File size: 21,414 Bytes
05c9ac2 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 |
using System.Collections.Generic;
using NUnit.Framework;
using UnityEngine;
using Unity.MLAgents.Sensors;
using UnityEngine.TestTools;
namespace Unity.MLAgents.Tests
{
public class RayPerceptionSensorTests
{
[Test]
public void TestGetRayAngles()
{
var anglesAlternating = RayPerceptionSensorComponentBase.GetRayAnglesAlternating(3, 90f);
var expectedAnglesAlternating = new[] { 90f, 60f, 120f, 30f, 150f, 0f, 180f };
Assert.AreEqual(expectedAnglesAlternating.Length, anglesAlternating.Length);
for (var i = 0; i < anglesAlternating.Length; i++)
{
Assert.AreEqual(expectedAnglesAlternating[i], anglesAlternating[i], .01);
}
var angles = RayPerceptionSensorComponentBase.GetRayAngles(3, 90f);
var expectedAngles = new[] { 0f, 30f, 60f, 90f, 120f, 150f, 180f };
Assert.AreEqual(expectedAngles.Length, angles.Length);
for (var i = 0; i < angles.Length; i++)
{
Assert.AreEqual(expectedAngles[i], angles[i], .01);
}
}
}
public class RayPerception3DTests
{
[Test]
public void TestDefaultLayersAreNegativeFive()
{
#if MLA_UNITY_PHYSICS_MODULE
Assert.IsTrue(Physics.DefaultRaycastLayers == -5);
#endif
#if MLA_UNITY_PHYSICS2D_MODULE
Assert.IsTrue(Physics2D.DefaultRaycastLayers == -5);
#endif
}
#if MLA_UNITY_PHYSICS_MODULE
// Use built-in tags
const string k_CubeTag = "Player";
const string k_SphereTag = "Respawn";
[TearDown]
public void RemoveGameObjects()
{
var objects = GameObject.FindObjectsOfType<GameObject>();
foreach (var o in objects)
{
UnityEngine.Object.DestroyImmediate(o);
}
}
void SetupScene()
{
/* Creates game objects in the world for testing.
* C is a cube
* S are spheres
* @ is the agent (at the origin)
* Each space or line is 5 world units, +x is right, +z is up
*
* C
* S S
* @
*
* S
*/
var cube = GameObject.CreatePrimitive(PrimitiveType.Cube);
cube.transform.position = new Vector3(0, 0, 10);
cube.tag = k_CubeTag;
cube.name = "cube";
var sphere1 = GameObject.CreatePrimitive(PrimitiveType.Sphere);
sphere1.transform.position = new Vector3(-5, 0, 5);
sphere1.tag = k_SphereTag;
sphere1.name = "sphere1";
var sphere2 = GameObject.CreatePrimitive(PrimitiveType.Sphere);
sphere2.transform.position = new Vector3(5, 0, 5);
// No tag for sphere2
sphere2.name = "sphere2";
var sphere3 = GameObject.CreatePrimitive(PrimitiveType.Sphere);
sphere3.transform.position = new Vector3(0, 0, -10);
sphere3.tag = k_SphereTag;
sphere3.name = "sphere3";
Physics.SyncTransforms();
}
[Test]
public void TestRaycasts()
{
SetupScene();
var obj = new GameObject("agent");
var perception = obj.AddComponent<RayPerceptionSensorComponent3D>();
perception.RaysPerDirection = 1;
perception.MaxRayDegrees = 45;
perception.RayLength = 20;
perception.DetectableTags = new List<string>();
perception.DetectableTags.Add(k_CubeTag);
perception.DetectableTags.Add(k_SphereTag);
var radii = new[] { 0f, .5f };
foreach (var castRadius in radii)
{
perception.SphereCastRadius = castRadius;
var sensor = perception.CreateSensors()[0];
sensor.Update();
var expectedObs = (2 * perception.RaysPerDirection + 1) * (perception.DetectableTags.Count + 2);
Assert.AreEqual(sensor.GetObservationSpec().Shape[0], expectedObs);
var outputBuffer = new float[expectedObs];
ObservationWriter writer = new ObservationWriter();
writer.SetTarget(outputBuffer, sensor.GetObservationSpec(), 0);
var numWritten = sensor.Write(writer);
Assert.AreEqual(numWritten, expectedObs);
// Expected hits:
// ray 0 should hit the cube at roughly halfway
// ray 1 should hit a sphere but no tag
// ray 2 should hit a sphere with the k_SphereTag tag
// The hit fraction should be the same for rays 1 and
//
Assert.AreEqual(1.0f, outputBuffer[0]); // hit cube
Assert.AreEqual(0.0f, outputBuffer[1]); // missed sphere
Assert.AreEqual(0.0f, outputBuffer[2]); // missed unknown tag
// Hit is at z=9.0 in world space, ray length is 20
Assert.That(
outputBuffer[3], Is.EqualTo((9.5f - castRadius) / perception.RayLength).Within(.0005f)
);
// Spheres are at 5,0,5 and 5,0,-5, so 5*sqrt(2) units from origin
// Minus 1.0 for the sphere radius to get the length of the hit.
var expectedHitLengthWorldSpace = 5.0f * Mathf.Sqrt(2.0f) - 0.5f - castRadius;
Assert.AreEqual(0.0f, outputBuffer[4]); // missed cube
Assert.AreEqual(0.0f, outputBuffer[5]); // missed sphere
Assert.AreEqual(0.0f, outputBuffer[6]); // hit unknown tag -> all 0
Assert.That(
outputBuffer[7], Is.EqualTo(expectedHitLengthWorldSpace / perception.RayLength).Within(.0005f)
);
Assert.AreEqual(0.0f, outputBuffer[8]); // missed cube
Assert.AreEqual(1.0f, outputBuffer[9]); // hit sphere
Assert.AreEqual(0.0f, outputBuffer[10]); // missed unknown tag
Assert.That(
outputBuffer[11], Is.EqualTo(expectedHitLengthWorldSpace / perception.RayLength).Within(.0005f)
);
}
}
[Test]
public void TestRaycastMiss()
{
var obj = new GameObject("agent");
var perception = obj.AddComponent<RayPerceptionSensorComponent3D>();
perception.RaysPerDirection = 0;
perception.MaxRayDegrees = 45;
perception.RayLength = 20;
perception.DetectableTags = new List<string>();
perception.DetectableTags.Add(k_CubeTag);
perception.DetectableTags.Add(k_SphereTag);
var sensor = perception.CreateSensors()[0];
sensor.Update();
var expectedObs = (2 * perception.RaysPerDirection + 1) * (perception.DetectableTags.Count + 2);
Assert.AreEqual(sensor.GetObservationSpec().Shape[0], expectedObs);
var outputBuffer = new float[expectedObs];
ObservationWriter writer = new ObservationWriter();
writer.SetTarget(outputBuffer, sensor.GetObservationSpec(), 0);
var numWritten = sensor.Write(writer);
Assert.AreEqual(numWritten, expectedObs);
// Everything missed
Assert.AreEqual(new float[] { 0, 0, 1, 1 }, outputBuffer);
}
[Test]
public void TestRayFilter()
{
var cube = GameObject.CreatePrimitive(PrimitiveType.Cube);
cube.transform.position = new Vector3(0, 0, 10);
cube.tag = k_CubeTag;
cube.name = "cubeFar";
var cubeFiltered = GameObject.CreatePrimitive(PrimitiveType.Cube);
cubeFiltered.transform.position = new Vector3(0, 0, 5);
cubeFiltered.tag = k_CubeTag;
cubeFiltered.name = "cubeNear";
cubeFiltered.layer = 7;
Physics.SyncTransforms();
var obj = new GameObject("agent");
var perception = obj.AddComponent<RayPerceptionSensorComponent3D>();
perception.RaysPerDirection = 0;
perception.RayLength = 20;
perception.DetectableTags = new List<string>();
var filterCubeLayers = new[] { false, true };
foreach (var filterCubeLayer in filterCubeLayers)
{
// Set the layer mask to either the default, or one that ignores the close cube's layer
var layerMask = Physics.DefaultRaycastLayers;
if (filterCubeLayer)
{
layerMask &= ~(1 << cubeFiltered.layer);
}
perception.RayLayerMask = layerMask;
var sensor = perception.CreateSensors()[0];
sensor.Update();
var expectedObs = (2 * perception.RaysPerDirection + 1) * (perception.DetectableTags.Count + 2);
Assert.AreEqual(sensor.GetObservationSpec().Shape[0], expectedObs);
var outputBuffer = new float[expectedObs];
ObservationWriter writer = new ObservationWriter();
writer.SetTarget(outputBuffer, sensor.GetObservationSpec(), 0);
var numWritten = sensor.Write(writer);
Assert.AreEqual(numWritten, expectedObs);
if (filterCubeLayer)
{
// Hit the far cube because close was filtered.
Assert.That(outputBuffer[outputBuffer.Length - 1],
Is.EqualTo((9.5f - perception.SphereCastRadius) / perception.RayLength).Within(.0005f)
);
}
else
{
// Hit the close cube because not filtered.
Assert.That(outputBuffer[outputBuffer.Length - 1],
Is.EqualTo((4.5f - perception.SphereCastRadius) / perception.RayLength).Within(.0005f)
);
}
}
}
[Test]
public void TestRaycastsScaled()
{
SetupScene();
var obj = new GameObject("agent");
var perception = obj.AddComponent<RayPerceptionSensorComponent3D>();
obj.transform.localScale = new Vector3(2, 2, 2);
perception.RaysPerDirection = 0;
perception.MaxRayDegrees = 45;
perception.RayLength = 20;
perception.DetectableTags = new List<string>();
perception.DetectableTags.Add(k_CubeTag);
var radii = new[] { 0f, .5f };
foreach (var castRadius in radii)
{
perception.SphereCastRadius = castRadius;
var sensor = perception.CreateSensors()[0];
sensor.Update();
var expectedObs = (2 * perception.RaysPerDirection + 1) * (perception.DetectableTags.Count + 2);
Assert.AreEqual(sensor.GetObservationSpec().Shape[0], expectedObs);
var outputBuffer = new float[expectedObs];
ObservationWriter writer = new ObservationWriter();
writer.SetTarget(outputBuffer, sensor.GetObservationSpec(), 0);
var numWritten = sensor.Write(writer);
Assert.AreEqual(numWritten, expectedObs);
// Expected hits:
// ray 0 should hit the cube at roughly 1/4 way
//
Assert.AreEqual(1.0f, outputBuffer[0]); // hit cube
Assert.AreEqual(0.0f, outputBuffer[1]); // missed unknown tag
// Hit is at z=9.0 in world space, ray length was 20
// But scale increases the cast size and the ray length
var scaledRayLength = 2 * perception.RayLength;
var scaledCastRadius = 2 * castRadius;
Assert.That(
outputBuffer[2], Is.EqualTo((9.5f - scaledCastRadius) / scaledRayLength).Within(.0005f)
);
}
}
[Test]
public void TestRayZeroLength()
{
// Place the cube touching the origin
var cube = GameObject.CreatePrimitive(PrimitiveType.Cube);
cube.transform.position = new Vector3(0, 0, .5f);
cube.tag = k_CubeTag;
Physics.SyncTransforms();
var obj = new GameObject("agent");
var perception = obj.AddComponent<RayPerceptionSensorComponent3D>();
perception.RaysPerDirection = 0;
perception.RayLength = 0.0f;
perception.SphereCastRadius = .5f;
perception.DetectableTags = new List<string>();
perception.DetectableTags.Add(k_CubeTag);
{
// Set the layer mask to either the default, or one that ignores the close cube's layer
var sensor = perception.CreateSensors()[0];
sensor.Update();
var expectedObs = (2 * perception.RaysPerDirection + 1) * (perception.DetectableTags.Count + 2);
Assert.AreEqual(sensor.GetObservationSpec().Shape[0], expectedObs);
var outputBuffer = new float[expectedObs];
ObservationWriter writer = new ObservationWriter();
writer.SetTarget(outputBuffer, sensor.GetObservationSpec(), 0);
var numWritten = sensor.Write(writer);
Assert.AreEqual(numWritten, expectedObs);
// hit fraction is arbitrary but should be finite in [0,1]
Assert.GreaterOrEqual(outputBuffer[2], 0.0f);
Assert.LessOrEqual(outputBuffer[2], 1.0f);
}
}
[Test]
public void TestStaticPerceive()
{
SetupScene();
var obj = new GameObject("agent");
var perception = obj.AddComponent<RayPerceptionSensorComponent3D>();
perception.RaysPerDirection = 0; // single ray
perception.MaxRayDegrees = 45;
perception.RayLength = 20;
perception.DetectableTags = new List<string>();
perception.DetectableTags.Add(k_CubeTag);
perception.DetectableTags.Add(k_SphereTag);
var radii = new[] { 0f, .5f };
foreach (var castRadius in radii)
{
perception.SphereCastRadius = castRadius;
var castInput = perception.GetRayPerceptionInput();
var castOutput = RayPerceptionSensor.Perceive(castInput, false);
Assert.AreEqual(1, castOutput.RayOutputs.Length);
// Expected to hit the cube
Assert.AreEqual("cube", castOutput.RayOutputs[0].HitGameObject.name);
Assert.AreEqual(0, castOutput.RayOutputs[0].HitTagIndex);
}
}
[Test]
public void TestStaticPerceiveInvalidTags()
{
SetupScene();
var obj = new GameObject("agent");
var perception = obj.AddComponent<RayPerceptionSensorComponent3D>();
perception.RaysPerDirection = 0; // single ray
perception.MaxRayDegrees = 45;
perception.RayLength = 20;
perception.DetectableTags = new List<string>();
perception.DetectableTags.Add("Bad tag");
perception.DetectableTags.Add(null);
perception.DetectableTags.Add("");
perception.DetectableTags.Add(k_CubeTag);
var radii = new[] { 0f, .5f };
foreach (var castRadius in radii)
{
perception.SphereCastRadius = castRadius;
var castInput = perception.GetRayPerceptionInput();
// There's no clean way that I can find to check for a defined tag without
// logging an error.
LogAssert.Expect(LogType.Error, "Tag: Bad tag is not defined.");
var castOutput = RayPerceptionSensor.Perceive(castInput, false);
Assert.AreEqual(1, castOutput.RayOutputs.Length);
// Expected to hit the cube
Assert.AreEqual("cube", castOutput.RayOutputs[0].HitGameObject.name);
Assert.AreEqual(3, castOutput.RayOutputs[0].HitTagIndex);
}
}
[Test]
public void TestStaticPerceiveNoTags()
{
SetupScene();
var obj = new GameObject("agent");
var perception = obj.AddComponent<RayPerceptionSensorComponent3D>();
perception.RaysPerDirection = 0; // single ray
perception.MaxRayDegrees = 45;
perception.RayLength = 20;
perception.DetectableTags = null;
var radii = new[] { 0f, .5f };
foreach (var castRadius in radii)
{
perception.SphereCastRadius = castRadius;
var castInput = perception.GetRayPerceptionInput();
var castOutput = RayPerceptionSensor.Perceive(castInput, false);
Assert.AreEqual(1, castOutput.RayOutputs.Length);
// Expected to hit the cube
Assert.AreEqual("cube", castOutput.RayOutputs[0].HitGameObject.name);
Assert.AreEqual(-1, castOutput.RayOutputs[0].HitTagIndex);
}
}
[Test]
public void TestStaticBatchedPerceive()
{
SetupScene();
var obj = new GameObject("agent");
var perception = obj.AddComponent<RayPerceptionSensorComponent3D>();
perception.RaysPerDirection = 1; // three rays
perception.MaxRayDegrees = 45;
perception.RayLength = 20;
perception.DetectableTags = new List<string>();
perception.DetectableTags.Add(k_CubeTag);
perception.DetectableTags.Add(k_SphereTag);
var radii = new[] { 0f, .5f };
foreach (var castRadius in radii)
{
perception.SphereCastRadius = castRadius;
var castInput = perception.GetRayPerceptionInput();
var castOutput = RayPerceptionSensor.Perceive(castInput, true);
Assert.AreEqual(3, castOutput.RayOutputs.Length);
// Expected to hit the cube
Assert.AreEqual("cube", castOutput.RayOutputs[0].HitGameObject.name);
Assert.AreEqual(0, castOutput.RayOutputs[0].HitTagIndex);
}
}
[Test]
public void TestStaticPerceiveBatchedInvalidTags()
{
SetupScene();
var obj = new GameObject("agent");
var perception = obj.AddComponent<RayPerceptionSensorComponent3D>();
perception.RaysPerDirection = 0; // three rays
perception.MaxRayDegrees = 45;
perception.RayLength = 20;
perception.DetectableTags = new List<string>();
perception.DetectableTags.Add("Bad tag");
perception.DetectableTags.Add(null);
perception.DetectableTags.Add("");
perception.DetectableTags.Add(k_CubeTag);
var radii = new[] { 0f, .5f };
foreach (var castRadius in radii)
{
perception.SphereCastRadius = castRadius;
var castInput = perception.GetRayPerceptionInput();
// There's no clean way that I can find to check for a defined tag without
// logging an error.
LogAssert.Expect(LogType.Error, "Tag: Bad tag is not defined.");
var castOutput = RayPerceptionSensor.Perceive(castInput, true);
Assert.AreEqual(1, castOutput.RayOutputs.Length);
// Expected to hit the cube
Assert.AreEqual("cube", castOutput.RayOutputs[0].HitGameObject.name);
Assert.AreEqual(3, castOutput.RayOutputs[0].HitTagIndex);
}
}
[Test]
public void TestStaticPerceiveBatchedNoTags()
{
SetupScene();
var obj = new GameObject("agent");
var perception = obj.AddComponent<RayPerceptionSensorComponent3D>();
perception.RaysPerDirection = 1; // single ray
perception.MaxRayDegrees = 45;
perception.RayLength = 20;
perception.DetectableTags = null;
var radii = new[] { 0f, .5f };
foreach (var castRadius in radii)
{
perception.SphereCastRadius = castRadius;
var castInput = perception.GetRayPerceptionInput();
var castOutput = RayPerceptionSensor.Perceive(castInput, true);
Assert.AreEqual(3, castOutput.RayOutputs.Length);
// Expected to hit the cube
Assert.AreEqual("cube", castOutput.RayOutputs[0].HitGameObject.name);
Assert.AreEqual(-1, castOutput.RayOutputs[0].HitTagIndex);
}
}
[Test]
public void TestCreateDefault()
{
SetupScene();
var obj = new GameObject("agent");
var perception = obj.AddComponent<RayPerceptionSensorComponent3D>();
Assert.DoesNotThrow(() =>
{
perception.CreateSensors();
});
}
#endif
}
}
|