Improved network

Assembly-CSharp.csproj

@@ -53,8 +53,8 @@
     <Compile Include="Assets/NanoBrain/LinearAlgebra/test/Vector2IntTest.cs" />
     <Compile Include="Assets/NanoBrain/LinearAlgebra/src/Quaternion.cs" />
     <Compile Include="Assets/NanoBrain/LinearAlgebra/src/float16.cs" />
-    <Compile Include="Assets/NanoBrain/VisualEditor/NanoBrainObj.cs" />
     <Compile Include="Assets/NanoBrain/LinearAlgebra/test/DirectionTest.cs" />
+    <Compile Include="Assets/NanoBrain/VisualEditor/NanoBrain.cs" />
     <Compile Include="Assets/NanoBrain/LinearAlgebra/test/Vector2FloatTest.cs" />
     <Compile Include="Assets/Scenes/Boids/Scripts/SwarmSpawner.cs" />
     <Compile Include="Assets/NanoBrain/Perceptoid.cs" />
@@ -62,6 +62,7 @@
     <Compile Include="Assets/NanoBrain/LinearAlgebra/src/Vector2Float.cs" />
     <Compile Include="Assets/NanoBrain/LinearAlgebra/test/SwingTwistTest.cs" />
     <Compile Include="Assets/NanoBrain/LinearAlgebra/src/Vector3Int.cs" />
+    <Compile Include="Assets/NanoBrain/PercepteiArray.cs" />
     <Compile Include="Assets/NanoBrain/LinearAlgebra/src/Vector3Float.cs" />
     <Compile Include="Assets/NanoBrain/Receptor.cs" />
     <Compile Include="Assets/NanoBrain/LinearAlgebra/src/Matrix.cs" />

Assets/NanoBrain/Neuroid.cs

@@ -1,6 +1,4 @@
-using System.Collections.Generic;
 using UnityEngine;
-using LinearAlgebra;
 
 [System.Serializable]
 public class Neuroid : Nucleus {
@@ -80,11 +78,9 @@ public class Neuroid : Nucleus {
         
         //Applying the weight factgors
         foreach (Synapse synapse in this.synapses) {
-            Vector3 outputValue = synapse.nucleus.outputValue;
+            sum += synapse.weight * synapse.nucleus.outputValue;
-            float magnitude = synapse.weight * outputValue.magnitude;
+            if (synapse.nucleus.outputValue.sqrMagnitude != 0)
-
+                n++;
-            sum += magnitude * outputValue.normalized;
-            n++;
         }
         if (average)
             sum /= n;

Assets/NanoBrain/Nucleus.cs

@@ -154,11 +154,11 @@ public class Nucleus {
     public virtual void UpdateState() { }
 
     public void UpdateResult(Vector3 result) {
-        float d = Vector3.Distance(result, this.outputValue);
+        // float d = Vector3.Distance(result, this.outputValue);
-        if (d < 0.5f) {
+        // if (d < 0.5f) {
-            //Debug.Log($"insignificant update: {d}");
+        //     //Debug.Log($"insignificant update: {d}");
-            return;
+        //     return;
-        }
+        // }
 
         this.outputValue = result;
         foreach (Receiver receiver in this.receivers)

Assets/NanoBrain/PercepteiArray.cs

@@ -0,0 +1,22 @@
+public class PercepteiArray {
+    public ArrayPerceptoid[] perceptei;
+    public string name;
+
+    public PercepteiArray(NanoBrain brain, int thingType, string baseName, uint count) {
+        this.name = baseName;
+        this.perceptei = new ArrayPerceptoid[count];
+        for (uint i = 0; i < count; i++) {
+            this.perceptei[i] = new ArrayPerceptoid(brain, thingType, $"{baseName}[{i}]") {
+                array = this
+            };
+        }    
+    }
+}
+
+public class ArrayPerceptoid : Perceptoid {
+    public PercepteiArray array;
+
+    public ArrayPerceptoid(NanoBrain brain, int thingType, string name = "sensor") : base(brain, thingType, name) {
+    }
+
+}

Assets/NanoBrain/PercepteiArray.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: f8cac60bd79854595a8571c042f77998

Assets/NanoBrain/Perceptoid.cs

@@ -6,7 +6,7 @@ public class Perceptoid : Neuroid {
     // A neuroid which has no neurons as input
     // But receives value from a receptor
     public Receptor receptor;
-    //public VelocityNeuroid velocityNeuroid;
+    public string baseName;
 
     #region Serialization
 
@@ -58,21 +58,22 @@ public class Perceptoid : Neuroid {
 
         this.nucleusType = nameof(Perceptoid);
         this.name = name;
+        this.baseName = name;
         this.thingType = thingType;
         this.receptor = Receptor.GetReceptor(brain, thingType);
         this.receptor.perceptei.Add(this);
     }
 
-    public void Replace(int thingType, string name = "sensor") {
+    // public void Replace(int thingType, string name = "sensor") {
-        this.name = name;
+    //     this.name = name;
 
-        this.thingType = thingType;
+    //     this.thingType = thingType;
-        this.receptor.thingType = thingType;
+    //     this.receptor.thingType = thingType;
-        this.receptor.localPosition = Vector3.zero;
+    //     this.receptor.localPosition = Vector3.zero;
 
-        this.outputValue = Vector3.zero;
+    //     this.outputValue = Vector3.zero;
-        this.receivers = new();
+    //     this.receivers = new();
-    }
+    // }
 
     public override void UpdateState() {
         Vector3 result = this.receptor.localPosition;
@@ -80,11 +81,11 @@ public class Perceptoid : Neuroid {
     }
 
 
-    public static Perceptoid GetPerception(NanoBrain brain, int thingType = 0) {
+    // public static Perceptoid GetPerception(NanoBrain brain, int thingType = 0) {
-        foreach (Nucleus nucleus in brain.nuclei) {
+    //     foreach (Nucleus nucleus in brain.nuclei) {
-            if (nucleus is Perceptoid perceptoid && (thingType == 0 || perceptoid.receptor.thingType == thingType))
+    //         if (nucleus is Perceptoid perceptoid && (thingType == 0 || perceptoid.receptor.thingType == thingType))
-                return perceptoid;
+    //             return perceptoid;
-        }
+    //     }
-        return null;
+    //     return null;
-    }
+    // }
 }

Assets/NanoBrain/Receptor.cs

@@ -37,7 +37,7 @@ public class Receptor {
         return newReceptor;
     }
 
-    public virtual void ProcessStimulus(int thingId, Vector3 newLocalPositionVector) {
+    public virtual void ProcessStimulus(int thingId, Vector3 newLocalPositionVector, string thingName = null) {
         this.localPosition = newLocalPositionVector;
 
         Perceptoid selectedPerceptoid = null;
@@ -75,6 +75,8 @@ public class Receptor {
         }
         // Debug.Log($"Stimulus {thingType} {thingId} {selectedPerceptoid.name}");
         selectedPerceptoid.thingId = thingId;
+        if (thingName != null)
+            selectedPerceptoid.name = selectedPerceptoid.baseName + " " + thingName;
         selectedPerceptoid.UpdateState();
     }
 }

Assets/NanoBrain/VisualEditor/Editor/NanoBrainEditor.cs

@@ -1,3 +1,4 @@
+/*
 using UnityEditor;
 using UnityEngine;
 using UnityEngine.UIElements;
@@ -406,7 +407,7 @@ public class GraphBoardView : VisualElement {
     // }
 }
 
-/*
+
 public class NodeView : VisualElement {
     Nucleus data;
     GraphBoardView board;
@@ -466,7 +467,7 @@ public class NodeView : VisualElement {
         //dragging = false;
     }
 }
-*/
+
 
 public class GraphNodeWrapper : ScriptableObject {
     // expose fields that map to GraphNode
@@ -507,3 +508,4 @@ public static class OpenAssetHandler {
         return false; // let Unity open normally
     }
 }
+*/

Assets/NanoBrain/VisualEditor/Editor/NanoBrainInspector.cs

@@ -181,22 +181,6 @@ public class NanoBrainInspector : Editor {
 
         }
 
-        // basic pan/zoom handling
-        // void OnWheel(WheelEvent e) {
-        //     if (e.ctrlKey) {
-        //         float delta = -e.delta.y * 0.001f;
-        //         zoom = Mathf.Clamp(zoom + delta, 0.25f, 2f);
-        //         content.transform.rotation = Quaternion.identity; // keep transform accessible
-        //         content.transform.scale = new Vector3(zoom, zoom, 1);
-        //         e.StopPropagation();
-        //     }
-        //     else {
-        //         pan += e.delta;
-        //         content.style.left = pan.x;
-        //         content.style.top = pan.y;
-        //     }
-        // }
-
         void OnMouseDown(MouseDownEvent e) {
             if (e.button == 2) { draggingCanvas = true; lastMouse = e.mousePosition; e.StopPropagation(); }
         }
@@ -220,8 +204,6 @@ public class NanoBrainInspector : Editor {
 
             Handles.BeginGUI();
             DrawGraph();
-            // foreach (NeuroidLayer layer in layers)
-            //     DrawLayer(layer);
             Handles.EndGUI();
 
         }
@@ -291,15 +273,24 @@ public class NanoBrainInspector : Editor {
             float margin = 10 + spacing / 2;
 
             int row = 0;
-            foreach (Synapse receiver in nucleus.synapses) {
+            List<PercepteiArray> drawnArrays = new();
-                Nucleus receiverNucleus = receiver.nucleus;
+            foreach (Synapse synapse in nucleus.synapses) {
-
                 Vector3 pos = new(250, margin + row * spacing, 0.0f);
                 Handles.color = Color.white;
                 Handles.DrawLine(parentPos, pos);
+                if (synapse.nucleus is ArrayPerceptoid perceptoid) {
+                    if (drawnArrays.Contains(perceptoid.array))
+                        // We already drawn this array
+                        continue;
 
-                DrawNucleus(receiverNucleus, pos, maxValue, size);
+                    drawnArrays.Add(perceptoid.array);
-                row++;
+                    DrawArray(perceptoid.array, pos, size);
+                }
+                else {
+
+                    DrawNucleus(synapse.nucleus, pos, maxValue, size);
+                    row++;
+                }
             }
         }
 
@@ -312,7 +303,7 @@ public class NanoBrainInspector : Editor {
             }
             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) {
+            GUIStyle style = new(EditorStyles.label) {
                 alignment = TextAnchor.UpperCenter,
                 normal = { textColor = Color.white },
                 fontStyle = FontStyle.Bold
@@ -335,15 +326,28 @@ public class NanoBrainInspector : Editor {
             }
         }
 
+        private void DrawArray(PercepteiArray array,  Vector3 position, float size) {
+            Vector3 offset = new(size/4, size/4, 0);
+            Handles.color = Color.darkGray;
+            Handles.DrawSolidDisc(position + offset * 2, Vector3.forward, size);
+            Handles.color = Color.lightGray;
+            Handles.DrawSolidDisc(position + offset, Vector3.forward, size);
+            Handles.color = Color.white;
+            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, array.name, style);
+
+            // To do: add HandleClick (see above) to expand the array
+        }
+
         private void HandleMouseHover(Nucleus nucleus, Rect rect) {
             GUIContent tooltip;
-            // if (nucleus is SensoryNeuroid sensoryNeuroid) {
-            //     tooltip = new(
-            //         $"{sensoryNeuroid.name}" +
-            //         $"\nThing {sensoryNeuroid.receptor.thingType}" +
-            //         $"\nValue: {nucleus.outputValue}");
-            // }
-            //else
             if (nucleus is Perceptoid perceptoid) {
                 if (perceptoid.receptor != null) {
                     tooltip = new(
@@ -419,42 +423,43 @@ public class NanoBrainInspector : Editor {
                     EditorGUILayout.LabelField(" ");
 
                 if (this.currentNucleus.synapses.Count > 0) {
-                    foreach (Synapse synapse in this.currentNucleus.synapses) {
+                    Synapse[] synapses = this.currentNucleus.synapses.ToArray();
+                    foreach (Synapse synapse in synapses) {
                         if (synapse.nucleus != null) {
                             EditorGUILayout.Space();
                             EditorGUI.BeginDisabledGroup(synapse.nucleus.isSleeping);
                             if (Application.isPlaying)
                                 EditorGUILayout.FloatField(synapse.nucleus.name, synapse.nucleus.outputValue.magnitude * synapse.weight);
-                            else
+                            else {
+                                EditorGUILayout.BeginHorizontal();
                                 EditorGUILayout.LabelField(synapse.nucleus.name);
+                                if (GUILayout.Button("Disconnect"))
+                                    synapse.nucleus.RemoveReceiver(this.currentNucleus);
+                                EditorGUILayout.EndHorizontal();
+                            }
 
                             EditorGUI.indentLevel++;
-                            // EditorGUI.BeginChangeCheck();
                             synapse.weight = EditorGUILayout.FloatField("Weight", synapse.weight);
-
-                            // synapse.curvePreset = (Synapse.CurvePresets)EditorGUILayout.EnumPopup("Preset", synapse.curvePreset);
-                            // if (EditorGUI.EndChangeCheck()) {
-                            //     synapse.curve = synapse.GenerateCurve();
-                            // }
-                            // if (synapse.curveMax > 0)
-                            //     EditorGUILayout.CurveField("Curve", synapse.curve, Color.cyan, new Rect(0, 0, 1, synapse.curveMax));
-                            // else
-                            //     EditorGUILayout.CurveField("Curve", synapse.curve, Color.cyan, new Rect(0, synapse.curveMax, 1, -synapse.curveMax));
                             EditorGUI.indentLevel--;
                             EditorGUI.EndDisabledGroup();
                         }
                     }
-                    //EditorGUI.indentLevel--;
                 }
-                if (GUILayout.Button("Add Neuron"))
+
+                EditorGUILayout.Space();
+
+                ConnectNucleus(this.currentNucleus);
+                if (GUILayout.Button("Add Input Neuron"))
                     AddInputNeuron(this.currentNucleus);
-                if (GUILayout.Button("Add Perceptoid"))
+                if (GUILayout.Button("Add Input Perceptoid"))
                     AddPerceptoid(this.currentNucleus);
+
+                EditorGUILayout.Space();
+
                 if (GUILayout.Button("Delete this neuron"))
                     DeleteNeuron(this.currentNucleus);
 
-                ConnectNucleus(this.currentNucleus);
+                //DisconnectNucleus(this.currentNucleus);
-                DisconnectNucleus(this.currentNucleus);
 
                 if (this.gameObject != null) {
                     Vector3 worldVector = this.gameObject.transform.TransformVector(this.currentNucleus.outputValue);
@@ -498,9 +503,9 @@ public class NanoBrainInspector : Editor {
             if (this.currentNucleus.brain == null)
                 return;
 
-            //string[] names = this.currentNucleus.brain.perceptei.Select(i => i.name).ToArray();
+            IEnumerable<string> synapseNuclei = this.currentNucleus.synapses.Select(synapse => synapse.nucleus.name);
-            IEnumerable<string> perceptei = this.currentNucleus.brain.perceptei.Select(i => i.name);
+            IEnumerable<string> perceptei = this.currentNucleus.brain.perceptei.Select(i => i.name).Except(synapseNuclei);
-            IEnumerable<string> nuclei = this.currentNucleus.brain.nuclei.Select(i => i.name);
+            IEnumerable<string> nuclei = this.currentNucleus.brain.nuclei.Select(i => i.name).Except(synapseNuclei);
             string[] names = perceptei.Concat(nuclei).ToArray();
             int selectedIndex = -1;
             selectedIndex = EditorGUILayout.Popup("Connect to", selectedIndex, names);
@@ -527,32 +532,6 @@ public class NanoBrainInspector : Editor {
                 synapse.nucleus.RemoveReceiver(this.currentNucleus);
             }
         }
-
-        // private Vector3 NodePosition(Nucleus nucleus, int layerNodeCount = 1) {
-        //     if (this.neuroidPositions.ContainsKey(nucleus)) {
-        //         Vector2Int nucleusPos = this.neuroidPositions[nucleus];
-        //         return NodePosition(nucleusPos, layerNodeCount);
-        //     }
-        //     else {
-        //         return Vector3.zero;
-        //     }
-        // }
-        // private Vector3 NodePosition(Vector2Int location, int layerNodeCount = 1) {
-        //     float spacing = 400f / layerNodeCount;
-        //     float margin = 10 + spacing / 2;
-        //     float size = 20;
-        //     Vector3 parentPos = new(100 + location.x * 100 - size, margin + location.y * spacing - size, 0.1f);
-        //     return parentPos;
-        // }
-
-
-        // public void CreateEdge(string fromId, string toId) {
-        //     if (fromId == toId) return;
-        //     Undo.RecordObject(graph, "Create Edge");
-        //     graph.edges.Add(new GraphEdge { fromNodeId = fromId, toNodeId = toId });
-        //     EditorUtility.SetDirty(graph);
-        //     Rebuild();
-        // }
     }
 
     #endregion Start    
@@ -573,29 +552,31 @@ public class NanoBrainInspector : Editor {
         }
     }
 
-    // protected virtual void OnSceneGUI() {
-    //     NanoBrain brain = target as NanoBrain;
-    //     if (brain == null)
-    //         return;
-
-    //     Vector3 position = brain.transform.position;
-    //     float radius = 1;
-
-
-    //     Handles.DrawWireDisc(position, Vector3.up, radius);    // horizontal circle
-    //     Handles.DrawWireDisc(position, Vector3.right, radius); // X-plane
-    //     Handles.DrawWireDisc(position, Vector3.forward, radius); // Z-plane
-
-
-    //     // Debug.DrawRay(brain.transform.position, Vector3.forward, Color.magenta);
-    //     // Handles.color = Color.green;
-    //     // Handles.DrawLine(brain.transform.position, brain.transform.position + Vector3.up);
-
-    //     // Handles.color = Color.yellow;
-    //     // Vector3 worldForce = brain.transform.TransformDirection(this.currentNucleus.outputValue);
-    //     // //Debug.DrawRay(position, worldForce * 10, Color.yellow);
-    //     // Handles.DrawLine(position, position + worldForce * 10);
-    // }
-
     #endregion Update
 }
+
+public class GraphNodeWrapper : ScriptableObject {
+    // expose fields that map to GraphNode
+    public string title;
+    public Vector2 position;
+    Nucleus node;
+    NanoBrain graph; // needed to write back and mark dirty
+
+    public GraphNodeWrapper Init(Nucleus node, NanoBrain graphAsset) {
+        this.node = node;
+        this.graph = graphAsset;
+        this.title = " A " + node.name;
+        //position = node.position;
+        return this;
+    }
+    void OnValidate() {
+        if (node != null) {
+            node.name = title;
+            //node.position = position;
+#if UNITY_EDITOR
+            if (graph != null)
+                UnityEditor.EditorUtility.SetDirty(graph);
+#endif
+        }
+    }
+}

Assets/NanoBrain/VisualEditor/NanoBrain.cs

@@ -1,6 +1,5 @@
 using System.Collections.Generic;
 using UnityEngine;
-using LinearAlgebra;
 
 [CreateAssetMenu(menuName = "Passer/NanoBrain")]
 public class NanoBrain : ScriptableObject, ISerializationCallbackReceiver {
@@ -19,11 +18,8 @@ public class NanoBrain : ScriptableObject, ISerializationCallbackReceiver {
     public Nucleus root;
     public int rootId;
 
-    // public Perception perception;
-
     public NanoBrain() {
         this.root = new Neuroid(this, "Root");
-        // this.perception = new Perception(this);
     }
 
     public Neuroid AddNeuron(string name) {
@@ -32,18 +28,10 @@ public class NanoBrain : ScriptableObject, ISerializationCallbackReceiver {
     }
 
     public void UpdateNuclei() {
-        foreach (Nucleus nucleus in nuclei) {
+        foreach (Nucleus nucleus in nuclei)
-            //nucleus.stale++;
+            nucleus.IncreaseAge();        
-            nucleus.IncreaseAge();
+        foreach (Perceptoid perception in perceptei)
-            // if (nucleus.isSleeping)
+            perception.IncreaseAge();        
-            //     nucleus.outputValue = Spherical.zero;
-        }
-        foreach (Perceptoid perception in perceptei) {
-            //perception.stale++;
-            perception.IncreaseAge();
-            // if (perception.isSleeping)
-            //     perception.outputValue = Spherical.zero;
-        }
     }
 
     public void OnBeforeSerialize() {
@@ -57,14 +45,8 @@ public class NanoBrain : ScriptableObject, ISerializationCallbackReceiver {
                 nucleus.Rebuild(this);
             }
 
-            // List<Nucleus> rebuildNuclei = new();
+            foreach (Perceptoid perceptoid in this.perceptei.ToArray())
-            // foreach (Nucleus nucleus in this.nuclei.ToArray()) {
+                perceptoid.Rebuild(this);            
-            //     rebuildNuclei.Add(Nucleus.RebuildType(this, nucleus));
-            // }
-            // this.nuclei = rebuildNuclei;
-            foreach (Perceptoid perceptoid in this.perceptei.ToArray()) {
-                perceptoid.Rebuild(this);
-            }
         }
         catch (System.Exception) { }
         this.GarbageCollection();
@@ -85,9 +67,6 @@ public class NanoBrain : ScriptableObject, ISerializationCallbackReceiver {
         if (nucleus.brain == null)
             nucleus.brain = this;
 
-        if (nucleus.name == "Boid1") 
-            Debug.Log(" Found boiid1");
-
         visitedNuclei.Add(nucleus);
         if (nucleus.synapses != null) {
             HashSet<Synapse> visitedSynapses = new();
@@ -105,7 +84,6 @@ public class NanoBrain : ScriptableObject, ISerializationCallbackReceiver {
                 if (receiver != null && receiver.nucleus != null) {
                     visitedReceivers.Add(receiver);
                     visitedNuclei.Add(receiver.nucleus);
-                    //MarkNuclei(visitedNuclei, receiver.nucleus);
                 }
             }
             nucleus.receivers.RemoveAll(receiver => visitedReceivers.Contains(receiver) == false);

Assets/NanoBrain/VisualEditor/NanoBrainComponent.cs

@@ -4,18 +4,30 @@ public class NanoBrainComponent : MonoBehaviour {
     public NanoBrain defaultBrain;
     private NanoBrain brainInstance;
 
-    public Nucleus root {
+    public Nucleus root => brainInstance.root;
-        get {
-            return brainInstance.root;
-        }
-    }
     public NanoBrain brain {
         get {
             if (brainInstance == null && defaultBrain != null) {
                 brainInstance = Instantiate(defaultBrain);
                 brainInstance.name = defaultBrain.name + " (Instance)";
+
+                SwarmControl sc = FindFirstObjectByType<SwarmControl>();
+                UpdateWeight(brainInstance, "Avoidance", sc.avoidanceForce);
+                UpdateWeight(brainInstance, "Cohesion", sc.cohesionForce);
+                UpdateWeight(brainInstance, "Separation", sc.separationForce);
+                UpdateWeight(brainInstance, "Alignment", sc.alignmentForce);
             }
             return brainInstance;
         }
     }
+
+    public static void UpdateWeight(NanoBrain brain, string name, float weight) {
+        Nucleus root = brain.root;
+        foreach (Synapse synapse in root.synapses) {
+            if (synapse.nucleus.name == name) {
+                synapse.weight = weight;
+            }
+        }
+    }
+
 }

Assets/Scenes/Boids/Boids.unity

@@ -376,12 +376,11 @@ MonoBehaviour:
   speed: 1
   inertia: 0.7
   alignmentForce: 0.5
-  cohesionForce: 2.2
+  cohesionForce: 0.1
-  separationForce: -5
+  separationForce: -0.1
   avoidanceForce: 1
   separationDistance: 0.3
   perceptionDistance: 2
-  boundaryForce: 5
   spaceSize: {x: 10, y: 10, z: 10}
   boundaryWidth: {x: 1, y: 1, z: 1}
 --- !u!114 &301943979

Assets/Scenes/Boids/Scripts/Boid.cs

@@ -46,9 +46,14 @@ public class Boid : MonoBehaviour {
 
                 int thingId = neighbour.GetInstanceID();
 
-                Vector3 localPosition = this.transform.InverseTransformPoint(neighbour.transform.position);             
+                Vector3 localPosition = this.transform.InverseTransformPoint(neighbour.transform.position); 
+                float d = localPosition.magnitude;
+                if (d <= sc.separationDistance)
+                    localPosition = localPosition.normalized * 0.01f;
+                else
+                    localPosition = localPosition.normalized * (localPosition.magnitude - sc.separationDistance);            
                 if (localPosition.sqrMagnitude > 0)
-                    boidReceptor?.ProcessStimulus(thingId, localPosition);
+                    boidReceptor?.ProcessStimulus(thingId, localPosition, neighbour.name);
 
                 Vector3 localVelocity = this.transform.InverseTransformVector(neighbour.velocity);
                 if (localVelocity.sqrMagnitude > 0)

Assets/Scenes/Boids/Scripts/Editor/SwarmControl_Editor.cs

@@ -13,21 +13,21 @@ public class SwarmControl_Editor : Editor {
             NanoBrain[] nanoBrains = FindObjectsByType<NanoBrain>(FindObjectsSortMode.None);
 
             foreach (NanoBrain brain in nanoBrains) {
-                UpdateWeight(brain, "Avoidance", swarmControl.avoidanceForce);
+                NanoBrainComponent.UpdateWeight(brain, "Avoidance", swarmControl.avoidanceForce);
-                UpdateWeight(brain, "Cohesion", swarmControl.cohesionForce);
+                NanoBrainComponent.UpdateWeight(brain, "Cohesion", swarmControl.cohesionForce);
-                UpdateWeight(brain, "Separation", swarmControl.separationForce);
+                NanoBrainComponent.UpdateWeight(brain, "Separation", swarmControl.separationForce);
-                UpdateWeight(brain, "Alignment", swarmControl.alignmentForce);
+                NanoBrainComponent.UpdateWeight(brain, "Alignment", swarmControl.alignmentForce);
             }
             Debug.Log("Updated weights");
         }
     }
 
-    protected void UpdateWeight(NanoBrain brain, string name, float weight) {
+    // protected void UpdateWeight(NanoBrain brain, string name, float weight) {
-        Nucleus root = brain.root;
+    //     Nucleus root = brain.root;
-        foreach (Synapse synapse in root.synapses) {
+    //     foreach (Synapse synapse in root.synapses) {
-            if (synapse.nucleus.name == name) {
+    //         if (synapse.nucleus.name == name) {
-                synapse.weight = weight;
+    //             synapse.weight = weight;
-            }
+    //         }
-        }
+    //     }
-    }
+    // }
 }

Assets/Scenes/Boids/Scripts/SwarmControl.cs

@@ -14,7 +14,7 @@ public class SwarmControl : MonoBehaviour
     // public float bodyForce = 20;
     public float perceptionDistance = 1.0f;
 
-    public float boundaryForce = 2.0f;
+    //public float boundaryForce = 2.0f;
     public Vector3 spaceSize = new (10, 10, 10);
     public Vector3 boundaryWidth = Vector3.one * 1.0f;
 }