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Added conditional compilation for 2021.3 for removing batched raycasts.

This commit is contained in:
Miguel Alonso Jr 2023-10-15 11:07:57 -04:00
Родитель 8b86648e53
Коммит b7c908afe9
3 изменённых файлов: 41 добавлений и 21 удалений
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2
com.unity.ml-agents/Editor/RayPerceptionSensorComponentBaseEditor.cs
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@ -64,10 +64,12 @@ namespace Unity.MLAgents.Editor
}
EditorGUILayout.PropertyField(so.FindProperty("m_AlternatingRayOrder"), true);
#if UNITY_2022_3_OR_NEWER
if (is3d)
{
EditorGUILayout.PropertyField(so.FindProperty("m_UseBatchedRaycasts"), true);
}
#endif
EditorGUILayout.PropertyField(so.FindProperty("rayHitColor"), true);
EditorGUILayout.PropertyField(so.FindProperty("rayMissColor"), true);

38
com.unity.ml-agents/Runtime/Sensors/RayPerceptionSensor.cs
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@ -74,10 +74,12 @@ namespace Unity.MLAgents.Sensors
/// </summary>
public int LayerMask;
#if UNITY_2022_3_OR_NEWER
/// <summary>
/// Whether to use batched raycasts.
/// </summary>
public bool UseBatchedRaycasts;
#endif
/// <summary>
/// Returns the expected number of floats in the output.
@ -252,7 +254,9 @@ namespace Unity.MLAgents.Sensors
RayPerceptionInput m_RayPerceptionInput;
RayPerceptionOutput m_RayPerceptionOutput;
#if UNITY_2022_3_OR_NEWER
bool m_UseBatchedRaycasts;
#endif
/// <summary>
/// Time.frameCount at the last time Update() was called. This is only used for display in gizmos.
@ -273,8 +277,9 @@ namespace Unity.MLAgents.Sensors
{
m_Name = name;
m_RayPerceptionInput = rayInput;
#if UNITY_2022_3_OR_NEWER
m_UseBatchedRaycasts = rayInput.UseBatchedRaycasts;
#endif
SetNumObservations(rayInput.OutputSize());
m_DebugLastFrameCount = Time.frameCount;
@ -348,19 +353,22 @@ namespace Unity.MLAgents.Sensors
{
m_RayPerceptionOutput.RayOutputs = new RayPerceptionOutput.RayOutput[numRays];
}
#if UNITY_2022_3_OR_NEWER
if (m_UseBatchedRaycasts && m_RayPerceptionInput.CastType == RayPerceptionCastType.Cast3D)
{
PerceiveBatchedRays(ref m_RayPerceptionOutput.RayOutputs, m_RayPerceptionInput);
}
else
{
// For each ray, do the casting and save the results.
for (var rayIndex = 0; rayIndex < numRays; rayIndex++)
{
m_RayPerceptionOutput.RayOutputs[rayIndex] = PerceiveSingleRay(m_RayPerceptionInput, rayIndex);
}
#endif
// For each ray, do the casting and save the results.
for (var rayIndex = 0; rayIndex < numRays; rayIndex++)
{
m_RayPerceptionOutput.RayOutputs[rayIndex] = PerceiveSingleRay(m_RayPerceptionInput, rayIndex);
}
#if UNITY_2022_3_OR_NEWER
}
#endif
}
/// <inheritdoc/>
@ -406,22 +414,25 @@ namespace Unity.MLAgents.Sensors
{
RayPerceptionOutput output = new RayPerceptionOutput();
output.RayOutputs = new RayPerceptionOutput.RayOutput[input.Angles.Count];
#if UNITY_2022_3_OR_NEWER
if (batched)
{
PerceiveBatchedRays(ref output.RayOutputs, input);
}
else
{
for (var rayIndex = 0; rayIndex < input.Angles.Count; rayIndex++)
{
output.RayOutputs[rayIndex] = PerceiveSingleRay(input, rayIndex);
}
#endif
for (var rayIndex = 0; rayIndex < input.Angles.Count; rayIndex++)
{
output.RayOutputs[rayIndex] = PerceiveSingleRay(input, rayIndex);
}
#if UNITY_2022_3_OR_NEWER
}
#endif
return output;
}
#if UNITY_2022_3_OR_NEWER
/// <summary>
/// Evaluate the raycast results of all the rays from the RayPerceptionInput as a batch.
/// </summary>
@ -548,6 +559,7 @@ namespace Unity.MLAgents.Sensors
raycastCommands.Dispose();
spherecastCommands.Dispose();
}
#endif
/// <summary>
/// Evaluate the raycast results of a single ray from the RayPerceptionInput.

22
com.unity.ml-agents/Runtime/Sensors/RayPerceptionSensorComponentBase.cs
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@ -145,8 +145,9 @@ namespace Unity.MLAgents.Sensors
set { m_AlternatingRayOrder = value; }
}
#if UNITY_2022_3_OR_NEWER
[HideInInspector, SerializeField]
[Tooltip("Enable to use batched raycasts and the jobs system.")]
[Tooltip("Enable to use batched raycasts and the jobs system. Only available in Unity 2022.3 LTS or newer.")]
public bool m_UseBatchedRaycasts = false;
/// <summary>
@ -157,7 +158,7 @@ namespace Unity.MLAgents.Sensors
get { return m_UseBatchedRaycasts; }
set { m_UseBatchedRaycasts = value; }
}
#endif
/// <summary>
/// Color to code a ray that hits another object.
@ -303,8 +304,9 @@ namespace Unity.MLAgents.Sensors
rayPerceptionInput.Transform = transform;
rayPerceptionInput.CastType = GetCastType();
rayPerceptionInput.LayerMask = RayLayerMask;
#if UNITY_2022_3_OR_NEWER
rayPerceptionInput.UseBatchedRaycasts = UseBatchedRaycasts;
#endif
return rayPerceptionInput;
}
@ -349,6 +351,7 @@ namespace Unity.MLAgents.Sensors
// and there's no way to turn off the "Tag ... is not defined" error logs.
// So just don't use any tags here.
rayInput.DetectableTags = null;
#if UNITY_2022_3_OR_NEWER
if (m_UseBatchedRaycasts && rayInput.CastType == RayPerceptionCastType.Cast3D)
{
// TODO add call to PerceiveBatchedRays()
@ -361,12 +364,15 @@ namespace Unity.MLAgents.Sensors
}
else
{
for (var rayIndex = 0; rayIndex < rayInput.Angles.Count; rayIndex++)
{
var rayOutput = RayPerceptionSensor.PerceiveSingleRay(rayInput, rayIndex);
DrawRaycastGizmos(rayOutput);
}
#endif
for (var rayIndex = 0; rayIndex < rayInput.Angles.Count; rayIndex++)
{
var rayOutput = RayPerceptionSensor.PerceiveSingleRay(rayInput, rayIndex);
DrawRaycastGizmos(rayOutput);
}
#if UNITY_2022_3_OR_NEWER
}
#endif
}
}