ml-agents/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/CollisionCallbacks.cs

using UnityEngine;
using UnityEngine.Events;

namespace Unity.MLAgentsExamples
{
    /// <summary>
    /// Utility class to allow target placement and collision detection with an agent
    /// Add this script to the target you want the agent to touch.
    /// Callbacks will be triggered any time the target is touched with a collider tagged as 'tagToDetect'
    /// </summary>
    public class CollisionCallbacks : MonoBehaviour
    {
        //        [System.Serializable] public class BoolEvent : UnityEvent<bool> { }
        //        [SerializeField] BoolEvent boolEvent = new BoolEvent();
        //        public void OnBoolEvent(bool value)
        //        {
        //            Debug.Log($"OnBoolEvent {value}");
        //        }


        [Header("Collider Tag To Detect")]
        public string tagToDetect = "agent"; //collider tag to detect

        //        [Header("Target Placement")]
        //        public float spawnRadius; //The radius in which a target can be randomly spawned.
        //        public bool respawnIfTouched; //Should the target respawn to a different position when touched
        //
        //        [Header("Target Fell Protection")]
        //        public bool respawnIfFallsOffPlatform = true; //If the target falls off the platform, reset the position.
        //        public float fallDistance = 5; //distance below the starting height that will trigger a respawn
        //
        //
        //        private Vector3 m_startingPos; //the starting position of the target
        //        private Agent m_agentTouching; //the agent currently touching the target

        [System.Serializable]
        //        public class TriggerEvent : UnityEvent<string>
        public class TriggerEvent : UnityEvent<Collider>
        {
        }

        [Header("Trigger Callbacks")]
        public TriggerEvent onTriggerEnterEvent = new TriggerEvent();
        public TriggerEvent onTriggerStayEvent = new TriggerEvent();
        public TriggerEvent onTriggerExitEvent = new TriggerEvent();

        [System.Serializable]
        public class CollisionEvent : UnityEvent<Collision, Transform>
        {
        }

        [Header("Collision Callbacks")]
        public CollisionEvent onCollisionEnterEvent = new CollisionEvent();
        public CollisionEvent onCollisionStayEvent = new CollisionEvent();
        public CollisionEvent onCollisionExitEvent = new CollisionEvent();

        //        // Start is called before the first frame update
        //        void OnEnable()
        //        {
        //            m_startingPos = transform.position;
        //            if (respawnIfTouched)
        //            {
        //                MoveTargetToRandomPosition();
        //            }
        //        }

        //        void Update()
        //        {
        //            if (respawnIfFallsOffPlatform)
        //            {
        //                if (transform.position.y < m_startingPos.y - fallDistance)
        //                {
        //                    Debug.Log($"{transform.name} Fell Off Platform");
        //                    MoveTargetToRandomPosition();
        //                }
        //            }
        //        }

        //        /// <summary>
        //        /// Moves target to a random position within specified radius.
        //        /// </summary>
        //        public void MoveTargetToRandomPosition()
        //        {
        //            var newTargetPos = m_startingPos + (Random.insideUnitSphere * spawnRadius);
        //            newTargetPos.y = m_startingPos.y;
        //            transform.position = newTargetPos;
        //        }

        private void OnCollisionEnter(Collision col)
        {
            if (col.transform.CompareTag(tagToDetect))
            {
                onCollisionEnterEvent.Invoke(col, transform);
                //                if (respawnIfTouched)
                //                {
                //                    MoveTargetToRandomPosition();
                //                }
            }
        }

        private void OnCollisionStay(Collision col)
        {
            if (col.transform.CompareTag(tagToDetect))
            {
                onCollisionStayEvent.Invoke(col, transform);
            }
        }

        private void OnCollisionExit(Collision col)
        {
            if (col.transform.CompareTag(tagToDetect))
            {
                onCollisionExitEvent.Invoke(col, transform);
            }
        }

        private void OnTriggerEnter(Collider col)
        {
            if (col.CompareTag(tagToDetect))
            {
                onTriggerEnterEvent.Invoke(col);
            }
        }

        private void OnTriggerStay(Collider col)
        {
            if (col.CompareTag(tagToDetect))
            {
                onTriggerStayEvent.Invoke(col);
            }
        }

        private void OnTriggerExit(Collider col)
        {
            if (col.CompareTag(tagToDetect))
            {
                onTriggerExitEvent.Invoke(col);
            }
        }
    }
}