【MA基礎開発】SpyAgentのセンサ系の見直し。各種ターゲットの検出にRayPerceptionSensor3Dではなく、unity付…

…随のrayセンサを使う方法に転舵。 #1 #14

RayPerceptionSensor3Dでは検出したオブジェクトの位置情報をC#側で受け取る方法が見つからないため。
また、イベントハンドラーが発火しないのは、RayPerceptionSensor3DとRayは異なる存在であるため、RayPerceptionSensor3Dの検出では発火しない。

MAEasySimulator/Assets/SpyAgent.cs

@@ -7,6 +7,11 @@
 
 public class SpyAgent : Agent {
 
+
+    [Header("Sensor Settings")]
+    public int SensorCount = 5;
+    public float SensorDistance = 10f;
+
     private Transform Sensor;
     private float rayDistance = 40f; // レイキャストの距離
     //TODO:以下複数の避難所を検出する場合の対応
@@ -22,6 +27,8 @@ public class SpyAgent : Agent {
     private OnFindShelter _onFindShelter;
     private string LogPrefix = "[Agent Spy]";
     private Vector3 StartPosition;
+
+    private Ray SpySensor;
 
     void Start() {
         _controller = GetComponent<DroneController>();
@@ -33,6 +40,7 @@ void Start() {
         _controller.onChargingBattery += OnChargingBattery;
         Sensor = transform.Find("Sensor");
         StartPosition = transform.localPosition;
+        SpySensor = new Ray(Sensor.position, Sensor.forward);
     }
 
     public override void OnEpisodeBegin() {
@@ -58,6 +66,7 @@ public override void CollectObservations(VectorSensor sensor) {
         }
         sensor.AddObservation(targetPos);
         sensor.AddObservation(isFindTarget);
+        Debug.DrawRay(SpySensor.origin, SpySensor.direction * 10, Color.red, 5);
     }
 
     public override void OnActionReceived(ActionBuffers actions) {

MAEasySimulator/Assets/SpyAgent.prefab

@@ -9,7 +9,6 @@ GameObject:
   serializedVersion: 6
   m_Component:
   - component: {fileID: 4346805486820663787}
-  - component: {fileID: 782739389039547031}
   m_Layer: 0
   m_Name: Sensor
   m_TagString: Untagged
@@ -32,34 +31,6 @@ Transform:
   m_Father: {fileID: 5917736595786903999}
   m_RootOrder: -1
   m_LocalEulerAnglesHint: {x: 44.045, y: 0, z: 0}
---- !u!114 &782739389039547031
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 6291193101612035988}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: 6bb6b867a41448888c1cd4f99643ad71, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
-  m_SensorName: RayPerceptionSensor
-  m_DetectableTags:
-  - Shelter
-  m_RaysPerDirection: 3
-  m_MaxRayDegrees: 70
-  m_SphereCastRadius: 0.5
-  m_RayLength: 40
-  m_RayLayerMask:
-    serializedVersion: 2
-    m_Bits: 4294967291
-  m_ObservationStacks: 1
-  m_AlternatingRayOrder: 1
-  rayHitColor: {r: 1, g: 0, b: 0, a: 1}
-  rayMissColor: {r: 1, g: 1, b: 1, a: 1}
-  m_StartVerticalOffset: 0
-  m_EndVerticalOffset: 0
 --- !u!1 &6760585562241815342
 GameObject:
   m_ObjectHideFlags: 0