Make GridSensor a non allocating object after initialization.

ML-Agents-Input-Example/Packages/packages-lock.json

@@ -31,7 +31,7 @@
       "url": "https://packages.unity.com"
     },
     "com.unity.barracuda": {
-      "version": "1.3.0-preview",
+      "version": "1.3.1-preview",
       "depth": 1,
       "source": "registry",
       "dependencies": {
@@ -99,7 +99,7 @@
       "depth": 0,
       "source": "local",
       "dependencies": {
-        "com.unity.barracuda": "1.3.0-preview",
+        "com.unity.barracuda": "1.3.1-preview",
         "com.unity.modules.imageconversion": "1.0.0",
         "com.unity.modules.jsonserialize": "1.0.0",
         "com.unity.modules.physics": "1.0.0",

Project/Assets/ML-Agents/Examples/FoodCollector/Scenes/GridFoodCollector.unity

@@ -38,7 +38,7 @@ RenderSettings:
   m_ReflectionIntensity: 1
   m_CustomReflection: {fileID: 0}
   m_Sun: {fileID: 0}
-  m_IndirectSpecularColor: {r: 0.4497121, g: 0.49977785, b: 0.57563704, a: 1}
+  m_IndirectSpecularColor: {r: 0.44971168, g: 0.4997775, b: 0.57563686, a: 1}
   m_UseRadianceAmbientProbe: 0
 --- !u!157 &3
 LightmapSettings:
@@ -125,6 +125,18 @@ PrefabInstance:
       propertyPath: m_Name
       value: GridFoodCollectorArea
       objectReference: {fileID: 0}
+    - target: {fileID: 4137908820211030, guid: b5339e4b990ade14f992aadf3bf8591b, type: 3}
+      propertyPath: m_LocalPosition.x
+      value: -17.2
+      objectReference: {fileID: 0}
+    - target: {fileID: 4259834826122778, guid: b5339e4b990ade14f992aadf3bf8591b, type: 3}
+      propertyPath: m_LocalPosition.x
+      value: -23.9
+      objectReference: {fileID: 0}
+    - target: {fileID: 4419274671784554, guid: b5339e4b990ade14f992aadf3bf8591b, type: 3}
+      propertyPath: m_LocalPosition.x
+      value: -8.9
+      objectReference: {fileID: 0}
     - target: {fileID: 4688212428263696, guid: b5339e4b990ade14f992aadf3bf8591b, type: 3}
       propertyPath: m_LocalPosition.x
       value: 0
@@ -169,8 +181,62 @@ PrefabInstance:
       propertyPath: m_LocalEulerAnglesHint.z
       value: 0
       objectReference: {fileID: 0}
+    - target: {fileID: 4756368533889646, guid: b5339e4b990ade14f992aadf3bf8591b, type: 3}
+      propertyPath: m_LocalPosition.x
+      value: -30.4
+      objectReference: {fileID: 0}
+    - target: {fileID: 4756368533889646, guid: b5339e4b990ade14f992aadf3bf8591b, type: 3}
+      propertyPath: m_LocalPosition.z
+      value: -9.9
+      objectReference: {fileID: 0}
+    - target: {fileID: 3067525015186813280, guid: b5339e4b990ade14f992aadf3bf8591b,
+        type: 3}
+      propertyPath: NumCollidersPerCell
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 3067525015186813280, guid: b5339e4b990ade14f992aadf3bf8591b,
+        type: 3}
+      propertyPath: EstimatedMaxCollidersPerCell
+      value: 4
+      objectReference: {fileID: 0}
+    - target: {fileID: 5837508007780682603, guid: b5339e4b990ade14f992aadf3bf8591b,
+        type: 3}
+      propertyPath: ChannelOffsets.Array.size
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 5837508007780682603, guid: b5339e4b990ade14f992aadf3bf8591b,
+        type: 3}
+      propertyPath: ShowGizmos
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 5837508007780682603, guid: b5339e4b990ade14f992aadf3bf8591b,
+        type: 3}
+      propertyPath: ObservationPerCell
+      value: 6
+      objectReference: {fileID: 0}
+    - target: {fileID: 5837508007780682603, guid: b5339e4b990ade14f992aadf3bf8591b,
+        type: 3}
+      propertyPath: NumberOfObservations
+      value: 9600
+      objectReference: {fileID: 0}
+    - target: {fileID: 5837508007780682603, guid: b5339e4b990ade14f992aadf3bf8591b,
+        type: 3}
+      propertyPath: m_Enabled
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 5837508007780682603, guid: b5339e4b990ade14f992aadf3bf8591b,
+        type: 3}
+      propertyPath: rootReference
+      value: 
+      objectReference: {fileID: 190823801}
     m_RemovedComponents: []
   m_SourcePrefab: {fileID: 100100000, guid: b5339e4b990ade14f992aadf3bf8591b, type: 3}
+--- !u!1 &190823801 stripped
+GameObject:
+  m_CorrespondingSourceObject: {fileID: 1706274796045088, guid: b5339e4b990ade14f992aadf3bf8591b,
+    type: 3}
+  m_PrefabInstance: {fileID: 190823800}
+  m_PrefabAsset: {fileID: 0}
 --- !u!1001 &392794583
 PrefabInstance:
   m_ObjectHideFlags: 0

com.unity.ml-agents.extensions/Runtime/Sensors/CountingGridSensor.cs

@@ -29,7 +29,7 @@ public override void SetParameters(string[] detectableObjects, int[] channelDept
             this.ChannelDepth = channelDepth;
             if (DetectableObjects.Length != ChannelDepth.Length)
                 throw new UnityAgentsException("The channels of a CountingGridSensor is equal to the number of detectableObjects");
-            this.gridDepthType = GridDepthType.Channel;
+            this.gridDepthType = gridDepthType;
             this.CellScaleX = cellScaleX;
             this.CellScaleZ = cellScaleZ;
             this.GridNumSideX = gridWidth;
@@ -46,12 +46,12 @@ public override void SetParameters(string[] detectableObjects, int[] channelDept
         /// <param name="foundColliders">The array of colliders</param>
         /// <param name="cellIndex">The cell index the collider is in</param>
         /// <param name="cellCenter">the center of the cell the collider is in</param>
-        protected override void ParseColliders(Collider[] foundColliders, int cellIndex, Vector3 cellCenter)
+        protected override void ParseColliders(Collider[] foundColliders, int numFound, int cellIndex, Vector3 cellCenter)
         {
             GameObject currentColliderGo = null;
             Vector3 closestColliderPoint = Vector3.zero;
 
-            for (int i = 0; i < foundColliders.Length; i++)
+            for (int i = 0; i < numFound; i++)
             {
                 currentColliderGo = foundColliders[i].gameObject;
 
@@ -62,7 +62,7 @@ protected override void ParseColliders(Collider[] foundColliders, int cellIndex,
                 closestColliderPoint = foundColliders[i].ClosestPointOnBounds(cellCenter);
 
                 LoadObjectData(currentColliderGo, cellIndex,
-                    Vector3.Distance(closestColliderPoint, transform.position) / SphereRadius);
+                    Vector3.Distance(closestColliderPoint, transform.position) * InverseSphereRadius);
             }
         }