RaycastPerceptionComponent custom editor

com.unity.ml-agents/CHANGELOG.md

@@ -27,6 +27,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.
  - `DemonstrationRecorder` now has an optional path for the demonstrations. This will default to `Application.dataPath` if not set.
  - `DemonstrationStore` was changed to accept a `Stream` for its constructor, and was renamed to `DemonstrationWriter`
  - The method `GetStepCount()` on the Agent class has been replaced with the property getter `StepCount`
+ - `RayPerceptionSensorComponent` and related classes now display the debug gizmos whenever the Agent is selected (not just Play mode).
+ - Most fields on `RayPerceptionSensorComponent` can now be changed while the editor is in Play mode. The exceptions to this are fields that affect the number of observations.
 
 ### Bugfixes
 - Fixed an issue which caused self-play training sessions to consume a lot of memory. (#3451)

com.unity.ml-agents/Editor/RayPerceptionSensorComponentBaseEditor.cs

@@ -0,0 +1,94 @@
+using UnityEngine;
+using UnityEditor;
+using Barracuda;
+
+namespace MLAgents
+{
+    internal class RayPerceptionSensorComponentBaseEditor : Editor
+    {
+        bool m_RequireSensorUpdate;
+
+        protected void OnRayPerceptionInspectorGUI(bool is3d)
+        {
+            var so = serializedObject;
+            so.Update();
+
+            // Drawing the RayPerceptionSensorComponent
+            EditorGUI.BeginChangeCheck();
+            EditorGUI.indentLevel++;
+
+            EditorGUILayout.PropertyField(so.FindProperty("m_SensorName"), true);
+
+            // Because the number of rays and the tags affect the observation shape,
+            // they are not editable during play mode.
+            EditorGUI.BeginDisabledGroup(Application.isPlaying);
+            {
+                EditorGUILayout.PropertyField(so.FindProperty("m_DetectableTags"), true);
+                EditorGUILayout.PropertyField(so.FindProperty("m_RaysPerDirection"), true);
+            }
+            EditorGUI.EndDisabledGroup();
+
+            EditorGUILayout.PropertyField(so.FindProperty("m_MaxRayDegrees"), true);
+            EditorGUILayout.PropertyField(so.FindProperty("m_SphereCastRadius"), true);
+            EditorGUILayout.PropertyField(so.FindProperty("m_RayLength"), true);
+            EditorGUILayout.PropertyField(so.FindProperty("m_RayLayerMask"), true);
+
+            // Because the number of observation stacks affects the observation shape,
+            // it is not editable during play mode.
+            EditorGUI.BeginDisabledGroup(Application.isPlaying);
+            {
+                EditorGUILayout.PropertyField(so.FindProperty("m_ObservationStacks"), true);
+            }
+            EditorGUI.EndDisabledGroup();
+
+            if (is3d)
+            {
+                EditorGUILayout.PropertyField(so.FindProperty("m_StartVerticalOffset"), true);
+                EditorGUILayout.PropertyField(so.FindProperty("m_EndVerticalOffset"), true);
+            }
+
+            EditorGUILayout.PropertyField(so.FindProperty("rayHitColor"), true);
+            EditorGUILayout.PropertyField(so.FindProperty("rayMissColor"), true);
+
+            EditorGUI.indentLevel--;
+            if (EditorGUI.EndChangeCheck())
+            {
+                m_RequireSensorUpdate = true;
+            }
+
+            UpdateSensorIfDirty();
+            so.ApplyModifiedProperties();
+        }
+
+
+        void UpdateSensorIfDirty()
+        {
+                if (m_RequireSensorUpdate)
+                {
+                    var sensorComponent = serializedObject.targetObject as RayPerceptionSensorComponentBase;
+                    sensorComponent?.UpdateSensor();
+                    m_RequireSensorUpdate = false;
+                }
+        }
+    }
+
+    [CustomEditor(typeof(RayPerceptionSensorComponent2D))]
+    [CanEditMultipleObjects]
+    internal class RayPerceptionSensorComponent2DEditor : RayPerceptionSensorComponentBaseEditor
+    {
+        public override void OnInspectorGUI()
+        {
+            OnRayPerceptionInspectorGUI(false);
+        }
+    }
+
+    [CustomEditor(typeof(RayPerceptionSensorComponent3D))]
+    [CanEditMultipleObjects]
+    internal class RayPerceptionSensorComponent3DEditor : RayPerceptionSensorComponentBaseEditor
+    {
+        public override void OnInspectorGUI()
+        {
+            OnRayPerceptionInspectorGUI(true);
+        }
+    }
+}

com.unity.ml-agents/Runtime/Sensor/RayPerceptionSensor.cs

@@ -242,6 +242,12 @@ public RayPerceptionSensor(string name, RayPerceptionInput rayInput)
             }
         }
 
+        internal void SetRayPerceptionInput(RayPerceptionInput input)
+        {
+            // TODO make sure that number of rays and tags don't change
+            m_RayPerceptionInput = input;
+        }
+
         public int Write(WriteAdapter adapter)
         {
             using (TimerStack.Instance.Scoped("RayPerceptionSensor.Perceive"))
@@ -331,7 +337,7 @@ public static RayPerceptionOutput PerceiveStatic(RayPerceptionInput input)
         /// <param name="rayIndex"></param>
         /// <param name="debugRayOut"></param>
         /// <returns></returns>
-        static RayPerceptionOutput.RayOutput PerceiveSingleRay(
+        internal static RayPerceptionOutput.RayOutput PerceiveSingleRay(
             RayPerceptionInput input,
             int rayIndex,
             out DebugDisplayInfo.RayInfo debugRayOut

com.unity.ml-agents/Runtime/Sensor/RayPerceptionSensorComponent3D.cs

@@ -1,19 +1,35 @@
 using System;
 using UnityEngine;
+using UnityEngine.Serialization;
 
 namespace MLAgents
 {
     [AddComponentMenu("ML Agents/Ray Perception Sensor 3D", (int)MenuGroup.Sensors)]
     public class RayPerceptionSensorComponent3D : RayPerceptionSensorComponentBase
     {
-        [Header("3D Properties", order = 100)]
+        [HideInInspector]
+        [SerializeField]
+        [FormerlySerializedAs("startVerticalOffset")]
         [Range(-10f, 10f)]
         [Tooltip("Ray start is offset up or down by this amount.")]
-        public float startVerticalOffset;
+        float m_StartVerticalOffset;
+        public float startVerticalOffset
+        {
+            get => m_StartVerticalOffset;
+            set { m_StartVerticalOffset = value; UpdateSensor(); }
+        }
 
+        [HideInInspector]
+        [SerializeField]
+        [FormerlySerializedAs("endVerticalOffset")]
         [Range(-10f, 10f)]
         [Tooltip("Ray end is offset up or down by this amount.")]
-        public float endVerticalOffset;
+        float m_EndVerticalOffset;
+        public float endVerticalOffset
+        {
+            get => m_EndVerticalOffset;
+            set { m_EndVerticalOffset = value; UpdateSensor(); }
+        }
 
         public override RayPerceptionCastType GetCastType()
         {