Brain object

Assembly-CSharp.csproj

@@ -50,6 +50,7 @@
   <ItemGroup>
     <Compile Include="Assets/NanoBrain/VisualEditor/NanoBrainObj.cs" />
     <Compile Include="Assets/Scenes/Boids/Scripts/SwarmSpawner.cs" />
+    <Compile Include="Assets/NanoBrain/Perceptoid.cs" />
     <Compile Include="Assets/NanoBrain/NeuroidBehaviour.cs" />
     <Compile Include="Assets/NanoBrain/NanoBrain.cs" />
     <Compile Include="Assets/NanoBrain/SensoryNeuroid.cs" />

Assets/NanoBrain/Editor/NanoBrain_Editor.cs

@@ -221,7 +221,7 @@ public class NanoBrain_Editor : Editor {
         if (neuroid is SensoryNeuroid sensoryNeuroid) {
             tooltip = new(
                 $"{sensoryNeuroid.name}" +
-                $"\nThing {sensoryNeuroid.receptor.thingId}" +
+                $"\nThing {sensoryNeuroid.receptor.thingType}" +
                 $"\nValue: {neuroid.outputValue}" +
                 $"\nStale: {neuroid.stale}");
         }

Assets/NanoBrain/Editor/NeuroidWindow.cs

@@ -244,7 +244,7 @@ public class GraphEditorWindow : EditorWindow {
         if (neuroid is SensoryNeuroid sensoryNeuroid) {
             tooltip = new(
                 $"{sensoryNeuroid.name}" +
-                $"\nThing {sensoryNeuroid.receptor.thingId}" +
+                $"\nThing {sensoryNeuroid.receptor.thingType}" +
                 $"\nValue: {neuroid.outputValue}" +
                 $"\nStale: {neuroid.stale}");
         }

Assets/NanoBrain/Neuroid.cs

@@ -1,5 +1,6 @@
 using UnityEngine;
 
+[System.Serializable]
 public class Neuroid : Nucleus {
     public bool average = false;
     public bool inverse = false;
@@ -13,9 +14,17 @@ public class Neuroid : Nucleus {
     //         Debug.LogError("No neuroid network");
     // }
 
-    public Neuroid(NanoBrainObj brain, string name) : base(brain, name) {
+    public Neuroid(NanoBrainObj brain, string name) : base(name) {
+        this.brain = brain;
+        if (this.brain != null) {
+            this.brain.nuclei.Add(this);
+        }
+        else
+            Debug.LogError("No neuroid network");
     }
 
+    public Neuroid(string name): base(name) {}
+
     public void SetWeight(Neuroid input, float weight) {
         //this.synapses[input] = weight;
         this.SetWeight((Nucleus)input, weight);
@@ -30,7 +39,7 @@ public class Neuroid : Nucleus {
     public void SetInput(Neuroid input) {
         // if (this.synapses.ContainsKey(input) == false)
         //     this.synapses[input] = 1.0f;
-        if (this.SynapseExists(input))
+        if (this.SynapseExists(input) == false)
             this.SetWeight(input, 1.0f);
         UpdateState();
     }

Assets/NanoBrain/Nucleus.cs

@@ -1,3 +1,4 @@
+using System;
 using System.Collections.Generic;
 using UnityEngine;
 
@@ -13,33 +14,53 @@ public class Nucleus {
         set => _name = value;
     }
 
-    //public readonly Dictionary<Nucleus, float> synapses = new();
     [SerializeField]
-    public List<Synapse> synapses = new();
-    //public HashSet<Nucleus> receivers = new();
+    public List<Synapse> synapses = new(); 
     [SerializeField]
     public List<Receiver> receivers = new();
 
     #region Serialization
 
-    public void Rebuild(NanoBrainObj brain) {
+    [SerializeField]
+    protected string nucleusType;
+
+    public virtual void Rebuild(NanoBrainObj brain) {
         if (this.synapses != null) {
             foreach (Synapse synapse in synapses)
                 synapse.Rebuild(brain);
         }
         if (this.receivers == null)
             this.receivers = new();
-        else
-            foreach (Receiver receiver in receivers)
-                receiver.Rebuild(brain);
+        else {
+            foreach (Receiver receiver in receivers.ToArray()) {
+                if (receiver.Rebuild(brain) == false) {
+                    Debug.Log("Rebuilding failed, removing receiver.");
+                    receivers.Remove(receiver);
+                }
+            }
+        }
     }
 
-    #endregion
+    public static Nucleus RebuildType(NanoBrainObj brain, Nucleus nucleus) {
+        if (string.IsNullOrEmpty(nucleus.nucleusType) == false) {
+            Type nucleusType = Type.GetType(nucleus.nucleusType);
+            if (nucleusType != null) {
+                object[] args = new object[] { brain, nucleus.name };
+                Nucleus rebuiltNucleus = (Nucleus)Activator.CreateInstance(nucleusType, args);
+                rebuiltNucleus.Deserialize(nucleus);
+                return rebuiltNucleus;
+            }
+        }
+        return nucleus;
+    }
+
+    public virtual void Deserialize(Nucleus nucleus) {    }
+
+    #endregion Serialization
 
     #region Runtime state (not serialized)
 
-    // public NanoBrain brain { get; protected set; }
-    public NanoBrainObj newBrain { get; protected set; }
+    public NanoBrainObj brain { get; protected set; }
 
     public virtual Vector3 outputValue { get; set; }
 
@@ -50,12 +71,13 @@ public class Nucleus {
 
     #endregion Runtime state
 
-    public Nucleus(NanoBrainObj brain, string name) {
-        this.newBrain = brain;
-        if (this.newBrain != null)
-            this.newBrain.nuclei.Add(this);
-        else
-            Debug.LogError("No neuroid network");
+    public Nucleus(string name) {
+        // this.brain = brain;
+        // if (this.brain != null) {
+        //     this.brain.nuclei.Add(this);
+        // }
+        // else
+        //     Debug.LogError("No neuroid network");
 
         this._name = name;
         this.id = this.GetHashCode();
@@ -63,9 +85,7 @@ public class Nucleus {
 
     public virtual void AddReceiver(Nucleus receiver) {
         this.receivers.Add(new Receiver(receiver));
-        //receiver.synapses[this] = 1.0f; // new(this);
         receiver.SetWeight(this, 1.0f);
-        //Debug.Log($"receiver # {this.receivers.Count} synapse count {receiver.synapses.Count}");
     }
 
     public static void Delete(Nucleus nucleus) {
@@ -73,15 +93,19 @@ public class Nucleus {
             if (synapse.nucleus.receivers.Count > 1) {
                 // there is another nucleus feeding into this input nucleus
                 synapse.nucleus.receivers.RemoveAll(r => r.nucleus == nucleus);
-            } else {
+            }
+            else {
                 // No other links, delete it.
                 Nucleus.Delete(synapse.nucleus);
             }
         }
-        foreach (Receiver receiver in nucleus.receivers)
-            receiver.nucleus.synapses.RemoveAll(s => s.nucleus == nucleus);                
+        foreach (Receiver receiver in nucleus.receivers) {
+            if (receiver.nucleus != null && receiver.nucleus.synapses != null)
+                receiver.nucleus.synapses.RemoveAll(s => s.nucleus == nucleus);
+        }
 
-        nucleus.newBrain.nuclei.RemoveAll(n => n == nucleus);
+        nucleus.brain.nuclei.RemoveAll(n => n == nucleus);
+        nucleus.brain.GarbageCollection();
     }
 
     public void GetInputFrom(Nucleus input, float weight = 1.0f) {
@@ -113,6 +137,7 @@ public class Nucleus {
         Synapse newSynapse = new(nucleus, weight);
         synapses.Add(newSynapse);
     }
+
 }
 
 [System.Serializable]
@@ -139,6 +164,12 @@ public class Synapse {
                 return;
             }
         }
+        foreach (Perceptoid perceptoid in brain.perceptei) {
+            if (perceptoid.id == this.nucleusId) {
+                this.nucleus = perceptoid;
+                return;
+            }
+        }
         Debug.LogError($"Synapse deserialization error: could not find nucleus with id {this.nucleusId}");
     }
 }
@@ -154,16 +185,18 @@ public class Receiver {
         this.nucleusId = nucleus.id;
     }
 
-    public void Rebuild(NanoBrainObj brain) {
-        if (brain == null)
-            return;
+    public bool Rebuild(NanoBrainObj brain) {
+        if (brain == null) {
+            return false;
+        }
 
         foreach (Nucleus nucleus in brain.nuclei) {
             if (nucleus.id == this.nucleusId) {
                 this.nucleus = nucleus;
-                return;
+                return true;
             }
         }
-        Debug.LogError($"Synapse deserialization error: could not find nucleus with id {this.nucleusId}");
+        Debug.LogWarning($"Receiver deserialization error: could not find nucleus with id {this.nucleusId}");
+        return false;
     }
 }

Assets/NanoBrain/Perception.cs

@@ -16,11 +16,18 @@ public class Perception : Nucleus {
     //public HashSet<Receiver> velocityReceivers { get; protected set; }
     public List<Receiver> velocityReceivers;
 
-    public Perception(NanoBrainObj brain) : base(brain, "Perception") {
+    public Perception(NanoBrainObj brain) : base("Perception") {
         this.positionReceivers = new();
         this.velocityReceivers = new();
     }
 
+    public Perceptoid GetPerception(int thingType = 0) {
+        foreach (Nucleus nucleus in this.brain.nuclei) {
+            if (nucleus is Perceptoid perceptoid && (thingType == 0 || perceptoid.receptor.thingType == thingType))
+                return perceptoid;
+        }
+        return null;
+    }
 
     public void SendPositions(Nucleus receivingNeuroid, int thingType = 0, float weight = 1.0f) {
         Receiver receiver = new() {
@@ -55,7 +62,7 @@ public class Perception : Nucleus {
         for (int i = 0; i < sensoryNeuroids.Length; i++) {
             if (sensoryNeuroids[i] == null)
                 availableIx = i;
-            else if (sensoryNeuroids[i].receptor.thingId == thingId) {
+            else if (sensoryNeuroids[i].receptor.thingType == thingId) {
                 sensoryNeuroids[i].receptor.position = localPosition;
                 return;
             }
@@ -80,7 +87,7 @@ public class Perception : Nucleus {
             }
             else {
                 Debug.Log($"new receptor for {thingId} at {availableIx}");
-                neuroid = new(newBrain, thingId, name);
+                neuroid = new(brain, thingId, name);
                 sensoryNeuroids[availableIx] = neuroid;
             }
             foreach (Receiver receiver in positionReceivers) {

Assets/NanoBrain/Perceptoid.cs

@@ -0,0 +1,156 @@
+using UnityEngine;
+
+[System.Serializable]
+public class Perceptoid : Neuroid {
+    // A neuroid which has no neurons as input
+    // But receives value from a receptor
+    public Receptor receptor;
+    public VelocityNeuroid velocityNeuroid;
+
+    #region Serialization
+
+    [SerializeField]
+    public int thingType;
+
+    public override void Rebuild(NanoBrainObj brain) {
+        base.Rebuild(brain);
+        this.receptor = new Receptor() {
+            neuroid = this
+        };
+    }
+
+    public override void Deserialize(Nucleus nucleus) {
+        base.Deserialize(nucleus);
+
+        if (nucleus is Perceptoid perceptoid)
+            this.receptor.thingType = perceptoid.thingType;
+
+        // Point all receivers to this perceptoid instead of the default nucleus
+        foreach (Receiver receiver in nucleus.receivers) {
+            foreach (Synapse synapse in receiver.nucleus.synapses) {
+                if (synapse.nucleus == nucleus)
+                    synapse.nucleus = this;
+            }
+        }
+        // Point all synapses to this perceptoid instead of the default nucleus
+        foreach (Synapse synapse in nucleus.synapses) {
+            foreach (Receiver receiver in synapse.nucleus.receivers) {
+                if (receiver.nucleus == nucleus)
+                    receiver.nucleus = this;
+            }
+        }
+        // Copy all the synapses
+        this.synapses = nucleus.synapses;
+        // Copy all receivers
+        this.receivers = nucleus.receivers;
+    }
+
+    #endregion Serialization
+
+    public Perceptoid(NanoBrainObj brain, string name) : base(name) {
+        this.brain = brain;
+        if (this.brain != null) {
+            this.brain.perceptei.Add(this);
+        }
+        else
+            Debug.LogError("No neuroid network");
+
+        this.nucleusType = nameof(Perceptoid);
+        this.name = name;
+        this.receptor = new Receptor {
+            neuroid = this
+        };
+    }
+
+    public Perceptoid(NanoBrainObj brain, int thingType, string name = "sensor") : base(name) {
+        this.brain = brain;
+        if (this.brain != null) {
+            this.brain.perceptei.Add(this);
+        }
+        else
+            Debug.LogError("No neuroid network");
+
+        this.nucleusType = nameof(Perceptoid);
+        this.name = name;
+        this.thingType = thingType;
+        this.receptor = new Receptor {
+            neuroid = this,
+            thingType = thingType
+        };
+        this.velocityNeuroid = new(brain, name + ": velocity");
+        // The velocity neuroid received position data from this
+        this.AddReceiver(velocityNeuroid);
+    }
+
+    public void Replace(int thingType, string name = "sensor") {
+        this.name = name;
+
+        this.thingType = thingType;
+        this.receptor.thingType = thingType;
+        this.receptor.localPosition = Vector3.zero;
+
+        this.outputValue = Vector3.zero;
+        this.receivers = new();
+        this.AddReceiver(velocityNeuroid);
+
+        this.velocityNeuroid.Replace(name + ": velocity");
+    }
+
+    public override void UpdateState() {
+        Vector3 result = receptor.localPosition;
+        foreach (Synapse synapse in this.synapses) {
+            Nucleus nucleus = synapse.nucleus;
+            float weight = synapse.weight;
+            Vector3 direction = nucleus.outputValue.normalized;
+            float magnitude = nucleus.outputValue.magnitude;
+
+            magnitude = weight * Mathf.Pow(magnitude, exponent);
+            if (inverse)
+                magnitude = 1 / magnitude;
+            result += direction * magnitude;
+        }
+        if (average && this.synapses.Count > 0)
+            result /= this.synapses.Count + 1;
+
+        this.outputValue = result;
+        foreach (Receiver receiver in this.receivers)
+            if (receiver.nucleus is Neuroid neuroid)
+                neuroid.SetInput(this);
+        this.stale = 0;
+    }
+
+    public static Perceptoid GetPerception(NanoBrainObj brain, int thingType = 0) {
+        foreach (Nucleus nucleus in brain.nuclei) {
+            if (nucleus is Perceptoid perceptoid && (thingType == 0 || perceptoid.thingType == thingType))
+                return perceptoid;
+        }
+        return null;
+    }
+
+    public static void ProcessStimulus(NanoBrainObj brain, int thingType, Vector3 lcoalPosition) {
+        Perceptoid selectedPerceptoid = null;
+        foreach (Perceptoid nucleus in brain.perceptei) {
+            if (nucleus is Perceptoid perceptoid && (thingType == 0 || perceptoid.thingType == thingType))
+                if (selectedPerceptoid == null) {
+                    selectedPerceptoid = perceptoid;
+                    if (perceptoid.isSleeping) {
+                        break;
+                    }
+                }
+                else if (perceptoid.receptor.position.magnitude < selectedPerceptoid.receptor.position.magnitude)
+                    selectedPerceptoid = perceptoid;
+        }
+        if (selectedPerceptoid == null) {
+            Debug.Log("No perceptoid selected, stimulus is ignored");
+            return;
+        }
+        selectedPerceptoid.receptor.position = lcoalPosition;
+    }
+    public static Receptor GetReceptor(NanoBrainObj brain, int thingType) {
+        foreach (Perceptoid perceptoid in brain.perceptei) {
+            if (thingType == 0 || perceptoid.thingType == thingType)
+                return perceptoid.receptor;
+        }
+        return null;
+    }
+}

Assets/NanoBrain/Perceptoid.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 702f634001a21a9d7ae1057c8ce356e9

Assets/NanoBrain/SensoryNeuroid.cs

@@ -1,12 +1,11 @@
-using System.Collections.Generic;
 using System.Linq;
 using UnityEngine;
 
 public class Receptor {
 
-    public SensoryNeuroid neuroid;
+    public Neuroid neuroid;
 
-    public int thingId;
+    public int thingType;
     public Vector3 localPosition;
 
     /// <summary>
@@ -33,7 +32,7 @@ public class SensoryNeuroid : Neuroid {
         this.name = name + ": position";
         this.receptor = new Receptor {
             neuroid = this,
-            thingId = thingId
+            thingType = thingId
         };
         this.velocityNeuroid = new(brain, name + ": velocity");
         // The velocity neuroid received position data from this
@@ -43,7 +42,7 @@ public class SensoryNeuroid : Neuroid {
     public void Replace(int thingId, string name = "sensor") {
         this.name = name + ": position";
 
-        this.receptor.thingId = thingId;
+        this.receptor.thingType = thingId;
         this.receptor.localPosition = Vector3.zero;
 
         this.outputValue = Vector3.zero;

Assets/NanoBrain/VisualEditor/Editor/NanoBrainComponent_Editor.cs

@@ -11,14 +11,16 @@ public class NanoBrainComponent_Editor : Editor {
     private SerializedProperty brainProp;
 
     public void OnEnable() {
-        brainProp = serializedObject.FindProperty(nameof(NanoBrainComponent.brain));    
+        if (Application.isPlaying == false)
+            brainProp = serializedObject.FindProperty(nameof(NanoBrainComponent.defaultBrain));
     }
 
     public override VisualElement CreateInspectorGUI() {
         NanoBrainComponent component = target as NanoBrainComponent;
-        NanoBrainObj brain = component.brain;
+        NanoBrainObj brain = Application.isPlaying ? component.brain : component.defaultBrain;
 
-        serializedObject.Update();
+        if (Application.isPlaying == false)
+            serializedObject.Update();
 
 
         VisualElement root = new();
@@ -32,9 +34,11 @@ public class NanoBrainComponent_Editor : Editor {
 
         root.styleSheets.Add(Resources.Load<StyleSheet>("GraphStyles"));
 
-        PropertyField brainField = new(brainProp);
-        brainField.label = "Nano Brain";
-        root.Add(brainField);
+        if (Application.isPlaying == false) {
+            PropertyField brainField = new(brainProp);
+            brainField.label = "Nano Brain";
+            root.Add(brainField);
+        }
 
         mainContainer = new() {
             name = "main",
@@ -70,14 +74,15 @@ public class NanoBrainComponent_Editor : Editor {
 
         if (brain != null)
             board.SetGraph(brain, brain.root, inspectorContainer);
-        else
-            Debug.LogWarning(" No brain!");
+        // else
+        //     Debug.LogWarning(" No brain!");
 
-        serializedObject.ApplyModifiedProperties();
+        if (Application.isPlaying == false)
+            serializedObject.ApplyModifiedProperties();
         return root;
     }
 
-        private void UpdateLayout(float containerWidth) {
+    private void UpdateLayout(float containerWidth) {
         if (containerWidth > 800f) {
             mainContainer.style.flexDirection = FlexDirection.Row;
             inspectorContainer.style.width = 400;        // fixed sidebar width

Assets/NanoBrain/VisualEditor/Editor/NanoBrainEditor.cs

@@ -299,7 +299,7 @@ public class GraphBoardView : VisualElement {
         if (neuroid is SensoryNeuroid sensoryNeuroid) {
             tooltip = new(
                 $"{sensoryNeuroid.name}" +
-                $"\nThing {sensoryNeuroid.receptor.thingId}" +
+                $"\nThing {sensoryNeuroid.receptor.thingType}" +
                 $"\nValue: {neuroid.outputValue}" +
                 $"\nStale: {neuroid.stale}");
         }

Assets/NanoBrain/VisualEditor/Editor/NanoBrainInspector.cs

@@ -104,7 +104,8 @@ public class NanoBrainInspector : Editor {
 
         public void SetGraph(NanoBrainObj brain, Nucleus nucleus, VisualElement inspectorContainer) {
             this.brain = brain;
-            this.serializedBrain = new SerializedObject(brain);
+            if (Application.isPlaying == false)
+                this.serializedBrain = new SerializedObject(brain);
             this.currentNucleus = nucleus;
             Rebuild(inspectorContainer);
         }
@@ -212,17 +213,130 @@ public class NanoBrainInspector : Editor {
             if (currentNucleus == null)
                 return;
 
-            serializedBrain.Update();
+            if (Application.isPlaying == false)
+                serializedBrain.Update();
 
             Handles.BeginGUI();
-            foreach (NeuroidLayer layer in layers)
-                DrawLayer(layer);
+            DrawGraph();
+            // foreach (NeuroidLayer layer in layers)
+            //     DrawLayer(layer);
             Handles.EndGUI();
 
         }
 
+        private void DrawGraph() {
+            float size = 20;
+            Vector3 position = new(200, 210, 0);
+
+            DrawReceivers(this.currentNucleus, position, size);
+            DrawSynapses(this.currentNucleus, position, size);
+
+            // Draw selected Nucleus
+            Handles.color = Color.white;
+            Handles.DrawSolidDisc(position, Vector3.forward, size + 2);
+            DrawNucleus(this.currentNucleus, position, this.currentNucleus.outputValue.magnitude, 20);
+        }
+
+        private void DrawNucleus(Nucleus nucleus, Vector3 position, float maxValue, float size) {
+            if (nucleus.isSleeping)
+                Handles.color = Color.darkRed;
+            else {
+                float brightness = nucleus.outputValue.magnitude / maxValue;
+                Handles.color = new Color(brightness, brightness, brightness);
+            }
+            Handles.DrawSolidDisc(position, Vector3.forward, size);
+            Vector3 labelPos = position - Vector3.down * (size + 0.2f); // below disc along up axis
+            GUIStyle style = new GUIStyle(EditorStyles.label) {
+                alignment = TextAnchor.UpperCenter,
+                normal = { textColor = Color.white },
+                fontStyle = FontStyle.Bold
+            };
+            Handles.Label(labelPos, nucleus.name, style);
+
+            Rect neuronRect = new(position.x - size, position.y - size, size * 2, size * 2);
+            int id = GUIUtility.GetControlID(FocusType.Passive);
+            Event e = Event.current;
+            EventType et = e.GetTypeForControl(id);
+            if (e != null && neuronRect.Contains(e.mousePosition)) {
+                // Process Hover
+                HandleMouseHover(nucleus, neuronRect);
+                // Process click
+                if (e.type == EventType.MouseDown && e.button == 0) {
+                    // Consume the event so the scene doesn't also handle it
+                    e.Use();
+                    HandleClicked(nucleus);
+                }
+            }
+        }
+
+        private void DrawReceivers(Nucleus nucleus, Vector3 parentPos, float size) {
+            int nodeCount = nucleus.receivers.Count;
+
+            // Determine the maximum value in this layer
+            // This is used to 'scale' the output value colors of the nuclei
+            float maxValue = 0;
+            foreach (Receiver receiver in nucleus.receivers) {
+                if (receiver.nucleus is Neuroid neuroid) {
+                    float value = neuroid.outputValue.magnitude;
+                    if (value > maxValue)
+                        maxValue = value;
+                }
+            }
+
+            // Determine the spacing of the nuclei in the layer
+            float spacing = 400f / nodeCount;
+            float margin = 10 + spacing / 2;
+
+            int row = 0;
+            foreach (Receiver receiver in nucleus.receivers) {
+                Nucleus receiverNucleus = receiver.nucleus;
+
+                Vector3 pos = new(100, margin + row * spacing, 0.0f);
+                Handles.color = Color.white;
+                Handles.DrawLine(parentPos, pos);
+
+                DrawNucleus(receiverNucleus, pos, maxValue, size);
+                row++;
+            }
+        }
+
+        private void DrawSynapses(Nucleus nucleus, Vector3 parentPos, float size) {
+            int nodeCount = nucleus.synapses.Count;
+
+            // Determine the maximum value in this layer
+            // This is used to 'scale' the output value colors of the nuclei
+            float maxValue = 0;
+            foreach (Synapse receiver in nucleus.synapses) {
+                if (receiver.nucleus is Neuroid neuroid) {
+                    float value = neuroid.outputValue.magnitude;
+                    if (value > maxValue)
+                        maxValue = value;
+                }
+            }
+
+            // Determine the spacing of the nuclei in the layer
+            float spacing = 400f / nodeCount;
+            float margin = 10 + spacing / 2;
+
+            int row = 0;
+            foreach (Synapse receiver in nucleus.synapses) {
+                Nucleus receiverNucleus = receiver.nucleus;
+
+                Vector3 pos = new(300, margin + row * spacing, 0.0f);
+                Handles.color = Color.white;
+                Handles.DrawLine(parentPos, pos);
+
+                DrawNucleus(receiverNucleus, pos, maxValue, size);
+                row++;
+            }
+        }
+
+        /*
         private void DrawLayer(NeuroidLayer layer) {
             int nodeCount = layer.neuroids.Count;
+
+            // Determine the maximum value in this layer
+            // This is used to 'scale' the output value colors of the nuclei
             float maxValue = 0;
             foreach (Nucleus nucleus in layer.neuroids) {
                 if (nucleus is Neuroid neuroid) {
@@ -231,8 +345,11 @@ public class NanoBrainInspector : Editor {
                         maxValue = value;
                 }
             }
+
+            // Determine the spacing of the nuclei in the layer
             float spacing = 400f / nodeCount;
             float margin = 10 + spacing / 2;
+
             foreach (Nucleus layerNucleus in layer.neuroids) {
                 Vector2Int layerNeuroidPos = this.neuroidPositions[layerNucleus];
                 Vector3 parentPos = new(100 + layerNeuroidPos.x * 100, margin + layerNeuroidPos.y * spacing, 0.1f);
@@ -240,11 +357,9 @@ public class NanoBrainInspector : Editor {
                 float inputSpacing = 400f / layerNucleus.synapses.Count;
                 float inputMargin = 10 + inputSpacing / 2;
                 int minStale = 10000;
-                Debug.Log($"layer neuron {layerNucleus.name} has {layerNucleus.synapses.Count} synapses");
                 foreach (Synapse synapse in layerNucleus.synapses) {
                     Nucleus nucleus = synapse.nucleus;
                     if (nucleus != null) {
-                        Debug.Log($"Synapse to {nucleus.name} is valid"); float weight = synapse.weight;
                         if (this.neuroidPositions.ContainsKey(nucleus)) {
                             Vector2Int inputNeuroidPos = this.neuroidPositions[nucleus];
                             if (inputNeuroidPos.x == layerNeuroidPos.x + 1) {
@@ -265,20 +380,21 @@ public class NanoBrainInspector : Editor {
                     Handles.color = Color.white;
                     Handles.DrawSolidDisc(parentPos, Vector3.forward, size + 2);
                 }
-                if (layerNucleus.isSleeping)
-                    Handles.color = Color.darkRed;
-                else {
-                    float brightness = layerNucleus.outputValue.magnitude / maxValue;
-                    Handles.color = new Color(brightness, brightness, brightness);
-                }
-                Handles.DrawSolidDisc(parentPos, Vector3.forward, size);
-                Vector3 labelPos = parentPos - Vector3.down * (size + 0.2f); // below disc along up axis
-                GUIStyle style = new GUIStyle(EditorStyles.label) {
-                    alignment = TextAnchor.UpperCenter,
-                    normal = { textColor = Color.white },
-                    fontStyle = FontStyle.Bold
-                };
-                Handles.Label(labelPos, layerNucleus.name, style);
+                DrawNucleus(layerNucleus, parentPos, maxValue, size);
+                // if (layerNucleus.isSleeping)
+                //     Handles.color = Color.darkRed;
+                // else {
+                //     float brightness = layerNucleus.outputValue.magnitude / maxValue;
+                //     Handles.color = new Color(brightness, brightness, brightness);
+                // }
+                // Handles.DrawSolidDisc(parentPos, Vector3.forward, size);
+                // Vector3 labelPos = parentPos - Vector3.down * (size + 0.2f); // below disc along up axis
+                // GUIStyle style = new GUIStyle(EditorStyles.label) {
+                //     alignment = TextAnchor.UpperCenter,
+                //     normal = { textColor = Color.white },
+                //     fontStyle = FontStyle.Bold
+                // };
+                // Handles.Label(labelPos, layerNucleus.name, style);
 
                 Rect neuronRect = new(parentPos.x - size, parentPos.y - size, size * 2, size * 2);
                 int id = GUIUtility.GetControlID(FocusType.Passive);
@@ -296,13 +412,14 @@ public class NanoBrainInspector : Editor {
                 }
             }
         }
+        */
 
         private void HandleMouseHover(Nucleus neuroid, Rect rect) {
             GUIContent tooltip;
             if (neuroid is SensoryNeuroid sensoryNeuroid) {
                 tooltip = new(
                     $"{sensoryNeuroid.name}" +
-                    $"\nThing {sensoryNeuroid.receptor.thingId}" +
+                    $"\nThing {sensoryNeuroid.receptor.thingType}" +
                     $"\nValue: {neuroid.outputValue}" +
                     $"\nStale: {neuroid.stale}");
             }
@@ -343,7 +460,11 @@ public class NanoBrainInspector : Editor {
                 if (so.targetObject == null)
                     return;
                 so.Update();
+                if (this.currentNucleus == null)
+                    return;
                 this.currentNucleus.name = EditorGUILayout.TextField(this.currentNucleus.name);
+                if (this.currentNucleus is Perceptoid currentPerceptoid)
+                    currentPerceptoid.thingType = EditorGUILayout.IntField("Thing Type", currentPerceptoid.thingType);
                 EditorGUILayout.BeginHorizontal();
                 EditorGUILayout.LabelField("Output Value", GUILayout.Width(100));
                 EditorGUILayout.Vector3Field(GUIContent.none, this.currentNucleus.outputValue);
@@ -359,8 +480,15 @@ public class NanoBrainInspector : Editor {
                             EditorGUILayout.BeginHorizontal();
                             EditorGUILayout.LabelField(synapse.nucleus.name, GUILayout.Width(120));
                             EditorGUI.indentLevel--;
+                            // if (synapse.nucleus is Perceptoid perceptoid) {
+                            //     EditorGUILayout.LabelField("Thing", GUILayout.Width(45));
+                            //     perceptoid.thingType = EditorGUILayout.IntField(perceptoid.thingType, GUILayout.Width(40));
+
+                            // }
+                            // else {
                             EditorGUILayout.LabelField("Weight", GUILayout.Width(45));
                             synapse.weight = EditorGUILayout.FloatField(synapse.weight, GUILayout.Width(40));
+                            // }
                             EditorGUI.indentLevel++;
                             EditorGUILayout.Vector3Field(GUIContent.none, synapse.nucleus.outputValue, GUILayout.Width(180));
                             EditorGUILayout.EndHorizontal();
@@ -372,10 +500,8 @@ public class NanoBrainInspector : Editor {
                 }
                 if (GUILayout.Button("Add Neuron"))
                     AddInputNeuron(this.currentNucleus);
-                if (GUILayout.Button("Add Position Perception"))
-                    AddPositionPerception(this.currentNucleus);
-                if (GUILayout.Button("Add Velocity Perception"))
-                    AddVelocityPerception(this.currentNucleus);
+                if (GUILayout.Button("Add Perceptoid"))
+                    AddPerceptoid(this.currentNucleus);
                 if (GUILayout.Button("Delete this neuron"))
                     DeleteNeuron(this.currentNucleus);
 
@@ -384,9 +510,9 @@ public class NanoBrainInspector : Editor {
             inspectorContainer.Add(container);
         }
 
-        protected virtual void AddInputNeuron(Nucleus receiver) {
+        protected virtual void AddInputNeuron(Nucleus nucleus) {
             Neuroid newNeuroid = new(this.brain, "New neuron");
-            newNeuroid.AddReceiver(receiver);
+            newNeuroid.AddReceiver(nucleus);
             //Rebuild(inspectorContainer);
             BuildLayers();
         }
@@ -398,13 +524,19 @@ public class NanoBrainInspector : Editor {
             BuildLayers();
         }
 
-        protected virtual void AddPositionPerception(Nucleus receiver) {
-            this.brain.perception.SendPositions(receiver);
-        }
-        protected virtual void AddVelocityPerception(Nucleus receiver) {
-            this.brain.perception.SendVelocities(receiver);
+        protected virtual void AddPerceptoid(Nucleus nucleus) {
+            Perceptoid newPerceptoid = new(this.brain, 0, "New Perceptoid");
+            newPerceptoid.AddReceiver(nucleus);
+            BuildLayers();
         }
 
+        // protected virtual void AddPositionPerception(Nucleus receiver) {
+        //     this.brain.perception.SendPositions(receiver);
+        // }
+        // protected virtual void AddVelocityPerception(Nucleus receiver) {
+        //     this.brain.perception.SendVelocities(receiver);
+        // }
+
         private Vector3 NodePosition(Nucleus nucleus, int layerNodeCount = 1) {
             if (this.neuroidPositions.ContainsKey(nucleus)) {
                 Vector2Int nucleusPos = this.neuroidPositions[nucleus];

Assets/NanoBrain/VisualEditor/NanoBrainComponent.cs

@@ -1,15 +1,21 @@
 using UnityEngine;
 
 public class NanoBrainComponent : MonoBehaviour {
-    public NanoBrainObj brain;
+    public NanoBrainObj defaultBrain;
+    private NanoBrainObj brainInstance;
+
     public Nucleus root {
         get {
-            return brain.root;
+            return brainInstance.root;
         }
     }
-    public Perception perception {
+    public NanoBrainObj brain {
         get {
-            return brain.perception;
+            if (brainInstance == null && defaultBrain != null) {
+                brainInstance = Instantiate(defaultBrain);
+                brainInstance.name = defaultBrain.name + " (Instance)";
+            }
+            return brainInstance;
         }
     }
 }

Assets/NanoBrain/VisualEditor/NanoBrainObj.cs

@@ -9,18 +9,19 @@ public class NanoBrainObj : ScriptableObject, ISerializationCallbackReceiver {
     public Color color = Color.white;
     public Texture2D texture;
 
-    public List<Nucleus> nuclei = new();
+    public List<Neuroid> nuclei = new();
+    public List<Perceptoid> perceptei = new();
 
     // This is probably always the first element in the nuclei list...
     [System.NonSerialized]
     public Nucleus root;
     public int rootId;
 
-    public Perception perception;
+    // public Perception perception;
 
     public NanoBrainObj() {
-        this.root = new(this, "Root");
-        this.perception = new Perception(this);
+        this.root = new Neuroid(this, "Root");
+        // this.perception = new Perception(this);
     }
 
     public Neuroid AddNeuron(string name) {
@@ -40,10 +41,48 @@ public class NanoBrainObj : ScriptableObject, ISerializationCallbackReceiver {
         this.rootId = root.id;
     }
     public void OnAfterDeserialize() {
-        foreach (Nucleus nucleus in nuclei) {
-            if (this.rootId == nucleus.id)
-                this.root = nucleus;
-            nucleus.Rebuild(this);
+        try {
+            foreach (Nucleus nucleus in this.nuclei.ToArray()) {
+                if (this.rootId == nucleus.id)
+                    this.root = nucleus;
+                nucleus.Rebuild(this);
+            }
+
+            // List<Nucleus> rebuildNuclei = new();
+            // foreach (Nucleus nucleus in this.nuclei.ToArray()) {
+            //     rebuildNuclei.Add(Nucleus.RebuildType(this, nucleus));
+            // }
+            // this.nuclei = rebuildNuclei;
+            foreach (Perceptoid perceptoid in this.perceptei.ToArray()) {
+                perceptoid.Rebuild(this);
+            }
+        }
+        catch (System.Exception) { }
+        this.GarbageCollection();
+    }
+
+    public void GarbageCollection() {
+        HashSet<Nucleus> visitedNuclei = new();
+        MarkNuclei(visitedNuclei, this.root);
+        Debug.Log($"Garbage collection found {visitedNuclei.Count} Nuclei");
+        this.nuclei.RemoveAll(nucleus => visitedNuclei.Contains(nucleus) == false);
+        this.perceptei.RemoveAll(perceptoid => visitedNuclei.Contains(perceptoid) == false);        
+    }
+
+    public void MarkNuclei(HashSet<Nucleus> visitedNuclei, Nucleus nucleus) {
+        if (nucleus is null)
+            return;
+
+        visitedNuclei.Add(nucleus);
+        if (nucleus.synapses != null) {
+            HashSet<Synapse> visitedSynapses = new();
+            foreach (Synapse synapse in nucleus.synapses) {
+                if (synapse != null && synapse.nucleus != null) {
+                    visitedSynapses.Add(synapse);
+                    MarkNuclei(visitedNuclei, synapse.nucleus);
+                }
+            }
+            nucleus.synapses.RemoveAll(synapse => visitedSynapses.Contains(synapse) == false);
         }
     }
 }

Assets/Scenes/Boids/Boids.unity

@@ -393,7 +393,7 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: ec888ca5333d45a438f9f417fa5ce135, type: 3}
   m_Name: 
   m_EditorClassIdentifier: Assembly-CSharp::SwarmSpawn
-  count: 1
+  count: 3
   boidPrefab: {fileID: 8702527964058765413, guid: f9c706268554ce449a8773675b2864b8, type: 3}
   spawnAreaSize: {x: 0.5, y: 0.5, z: 0.5}
   minDelay: 0.05

Assets/Scenes/Boids/New Nano Brain Obj.asset

@@ -1,60 +0,0 @@
-%YAML 1.1
-%TAG !u! tag:unity3d.com,2011:
---- !u!114 &11400000
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 0}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: 36081359186edfec998d891a1feeb17b, type: 3}
-  m_Name: New Nano Brain Obj
-  m_EditorClassIdentifier: Assembly-CSharp::NanoBrainObj
-  title: 
-  count: -26
-  color: {r: 1, g: 1, b: 1, a: 1}
-  texture: {fileID: 0}
-  nuclei:
-  - id: 257807948
-    _name: Root
-    synapses:
-    - nucleusId: -651011940
-      weight: 1
-    - nucleusId: -1689048724
-      weight: 1
-    receivers: []
-  - id: -1868865374
-    _name: Perception
-    synapses: []
-    receivers: []
-  - id: -651011940
-    _name: Neuron 1
-    synapses: []
-    receivers:
-    - nucleusId: 257807948
-  - id: -1689048724
-    _name: New neuron
-    synapses: []
-    receivers:
-    - nucleusId: 257807948
-  - id: -152927560
-    _name: 'Boundary: position'
-    synapses: []
-    receivers:
-    - nucleusId: -1462684836
-  - id: -1462684836
-    _name: 'Boundary: velocity'
-    synapses:
-    - nucleusId: -152927560
-      weight: 1
-    receivers: []
-  rootId: 257807948
-  perception:
-    id: 1565766940
-    _name: Perception
-    synapses: []
-    receivers: []
-    positionReceivers: []
-    velocityReceivers: []

Assets/Scenes/Boids/Prefabs/Boid.prefab

@@ -176,4 +176,4 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 92f34a5e4027a1dc39efd8ce63cf6aba, type: 3}
   m_Name: 
   m_EditorClassIdentifier: Assembly-CSharp::NanoBrainComponent
-  brain: {fileID: 11400000, guid: af8d90b8b4b9dcad7837130c4143d91c, type: 2}
+  defaultBrain: {fileID: 11400000, guid: fc1a4800a8c531eb4855b436bc9084ae, type: 2}

Assets/Scenes/Boids/RoamingBrain.asset

@@ -17,86 +17,36 @@ MonoBehaviour:
   color: {r: 1, g: 1, b: 1, a: 1}
   texture: {fileID: 0}
   nuclei:
-  - id: -1753291412
+  - id: -1707533328
     _name: Root
     synapses:
-    - nucleusId: 237822944
+    - nucleusId: -112538112
       weight: 1
     receivers: []
-  - id: 472852910
-    _name: Perception
-    synapses: []
-    receivers: []
-  - id: 237822944
+    nucleusType: 
+    average: 0
+    inverse: 0
+    exponent: 1
+  - id: -112538112
     _name: Avoidance
-    synapses: []
-    receivers:
-    - nucleusId: -1753291412
-  - id: 983561152
-    _name: 'Boundary: position'
-    synapses: []
-    receivers:
-    - nucleusId: -1818801134
-  - id: -1818801134
-    _name: 'Boundary: velocity'
     synapses:
-    - nucleusId: 983561152
-      weight: 1
-    receivers: []
-  - id: 1386590800
-    _name: 'Boundary: position'
+    - nucleusId: 407735232
+      weight: -1
+    receivers:
+    - nucleusId: -1707533328
+    nucleusType: 
+    average: 0
+    inverse: 0
+    exponent: 1
+  perceptei:
+  - id: 407735232
+    _name: Boundary
     synapses: []
     receivers:
-    - nucleusId: -1415771486
-    - nucleusId: 237822944
-  - id: -1415771486
-    _name: 'Boundary: velocity'
-    synapses:
-    - nucleusId: 1386590800
-      weight: 1
-    receivers: []
-  - id: -213085248
-    _name: 'Boundary: position'
-    synapses: []
-    receivers:
-    - nucleusId: 1279519762
-    - nucleusId: 237822944
-  - id: 1279519762
-    _name: 'Boundary: velocity'
-    synapses:
-    - nucleusId: -213085248
-      weight: 1
-    receivers: []
-  - id: 1783940116
-    _name: 'Boundary: position'
-    synapses: []
-    receivers:
-    - nucleusId: -1018422170
-    - nucleusId: 237822944
-  - id: -1018422170
-    _name: 'Boundary: velocity'
-    synapses:
-    - nucleusId: 1783940116
-      weight: 1
-    receivers: []
-  rootId: -1753291412
-  perception:
-    id: 2139386530
-    _name: Perception
-    synapses: []
-    receivers: []
-    positionReceivers:
-    - thingType: 0
-      neuroid:
-        id: 237822944
-        _name: Avoidance
-        synapses:
-        - nucleusId: 1386590800
-          weight: 1
-        - nucleusId: -213085248
-          weight: 1
-        - nucleusId: 1783940116
-          weight: 1
-        receivers:
-        - nucleusId: -1753291412
-    velocityReceivers: []
+    - nucleusId: -112538112
+    nucleusType: Perceptoid
+    average: 0
+    inverse: 0
+    exponent: 1
+    thingType: 1
+  rootId: -1707533328

Assets/Scenes/Boids/Scripts/Boid.cs

@@ -13,32 +13,21 @@ public class Boid : MonoBehaviour {
     private Bounds innerBounds;
 
     public NanoBrainComponent nanoBrain;
-
-    // public NanoBrain neuroidNet;
-    // public Perception perception;
-
-    // public Nucleus behaviour;
-
-    // public Neuroid totalForce;
+    public Receptor boundaryReceptor;
+    public Receptor boidReceptor;
 
     public int id;
 
     void Awake() {
-        nanoBrain = GetComponent<NanoBrainComponent>();
         this.id = this.GetInstanceID();
 
+        nanoBrain = GetComponent<NanoBrainComponent>();
+        boundaryReceptor = Perceptoid.GetReceptor(nanoBrain.brain, BoundaryType);
+        boidReceptor = Perceptoid.GetReceptor(nanoBrain.brain, BoidType);
+
         sc = FindFirstObjectByType<SwarmControl>();
 
         innerBounds = new(sc.transform.position, sc.spaceSize - 2 * sc.boundaryWidth);
-
-        // neuroidNet = GetComponent<NanoBrain>();
-        // perception = new Perception(neuroidNet);
-
-        // //behaviour = new Roaming(neuroidNet, perception, sc);
-        // behaviour = new Swarming(neuroidNet, perception, sc);
-
-        // totalForce = new(neuroidNet, "Total");
-        // behaviour.AddReceiver(totalForce);
     }
 
     void Update() {
@@ -52,8 +41,9 @@ public class Boid : MonoBehaviour {
                 Vector3 localPosition = this.transform.InverseTransformPoint(neighbour.transform.position);
                 //Debug.DrawRay(this.transform.position, this.transform.TransformDirection(localPosition), Color.magenta);
 
-                int thingId = neighbour.GetInstanceID();
-                nanoBrain.perception.ProcessStimulus(thingId, BoidType, localPosition, neighbour.gameObject.name);
+                //int thingId = neighbour.GetInstanceID();
+                // nanoBrain.perception.ProcessStimulus(thingId, BoidType, localPosition, neighbour.gameObject.name);
+                boidReceptor.position = localPosition;
             }
         }
 
@@ -62,10 +52,9 @@ public class Boid : MonoBehaviour {
             Vector3 pointOnBounds = innerBounds.ClosestPoint(point);
             Vector3 desiredWorldSpace = (pointOnBounds - point).normalized * sc.speed;
             Vector3 desiredLocalSpace = -this.transform.InverseTransformPoint(desiredWorldSpace);
-            nanoBrain.perception.ProcessStimulus(777, BoundaryType, desiredLocalSpace, "Boundary");
+            boundaryReceptor.position = desiredLocalSpace;
         }
 
-        //Vector3 worldForce = this.transform.TransformDirection(behaviour.outputValue);
         Vector3 worldForce = this.transform.TransformDirection(nanoBrain.root.outputValue);
 
         this.velocity = (1 - sc.inertia) * (worldForce * Time.deltaTime) + sc.inertia * velocity;
@@ -82,7 +71,6 @@ public class Boid : MonoBehaviour {
             transform.rotation = Quaternion.Slerp(transform.rotation, targetRotation, Time.deltaTime * 2f); // Adjust the speed of rotation        
         }
 
-        //neuroidNet.UpdateNeurons();
         nanoBrain.brain.UpdateNuclei();
     }
 

Assets/Scenes/Boids/Scripts/RoamingNucleus.cs

@@ -3,7 +3,7 @@ public class Roaming : Nucleus {
 
     public Neuroid output;
 
-    public Roaming(NanoBrainObj brain, Perception perception, SwarmControl sc) : base(null, "Roaming nucleus") {
+    public Roaming(NanoBrainObj brain, Perception perception, SwarmControl sc) : base("Roaming nucleus") {
         avoidance = new(brain, "Avoidance") { inverse = true };
         perception.SendPositions(avoidance, Boid.BoundaryType);
 

Assets/Scenes/Boids/Scripts/SwarmingNucleus.cs

@@ -10,7 +10,7 @@ public class Swarming : Nucleus {
 
     public override Vector3 outputValue { get => output.outputValue; set => output.outputValue = value; }
 
-    public Swarming(NanoBrainObj brain, Perception perception, SwarmControl sc) : base(null, "Swarming Nucleus") {
+    public Swarming(NanoBrainObj brain, Perception perception, SwarmControl sc) : base("Swarming Nucleus") {
         this.cohesion = new(brain, "Cohesion") { inverse = false };
         perception.SendPositions(this.cohesion, Boid.BoidType);
 

Assets/Scenes/Boids/SwarmingBrain.asset

@@ -0,0 +1,88 @@
+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!114 &11400000
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 0}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 36081359186edfec998d891a1feeb17b, type: 3}
+  m_Name: SwarmingBrain
+  m_EditorClassIdentifier: Assembly-CSharp::NanoBrainObj
+  title: 
+  count: 0
+  color: {r: 1, g: 1, b: 1, a: 1}
+  texture: {fileID: 0}
+  nuclei:
+  - id: -1707533328
+    _name: Root
+    synapses:
+    - nucleusId: -112538112
+      weight: 1
+    - nucleusId: 1938577052
+      weight: 1
+    receivers: []
+    nucleusType: 
+    average: 0
+    inverse: 0
+    exponent: 1
+  - id: -112538112
+    _name: Avoidance
+    synapses:
+    - nucleusId: 407735232
+      weight: -1
+    receivers:
+    - nucleusId: -1707533328
+    nucleusType: 
+    average: 0
+    inverse: 0
+    exponent: 1
+  - id: 1938577052
+    _name: Cohesion
+    synapses:
+    - nucleusId: -1408496896
+      weight: 1
+    - nucleusId: -133566816
+      weight: 1
+    receivers:
+    - nucleusId: -1707533328
+    nucleusType: 
+    average: 0
+    inverse: 0
+    exponent: 1
+  perceptei:
+  - id: 407735232
+    _name: Boundary
+    synapses: []
+    receivers:
+    - nucleusId: -112538112
+    nucleusType: Perceptoid
+    average: 0
+    inverse: 0
+    exponent: 1
+    thingType: 1
+  - id: -1408496896
+    _name: Boid1
+    synapses: []
+    receivers:
+    - nucleusId: 1938577052
+    nucleusType: Perceptoid
+    average: 0
+    inverse: 0
+    exponent: 1
+    thingType: 2
+  - id: -133566816
+    _name: Boid2
+    synapses: []
+    receivers:
+    - nucleusId: 27651644
+    - nucleusId: 1938577052
+    nucleusType: Perceptoid
+    average: 0
+    inverse: 0
+    exponent: 1
+    thingType: 2
+  rootId: -1707533328

Assets/Scenes/Boids/SwarmingBrain.asset.meta

@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 55099766f6f09071ab4e8c89b02fa302
+guid: fc1a4800a8c531eb4855b436bc9084ae
 NativeFormatImporter:
   externalObjects: {}
   mainObjectFileID: 11400000