Fixed cluster outputs

Editor/ClusterEditor.cs

@@ -3,7 +3,6 @@ using System.Linq;
 using UnityEditor;
 
 using UnityEngine;
-using UnityEngine.UIElements;
 
 namespace NanoBrain.Unity {
 
@@ -53,151 +52,6 @@ namespace NanoBrain.Unity {
             EditorGUILayout.EndHorizontal(); // end split
         }
 
-        // public override void OnInspectorGUI() {
-        //     float totalWidth = EditorGUIUtility.currentViewWidth;
-        //     float leftW = drawAreaWidth;
-        //     float rightW = Mathf.Max(80f, totalWidth - leftW - padding);
-
-        //     Rect row = GUILayoutUtility.GetRect(totalWidth, 450f); // request full width
-        //     Rect leftRect  = new Rect(row.x, row.y, leftW, row.height);
-        //     Rect rightRect = new Rect(row.x + leftW + padding, row.y, rightW, 450f);
-
-        //     Rect innerLeft = new Rect(leftRect.x + padding, leftRect.y + padding,
-        //                               leftRect.width - padding*2, leftRect.height - padding*2);
-        //     clusterView.Render(innerLeft);
-
-        //     GUILayout.BeginArea(rightRect);
-        //     float prev = EditorGUIUtility.labelWidth;
-        //     EditorGUIUtility.labelWidth = 100f;
-        //     InspectorHandler(serializedObject);
-        //     EditorGUIUtility.labelWidth = prev;
-        //     GUILayout.EndArea();
-        // }
-        //}
-        /*
-        public class ClusterEditor : ClusterViewer {
-
-            public override VisualElement CreateInspectorGUI() {
-                ClusterPrefab prefab = target as ClusterPrefab;
-                if (prefab != null)
-                    prefab.EnsureInitialization();
-
-                serializedObject.Update();
-
-                VisualElement root = new();
-                CreateEditor(root, prefab, null);
-
-                serializedObject.ApplyModifiedProperties();
-                return root;
-            }
-
-            public GraphView CreateEditor(VisualElement root, ClusterPrefab cluster, GameObject gameObject) {
-                root.style.paddingLeft = 0;
-                root.style.paddingRight = 0;
-                root.style.paddingTop = 0;
-                root.style.paddingBottom = 0;
-
-                root.styleSheets.Add(Resources.Load<StyleSheet>("GraphStyles"));
-
-                VisualElement mainContainer = new() {
-                    style = {
-                    flexDirection = FlexDirection.Row,
-                    }
-                };
-                GraphEditor graphContainer = new(cluster);
-                graphContainer.style.flexShrink = 0;
-                graphContainer.style.width = 300;
-                graphContainer.style.overflow = Overflow.Hidden;
-
-                VisualElement inspectorContainer = new() {
-                    name = "inspector",
-                    style = {
-                        minHeight = 450,
-                        width = 300,
-                        flexGrow = 0,
-                        flexDirection = FlexDirection.Row,
-                    }
-                };
-
-                mainContainer.Add(graphContainer);
-                mainContainer.Add(inspectorContainer);
-                root.Add(mainContainer);
-
-                graphContainer.SetGraph(gameObject, inspectorContainer);
-
-                return graphContainer;
-            }
-
-            public class GraphEditor : GraphView {
-
-                protected ClusterPrefab prefab;
-                //protected Nucleus currentPrefabNucleus;
-
-                protected override Nucleus currentNucleus {
-                    get => base.currentNucleus;
-                    set {
-                        base.currentNucleus = value;
-                        // this.currentPrefabNucleus = value != null ? this.prefab.GetNucleus(value.name) : null;
-                    }
-                }
-
-                public GraphEditor(ClusterPrefab prefab) : base(prefab.cluster.defaultOutput.parent) {
-                    this.prefab = prefab;
-
-                    // In a Prefab editor, no instance exists but we need it for the ClusterViewer.
-                    // So we create a temporary instance
-                    //this.currentCluster = new(prefab);
-                    this.currentCluster = prefab.cluster;
-                    this.currentCluster.Refresh();
-                }
-
-                public void SetGraph(GameObject gameObject, VisualElement inspectorContainer) {
-                    this.gameObject = gameObject;
-
-                    if (Application.isPlaying == false)
-                        this.serializedBrain = new SerializedObject(this.prefab);
-                    this.selectedOutput = this.currentCluster.defaultOutput;
-                    this.currentNucleus = this.selectedOutput;
-                    //this.currentCluster = this.currentNucleus.parent;
-                    Rebuild(inspectorContainer);
-                    // if (outputsPopup != null)
-                    //     OnOutputChanged(outputsPopup.choices[0]);
-                }
-
-                private void Rebuild(VisualElement inspectorContainer) {
-
-                    if (this.currentNucleus == null) {
-                        inspectorContainer.Clear();
-                        return;
-                    }
-
-                    string path = AssetDatabase.GetAssetPath(this.prefab); // or known path
-                    this.prefabAsset = AssetDatabase.LoadAssetAtPath<ClusterPrefab>(path);
-                    if (this.prefabAsset == null) {
-                        // create in memory save if it doesn't exist
-                        this.prefabAsset = CreateInstance<ClusterPrefab>();
-                        //Debug.LogError("Cluster Prefab is not found on disk");
-                    }
-                    // DrawInspector(inspectorContainer);
-                    if (inspectorContainer == null)
-                        return;
-
-                    inspectorContainer.Clear();
-                    if (this.currentNucleus == null)
-                        return;
-
-                    // create a SerializedObject wrapper so Unity inspector controls work (and Undo)
-                    SerializedObject so = new(prefabAsset);
-
-                    // foreach (Nucleus nucleus in this.prefab.cluster.nuclei) {
-                    //     nucleus.Initialize();
-                    // }
-
-                    this.inspectorIMGUIContainer = new IMGUIContainer(() => InspectorHandler(so));
-
-                    inspectorContainer.Add(inspectorIMGUIContainer);
-                }
-        */
         #region Inspector
 
         //private VisualElement inspectorIMGUIContainer;
@@ -336,9 +190,9 @@ namespace NanoBrain.Unity {
 
         protected void SynapsesInspector(ref bool anythingChanged) {
             EditorGUI.indentLevel++;
-            //showSynapses = EditorGUILayout.BeginFoldoutHeaderGroup(showSynapses, "Synapses");
+            showSynapses = EditorGUILayout.Foldout(showSynapses, "Synapses", true);
-            showSynapses = EditorGUILayout.Foldout(showSynapses, "Synapses");
             if (showSynapses) {
+                EditorGUI.indentLevel--;
                 if (this.currentNucleus is Neuron neuron2) {
                     Neuron.CombinatorType newCombinator = (Neuron.CombinatorType)EditorGUILayout.EnumPopup("Combinator", neuron2.combinator);
                     anythingChanged |= newCombinator != neuron2.combinator;
@@ -441,8 +295,8 @@ namespace NanoBrain.Unity {
                 anythingChanged |= ConnectNucleus(this.clusterPrefab, this.currentNucleus);
                 anythingChanged |= AddSynapse(this.clusterPrefab, this.currentNucleus);
             }
-            //EditorGUILayout.EndFoldoutHeaderGroup();
+            else
-            EditorGUI.indentLevel--;
+                EditorGUI.indentLevel--;
 
         }
 
@@ -451,6 +305,7 @@ namespace NanoBrain.Unity {
             EditorGUI.indentLevel++;
             showActivation = EditorGUILayout.Foldout(showActivation, "Activation");
             if (showActivation) {
+                EditorGUI.indentLevel--;
                 if (this.currentNucleus is Neuron neuron) {
                     if (this.currentNucleus is not MemoryCell) {
                         EditorGUILayout.BeginHorizontal();
@@ -472,8 +327,8 @@ namespace NanoBrain.Unity {
 
                 EditorGUILayout.Space();
             }
-            //EditorGUILayout.EndFoldoutHeaderGroup();
+            else
-            EditorGUI.indentLevel--;
+                EditorGUI.indentLevel--;
         }
 
         #region Synapses

Editor/ClusterPrefab_Drawer.cs

@@ -62,30 +62,13 @@ namespace NanoBrain.Unity {
                     Rect drawRect = new(fieldRect.x, headerRect.yMax + 2f, fieldRect.width, 450f);
 
                     ClusterView.Render(drawRect, prefab.cluster, property);
+                    //Debug.Log(prefab.cluster.defaultOutput.outputMagnitude);
                 }
             }
 
             EditorGUI.indentLevel = indent;
             EditorGUI.EndProperty();
         }
-
-        // public ClusterViewer.GraphView CreateViewer(Cluster cluster, GameObject gameObject) {
-        //     VisualElement mainContainer = new() {
-        //         style = {
-        //             flexDirection = FlexDirection.Row,
-        //             minHeight = 450
-        //         }
-        //     };
-        //     ClusterViewer.GraphView graph = new(cluster);
-        //     graph.style.flexGrow = 1;
-
-        //     mainContainer.Add(graph);
-        //     root.Add(mainContainer);
-
-        //     graph.SetGraph(gameObject);
-
-        //     return graph;
-        // }
     }
 
 /*

Editor/ClusterView.cs

@@ -82,8 +82,8 @@ namespace NanoBrain.Unity {
             Vector3 position = new(150, 210, 0);
 
             if (this.currentNucleus != null) {
-                DrawReceivers(this.currentNucleus, position, size);
+                DrawReceivers(this.currentNucleus, position);
-                DrawSynapses(this.currentNucleus, position, size);
+                DrawSynapses(this.currentNucleus, position);
 
                 // Draw selected Nucleus
                 if (this.expandArray) {
@@ -152,6 +152,7 @@ namespace NanoBrain.Unity {
                         maxValue = neuron.outputMagnitude;
                     else if (this.currentNucleus is Cluster cluster)
                         maxValue = cluster.defaultOutput.outputMagnitude;
+                    Debug.Log($"Neuron {maxValue} {currentCluster.defaultOutput.outputMagnitude}");
                     DrawNucleus(this.currentNucleus, position, maxValue);
                 }
             }
@@ -161,7 +162,7 @@ namespace NanoBrain.Unity {
             }
         }
 
-        protected void DrawReceivers(Nucleus nucleus, Vector3 parentPos, float size) {
+        protected void DrawReceivers(Nucleus nucleus, Vector3 parentPos) {
             List<Nucleus> receivers;
             if (nucleus is Neuron neuron)
                 receivers = neuron.receivers;
@@ -220,7 +221,7 @@ namespace NanoBrain.Unity {
             }
         }
 
-        protected void DrawSynapses(Nucleus nucleus, Vector3 parentPos, float size) {
+        protected void DrawSynapses(Nucleus nucleus, Vector3 parentPos) {
             if (nucleus is not Neuron neuron)
                 return;
 

Runtime/Scripts/Core/Cluster.cs

@@ -366,6 +366,7 @@ namespace NanoBrain {
         /// <summary>
         /// This gives the order in which nuclei should be computed when a nucleus is updated
         /// </summary>
+        [NonSerialized]
         private Dictionary<Nucleus, List<Nucleus>> _computeOrders;
         /// <summary>
         /// This gives the order in which nuclei should be computed when a nucleus is updated
@@ -464,6 +465,7 @@ namespace NanoBrain {
         /// The neurons without outgoing connections
         /// </summary>
         /// These neurons can potentially be connected to neurons in other clusters
+        [NonSerialized]
         protected List<Neuron> _outputs = null;
         /// <summary>
         /// The neurons without outgoing connections

Samples/Braitenberg/Brains/Braitenberg 1.asset

@@ -31,12 +31,12 @@ MonoBehaviour:
       data:
         name: Output
         parent:
-          rid: 4201950130928878123
+          rid: 4201950148723474519
         bias: {x: 0, y: 0, z: 1}
         _synapses:
         - neuron:
             rid: 4201949899492425817
-          weight: 5
+          weight: 4
         combinator: 0
         _activator: 0
         curve:
@@ -65,15 +65,15 @@ MonoBehaviour:
           m_RotationOrder: 4
         curveMax: 1
         persistOutput: 0
-        lastUpdate: 16.366629
+        lastUpdate: 14.822748
         _receivers: []
     - rid: 4201949899492425817
       type: {class: Neuron, ns: NanoBrain, asm: Assembly-CSharp}
       data:
         name: Sensor
         parent:
-          rid: 4201950130928878123
+          rid: 4201950148723474519
-        bias: {x: 0.061416026, y: 0.061416026, z: 0.061416026}
+        bias: {x: 0.062121756, y: 0.062121756, z: 0.062121756}
         _synapses: []
         combinator: 0
         _activator: 0
@@ -103,10 +103,10 @@ MonoBehaviour:
           m_RotationOrder: 4
         curveMax: 1
         persistOutput: 0
-        lastUpdate: 16.366629
+        lastUpdate: 14.822748
         _receivers:
         - rid: 4201949899492425781
-    - rid: 4201950130928878123
+    - rid: 4201950148723474519
       type: {class: Cluster, ns: NanoBrain, asm: Assembly-CSharp}
       data:
         name: Braitenberg 1

Samples/Braitenberg/Scripts/Vehicle.cs

@@ -15,10 +15,9 @@ namespace NanoBrain.Braitenberg {
         public Sensor sensorRight;
 
         void FixedUpdate() {
-            //Debug.Log($"L: {sensorLeft.output} R: {sensorRight.output}");
+            //     //Debug.Log($"L: {sensorLeft.output} R: {sensorRight.output}");
-            //Debug.Log($"L: {motorLeft.speed} R: {motorRight.speed}");
+            //     //Debug.Log($"L: {motorLeft.speed} R: {motorRight.speed}");
-            Debug.Log($"L: {motorLeft.wheelCollider.rpm} R: {motorRight.wheelCollider.rpm}");
+            //     Debug.Log($"L: {motorLeft.wheelCollider.rpm} R: {motorRight.wheelCollider.rpm}");
-
         }
     }