Fix vertical offsets for RayPerception3D (#2823)

* clean up ray perception

* adjust offsets

* remove dead code

Author: Chris Elion

UnitySDK/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentBasic.cs

@@ -85,7 +85,7 @@ public override void CollectObservations()
             var rayDistance = 12f;
 
             AddVectorObs(m_RayPer.Perceive(rayDistance, m_RayAngles, m_DetectableObjects));
-            AddVectorObs(m_RayPer.Perceive(rayDistance, m_RayAngles, m_DetectableObjects, 1.5f));
+            AddVectorObs(m_RayPer.Perceive(rayDistance, m_RayAngles, m_DetectableObjects, 1.5f, 1.5f));
         }
     }
 

UnitySDK/Assets/ML-Agents/Examples/SharedAssets/Scripts/RayPerception3D.cs

@@ -10,7 +10,6 @@ namespace MLAgents
     /// </summary>
     public class RayPerception3D : RayPerception
     {
-        Vector3 m_EndPosition;
         RaycastHit m_Hit;
         float[] m_SubList;
 
@@ -46,20 +45,22 @@ public override List<float> Perceive(float rayDistance,
             // along with object distance.
             foreach (var angle in rayAngles)
             {
-                m_EndPosition = transform.TransformDirection(
-                    PolarToCartesian(rayDistance, angle));
-                m_EndPosition.y = endOffset;
+                Vector3 startPositionLocal = new Vector3(0, startOffset, 0);
+                Vector3 endPositionLocal = PolarToCartesian(rayDistance, angle);
+                endPositionLocal.y += endOffset;
+
+                var startPositionWorld = transform.TransformPoint(startPositionLocal);
+                var endPositionWorld = transform.TransformPoint(endPositionLocal);
+
+                var rayDirection = endPositionWorld - startPositionWorld;
                 if (Application.isEditor)
                 {
-                    Debug.DrawRay(transform.position + new Vector3(0f, startOffset, 0f),
-                        m_EndPosition, Color.black, 0.01f, true);
+                    Debug.DrawRay(startPositionWorld,rayDirection, Color.black, 0.01f, true);
                 }
 
                 Array.Clear(m_SubList, 0, m_SubList.Length);
 
-                if (Physics.SphereCast(transform.position +
-                    new Vector3(0f, startOffset, 0f), 0.5f,
-                    m_EndPosition, out m_Hit, rayDistance))
+                if (Physics.SphereCast(startPositionWorld, 0.5f, rayDirection, out m_Hit, rayDistance))
                 {
                     for (var i = 0; i < detectableObjects.Length; i++)
                     {

UnitySDK/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs

@@ -94,7 +94,7 @@ public override void CollectObservations()
             detectableObjects = m_DetectableObjectsBlue;
         }
         AddVectorObs(m_RayPer.Perceive(rayDistance, m_RayAngles, detectableObjects));
-        AddVectorObs(m_RayPer.Perceive(rayDistance, m_RayAngles, detectableObjects, 1f));
+        AddVectorObs(m_RayPer.Perceive(rayDistance, m_RayAngles, detectableObjects, 1f, 1f));
     }
 
     public void MoveAgent(float[] act)

UnitySDK/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpAgent.cs

@@ -144,7 +144,7 @@ public override void CollectObservations()
         AddVectorObs(m_RayPer.Perceive(
             rayDistance, rayAngles, m_DetectableObjects));
         AddVectorObs(m_RayPer.Perceive(
-            rayDistance, rayAngles, m_DetectableObjects, 2.5f, 2.5f));
+            rayDistance, rayAngles, m_DetectableObjects, 2.5f, 5.0f));
         var agentPos = m_AgentRb.position - ground.transform.position;
 
         AddVectorObs(agentPos / 20f);