drecon-unity/Assets/3_MarathonEnvs/Scripts/Shared/SensorBehavior.cs

using UnityEngine;

namespace Unity.MLAgents
{
    public class SensorBehavior : MonoBehaviour
    {
        MarathonAgent _marathonAgent;
        IOnSensorCollision _onSensorCollision;

        Collider _collider;

        void Start()
        {
            _marathonAgent = GetComponentInParent<MarathonAgent>();
            _onSensorCollision = GetComponentInParent<IOnSensorCollision>();
            _collider = GetComponent<Collider>();
        }

        void OnCollisionEnter(Collision other)
        {
            if (_marathonAgent != null)
                _marathonAgent.SensorCollisionEnter(_collider, other);
            if (_onSensorCollision != null)
            {
                _onSensorCollision.OnSensorCollisionEnter(_collider, other.gameObject);
            }
        }

        void OnCollisionExit(Collision other)
        {
            if (_marathonAgent != null)
                _marathonAgent.SensorCollisionExit(_collider, other);
            if (_onSensorCollision != null)
                _onSensorCollision.OnSensorCollisionExit(_collider, other.gameObject);
        }

        void OnTriggerEnter(Collider other)
        {
            if (_onSensorCollision != null)
            {
                _onSensorCollision.OnSensorCollisionEnter(_collider, other.gameObject);
                
            }
                
        }
        void OnTriggerExit(Collider other)
        {
            if (_onSensorCollision != null)
                _onSensorCollision.OnSensorCollisionExit(_collider, other.gameObject);
        }
        void OnTriggerStay(Collider other)
        {
            if (_onSensorCollision != null)
                _onSensorCollision.OnSensorCollisionEnter(_collider, other.gameObject);
        }

        void FootCheck(Collision sensor)
        {
            Debug.Log($"{sensor}");
            if (sensor.gameObject.name == "right_foot_heal_senor_l" || sensor.gameObject.name == "left_foot_heal_senor_l")
            {
                float collision = sensor.relativeVelocity.magnitude;
                Debug.Log($"{collision}");
            }

        }
    }
}