NanoBrain/NanoBrain-unitypackage
NanoBrain/NanoBrain-unitypackage
2
0
Fork 0
Code Issues Pull Requests Actions Packages Releases Activity

(A little) Performance improvements

Browse Source
This commit is contained in:
Pascal Serrarens 2026-01-06 15:03:52 +01:00
parent 14a786246c
commit 2134495045
16 changed files with 589 additions and 823 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

32
.editorconfig
View File

@ -1,23 +1,19 @@
# EditorConfig is awesome: https://EditorConfig.org
# top-most EditorConfig file
root = true root = true
[*]
indent_style = space
indent_size = 4
end_of_line = crlf
charset = utf-8
trim_trailing_whitespace = false
insert_final_newline = false
max_line_length = 80
[*.cs] [*.cs]
# Use tabs for indentation
indent_style = space # To use spaces, you could set this to 'space'
indent_size = 2 # Standard C# indent size
# Alignment and Style Rules
csharp_indent_case_contents = true
csharp_new_line_after_open_brace = all
csharp_new_line_before_open_brace = none csharp_new_line_before_open_brace = none
csharp_new_line_before_else = true # Suppress warnings everywhere
csharp_new_line_before_catch = true
csharp_new_line_before_finally = true
csharp_new_line_before_members_in_object_initializers = true
csharp_new_line_before_members_in_anonymous_types = true
csharp_new_line_between_query_expression_clauses = true
# Limit the number of characters in a line
max_line_length = 100 # This setting does not enforce it; it's a guideline.
[*.{cs,vb}]
dotnet_diagnostic.IDE1006.severity = none dotnet_diagnostic.IDE1006.severity = none
dotnet_diagnostic.IDE0130.severity = none

71
Assets/NanoBrain/LinearAlgebra/src/Direction.cs
View File

@ -3,7 +3,8 @@ using System;
using Vector3Float = UnityEngine.Vector3; using Vector3Float = UnityEngine.Vector3;
#endif #endif
namespace LinearAlgebra { namespace LinearAlgebra
{
/// <summary> /// <summary>
/// A direction in 3D space /// A direction in 3D space
@ -16,7 +17,8 @@ namespace LinearAlgebra {
/// rotation has been applied. /// rotation has been applied.
/// The angles are automatically normalized to stay within the abovenmentioned /// The angles are automatically normalized to stay within the abovenmentioned
/// ranges. /// ranges.
public struct Direction { public struct Direction
{
/// @brief horizontal angle, range = (-180..180] degrees /// @brief horizontal angle, range = (-180..180] degrees
public AngleFloat horizontal; public AngleFloat horizontal;
/// @brief vertical angle, range in degrees = (-90..90] degrees /// @brief vertical angle, range in degrees = (-90..90] degrees
@ -29,7 +31,8 @@ namespace LinearAlgebra {
/// <param name="vertical">The vertical angle</param> /// <param name="vertical">The vertical angle</param>
/// <remarks>The direction will be normalized automatically /// <remarks>The direction will be normalized automatically
/// to ensure the angles are within the allowed ranges</remarks> /// to ensure the angles are within the allowed ranges</remarks>
public Direction(AngleFloat horizontal, AngleFloat vertical) { public Direction(AngleFloat horizontal, AngleFloat vertical)
{
this.horizontal = horizontal; this.horizontal = horizontal;
this.vertical = vertical; this.vertical = vertical;
this.Normalize(); this.Normalize();
@ -43,8 +46,10 @@ namespace LinearAlgebra {
/// <returns>The direction</returns> /// <returns>The direction</returns>
/// <remarks>The direction will be normalized automatically /// <remarks>The direction will be normalized automatically
/// to ensure the angles are within the allowed ranges</remarks> /// to ensure the angles are within the allowed ranges</remarks>
public static Direction Degrees(float horizontal, float vertical) { public static Direction Degrees(float horizontal, float vertical)
Direction d = new() { {
Direction d = new()
{
horizontal = AngleFloat.Degrees(horizontal), horizontal = AngleFloat.Degrees(horizontal),
vertical = AngleFloat.Degrees(vertical) vertical = AngleFloat.Degrees(vertical)
}; };
@ -57,8 +62,10 @@ namespace LinearAlgebra {
/// <param name="horizontal">The horizontal angle in radians</param> /// <param name="horizontal">The horizontal angle in radians</param>
/// <param name="vertical">The vertical angle in radians</param> /// <param name="vertical">The vertical angle in radians</param>
/// <returns>The direction</returns> /// <returns>The direction</returns>
public static Direction Radians(float horizontal, float vertical) { public static Direction Radians(float horizontal, float vertical)
Direction d = new() { {
Direction d = new()
{
horizontal = AngleFloat.Radians(horizontal), horizontal = AngleFloat.Radians(horizontal),
vertical = AngleFloat.Radians(vertical) vertical = AngleFloat.Radians(vertical)
}; };
@ -66,7 +73,8 @@ namespace LinearAlgebra {
return d; return d;
} }
public override readonly string ToString() { public override readonly string ToString()
{
return $"Direction(h: {this.horizontal}, v: {this.vertical})"; return $"Direction(h: {this.horizontal}, v: {this.vertical})";
} }
@ -99,8 +107,10 @@ namespace LinearAlgebra {
/// </summary> /// </summary>
public readonly static Direction right = Degrees(90, 0); public readonly static Direction right = Degrees(90, 0);
private void Normalize() { private void Normalize()
if (this.vertical > AngleFloat.deg90 || this.vertical < -AngleFloat.deg90) { {
if (this.vertical > AngleFloat.deg90 || this.vertical < -AngleFloat.deg90)
{
this.horizontal += AngleFloat.deg180; this.horizontal += AngleFloat.deg180;
this.vertical = AngleFloat.deg180 - this.vertical; this.vertical = AngleFloat.deg180 - this.vertical;
} }
@ -142,11 +152,12 @@ namespace LinearAlgebra {
/// Convert the direction into a carthesian vector /// Convert the direction into a carthesian vector
/// </summary> /// </summary>
/// <returns>The carthesian vector corresponding to this direction.</returns> /// <returns>The carthesian vector corresponding to this direction.</returns>
public Vector3Float ToVector3() { public Vector3Float ToVector3()
{
// Quaternion q = Quaternion.Euler(90 - this.vertical.inDegrees, this.horizontal.inDegrees, 0); // Quaternion q = Quaternion.Euler(90 - this.vertical.inDegrees, this.horizontal.inDegrees, 0);
// Vector3Float v = q * Vector3Float.forward; // Vector3Float v = q * Vector3Float.forward;
// return v; // return v;
// Convert degrees to radians // Convert degrees to radians
float radH = this.horizontal.inRadians; float radH = this.horizontal.inRadians;
float radV = this.vertical.inRadians; float radV = this.vertical.inRadians;
@ -166,7 +177,8 @@ namespace LinearAlgebra {
/// <returns>The direction</returns> /// <returns>The direction</returns>
/// <remarks>Information about the length of the carthesian vector is not /// <remarks>Information about the length of the carthesian vector is not
/// included in this transformation</remarks> /// included in this transformation</remarks>
public static Direction FromVector3(Vector3Float v) { public static Direction FromVector3(Vector3Float v)
{
AngleFloat horizontal = AngleFloat.Atan2(v.horizontal, v.depth); AngleFloat horizontal = AngleFloat.Atan2(v.horizontal, v.depth);
AngleFloat vertical = AngleFloat.deg90 - AngleFloat.Acos(v.vertical); AngleFloat vertical = AngleFloat.deg90 - AngleFloat.Acos(v.vertical);
Direction d = new(horizontal, vertical); Direction d = new(horizontal, vertical);
@ -181,7 +193,8 @@ namespace LinearAlgebra {
/// <param name="d1"></param> /// <param name="d1"></param>
/// <param name="d2"></param> /// <param name="d2"></param>
/// <returns>True when the direction angles are equal, false otherwise.</returns> /// <returns>True when the direction angles are equal, false otherwise.</returns>
public static bool operator ==(Direction d1, Direction d2) { public static bool operator ==(Direction d1, Direction d2)
{
bool horizontalEq = d1.horizontal == d2.horizontal; bool horizontalEq = d1.horizontal == d2.horizontal;
bool verticalEq = d1.vertical == d2.vertical; bool verticalEq = d1.vertical == d2.vertical;
return horizontalEq && verticalEq; return horizontalEq && verticalEq;
@ -193,13 +206,15 @@ namespace LinearAlgebra {
/// <param name="d1"></param> /// <param name="d1"></param>
/// <param name="d2"></param> /// <param name="d2"></param>
/// <returns>True when the direction angles are not equal, false otherwise.</returns> /// <returns>True when the direction angles are not equal, false otherwise.</returns>
public static bool operator !=(Direction d1, Direction d2) { public static bool operator !=(Direction d1, Direction d2)
{
bool horizontalNEq = d1.horizontal != d2.horizontal; bool horizontalNEq = d1.horizontal != d2.horizontal;
bool verticalNEq = d1.vertical != d2.vertical; bool verticalNEq = d1.vertical != d2.vertical;
return horizontalNEq || verticalNEq; return horizontalNEq || verticalNEq;
} }
public override readonly bool Equals(object obj) { public override readonly bool Equals(object obj)
{
if (obj is not Direction d) if (obj is not Direction d)
return false; return false;
@ -209,10 +224,32 @@ namespace LinearAlgebra {
} }
public override readonly int GetHashCode() { public override readonly int GetHashCode()
{
return HashCode.Combine(horizontal, vertical); return HashCode.Combine(horizontal, vertical);
} }
public static AngleFloat UnsignedAngle(Direction d1, Direction d2)
{
// Convert angles from degrees to radians
float horizontal1Rad = d1.horizontal.inRadians;
float vertical1Rad = d1.vertical.inRadians;
float horizontal2Rad = d2.horizontal.inRadians;
float vertical2Rad = d2.vertical.inRadians;
// Calculate the cosine of the angle using the spherical law of cosines
float cosTheta = MathF.Sin(vertical1Rad) * MathF.Sin(vertical2Rad) +
MathF.Cos(vertical1Rad) * MathF.Cos(vertical2Rad) *
MathF.Cos(horizontal1Rad - horizontal2Rad);
// Clip cosTheta to the valid range for acos
cosTheta = Float.Clamp(cosTheta, -1.0f, 1.0f);
// Calculate the angle
AngleFloat angle = AngleFloat.Acos(cosTheta);
return angle;
}
} }
} }

25
Assets/NanoBrain/LinearAlgebra/src/Spherical.cs
View File

@ -137,5 +137,30 @@ namespace LinearAlgebra {
return r; return r;
} }
public static float Distance(Spherical v1, Spherical v2) {
// Convert degrees to radians
float thetaARadians = v1.direction.horizontal.inRadians;
float phiARadians = v1.direction.vertical.inRadians;// DegreesToRadians(phiA);
float thetaBRadians = v2.direction.horizontal.inRadians; // DegreesToRadians(thetaB);
float phiBRadians = v2.direction.vertical.inRadians; // DegreesToRadians(phiB);
// Calculate sine and cosine values
float sinPhiA = MathF.Sin(phiARadians);
float cosPhiA = MathF.Cos(phiARadians);
float sinPhiB = MathF.Sin(phiBRadians);
float cosPhiB = MathF.Cos(phiBRadians);
// Calculate the cosine of the difference in azimuthal angles
float cosThetaDifference = MathF.Cos(thetaARadians - thetaBRadians);
// Apply the spherical law of cosines
float distance = MathF.Sqrt(
v1.distance * v1.distance +
v2.distance * v2.distance -
2 * v1.distance * v2.distance * (sinPhiA * sinPhiB * cosThetaDifference + cosPhiA * cosPhiB)
);
return distance;
}
} }
} }

17
Assets/NanoBrain/Neuroid.cs
View File

@ -74,7 +74,7 @@ public class Neuroid : Nucleus {
} }
public virtual void UpdateState() { public virtual void UpdateState() {
Vector3 result = Vector3.zero; Vector3 resultVector = Vector3.zero;
foreach (Synapse synapse in this.synapses) { foreach (Synapse synapse in this.synapses) {
Nucleus synapseNucleus = synapse.nucleus; Nucleus synapseNucleus = synapse.nucleus;
if (synapseNucleus is Neuroid neuroid && neuroid.isSleeping) if (synapseNucleus is Neuroid neuroid && neuroid.isSleeping)
@ -87,14 +87,21 @@ public class Neuroid : Nucleus {
float magnitude = weight * activatedValue; float magnitude = weight * activatedValue;
//Debug.Log($"{this.name} {synapseNucleus.outputValue.direction} {synapseNucleus.outputValue.direction.horizontal}{synapseNucleus.outputValue.direction.vertical} {direction}"); //Debug.Log($"{this.name} {synapseNucleus.outputValue.direction} {synapseNucleus.outputValue.direction.horizontal}{synapseNucleus.outputValue.direction.vertical} {direction}");
result += direction * magnitude; resultVector += direction * magnitude;
} }
if (average && this.synapses.Count > 0) if (average && this.synapses.Count > 0)
result /= this.synapses.Count; resultVector /= this.synapses.Count;
this.outputValue = Spherical.FromVector3(result); Spherical result = Spherical.FromVector3(resultVector);
float d = Spherical.Distance(result, this.outputValue);
if (d < 0.1f) {
//Debug.Log($"insignificant update: {d}");
return;
}
this.outputValue = result; //Spherical.FromVector3(resultVector);
//this.stale = 0; //this.stale = 0;
this.Refresh(); //this.Refresh();
foreach (Receiver receiver in this.receivers) { foreach (Receiver receiver in this.receivers) {
if (receiver.nucleus is Neuroid neuroid) if (receiver.nucleus is Neuroid neuroid)

7
Assets/NanoBrain/Nucleus.cs
View File

@ -76,13 +76,12 @@ public class Nucleus {
} }
[System.NonSerialized] [System.NonSerialized]
private int stale = 0; private int stale = 1000;
public bool isSleeping => this.stale > 2; public bool isSleeping => this.stale > 2;
public void Refresh() {
//this.stale = 0;
}
public void IncreaseAge() { public void IncreaseAge() {
this.stale++; this.stale++;
if (isSleeping)
_outputValue = Spherical.zero;
} }
[System.NonSerialized] [System.NonSerialized]
public int layerIx; public int layerIx;

60
Assets/NanoBrain/Perception.cs
View File

@ -29,32 +29,32 @@ public class Perception : Nucleus {
return null; return null;
} }
public void SendPositions(Nucleus receivingNeuroid, int thingType = 0, float weight = 1.0f) { // public void SendPositions(Nucleus receivingNeuroid, int thingType = 0, float weight = 1.0f) {
Receiver receiver = new() { // Receiver receiver = new() {
thingType = thingType, // thingType = thingType,
neuroid = receivingNeuroid // neuroid = receivingNeuroid
}; // };
positionReceivers.Add(receiver); // positionReceivers.Add(receiver);
foreach (SensoryNeuroid neuroid in sensoryNeuroids) { // foreach (SensoryNeuroid neuroid in sensoryNeuroids) {
if (neuroid != null) { // if (neuroid != null) {
neuroid.AddReceiver(receivingNeuroid); // neuroid.AddReceiver(receivingNeuroid);
receivingNeuroid.SetWeight(neuroid, weight); // receivingNeuroid.SetWeight(neuroid, weight);
} // }
} // }
} // }
public void SendVelocities(Nucleus receivingNeuroid, int thingType = 0, float weight = 1.0f) { // public void SendVelocities(Nucleus receivingNeuroid, int thingType = 0, float weight = 1.0f) {
Receiver receiver = new() { // Receiver receiver = new() {
thingType = thingType, // thingType = thingType,
neuroid = receivingNeuroid // neuroid = receivingNeuroid
}; // };
velocityReceivers.Add(receiver); // velocityReceivers.Add(receiver);
foreach (SensoryNeuroid neuroid in sensoryNeuroids) { // foreach (SensoryNeuroid neuroid in sensoryNeuroids) {
if (neuroid != null && neuroid.velocityNeuroid != null) { // if (neuroid != null && neuroid.velocityNeuroid != null) {
neuroid.velocityNeuroid.AddReceiver(receivingNeuroid); // neuroid.velocityNeuroid.AddReceiver(receivingNeuroid);
receivingNeuroid.SetWeight(neuroid, weight); // receivingNeuroid.SetWeight(neuroid, weight);
} // }
} // }
} // }
public void ProcessStimulus(int thingId, int thingType, Vector3 localPosition, string name = "Sensing") { public void ProcessStimulus(int thingId, int thingType, Vector3 localPosition, string name = "Sensing") {
int availableIx = -1; int availableIx = -1;
@ -97,10 +97,10 @@ public class Perception : Nucleus {
receiver.neuroid.GetInputFrom(neuroid); receiver.neuroid.GetInputFrom(neuroid);
} }
} }
foreach (Receiver receiver in velocityReceivers) { // foreach (Receiver receiver in velocityReceivers) {
if (receiver.thingType == 0 || receiver.thingType == thingType) // if (receiver.thingType == 0 || receiver.thingType == thingType)
receiver.neuroid.GetInputFrom(neuroid.velocityNeuroid); // receiver.neuroid.GetInputFrom(neuroid.velocityNeuroid);
} // }
//neuroid.receptor.position = localPosition; //neuroid.receptor.position = localPosition;
neuroid.receptor.ProcessStimulus(333, localPosition); neuroid.receptor.ProcessStimulus(333, localPosition);

80
Assets/NanoBrain/Perceptoid.cs
View File

@ -6,7 +6,7 @@ public class Perceptoid : Neuroid {
// A neuroid which has no neurons as input // A neuroid which has no neurons as input
// But receives value from a receptor // But receives value from a receptor
public Receptor receptor; public Receptor receptor;
public VelocityNeuroid velocityNeuroid; //public VelocityNeuroid velocityNeuroid;
#region Serialization #region Serialization
@ -16,12 +16,8 @@ public class Perceptoid : Neuroid {
public override void Rebuild(NanoBrainObj brain) { public override void Rebuild(NanoBrainObj brain) {
base.Rebuild(brain); base.Rebuild(brain);
//this.receptor = new Receptor(this); this.receptor = Receptor.GetReceptor(brain, thingType);
this.receptor = Perceptoid.GetReceptor(brain, thingType); this.receptor.perceptei.Add(this);
if (this.receptor == null)
this.receptor = new Receptor(this);
else
this.receptor.perceptei.Add(this);
} }
public override void Deserialize(Nucleus nucleus) { public override void Deserialize(Nucleus nucleus) {
@ -52,18 +48,18 @@ public class Perceptoid : Neuroid {
#endregion Serialization #endregion Serialization
public Perceptoid(NanoBrainObj brain, string name) : base(name) { // public Perceptoid(NanoBrainObj brain, string name) : base(name) {
this.brain = brain; // this.brain = brain;
if (this.brain != null) { // if (this.brain != null) {
this.brain.perceptei.Add(this); // this.brain.perceptei.Add(this);
} // }
else // else
Debug.LogError("No neuroid network"); // Debug.LogError("No neuroid network");
this.nucleusType = nameof(Perceptoid); // this.nucleusType = nameof(Perceptoid);
this.name = name; // this.name = name;
this.receptor = new Receptor(this); // this.receptor = new Receptor(this);
} // }
public Perceptoid(NanoBrainObj brain, int thingType, string name = "sensor") : base(name) { public Perceptoid(NanoBrainObj brain, int thingType, string name = "sensor") : base(name) {
this.brain = brain; this.brain = brain;
@ -76,26 +72,25 @@ public class Perceptoid : Neuroid {
this.nucleusType = nameof(Perceptoid); this.nucleusType = nameof(Perceptoid);
this.name = name; this.name = name;
this.thingType = thingType; this.thingType = thingType;
this.receptor = new Receptor(this) { this.receptor = Receptor.GetReceptor(brain, thingType);
thingType = thingType this.receptor.perceptei.Add(this);
}; // this.velocityNeuroid = new(brain, name + ": velocity");
this.velocityNeuroid = new(brain, name + ": velocity"); // // The velocity neuroid received position data from this
// The velocity neuroid received position data from this // this.AddReceiver(velocityNeuroid);
this.AddReceiver(velocityNeuroid);
} }
public void Replace(int thingType, string name = "sensor") { public void Replace(int thingType, string name = "sensor") {
this.name = name; this.name = name;
this.thingType = thingType; //this.thingType = thingType;
this.receptor.thingType = thingType; this.receptor.thingType = thingType;
this.receptor.localPosition = Spherical.zero; this.receptor.localPosition = Spherical.zero;
this.outputValue = Spherical.zero; this.outputValue = Spherical.zero;
this.receivers = new(); this.receivers = new();
this.AddReceiver(velocityNeuroid); // this.AddReceiver(velocityNeuroid);
this.velocityNeuroid.Replace(name + ": velocity"); // this.velocityNeuroid.Replace(name + ": velocity");
} }
public override void UpdateState() { public override void UpdateState() {
@ -119,7 +114,7 @@ public class Perceptoid : Neuroid {
if (receiver.nucleus is Neuroid neuroid) if (receiver.nucleus is Neuroid neuroid)
neuroid.SetInput(this); neuroid.SetInput(this);
//this.stale = 0; //this.stale = 0;
this.Refresh(); //this.Refresh();
} }
public void UpdateState(int thingId, Spherical receptorValue) { public void UpdateState(int thingId, Spherical receptorValue) {
@ -139,18 +134,23 @@ public class Perceptoid : Neuroid {
// if (average && this.synapses.Count > 0) // if (average && this.synapses.Count > 0)
// result /= this.synapses.Count + 1; // result /= this.synapses.Count + 1;
float d = Spherical.Distance(result, this.outputValue);
if (d < 0.1f) {
//Debug.Log($"insignificant update: {d}");
return;
}
this.outputValue = result; this.outputValue = result;
foreach (Receiver receiver in this.receivers) foreach (Receiver receiver in this.receivers)
if (receiver.nucleus is Neuroid neuroid) if (receiver.nucleus is Neuroid neuroid)
neuroid.SetInput(this); neuroid.SetInput(this);
//this.stale = 0; //this.stale = 0;
this.Refresh(); //this.Refresh();
} }
public static Perceptoid GetPerception(NanoBrainObj brain, int thingType = 0) { public static Perceptoid GetPerception(NanoBrainObj brain, int thingType = 0) {
foreach (Nucleus nucleus in brain.nuclei) { foreach (Nucleus nucleus in brain.nuclei) {
if (nucleus is Perceptoid perceptoid && (thingType == 0 || perceptoid.thingType == thingType)) if (nucleus is Perceptoid perceptoid && (thingType == 0 || perceptoid.receptor.thingType == thingType))
return perceptoid; return perceptoid;
} }
return null; return null;
@ -159,7 +159,7 @@ public class Perceptoid : Neuroid {
public static void ProcessStimulus(NanoBrainObj brain, int thingType, Vector3 localPosition) { public static void ProcessStimulus(NanoBrainObj brain, int thingType, Vector3 localPosition) {
Perceptoid selectedPerceptoid = null; Perceptoid selectedPerceptoid = null;
foreach (Perceptoid nucleus in brain.perceptei) { foreach (Perceptoid nucleus in brain.perceptei) {
if (nucleus is Perceptoid perceptoid && (thingType == 0 || perceptoid.thingType == thingType)) if (nucleus is Perceptoid perceptoid && (thingType == 0 || perceptoid.receptor.thingType == thingType))
if (selectedPerceptoid == null) { if (selectedPerceptoid == null) {
selectedPerceptoid = perceptoid; selectedPerceptoid = perceptoid;
if (perceptoid.isSleeping) { if (perceptoid.isSleeping) {
@ -176,11 +176,15 @@ public class Perceptoid : Neuroid {
//selectedPerceptoid.receptor.position = localPosition; //selectedPerceptoid.receptor.position = localPosition;
selectedPerceptoid.receptor.ProcessStimulus(888, localPosition); selectedPerceptoid.receptor.ProcessStimulus(888, localPosition);
} }
public static Receptor GetReceptor(NanoBrainObj brain, int thingType) {
foreach (Perceptoid perceptoid in brain.perceptei) { // public static Receptor GetReceptor(NanoBrainObj brain, int thingType) {
if (thingType == 0 || perceptoid.thingType == thingType) // foreach (Perceptoid perceptoid in brain.perceptei) {
return perceptoid.receptor; // if (perceptoid.receptor != null) {
} // if (thingType == 0 || perceptoid.receptor.thingType == thingType)
return null; // return perceptoid.receptor;
} // }
// }
// Receptor receptor = new(thingType);
// return receptor;
// }
} }

75
Assets/NanoBrain/Receptor.cs
View File

@ -1,47 +1,92 @@
using System.Collections.Generic; using System.Collections.Generic;
using System.Linq;
using UnityEngine; using UnityEngine;
using LinearAlgebra; using LinearAlgebra;
public class Receptor { public class Receptor {
/// <summary>
/// The list of perceptoid which can process stimuli from this receptor
/// </summary>
public List<Perceptoid> perceptei = new(); public List<Perceptoid> perceptei = new();
public int thingId; //public int thingId;
public int thingType; private int _thingType = 0;
public int thingType {
get { return _thingType; }
set {
_thingType = value;
foreach (Perceptoid perceptoid in perceptei) {
perceptoid.thingType = _thingType;
}
}
}
public Spherical localPosition; public Spherical localPosition;
public float distanceResolution = 0.1f;
public float directionResolution = 5;
public Receptor(Perceptoid perceptoid) { public Receptor(NanoBrainObj brain, int thingType) {
this.perceptei.Add(perceptoid); this.thingType = thingType;
//this.perceptei.Add(perceptoid);
brain.receptors.Add(this);
} }
public static Receptor GetReceptor(NanoBrainObj brain, int thingType) {
foreach (Receptor receptor in brain.receptors) {
if (thingType == 0 || receptor.thingType == thingType)
return receptor;
}
Receptor newReceptor = new(brain, thingType);
return newReceptor;
}
public virtual void ProcessStimulus(int thingId, Vector3 localPosition) { public virtual void ProcessStimulus(int thingId, Vector3 newLocalPositionVector) {
this.thingId = thingId; Spherical newLocalPosition = Spherical.FromVector3(newLocalPositionVector);
this.localPosition = Spherical.FromVector3(localPosition);
Spherical previousLocalPosition = this.localPosition;
this.localPosition = newLocalPosition;
Perceptoid selectedPerceptoid = null; Perceptoid selectedPerceptoid = null;
foreach (Perceptoid perceptoid in this.perceptei) { foreach (Perceptoid perceptoid in this.perceptei) {
if (perceptoid.thingId == this.thingId) { if (perceptoid.thingId == thingId) {
// We found an existing perceptoid for this thing
selectedPerceptoid = perceptoid; selectedPerceptoid = perceptoid;
// Do not look any further
// This does not do a lot....
float deltaDistance = newLocalPosition.distance - previousLocalPosition.distance;
// See if the change is significant
AngleFloat deltaDirection = Direction.UnsignedAngle(newLocalPosition.direction, previousLocalPosition.direction);
if (deltaDistance < this.distanceResolution && deltaDirection.inDegrees < directionResolution) {
// The difference is not significant we don't process this data.
this.localPosition = previousLocalPosition;
return;
}
break; break;
} }
else if (perceptoid.isSleeping) else if (perceptoid.isSleeping) {
// A sleeping perceptoid is not active and can therefore always be reused
selectedPerceptoid = perceptoid; selectedPerceptoid = perceptoid;
// Look further because we could find a existing perceptoid for this thing
}
else if (selectedPerceptoid == null) { else if (selectedPerceptoid == null) {
// If we haven't found a perceptoid yet, just start by taking the first
selectedPerceptoid = perceptoid; selectedPerceptoid = perceptoid;
} }
else if (selectedPerceptoid.isSleeping == false) { else if (selectedPerceptoid.isSleeping == false) {
if (perceptoid.receptor.localPosition.magnitude < selectedPerceptoid.receptor.localPosition.magnitude) // If no existing or sleeping perceptoid is found, we look for the perceptoid
// we the furthest (least interesting) stimulus
if (perceptoid.receptor.localPosition.magnitude < selectedPerceptoid.receptor.localPosition.magnitude) {
Debug.Log($"{selectedPerceptoid.name} {selectedPerceptoid.receptor.localPosition.magnitude} {perceptoid.receptor.localPosition.magnitude} ");
selectedPerceptoid = perceptoid; selectedPerceptoid = perceptoid;
}
} }
} }
if (selectedPerceptoid == null) { if (selectedPerceptoid == null) {
Debug.Log("No perceptoid selected, stimulus is ignored"); Debug.Log("No perceptoid selected, stimulus is ignored");
return; return;
} }
//Debug.Log($"Stimulus {thingId} {selectedPerceptoid.thingId}"); // Debug.Log($"Stimulus {thingType} {thingId} {selectedPerceptoid.name}");
selectedPerceptoid.UpdateState(this.thingId, this.localPosition); selectedPerceptoid.UpdateState(thingId, this.localPosition);
} }
} }

88
Assets/NanoBrain/SensoryNeuroid.cs
View File

@ -37,16 +37,16 @@ public class SensoryNeuroid : Neuroid {
// A neuroid which has no neurons as input // A neuroid which has no neurons as input
// But receives value from a receptor // But receives value from a receptor
public Receptor receptor; public Receptor receptor;
public VelocityNeuroid velocityNeuroid; //public VelocityNeuroid velocityNeuroid;
public SensoryNeuroid(NanoBrainObj brain, int thingId, string name = "sensor") : base(brain, name) { public SensoryNeuroid(NanoBrainObj brain, int thingId, string name = "sensor") : base(brain, name) {
this.name = name + ": position"; this.name = name + ": position";
// this.receptor = new Receptor(this) { // this.receptor = new Receptor(this) {
// thingType = thingId // thingType = thingId
// }; // };
this.velocityNeuroid = new(brain, name + ": velocity"); // this.velocityNeuroid = new(brain, name + ": velocity");
// The velocity neuroid received position data from this // // The velocity neuroid received position data from this
this.AddReceiver(velocityNeuroid); // this.AddReceiver(velocityNeuroid);
} }
public void Replace(int thingId, string name = "sensor") { public void Replace(int thingId, string name = "sensor") {
@ -57,11 +57,11 @@ public class SensoryNeuroid : Neuroid {
this.outputValue = Spherical.zero; this.outputValue = Spherical.zero;
this.receivers = new(); this.receivers = new();
this.AddReceiver(velocityNeuroid); // this.AddReceiver(velocityNeuroid);
// this.velocityNeuroid.name = name + ": velocity"; // // this.velocityNeuroid.name = name + ": velocity";
// this.velocityNeuroid.receivers = new(); // // this.velocityNeuroid.receivers = new();
this.velocityNeuroid.Replace(name + ": velocity"); // this.velocityNeuroid.Replace(name + ": velocity");
} }
public override void UpdateState() { public override void UpdateState() {
@ -88,49 +88,49 @@ public class SensoryNeuroid : Neuroid {
if (receiver.nucleus is Neuroid neuroid) if (receiver.nucleus is Neuroid neuroid)
neuroid.SetInput(this); neuroid.SetInput(this);
//this.stale = 0; //this.stale = 0;
this.Refresh(); //this.Refresh();
} }
} }
public class VelocityNeuroid : Neuroid { // public class VelocityNeuroid : Neuroid {
// Would be best if this was received through a synapse via a loop.... // // Would be best if this was received through a synapse via a loop....
private Vector3 lastPosition = Vector3.zero; // private Vector3 lastPosition = Vector3.zero;
private float lastValueTime = 0; // private float lastValueTime = 0;
public VelocityNeuroid(NanoBrainObj net, string name = "velocity") : base(net, name) { // public VelocityNeuroid(NanoBrainObj net, string name = "velocity") : base(net, name) {
} // }
public void Replace(string name = "velocity") { // public void Replace(string name = "velocity") {
this.name = name; // this.name = name;
this.receivers = new(); // this.receivers = new();
this.lastPosition = Vector3.zero; // this.lastPosition = Vector3.zero;
this.lastValueTime = 0; // this.lastValueTime = 0;
} // }
public override void UpdateState() { // public override void UpdateState() {
// Assuming only one synapse for now.... // // Assuming only one synapse for now....
//Vector3 currentPosition = this.synapses.First().Key.outputValue; // //Vector3 currentPosition = this.synapses.First().Key.outputValue;
Spherical currentPosition = this.synapses.First().nucleus.outputValue; // Spherical currentPosition = this.synapses.First().nucleus.outputValue;
Vector3 currentPositionV3 = currentPosition.ToVector3(); // Vector3 currentPositionV3 = currentPosition.ToVector3();
float currentValueTime = Time.time; // float currentValueTime = Time.time;
if (lastValueTime != 0) { // if (lastValueTime != 0) {
float deltaTime = currentValueTime - lastValueTime; // float deltaTime = currentValueTime - lastValueTime;
Vector3 translation = currentPositionV3 - lastPosition; // Vector3 translation = currentPositionV3 - lastPosition;
Vector3 velocity = translation / deltaTime; // Vector3 velocity = translation / deltaTime;
// No activation function... // // No activation function...
this.outputValue = Spherical.FromVector3(velocity); // this.outputValue = Spherical.FromVector3(velocity);
//this.stale = 0; // //this.stale = 0;
this.Refresh(); // //this.Refresh();
foreach (Receiver receiver in receivers) { // foreach (Receiver receiver in receivers) {
if (receiver.nucleus is Neuroid neuroid) // if (receiver.nucleus is Neuroid neuroid)
neuroid.SetInput(this); // neuroid.SetInput(this);
} // }
} // }
this.lastValueTime = currentValueTime; // this.lastValueTime = currentValueTime;
this.lastPosition = currentPositionV3; // this.lastPosition = currentPositionV3;
} // }
} // }

5
Assets/NanoBrain/VisualEditor/Editor/NanoBrainInspector.cs
View File

@ -398,8 +398,9 @@ public class NanoBrainInspector : Editor {
return; return;
this.currentNucleus.name = EditorGUILayout.TextField(this.currentNucleus.name); this.currentNucleus.name = EditorGUILayout.TextField(this.currentNucleus.name);
if (this.currentNucleus is Perceptoid currentPerceptoid) if (this.currentNucleus is Perceptoid currentPerceptoid) {
currentPerceptoid.thingType = EditorGUILayout.IntField("Thing Type", currentPerceptoid.thingType); currentPerceptoid.receptor.thingType = EditorGUILayout.IntField("Thing Type", currentPerceptoid.receptor.thingType);
}
else if (this.currentNucleus is Neuroid neuroid) { else if (this.currentNucleus is Neuroid neuroid) {
EditorGUILayout.BeginHorizontal(); EditorGUILayout.BeginHorizontal();
EditorGUILayout.LabelField("Activation Curve", GUILayout.Width(150)); EditorGUILayout.LabelField("Activation Curve", GUILayout.Width(150));

12
Assets/NanoBrain/VisualEditor/NanoBrainObj.cs
View File

@ -12,6 +12,7 @@ public class NanoBrainObj : ScriptableObject, ISerializationCallbackReceiver {
public List<Neuroid> nuclei = new(); public List<Neuroid> nuclei = new();
public List<Perceptoid> perceptei = new(); public List<Perceptoid> perceptei = new();
public List<Receptor> receptors = new();
// This is probably always the first element in the nuclei list... // This is probably always the first element in the nuclei list...
[System.NonSerialized] [System.NonSerialized]
@ -34,14 +35,14 @@ public class NanoBrainObj : ScriptableObject, ISerializationCallbackReceiver {
foreach (Nucleus nucleus in nuclei) { foreach (Nucleus nucleus in nuclei) {
//nucleus.stale++; //nucleus.stale++;
nucleus.IncreaseAge(); nucleus.IncreaseAge();
if (nucleus.isSleeping) // if (nucleus.isSleeping)
nucleus.outputValue = Spherical.zero; // nucleus.outputValue = Spherical.zero;
} }
foreach (Perceptoid perception in perceptei) { foreach (Perceptoid perception in perceptei) {
//perception.stale++; //perception.stale++;
perception.IncreaseAge(); perception.IncreaseAge();
if (perception.isSleeping) // if (perception.isSleeping)
perception.outputValue = Spherical.zero; // perception.outputValue = Spherical.zero;
} }
} }
@ -84,6 +85,9 @@ public class NanoBrainObj : ScriptableObject, ISerializationCallbackReceiver {
if (nucleus.brain == null) if (nucleus.brain == null)
nucleus.brain = this; nucleus.brain = this;
if (nucleus.name == "Boid1")
Debug.Log(" Found boiid1");
visitedNuclei.Add(nucleus); visitedNuclei.Add(nucleus);
if (nucleus.synapses != null) { if (nucleus.synapses != null) {
HashSet<Synapse> visitedSynapses = new(); HashSet<Synapse> visitedSynapses = new();

2
Assets/Scenes/Boids/Boids.unity
View File

@ -680,7 +680,7 @@ AudioListener:
m_PrefabInstance: {fileID: 0} m_PrefabInstance: {fileID: 0}
m_PrefabAsset: {fileID: 0} m_PrefabAsset: {fileID: 0}
m_GameObject: {fileID: 1633626499} m_GameObject: {fileID: 1633626499}
m_Enabled: 1 m_Enabled: 0
--- !u!20 &1633626501 --- !u!20 &1633626501
Camera: Camera:
m_ObjectHideFlags: 0 m_ObjectHideFlags: 0

6
Assets/Scenes/Boids/Scripts/Boid.cs
View File

@ -27,9 +27,9 @@ public class Boid : MonoBehaviour {
this.id = this.GetInstanceID(); this.id = this.GetInstanceID();
nanoBrain = GetComponent<NanoBrainComponent>(); nanoBrain = GetComponent<NanoBrainComponent>();
boundaryReceptor = Perceptoid.GetReceptor(nanoBrain.brain, BoundaryType); boundaryReceptor = Receptor.GetReceptor(nanoBrain.brain, BoundaryType);
boidReceptor = Perceptoid.GetReceptor(nanoBrain.brain, BoidType); boidReceptor = Receptor.GetReceptor(nanoBrain.brain, BoidType);
boidVelocityReceptor = Perceptoid.GetReceptor(nanoBrain.brain, BoidVelocityType); boidVelocityReceptor = Receptor.GetReceptor(nanoBrain.brain, BoidVelocityType);
sc = FindFirstObjectByType<SwarmControl>(); sc = FindFirstObjectByType<SwarmControl>();

2
Assets/Scenes/Boids/Scripts/RoamingNucleus.cs
View File

@ -1,3 +1,4 @@
/*
public class Roaming : Nucleus { public class Roaming : Nucleus {
public Neuroid avoidance; public Neuroid avoidance;
@ -15,3 +16,4 @@ public class Roaming : Nucleus {
output.AddReceiver(receiver); output.AddReceiver(receiver);
} }
} }
*/

56
Assets/Scenes/Boids/Scripts/SwarmingNucleus.cs
View File

@ -1,37 +1,37 @@
using UnityEngine; // using UnityEngine;
using LinearAlgebra; // using LinearAlgebra;
public class Swarming : Nucleus { // public class Swarming : Nucleus {
public Neuroid cohesion; // public Neuroid cohesion;
public Neuroid alignment; // public Neuroid alignment;
public Neuroid avoidance; // public Neuroid avoidance;
public Neuroid boundary; // public Neuroid boundary;
public Neuroid output; // public Neuroid output;
//public override Spherical outputValue { get => output.outputValue; set => output.outputValue = value; } // //public override Spherical outputValue { get => output.outputValue; set => output.outputValue = value; }
public Swarming(NanoBrainObj brain, Perception perception, SwarmControl sc) : base("Swarming Nucleus") { // public Swarming(NanoBrainObj brain, Perception perception, SwarmControl sc) : base("Swarming Nucleus") {
this.cohesion = new(brain, "Cohesion") { inverse = false }; // this.cohesion = new(brain, "Cohesion") { inverse = false };
perception.SendPositions(this.cohesion, Boid.BoidType); // perception.SendPositions(this.cohesion, Boid.BoidType);
this.alignment = new(brain, "Alignment") { average = true }; // this.alignment = new(brain, "Alignment") { average = true };
perception.SendVelocities(this.alignment, Boid.BoidType); // perception.SendVelocities(this.alignment, Boid.BoidType);
this.avoidance = new(brain, "Avoidance") { inverse = true }; // this.avoidance = new(brain, "Avoidance") { inverse = true };
perception.SendPositions(this.avoidance); // perception.SendPositions(this.avoidance);
this.boundary = new(brain, "Boundary"); // this.boundary = new(brain, "Boundary");
perception.SendPositions(this.boundary, Boid.BoundaryType); // perception.SendPositions(this.boundary, Boid.BoundaryType);
this.output = new(brain, "Swarming"); // this.output = new(brain, "Swarming");
this.output.GetInputFrom(alignment, sc.alignmentForce); // this.output.GetInputFrom(alignment, sc.alignmentForce);
this.output.GetInputFrom(cohesion, sc.cohesionForce); // this.output.GetInputFrom(cohesion, sc.cohesionForce);
this.output.GetInputFrom(avoidance, -sc.avoidanceForce); // this.output.GetInputFrom(avoidance, -sc.avoidanceForce);
this.output.GetInputFrom(boundary, -sc.avoidanceForce); // this.output.GetInputFrom(boundary, -sc.avoidanceForce);
} // }
public override void AddReceiver(Nucleus receiver) { // public override void AddReceiver(Nucleus receiver) {
this.output.AddReceiver(receiver); // this.output.AddReceiver(receiver);
} // }
} // }

870
Assets/Scenes/Boids/SwarmingBrain.asset
View File

File diff suppressed because it is too large Load Diff