Update to 2022.3 LTS and batched raycasts (#5950)

* Updated to Unity 2022.3. * Added support for batched raycasting in ray perception sensor. Only for 3D (batched raycasting is only supported in 3D). * Added batched raycast tests and docs. * Updated meta file validation exclude list. * Added unity physics module dependency to core package.
Unity-Technologies · Jul 25, 2023 · 4ea8995 · 4ea8995
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diff --git a/.github/ISSUE_TEMPLATE/bug_report.md b/.github/ISSUE_TEMPLATE/bug_report.md
@@ -24,7 +24,7 @@ Please wrap in triple backticks (```) to make it easier to read.
 If applicable, add screenshots to help explain your problem.
 
 **Environment (please complete the following information):**
-- Unity Version: [e.g. Unity 2020.1f1]
+- Unity Version: [e.g. Unity 2022.3f1]
 - OS + version: [e.g. Windows 10]
 - _ML-Agents version_: (e.g. ML-Agents v0.8, or latest `develop` branch from source)
 - _Torch version_: (you can run `pip3 show torch` to get this)

diff --git a/.yamato/com.unity.ml-agents-pack.yml b/.yamato/com.unity.ml-agents-pack.yml
@@ -9,7 +9,7 @@ pack:
       eval "$($HOME/anaconda/bin/conda shell.bash hook)"
       conda activate python3.8
       python3 -m pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade
-      unity-downloader-cli -u 2021.3 -c editor --wait --fast
+      unity-downloader-cli -u 2022.3 -c editor --wait --fast
       ./.Editor/Unity -projectPath Project -batchMode -executeMethod Unity.MLAgents.SampleExporter.ExportCuratedSamples -logFile -
       npm install upm-ci-utils@stable -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm
       upm-ci project pack --project-path Project

diff --git a/.yamato/com.unity.ml-agents-performance.yml b/.yamato/com.unity.ml-agents-performance.yml
@@ -1,6 +1,6 @@
 test_editors:
-  - version: 2021.3
-  - version: 2022.1
+  - version: 2022.3
+  - version: 2023.1
 ---
 {% for editor in test_editors %}
 Run_Mac_Perfomance_Tests{{ editor.version }}:

diff --git a/.yamato/com.unity.ml-agents-promotion.yml b/.yamato/com.unity.ml-agents-promotion.yml
@@ -1,5 +1,5 @@
 test_editors:
-  - version: 2021.3
+  - version: 2022.3
 test_platforms:
   - name: win
     type: Unity::VM

diff --git a/.yamato/com.unity.ml-agents-test.yml b/.yamato/com.unity.ml-agents-test.yml
@@ -1,10 +1,10 @@
 {% metadata_file .yamato/coverage_tests.metafile %}
 test_editors:
-    - version: 2021.3
+    - version: 2022.3
         # We want some scene tests to run in the DevProject, but packages there only support 2020+
       testProject: Project
       enableNoDefaultPackages: !!bool true
-    - version: 2022.1
+    - version: 2023.1
       testProject: DevProject
       enableNoDefaultPackages: !!bool true
 

diff --git a/.yamato/coverage_tests.metafile b/.yamato/coverage_tests.metafile
@@ -1,5 +1,5 @@
 coverage_test_editors:
-    - version: 2021.3
+    - version: 2022.3
       testProject: DevProject
 
 coverage_test_platforms:

diff --git a/.yamato/standalone-build-webgl-test.yml b/.yamato/standalone-build-webgl-test.yml
@@ -1,4 +1,4 @@
-{% capture editor_version %}2021.3{% endcapture %}
+{% capture editor_version %}2022.3{% endcapture %}
 test_webgl_standalone_{{ editor_version }}:
   name: Test WebGL Standalone {{ editor_version }}
   agent:

diff --git a/.yamato/test_versions.metafile b/.yamato/test_versions.metafile
@@ -3,9 +3,9 @@
 # For each "other" test, we only run it against a single version of the
 # editor to reduce the number of yamato jobs
 test_editors:
-  - version: 2021.3
+  - version: 2022.3
     extra_test: gym
-  - version: 2022.1
+  - version: 2023.1
     extra_test: sensor
   - version: trunk
     extra_test: llapi
diff --git a/DevProject/Packages/manifest.json b/DevProject/Packages/manifest.json
@@ -1,14 +1,15 @@
 {
   "dependencies": {
+    "com.unity.ai.navigation": "1.1.4",
     "com.unity.coding": "0.1.0-preview.13",
-    "com.unity.inputsystem": "1.3.0",
+    "com.unity.inputsystem": "1.6.1",
     "com.unity.ml-agents": "file:../../com.unity.ml-agents",
     "com.unity.ml-agents.extensions": "file:../../com.unity.ml-agents.extensions",
     "com.unity.package-manager-doctools": "1.10.0-preview",
     "com.unity.package-validation-suite": "0.23.4-preview",
-    "com.unity.test-framework": "1.1.29",
+    "com.unity.test-framework": "1.1.33",
     "com.unity.test-framework.performance": "2.2.0-preview",
-    "com.unity.testtools.codecoverage": "1.0.0-pre.3",
+    "com.unity.testtools.codecoverage": "1.2.4",
     "com.unity.modules.imageconversion": "1.0.0",
     "com.unity.modules.physics": "1.0.0",
     "com.unity.modules.physics2d": "1.0.0",

diff --git a/DevProject/Packages/packages-lock.json b/DevProject/Packages/packages-lock.json
@@ -1,5 +1,14 @@
 {
   "dependencies": {
+    "com.unity.ai.navigation": {
+      "version": "1.1.4",
+      "depth": 0,
+      "source": "registry",
+      "dependencies": {
+        "com.unity.modules.ai": "1.0.0"
+      },
+      "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
+    },
     "com.unity.barracuda": {
       "version": "3.0.0",
       "depth": 1,
@@ -12,7 +21,7 @@
       "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
     "com.unity.burst": {
-      "version": "1.6.6",
+      "version": "1.8.7",
       "depth": 2,
       "source": "registry",
       "dependencies": {
@@ -37,7 +46,7 @@
       "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
     "com.unity.inputsystem": {
-      "version": "1.3.0",
+      "version": "1.6.1",
       "depth": 0,
       "source": "registry",
       "dependencies": {
@@ -72,14 +81,14 @@
       }
     },
     "com.unity.nuget.mono-cecil": {
-      "version": "1.10.1",
+      "version": "1.11.4",
       "depth": 1,
       "source": "registry",
       "dependencies": {},
       "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
     "com.unity.nuget.newtonsoft-json": {
-      "version": "3.0.2",
+      "version": "3.2.1",
       "depth": 1,
       "source": "registry",
       "dependencies": {},
@@ -106,7 +115,7 @@
       "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
     "com.unity.settings-manager": {
-      "version": "1.0.3",
+      "version": "2.0.1",
       "depth": 1,
       "source": "registry",
       "dependencies": {},
@@ -120,7 +129,7 @@
       "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
     "com.unity.test-framework": {
-      "version": "1.1.29",
+      "version": "1.1.33",
       "depth": 0,
       "source": "registry",
       "dependencies": {
@@ -141,7 +150,7 @@
       "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
     "com.unity.testtools.codecoverage": {
-      "version": "1.0.0-pre.3",
+      "version": "1.2.4",
       "depth": 0,
       "source": "registry",
       "dependencies": {
@@ -166,6 +175,12 @@
       },
       "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
+    "com.unity.modules.ai": {
+      "version": "1.0.0",
+      "depth": 1,
+      "source": "builtin",
+      "dependencies": {}
+    },
     "com.unity.modules.imageconversion": {
       "version": "1.0.0",
       "depth": 0,
@@ -206,17 +221,6 @@
       "version": "1.0.0",
       "depth": 0,
       "source": "builtin",
-      "dependencies": {
-        "com.unity.modules.ui": "1.0.0",
-        "com.unity.modules.imgui": "1.0.0",
-        "com.unity.modules.jsonserialize": "1.0.0",
-        "com.unity.modules.uielementsnative": "1.0.0"
-      }
-    },
-    "com.unity.modules.uielementsnative": {
-      "version": "1.0.0",
-      "depth": 1,
-      "source": "builtin",
       "dependencies": {
         "com.unity.modules.ui": "1.0.0",
         "com.unity.modules.imgui": "1.0.0",

diff --git a/DevProject/ProjectSettings/Packages/com.unity.testtools.codecoverage/Settings.json b/DevProject/ProjectSettings/Packages/com.unity.testtools.codecoverage/Settings.json
@@ -1,6 +1,4 @@
 {
-    "m_Name": "Settings",
-    "m_Path": "ProjectSettings/Packages/com.unity.testtools.codecoverage/Settings.json",
     "m_Dictionary": {
         "m_DictionaryValues": [
             {
@@ -20,4 +18,4 @@
             }
         ]
     }
-}
+}
diff --git a/DevProject/ProjectSettings/ProjectVersion.txt b/DevProject/ProjectSettings/ProjectVersion.txt
@@ -1,2 +1,2 @@
-m_EditorVersion: 2021.3.11f1
-m_EditorVersionWithRevision: 2021.3.11f1 (0a5ca18544bf)
+m_EditorVersion: 2022.3.4f1
+m_EditorVersionWithRevision: 2022.3.4f1 (35713cd46cd7)
diff --git a/Project/Assets/ML-Agents/Examples/PushBlockWithInput/Scripts/PushBlockActions.cs b/Project/Assets/ML-Agents/Examples/PushBlockWithInput/Scripts/PushBlockActions.cs
@@ -1,7 +1,7 @@
 //------------------------------------------------------------------------------
 // <auto-generated>
 //     This code was auto-generated by com.unity.inputsystem:InputActionCodeGenerator
-//     version 1.3.0
+//     version 1.6.1
 //     from Assets/ML-Agents/Examples/PushBlockWithInput/PushBlockActions.inputactions
 //
 //     Changes to this file may cause incorrect behavior and will be lost if
@@ -15,7 +15,7 @@
 using UnityEngine.InputSystem;
 using UnityEngine.InputSystem.Utilities;
 
-public partial class @PushBlockActions : IInputActionCollection2, IDisposable
+public partial class @PushBlockActions: IInputActionCollection2, IDisposable
 {
     public InputActionAsset asset { get; }
     public @PushBlockActions()
@@ -250,20 +250,22 @@ public void Disable()
     {
         asset.Disable();
     }
+
     public IEnumerable<InputBinding> bindings => asset.bindings;
 
     public InputAction FindAction(string actionNameOrId, bool throwIfNotFound = false)
     {
         return asset.FindAction(actionNameOrId, throwIfNotFound);
     }
+
     public int FindBinding(InputBinding bindingMask, out InputAction action)
     {
         return asset.FindBinding(bindingMask, out action);
     }
 
     // Movement
     private readonly InputActionMap m_Movement;
-    private IMovementActions m_MovementActionsCallbackInterface;
+    private List<IMovementActions> m_MovementActionsCallbackInterfaces = new List<IMovementActions>();
     private readonly InputAction m_Movement_movement;
     private readonly InputAction m_Movement_jump;
     public struct MovementActions
@@ -277,27 +279,40 @@ public struct MovementActions
         public void Disable() { Get().Disable(); }
         public bool enabled => Get().enabled;
         public static implicit operator InputActionMap(MovementActions set) { return set.Get(); }
+        public void AddCallbacks(IMovementActions instance)
+        {
+            if (instance == null || m_Wrapper.m_MovementActionsCallbackInterfaces.Contains(instance)) return;
+            m_Wrapper.m_MovementActionsCallbackInterfaces.Add(instance);
+            @movement.started += instance.OnMovement;
+            @movement.performed += instance.OnMovement;
+            @movement.canceled += instance.OnMovement;
+            @jump.started += instance.OnJump;
+            @jump.performed += instance.OnJump;
+            @jump.canceled += instance.OnJump;
+        }
+
+        private void UnregisterCallbacks(IMovementActions instance)
+        {
+            @movement.started -= instance.OnMovement;
+            @movement.performed -= instance.OnMovement;
+            @movement.canceled -= instance.OnMovement;
+            @jump.started -= instance.OnJump;
+            @jump.performed -= instance.OnJump;
+            @jump.canceled -= instance.OnJump;
+        }
+
+        public void RemoveCallbacks(IMovementActions instance)
+        {
+            if (m_Wrapper.m_MovementActionsCallbackInterfaces.Remove(instance))
+                UnregisterCallbacks(instance);
+        }
+
         public void SetCallbacks(IMovementActions instance)
         {
-            if (m_Wrapper.m_MovementActionsCallbackInterface != null)
-            {
-                @movement.started -= m_Wrapper.m_MovementActionsCallbackInterface.OnMovement;
-                @movement.performed -= m_Wrapper.m_MovementActionsCallbackInterface.OnMovement;
-                @movement.canceled -= m_Wrapper.m_MovementActionsCallbackInterface.OnMovement;
-                @jump.started -= m_Wrapper.m_MovementActionsCallbackInterface.OnJump;
-                @jump.performed -= m_Wrapper.m_MovementActionsCallbackInterface.OnJump;
-                @jump.canceled -= m_Wrapper.m_MovementActionsCallbackInterface.OnJump;
-            }
-            m_Wrapper.m_MovementActionsCallbackInterface = instance;
-            if (instance != null)
-            {
-                @movement.started += instance.OnMovement;
-                @movement.performed += instance.OnMovement;
-                @movement.canceled += instance.OnMovement;
-                @jump.started += instance.OnJump;
-                @jump.performed += instance.OnJump;
-                @jump.canceled += instance.OnJump;
-            }
+            foreach (var item in m_Wrapper.m_MovementActionsCallbackInterfaces)
+                UnregisterCallbacks(item);
+            m_Wrapper.m_MovementActionsCallbackInterfaces.Clear();
+            AddCallbacks(instance);
         }
     }
     public MovementActions @Movement => new MovementActions(this);