Merge master into develop-single-config

Author: Ervin Teng

Project/Assets/ML-Agents/Examples/3DBall/Demos/Expert3DBall.demo.meta

@@ -66,13 +66,10 @@ public override void OnEpisodeBegin()
  SetResetParameters();
  }
 
- public override float[] Heuristic()
+ public override void Heuristic(float[] actionsOut)
  {
- var action = new float[2];
-
- action[0] = -Input.GetAxis("Horizontal");
- action[1] = Input.GetAxis("Vertical");
- return action;
+ actionsOut[0] = -Input.GetAxis("Horizontal");
+ actionsOut[1] = Input.GetAxis("Vertical");
  }
 
  public void SetBall()

Project/Assets/ML-Agents/Examples/3DBall/Demos/Expert3DBallHard.demo.meta

@@ -102,14 +102,11 @@ void FixedUpdate()
  }
  }
 
- public override float[] Heuristic()
+ public override void Heuristic(float[] actionsOut)
  {
- var action = new float[3];
-
- action[0] = Input.GetAxis("Horizontal");
- action[1] = Input.GetKey(KeyCode.Space) ? 1.0f : 0.0f;
- action[2] = Input.GetAxis("Vertical");
- return action;
+ actionsOut[0] = Input.GetAxis("Horizontal");
+ actionsOut[1] = Input.GetKey(KeyCode.Space) ? 1.0f : 0.0f;
+ actionsOut[2] = Input.GetAxis("Vertical");
  }
 
  void Update()

Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DAgent.cs

@@ -207,27 +207,25 @@ public override void OnActionReceived(float[] vectorAction)
  MoveAgent(vectorAction);
  }
 
- public override float[] Heuristic()
+ public override void Heuristic(float[] actionsOut)
  {
- var action = new float[4];
  if (Input.GetKey(KeyCode.D))
  {
- action[2] = 2f;
+ actionsOut[2] = 2f;
  }
  if (Input.GetKey(KeyCode.W))
  {
- action[0] = 1f;
+ actionsOut[0] = 1f;
  }
  if (Input.GetKey(KeyCode.A))
  {
- action[2] = 1f;
+ actionsOut[2] = 1f;
  }
  if (Input.GetKey(KeyCode.S))
  {
- action[0] = 2f;
+ actionsOut[0] = 2f;
  }
- action[3] = Input.GetKey(KeyCode.Space) ? 1.0f : 0.0f;
- return action;
+ actionsOut[3] = Input.GetKey(KeyCode.Space) ? 1.0f : 0.0f;
  }
 
  public override void OnEpisodeBegin()