Update tanks to work again.

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

   "unity": "2018.4",
   "description": "A source-only package for new features based on ML-Agents",
   "dependencies": {
-    "com.unity.ml-agents": "1.9.0-preview"
+    "com.unity.ml-agents": "1.9.0-preview",
+    "com.unity.burst": "1.4.6"
   }
 }

com.unity.ml-agents.extensions/Tests/Editor/Sensors/CountingGridSensorPerceiveTests.cs

 using System.Collections;
 using NUnit.Framework;
+using Unity.Collections;
 using UnityEngine;
 using UnityEngine.TestTools;
 using Unity.MLAgents.Extensions.Sensors;
 
         public GameObject CreateBlock(Vector3 postion, string tag, string name)
         {
-            GameObject boxGo = new GameObject(name);
+            var boxGo = new GameObject(name);
             boxGo.tag = tag;
             boxGo.transform.position = postion;
             boxGo.AddComponent<BoxCollider>();
 
             yield return null;
 
-            float[] output = gridSensor.Perceive();
+            var output = gridSensor.Perceive(); gridSensor.UpdateBufferFromJob();
-            int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
-            float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new[] { 1f }, 4);
-            float[] expectedDefault = new float[] { 0 };
+            var subarrayIndicies = new int[] { 77, 78, 87, 88 };
+            var expectedSubarrays = GridObsTestUtils.DuplicateArray(new[] { 1f }, 4);
+            var expectedDefault = new float[] { 0 };
             GridObsTestUtils.AssertSubarraysAtIndex(output, subarrayIndicies, expectedSubarrays, expectedDefault);
         }
 
 
             yield return null;
 
-            float[] output = gridSensor.Perceive();
+            var output = gridSensor.Perceive(); gridSensor.UpdateBufferFromJob();
-            int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
-            float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new[] { 1f }, 4);
-            float[] expectedDefault = new float[] { 0f };
+            var subarrayIndicies = new int[] { 77, 78, 87, 88 };
+            var expectedSubarrays = GridObsTestUtils.DuplicateArray(new[] { 1f }, 4);
+            var expectedDefault = new float[] { 0f };
             GridObsTestUtils.AssertSubarraysAtIndex(output, subarrayIndicies, expectedSubarrays, expectedDefault);
         }
 
 
             yield return null;
 
-            float[] output = gridSensor.Perceive();
+            var output = gridSensor.Perceive();
+            gridSensor.UpdateBufferFromJob();
-            int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
-            float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new[] { .5f }, 4);
-            float[] expectedDefault = new float[] { 0 };
+            var subarrayIndicies = new int[] { 77, 78, 87, 88 };
+            var expectedSubarrays = GridObsTestUtils.DuplicateArray(new[] { .25f }, 4);
+            var expectedDefault = new float[] { 0 };
             GridObsTestUtils.AssertSubarraysAtIndex(output, subarrayIndicies, expectedSubarrays, expectedDefault);
         }
 
 
             yield return null;
 
-            float[] output = gridSensor.Perceive();
+            var output = gridSensor.Perceive();
+            gridSensor.UpdateBufferFromJob();
-            int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
-            float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new[] { .5f, 1 }, 4);
-            float[] expectedDefault = new float[] { 0, 0 };
+            var subarrayIndicies = new int[] { 77, 78, 87, 88 };
+            var expectedSubarrays = GridObsTestUtils.DuplicateArray(new[] { 0f, 1 }, 4);
+            var expectedDefault = new float[] { 0, 0 };
             GridObsTestUtils.AssertSubarraysAtIndex(output, subarrayIndicies, expectedSubarrays, expectedDefault);
         }
     }

com.unity.ml-agents.extensions/Tests/Editor/Sensors/GridObservationPerceiveTests.cs

 using System.Collections;
 using NUnit.Framework;
+using Unity.Collections;
 using UnityEngine;
 using UnityEngine.TestTools;
 using Unity.MLAgents.Extensions.Sensors;
 
             yield return null;
 
-            float[] output = gridSensor.Perceive();
+            var output = gridSensor.Perceive(); gridSensor.UpdateBufferFromJob();
-            int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
-            float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { 0, 0, 1 }, 4);
-            float[] expectedDefault = new float[] { 1, 0, 0 };
+            var subarrayIndicies = new int[] { 77, 78, 87, 88 };
+            var expectedSubarrays = GridObsTestUtils.DuplicateArray(new float[] { 0, 0, 1 }, 4);
+            var expectedDefault = new float[] { 1, 0, 0 };
             GridObsTestUtils.AssertSubarraysAtIndex(output, subarrayIndicies, expectedSubarrays, expectedDefault);
         }
 
 
             yield return null;
 
-            float[] output = gridSensor.Perceive();
+            var output = gridSensor.Perceive(); gridSensor.UpdateBufferFromJob();
-            int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
-            float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new[] { 2f / 3f }, 4);
-            float[] expectedDefault = new float[] { 0f };
+            var subarrayIndicies = new int[] { 77, 78, 87, 88 };
+            var expectedSubarrays = GridObsTestUtils.DuplicateArray(new[] { 2f / 3f }, 4);
+            var expectedDefault = new float[] { 0f };
             GridObsTestUtils.AssertSubarraysAtIndex(output, subarrayIndicies, expectedSubarrays, expectedDefault);
         }
 
 
             yield return null;
 
-            float[] output = gridSensor.Perceive();
+            var output = gridSensor.Perceive(); gridSensor.UpdateBufferFromJob();
-            int[] subarrayIndicies = new int[] { 77, 78, 87, 88 };
-            float[][] expectedSubarrays = GridObsTestUtils.DuplicateArray(new[] { 1f / 3f }, 4);
-            float[] expectedDefault = new float[] { 0f };
+            var subarrayIndicies = new int[] { 77, 78, 87, 88 };
+            var expectedSubarrays = GridObsTestUtils.DuplicateArray(new[] { 1f / 3f }, 4);
+            var expectedDefault = new float[] { 0f };
             GridObsTestUtils.AssertSubarraysAtIndex(output, subarrayIndicies, expectedSubarrays, expectedDefault);
         }
     }

com.unity.ml-agents.extensions/Tests/Editor/Sensors/GridSensorTestUtils.cs

 using NUnit.Framework;
 using System;
 using System.Linq;
+using Unity.Collections;
 
 namespace Unity.MLAgents.Extensions.Tests.Sensors
 {
         ///             expecedDefaultArray = new float[] {0, 0}
         ///             )
         /// </example>
-        public static void AssertSubarraysAtIndex(float[] total, int[] indicies, float[][] expectedArrays, float[] expectedDefaultArray)
+        public static void AssertSubarraysAtIndex(NativeArray<float> total, int[] indicies, float[][] expectedArrays, float[] expectedDefaultArray)
         {
             int totalIndex = 0;
             int subIndex = 0;

com.unity.ml-agents.extensions/Runtime/Unity.ML-Agents.Extensions.asmdef

     "references": [
         "Unity.Barracuda",
         "Unity.ML-Agents",
-        "Unity.ML-Agents.Extensions.Input"
+        "Unity.ML-Agents.Extensions.Input",
+        "Unity.Burst"
     ]
 }

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

 using System;
+using Unity.Collections;
 using UnityEngine;
 
 namespace Unity.MLAgents.Extensions.Sensors
         /// </summary>
         public override void InitChannelHotDefaultPerceptionBuffer()
         {
-            m_ChannelHotDefaultPerceptionBuffer = new float[ObservationPerCell];
+            m_ChannelHotDefaultPerceptionBuffer = new NativeArray<float>(ObservationPerCell, Allocator.Persistent);
         }
 
         /// <inheritdoc/>
         /// For each collider, calls LoadObjectData on the gameobejct
         /// </summary>
         /// <param name="foundColliders">The array of colliders</param>
+        /// <param name="numFound"></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 numFound, int cellIndex, Vector3 cellCenter)
 
                 closestColliderPoint = foundColliders[i].ClosestPointOnBounds(cellCenter);
 
-                LoadObjectData(currentColliderGo, cellIndex,
-                    Vector3.Distance(closestColliderPoint, transform.position) * InverseSphereRadius);
+                if (m_DetectableObjectToIndex.TryGetValue(currentColliderGo.tag, out var detectableIndex))
+                {
+                    LoadObjectData(currentColliderGo, cellIndex,
+                        detectableIndex, Vector3.Distance(closestColliderPoint, transform.position) * InverseSphereRadius);
+                }
             }
         }
 
         /// </summary>
         /// <param name="currentColliderGo">the current game object</param>
         /// <param name="cellIndex">the index of the cell</param>
+        /// <param name="detectableIndex"></param>
-        protected override void LoadObjectData(GameObject currentColliderGo, int cellIndex, float normalizedDistance)
+        protected override void LoadObjectData(GameObject currentColliderGo, int cellIndex, int detectableIndex, float normalizedDistance)
-            for (int i = 0; i < DetectableObjects.Length; i++)
+            if (ShowGizmos)
-                if (currentColliderGo != null && currentColliderGo.CompareTag(DetectableObjects[i]))
+                Color debugRayColor = Color.white;
+                if (DebugColors.Length > 0)
-                    if (ShowGizmos)
-                    {
-                        Color debugRayColor = Color.white;
-                        if (DebugColors.Length > 0)
-                        {
-                            debugRayColor = DebugColors[i];
-                        }
-                        CellActivity[cellIndex] = new Color(debugRayColor.r, debugRayColor.g, debugRayColor.b, .5f);
-                    }
-
-                    /// <remarks>
-                    /// The observations are "channel count" so each grid is WxHxC where C is the number of tags
-                    /// This means that each value channelValues[i] is a counter of gameobject included into grid cells where i is the index of the tag in DetectableObjects
-                    /// </remarks>
-                    int countIndex = cellIndex * ObservationPerCell + i;
-                    m_PerceptionBuffer[countIndex] = Mathf.Min(1f, m_PerceptionBuffer[countIndex] + 1f / ChannelDepth[i]);
-                    break;
+                    debugRayColor = DebugColors[detectableIndex];
+                CellActivity[cellIndex] = new Color(debugRayColor.r, debugRayColor.g, debugRayColor.b, .5f);
+
+            // <remarks>
+            // The observations are "channel count" so each grid is WxHxC where C is the number of tags
+            // This means that each value channelValues[i] is a counter of gameobject included into grid cells where i is the index of the tag in DetectableObjects
+            // </remarks>
+            int countIndex = cellIndex * ObservationPerCell + detectableIndex;
+            m_PerceptionBuffer[countIndex] = Mathf.Min(1f, m_PerceptionBuffer[countIndex] + (1f / ChannelDepth[detectableIndex]));
         }
     }
 }

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

 using System;
 using System.Collections.Generic;
+using Unity.Collections;
+using Unity.Jobs;
+using UnityEngine.Jobs;
+using Unity.Burst;
+using Unity.Collections.LowLevel.Unsafe;
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
 
 namespace Unity.MLAgents.Extensions.Sensors
 {
             "Physics API.  If the number of colliders found is >= InitialColliderBufferSize the array " +
             "will be resized to double its current size.  The hard coded absolute size is 500.")]
         public int InitialColliderBufferSize = 4;
-        Collider[] m_ColliderBuffer;
+        // Collider[] m_ColliderBuffer;
+        NativeArray<RaycastHit> m_Hits;
+        NativeArray<int> m_HitIndexes;
+        NativeArray<BoxcastCommand> m_BoxcastCommands;
+        protected Dictionary<string, int> m_DetectableObjectToIndex = new Dictionary<string, int>();
+        /// <summary>
+        /// The offsets used to specify where within a cell's allotted data, certain observations will be inserted.
+        /// </summary>
+        [HideInInspector]
+        public NativeArray<int> ChannelOffsets;
+
+        public NativeArray<float> PerceptionBuffer => m_PerceptionBuffer;
+
+        /// <summary>
+        /// The main storage of perceptual information.
+        /// </summary>
+        protected NativeArray<float> m_PerceptionBuffer;
+
+        /// <summary>
+        ///  The default value of the perceptionBuffer when using the ChannelHot DepthType. Used to reset the array/
+        /// </summary>
+        protected NativeArray<float> m_ChannelHotDefaultPerceptionBuffer;
+
+        /// <summary>
+        /// Array of colors displaying the DebugColors for each cell in OnDrawGizmos. Only updated if ShowGizmos.
+        /// </summary>
+        protected NativeArray<Color> CellActivity;
+
+        /// <summary>
+        /// Array of positions where each position is the center of a cell.
+        /// </summary>
+        private NativeArray<Vector3> CellPoints;
 
         float[] m_ChannelBuffer;
 
         [HideInInspector]
         public int NumberOfObservations;
 
-        /// <summary>
-        /// The offsets used to specify where within a cell's allotted data, certain observations will be inserted.
-        /// </summary>
-        [HideInInspector]
-        public int[] ChannelOffsets;
-        /// <summary>
-        /// The main storage of perceptual information.
-        /// </summary>
-        protected float[] m_PerceptionBuffer;
-        /// <summary>
-        ///  The default value of the perceptionBuffer when using the ChannelHot DepthType. Used to reset the array/
-        /// </summary>
-        protected float[] m_ChannelHotDefaultPerceptionBuffer;
 
         /// <summary>
         /// Array of Colors needed in order to load the values of the perception buffer to a texture.
         public bool ShowGizmos = false;
 
         public SensorCompressionType CompressionType = SensorCompressionType.PNG;
-
-        /// <summary>
-        /// Array of colors displaying the DebugColors for each cell in OnDrawGizmos. Only updated if ShowGizmos.
-        /// </summary>
-        protected Color[] CellActivity;
-
-        /// <summary>
-        /// Array of positions where each position is the center of a cell.
-        /// </summary>
-        private Vector3[] CellPoints;
 
         /// <summary>
         /// List representing the multiple compressed images of all of the grids
         private List<byte[]> byteSizesBytesList;
 
         private Color DebugDefaultColor = new Color(1f, 1f, 1f, 0.25f);
+        internal JobHandle m_boxcastJobHandle;
 
         /// <inheritdoc/>
         public override ISensor CreateSensor()
         public void InitGridParameters()
         {
             NumCells = GridNumSideX * GridNumSideZ;
-            float sphereRadiusX = (CellScaleX * GridNumSideX) / Mathf.Sqrt(2);
-            float sphereRadiusZ = (CellScaleZ * GridNumSideZ) / Mathf.Sqrt(2);
+            var sphereRadiusX = (CellScaleX * GridNumSideX) / Mathf.Sqrt(2);
+            var sphereRadiusZ = (CellScaleZ * GridNumSideZ) / Mathf.Sqrt(2);
-            ChannelOffsets = new int[ChannelDepth.Length];
+            DisposeNativeArray(ChannelOffsets);
+            ChannelOffsets = new NativeArray<int>(ChannelDepth.Length, Allocator.Persistent);
             DiffNumSideZX = (GridNumSideZ - GridNumSideX);
             OffsetGridNumSide = (GridNumSideZ - 1f) / 2f;
             HalfOfGridX = CellScaleX * GridNumSideX / 2;
                     ObservationPerCell = 0;
                     ChannelOffsets[ChannelOffsets.Length - 1] = 0;
 
-                    for (int i = 1; i < ChannelDepth.Length; i++)
+                    for (var i = 1; i < ChannelDepth.Length; i++)
-                    for (int i = 0; i < ChannelDepth.Length; i++)
+                    for (var i = 0; i < ChannelDepth.Length; i++)
                     {
                         ObservationPerCell += ChannelDepth[i];
                     }
         /// </summary>
         private void InitCellPoints()
         {
-            CellPoints = new Vector3[NumCells];
+            if (CellPoints.IsCreated)
+            {
+                CellPoints.Dispose();
+            }
+
+            CellPoints = new NativeArray<Vector3>(NumCells, Allocator.Persistent);
-            for (int i = 0; i < NumCells; i++)
+            for (var i = 0; i < NumCells; i++)
             {
                 CellPoints[i] = CellToPoint(i, false);
             }
         /// </summary>
         public virtual void InitChannelHotDefaultPerceptionBuffer()
         {
-            m_ChannelHotDefaultPerceptionBuffer = new float[ObservationPerCell];
-            for (int i = 0; i < ChannelDepth.Length; i++)
+            if (m_ChannelHotDefaultPerceptionBuffer.IsCreated)
+            {
+                m_ChannelHotDefaultPerceptionBuffer.Dispose();
+            }
+            m_ChannelHotDefaultPerceptionBuffer = new NativeArray<float>(ObservationPerCell, Allocator.Persistent);
+            for (var i = 0; i < ChannelDepth.Length; i++)
             {
                 if (ChannelDepth[i] > 1)
                 {
                 Initialized = true;
 
             NumberOfObservations = ObservationPerCell * NumCells;
-            m_PerceptionBuffer = new float[NumberOfObservations];
+            if (m_PerceptionBuffer.IsCreated)
+            {
+                m_boxcastJobHandle.Complete();
+            }
+            DisposeNativeArray(m_PerceptionBuffer);
+            m_PerceptionBuffer = new NativeArray<float>(NumberOfObservations, Allocator.Persistent);
             if (gridDepthType == GridDepthType.ChannelHot)
             {
                 InitChannelHotDefaultPerceptionBuffer();
             else
                 NumImages += 1;
 
-            CellActivity = new Color[NumCells];
+            m_ChannelBuffer = new float[ChannelDepth.Length];
+            DisposeNativeArray(CellActivity);
+            CellActivity = new NativeArray<Color>(NumCells, Allocator.Persistent);
+        }
+
+        void OnEnable()
+        {
+            Start();
+        }
+
+        void OnDestroy()
+        {
+            DisposeNativeArray(m_Hits);
+            DisposeNativeArray(m_HitIndexes);
+            DisposeNativeArray(m_PerceptionBuffer);
+            DisposeNativeArray(m_BoxcastCommands);
+            DisposeNativeArray(CellActivity);
+            DisposeNativeArray(CellPoints);
+            DisposeNativeArray(m_ChannelHotDefaultPerceptionBuffer);
+            DisposeNativeArray(ChannelOffsets);
+
 
         /// <summary>
         /// Calls the initialization methods. Creates the data storing properties used to send the data
             InitDepthType();
             InitCellPoints();
             InitPerceptionBuffer();
-            m_ColliderBuffer = new Collider[Math.Min(MaxColliderBufferSize, InitialColliderBufferSize)];
+            DisposeNativeArray(m_Hits);
+            m_Hits = new NativeArray<RaycastHit>(NumCells, Allocator.Persistent);
+
+            DisposeNativeArray(m_HitIndexes);
+            m_HitIndexes = new NativeArray<int>(NumCells, Allocator.Persistent);
+
+            DisposeNativeArray(m_BoxcastCommands);
+            m_BoxcastCommands = new NativeArray<BoxcastCommand>(NumCells, Allocator.Persistent);
+
+            for (var i = 0; i < DetectableObjects.Length; i++)
+            {
+                m_DetectableObjectToIndex[DetectableObjects[i]] = i;
+            }
             // Default root reference to current game object
             if (rootReference == null)
                 rootReference = gameObject;
 
         /// <inheritdoc cref="ISensor.Reset"/>
         void ISensor.Reset() { }
+
+        [BurstCompile(CompileSynchronously = true)]
+        struct ClearBufferOneHotJob : IJobParallelFor
+        {
+            public NativeArray<float> PerceptionBuf;
+            [ReadOnly]
+            public NativeArray<float> ChannelHotBuf;
+            public int ObservationPerCell;
+            public void Execute(int index)
+            {
+                PerceptionBuf[index] = ChannelHotBuf[index % ObservationPerCell];
+            }
+        }
+
+        [BurstCompile(CompileSynchronously = true)]
+        struct ClearBufferChannelJob : IJobParallelFor
+        {
+            public NativeArray<float> PerceptionBuf;
+            public void Execute(int index)
+            {
+                PerceptionBuf[index] = 0;
+            }
+        }
+
+        [BurstCompile(CompileSynchronously = true)]
+        struct ClearCellActivityJob : IJobParallelFor
+        {
+            public NativeArray<Color> CellActivity;
+            public Color DebugDefault;
+            public void Execute(int index)
+            {
+                CellActivity[index] = DebugDefault;
+            }
+        }
 
         /// <summary>
         /// Clears the perception buffer before loading in new data. If the gridDepthType is ChannelHot, then it initializes the
         {
-            if (m_PerceptionBuffer != null)
+            Profiler.BeginSample("ClearPerceptionBuffer");
+
-                    for (int i = 0; i < NumCells; i++)
+                    for (var i = 0; i < m_PerceptionBuffer.Length; i++)
-                        Array.Copy(m_ChannelHotDefaultPerceptionBuffer, 0, m_PerceptionBuffer, i * ObservationPerCell, ObservationPerCell);
+                        m_PerceptionBuffer[i] = m_ChannelHotDefaultPerceptionBuffer[i % ObservationPerCell];
-                    Array.Clear(m_PerceptionBuffer, 0, m_PerceptionBuffer.Length);
+                    for (var i = 0; i < m_PerceptionBuffer.Length; i++)
+                    {
+                        m_PerceptionBuffer[i] = 0;
+                    }
+                }
+
+                if (ShowGizmos)
+                {
+                    // Assign the default color to the cell activities
+                    for (var i = 0; i < NumCells; i++)
+                    {
+                        CellActivity[i] = DebugDefaultColor;
+                    }
-            else
-            {
-                m_PerceptionBuffer = new float[NumberOfObservations];
-                m_ColliderBuffer = new Collider[Math.Min(MaxColliderBufferSize, InitialColliderBufferSize)];
-            }
+            Profiler.EndSample();
+        }
-            if (ShowGizmos)
+        static void DisposeNativeArray<TD>(NativeArray<TD> array)
+        where TD : struct
+        {
+            if (array.IsCreated)
-                // Ensure to init arrays if not yet assigned (for editor)
-                if (CellActivity == null)
-                    CellActivity = new Color[NumCells];
-
-                // Assign the default color to the cell activities
-                for (int i = 0; i < NumCells; i++)
-                {
-                    CellActivity[i] = DebugDefaultColor;
-                }
+                array.Dispose();
             }
         }
 
         /// <returns>byte[] containing the compressed observation of the grid observation</returns>
         public byte[] GetCompressedObservation()
         {
-            using (TimerStack.Instance.Scoped("GridSensor.GetCompressedObservation"))
+            UpdateBufferFromJob();
+            var allBytes = new List<byte>();
+            Profiler.BeginSample("GridSensor.GetCompressedObservation");
-                Perceive(); // Fill the perception buffer with observed data
-                var allBytes = new List<byte>();
-
-                for (int i = 0; i < NumImages - 1; i++)
+                for (var i = 0; i < NumImages - 1; i++)
                 {
                     ChannelsToTexture(3 * i, 3);
                     allBytes.AddRange(m_perceptionTexture2D.EncodeToPNG());
                 allBytes.AddRange(m_perceptionTexture2D.EncodeToPNG());
-
-                return allBytes.ToArray();
+            Profiler.EndSample();
+            return allBytes.ToArray();
         }
 
         /// <summary>
         /// <param name="numChannelsToAdd"></param>
         protected void ChannelsToTexture(int channelIndex, int numChannelsToAdd)
         {
-            for (int i = 0; i < NumCells; i++)
+            for (var i = 0; i < NumCells; i++)
-                for (int j = 0; j < numChannelsToAdd; j++)
+                for (var j = 0; j < numChannelsToAdd; j++)
                 {
                     m_PerceptionColors[i][j] = m_PerceptionBuffer[i * ObservationPerCell + channelIndex + j];
                 }
 
+        [BurstCompile(CompileSynchronously = true)]
+        struct CreateBoxcastBatch : IJobParallelFor
+        {
+            public NativeArray<BoxcastCommand> Commands;
+            [ReadOnly]
+            public float YOffset;
+            [ReadOnly]
+            public Vector3 halfScale;
+            public int ObserveMask;
+            [ReadOnly]
+            public NativeArray<Vector3> CellPoints;
+            [ReadOnly]
+            public Vector3 Pos;
+
+            public void Execute(int index)
+            {
+                var cellCenter = Pos + CellPoints[index];
+                var rotation = Quaternion.identity;
+                Commands[index] = new BoxcastCommand(new Vector3(cellCenter.x, cellCenter.y + YOffset, cellCenter.z),
+                    halfScale,
+                    rotation,
+                    Vector3.down,
+                    10.0f,
+                    ObserveMask);
+
+            }
+        }
+
+        [BurstCompile(CompileSynchronously = true)]
+        struct CreateBoxcastRotateBatch : IJobParallelFor
+        {
+            public NativeArray<BoxcastCommand> Commands;
+            public Vector3 halfScale;
+            public int ObserveMask;
+            [ReadOnly]
+            public NativeArray<Vector3> CellPoints;
+            [ReadOnly]
+            public float YOffset;
+            [ReadOnly]
+            public Matrix4x4 Mat;
+            public Quaternion Rotation;
+
+
+            public void Execute(int index)
+            {
+                var cellCenter = Mat.MultiplyPoint(CellPoints[index]);
+                var rotation = Rotation;
+                Commands[index] = new BoxcastCommand(new Vector3(cellCenter.x, cellCenter.y + YOffset, cellCenter.z),
+                    halfScale,
+                    rotation,
+                    Vector3.down,
+                    10.0f,
+                    ObserveMask);
+
+            }
+        }
+
+        // ReSharper disable Unity.PerformanceAnalysis
         /// <summary>
         /// Perceive - Clears the buffers, calls overlap box on the actual cell (the actual perception part)
         /// for all found colliders, LoadObjectData is called
-        public float[] Perceive()
+        public NativeArray<float> Perceive()
-            if (m_ColliderBuffer == null)
+            if (!m_PerceptionBuffer.IsCreated || !m_Hits.IsCreated || !m_BoxcastCommands.IsCreated)
-                return Array.Empty<float>();
+                return new NativeArray<float>();
-            ClearPerceptionBuffer();
-            using (TimerStack.Instance.Scoped("GridSensor.Perceive"))
+
+            Profiler.BeginSample("GridSensor.Perceive");
-                var halfCellScale = new Vector3(CellScaleX / 2f, CellScaleY, CellScaleZ / 2f);
-
-                for (var cellIndex = 0; cellIndex < NumCells; cellIndex++)
+                m_boxcastJobHandle.Complete();
+                JobHandle clearHandle;
+                if (gridDepthType == GridDepthType.ChannelHot)
-                    int numFound;
-                    Vector3 cellCenter;
-                    if (RotateToAgent)
+                    var clearJob = new ClearBufferOneHotJob
-                        Transform transform1;
-                        cellCenter = (transform1 = transform).TransformPoint(CellPoints[cellIndex]);
-                        numFound = BufferResizingOverlapBoxNonAlloc(cellCenter, halfCellScale, transform1.rotation);
-                    }
-                    else
+                        PerceptionBuf = m_PerceptionBuffer,
+                        ChannelHotBuf = m_ChannelHotDefaultPerceptionBuffer,
+                        ObservationPerCell = ObservationPerCell
+                    };
+                    clearHandle = clearJob.Schedule(NumberOfObservations, NumberOfObservations / 12);
+
+                }
+                else
+                {
+                    var clearJob = new ClearBufferChannelJob
-                        cellCenter = transform.position + CellPoints[cellIndex];
-                        numFound = BufferResizingOverlapBoxNonAlloc(cellCenter, halfCellScale, Quaternion.identity);
-                    }
+                        PerceptionBuf = m_PerceptionBuffer
+                    };
+                    clearHandle = clearJob.Schedule(NumberOfObservations, NumberOfObservations / 12);
+                }
-                    if (numFound > 0)
+                if (ShowGizmos)
+                {
+                    var gizmoJob = new ClearCellActivityJob
-                        ParseColliders(m_ColliderBuffer, numFound, cellIndex, cellCenter);
-                    }
+                        CellActivity = CellActivity,
+                        DebugDefault = DebugDefaultColor
+                    };
+                    var gizmoHandle = gizmoJob.Schedule(NumCells, NumCells / 12);
+                    clearHandle = JobHandle.CombineDependencies(clearHandle, gizmoHandle);
-            }
-            return m_PerceptionBuffer;
-        }
-        /// <summary>
-        /// This method attempts to perform the Physics.OverlapBoxNonAlloc and will double the size of the Collider buffer
-        /// if the number of Colliders in the buffer after the call is equal to the length of the buffer.
-        /// </summary>
-        /// <param name="cellCenter"></param>
-        /// <param name="halfCellScale"></param>
-        /// <param name="rotation"></param>
-        /// <returns></returns>
-        int BufferResizingOverlapBoxNonAlloc(Vector3 cellCenter, Vector3 halfCellScale, Quaternion rotation)
-        {
-            int numFound;
-            // Since we can only get a fixed number of results, requery
-            // until we're sure we can hold them all (or until we hit the max size).
-            while (true)
-            {
-                numFound = Physics.OverlapBoxNonAlloc(cellCenter, halfCellScale, m_ColliderBuffer, rotation, ObserveMask);
-                if (numFound == m_ColliderBuffer.Length && m_ColliderBuffer.Length < MaxColliderBufferSize)
+                var t = transform;
+                var halfCellScale = new Vector3(CellScaleX / 2f, CellScaleY / 2f, CellScaleZ / 2f);
+                JobHandle createBoxHandle;
+                if (RotateToAgent)
-                    m_ColliderBuffer = new Collider[Math.Min(MaxColliderBufferSize, m_ColliderBuffer.Length * 2)];
-                    InitialColliderBufferSize = m_ColliderBuffer.Length;
+                    var createBoxcasts = new CreateBoxcastRotateBatch
+                    {
+                        Commands = m_BoxcastCommands,
+                        halfScale = halfCellScale,
+                        Mat = t.localToWorldMatrix,
+                        CellPoints = CellPoints,
+                        ObserveMask = ObserveMask,
+                        Rotation = t.rotation,
+                        YOffset = GizmoYOffset
+                    };
+                    createBoxHandle = createBoxcasts.Schedule(NumCells, NumCells / 12, clearHandle);
-                    break;
+
+                    var createBoxcasts = new CreateBoxcastBatch
+                    {
+                        Commands = m_BoxcastCommands,
+                        halfScale = halfCellScale,
+                        Pos = t.position,
+                        CellPoints = CellPoints,
+                        ObserveMask = ObserveMask,
+                        YOffset = GizmoYOffset
+                    };
+                    createBoxHandle = createBoxcasts.Schedule(NumCells, NumCells / 12, clearHandle);
+
+                m_boxcastJobHandle = BoxcastCommand.ScheduleBatch(m_BoxcastCommands, m_Hits, NumCells / 12, createBoxHandle);
+
-
-            return numFound;
+            Profiler.EndSample();
+            return m_PerceptionBuffer;
+
 
         /// <summary>
         /// Parses the array of colliders found within a cell. Finds the closest gameobject to the agent root reference within the cell
         /// <param name="cellCenter">The center position of the cell</param>
         protected virtual void ParseColliders(Collider[] foundColliders, int numFound, int cellIndex, Vector3 cellCenter)
         {
-            Profiler.BeginSample("GridSensor.ParseColliders");
-            GameObject closestColliderGo = null;
-            var minDistanceSquared = float.MaxValue;
-
-            for (var i = 0; i < numFound; i++)
-            {
-                var currentColliderGo = foundColliders[i].gameObject;
-
-                // Continue if the current collider go is the root reference
-                if (ReferenceEquals(currentColliderGo, rootReference))
-                    continue;
-
-                var closestColliderPoint = foundColliders[i].ClosestPointOnBounds(cellCenter);
-                var currentDistanceSquared = (closestColliderPoint - rootReference.transform.position).sqrMagnitude;
-
-                // Checks if our colliders contain a detectable object
-                var index = -1;
-                for (var ii = 0; ii < DetectableObjects.Length; ii++)
-                {
-                    if (currentColliderGo.CompareTag(DetectableObjects[ii]))
-                    {
-                        index = ii;
-                        break;
-                    }
-                }
-                if (index > -1 && currentDistanceSquared < minDistanceSquared)
-                {
-                    minDistanceSquared = currentDistanceSquared;
-                    closestColliderGo = currentColliderGo;
-                }
-            }
-
-            if (!ReferenceEquals(closestColliderGo, null))
-                LoadObjectData(closestColliderGo, cellIndex, (float)Math.Sqrt(minDistanceSquared) * InverseSphereRadius);
-            Profiler.EndSample();
+            // Profiler.BeginSample("GridSensor.ParseColliders");
+            // GameObject closestColliderGo = null;
+            // var minDistanceSquared = float.MaxValue;
+            //
+            // var detectableIndex = -1;
+            // for (var i = 0; i < numFound; i++)
+            // {
+            //     if (ReferenceEquals(foundColliders[i], null))
+            //     {
+            //         continue;
+            //     }
+            //     var currentColliderGo = foundColliders[i].gameObject;
+            //
+            //     // Continue if the current collider go is the root reference
+            //     if (ReferenceEquals(currentColliderGo, rootReference))
+            //         continue;
+            //
+            //     var closestColliderPoint = foundColliders[i].ClosestPointOnBounds(cellCenter);
+            //     var currentDistanceSquared = (closestColliderPoint - rootReference.transform.position).sqrMagnitude;
+            //     Profiler.EndSample();
+            //
+            //     // Checks if our colliders contain a detectable object
+            //     if (m_DetectableObjectToIndex.TryGetValue(currentColliderGo.tag, out detectableIndex) && currentDistanceSquared < minDistanceSquared)
+            //     {
+            //     }
+            //     for (var ii = 0; ii < DetectableObjects.Length; ii++)
+            //     {
+            //         if (currentColliderGo.CompareTag(DetectableObjects[ii]))
+            //         {
+            //             minDistanceSquared = currentDistanceSquared;
+            //             closestColliderGo = currentColliderGo;
+            //             break;
+            //         }
+            //     }
+            // }
+            //
+            // if (!ReferenceEquals(closestColliderGo, null))
+            //     LoadObjectData(closestColliderGo, cellIndex, detectableIndex, (float)Math.Sqrt(minDistanceSquared) * InverseSphereRadius);
+            // Profiler.EndSample();
         }
 
         /// <summary>
         /// </example>
         protected virtual float[] GetObjectData(GameObject currentColliderGo, float typeIndex, float normalizedDistance)
         {
-            if (m_ChannelBuffer == null)
-            {
-                m_ChannelBuffer = new float[ChannelDepth.Length];
-            }
             Array.Clear(m_ChannelBuffer, 0, m_ChannelBuffer.Length);
             m_ChannelBuffer[0] = typeIndex;
             return m_ChannelBuffer;
         /// <param name="currentColliderGo">The gameobject used for better error messages</param>
         protected virtual void ValidateValues(float[] channelValues, GameObject currentColliderGo)
         {
-            for (int j = 0; j < channelValues.Length; j++)
+            for (var j = 0; j < channelValues.Length; j++)
             {
                 if (channelValues[j] < 0)
                     throw new UnityAgentsException("Expected ChannelValue[" + j + "] for " + currentColliderGo.name + " to be non-negative, was " + channelValues[j]);
         /// </summary>
         /// <param name="currentColliderGo">The game object that was found colliding with a certain cell</param>
         /// <param name="cellIndex">The index of the current cell</param>
+        /// <param name="detectableIndex">Index into the DetectableObjects array.</param>
-        ///            the distance currentColliderGo is compared to the edge of the gridsensor</param>
-        protected virtual void LoadObjectData(GameObject currentColliderGo, int cellIndex, float normalizedDistance)
+        ///     the distance currentColliderGo is compared to the edge of the gridsensor</param>
+        protected virtual void LoadObjectData(GameObject currentColliderGo, int cellIndex, int detectableIndex, float normalizedDistance)
-            var channelHotVals = new ArraySegment<float>(m_PerceptionBuffer, cellIndex * ObservationPerCell, ObservationPerCell);
-            for (var i = 0; i < DetectableObjects.Length; i++)
+            var offset = cellIndex * ObservationPerCell;
+            for (var ii = 0; ii < ObservationPerCell; ii++)
-                for (var ii = 0; ii < channelHotVals.Count; ii++)
+                m_PerceptionBuffer[offset + ii] = 0f;
+            }
+
+            // TODO: Create the array already then set the values using "out" in GetObjectData
+            // Using i+1 as the type index as "0" represents "empty"
+            var channelValues = GetObjectData(currentColliderGo, (float)detectableIndex + 1, normalizedDistance);
+
+            ValidateValues(channelValues, currentColliderGo);
+            if (ShowGizmos)
+            {
+                var debugRayColor = Color.white;
+                if (DebugColors.Length > 0)
-                    m_PerceptionBuffer[channelHotVals.Offset + ii] = 0f;
+                    debugRayColor = DebugColors[detectableIndex];
-                if (!ReferenceEquals(currentColliderGo, null) && currentColliderGo.CompareTag(DetectableObjects[i]))
-                {
-                    // TODO: Create the array already then set the values using "out" in GetObjectData
-                    // Using i+1 as the type index as "0" represents "empty"
-                    float[] channelValues = GetObjectData(currentColliderGo, (float)i + 1, normalizedDistance);
+                CellActivity[cellIndex] = new Color(debugRayColor.r, debugRayColor.g, debugRayColor.b, .15f);
+            }
-                    ValidateValues(channelValues, currentColliderGo);
-                    if (ShowGizmos)
+            switch (gridDepthType)
+            {
+                case GridDepthType.Channel:
-                        Color debugRayColor = Color.white;
-                        if (DebugColors.Length > 0)
+                        // The observations are "channel based" so each grid is WxHxC where C is the number of channels
+                        // This typically means that each channel value is normalized between 0 and 1
+                        // If channelDepth is 1, the value is assumed normalized, else the value is normalized by the channelDepth
+                        // The channels are then stored consecutively in PerceptionBuffer.
+                        // NOTE: This is the only grid type that uses floating point values
+                        // For example, if a cell contains the 3rd type of 5 possible on the 2nd team of 3 possible teams:
+                        // channelValues = {2, 1}
+                        // ObservationPerCell = channelValues.Length
+                        // channelValues = {2f/5f, 1f/3f} = {.4, .33..}
+                        // Array.Copy(channelValues, 0, PerceptionBuffer, cell_id*ObservationPerCell, ObservationPerCell);
+                        for (var j = 0; j < channelValues.Length; j++)
-                            debugRayColor = DebugColors[i];
+                            channelValues[j] /= ChannelDepth[j];
-                        CellActivity[cellIndex] = new Color(debugRayColor.r, debugRayColor.g, debugRayColor.b, .5f);
+                        for (var ii = 0; ii < ObservationPerCell; ii++)
+                        {
+                            m_PerceptionBuffer[offset + ii] = channelValues[ii];
+                        }
+                        break;
-                    switch (gridDepthType)
+                case GridDepthType.ChannelHot:
-                        case GridDepthType.Channel:
+                        // The observations are "channel hot" so each grid is WxHxD where D is the sum of all of the channel depths
+                        // The opposite of the "channel based" case, the channel values are represented as one hot vector per channel and then concatenated together
+                        // Thus channelDepth is assumed to be greater than 1.
+                        // For example, if a cell contains the 3rd type of 5 possible on the 2nd team of 3 possible teams,
+                        // channelValues = {2, 1}
+                        // channelOffsets = {5, 3}
+                        // ObservationPerCell = 5 + 3 = 8
+                        // channelHotVals = {0, 0, 1, 0, 0, 0, 1, 0}
+                        // Array.Copy(channelHotVals, 0, PerceptionBuffer, cell_id*ObservationPerCell, ObservationPerCell);
+                        for (var j = 0; j < channelValues.Length; j++)
+                        {
+                            if (ChannelDepth[j] > 1)
-                                // The observations are "channel based" so each grid is WxHxC where C is the number of channels
-                                // This typically means that each channel value is normalized between 0 and 1
-                                // If channelDepth is 1, the value is assumed normalized, else the value is normalized by the channelDepth
-                                // The channels are then stored consecutively in PerceptionBuffer.
-                                // NOTE: This is the only grid type that uses floating point values
-                                // For example, if a cell contains the 3rd type of 5 possible on the 2nd team of 3 possible teams:
-                                // channelValues = {2, 1}
-                                // ObservationPerCell = channelValues.Length
-                                // channelValues = {2f/5f, 1f/3f} = {.4, .33..}
-                                // Array.Copy(channelValues, 0, PerceptionBuffer, cell_id*ObservationPerCell, ObservationPerCell);
-                                for (int j = 0; j < channelValues.Length; j++)
-                                {
-                                    channelValues[j] /= ChannelDepth[j];
-                                }
-
-                                Array.Copy(channelValues, 0, m_PerceptionBuffer, cellIndex * ObservationPerCell, ObservationPerCell);
-                                break;
+                                m_PerceptionBuffer[offset + (int)channelValues[j] + ChannelOffsets[j]] = 1f;
-
-                        case GridDepthType.ChannelHot:
+                            else
-                                // The observations are "channel hot" so each grid is WxHxD where D is the sum of all of the channel depths
-                                // The opposite of the "channel based" case, the channel values are represented as one hot vector per channel and then concatenated together
-                                // Thus channelDepth is assumed to be greater than 1.
-                                // For example, if a cell contains the 3rd type of 5 possible on the 2nd team of 3 possible teams,
-                                // channelValues = {2, 1}
-                                // channelOffsets = {5, 3}
-                                // ObservationPerCell = 5 + 3 = 8
-                                // channelHotVals = {0, 0, 1, 0, 0, 0, 1, 0}
-                                // Array.Copy(channelHotVals, 0, PerceptionBuffer, cell_id*ObservationPerCell, ObservationPerCell);
-                                for (int j = 0; j < channelValues.Length; j++)
-                                {
-                                    if (ChannelDepth[j] > 1)
-                                    {
-                                        m_PerceptionBuffer[channelHotVals.Offset + (int)channelValues[j] + ChannelOffsets[j]] = 1f;
-                                    }
-                                    else
-                                    {
-                                        m_PerceptionBuffer[channelHotVals.Offset + ChannelOffsets[j]] = channelValues[j];
-                                    }
-                                }
-                                break;
+                                m_PerceptionBuffer[offset + ChannelOffsets[j]] = channelValues[j];
-                    }
+                        }
-                    break;
-                }
+                        break;
+                    }
+
             Profiler.EndSample();
         }
 
         /// <param name="shouldTransformPoint">Bool weather to transform the point to the current transform</param>
         protected Vector3 CellToPoint(int cell, bool shouldTransformPoint = true)
         {
-            float x = (cell % GridNumSideZ - OffsetGridNumSide) * CellScaleX;
-            float z = (cell / GridNumSideZ - OffsetGridNumSide) * CellScaleZ - DiffNumSideZX;
+            var x = (cell % GridNumSideZ - OffsetGridNumSide) * CellScaleX;
+            var z = (cell / GridNumSideZ - OffsetGridNumSide) * CellScaleZ - DiffNumSideZX;
 
             if (shouldTransformPoint)
                 return transform.TransformPoint(new Vector3(x, 0, z));
         /// <param name="globalPoint">The 3D point in global space</param>
         public int PointToCell(Vector3 globalPoint)
         {
-            Vector3 point = transform.InverseTransformPoint(globalPoint);
+            var point = transform.InverseTransformPoint(globalPoint);
-            float x = point.x + HalfOfGridX;
-            float z = point.z + HalfOfGridZ;
+            var x = point.x + HalfOfGridX;
+            var z = point.z + HalfOfGridZ;
-            int _x = (int)Mathf.Floor(x * PointToCellScalingX);
-            int _z = (int)Mathf.Floor(z * PointToCellScalingZ);
+            var _x = (int)Mathf.Floor(x * PointToCellScalingX);
+            var _z = (int)Mathf.Floor(z * PointToCellScalingZ);
-        /// <summary>Copies the data from one cell to another</summary>
-        /// <param name="fromCellID">index of the cell to copy from</param>
-        /// <param name="toCellID">index of the cell to copy into</param>
-        protected void CopyCellData(int fromCellID, int toCellID)
-        {
-            Array.Copy(m_PerceptionBuffer,
-                fromCellID * ObservationPerCell,
-                m_PerceptionBuffer,
-                toCellID * ObservationPerCell,
-                ObservationPerCell);
-            if (ShowGizmos)
-                CellActivity[toCellID] = CellActivity[fromCellID];
-        }
+        // /// <summary>Copies the data from one cell to another</summary>
+        // /// <param name="fromCellID">index of the cell to copy from</param>
+        // /// <param name="toCellID">index of the cell to copy into</param>
+        // protected void CopyCellData(int fromCellID, int toCellID)
+        // {
+        //     Array.Copy(m_PerceptionBuffer,
+        //         fromCellID * ObservationPerCell,
+        //         m_PerceptionBuffer,
+        //         toCellID * ObservationPerCell,
+        //         ObservationPerCell);
+        //     if (ShowGizmos)
+        //         CellActivity[toCellID] = CellActivity[fromCellID];
+        // }
 
         void OnDrawGizmos()
         {
                     Start();
 
                 Perceive();
+                UpdateBufferFromJob();
-                var scale = new Vector3(CellScaleX, 1, CellScaleZ);
+                var scale = new Vector3(CellScaleX, CellScaleY, CellScaleZ);
                 var offset = new Vector3(0, GizmoYOffset, 0);
                 var oldGizmoMatrix = Gizmos.matrix;
                 for (var i = 0; i < NumCells; i++)
         /// <inheritdoc/>
         void ISensor.Update()
         {
-            using (TimerStack.Instance.Scoped("GridSensor.Update"))
+            Profiler.BeginSample("GridSensor.Update");
+            Profiler.EndSample();
         }
 
         /// <summary>Gets the observation shape</summary>
         /// <inheritdoc/>
         public int Write(ObservationWriter writer)
         {
-            using (TimerStack.Instance.Scoped("GridSensor.WriteToTensor"))
+            UpdateBufferFromJob();
+            var index = 0;
+            Profiler.BeginSample("GridSensor.WriteToTensor");
-                int index = 0;
                 for (var h = GridNumSideZ - 1; h >= 0; h--) // height
                 {
                     for (var w = 0; w < GridNumSideX; w++) // width
                         }
                     }
                 }
-                return index;
+                Profiler.EndSample();
+            return index;
+        }
+
+        internal void UpdateBufferFromJob()
+        {
+            Profiler.BeginSample("UpdateBufferFromJob");
+            {
+                m_boxcastJobHandle.Complete();
+                for (var cellIndex = 0; cellIndex < NumCells; cellIndex++)
+                {
+                    var c = m_Hits[cellIndex].collider;
+                    if (ReferenceEquals(c, null))
+                    {
+                        continue;
+                    }
+
+                    for (var i = 0; i < DetectableObjects.Length; i++)
+                    {
+                        if (c.CompareTag(DetectableObjects[i]))
+                        {
+                            LoadObjectData(c.gameObject, cellIndex, i, 0);
+                            break;
+                        }
+                    }
+                }
+            }
+            Profiler.EndSample();
         }
     }
 }

.gitignore

 # Unity3D Generated File On Crash Reports
 /com.unity.ml-agents/sysinfo.txt
 
+*/UserSettings/
+
 # Builds
 *.apk
 *.unitypackage

ML-Agents-Input-Example/.gitignore

 /Assets/Plugins*
 /Assets/Demonstrations*
 /Assets/ML-Agents/Timers*
-/*_timers.json
+/csharp_timers.json
 
 # Environemnt logfile
 *Project.log

ML-Agents-Input-Example/ProjectSettings/DynamicsManager.asset

 --- !u!55 &1
 PhysicsManager:
   m_ObjectHideFlags: 0
-  serializedVersion: 10
+  serializedVersion: 13
-  m_DefaultSolverIterations: 12
-  m_DefaultSolverVelocityIterations: 12
+  m_DefaultSolverIterations: 6
+  m_DefaultSolverVelocityIterations: 1
-  m_ClothInterCollisionDistance: 0
-  m_ClothInterCollisionStiffness: 0
+  m_ClothInterCollisionDistance: 0.1
+  m_ClothInterCollisionStiffness: 0.2
-  m_LayerCollisionMatrix: ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffebffffffddffffffeffffffff5fffffffbffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff
+  m_LayerCollisionMatrix: ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff
-  m_AutoSyncTransforms: 1
-  m_ReuseCollisionCallbacks: 1
+  m_AutoSyncTransforms: 0
+  m_ReuseCollisionCallbacks: 0
+  m_ClothGravity: {x: 0, y: -9.81, z: 0}
   m_ContactPairsMode: 0
   m_BroadphaseType: 0
   m_WorldBounds:
   m_FrictionType: 0
-  m_EnableEnhancedDeterminism: 1
+  m_EnableEnhancedDeterminism: 0
+  m_SolverType: 0
+  m_DefaultMaxAngularSpeed: 50

ML-Agents-Input-Example/ProjectSettings/EditorSettings.asset

 EditorSettings:
   m_ObjectHideFlags: 0
   serializedVersion: 9
-  m_ExternalVersionControlSupport: Hidden Meta Files
+  m_ExternalVersionControlSupport: Visible Meta Files
   m_SerializationMode: 2
   m_LineEndingsForNewScripts: 1
   m_DefaultBehaviorMode: 0
   m_EtcTextureFastCompressor: 1
   m_EtcTextureNormalCompressor: 2
   m_EtcTextureBestCompressor: 4
-  m_ProjectGenerationIncludedExtensions: txt;xml;fnt;cd;asmdef;rsp;asmref
+  m_ProjectGenerationIncludedExtensions: txt;xml;fnt;cd;asmdef;asmref;rsp
   m_ProjectGenerationRootNamespace: 
   m_CollabEditorSettings:
     inProgressEnabled: 1
   m_EnterPlayModeOptionsEnabled: 0
   m_EnterPlayModeOptions: 3
   m_ShowLightmapResolutionOverlay: 1
-  m_UseLegacyProbeSampleCount: 1
+  m_UseLegacyProbeSampleCount: 0
   m_AssetPipelineMode: 1
   m_CacheServerMode: 0
   m_CacheServerEndpoint: 

ML-Agents-Input-Example/ProjectSettings/PresetManager.asset

 --- !u!1386491679 &1
 PresetManager:
   m_ObjectHideFlags: 0
-  m_DefaultList: []
+  serializedVersion: 2
+  m_DefaultPresets: {}

ML-Agents-Input-Example/ProjectSettings/ProjectSettings.asset

 PlayerSettings:
   m_ObjectHideFlags: 0
   serializedVersion: 20
-  productGUID: cd7e9a0e0d1d14312ad9e89757262f3b
+  productGUID: 4afafe345a24f402aa7513be24dd3990
   AndroidProfiler: 0
   AndroidFilterTouchesWhenObscured: 0
   AndroidEnableSustainedPerformanceMode: 0
   accelerometerFrequency: 60
-  companyName: Unity Technologies
-  productName: UnityEnvironment
+  companyName: DefaultCompany
+  productName: ML-Agents-Input-Example
   defaultCursor: {fileID: 0}
   cursorHotspot: {x: 0, y: 0}
   m_SplashScreenBackgroundColor: {r: 0.13725491, g: 0.12156863, b: 0.1254902, a: 1}
   m_SplashScreenLogos: []
   m_VirtualRealitySplashScreen: {fileID: 0}
   m_HolographicTrackingLossScreen: {fileID: 0}
-  defaultScreenWidth: 80
-  defaultScreenHeight: 80
+  defaultScreenWidth: 1024
+  defaultScreenHeight: 768
   defaultScreenWidthWeb: 960
   defaultScreenHeightWeb: 600
   m_StereoRenderingPath: 0
   preserveFramebufferAlpha: 0
   disableDepthAndStencilBuffers: 0
   androidStartInFullscreen: 1
-  androidRenderOutsideSafeArea: 0
+  androidRenderOutsideSafeArea: 1
   androidUseSwappy: 0
   androidBlitType: 0
   defaultIsNativeResolution: 1
   hideHomeButton: 0
   submitAnalytics: 1
   usePlayerLog: 1
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   useFlipModelSwapchain: 1
   resizableWindow: 1
   xboxEnableKinectAutoTracking: 0
   xboxEnableFitness: 0
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   fullscreenMode: 3
   xboxSpeechDB: 0
   xboxEnableHeadOrientation: 0
     16:9: 1
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   bundleVersion: 1.0
-  preloadedAssets:
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+  preloadedAssets: []
-  xboxOneDisableKinectGpuReservation: 0
-  xboxOneEnable7thCore: 0
+  xboxOneDisableKinectGpuReservation: 1
+  xboxOneEnable7thCore: 1
   vrSettings:
     cardboard:
       depthFormat: 0
       maximumSupportedHeadTracking: 1
     hololens:
       depthFormat: 1
-      depthBufferSharingEnabled: 0
+      depthBufferSharingEnabled: 1
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+      dashSupport: 1
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   androidSupportedAspectRatio: 1
   androidMaxAspectRatio: 2.1
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-    Android: com.Company.ProductName
-  buildNumber:
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+  applicationIdentifier: {}
+  buildNumber: {}
   AndroidBundleVersionCode: 1
   AndroidMinSdkVersion: 19
   AndroidTargetSdkVersion: 0
   APKExpansionFiles: 0
   keepLoadedShadersAlive: 0
   StripUnusedMeshComponents: 0
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ML-Agents-Input-Example/Assets/Samples/Input System/1.0.2/Tanks Demo/Editor/MoveSceneViewCamera.cs

+#if UNITY_EDITOR
+using UnityEditor;
+using UnityEngine;
+
+public class MoveSceneViewCamera
+{
+    [MenuItem("Window/Position Scene View Camera")]
+    static void PositionCamera()
+    {
+        SceneView.lastActiveSceneView.pivot = new Vector3(-147f, 23.5f, 237f);
+        SceneView.lastActiveSceneView.rotation = Quaternion.Euler(0f, 150f, 0f);
+        SceneView.lastActiveSceneView.orthographic = true;
+        SceneView.lastActiveSceneView.size = 100f;
+        Selection.activeGameObject = Camera.main.gameObject;
+    }
+}
+#endif

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