How to check Ray perception Sensor 3D?

Unity Engine
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1

I want to know what value is sent by each Ray Perception. What should I do?

2

bumping this, I am also struggling alot trying to access each of the values by the ray perceptions. I’ll be posting here if i find out myself, but would greatly like some help accessing these values myself.

To my understanding you need to do something like this:

public RayPerceptionSensor agentRaycastSensor;
OR
public RayPerceptionSensorComponent3D agentRaycastSensor;

You then need to access the gameObject with something like this>
agentRaycastSensor = transform.Find(“AgentRaycastSensor”).GetComponent();

I asked chatGPT to write me a function that could help, but it doesn’t work since the toolkit has been updated i think. The code goes

private Transform GetFirstDetectedObjectWithTag(RayPerceptionSensorComponent3D sensorComponent, string tag)
{
RayPerceptionInput rayPerceptionInput = new RayPerceptionInput();
sensorComponent.GetRayPerceptionInput(ref rayPerceptionInput);
RayPerceptionOutput rayPerceptionOutput = new RayPerceptionOutput();
sensorComponent.RaySensor.Perceive(rayPerceptionInput, ref rayPerceptionOutput);
for (int i = 0; i < rayPerceptionOutput.RayOutputs.Count; i++)
{
var rayOutput = rayPerceptionOutput.RayOutputs*;*
if (rayOutput.HitTaggedObject && rayOutput.HitTag == tag)
{
return rayOutput.HitObject.transform;
}
}
return null;
}
IDE goes mad because stuff like rayOutput.HitTag doesn’t exist anymore.
I’ll hit you up if i find out more, hopefully someone who knows more about this than me can help, i’m just tired of seeing this forum go without replies

3

You can check the values from Ray Perception Sensor like below:

using Unity.MLAgents.Sensors;

private void checkRayCast()
{
        RayPerceptionSensorComponent3D m_rayPerceptionSensorComponent3D = GetComponent<RayPerceptionSensorComponent3D>();

        var rayOutputs = RayPerceptionSensor.Perceive(m_rayPerceptionSensorComponent3D.GetRayPerceptionInput()).RayOutputs;
        int lengthOfRayOutputs = rayOutputs.Length;

        // Alternating Ray Order: it gives an order of
        // (0, -delta, delta, -2delta, 2delta, ..., -ndelta, ndelta)
        // index 0 indicates the center of raycasts
        for (int i = 0; i < lengthOfRayOutputs; i++)
        {
            GameObject goHit = rayOutputs[i].HitGameObject;
            if (goHit != null)
            {
                var rayDirection = rayOutputs[i].EndPositionWorld - rayOutputs[i].StartPositionWorld;
                var scaledRayLength = rayDirection.magnitude;
                float rayHitDistance = rayOutputs[i].HitFraction * scaledRayLength;

                // Print info:
                string dispStr = "";
                dispStr = dispStr + "__RayPerceptionSensor - HitInfo__:\r\n";
                dispStr = dispStr + "GameObject name: " + goHit.name + "\r\n";
                dispStr = dispStr + "Hit distance of Ray: " + rayHitDistance + "\r\n";
                dispStr = dispStr + "GameObject tag: " + goHit.tag + "\r\n";
                Debug.Log(dispStr);
            }
        }
}

Hope this helps.

3 Likes
4

thank you so much it worked