Struct RayPerceptionInput

Contains the elements that define a ray perception sensor.

Inherited Members
Namespace: Unity.MLAgents.Sensors
Syntax
public struct RayPerceptionInput

Fields

Angles

List of angles (in degrees) used to define the rays. 90 degrees is considered "forward" relative to the game object.

Declaration
public IReadOnlyList<float> Angles
Field Value
Type Description
IReadOnlyList<Single>

CastRadius

Radius of the sphere to use for spherecasting. If 0 or less, rays are used instead - this may be faster, especially for complex environments.

Declaration
public float CastRadius
Field Value
Type Description
Single

CastType

Whether to perform the casts in 2D or 3D.

Declaration
public RayPerceptionCastType CastType
Field Value
Type Description
RayPerceptionCastType

DetectableTags

List of tags which correspond to object types agent can see.

Declaration
public IReadOnlyList<string> DetectableTags
Field Value
Type Description
IReadOnlyList<String>

EndOffset

Ending height offset of ray from center of agent.

Declaration
public float EndOffset
Field Value
Type Description
Single

LayerMask

Filtering options for the casts.

Declaration
public int LayerMask
Field Value
Type Description
Int32

RayLength

Length of the rays to cast. This will be scaled up or down based on the scale of the transform.

Declaration
public float RayLength
Field Value
Type Description
Single

StartOffset

Starting height offset of ray from center of agent

Declaration
public float StartOffset
Field Value
Type Description
Single

Transform

Transform of the GameObject.

Declaration
public Transform Transform
Field Value
Type Description
Transform

Methods

OutputSize()

Returns the expected number of floats in the output.

Declaration
public int OutputSize()
Returns
Type Description
Int32

RayExtents(Int32)

Get the cast start and end points for the given ray index/

Declaration
public (Vector3 StartPositionWorld, Vector3 EndPositionWorld) RayExtents(int rayIndex)
Parameters
Type Name Description
Int32 rayIndex
Returns
Type Description
ValueTuple<Vector3, Vector3>

A tuple of the start and end positions in world space.