Cleanup defines. Address PR feedback.

Author: surfnerd

.yamato/com.unity.ml-agents-coverage.yml

@@ -1,16 +1,8 @@
 test_editors:
-    - version: 2019.4
+    - version: 2020.2
       testProject: DevProject
 
 test_platforms:
-    - name: win
-      type: Unity::VM
-      image: package-ci/win10:stable
-      flavor: b1.large
-    - name: mac
-      type: Unity::VM::osx
-      image: package-ci/mac:stable
-      flavor: b1.small
     - name: linux
       type: Unity::VM
       image: package-ci/ubuntu:stable

.yamato/com.unity.ml-agents-optional-dep-tests.yml

@@ -1,13 +1,13 @@
 optional_deps:
     - name: Analytics
       project: "OptionalDepedencyTests/NoAnalyticsModule"
-      version: 2019.4
+      version: 2020.2
     - name: Physics
       project: OptionalDepedencyTests/NoPhysicsModule
-      version: 2019.4
+      version: 2020.2
     - name: Physics2D
       project: OptionalDepedencyTests/NoPhysics2DModule
-      version: 2019.4
+      version: 2020.2
 ---
 
   {% for optional_dep in optional_deps %}
@@ -46,8 +46,8 @@ OptionalDependencyTests_{{ optional_dep.name }}:
                 - "upm-ci~/test-results/**/*"
     dependencies:
         - .yamato/com.unity.ml-agents-pack.yml#pack
-        - .yamato/com.unity.ml-agents-coverage.yml#test_coverage_com.unity.ml-agents_linux_2019.4
-        - .yamato/com.unity.ml-agents-coverage.yml#test_coverage_com.unity.ml-agents.extensions_linux_2019.4
+        - .yamato/com.unity.ml-agents-coverage.yml#test_coverage_com.unity.ml-agents_linux_{{ optional_dep.version }}
+        - .yamato/com.unity.ml-agents-coverage.yml#test_coverage_com.unity.ml-agents.extensions_linux_{{ optional_dep.version }}
     triggers:
         cancel_old_ci: true
         expression: |

com.unity.ml-agents.extensions/package.json

@@ -5,7 +5,7 @@
   "unity": "2018.4",
   "description": "A source-only package for new features based on ML-Agents",
   "dependencies": {
-    "com.unity.ml-agents": "2.0.0-exp.1"
+    "com.unity.ml-agents": "2.0.0-exp.1",
     "com.unity.modules.physics": "1.0.0"
   }
 }

com.unity.ml-agents/Runtime/Analytics/AnalyticsUtils.cs

@@ -1,7 +1,3 @@
-#if MLA_UNITY_ANALYTICS_MODULE || !UNITY_2019_4_OR_NEWER
-#define MLA_UNITY_ANALYTICS_MODULE_ENABLED
-#endif
-
 using System;
 using UnityEngine;
 

com.unity.ml-agents/Runtime/Communicator/GrpcExtensions.cs

@@ -1,7 +1,3 @@
-#if MLA_UNITY_ANALYTICS_MODULE || !UNITY_2019_4_OR_NEWER
-#define MLA_UNITY_ANALYTICS_MODULE_ENABLED
-#endif
-
 using System;
 using System.Collections.Generic;
 using System.Linq;

com.unity.ml-agents/Runtime/Policies/BarracudaPolicy.cs

@@ -78,7 +78,6 @@ string behaviorName
         /// <inheritdoc />
         public void RequestDecision(AgentInfo info, List<ISensor> sensors)
         {
-#if MLA_UNITY_ANALYTICS_MODULE_ENABLED
             if (!m_AnalyticsSent)
             {
                 m_AnalyticsSent = true;
@@ -91,7 +90,6 @@ public void RequestDecision(AgentInfo info, List<ISensor> sensors)
                     m_Actuators
                 );
             }
-#endif
             m_AgentId = info.episodeId;
             m_ModelRunner?.PutObservations(info, sensors);
         }

com.unity.ml-agents/Runtime/Sensors/RayPerceptionSensorComponentBase.cs

@@ -105,14 +105,8 @@ public float RayLength
             set { m_RayLength = value; UpdateSensor(); }
         }
 
-#if MLA_UNITY_PHYSICS_MODULE_ENABLED
-        const int k_PhysicsDefaultLayers = Physics.DefaultRaycastLayers;
-#elif MLA_UNITY_PHYSICS2D_MODULE_ENABLED
-        const int k_PhysicsDefaultLayers = Physics2D.DefaultRaycastLayers;
-#else
         // The value of the default layers.
         const int k_PhysicsDefaultLayers = -5;
-#endif
         [HideInInspector, SerializeField, FormerlySerializedAs("rayLayerMask")]
         [Tooltip("Controls which layers the rays can hit.")]
         LayerMask m_RayLayerMask = k_PhysicsDefaultLayers;

com.unity.ml-agents/Tests/Editor/MLAgentsEditModeTest.cs

@@ -1,5 +1,6 @@
 using System;
 using System.Collections;
+using System.Collections.Generic;
 using UnityEngine;
 using NUnit.Framework;
 using System.Reflection;
@@ -130,6 +131,11 @@ public int[] GetObservationShape()
             return new[] { 0 };
         }
 
+        public ObservationSpec GetObservationSpec()
+        {
+            return ObservationSpec.Vector(0);
+        }
+
         public int Write(ObservationWriter writer)
         {
             numWriteCalls++;

com.unity.ml-agents/Tests/Runtime/Sensor/RayPerceptionSensorTests.cs

@@ -32,6 +32,17 @@ public void TestGetRayAngles()
 
     public class RayPerception3DTests
     {
+        [Test]
+        public void TestDefaultLayersAreNegativeFive()
+        {
+#if MLA_UNITY_PHYSICS_MODULE_ENABLED
+            Assert.IsTrue(Physics.DefaultRaycastLayers == -5);
+#endif
+#if MLA_UNITY_PHYSICS2D_MODULE_ENABLED
+            Assert.IsTrue(Physics2D.DefaultRaycastLayers == -5);
+#endif
+        }
+
 #if MLA_UNITY_PHYSICS_MODULE_ENABLED
         // Use built-in tags
         const string k_CubeTag = "Player";