remove deprecated RayPerceptionMB, legacy codepath: (#3304)

com.unity.ml-agents/Runtime/Sensor/RayPerceptionSensor.cs

             {
                 PerceiveStatic(
                     m_RayDistance, m_Angles, m_DetectableObjects, m_StartOffset, m_EndOffset,
-                    m_CastRadius, m_Transform, m_CastType, m_Observations, false, m_LayerMask,
+                    m_CastRadius, m_Transform, m_CastType, m_Observations, m_LayerMask,
                     m_DebugDisplayInfo
                 );
                 adapter.AddRange(m_Observations);
         /// 3. The 'length+1' element of the sublist will contain the normalised distance to the object hit, or 1 if
         ///    nothing was hit.
         ///
-        /// The legacyHitFractionBehavior changes the behavior to be backwards compatible but has some
-        /// counter-intuitive behavior:
-        ///  * if the cast hits a object that's not in the detectableObjects list, all results are 0
-        ///  * if the cast doesn't hit, the hit fraction field is 0
         /// </summary>
         /// <param name="rayLength"></param>
         /// <param name="rayAngles">List of angles (in degrees) used to define the rays. 90 degrees is considered
         /// <param name="transform">Transform of the GameObject</param>
         /// <param name="castType">Whether to perform the casts in 2D or 3D.</param>
         /// <param name="perceptionBuffer">Output array of floats. Must be (num rays) * (num tags + 2) in size.</param>
-        /// <param name="legacyHitFractionBehavior">Whether to use the legacy behavior for hit fractions.</param>
         /// <param name="debugInfo">Optional debug information output, only used by RayPerceptionSensor.</param>
         ///
         public static void PerceiveStatic(float rayLength,
-            bool legacyHitFractionBehavior = false,
             int layerMask = Physics.DefaultRaycastLayers,
             DebugDisplayInfo debugInfo = null)
         {
                 //     sublist[numObjects-1] <- did hit detectableObjects[numObjects-1]
                 //     sublist[numObjects  ] <- 1 if missed else 0
                 //     sublist[numObjects+1] <- hit fraction (or 1 if no hit)
-                // The legacyHitFractionBehavior changes the behavior to be backwards compatible but has some
-                // counter-intuitive behavior:
-                //  * if the cast hits a object that's not in the detectableObjects list, all results are 0
-                //  * if the cast doesn't hit, the hit fraction field is 0
 
                 bool castHit;
                 float hitFraction;
                         }
                     }
 
-                    if (!hitTaggedObject && !legacyHitFractionBehavior)
+                    if (!hitTaggedObject)
                     {
                         // Something was hit but not on the list. Still set the hit fraction.
                         perceptionBuffer[bufferOffset + detectableObjects.Count + 1] = hitFraction;
                 {
                     perceptionBuffer[bufferOffset + detectableObjects.Count] = 1f;
-                    if (!legacyHitFractionBehavior)
-                    {
-                        // Nothing was hit, so there's full clearance in front of the agent.
-                        perceptionBuffer[bufferOffset + detectableObjects.Count + 1] = 1.0f;
-                    }
+                    // Nothing was hit, so there's full clearance in front of the agent.
+                    perceptionBuffer[bufferOffset + detectableObjects.Count + 1] = 1.0f;
                 }
 
                 bufferOffset += detectableObjects.Count + 2;

Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/RayPerception.cs.meta

-fileFormatVersion: 2
-guid: a14e2e238ae844231bc2c88e17bae5a5
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 

Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/RayPerception2D.cs.meta

-fileFormatVersion: 2
-guid: 59a9c4378bb2a40c49eb7a248c52fbf5
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 

Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/RayPerception3D.cs.meta

-fileFormatVersion: 2
-guid: bb172294dbbcc408286b156a2c4b553c
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 

Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/RayPerception.cs

-using System;
-using System.Collections.Generic;
-using UnityEngine;
-
-[Obsolete]
-public abstract class RayPerception : MonoBehaviour
-{
-    protected float[] m_PerceptionBuffer;
-
-    abstract public IList<float> Perceive(float rayDistance,
-        float[] rayAngles, string[] detectableObjects,
-        float startOffset=0.0f, float endOffset=0.0f);
-
-
-}

Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/RayPerception2D.cs

-using System;
-using System.Collections.Generic;
-using UnityEngine;
-using MLAgents.Sensor;
-
-namespace MLAgents
-{
-    /// <summary>
-    /// Ray 2D perception component. Attach this to agents to enable "local perception"
-    /// via the use of ray casts directed outward from the agent.
-    /// </summary>
-    [Obsolete("The RayPerception MonoBehaviour is deprecated. Use the RayPerceptionSensorComponent instead")]
-    public class RayPerception2D : RayPerception
-    {
-        RaycastHit2D m_Hit;
-
-        /// <summary>
-        /// Creates perception vector to be used as part of an observation of an agent.
-        /// Each ray in the rayAngles array adds a sublist of data to the observation.
-        /// The sublist contains the observation data for a single ray. The list is composed of the following:
-        /// 1. A one-hot encoding for detectable objects. For example, if detectableObjects.Length = n, the
-        ///    first n elements of the sublist will be a one-hot encoding of the detectableObject that was hit, or
-        ///    all zeroes otherwise.
-        /// 2. The 'length' element of the sublist will be 1 if the ray missed everything, or 0 if it hit
-        ///    something (detectable or not).
-        /// 3. The 'length+1' element of the sublist will contain the normalised distance to the object hit.
-        /// NOTE: Only objects with tags in the detectableObjects array will have a distance set.
-        /// </summary>
-        /// <returns>The partial vector observation corresponding to the set of rays</returns>
-        /// <param name="rayDistance">Radius of rays</param>
-        /// <param name="rayAngles">Angles of rays (starting from (1,0) on unit circle).</param>
-        /// <param name="detectableObjects">List of tags which correspond to object types agent can see</param>
-        /// <param name="startOffset">Unused</param>
-        /// <param name="endOffset">Unused</param>
-        public override IList<float> Perceive(float rayDistance,
-            float[] rayAngles, string[] detectableObjects,
-            float startOffset=0.0f, float endOffset=0.0f)
-        {
-            var perceptionSize = (detectableObjects.Length + 2) * rayAngles.Length;
-            if (m_PerceptionBuffer == null || m_PerceptionBuffer.Length != perceptionSize)
-            {
-                m_PerceptionBuffer = new float[perceptionSize];
-            }
-
-            const float castRadius = 0.5f;
-            const bool legacyHitFractionBehavior = true;
-            RayPerceptionSensor.PerceiveStatic(
-                rayDistance, rayAngles, detectableObjects, startOffset, endOffset, castRadius,
-                transform, RayPerceptionSensor.CastType.Cast3D, m_PerceptionBuffer, legacyHitFractionBehavior
-            );
-
-            return m_PerceptionBuffer;
-        }
-
-    }
-}

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

-using System;
-using System.Collections.Generic;
-using UnityEngine;
-using MLAgents.Sensor;
-
-namespace MLAgents
-{
-    /// <summary>
-    /// Ray perception component. Attach this to agents to enable "local perception"
-    /// via the use of ray casts directed outward from the agent.
-    /// </summary>
-    [Obsolete("The RayPerception MonoBehaviour is deprecated. Use the RayPerceptionSensorComponent instead")]
-    public class RayPerception3D : RayPerception
-    {
-        /// <summary>
-        /// Creates perception vector to be used as part of an observation of an agent.
-        /// Each ray in the rayAngles array adds a sublist of data to the observation.
-        /// The sublist contains the observation data for a single ray. The list is composed of the following:
-        /// 1. A one-hot encoding for detectable objects. For example, if detectableObjects.Length = n, the
-        ///    first n elements of the sublist will be a one-hot encoding of the detectableObject that was hit, or
-        ///    all zeroes otherwise.
-        /// 2. The 'length' element of the sublist will be 1 if the ray missed everything, or 0 if it hit
-        ///    something (detectable or not).
-        /// 3. The 'length+1' element of the sublist will contain the normalised distance to the object hit.
-        /// NOTE: Only objects with tags in the detectableObjects array will have a distance set.
-        /// </summary>
-        /// <returns>The partial vector observation corresponding to the set of rays</returns>
-        /// <param name="rayDistance">Radius of rays</param>
-        /// <param name="rayAngles">Angles of rays (starting from (1,0) on unit circle).</param>
-        /// <param name="detectableObjects">List of tags which correspond to object types agent can see</param>
-        /// <param name="startOffset">Starting height offset of ray from center of agent.</param>
-        /// <param name="endOffset">Ending height offset of ray from center of agent.</param>
-        public override IList<float> Perceive(float rayDistance,
-            float[] rayAngles, string[] detectableObjects,
-            float startOffset=0.0f, float endOffset=0.0f)
-        {
-            var perceptionSize = (detectableObjects.Length + 2) * rayAngles.Length;
-            if (m_PerceptionBuffer == null || m_PerceptionBuffer.Length != perceptionSize)
-            {
-                m_PerceptionBuffer = new float[perceptionSize];
-            }
-
-            const float castRadius = 0.5f;
-            const bool legacyHitFractionBehavior = true;
-            RayPerceptionSensor.PerceiveStatic(
-                rayDistance, rayAngles, detectableObjects, startOffset, endOffset, castRadius,
-                transform, RayPerceptionSensor.CastType.Cast3D, m_PerceptionBuffer, legacyHitFractionBehavior
-            );
-
-            return m_PerceptionBuffer;
-        }
-
-
-    }
-}