using System; using System.Collections.Generic; using UnityEngine; namespace MLAgents.Sensor { public abstract class RayPerceptionSensorComponentBase : SensorComponent { public string sensorName = "RayPerceptionSensor"; [Tooltip("List of tags in the scene to compare against.")] public List detectableTags; [Range(0, 50)] [Tooltip("Number of rays to the left and right of center.")] public int raysPerDirection = 3; [Range(0, 180)] [Tooltip("Cone size for rays. Using 90 degrees will cast rays to the left and right. Greater than 90 degrees will go backwards.")] public float maxRayDegrees = 70; [Range(0f, 10f)] [Tooltip("Radius of sphere to cast. Set to zero for raycasts.")] public float sphereCastRadius = 0.5f; [Range(1, 1000)] [Tooltip("Length of the rays to cast.")] public float rayLength = 20f; [Tooltip("Controls which layers the rays can hit.")] public LayerMask rayLayerMask = Physics.DefaultRaycastLayers; [Range(1, 50)] [Tooltip("Whether to stack previous observations. Using 1 means no previous observations.")] public int observationStacks = 1; [Header("Debug Gizmos", order = 999)] public Color rayHitColor = Color.red; public Color rayMissColor = Color.white; [Tooltip("Whether to draw the raycasts in the world space of when they happened, or using the Agent's current transform'")] public bool useWorldPositions = true; [NonSerialized] RayPerceptionSensor m_RaySensor; public abstract RayPerceptionSensor.CastType GetCastType(); public virtual float GetStartVerticalOffset() { return 0f; } public virtual float GetEndVerticalOffset() { return 0f; } public override ISensor CreateSensor() { var rayAngles = GetRayAngles(raysPerDirection, maxRayDegrees); m_RaySensor = new RayPerceptionSensor(sensorName, rayLength, detectableTags, rayAngles, transform, GetStartVerticalOffset(), GetEndVerticalOffset(), sphereCastRadius, GetCastType(), rayLayerMask ); if (observationStacks != 1) { var stackingSensor = new StackingSensor(m_RaySensor, observationStacks); return stackingSensor; } return m_RaySensor; } public static float[] GetRayAngles(int raysPerDirection, float maxRayDegrees) { // Example: // { 90, 90 - delta, 90 + delta, 90 - 2*delta, 90 + 2*delta } var anglesOut = new float[2 * raysPerDirection + 1]; var delta = maxRayDegrees / raysPerDirection; anglesOut[0] = 90f; for (var i = 0; i < raysPerDirection; i++) { anglesOut[2 * i + 1] = 90 - (i+1) * delta; anglesOut[2 * i + 2] = 90 + (i+1) * delta; } return anglesOut; } public override int[] GetObservationShape() { var numRays = 2 * raysPerDirection + 1; var numTags = detectableTags == null ? 0 : detectableTags.Count; var obsSize = (numTags + 2) * numRays; var stacks = observationStacks > 1 ? observationStacks : 1; return new[] { obsSize * stacks }; } /// /// Draw the debug information from the sensor (if available). /// public void OnDrawGizmos() { if (m_RaySensor?.debugDisplayInfo?.rayInfos == null) { return; } var debugInfo = m_RaySensor.debugDisplayInfo; // Draw "old" observations in a lighter color. // Since the agent may not step every frame, this helps de-emphasize "stale" hit information. var alpha = Mathf.Pow(.5f, debugInfo.age); foreach (var rayInfo in debugInfo.rayInfos) { // Either use the original world-space coordinates of the raycast, or transform the agent-local // coordinates of the rays to the current transform of the agent. If the agent acts every frame, // these should be the same. var startPositionWorld = rayInfo.worldStart; var endPositionWorld = rayInfo.worldEnd; if (!useWorldPositions) { startPositionWorld = transform.TransformPoint(rayInfo.localStart); endPositionWorld = transform.TransformPoint(rayInfo.localEnd); } var rayDirection = endPositionWorld - startPositionWorld; rayDirection *= rayInfo.hitFraction; // hit fraction ^2 will shift "far" hits closer to the hit color var lerpT = rayInfo.hitFraction * rayInfo.hitFraction; var color = Color.Lerp(rayHitColor, rayMissColor, lerpT); color.a = alpha; Gizmos.color = color; Gizmos.DrawRay(startPositionWorld,rayDirection); // Draw the hit point as a sphere. If using rays to cast (0 radius), use a small sphere. if (rayInfo.castHit) { var hitRadius = Mathf.Max(sphereCastRadius, .05f); Gizmos.DrawWireSphere(startPositionWorld + rayDirection, hitRadius); } } } } }