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55 行
2.8 KiB
55 行
2.8 KiB
using System;
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using System.Collections.Generic;
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using UnityEngine;
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using MLAgents.Sensor;
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namespace MLAgents
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{
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/// <summary>
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/// Ray perception component. Attach this to agents to enable "local perception"
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/// via the use of ray casts directed outward from the agent.
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/// </summary>
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[Obsolete("The RayPerception MonoBehaviour is deprecated. Use the RayPerceptionSensorComponent instead")]
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public class RayPerception3D : RayPerception
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{
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/// <summary>
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/// Creates perception vector to be used as part of an observation of an agent.
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/// Each ray in the rayAngles array adds a sublist of data to the observation.
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/// The sublist contains the observation data for a single ray. The list is composed of the following:
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/// 1. A one-hot encoding for detectable objects. For example, if detectableObjects.Length = n, the
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/// first n elements of the sublist will be a one-hot encoding of the detectableObject that was hit, or
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/// all zeroes otherwise.
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/// 2. The 'length' element of the sublist will be 1 if the ray missed everything, or 0 if it hit
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/// something (detectable or not).
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/// 3. The 'length+1' element of the sublist will contain the normalised distance to the object hit.
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/// NOTE: Only objects with tags in the detectableObjects array will have a distance set.
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/// </summary>
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/// <returns>The partial vector observation corresponding to the set of rays</returns>
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/// <param name="rayDistance">Radius of rays</param>
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/// <param name="rayAngles">Angles of rays (starting from (1,0) on unit circle).</param>
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/// <param name="detectableObjects">List of tags which correspond to object types agent can see</param>
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/// <param name="startOffset">Starting height offset of ray from center of agent.</param>
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/// <param name="endOffset">Ending height offset of ray from center of agent.</param>
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public override IList<float> Perceive(float rayDistance,
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float[] rayAngles, string[] detectableObjects,
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float startOffset=0.0f, float endOffset=0.0f)
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{
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var perceptionSize = (detectableObjects.Length + 2) * rayAngles.Length;
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if (m_PerceptionBuffer == null || m_PerceptionBuffer.Length != perceptionSize)
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{
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m_PerceptionBuffer = new float[perceptionSize];
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}
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const float castRadius = 0.5f;
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const bool legacyHitFractionBehavior = true;
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RayPerceptionSensor.PerceiveStatic(
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rayDistance, rayAngles, detectableObjects, startOffset, endOffset, castRadius,
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transform, RayPerceptionSensor.CastType.Cast3D, m_PerceptionBuffer, legacyHitFractionBehavior
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);
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return m_PerceptionBuffer;
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}
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}
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}
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