Struct RayPerceptionOutput.RayOutput

Contains the data generated from a single ray of a ray perception sensor.

Inherited Members

ValueType.Equals(Object)

ValueType.GetHashCode()

ValueType.ToString()

Object.Equals(Object, Object)

Object.ReferenceEquals(Object, Object)

Object.GetType()

Namespace: Unity.MLAgents.Sensors

Syntax

public struct RayOutput

Fields

EndPositionWorld

End position of the ray in world space.

Declaration

public Vector3 EndPositionWorld

Field Value

Type	Description
Vector3

HasHit

Whether or not the ray hit anything.

Declaration

public bool HasHit

Field Value

Type	Description
Boolean

HitFraction

Normalized distance to the hit object.

Declaration

public float HitFraction

Field Value

Type	Description
Single

HitGameObject

The hit GameObject (or null if there was no hit).

Declaration

public GameObject HitGameObject

Field 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 HitTaggedObject

Field 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 HitTagIndex

Field Value

Type	Description
Int32

ScaledCastRadius

The scaled size of the cast.

Declaration

public float ScaledCastRadius

Field 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 StartPositionWorld

Field Value

Type	Description
Vector3

Properties

ScaledRayLength

The scaled length of the ray.

Declaration

public readonly 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:

1. 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.
2. The 'numDetectableTags' element of the sublist will be 1 if the ray missed everything, or 0 if it hit something (detectable or not).
3. 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