Struct RayPerceptionOutput.RayOutput
Contains the data generated from a single ray of a ray perception sensor.
Namespace: Unity.MLAgents.Sensors
Syntax
public struct RayOutputFields
EndPositionWorld
End position of the ray in world space.
Declaration
public Vector3 EndPositionWorldField Value
| Type | Description |
|---|---|
| Vector3 |
HasHit
Whether or not the ray hit anything.
Declaration
public bool HasHitField Value
| Type | Description |
|---|---|
| Boolean |
HitFraction
Normalized distance to the hit object.
Declaration
public float HitFractionField Value
| Type | Description |
|---|---|
| Single |
HitGameObject
The hit GameObject (or null if there was no hit).
Declaration
public GameObject HitGameObjectField Value
| Type | Description |
|---|---|
| GameObject |
HitTaggedObject
Whether or not the ray hit an object whose tag is in the input's DetectableTags list.
Declaration
public bool HitTaggedObjectField Value
| Type | Description |
|---|---|
| Boolean |
HitTagIndex
The index of the hit object's tag in the DetectableTags list, or -1 if there was no hit, or the hit object has a different tag.
Declaration
public int HitTagIndexField Value
| Type | Description |
|---|---|
| Int32 |
ScaledCastRadius
The scaled size of the cast.
Declaration
public float ScaledCastRadiusField Value
| Type | Description |
|---|---|
| Single |
Remarks
If there is non-(1,1,1) scale, the cast radius will be also be scaled.
StartPositionWorld
Start position of the ray in world space.
Declaration
public Vector3 StartPositionWorldField Value
| Type | Description |
|---|---|
| Vector3 |
Properties
ScaledRayLength
The scaled length of the ray.
Declaration
public float ScaledRayLength { get; }Property Value
| Type | Description |
|---|---|
| Single |
Remarks
If there is non-(1,1,1) scale, |EndPositionWorld - StartPositionWorld| will be different from the input rayLength.
Methods
ToFloatArray(Int32, Int32, Single[])
Writes the ray output information to a subset of the float array. Each element in the rayAngles array determines a sublist of data to the observation. The sublist contains the observation data for a single cast. The list is composed of the following:
- A one-hot encoding for detectable tags. For example, if DetectableTags.Length = n, the first n elements of the sublist will be a one-hot encoding of the detectableTag that was hit, or all zeroes otherwise.
- The 'numDetectableTags' element of the sublist will be 1 if the ray missed everything, or 0 if it hit something (detectable or not).
- The 'numDetectableTags+1' element of the sublist will contain the normalized distance to the object hit, or 1.0 if nothing was hit.
Declaration
public void ToFloatArray(int numDetectableTags, int rayIndex, float[] buffer)Parameters
| Type | Name | Description |
|---|---|---|
| Int32 | numDetectableTags | |
| Int32 | rayIndex | |
| Single[] | buffer | Output buffer. The size must be equal to (numDetectableTags+2) * RayOutputs.Length |