }
         }
         /// <param name="width">Width of resulting 2D texture.</param>
         /// <param name="height">Height of resulting 2D texture.</param>
         /// <returns name="texture2D">Texture2D to render to.</returns>
-        public static Texture2D ObservationToTexture(Camera obsCamera, int width, int height)
+        public static Texture2D ObservationToTexture(Camera obsCamera, int width, int height, bool disableAntialiasing = false)
         {
             var texture2D = new Texture2D(width, height, TextureFormat.RGB24, false);
             var oldRec = obsCamera.rect;
             var readWrite = RenderTextureReadWrite.Default;
+            var antiAliasing = (disableAntialiasing) ? 1 : Mathf.Max(1, QualitySettings.antiAliasing);
-                RenderTexture.GetTemporary(width, height, depth, format, readWrite);
+                RenderTexture.GetTemporary(width, height, depth, format, readWrite, antiAliasing);
 
             var prevActiveRt = RenderTexture.active;
             var prevCameraRt = obsCamera.targetTexture;
             obsCamera.Render();
 
             texture2D.ReadPixels(new Rect(0, 0, texture2D.width, texture2D.height), 0, 0);
+            texture2D.Apply();
 
             obsCamera.targetTexture = prevCameraRt;
             obsCamera.rect = oldRec;
         /// <param name="height">Height of the image captures from the camera.</param>
         /// <param name="grayscale">Whether or not to convert the image to grayscale.</param>
         /// <returns>The observation shape.</returns>
-        internal static int[] GenerateShape(int width, int height, bool grayscale)
+        internal int[] GenerateShape()
-            return new[] { height, width, grayscale ? 1 : 3 };
+            int channels = 0;
+            foreach (var pass in m_Passes)
+            {
+                if (pass.PassType == CameraSensorPassType.RGB)
+                {
+                    if (m_Grayscale) channels += 1;
+                    else channels += 3;
+                }
+
+                if (pass.PassType == CameraSensorPassType.Depth)
+                {
+                    channels += 1;
+                }
+
+                if (pass.PassType == CameraSensorPassType.Segmentation)
+                {
+                    channels += m_Settings.LayerMasks.Length;
+                }
+
+                if (pass.PassType == CameraSensorPassType.AutoSegmentation)
+                {
+                    if (m_Grayscale) channels += 1;
+                    else channels += 3;
+                }
+            }
+            return new[] { m_Height, m_Width, channels };
         }
 
         static void DestroyTexture(Texture2D texture)

Project/Assets/ML-Agents/Examples/FoodCollector/Scenes/VisualFoodCollector-hackweekbackup.unity.meta

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com.unity.ml-agents/Editor/CameraSensorSettingsDrawer.cs

+using Unity.MLAgents.Sensors;
+using UnityEditor;
+using UnityEngine;
+
+namespace Unity.MLAgents.Editor
+{
+    /// <summary>
+    /// PropertyDrawer for BrainParameters. Defines how BrainParameters are displayed in the
+    /// Inspector.
+    /// </summary>
+    [CustomPropertyDrawer(typeof(CameraSensorSettings))]
+    internal class CameraSensorSettingsDrawer : PropertyDrawer
+    {
+        // The height of a line in the Unity Inspectors
+        const float k_LineHeight = 17f;
+        const string k_LayerMasksPropName = "LayerMasks";
+        const string k_DisableCameraPropName = "DisableCamera";
+        const string k_EnableDepthPropName = "EnableDepth";
+        const string k_EnableAutoSegmentPropName = "EnableAutoSegment";
+
+        public override float GetPropertyHeight(SerializedProperty property, GUIContent label)
+        {
+            return GetHeightDrawLayerMasks(property) + 4 * k_LineHeight;
+        }
+
+        public override void OnGUI(Rect position, SerializedProperty property, GUIContent label)
+        {
+            var indent = EditorGUI.indentLevel;
+            position.height = k_LineHeight;
+            EditorGUI.BeginProperty(position, label, property);
+
+            var disableCamProp = property.FindPropertyRelative(k_DisableCameraPropName);
+            EditorGUI.PropertyField(position, disableCamProp, new GUIContent("Disable camera"));
+            position.y += k_LineHeight;
+
+            var enableDepthProp = property.FindPropertyRelative(k_EnableDepthPropName);
+            EditorGUI.PropertyField(position, enableDepthProp, new GUIContent("Enable depth channel"));
+            position.y += k_LineHeight;
+
+            var enableAutoSegmentProp = property.FindPropertyRelative(k_EnableAutoSegmentPropName);
+            EditorGUI.PropertyField(position, enableAutoSegmentProp, new GUIContent("Enable auto segment"));
+            position.y += k_LineHeight;
+
+            // Vector Observations
+            DrawLayerMasks(position, property);
+            position.y += GetHeightDrawLayerMasks(property);
+
+            EditorGUI.EndProperty();
+            EditorGUI.indentLevel = indent;
+        }
+
+        /// <summary>
+        /// Draws the Layer Masks for the CameraSensorComponent
+        /// </summary>
+        /// <param name="position">Rectangle on the screen to use for the property GUI.</param>
+        /// <param name="property">The SerializedProperty of the CameraSensorComponent
+        /// to make the custom GUI for.</param>
+        static void DrawLayerMasks(Rect position, SerializedProperty property)
+        {
+            var layerMasksProp = property.FindPropertyRelative(k_LayerMasksPropName);
+            var newSize = EditorGUI.IntField(
+                position,
+                "# Layer Masks",
+                layerMasksProp.arraySize
+            );
+
+            // This check is here due to:
+            // https://fogbugz.unity3d.com/f/cases/1246524/
+            // If this case has been resolved, please remove this if condition.
+            if (newSize != layerMasksProp.arraySize)
+            {
+                layerMasksProp.arraySize = newSize;
+            }
+
+            position.y += k_LineHeight;
+            position.x += 20;
+            position.width -= 20;
+            for (var branchIndex = 0;
+                branchIndex < layerMasksProp.arraySize;
+                branchIndex++)
+            {
+                var layerMask =
+                    layerMasksProp.GetArrayElementAtIndex(branchIndex);
+
+                var newMaskLayer = EditorGUI.LayerField(
+                    position,
+                    new GUIContent("Mask " + branchIndex + " layer number:",
+                        "Layer number for layer mask " + branchIndex + "."),
+                    layerMask.intValue
+                );
+                if (layerMask.intValue != newMaskLayer)
+                {
+                    layerMask.intValue = newMaskLayer;
+                }
+                position.y += k_LineHeight;
+            }
+        }
+
+        static float GetHeightDrawLayerMasks(SerializedProperty property)
+        {
+            var layerMasksProp = property.FindPropertyRelative(k_LayerMasksPropName);
+            return (1 + layerMasksProp.arraySize) * k_LineHeight;
+        }
+    }
+}

com.unity.ml-agents/Editor/CameraSensorSettingsDrawer.cs.meta

+fileFormatVersion: 2
+guid: 10f930409af6449fa72f05801f08cfb6
+timeCreated: 1592871661

com.unity.ml-agents/Runtime/Shaders.meta

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+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

com.unity.ml-agents/Runtime/Sensors/CameraSensorSettings.cs

+using System;
+
+namespace Unity.MLAgents.Sensors
+{
+    [Serializable]
+    public class CameraSensorSettings
+    {
+        /// <summary>
+        /// Whether to disable sensor reporting back the raw pixels from the camera.
+        /// </summary>
+        /// <remarks>
+        /// This may be useful if using depth, layer masks, etc. if the raw pixels from the camera
+        /// would be redundant.
+        /// </remarks>
+        public bool DisableCamera;
+
+        /// <summary>
+        /// Whether to add a depth field channel to the sensor.
+        /// </summary>
+        public bool EnableDepth;
+
+        /// <summary>
+        /// Whether to enable automatic segmentation by layer
+        /// </summary>
+        public bool EnableAutoSegment;
+
+        /// <summary>
+        /// The list of Unity Layers to render masks for.
+        /// </summary>
+        /// <remarks>
+        /// In addition to RGB, Grayscale, or other image channels, we provide "layer masks" as
+        /// a way to explicitly capture whether objects in a certain Unity Layer fall within each
+        /// pixel.
+        /// </remarks>
+        public int[] LayerMasks = {};
+    }
+}

com.unity.ml-agents/Runtime/Sensors/CameraSensorSettings.cs.meta

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com.unity.ml-agents/Runtime/Sensors/ColorEncoding.cs.meta

+fileFormatVersion: 2
+guid: e3d8e3ee929e4029af6d000dbc7ca686
+timeCreated: 1592847947

com.unity.ml-agents/Runtime/Sensors/ColorEncoding.cs

+using UnityEngine;
+
+namespace Unity.MLAgents.Sensors
+{
+
+    public class ColorEncoding
+    {
+	    public static byte ReverseBits(byte value)
+	    {
+		    return (byte)((value * 0x0202020202 & 0x010884422010) % 1023);
+	    }
+
+	    public static int SparsifyBits(byte value, int sparse)
+	    {
+		    int retVal = 0;
+		    for (int bits = 0; bits < 8; bits++, value >>= 1)
+		    {
+			    retVal |= (value & 1);
+			    retVal <<= sparse;
+		    }
+		    return retVal >> sparse;
+	    }
+
+	    public static Color EncodeIDAsColor(int instanceId)
+	    {
+		    var uid = instanceId * 2;
+		    if (uid < 0)
+			    uid = -uid + 1;
+
+		    var sid =
+			    (SparsifyBits((byte)(uid >> 16), 3) << 2) |
+			    (SparsifyBits((byte)(uid >>  8), 3) << 1) |
+			     SparsifyBits((byte)(uid      ), 3);
+		    //Debug.Log(uid + " >>> " + System.Convert.ToString(sid, 2).PadLeft(24, '0'));
+
+		    var r = (byte)(sid >> 8);
+		    var g = (byte)(sid >> 16);
+		    var b = (byte)(sid);
+
+		    //Debug.Log(r + " " + g + " " + b);
+		    return new Color32 (r, g, b, 255);
+	    }
+
+	    public static Color EncodeTagAsColor(string tag)
+	    {
+		    var hash = tag.GetHashCode();
+		    var a = (byte)(hash >> 24);
+		    var r = (byte)(hash >> 16);
+		    var g = (byte)(hash >> 8);
+		    var b = (byte)(hash);
+		    return new Color32 (r, g, b, a);
+	    }
+
+	    public static Color EncodeLayerAsColor(int layer)
+	    {
+		    // Following value must be in the range (0.5 .. 1.0)
+		    // in order to avoid color overlaps when using 'divider' in this func
+		    var z = .7f;
+
+		    // First 8 layers are Unity Builtin layers
+		    // Unity supports up to 32 layers in total
+
+		    // Lets create palette of unique 16 colors
+		    var uniqueColors = new []{
+			    new Color(1,1,1,1), new Color(z,z,z,1),						// 0
+			    new Color(1,1,z,1), new Color(1,z,1,1), new Color(z,1,1,1), //
+			    new Color(1,z,0,1), new Color(z,0,1,1), new Color(0,1,z,1), // 7
+
+			    new Color(1,0,0,1), new Color(0,1,0,1), new Color(0,0,1,1), // 8
+			    new Color(1,1,0,1), new Color(1,0,1,1), new Color(0,1,1,1), //
+			    new Color(1,z,z,1), new Color(z,1,z,1)						// 15
+		    };
+
+		    // Create as many colors as necessary by using base 16 color palette
+		    // To create more than 16 - will simply adjust brightness with 'divider'
+		    var color = uniqueColors[layer % uniqueColors.Length];
+		    var divider = 1.0f + Mathf.Floor(layer / uniqueColors.Length);
+		    color /= divider;
+
+		    return color;
+	    }
+
+
+    }
+}

config/sac/VisualFoodCollector.yaml

+behaviors:
+  VisualFoodCollector:
+    trainer_type: sac
+    hyperparameters:
+      learning_rate: 0.0003
+      learning_rate_schedule: constant
+      batch_size: 256
+      buffer_size: 100000
+      buffer_init_steps: 20000
+      tau: 0.005
+      steps_per_update: 10.0
+      save_replay_buffer: false
+      init_entcoef: 0.05
+      reward_signal_steps_per_update: 10.0
+    network_settings:
+      normalize: false
+      hidden_units: 128
+      num_layers: 2
+      vis_encode_type: nature_cnn
+    reward_signals:
+      extrinsic:
+        gamma: 0.99
+        strength: 1.0
+    keep_checkpoints: 5
+    max_steps: 2000000
+    time_horizon: 64
+    summary_freq: 10000
+    threaded: true

config/ppo/VisualFoodCollector.yaml

+behaviors:
+  VisualFoodCollector:
+    trainer_type: ppo
+    hyperparameters:
+      batch_size: 1024
+      buffer_size: 10240
+      learning_rate: 0.0003
+      beta: 0.005
+      epsilon: 0.2
+      lambd: 0.95
+      num_epoch: 3
+      learning_rate_schedule: constant
+    network_settings:
+      normalize: false
+      hidden_units: 128
+      num_layers: 2
+      vis_encode_type: simple
+    reward_signals:
+      extrinsic:
+        gamma: 0.99
+        strength: 1.0
+    keep_checkpoints: 5
+    max_steps: 2000000
+    time_horizon: 64
+    summary_freq: 10000
+    threaded: true

config/ppo/VisualFoodCollector-linuxworking.yaml

+behaviors:
+  VisualFoodCollector:
+    trainer_type: ppo
+    hyperparameters:
+      batch_size: 500
+      buffer_size: 5000
+      learning_rate: 0.0003
+      beta: 0.005
+      epsilon: 0.2
+      lambd: 0.95
+      num_epoch: 3
+      learning_rate_schedule: linear
+    network_settings:
+      normalize: false
+      hidden_units: 128
+      num_layers: 2
+      vis_encode_type: simple
+    reward_signals:
+      extrinsic:
+        gamma: 0.99
+        strength: 1.0
+    keep_checkpoints: 5
+    max_steps: 10000000
+    time_horizon: 100
+    summary_freq: 40000
+    threaded: true

com.unity.ml-agents/Runtime/Shaders/UberReplacement.shader

+// Based on builtin Internal-DepthNormalsTexture.shader
+// EncodeDepthNormal() is replaced with custom Output() function
+
+Shader "Hidden/UberReplacement" {
+Properties {
+	_MainTex ("", 2D) = "white" {}
+	_Cutoff ("", Float) = 0.5
+	_Color ("", Color) = (1,1,1,1)
+
+	_ObjectColor ("Object Color", Color) = (1,1,1,1)
+	_CategoryColor ("Category Color", Color) = (0,1,0,1)
+	_LayerNumber ("Layer Number", int) = -1
+}
+
+SubShader {
+CGINCLUDE
+
+fixed4 _ObjectColor;
+fixed4 _CategoryColor;
+int _LayerNumber;
+int _OutputMode;
+
+// remap depth: [0 @ eye .. 1 @ far] => [0 @ near .. 1 @ far]
+inline float Linear01FromEyeToLinear01FromNear(float depth01)
+{
+	float near = _ProjectionParams.y;
+	float far = _ProjectionParams.z;
+	return (depth01 - near/far) * (1 + near/far);
+}
+
+float4 Output(float depth01, float3 normal)
+{
+	if (_OutputMode == 0) // ObjectId
+	{
+		return _ObjectColor;
+	}
+	else if (_OutputMode == 1) // CategoryId
+	{
+		return _CategoryColor;
+	}
+	else if (_OutputMode == 2) // DepthCompressed
+	{
+		float linearZFromNear = Linear01FromEyeToLinear01FromNear(depth01);
+		float k = 0.25; // compression factor
+		return pow(linearZFromNear, k);
+	}
+	else if (_OutputMode == 3) // Layers
+	{
+	    return float4(_LayerNumber / 100.0, 0.0, 0.0, 1);
+	}
+
+	// unsupported _OutputMode
+	return float4(1, 0.5, 0.5, 1);
+}
+ENDCG
+
+// Support for different RenderTypes
+// The following code is based on builtin Internal-DepthNormalsTexture.shader
+
+	Tags { "RenderType"="Opaque" }
+	Pass {
+CGPROGRAM
+#pragma vertex vert
+#pragma fragment frag
+#include "UnityCG.cginc"
+struct v2f {
+	float4 pos : SV_POSITION;
+	float4 nz : TEXCOORD0;
+	UNITY_VERTEX_OUTPUT_STEREO
+};
+v2f vert( appdata_base v ) {
+	v2f o;
+	UNITY_SETUP_INSTANCE_ID(v);
+	UNITY_INITIALIZE_VERTEX_OUTPUT_STEREO(o);
+	o.pos = UnityObjectToClipPos(v.vertex);
+	o.nz.xyz = COMPUTE_VIEW_NORMAL;
+	o.nz.w = COMPUTE_DEPTH_01;
+	return o;
+}
+fixed4 frag(v2f i) : SV_Target {
+	return Output (i.nz.w, i.nz.xyz);
+}
+ENDCG
+	}
+}
+
+SubShader {
+	Tags { "RenderType"="TransparentCutout" }
+	Pass {
+CGPROGRAM
+#pragma vertex vert
+#pragma fragment frag
+#include "UnityCG.cginc"
+struct v2f {
+	float4 pos : SV_POSITION;
+	float2 uv : TEXCOORD0;
+	float4 nz : TEXCOORD1;
+	UNITY_VERTEX_OUTPUT_STEREO
+};
+uniform float4 _MainTex_ST;
+v2f vert( appdata_base v ) {
+	v2f o;
+	UNITY_SETUP_INSTANCE_ID(v);
+	UNITY_INITIALIZE_VERTEX_OUTPUT_STEREO(o);
+	o.pos = UnityObjectToClipPos(v.vertex);
+	o.uv = TRANSFORM_TEX(v.texcoord, _MainTex);
+	o.nz.xyz = COMPUTE_VIEW_NORMAL;
+	o.nz.w = COMPUTE_DEPTH_01;
+	return o;
+}
+uniform sampler2D _MainTex;
+uniform fixed _Cutoff;
+uniform fixed4 _Color;
+fixed4 frag(v2f i) : SV_Target {
+	fixed4 texcol = tex2D( _MainTex, i.uv );
+	clip( texcol.a*_Color.a - _Cutoff );
+	return Output (i.nz.w, i.nz.xyz);
+}
+ENDCG
+	}
+}
+
+SubShader {
+	Tags { "RenderType"="TreeBark" }
+	Pass {
+CGPROGRAM
+#pragma vertex vert
+#pragma fragment frag
+#include "UnityCG.cginc"
+#include "Lighting.cginc"
+#include "UnityBuiltin3xTreeLibrary.cginc"
+struct v2f {
+	float4 pos : SV_POSITION;
+	float2 uv : TEXCOORD0;
+	float4 nz : TEXCOORD1;
+	UNITY_VERTEX_OUTPUT_STEREO
+};
+v2f vert( appdata_full v ) {
+	v2f o;
+	UNITY_SETUP_INSTANCE_ID(v);
+	UNITY_INITIALIZE_VERTEX_OUTPUT_STEREO(o);
+	TreeVertBark(v);
+
+	o.pos = UnityObjectToClipPos(v.vertex);
+	o.uv = v.texcoord.xy;
+	o.nz.xyz = COMPUTE_VIEW_NORMAL;
+	o.nz.w = COMPUTE_DEPTH_01;
+	return o;
+}
+fixed4 frag( v2f i ) : SV_Target {
+	return Output (i.nz.w, i.nz.xyz);
+}
+ENDCG
+	}
+}
+
+SubShader {
+	Tags { "RenderType"="TreeLeaf" }
+	Pass {
+CGPROGRAM
+#pragma vertex vert
+#pragma fragment frag
+#include "UnityCG.cginc"
+#include "Lighting.cginc"
+#include "UnityBuiltin3xTreeLibrary.cginc"
+struct v2f {
+	float4 pos : SV_POSITION;
+	float2 uv : TEXCOORD0;
+	float4 nz : TEXCOORD1;
+	UNITY_VERTEX_OUTPUT_STEREO
+};
+v2f vert( appdata_full v ) {
+	v2f o;
+	UNITY_SETUP_INSTANCE_ID(v);
+	UNITY_INITIALIZE_VERTEX_OUTPUT_STEREO(o);
+	TreeVertLeaf(v);
+
+	o.pos = UnityObjectToClipPos(v.vertex);
+	o.uv = v.texcoord.xy;
+	o.nz.xyz = COMPUTE_VIEW_NORMAL;
+	o.nz.w = COMPUTE_DEPTH_01;
+	return o;
+}
+uniform sampler2D _MainTex;
+uniform fixed _Cutoff;
+fixed4 frag( v2f i ) : SV_Target {
+	half alpha = tex2D(_MainTex, i.uv).a;
+
+	clip (alpha - _Cutoff);
+	return Output (i.nz.w, i.nz.xyz);
+}
+ENDCG
+	}
+}
+
+SubShader {
+	Tags { "RenderType"="TreeOpaque" "DisableBatching"="True" }
+	Pass {
+CGPROGRAM
+#pragma vertex vert
+#pragma fragment frag
+#include "UnityCG.cginc"
+#include "TerrainEngine.cginc"
+struct v2f {
+	float4 pos : SV_POSITION;
+	float4 nz : TEXCOORD0;
+	UNITY_VERTEX_OUTPUT_STEREO
+};
+struct appdata {
+	float4 vertex : POSITION;
+	float3 normal : NORMAL;
+	fixed4 color : COLOR;
+	UNITY_VERTEX_INPUT_INSTANCE_ID
+};
+v2f vert( appdata v ) {
+	v2f o;
+	UNITY_SETUP_INSTANCE_ID(v);
+	UNITY_INITIALIZE_VERTEX_OUTPUT_STEREO(o);
+	TerrainAnimateTree(v.vertex, v.color.w);
+	o.pos = UnityObjectToClipPos(v.vertex);
+	o.nz.xyz = COMPUTE_VIEW_NORMAL;
+	o.nz.w = COMPUTE_DEPTH_01;
+	return o;
+}
+fixed4 frag(v2f i) : SV_Target {
+	return Output (i.nz.w, i.nz.xyz);
+}
+ENDCG
+	}
+}
+
+SubShader {
+	Tags { "RenderType"="TreeTransparentCutout" "DisableBatching"="True" }
+	Pass {
+		Cull Back
+CGPROGRAM
+#pragma vertex vert
+#pragma fragment frag
+#include "UnityCG.cginc"
+#include "TerrainEngine.cginc"
+
+struct v2f {
+	float4 pos : SV_POSITION;
+	float2 uv : TEXCOORD0;
+	float4 nz : TEXCOORD1;
+	UNITY_VERTEX_OUTPUT_STEREO
+};
+struct appdata {
+	float4 vertex : POSITION;
+	float3 normal : NORMAL;
+	fixed4 color : COLOR;
+	float4 texcoord : TEXCOORD0;
+	UNITY_VERTEX_INPUT_INSTANCE_ID
+};
+v2f vert( appdata v ) {
+	v2f o;
+	UNITY_SETUP_INSTANCE_ID(v);
+	UNITY_INITIALIZE_VERTEX_OUTPUT_STEREO(o);
+	TerrainAnimateTree(v.vertex, v.color.w);
+	o.pos = UnityObjectToClipPos(v.vertex);
+	o.uv = v.texcoord.xy;
+	o.nz.xyz = COMPUTE_VIEW_NORMAL;
+	o.nz.w = COMPUTE_DEPTH_01;
+	return o;
+}
+uniform sampler2D _MainTex;
+uniform fixed _Cutoff;
+fixed4 frag(v2f i) : SV_Target {
+	half alpha = tex2D(_MainTex, i.uv).a;
+
+	clip (alpha - _Cutoff);
+	return Output (i.nz.w, i.nz.xyz);
+}
+ENDCG
+	}
+	Pass {
+		Cull Front
+CGPROGRAM
+#pragma vertex vert
+#pragma fragment frag
+#include "UnityCG.cginc"
+#include "TerrainEngine.cginc"
+
+struct v2f {
+	float4 pos : SV_POSITION;
+	float2 uv : TEXCOORD0;
+	float4 nz : TEXCOORD1;
+	UNITY_VERTEX_OUTPUT_STEREO
+};
+struct appdata {
+	float4 vertex : POSITION;
+	float3 normal : NORMAL;
+	fixed4 color : COLOR;
+	float4 texcoord : TEXCOORD0;
+	UNITY_VERTEX_INPUT_INSTANCE_ID
+};
+v2f vert( appdata v ) {
+	v2f o;
+	UNITY_SETUP_INSTANCE_ID(v);
+	UNITY_INITIALIZE_VERTEX_OUTPUT_STEREO(o);
+	TerrainAnimateTree(v.vertex, v.color.w);
+	o.pos = UnityObjectToClipPos(v.vertex);
+	o.uv = v.texcoord.xy;
+	o.nz.xyz = -COMPUTE_VIEW_NORMAL;
+	o.nz.w = COMPUTE_DEPTH_01;
+	return o;
+}
+uniform sampler2D _MainTex;
+uniform fixed _Cutoff;
+fixed4 frag(v2f i) : SV_Target {
+	fixed4 texcol = tex2D( _MainTex, i.uv );
+	clip( texcol.a - _Cutoff );
+	return Output (i.nz.w, i.nz.xyz);
+}
+ENDCG
+	}
+
+}
+
+SubShader {
+	Tags { "RenderType"="TreeBillboard" }
+	Pass {
+		Cull Off
+CGPROGRAM
+#pragma vertex vert
+#pragma fragment frag
+#include "UnityCG.cginc"
+#include "TerrainEngine.cginc"
+struct v2f {
+	float4 pos : SV_POSITION;
+	float2 uv : TEXCOORD0;
+	float4 nz : TEXCOORD1;
+	UNITY_VERTEX_OUTPUT_STEREO
+};
+v2f vert (appdata_tree_billboard v) {
+	v2f o;
+	UNITY_SETUP_INSTANCE_ID(v);
+	UNITY_INITIALIZE_VERTEX_OUTPUT_STEREO(o);
+	TerrainBillboardTree(v.vertex, v.texcoord1.xy, v.texcoord.y);
+	o.pos = UnityObjectToClipPos(v.vertex);
+	o.uv.x = v.texcoord.x;
+	o.uv.y = v.texcoord.y > 0;
+	o.nz.xyz = float3(0,0,1);
+	o.nz.w = COMPUTE_DEPTH_01;
+	return o;
+}
+uniform sampler2D _MainTex;
+fixed4 frag(v2f i) : SV_Target {
+	fixed4 texcol = tex2D( _MainTex, i.uv );
+	clip( texcol.a - 0.001 );
+	return Output (i.nz.w, i.nz.xyz);
+}
+ENDCG
+	}
+}
+
+SubShader {
+	Tags { "RenderType"="GrassBillboard" }
+	Pass {
+		Cull Off
+CGPROGRAM
+#pragma vertex vert
+#pragma fragment frag
+#include "UnityCG.cginc"
+#include "TerrainEngine.cginc"
+
+struct v2f {
+	float4 pos : SV_POSITION;
+	fixed4 color : COLOR;
+	float2 uv : TEXCOORD0;
+	float4 nz : TEXCOORD1;
+	UNITY_VERTEX_OUTPUT_STEREO
+};
+
+v2f vert (appdata_full v) {
+	v2f o;
+	UNITY_SETUP_INSTANCE_ID(v);
+	UNITY_INITIALIZE_VERTEX_OUTPUT_STEREO(o);
+	WavingGrassBillboardVert (v);
+	o.color = v.color;
+	o.pos = UnityObjectToClipPos(v.vertex);
+	o.uv = v.texcoord.xy;
+	o.nz.xyz = COMPUTE_VIEW_NORMAL;
+	o.nz.w = COMPUTE_DEPTH_01;
+	return o;
+}
+uniform sampler2D _MainTex;
+uniform fixed _Cutoff;
+fixed4 frag(v2f i) : SV_Target {
+	fixed4 texcol = tex2D( _MainTex, i.uv );
+	fixed alpha = texcol.a * i.color.a;
+	clip( alpha - _Cutoff );
+	return Output (i.nz.w, i.nz.xyz);
+}
+ENDCG
+	}
+}
+
+SubShader {
+	Tags { "RenderType"="Grass" }
+	Pass {
+		Cull Off
+CGPROGRAM
+#pragma vertex vert
+#pragma fragment frag
+#include "UnityCG.cginc"
+#include "TerrainEngine.cginc"
+struct v2f {
+	float4 pos : SV_POSITION;
+	fixed4 color : COLOR;
+	float2 uv : TEXCOORD0;
+	float4 nz : TEXCOORD1;
+	UNITY_VERTEX_OUTPUT_STEREO
+};
+
+v2f vert (appdata_full v) {
+	v2f o;
+	UNITY_SETUP_INSTANCE_ID(v);
+	UNITY_INITIALIZE_VERTEX_OUTPUT_STEREO(o);
+	WavingGrassVert (v);
+	o.color = v.color;
+	o.pos = UnityObjectToClipPos(v.vertex);
+	o.uv = v.texcoord;
+	o.nz.xyz = COMPUTE_VIEW_NORMAL;
+	o.nz.w = COMPUTE_DEPTH_01;
+	return o;
+}
+uniform sampler2D _MainTex;
+uniform fixed _Cutoff;
+fixed4 frag(v2f i) : SV_Target {
+	fixed4 texcol = tex2D( _MainTex, i.uv );
+	fixed alpha = texcol.a * i.color.a;
+	clip( alpha - _Cutoff );
+	return Output (i.nz.w, i.nz.xyz);
+}
+ENDCG
+	}
+}
+Fallback Off
+}

com.unity.ml-agents/Runtime/Shaders/UberReplacement.shader.meta

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