Make RayPerception sensor work better with transforms that have scale #3334
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chriselion
commented
Feb 1, 2020
| @@ -130,14 +130,14 @@ public void OnDrawGizmos() | |||
| // hit fraction ^2 will shift "far" hits closer to the hit color | |||
| var lerpT = rayInfo.hitFraction * rayInfo.hitFraction; | |||
| var color = Color.Lerp(rayHitColor, rayMissColor, lerpT); | |||
| color.a = alpha; | |||
| color.a *= alpha; | |||
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Ran into this when trying to get a screenshot; I wanted to hide the "higher" raycast component by setting its alpha to 0
chriselion
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vincentpierre
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Feb 3, 2020
This was referenced Feb 3, 2020
chriselion
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Feb 3, 2020
* Migration guide for RayPerceptionSensor+scale Followup from #3334 * whitespace
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Fixes #3321
Thanks @WanNJ for reporting.
This makes the Agent's transform scale behave more sensibly for raycasts; the ray length and sphere sizes are also scaled. It handles non-uniform scale reasonably, by using the length of the transforms ray to adjust these.
Also adds a few checks for division by zero.
Note that existing trained models for agents that have scale will need to be retrained, since the hit fractions will differ at runtime.