improved sensoryneuroids

Assets/NanoBrain/Editor/NeuroidWindow.cs

@@ -38,15 +38,18 @@ public class GraphEditorWindow : EditorWindow {
 
             foreach (Neuroid neuroid in neuroids) {
                 // If this neuroid is not visited while its output neuroid is visited
-                if (!neuronVisited.Contains(neuroid) && (neuronVisited.Contains(neuroid.outputNeuroid) || neuroid.outputNeuroid == null)) {
+                if (!neuronVisited.Contains(neuroid) && (neuroid.outputNeuroid == null ||
+                    (neuronVisited.Contains(neuroid.outputNeuroid) && neuroid.outputNeuroid.layerIx == layerIx - 1))) {
                     // Add it to the next layer
                     currentLayer.neuroids.Add(neuroid);
+                    neuroid.layerIx = layerIx;
                     // Register it as visited
                     neuronVisited.Add(neuroid);
                     // Store its position
                     Vector2Int neuroidPosition = new(layerIx, neuroidIx);
                     neuroidPositions[neuroid] = neuroidPosition;
                     neuroidIx++;
+                    Debug.Log($"Layer {layerIx} neuron {neuroidIx} id {neuroid.id} {neuroid.name}");
                 }
             }
 
@@ -84,41 +87,8 @@ public class GraphEditorWindow : EditorWindow {
 
         foreach (NeuroidLayer layer in layers)
             DrawLayer(layer);
-        // int column = 100;
-        // int row = 200;
-        // Vector3 parentPos = new(column, row, 0.1f);
-        // Handles.DrawSolidDisc(parentPos, Vector3.forward, 15);
-
-        // DrawLayer(2, parentPos);
     }
 
-    // private void DrawLayer(int layerIx, Vector3 parentPos) {
-    //     int column = layerIx * 100;
-    //     int nodeCount = currentNeuroid.synapses.Count;
-    //     float maxValue = 0;
-    //     foreach (Synapse synapse in currentNeuroid.synapses.Values) {
-    //         float value = synapse.value.magnitude;
-    //         if (value > maxValue)
-    //             maxValue = value;
-    //     }
-
-    //     float spacing = 200f / nodeCount; // Calculate spacing
-    //     float margin = 100 + spacing / 3;
-    //     int i = 0;
-    //     foreach (Synapse synapse in currentNeuroid.synapses.Values) {
-    //         Vector3 pos = new(column, margin + i * spacing);
-
-    //         float brightness = synapse.weight / 10.0f;
-    //         Handles.color = new Color(brightness, brightness, brightness);
-    //         Handles.DrawLine(parentPos - Vector3.forward, pos);
-
-    //         float size = synapse.value.magnitude / maxValue * 20;
-    //         Handles.color = Color.white;
-    //         Handles.DrawSolidDisc(pos, Vector3.forward, size);
-    //         i++;
-    //     }
-    // }
-
     private void DrawLayer(NeuroidLayer layer) {
         int column = layer.ix * 100;
         int nodeCount = layer.neuroids.Count;
@@ -151,7 +121,7 @@ public class GraphEditorWindow : EditorWindow {
             float size = layerNeuroid.outputValue.magnitude / maxValue * 20;
             Handles.color = Color.white;
             Handles.DrawSolidDisc(parentPos, Vector3.forward, size);
-            Rect neuronRect = new(parentPos.x-size, parentPos.y-size, size*2, size*2);
+            Rect neuronRect = new(parentPos.x - size, parentPos.y - size, size * 2, size * 2);
             if (neuronRect.Contains(Event.current.mousePosition))
                 HandleMouseHover(layerNeuroid, neuronRect);
             i++;

Assets/NanoBrain/Neuroid.cs

@@ -26,6 +26,8 @@ public class Neuroid {
     public int id;
     public string name;
 
+    public int layerIx;
+
     public readonly Dictionary<int, Synapse> synapses = new();
 
     public Vector3 outputValue;

Assets/NanoBrain/SensoryNeuroid.cs

@@ -1,6 +1,6 @@
 using UnityEngine;
 
-class Receptor {
+public class Receptor {
     public SensoryNeuroid neuroid;
     public void SetValue(Vector3 value) {
         if (neuroid != null) {
@@ -10,10 +10,15 @@ class Receptor {
 }
 
 
-class SensoryNeuroid : Neuroid {
+public class SensoryNeuroid : Neuroid {
     public Receptor receptor;
 
-    public SensoryNeuroid(NeuroidNetwork id) : base(id) {
+    public SensoryNeuroid(NeuroidNetwork net, int id) : base(net) {
+        this.name = "sensory neuroid";
+        this.id = id;
+        this.receptor = new Receptor {
+            neuroid = this
+        };
     }
 
 }

Assets/Scenes/Boids/Scripts/Boid.cs

@@ -1,8 +1,7 @@
 using UnityEngine;
 
 
-public class Boid : MonoBehaviour
+public class Boid : MonoBehaviour {
-{
     public float speed = 0.2f;
     public int neighbourCount = 0;
     public float inertia = 0.2f;
@@ -20,6 +19,8 @@ public class Boid : MonoBehaviour
 
     readonly Collider[] results = new Collider[10];
 
+    public SensoryNeuroid[] neighbourSensor = new SensoryNeuroid[6];
+
     public NeuroidNetwork neuroidNet = new();
     public Neuroid bodyVector;
     public Neuroid cohesion;
@@ -32,15 +33,17 @@ public class Boid : MonoBehaviour
 
     public int id;
 
-    void Awake()
+    void Awake() {
-    {
         this.id = this.GetInstanceID();
 
         sc = FindFirstObjectByType<SwarmControl>();
 
         bounds = new(sc.transform.position, sc.spaceSize - 2 * sc.boundaryWidth);
 
+        //neighbourSensor = new(neuroidNet) { name = "Neighbour", id = 879 };
+
         cohesion = new(neuroidNet) { name = "Cohesion", mode = Neuroid.Mode.Sum };
+        //cohesion.GetInputFrom(neighbourSensor);
         alignment = new(neuroidNet) { name = "Alignment", mode = Neuroid.Mode.Average };
         separation = new(neuroidNet) { name = "Separation", mode = Neuroid.Mode.Sum };
         target = new(neuroidNet) { name = "Target", mode = Neuroid.Mode.Sum };
@@ -55,8 +58,7 @@ public class Boid : MonoBehaviour
         totalForce.GetInputFrom(boundary, sc.boundaryForce);
     }
 
-    void Update()
+    void Update() {
-    {
         Physics.OverlapSphereNonAlloc(this.transform.position, 10, results);
         neighbourCount = 0;
 
@@ -64,13 +66,11 @@ public class Boid : MonoBehaviour
         alignment.ResetWeights();
         separation.ResetWeights();
 
-        foreach (Collider c in results)
+        foreach (Collider c in results) {
-        {
             if (c == null)
                 continue;
 
-            if (c as CapsuleCollider != null)
+            if (c as CapsuleCollider != null) {
-            {
                 Boid neighbour = c.GetComponentInParent<Boid>();
                 if (neighbour == null || neighbour == this)
                     continue;
@@ -79,12 +79,15 @@ public class Boid : MonoBehaviour
                 Vector3 relativeVelocity = neighbour.velocity - this.velocity;
 
                 int id = neighbour.GetInstanceID();
-
+                Receptor receptor = GetReceptor(id);
+                if (receptor != null) {
+                    receptor.SetValue(localPosition);
+                }
                 Vector3 separationForce = -localPosition / localPosition.sqrMagnitude;
                 // which is equivalent to -(localPosition.normalized / localPosition.magnitude)
 
                 separation.SetInput(id, separationForce, sc.separationDistance);
-                cohesion.SetInput(id, localPosition, sc.cohesionForce);
+                //cohesion.SetInput(id, localPosition, sc.cohesionForce);
                 alignment.SetInput(id, relativeVelocity, sc.alignmentForce);
 
                 neighbourCount++;
@@ -92,8 +95,7 @@ public class Boid : MonoBehaviour
         }
 
         //Vector3 spaceLocalPosition = sc.transform.InverseTransformPoint(this.transform.position);
-        if (!bounds.Contains(this.transform.position))
+        if (!bounds.Contains(this.transform.position)) {
-        {
             Vector3 point = this.transform.position;
             // Vector3 distanceOutside = Vector3.Max(bounds.min - this.transform.position, this.transform.position - bounds.max);
             // // Ensure value is > 0 (but isn't this already)
@@ -109,7 +111,7 @@ public class Boid : MonoBehaviour
             outside = direction * magnitude;
 
             boundary.SetInput(id, outside, sc.boundaryForce);
-            Debug.Log($"boundary {this.transform.position} {outside} force = {outside * sc.boundaryForce}");
+            // Debug.Log($"boundary {this.transform.position} {outside} force = {outside * sc.boundaryForce}");
         }
 
         Vector3 totalForceVector = totalForce.outputValue;
@@ -120,11 +122,28 @@ public class Boid : MonoBehaviour
 
         this.transform.position += this.velocity * Time.deltaTime;
 
-        if (this.velocity != Vector3.zero)
+        if (this.velocity != Vector3.zero) {
-        {
             Quaternion targetRotation = Quaternion.LookRotation(this.velocity);
             transform.rotation = Quaternion.Slerp(transform.rotation, targetRotation, Time.deltaTime * 2f); // Adjust the speed of rotation        
         }
     }
 
+    Receptor GetReceptor(int id) {
+        int availableIx = -1;
+        for (int i = 0; i < neighbourSensor.Length; i++) {
+            if (neighbourSensor[i] == null)
+                availableIx = i;
+            else if (neighbourSensor[i].id == id)
+                return neighbourSensor[i].receptor;
+        }
+        if (availableIx != -1) {
+            Debug.Log($"new receptor for {id}");
+            SensoryNeuroid neuroid = new(neuroidNet, id);
+            cohesion.GetInputFrom(neuroid);
+            neighbourSensor[availableIx] = neuroid;
+            return neuroid.receptor;
+        }
+        return null;
+    }
+
 }

NanoBrain-Unity.slnx

@@ -0,0 +1,4 @@
+<Solution>
+  <Project Path="Assembly-CSharp.csproj" />
+  <Project Path="Assembly-CSharp-Editor.csproj" />
+</Solution>