Boids seem to work, but don't flock together

Assets/NanoBrain/Editor/NeuroidWindow.cs

@@ -37,6 +37,11 @@ public class GraphEditorWindow : EditorWindow {
             int neuroidIx = 0;
 
             foreach (Neuroid neuroid in neuroids) {
+                if (neuroid.IsStale()) {
+                    neuronVisited.Add(neuroid);
+                    continue;
+                }
+
                 // If this neuroid is not visited while its output neuroid is visited
                 if (!neuronVisited.Contains(neuroid) && (neuroid.outputNeuroid == null ||
                     (neuronVisited.Contains(neuroid.outputNeuroid) && neuroid.outputNeuroid.layerIx == layerIx - 1))) {
@@ -109,17 +114,23 @@ public class GraphEditorWindow : EditorWindow {
             float inputMargin = 100 + inputSpacing / 2;
             foreach (Synapse synapse in layerNeuroid.synapses.Values) {
                 if (synapse.neuroid != null) {
-                    Vector2Int inputNeuroidPos = this.neuroidPositions[synapse.neuroid];
+                    if (this.neuroidPositions.ContainsKey(synapse.neuroid)) {
-                    Vector3 pos = new(100 + inputNeuroidPos.x * 100, inputMargin + inputNeuroidPos.y * inputSpacing, 0.0f);
 
-                    float brightness = synapse.weight / 10.0f;
+                        Vector2Int inputNeuroidPos = this.neuroidPositions[synapse.neuroid];
-                    Handles.color = new Color(brightness, brightness, brightness);
+                        Vector3 pos = new(100 + inputNeuroidPos.x * 100, inputMargin + inputNeuroidPos.y * inputSpacing, 0.0f);
-                    Handles.DrawLine(parentPos, pos);
+
+                        float brightness = synapse.weight / 10.0f;
+                        Handles.color = new Color(brightness, brightness, brightness);
+                        Handles.DrawLine(parentPos, pos);
+                    }
                 }
             }
 
             float size = layerNeuroid.outputValue.magnitude / maxValue * 20;
-            Handles.color = Color.white;
+            if (layerNeuroid.IsStale())
+                Handles.color = Color.yellow;
+            else
+                Handles.color = Color.white;
             Handles.DrawSolidDisc(parentPos, Vector3.forward, size);
             Rect neuronRect = new(parentPos.x - size, parentPos.y - size, size * 2, size * 2);
             if (neuronRect.Contains(Event.current.mousePosition))
@@ -131,7 +142,12 @@ public class GraphEditorWindow : EditorWindow {
 
     private void HandleMouseHover(Neuroid neuroid, Rect rect) {
         // Draw the tooltip
-        GUIContent tooltip = new($"{neuroid.name}\n synapse count {neuroid.synapses.Count} \n Value: {neuroid.outputValue}");
+        GUIContent tooltip = new(
+            $"{neuroid.name}" +
+            $"\nsynapse count {neuroid.synapses.Count}" +
+            $"\nValue: {neuroid.outputValue}" +
+            $"\nStale: {neuroid.stale}");
+            
         Vector2 mousePosition = Event.current.mousePosition;
 
         // Display tooltip with some offset

Assets/NanoBrain/Neuroid.cs

@@ -20,6 +20,12 @@ public class NeuroidNetwork {
         Neuroid neuroid = new(this);
         return neuroid;
     }
+
+    public void Update() {
+        foreach (Neuroid neuroid in neuroids) {
+            neuroid.stale++;
+        }
+    }
 }
 
 public class Neuroid {
@@ -27,6 +33,7 @@ public class Neuroid {
     public string name;
 
     public int layerIx;
+    public int stale = 0;
 
     public readonly Dictionary<int, Synapse> synapses = new();
 
@@ -97,6 +104,7 @@ public class Neuroid {
 
         this.outputValue = Activation(sum);
         this.outputNeuroid?.SetInput(this.outputNeurix, this.outputValue);
+        this.stale = 0;
     }
 
     Vector3 Activation(Vector3 sum) {
@@ -111,5 +119,9 @@ public class Neuroid {
         };
         //return sum;  //(sum.magnitude > 0.5f) ? sum : Vector3.zero;
     }
+
+    public bool IsStale() {
+        return this.stale > 2;
+    }
 }
 

Assets/NanoBrain/SensoryNeuroid.cs

@@ -7,15 +7,23 @@ public class Receptor {
             neuroid.SetInput(neuroid.id, value);
         }
     }
+    public Vector3 GetValue() {
+        if (neuroid != null)
+            return neuroid.synapses[neuroid.id].value;
+        else
+        return Vector3.zero;
+    }
 }
 
 
 public class SensoryNeuroid : Neuroid {
     public Receptor receptor;
+    public int thingId;
 
     public SensoryNeuroid(NeuroidNetwork net, int id) : base(net) {
         this.name = "sensory neuroid";
-        this.id = id;
+        // this.id = id;
+        this.thingId = id;
         this.receptor = new Receptor {
             neuroid = this
         };

Assets/Scenes/Boids/Boids.unity

@@ -371,14 +371,15 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 0464906885ae3494f8fd0314719fb2db, type: 3}
   m_Name: 
   m_EditorClassIdentifier: Assembly-CSharp::SwarmControl
-  speed: 0.5
+  speed: 1
   inertia: 0.1
-  alignmentForce: 1
+  alignmentForce: 5
-  cohesionForce: 10
+  cohesionForce: 5
   separationForce: 5
-  separationDistance: 0.5
+  separationDistance: 0.3
   bodyForce: 20
-  boundaryForce: 2
+  perceptionDistance: 2
+  boundaryForce: 5
   spaceSize: {x: 10, y: 10, z: 10}
   boundaryWidth: {x: 1, y: 1, z: 1}
 --- !u!114 &301943979
@@ -393,11 +394,11 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: ec888ca5333d45a438f9f417fa5ce135, type: 3}
   m_Name: 
   m_EditorClassIdentifier: Assembly-CSharp::SwarmSpawn
-  count: 100
+  count: 1000
   boidPrefab: {fileID: 8702527964058765413, guid: f9c706268554ce449a8773675b2864b8, type: 3}
   spawnAreaSize: {x: 0.5, y: 0.5, z: 0.5}
-  minDelay: 0.1
+  minDelay: 0.05
-  maxDelay: 1
+  maxDelay: 0.2
 --- !u!4 &301943980
 Transform:
   m_ObjectHideFlags: 0

Assets/Scenes/Boids/Materials/White.mat

@@ -21,17 +21,17 @@ Material:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_Name: White
-  m_Shader: {fileID: 4800000, guid: 933532a4fcc9baf4fa0491de14d08ed7, type: 3}
+  m_Shader: {fileID: 46, guid: 0000000000000000f000000000000000, type: 0}
   m_Parent: {fileID: 0}
   m_ModifiedSerializedProperties: 0
-  m_ValidKeywords: []
+  m_ValidKeywords:
+  - _GLOSSYREFLECTIONS_OFF
   m_InvalidKeywords: []
   m_LightmapFlags: 4
   m_EnableInstancingVariants: 0
   m_DoubleSidedGI: 0
   m_CustomRenderQueue: -1
-  stringTagMap:
+  stringTagMap: {}
-    RenderType: Opaque
   disabledShaderPasses:
   - MOTIONVECTORS
   m_LockedProperties: 
@@ -115,6 +115,7 @@ Material:
     - _Glossiness: 0
     - _GlossyReflections: 0
     - _Metallic: 0
+    - _Mode: 0
     - _OcclusionStrength: 1
     - _Parallax: 0.005
     - _QueueOffset: 0
@@ -125,12 +126,13 @@ Material:
     - _SrcBlend: 1
     - _SrcBlendAlpha: 1
     - _Surface: 0
+    - _UVSec: 0
     - _WorkflowMode: 1
     - _XRMotionVectorsPass: 1
     - _ZWrite: 1
     m_Colors:
-    - _BaseColor: {r: 1, g: 1, b: 1, a: 1}
+    - _BaseColor: {r: 1, g: 0.9858491, b: 0.9858491, a: 1}
-    - _Color: {r: 1, g: 1, b: 1, a: 1}
+    - _Color: {r: 0.41509432, g: 0.41509432, b: 0.41509432, a: 1}
     - _EmissionColor: {r: 0, g: 0, b: 0, a: 1}
     - _SpecColor: {r: 0.19999996, g: 0.19999996, b: 0.19999996, a: 1}
   m_BuildTextureStacks: []

Assets/Scenes/Boids/Scripts/Boid.cs

@@ -59,12 +59,12 @@ public class Boid : MonoBehaviour {
     }
 
     void Update() {
-        Physics.OverlapSphereNonAlloc(this.transform.position, 10, results);
+        Physics.OverlapSphereNonAlloc(this.transform.position, sc.perceptionDistance, results);
         neighbourCount = 0;
 
         cohesion.ResetWeights();
         alignment.ResetWeights();
-        separation.ResetWeights();
+        //separation.ResetWeights();
 
         foreach (Collider c in results) {
             if (c == null)
@@ -79,18 +79,16 @@ public class Boid : MonoBehaviour {
                 Vector3 relativeVelocity = neighbour.velocity - this.velocity;
 
                 int id = neighbour.GetInstanceID();
-                Receptor receptor = GetReceptor(id);
+                ProcessStimulus(id, localPosition);
-                if (receptor != null) {
+
-                    receptor.SetValue(localPosition);
-                }
                 Vector3 separationForce = -localPosition / localPosition.sqrMagnitude;
                 // which is equivalent to -(localPosition.normalized / localPosition.magnitude)
 
                 separation.SetInput(id, separationForce, sc.separationDistance);
                 //cohesion.SetInput(id, localPosition, sc.cohesionForce);
                 alignment.SetInput(id, relativeVelocity, sc.alignmentForce);
-
                 neighbourCount++;
+
             }
         }
 
@@ -126,24 +124,81 @@ public class Boid : MonoBehaviour {
             Quaternion targetRotation = Quaternion.LookRotation(this.velocity);
             transform.rotation = Quaternion.Slerp(transform.rotation, targetRotation, Time.deltaTime * 2f); // Adjust the speed of rotation        
         }
+
+        //Debug.Log($"neighbours: {neighbourCount} synapses: {cohesion.synapses.Count}");
+        neuroidNet.Update();
     }
 
-    Receptor GetReceptor(int id) {
+    Receptor GetReceptor(Neuroid perceptionNeuroid, int id) {
         int availableIx = -1;
         for (int i = 0; i < neighbourSensor.Length; i++) {
-            if (neighbourSensor[i] == null)
+            if (neighbourSensor[i] == null || neighbourSensor[i].IsStale())
                 availableIx = i;
-            else if (neighbourSensor[i].id == id)
+            else if (neighbourSensor[i].thingId == id)
                 return neighbourSensor[i].receptor;
         }
         if (availableIx != -1) {
-            Debug.Log($"new receptor for {id}");
+            if (neighbourSensor[availableIx] != null) {
-            SensoryNeuroid neuroid = new(neuroidNet, id);
+                Debug.Log($"revived receptor {availableIx} for {id}");
-            cohesion.GetInputFrom(neuroid);
+                neighbourSensor[availableIx].thingId = id;
-            neighbourSensor[availableIx] = neuroid;
+                return neighbourSensor[availableIx].receptor;
-            return neuroid.receptor;
+            }
+            else {
+                Debug.Log($"new receptor for {id}");
+                SensoryNeuroid neuroid = new(neuroidNet, id);
+                perceptionNeuroid.GetInputFrom(neuroid);
+                neighbourSensor[availableIx] = neuroid;
+                return neuroid.receptor;
+            }
         }
+
+        //Debug.LogWarning($"No available receptor for {id}");
         return null;
     }
 
+
+
+    void ProcessStimulus(int thingId, Vector3 value) {
+        int availableIx = -1;
+        SensoryNeuroid leastInterestingNeuroid = null;
+        for (int i = 0; i < neighbourSensor.Length; i++) {
+            if (neighbourSensor[i] == null || neighbourSensor[i].IsStale())
+                availableIx = i;
+            else if (neighbourSensor[i].thingId == thingId) {
+                neighbourSensor[i].receptor.SetValue(value);
+                return;
+            }
+            // if (leastInterestingIx == -1 || neighbourSensor[leastInterestingIx].receptor.GetValue().magnitude > neighbourSensor[i].receptor.GetValue().magnitude)
+            //     leastInterestingIx = i;
+            if (neighbourSensor[i] != null) {
+                if (leastInterestingNeuroid == null || leastInterestingNeuroid.receptor.GetValue().magnitude > neighbourSensor[i].receptor.GetValue().magnitude)
+                    leastInterestingNeuroid = neighbourSensor[i];
+            }
+        }
+        if (availableIx != -1) {
+            if (neighbourSensor[availableIx] != null) {
+                // Debug.Log($"revived receptor {availableIx} for {thingId}");
+                neighbourSensor[availableIx].thingId = thingId;
+                neighbourSensor[availableIx].receptor.SetValue(value);
+            }
+            else {
+                // Debug.Log($"new receptor for {thingId}");
+                SensoryNeuroid neuroid = new(neuroidNet, thingId);
+                cohesion.GetInputFrom(neuroid);
+                neighbourSensor[availableIx] = neuroid;
+                neuroid.receptor.SetValue(value);
+            }
+        }
+        else if (leastInterestingNeuroid != null) {
+            //Debug.Log($"replaced receptor {leastInterestingNeuroid.thingId} for {thingId}");
+            leastInterestingNeuroid.thingId = thingId;
+            leastInterestingNeuroid.receptor.SetValue(value);
+        }
+
+        //Debug.LogWarning($"No available receptor for {id}");
+    }
+
+    void OnDrawGizmosSelected() {
+        Gizmos.DrawWireSphere(transform.position, sc.perceptionDistance);
+    }
 }

Assets/Scenes/Boids/Scripts/SwarmControl.cs

@@ -11,6 +11,7 @@ public class SwarmControl : MonoBehaviour
     public float separationForce = 5.0f;
     public float separationDistance = 0.5f;
     public float bodyForce = 20;
+    public float perceptionDistance = 1.0f;
 
     public float boundaryForce = 2.0f;
     public Vector3 spaceSize = new (10, 10, 10);

Assets/_Recovery.meta

@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 895037c7e323e03ada7f43d011f1390b
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/_Recovery/0.unity.meta

@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: e5398245724c5668992c64c27db35040
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

NanoBrain-Unity.code-workspace

@@ -0,0 +1,19 @@
+{
+	"folders": [
+		{
+			"path": "."
+		}
+	],
+	"settings": {
+		"files.associations": {
+			"*.asset": "yaml",
+			"*.meta": "yaml",
+			"*.prefab": "yaml",
+			"*.unity": "yaml"
+		},
+		"dotnet.defaultSolution": "NanoBrain-Unity.sln",
+		"dotnet.server.useOmnisharp": true,
+		"omnisharp.useModernNet": false,
+		"dotnet.automaticallyCreateSolutionInWorkspace": false
+	}
+}