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.

Author: miguelalonsojr

.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)

.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

.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 }}:

.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

.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
 

.yamato/coverage_tests.metafile

@@ -1,5 +1,5 @@
 coverage_test_editors:
-    - version: 2021.3
+    - version: 2022.3
       testProject: DevProject
 
 coverage_test_platforms:

.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:

.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

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",

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",