From e241994de3d9e0440805ce0a47201b5332f9cd56 Mon Sep 17 00:00:00 2001 From: Miguel Alonso Jr Date: Fri, 14 Jul 2023 18:09:12 -0400 Subject: [PATCH] Added support for batched raycasting in ray perception sensor. Only for 3D (batched raycasting is only supported in 3D). --- .../Soccer/Prefabs/SoccerFieldTwos.prefab | 545 ++++++++++++++++-- .../Examples/Soccer/Scenes/SoccerTwos.unity | 340 +++++++---- .../RayPerceptionSensorComponentBaseEditor.cs | 4 + .../Runtime/Sensors/RayPerceptionSensor.cs | 144 ++++- .../RayPerceptionSensorComponentBase.cs | 34 +- 5 files changed, 920 insertions(+), 147 deletions(-) diff --git a/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab b/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab index 613cf49812..33e7c3f39f 100644 --- a/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab +++ b/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab @@ -26,6 +26,7 @@ Transform: m_LocalRotation: {x: 0, y: 0, z: 0, w: 1} m_LocalPosition: {x: 0, y: 0, z: 0} m_LocalScale: {x: 1, y: 1, z: 1} + m_ConstrainProportionsScale: 0 m_Children: - {fileID: 1730970187} - {fileID: 1013497680} @@ -59,6 +60,7 @@ Transform: m_LocalRotation: {x: 0, y: -0.5, z: 0, w: 0.8660254} m_LocalPosition: {x: -1446, y: 176, z: 641} m_LocalScale: {x: 100, y: 100, z: 100} + m_ConstrainProportionsScale: 0 m_Children: [] m_Father: {fileID: 1013497680} m_RootOrder: 2 @@ -71,9 +73,17 @@ BoxCollider: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 25743880} m_Material: {fileID: 0} + m_IncludeLayers: + serializedVersion: 2 + m_Bits: 0 + m_ExcludeLayers: + serializedVersion: 2 + m_Bits: 0 + m_LayerOverridePriority: 0 m_IsTrigger: 0 + m_ProvidesContacts: 0 m_Enabled: 1 - serializedVersion: 2 + serializedVersion: 3 m_Size: {x: 4.8, y: 4.5311604, z: 0.4607078} m_Center: {x: 0, y: 0, z: 0} --- !u!1 &129409745 @@ -103,6 +113,7 @@ Transform: m_LocalRotation: {x: 0, y: -0.5, z: 0, w: 0.8660254} m_LocalPosition: {x: -1446, y: 176, z: 641} m_LocalScale: {x: 100, y: 100, z: 100} + m_ConstrainProportionsScale: 0 m_Children: [] m_Father: {fileID: 1730970187} m_RootOrder: 2 @@ -115,9 +126,17 @@ BoxCollider: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 129409745} m_Material: {fileID: 0} + m_IncludeLayers: + serializedVersion: 2 + m_Bits: 0 + m_ExcludeLayers: + serializedVersion: 2 + m_Bits: 0 + m_LayerOverridePriority: 0 m_IsTrigger: 0 + m_ProvidesContacts: 0 m_Enabled: 1 - serializedVersion: 2 + serializedVersion: 3 m_Size: {x: 4.8, y: 4.5311604, z: 0.4607078} m_Center: {x: 0, y: 0, z: 0} --- !u!1 &159982127 @@ -149,6 +168,7 @@ Transform: m_LocalRotation: {x: -0, y: -0, z: -0, w: 1} m_LocalPosition: {x: -1400, y: 0, z: 0} m_LocalScale: {x: 300, y: 10, z: 1200} + m_ConstrainProportionsScale: 0 m_Children: [] m_Father: {fileID: 257899726} m_RootOrder: 13 @@ -169,9 +189,17 @@ BoxCollider: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 159982127} m_Material: {fileID: 0} + m_IncludeLayers: + serializedVersion: 2 + m_Bits: 0 + m_ExcludeLayers: + serializedVersion: 2 + m_Bits: 0 + m_LayerOverridePriority: 0 m_IsTrigger: 0 + m_ProvidesContacts: 0 m_Enabled: 0 - serializedVersion: 2 + serializedVersion: 3 m_Size: {x: 1, y: 1, z: 1} m_Center: {x: 0, y: 0, z: 0} --- !u!23 &159982129 @@ -185,10 +213,12 @@ MeshRenderer: m_CastShadows: 1 m_ReceiveShadows: 1 m_DynamicOccludee: 1 + m_StaticShadowCaster: 0 m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 m_RayTracingMode: 2 + m_RayTraceProcedural: 0 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -213,6 +243,7 @@ MeshRenderer: m_SortingLayerID: 0 m_SortingLayer: 0 m_SortingOrder: 0 + m_AdditionalVertexStreams: {fileID: 0} --- !u!1 &166240760 GameObject: m_ObjectHideFlags: 0 @@ -241,6 +272,7 @@ Transform: m_LocalRotation: {x: 0, y: -0, z: -0, w: 1} m_LocalPosition: {x: -0.000061035156, y: 1, z: 0.000061035156} m_LocalScale: {x: 1, y: 1, z: 1} + m_ConstrainProportionsScale: 0 m_Children: [] m_Father: {fileID: 257899726} m_RootOrder: 1 @@ -264,10 +296,12 @@ MeshRenderer: m_CastShadows: 1 m_ReceiveShadows: 1 m_DynamicOccludee: 1 + m_StaticShadowCaster: 0 m_MotionVectors: 1 m_LightProbeUsage: 1 m_ReflectionProbeUsage: 1 m_RayTracingMode: 2 + m_RayTraceProcedural: 0 m_RenderingLayerMask: 1 m_RendererPriority: 0 m_Materials: @@ -292,6 +326,7 @@ MeshRenderer: m_SortingLayerID: 0 m_SortingLayer: 0 m_SortingOrder: 0 + m_AdditionalVertexStreams: {fileID: 0} --- !u!1 &257899725 GameObject: m_ObjectHideFlags: 0 @@ -322,6 +357,7 @@ Transform: m_LocalRotation: {x: -0, y: -0, z: -0, w: 1} m_LocalPosition: {x: 0, y: 0, z: 0} m_LocalScale: {x: 0.01, y: 0.01, z: 0.01} + m_ConstrainProportionsScale: 0 m_Children: - 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target: {fileID: 1141134673700168, guid: 54f3340298537426e96a6cc530e2d5d8, type: 3} @@ -828,6 +953,10 @@ PrefabInstance: propertyPath: m_IsActive value: 1 objectReference: {fileID: 0} + - target: {fileID: 4558743310993102, guid: 54f3340298537426e96a6cc530e2d5d8, type: 3} + propertyPath: m_RootOrder + value: 6 + objectReference: {fileID: 0} - target: {fileID: 4558743310993102, guid: 54f3340298537426e96a6cc530e2d5d8, type: 3} propertyPath: m_LocalPosition.x value: 0 @@ -840,6 +969,10 @@ PrefabInstance: propertyPath: m_LocalPosition.z value: -51 objectReference: {fileID: 0} + - target: {fileID: 4558743310993102, guid: 54f3340298537426e96a6cc530e2d5d8, type: 3} + propertyPath: m_LocalRotation.w + value: 1 + objectReference: {fileID: 0} - target: {fileID: 4558743310993102, guid: 54f3340298537426e96a6cc530e2d5d8, type: 3} propertyPath: m_LocalRotation.x value: 0 @@ -852,13 +985,8 @@ PrefabInstance: propertyPath: m_LocalRotation.z value: 0 objectReference: {fileID: 0} - - target: {fileID: 4558743310993102, guid: 54f3340298537426e96a6cc530e2d5d8, type: 3} - propertyPath: m_LocalRotation.w - value: 1 - objectReference: {fileID: 0} - - target: {fileID: 4558743310993102, guid: 54f3340298537426e96a6cc530e2d5d8, type: 3} - propertyPath: m_RootOrder - value: 6 - objectReference: {fileID: 0} m_RemovedComponents: [] + m_RemovedGameObjects: [] + m_AddedGameObjects: [] + m_AddedComponents: [] m_SourcePrefab: {fileID: 100100000, guid: 54f3340298537426e96a6cc530e2d5d8, type: 3} diff --git a/com.unity.ml-agents/Editor/RayPerceptionSensorComponentBaseEditor.cs b/com.unity.ml-agents/Editor/RayPerceptionSensorComponentBaseEditor.cs index 32f84570e4..7fdfbc7c52 100644 --- a/com.unity.ml-agents/Editor/RayPerceptionSensorComponentBaseEditor.cs +++ b/com.unity.ml-agents/Editor/RayPerceptionSensorComponentBaseEditor.cs @@ -64,6 +64,10 @@ protected void OnRayPerceptionInspectorGUI(bool is3d) } EditorGUILayout.PropertyField(so.FindProperty("m_AlternatingRayOrder"), true); + if (is3d) + { + EditorGUILayout.PropertyField(so.FindProperty("m_UseBatchedRaycasts"), true); + } EditorGUILayout.PropertyField(so.FindProperty("rayHitColor"), true); EditorGUILayout.PropertyField(so.FindProperty("rayMissColor"), true); diff --git a/com.unity.ml-agents/Runtime/Sensors/RayPerceptionSensor.cs b/com.unity.ml-agents/Runtime/Sensors/RayPerceptionSensor.cs index 4cb67ec709..3b81d076fe 100644 --- a/com.unity.ml-agents/Runtime/Sensors/RayPerceptionSensor.cs +++ b/com.unity.ml-agents/Runtime/Sensors/RayPerceptionSensor.cs @@ -1,5 +1,7 @@ using System; using System.Collections.Generic; +using Unity.Collections; +using Unity.Jobs; using UnityEngine; namespace Unity.MLAgents.Sensors @@ -72,6 +74,11 @@ public struct RayPerceptionInput /// public int LayerMask; + /// + /// Whether to use batched raycasts. + /// + public bool UseBatchedRaycasts; + /// /// Returns the expected number of floats in the output. /// @@ -245,6 +252,8 @@ public class RayPerceptionSensor : ISensor, IBuiltInSensor RayPerceptionInput m_RayPerceptionInput; RayPerceptionOutput m_RayPerceptionOutput; + bool m_UseBatchedRaycasts; + /// /// Time.frameCount at the last time Update() was called. This is only used for display in gizmos. /// @@ -264,6 +273,7 @@ public RayPerceptionSensor(string name, RayPerceptionInput rayInput) { m_Name = name; m_RayPerceptionInput = rayInput; + m_UseBatchedRaycasts = rayInput.UseBatchedRaycasts; SetNumObservations(rayInput.OutputSize()); @@ -339,10 +349,17 @@ public void Update() m_RayPerceptionOutput.RayOutputs = new RayPerceptionOutput.RayOutput[numRays]; } - // For each ray, do the casting and save the results. - for (var rayIndex = 0; rayIndex < numRays; rayIndex++) + if (m_UseBatchedRaycasts && m_RayPerceptionInput.CastType == RayPerceptionCastType.Cast3D) { - m_RayPerceptionOutput.RayOutputs[rayIndex] = PerceiveSingleRay(m_RayPerceptionInput, rayIndex); + 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); + } } } @@ -397,6 +414,127 @@ public static RayPerceptionOutput Perceive(RayPerceptionInput input) return output; } + internal static void PerceiveBatchedRays(ref RayPerceptionOutput.RayOutput[] batchedRaycastOutputs, RayPerceptionInput input) + { + var numRays = input.Angles.Count; + var results = new NativeArray(numRays, Allocator.TempJob); + var unscaledRayLength = input.RayLength; + var unscaledCastRadius = input.CastRadius; + + var raycastCommands = new NativeArray(unscaledCastRadius <= 0f ? numRays : 0, Allocator.TempJob); + var spherecastCommands = new NativeArray(unscaledCastRadius > 0f ? numRays : 0, Allocator.TempJob); + + // this is looped + + for (int i = 0; i < numRays; i++) + { + var extents = input.RayExtents(i); + var startPositionWorld = extents.StartPositionWorld; + var endPositionWorld = extents.EndPositionWorld; + + var rayDirection = endPositionWorld - startPositionWorld; + // If there is non-unity scale, |rayDirection| will be different from rayLength. + // We want to use this transformed ray length for determining cast length, hit fraction etc. + // We also it to scale up or down the sphere or circle radii + var scaledRayLength = rayDirection.magnitude; + // Avoid 0/0 if unscaledRayLength is 0 + var scaledCastRadius = unscaledRayLength > 0 ? + unscaledCastRadius * scaledRayLength / unscaledRayLength : + unscaledCastRadius; + + var queryParameters = QueryParameters.Default; + queryParameters.layerMask = input.LayerMask; + + if (scaledCastRadius > 0f) + { + spherecastCommands[i] = new SpherecastCommand(startPositionWorld, scaledCastRadius, rayDirection, queryParameters, scaledRayLength); + } + else + { + raycastCommands[i] = new RaycastCommand(startPositionWorld, rayDirection, queryParameters, scaledRayLength); + } + + batchedRaycastOutputs[i] = new RayPerceptionOutput.RayOutput + { + HitTaggedObject = false, + HitTagIndex = -1, + StartPositionWorld = startPositionWorld, + EndPositionWorld = endPositionWorld, + ScaledCastRadius = scaledCastRadius + }; + + } + + if (unscaledCastRadius > 0f) + { + JobHandle handle = SpherecastCommand.ScheduleBatch(spherecastCommands, results, 1, 1, default(JobHandle)); + handle.Complete(); + } + else + { + JobHandle handle = RaycastCommand.ScheduleBatch(raycastCommands, results, 1, 1, default(JobHandle)); + handle.Complete(); + } + + for (int i = 0; i < results.Length; i++) + { + var castHit = results[i].collider != null; + var hitFraction = 1.0f; + GameObject hitObject = null; + float scaledRayLength; + float scaledCastRadius = batchedRaycastOutputs[i].ScaledCastRadius; + if (scaledCastRadius > 0f) + { + scaledRayLength = spherecastCommands[i].distance; + } + else + { + scaledRayLength = raycastCommands[i].distance; + } + + // hitFraction = castHit ? (scaledRayLength > 0 ? results[i].distance / scaledRayLength : 0.0f) : 1.0f; + // Debug.Log(results[i].distance); + hitFraction = castHit ? (scaledRayLength > 0 ? results[i].distance : 0.0f) : 1.0f; + hitObject = castHit ? results[i].collider.gameObject : null; + + if (castHit) + { + var numTags = input.DetectableTags?.Count ?? 0; + for (int j = 0; j < numTags; j++) + { + var tagsEqual = false; + try + { + var tag = input.DetectableTags[j]; + if (!string.IsNullOrEmpty(tag)) + { + tagsEqual = hitObject.CompareTag(tag); + } + } + catch (UnityException) + { + } + + if (tagsEqual) + { + batchedRaycastOutputs[i].HitTaggedObject = true; + batchedRaycastOutputs[i].HitTagIndex = j; + break; + } + } + } + + batchedRaycastOutputs[i].HasHit = castHit; + batchedRaycastOutputs[i].HitFraction = hitFraction; + batchedRaycastOutputs[i].HitGameObject = hitObject; + + } + + results.Dispose(); + raycastCommands.Dispose(); + spherecastCommands.Dispose(); + } + /// /// Evaluate the raycast results of a single ray from the RayPerceptionInput. /// diff --git a/com.unity.ml-agents/Runtime/Sensors/RayPerceptionSensorComponentBase.cs b/com.unity.ml-agents/Runtime/Sensors/RayPerceptionSensorComponentBase.cs index 75a114382e..35c4fd5320 100644 --- a/com.unity.ml-agents/Runtime/Sensors/RayPerceptionSensorComponentBase.cs +++ b/com.unity.ml-agents/Runtime/Sensors/RayPerceptionSensorComponentBase.cs @@ -145,6 +145,20 @@ public bool AlternatingRayOrder set { m_AlternatingRayOrder = value; } } + [HideInInspector, SerializeField] + [Tooltip("Enable to use batched raycasts and the jobs system.")] + public bool m_UseBatchedRaycasts = false; + + /// + /// Determines whether to use batched raycasts and the jobs system. Default = false. + /// + public bool UseBatchedRaycasts + { + get { return m_UseBatchedRaycasts; } + set { m_UseBatchedRaycasts = value; } + } + + /// /// Color to code a ray that hits another object. /// @@ -289,6 +303,7 @@ public RayPerceptionInput GetRayPerceptionInput() rayPerceptionInput.Transform = transform; rayPerceptionInput.CastType = GetCastType(); rayPerceptionInput.LayerMask = RayLayerMask; + rayPerceptionInput.UseBatchedRaycasts = UseBatchedRaycasts; return rayPerceptionInput; } @@ -334,10 +349,23 @@ void OnDrawGizmosSelected() // 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; - for (var rayIndex = 0; rayIndex < rayInput.Angles.Count; rayIndex++) + if (m_UseBatchedRaycasts && rayInput.CastType == RayPerceptionCastType.Cast3D) + { + // TODO add call to PerceiveBatchedRays() + var rayOutputs = new RayPerceptionOutput.RayOutput[rayInput.Angles.Count]; + RayPerceptionSensor.PerceiveBatchedRays(ref rayOutputs, rayInput); + for (var rayIndex = 0; rayIndex < rayInput.Angles.Count; rayIndex++) + { + DrawRaycastGizmos(rayOutputs[rayIndex]); + } + } + else { - var rayOutput = RayPerceptionSensor.PerceiveSingleRay(rayInput, rayIndex); - DrawRaycastGizmos(rayOutput); + for (var rayIndex = 0; rayIndex < rayInput.Angles.Count; rayIndex++) + { + var rayOutput = RayPerceptionSensor.PerceiveSingleRay(rayInput, rayIndex); + DrawRaycastGizmos(rayOutput); + } } } }