boundary using Avoidance Nucleus

Assembly-CSharp.csproj

@@ -52,7 +52,9 @@
     <Compile Include="Assets/NanoBrain/NeuroidBehaviour.cs" />
     <Compile Include="Assets/NanoBrain/SensoryNeuroid.cs" />
     <Compile Include="Assets/Scenes/Boids/Scripts/SwarmControl.cs" />
+    <Compile Include="Assets/Scenes/Boids/Scripts/RoamingNucleus.cs" />
     <Compile Include="Assets/NanoBrain/Perception.cs" />
+    <Compile Include="Assets/Scenes/Boids/Scripts/SwarmingNucleus.cs" />
     <Compile Include="Assets/Scenes/Boids/Scripts/Boid.cs" />
     <Compile Include="Assets/NanoBrain/Neuroid.cs" />
     <Compile Include="Assets/NanoBrain/Nucleus.cs" />

Assets/NanoBrain/Nucleus.cs

@@ -4,4 +4,14 @@ public class Nucleus {
     }
 
     public State state;
+
+    public Neuroid output;
+
+    public Nucleus(NeuroidNetwork neuroidNet) {
+        this.output = new(neuroidNet, "Nucleus output");
+    }
+
+    public void AddReceiver(Neuroid receiver) {
+        this.output.AddReceiver(receiver);
+    }
 }

Assets/NanoBrain/Perception.cs

@@ -15,7 +15,7 @@ public class Perception : Nucleus {
     public HashSet<Receiver> positionReceivers { get; protected set; }
     public HashSet<Receiver> velocityReceivers { get; protected set; }
 
-    public Perception(NeuroidNetwork neuroidNet) {
+    public Perception(NeuroidNetwork neuroidNet) : base(neuroidNet) {
         this.neuroidNet = neuroidNet;
         this.positionReceivers = new();
         this.velocityReceivers = new();

Assets/Scenes/Boids/Boids.unity

@@ -375,7 +375,7 @@ MonoBehaviour:
   inertia: 0.1
   alignmentForce: 5
   cohesionForce: 5
-  separationForce: 5
+  avoidanceForce: 5
   separationDistance: 0.3
   perceptionDistance: 1
   boundaryForce: 5
@@ -393,7 +393,7 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: ec888ca5333d45a438f9f417fa5ce135, type: 3}
   m_Name: 
   m_EditorClassIdentifier: Assembly-CSharp::SwarmSpawn
-  count: 2
+  count: 1
   boidPrefab: {fileID: 8702527964058765413, guid: f9c706268554ce449a8773675b2864b8, type: 3}
   spawnAreaSize: {x: 0.5, y: 0.5, z: 0.5}
   minDelay: 0.05
@@ -442,7 +442,7 @@ Transform:
   serializedVersion: 2
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: 10, z: 0}
-  m_LocalScale: {x: 10, y: 1, z: 10}
+  m_LocalScale: {x: 10, y: 0.1, z: 10}
   m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 1826482027}
@@ -772,7 +772,7 @@ Transform:
   serializedVersion: 2
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: 0}
-  m_LocalScale: {x: 10, y: 1, z: 10}
+  m_LocalScale: {x: 10, y: 0.1, z: 10}
   m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 1826482027}

Assets/Scenes/Boids/Prefabs/Boid.prefab

@@ -160,12 +160,13 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   speed: 0.2
   neighbourCount: 0
-  inertia: 0.2
+  inertia: 0
   alignmentForce: 1
   cohesionForce: 1
   separationForce: 1
   separationDistance: 0.5
   bodyForce: 1
+  debug: 0
   sc: {fileID: 0}
   velocity: {x: 0, y: 0, z: 0}
   acceleration: {x: 0, y: 0, z: 0}

Assets/Scenes/Boids/Scripts/Boid.cs

@@ -2,20 +2,18 @@ using UnityEngine;
 
 
 public class Boid : MonoBehaviour {
-    public float speed = 0.2f;
-    public int neighbourCount = 0;
-    public float inertia = 0.2f;
-    public float alignmentForce = 1.0f;
-    public float cohesionForce = 1.0f;
-    public float separationForce = 1.0f;
-    public float separationDistance = 0.5f;
-    public float bodyForce = 1;
+    // public float speed = 0.2f;
+    // public int neighbourCount = 0;
+    // public float inertia = 0.2f;
+    // public float alignmentForce = 1.0f;
+    // public float cohesionForce = 1.0f;
+    // public float separationForce = 1.0f;
+    // public float separationDistance = 0.5f;
+    // public float bodyForce = 1;
 
     public const int BoundaryType = 1;
     public const int BoidType = 2;
 
-    public bool debug = false;
-
     public SwarmControl sc;
     public Vector3 velocity = Vector3.zero;
     public Vector3 acceleration = Vector3.zero;
@@ -25,16 +23,13 @@ public class Boid : MonoBehaviour {
 
     readonly Collider[] results = new Collider[10];
 
-    //public SensoryNeuroid[] neighbourSensor = new SensoryNeuroid[6];
-    public Perception perception;
-
     public NeuroidNetwork neuroidNet = new();
-    public Neuroid bodyVector;
+    public Perception perception;
     public Neuroid cohesion;
     public Neuroid alignment;
     public Neuroid avoidance;
-    // public Neuroid target;
-    public Neuroid boundary;
+    // public Neuroid boundary;
+    public Roaming roaming;
 
     public Neuroid totalForce;
 
@@ -50,27 +45,29 @@ public class Boid : MonoBehaviour {
 
         perception = new Perception(neuroidNet);
 
-        cohesion = new(neuroidNet, "Cohesion");
-        perception.SendPositions(cohesion, 1.0f, BoidType);
+        // cohesion = new(neuroidNet, "Cohesion");
+        // perception.SendPositions(cohesion, 1.0f, BoidType);
 
         // alignment = new(neuroidNet, "Alignment") { average = true };
         // perception.SendVelocities(alignment);
 
-        avoidance = new(neuroidNet, "Separation") { inverse = true };
-        perception.SendPositions(avoidance, sc.avoidanceForce);
+        // avoidance = new(neuroidNet, "Separation") { inverse = true };
+        // perception.SendPositions(avoidance, sc.avoidanceForce);
 
-        boundary = new(neuroidNet, "Boundary");
+        //boundary = new(neuroidNet, "Boundary");
 
+        roaming = new(neuroidNet, perception, sc);
 
         totalForce = new(neuroidNet, "Total");
         //totalForce.GetInputFrom(alignment, sc.alignmentForce);
         //totalForce.GetInputFrom(cohesion, sc.cohesionForce);
-        totalForce.GetInputFrom(avoidance, -sc.avoidanceForce);
+        // totalForce.GetInputFrom(avoidance, -sc.avoidanceForce);
         //totalForce.GetInputFrom(boundary, sc.boundaryForce);
+        roaming.AddReceiver(totalForce);
     }
 
     void Update() {
-        Physics.OverlapSphereNonAlloc(this.transform.position, sc.perceptionDistance, results);
+        // Physics.OverlapSphereNonAlloc(this.transform.position, sc.perceptionDistance, results);
         // foreach (Collider c in results) {
         //     if (c == null)
         //         continue;
@@ -91,28 +88,22 @@ public class Boid : MonoBehaviour {
 
         if (!innerBounds.Contains(this.transform.position)) {
             Vector3 point = this.transform.position;
-            Vector3 toBounds;
-            if (outerBounds.Contains(this.transform.position)) {
-                Vector3 pointOnBounds = ClosestPointOnBoundsSurface(outerBounds, point);
-                toBounds = this.transform.InverseTransformPoint(pointOnBounds);
-            }
-            else {
-                Vector3 pointOnBounds = innerBounds.ClosestPoint(point);
-                toBounds = -this.transform.InverseTransformPoint(pointOnBounds);
-            }
-            perception.ProcessStimulus(777, BoundaryType, toBounds);
-        } else
+            Vector3 pointOnBounds = innerBounds.ClosestPoint(point);
+            Vector3 desiredWorldSpace = (pointOnBounds - point).normalized * sc.speed;
+            Vector3 desiredLocalSpace = -this.transform.InverseTransformPoint(desiredWorldSpace);
+            perception.ProcessStimulus(777, BoundaryType, desiredLocalSpace);
+        }
+        else {
             perception.RemoveStimulus(777);
-
-        Vector3 totalForceVector = totalForce.outputValue;
-
-        if (this.debug) {
-            Debug.Log($"Cohesion {cohesion.outputValue.magnitude} separation {avoidance.outputValue.magnitude} alignment {alignment.outputValue.magnitude}");
         }
 
-        Vector3 worldForce = this.transform.TransformDirection(totalForceVector);
-        this.velocity = (1 - sc.inertia) * (worldForce * Time.deltaTime) + sc.inertia * velocity + (sc.speed * transform.forward);
-        //this.velocity = Vector3.ClampMagnitude(this.velocity, sc.speed);
+        Vector3 worldForce = this.transform.TransformDirection(totalForce.outputValue);
+
+        this.velocity = (1 - sc.inertia) * (worldForce * Time.deltaTime) + sc.inertia * velocity;
+        if (this.velocity.magnitude > 0)
+            this.velocity = this.velocity.normalized * sc.speed;
+        else
+            this.velocity = this.transform.forward * sc.speed;
 
         this.transform.position += this.velocity * Time.deltaTime;
 
@@ -121,7 +112,6 @@ public class Boid : MonoBehaviour {
             transform.rotation = Quaternion.Slerp(transform.rotation, targetRotation, Time.deltaTime * 2f); // Adjust the speed of rotation        
         }
 
-        //Debug.Log($"neighbours: {neighbourCount} synapses: {cohesion.synapses.Count}");
         neuroidNet.Update();
     }
 
@@ -139,8 +129,13 @@ public class Boid : MonoBehaviour {
     void OnDrawGizmosSelected() {
         Gizmos.DrawWireSphere(transform.position, sc.perceptionDistance);
         Gizmos.color = Color.yellow;
-        Gizmos.DrawRay(transform.position, this.transform.TransformDirection(totalForce.outputValue) * 10);
-        Gizmos.color = Color.magenta;
-        Gizmos.DrawRay(transform.position, this.transform.TransformDirection(avoidance.outputValue) * 10);
+        Vector3 worldForce = this.transform.TransformDirection(totalForce.outputValue);
+        Gizmos.DrawRay(transform.position, worldForce * 10);
+        // Gizmos.color = Color.magenta;
+        // Gizmos.DrawRay(transform.position, this.transform.TransformDirection(avoidance.outputValue) * 10);
+        // Debug.Log($"Avoidance {roaming.avoidance.outputValue} Roaming {roaming.output.outputValue} Total {totalForce.outputValue}");
+        // Debug.Log($"WorldForce {worldForce} velocity {velocity} inertia {sc.inertia}");
+        Gizmos.color = Color.blue;
+        Gizmos.DrawRay(transform.position, this.velocity * 10);
     }
 }

Assets/Scenes/Boids/Scripts/RoamingNucleus.cs

@@ -0,0 +1,14 @@
+public class Roaming : Nucleus {
+
+    public Neuroid avoidance;
+
+    public const int BoundaryType = 1;
+    public const int BoidType = 2;
+
+    public Roaming(NeuroidNetwork neuroidNet, Perception perception, SwarmControl sc) : base(neuroidNet) {
+        avoidance = new(neuroidNet, "Separation") { inverse = true };
+        perception.SendPositions(avoidance);
+
+        output.GetInputFrom(avoidance, -sc.avoidanceForce);
+    }
+}

Assets/Scenes/Boids/Scripts/RoamingNucleus.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 2c0f5292293252943b1d45dbd1d14515

Assets/Scenes/Boids/Scripts/SwarmingNucleus.cs

@@ -0,0 +1,29 @@
+public class Swarming : Nucleus {
+    //public Perception perception;
+
+    public Neuroid cohesion;
+    public Neuroid alignment;
+    public Neuroid avoidance;
+    public Neuroid boundary;
+
+    public const int BoundaryType = 1;
+    public const int BoidType = 2;
+
+    public Swarming(NeuroidNetwork neuroidNet, Perception perception, SwarmControl sc) : base(neuroidNet) {
+        cohesion = new(neuroidNet, "Cohesion");
+        perception.SendPositions(cohesion, 1.0f, BoidType);
+
+        alignment = new(neuroidNet, "Alignment") { average = true };
+        perception.SendVelocities(alignment);
+
+        avoidance = new(neuroidNet, "Separation") { inverse = true };
+        perception.SendPositions(avoidance, sc.avoidanceForce);
+
+        boundary = new(neuroidNet, "Boundary");
+
+        output.GetInputFrom(alignment, sc.alignmentForce);
+        output.GetInputFrom(cohesion, sc.cohesionForce);
+        output.GetInputFrom(avoidance, -sc.avoidanceForce);
+        output.GetInputFrom(boundary, sc.boundaryForce);
+    }
+}

Assets/Scenes/Boids/Scripts/SwarmingNucleus.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 14b1bfd5a5b0784e098fc5e47b1720a1