Perceptoid pool starts to work

Assets/NanoBrain/Perceptoid.cs

@@ -11,12 +11,16 @@ public class Perceptoid : Neuroid {
 
     [SerializeField]
     public int thingType;
+    public int thingId;
 
     public override void Rebuild(NanoBrainObj brain) {
         base.Rebuild(brain);
-        this.receptor = new Receptor() {
+        //this.receptor = new Receptor(this);
-            neuroid = this
+        this.receptor = Perceptoid.GetReceptor(brain, thingType);
-        };
+        if (this.receptor == null)
+            this.receptor = new Receptor(this);
+        else
+            this.receptor.perceptei.Add(this);
     }
 
     public override void Deserialize(Nucleus nucleus) {
@@ -57,9 +61,7 @@ public class Perceptoid : Neuroid {
 
         this.nucleusType = nameof(Perceptoid);
         this.name = name;
-        this.receptor = new Receptor {
+        this.receptor = new Receptor(this);
-            neuroid = this
-        };
     }
 
     public Perceptoid(NanoBrainObj brain, int thingType, string name = "sensor") : base(name) {
@@ -73,8 +75,7 @@ public class Perceptoid : Neuroid {
         this.nucleusType = nameof(Perceptoid);
         this.name = name;
         this.thingType = thingType;
-        this.receptor = new Receptor {
+        this.receptor = new Receptor(this) {
-            neuroid = this,
             thingType = thingType
         };
         this.velocityNeuroid = new(brain, name + ": velocity");
@@ -119,6 +120,31 @@ public class Perceptoid : Neuroid {
         this.stale = 0;
     }
 
+    public void UpdateState(int thingId, Vector3 receptorValue) {
+        this.thingId = thingId;
+        Vector3 result = receptorValue;
+        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))

Assets/NanoBrain/Receptor.cs

@@ -4,13 +4,18 @@ using UnityEngine;
 
 public class Receptor {
 
-    public Neuroid neuroid;
+    private Neuroid neuroid;
-    public List<Perceptoid> perceptoids;
+    public List<Perceptoid> perceptei = new();
 
     public int thingId;
     public int thingType;
     public Vector3 localPosition;
 
+    public Receptor(Perceptoid perceptoid) {
+        this.neuroid = perceptoid;
+        this.perceptei.Add(perceptoid);
+    }
+
     /// <summary>
     /// Local position of the thing
     /// </summary>
@@ -27,7 +32,29 @@ public class Receptor {
     public virtual void ProcessStimulus(int thingId, Vector3 localPosition) {
         this.thingId = thingId;
         this.localPosition = localPosition;
-        neuroid.UpdateState();
+        ///neuroid.UpdateState();
-        //perceptoids[0].UpdateState();
+
+        Perceptoid selectedPerceptoid = null;
+        foreach (Perceptoid perceptoid in this.perceptei) {
+            if (perceptoid.thingId == this.thingId) {
+                selectedPerceptoid = perceptoid;
+                break;
+            }
+            else if (perceptoid.isSleeping)
+                selectedPerceptoid = perceptoid;
+            else if (selectedPerceptoid == null) {
+                selectedPerceptoid = perceptoid;
+            }
+            else if (selectedPerceptoid.isSleeping == false) {
+                if (perceptoid.receptor.position.magnitude < selectedPerceptoid.receptor.position.magnitude)
+                    selectedPerceptoid = perceptoid;
+            }
+        }
+        if (selectedPerceptoid == null) {
+            Debug.Log("No perceptoid selected, stimulus is ignored");
+            return;
+        }
+        Debug.Log($"Stimulus {thingId} {selectedPerceptoid.thingId}");
+        selectedPerceptoid.UpdateState(this.thingId, this.localPosition);
     }
 }

Assets/NanoBrain/SensoryNeuroid.cs

@@ -40,11 +40,9 @@ public class SensoryNeuroid : Neuroid {
 
     public SensoryNeuroid(NanoBrainObj brain, int thingId, string name = "sensor") : base(brain, name) {
         this.name = name + ": position";
-        this.receptor = new Receptor {
+        // this.receptor = new Receptor(this) {
-            neuroid = this,
+        //     thingType = thingId
-            //perceptoids[0] = this,
+        // };
-            thingType = thingId
-        };
         this.velocityNeuroid = new(brain, name + ": velocity");
         // The velocity neuroid received position data from this
         this.AddReceiver(velocityNeuroid);

Assets/NanoBrain/VisualEditor/Editor/NanoBrainInspector.cs

@@ -237,38 +237,6 @@ public class NanoBrainInspector : Editor {
             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;
 
@@ -290,6 +258,8 @@ public class NanoBrainInspector : Editor {
             int row = 0;
             foreach (Receiver receiver in nucleus.receivers) {
                 Nucleus receiverNucleus = receiver.nucleus;
+                if (receiverNucleus == null)
+                    continue;
 
                 Vector3 pos = new(100, margin + row * spacing, 0.0f);
                 Handles.color = Color.white;
@@ -331,104 +301,68 @@ public class NanoBrainInspector : Editor {
             }
         }
 
-        /*
+        private void DrawNucleus(Nucleus nucleus, Vector3 position, float maxValue, float size) {
-        private void DrawLayer(NeuroidLayer layer) {
+            if (nucleus.isSleeping)
-            int nodeCount = layer.neuroids.Count;
+                Handles.color = Color.darkRed;
-
+            else {
-            // Determine the maximum value in this layer
+                float brightness = nucleus.outputValue.magnitude / maxValue;
-            // This is used to 'scale' the output value colors of the nuclei
+                Handles.color = new Color(brightness, brightness, brightness);
-            float maxValue = 0;
-            foreach (Nucleus nucleus in layer.neuroids) {
-                if (nucleus is Neuroid neuroid) {
-                    float value = neuroid.outputValue.magnitude;
-                    if (value > maxValue)
-                        maxValue = value;
-                }
             }
+            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);
 
-            // Determine the spacing of the nuclei in the layer
+            Rect neuronRect = new(position.x - size, position.y - size, size * 2, size * 2);
-            float spacing = 400f / nodeCount;
+            int id = GUIUtility.GetControlID(FocusType.Passive);
-            float margin = 10 + spacing / 2;
+            Event e = Event.current;
-
+            EventType et = e.GetTypeForControl(id);
-            foreach (Nucleus layerNucleus in layer.neuroids) {
+            if (e != null && neuronRect.Contains(e.mousePosition)) {
-                Vector2Int layerNeuroidPos = this.neuroidPositions[layerNucleus];
+                // Process Hover
-                Vector3 parentPos = new(100 + layerNeuroidPos.x * 100, margin + layerNeuroidPos.y * spacing, 0.1f);
+                HandleMouseHover(nucleus, neuronRect);
-
+                // Process click
-                float inputSpacing = 400f / layerNucleus.synapses.Count;
+                if (e.type == EventType.MouseDown && e.button == 0) {
-                float inputMargin = 10 + inputSpacing / 2;
+                    // Consume the event so the scene doesn't also handle it
-                int minStale = 10000;
+                    e.Use();
-                foreach (Synapse synapse in layerNucleus.synapses) {
+                    HandleClicked(nucleus);
-                    Nucleus nucleus = synapse.nucleus;
-                    if (nucleus != null) {
-                        if (this.neuroidPositions.ContainsKey(nucleus)) {
-                            Vector2Int inputNeuroidPos = this.neuroidPositions[nucleus];
-                            if (inputNeuroidPos.x == layerNeuroidPos.x + 1) {
-                                Vector3 pos = new(100 + inputNeuroidPos.x * 100, inputMargin + inputNeuroidPos.y * inputSpacing, 0.0f);
-
-                                Handles.color = Color.white;
-                                Handles.DrawLine(parentPos, pos);
-                            }
-                        }
-                        if (nucleus is Neuroid neuroid && neuroid.stale < minStale)
-                            minStale = neuroid.stale;
-                    }
-                }
-
-
-                float size = 20;
-                if (layerNucleus == this.currentNucleus) {
-                    Handles.color = Color.white;
-                    Handles.DrawSolidDisc(parentPos, Vector3.forward, size + 2);
-                }
-                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);
-                Event e = Event.current;
-                EventType et = e.GetTypeForControl(id);
-                if (e != null && neuronRect.Contains(e.mousePosition)) {
-                    // Process Hover
-                    HandleMouseHover(layerNucleus, 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(layerNucleus);
-                    }
                 }
             }
         }
-        */
 
-        private void HandleMouseHover(Nucleus neuroid, Rect rect) {
+        private void HandleMouseHover(Nucleus nucleus, Rect rect) {
             GUIContent tooltip;
-            if (neuroid is SensoryNeuroid sensoryNeuroid) {
+            if (nucleus is SensoryNeuroid sensoryNeuroid) {
                 tooltip = new(
                     $"{sensoryNeuroid.name}" +
                     $"\nThing {sensoryNeuroid.receptor.thingType}" +
-                    $"\nValue: {neuroid.outputValue}" +
+                    $"\nValue: {nucleus.outputValue}" +
-                    $"\nStale: {neuroid.stale}");
+                    $"\nStale: {nucleus.stale}");
+            }
+            else if (nucleus is Perceptoid perceptoid) {
+                if (perceptoid.receptor != null) {
+                    tooltip = new(
+                        $"{perceptoid.name}" +
+                        $"\nType {perceptoid.receptor.thingType}" +
+                        $" Thing {perceptoid.thingId}" +
+                        $"\nValue: {nucleus.outputValue}");
+                }
+                else {
+                    tooltip = new(
+                        $"{perceptoid.name}" +
+                        $"\nThing {perceptoid.thingId}" +
+                        $"\nValue: {nucleus.outputValue}");
+                }
             }
             else {
                 tooltip = new(
-                    $"{neuroid.name}" +
+                    $"{nucleus.name}" +
-                    $"\nsynapse count {neuroid.synapses.Count}" +
+                    $"\nsynapse count {nucleus.synapses.Count}" +
-                    $"\nValue: {neuroid.outputValue}" +
+                    $"\nValue: {nucleus.outputValue}" +
-                    $"\nStale: {neuroid.stale}");
+                    $"\nStale: {nucleus.stale}");
             }
 
             Vector2 mousePosition = Event.current.mousePosition;
@@ -445,7 +379,6 @@ public class NanoBrainInspector : Editor {
             BuildLayers();
         }
 
-
         void DrawInspector(VisualElement inspectorContainer) {
             if (inspectorContainer == null)
                 return;
@@ -518,9 +451,14 @@ public class NanoBrainInspector : Editor {
         }
 
         protected virtual void DeleteNeuron(Nucleus nucleus) {
-            this.currentNucleus = nucleus.receivers[0].nucleus;
+            this.currentNucleus = nucleus.brain.root;
+            foreach (Receiver receiver in nucleus.receivers) {
+                if (receiver.nucleus != null) {
+                    this.currentNucleus = receiver.nucleus;
+                    break;
+                }
+            }
             Nucleus.Delete(nucleus);
-            //Rebuild(inspectorContainer);
             BuildLayers();
         }
 

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: 3
+  count: 30
   boidPrefab: {fileID: 8702527964058765413, guid: f9c706268554ce449a8773675b2864b8, type: 3}
   spawnAreaSize: {x: 0.5, y: 0.5, z: 0.5}
   minDelay: 0.05

Assets/Scenes/Boids/RoamingBrain.asset

@@ -49,4 +49,5 @@ MonoBehaviour:
     inverse: 0
     exponent: 1
     thingType: 1
+    thingId: 0
   rootId: -1707533328

Assets/Scenes/Boids/SwarmingBrain.asset

@@ -23,7 +23,7 @@ MonoBehaviour:
     - nucleusId: -112538112
       weight: 1
     - nucleusId: 1938577052
-      weight: 1
+      weight: 10
     receivers: []
     nucleusType: 
     average: 0
@@ -43,9 +43,9 @@ MonoBehaviour:
   - id: 1938577052
     _name: Cohesion
     synapses:
-    - nucleusId: -1408496896
+    - nucleusId: -1420275136
       weight: 1
-    - nucleusId: -133566816
+    - nucleusId: -1266532688
       weight: 1
     receivers:
     - nucleusId: -1707533328
@@ -64,7 +64,8 @@ MonoBehaviour:
     inverse: 0
     exponent: 1
     thingType: 1
-  - id: -1408496896
+    thingId: 0
+  - id: -1420275136
     _name: Boid1
     synapses: []
     receivers:
@@ -74,15 +75,16 @@ MonoBehaviour:
     inverse: 0
     exponent: 1
     thingType: 2
-  - id: -133566816
+    thingId: 0
+  - id: -1266532688
     _name: Boid2
     synapses: []
     receivers:
-    - nucleusId: 27651644
     - nucleusId: 1938577052
     nucleusType: Perceptoid
     average: 0
     inverse: 0
     exponent: 1
     thingType: 2
+    thingId: 0
   rootId: -1707533328