From 587f10490f2ffb38e84580e1237b37a9132b9fb1 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Tue, 7 Apr 2026 09:12:24 +0200 Subject: [PATCH] Move out non-subtree NanoBrain --- NanoBrain.meta | 8 - NanoBrain/Cluster.cs | 508 ------- NanoBrain/Cluster.cs.meta | 11 - NanoBrain/ClusterPrefab.cs | 116 -- NanoBrain/ClusterPrefab.cs.meta | 11 - NanoBrain/ClusterReceptor.cs | 214 --- NanoBrain/ClusterReceptor.cs.meta | 11 - NanoBrain/Editor.meta | 8 - NanoBrain/Editor/BrainEditorWindow.cs | 365 ----- NanoBrain/Editor/BrainEditorWindow.cs.meta | 2 - NanoBrain/Editor/BrainPickerWindow.cs | 66 - NanoBrain/Editor/BrainPickerWindow.cs.meta | 11 - NanoBrain/Editor/ClusterInspector.cs | 1100 -------------- NanoBrain/Editor/ClusterInspector.cs.meta | 11 - NanoBrain/Editor/DAGWindow.cs | 393 ----- NanoBrain/Editor/DAGWindow.cs.meta | 11 - NanoBrain/Editor/NanoBrain_Editor.cs | 50 - NanoBrain/Editor/NanoBrain_Editor.cs.meta | 11 - NanoBrain/Editor/Resources.meta | 8 - NanoBrain/Editor/Resources/GraphStyles.uss | 12 - .../Editor/Resources/GraphStyles.uss.meta | 11 - NanoBrain/IReceptor.cs | 73 - NanoBrain/IReceptor.cs.meta | 11 - NanoBrain/Icons.meta | 8 - .../Icons/NeuraalNetwerkIcoonSchets1.png | Bin 60406 -> 0 bytes .../Icons/NeuraalNetwerkIcoonSchets1.png.meta | 117 -- .../Icons/NeuraalNetwerkIcoonSchets2.png | Bin 39373 -> 0 bytes .../Icons/NeuraalNetwerkIcoonSchets2.png.meta | 117 -- .../Icons/NeuraalNetwerkIcoonSchets3.png | Bin 40575 -> 0 bytes .../Icons/NeuraalNetwerkIcoonSchets3.png.meta | 117 -- NanoBrain/Identity.asset | 59 - NanoBrain/Identity.asset.meta | 8 - NanoBrain/LinearAlgebra.meta | 8 - NanoBrain/LinearAlgebra/.editorconfig | 19 - .../.gitea/workflows/unit_tests.yaml | 37 - NanoBrain/LinearAlgebra/.gitignore | 5 - .../LinearAlgebra/LinearAlgebra-csharp.sln | 30 - NanoBrain/LinearAlgebra/src/Angle.cs | 341 ----- NanoBrain/LinearAlgebra/src/Decomposition.cs | 287 ---- NanoBrain/LinearAlgebra/src/Direction.cs | 261 ---- NanoBrain/LinearAlgebra/src/Float.cs | 41 - .../LinearAlgebra/src/LinearAlgebra.csproj | 14 - NanoBrain/LinearAlgebra/src/Matrix.cs | 689 --------- NanoBrain/LinearAlgebra/src/Quat32.cs | 87 -- NanoBrain/LinearAlgebra/src/Quaternion.cs | 582 -------- NanoBrain/LinearAlgebra/src/Spherical.cs | 279 ---- NanoBrain/LinearAlgebra/src/SwingTwist.cs | 136 -- NanoBrain/LinearAlgebra/src/Vector2Float.cs | 479 ------ NanoBrain/LinearAlgebra/src/Vector2Int.cs | 185 --- NanoBrain/LinearAlgebra/src/Vector3Float.cs | 402 ----- NanoBrain/LinearAlgebra/src/Vector3Int.cs | 273 ---- NanoBrain/LinearAlgebra/src/float16.cs | 322 ---- NanoBrain/LinearAlgebra/test/AngleTest.cs | 501 ------- NanoBrain/LinearAlgebra/test/DirectionTest.cs | 226 --- .../test/LinearAlgebra_Test.csproj | 19 - .../LinearAlgebra/test/QuaternionTest.cs | 185 --- NanoBrain/LinearAlgebra/test/SphericalTest.cs | 271 ---- .../LinearAlgebra/test/SwingTwistTest.cs | 131 -- .../LinearAlgebra/test/Vector2FloatTest.cs | 364 ----- .../LinearAlgebra/test/Vector2IntTest.cs | 270 ---- .../LinearAlgebra/test/Vector3FloatTest.cs | 581 -------- .../LinearAlgebra/test/Vector3IntTest.cs | 349 ----- NanoBrain/MemoryCell.cs | 59 - NanoBrain/MemoryCell.cs.meta | 11 - NanoBrain/NanoBrain-Unity.code-workspace | 12 - NanoBrain/NanoBrain-Unity.code-workspace.meta | 7 - NanoBrain/NanoBrain.cs | 31 - NanoBrain/NanoBrain.cs.meta | 11 - NanoBrain/Neuron.cs | 336 ----- NanoBrain/Neuron.cs.meta | 11 - NanoBrain/NewVelocity.asset | 1305 ----------------- NanoBrain/NewVelocity.asset.meta | 8 - NanoBrain/Nucleus.cs | 72 - NanoBrain/Nucleus.cs.meta | 11 - NanoBrain/NucleusArray.cs | 157 -- NanoBrain/NucleusArray.cs.meta | 11 - NanoBrain/Receptor.cs | 78 - NanoBrain/Receptor.cs.meta | 11 - NanoBrain/Scene.meta | 8 - NanoBrain/Scene/TestScene Boid.unity | 487 ------ NanoBrain/Scene/TestScene Boid.unity.meta | 7 - NanoBrain/Scene/TestScene Experiment.unity | 365 ----- .../Scene/TestScene Experiment.unity.meta | 7 - NanoBrain/Scripts.meta | 8 - NanoBrain/Scripts/Experimental.meta | 8 - .../Scripts/NeuraalNetwerkIcoonSchets1.png | Bin 63771 -> 0 bytes .../NeuraalNetwerkIcoonSchets1.png.meta | 117 -- .../Scripts/NeuraalNetwerkIcoonSchets2.png | Bin 39373 -> 0 bytes .../NeuraalNetwerkIcoonSchets2.png.meta | 117 -- NanoBrain/Synapse.cs | 15 - NanoBrain/Synapse.cs.meta | 11 - NanoBrain/Velocity.asset | 128 -- NanoBrain/Velocity.asset.meta | 8 - Samples/Animation/AntAnimator.controller | 4 +- Samples/Animation/AntWalk.anim | 58 +- 95 files changed, 13 insertions(+), 14288 deletions(-) delete mode 100644 NanoBrain.meta delete mode 100644 NanoBrain/Cluster.cs delete mode 100644 NanoBrain/Cluster.cs.meta delete mode 100644 NanoBrain/ClusterPrefab.cs delete mode 100644 NanoBrain/ClusterPrefab.cs.meta delete mode 100644 NanoBrain/ClusterReceptor.cs delete mode 100644 NanoBrain/ClusterReceptor.cs.meta delete mode 100644 NanoBrain/Editor.meta delete mode 100644 NanoBrain/Editor/BrainEditorWindow.cs delete mode 100644 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-1,8 +0,0 @@ -fileFormatVersion: 2 -guid: c5f07463dfa08efc1bad0f3039a4cecc -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/NanoBrain/Cluster.cs b/NanoBrain/Cluster.cs deleted file mode 100644 index 996fb2c..0000000 --- a/NanoBrain/Cluster.cs +++ /dev/null @@ -1,508 +0,0 @@ -using System; -using System.Collections.Generic; -using UnityEngine; -using Unity.Mathematics; -using static Unity.Mathematics.math; - -[Serializable] -public class Cluster : Nucleus { - - public string baseName { - get { - int colonPositon = this.name.IndexOf(':'); - if (colonPositon < 0) - return this.name; - return this.name[..colonPositon]; - } - } - - #region Init - - public Cluster(ClusterPrefab prefab, Cluster parent) { - this.prefab = prefab; - this.name = prefab.name; - - this.parent = parent; - this.parent?.clusterNuclei.Add(this); - - ClonePrefab(); - _ = this.inputs; - this.sortedNuclei = TopologicalSort(this.clusterNuclei); - } - - public Cluster(ClusterPrefab prefab, ClusterPrefab parent = null) { - this.prefab = prefab; - this.name = prefab.name; - this.clusterPrefab = parent; - - if (this.clusterPrefab != null) - this.clusterPrefab.nuclei.Add(this); - - ClonePrefab(); - _ = this.inputs; - this.sortedNuclei = TopologicalSort(this.clusterNuclei); - } - - private void ClonePrefab() { - Nucleus[] prefabNuclei = this.prefab.nuclei.ToArray(); - // first clone the nuclei without their connections - foreach (Nucleus nucleus in this.prefab.nuclei) { - nucleus.ShallowCloneTo(this); - } - Nucleus[] clonedNuclei = this.clusterNuclei.ToArray(); - - // Now clone the connections - for (int nucleusIx = 0; nucleusIx < prefabNuclei.Length; nucleusIx++) { - Nucleus prefabNucleus = prefabNuclei[nucleusIx]; - if (prefabNucleus is not Neuron prefabNeuron) - continue; - - Nucleus clonedNucleus = clonedNuclei[nucleusIx]; - if (clonedNucleus == null || clonedNucleus is not Neuron clonedNeuron) - continue; - - // Copy the receivers, which will also create the synapses - // Clusters do not have receivers... - foreach (Nucleus receiver in prefabNeuron.receivers.ToArray()) { - int ix = GetNucleusIndex(prefabNuclei, receiver); - if (ix < 0) - continue; - - if (clonedNuclei[ix] is not Nucleus clonedReceiver) - continue; - - // Find the synapse for the weight - float weight = 1; - foreach (Synapse synapse in receiver.synapses) { - // Find the weight for this synapse - if (synapse.neuron == prefabNucleus) { - weight = synapse.weight; - break; - } - } - - clonedNeuron.AddReceiver(clonedReceiver, weight); - } - } - - // Copy nucleus arrays for receptors - for (int nucleusIx = 0; nucleusIx < prefabNuclei.Length; nucleusIx++) { - Nucleus prefabNucleus = prefabNuclei[nucleusIx]; - if (prefabNucleus is not IReceptor prefabReceptor) - continue; - - if (prefabReceptor.nucleiArray == null || prefabReceptor.nucleiArray.Length == 0) - continue; - - IReceptor clonedNucleus = clonedNuclei[nucleusIx] as IReceptor; - if (prefabReceptor == prefabReceptor.nucleiArray[0]) { - // We clone the array only for the first entry - NucleusArray clonedArray = new(prefabReceptor.nucleiArray.Length, "array"); - int arrayIx = 0; - foreach (Nucleus prefabArrayNucleus in prefabReceptor.nucleiArray) { - int arrayNucleusIx = GetNucleusIndex(prefabNuclei, prefabArrayNucleus); - if (arrayNucleusIx >= 0) { - Nucleus clonedArrayNucleus = clonedNuclei[arrayNucleusIx]; - clonedArray.nuclei[arrayIx] = clonedArrayNucleus; - } - else { - Debug.LogError($" Could not find prefab nucleus {prefabNucleus.name} in the clones"); - } - arrayIx++; - } - //clonedNucleus.array = clonedArray; - clonedNucleus.nucleiArray = clonedArray.nuclei; - } - else { - // The others will refer to the array created for the first nucleus in the array - int firstNucleusIx = GetNucleusIndex(prefabNuclei, prefabReceptor.nucleiArray[0]); - IReceptor clonedFirstNucleus = clonedNuclei[firstNucleusIx] as IReceptor; - clonedNucleus.nucleiArray = clonedFirstNucleus.nucleiArray; - } - } - - foreach (Nucleus nucleus in this.clusterNuclei) { - if (nucleus is Cluster clonedSubCluster) - RestoreAllExternalReceivers(clonedSubCluster, this.prefab, this); - } - } - - // Sort the nuclei in a correct evaluation order - private List TopologicalSort(List nodes) { - Dictionary inDegree = new(); - foreach (Nucleus node in nodes) - inDegree[node] = 0; // Initialize in-degree to zero - - // Calculate in-degrees - foreach (Nucleus node in nodes) { - if (node is Cluster cluster) { - foreach (Nucleus receiver in cluster.CollectReceivers()) - inDegree[receiver]++; - } - else if (node is Neuron neuron) { - foreach (Nucleus receiver in neuron.receivers) - inDegree[receiver]++; - } - } - - Queue queue = new(); - foreach (Nucleus node in nodes) { - if (inDegree[node] == 0) // Nodes with no dependencies - queue.Enqueue(node); - } - // The queue basically stores all input nuclei? - - List sortedOrder = new(); - while (queue.Count > 0) { - Nucleus current = queue.Dequeue(); - sortedOrder.Add(current); // Process the node - - if (current is Neuron neuron) { - foreach (Nucleus receiver in neuron.receivers) { - inDegree[receiver]--; - if (inDegree[receiver] == 0) // If all dependencies resolved - queue.Enqueue(receiver); - } - } - else if (current is Cluster cluster) { - foreach (Nucleus receiver in cluster.CollectReceivers()) { - inDegree[receiver]--; - if (inDegree[receiver] == 0) // If all dependencies resolved - queue.Enqueue(receiver); - } - } - } - - // Check for cycles in the graph - if (sortedOrder.Count != nodes.Count) - throw new InvalidOperationException("Graph is not a DAG; a cycle exists."); - - return sortedOrder; - } - - public override Nucleus Clone(ClusterPrefab parent) { - Cluster clone = new(this.prefab, parent); - - foreach (Synapse synapse in this.synapses) { - Synapse clonedSynapse = clone.AddSynapse(synapse.neuron); - clonedSynapse.weight = synapse.weight; - } - - foreach (Neuron output in this.outputs) { - foreach (Nucleus receiver in output.receivers) { - int ix = GetNucleusIndex(this.clusterNuclei.ToArray(), output); - if (ix < 0) - continue; - - if (clone.clusterNuclei[ix] is not Neuron clonedOutput) - continue; - - clonedOutput.AddReceiver(receiver); - } - } - - return clone; - } - - public override Nucleus ShallowCloneTo(Cluster parent) { - Cluster clone = new(this.prefab, parent) { - name = this.name, - clusterPrefab = this.clusterPrefab, - }; - - return clone; - } - - private static void RestoreAllExternalReceivers(Cluster clonedCluster, ClusterPrefab prefabParent, Cluster clonedParent) { - int clonedClusterIx = GetNucleusIndex(clonedParent.clusterNuclei, clonedCluster); - if (prefabParent.nuclei[clonedClusterIx] is not Cluster sourceCluster) - return; - - for (int nucleusIx = 0; nucleusIx < sourceCluster.clusterNuclei.Count; nucleusIx++) { - Nucleus sourceNucleus = sourceCluster.clusterNuclei[nucleusIx]; - if (sourceNucleus is not Neuron sourceNeuron) - continue; - - if (clonedCluster.clusterNuclei[nucleusIx] is not Neuron clonedNeuron) - continue; - - // copy the receivers (and thus synapses) from the source to the clone - foreach (Nucleus receiver in sourceNeuron.receivers) { - int ix = GetNucleusIndex(prefabParent.nuclei, receiver); - if (ix < 0 || ix >= clonedParent.clusterNuclei.Count) - continue; - - Nucleus clonedReceiver = clonedParent.clusterNuclei[ix]; - - // Find the synapse for the weight - float weight = 1; - foreach (Synapse synapse in receiver.synapses) { - // Find the weight for this synapse - if (synapse.neuron == sourceNucleus) { - weight = synapse.weight; - break; - } - } - - clonedNeuron.AddReceiver(clonedReceiver, weight); - // Debug.Log($"external: {clonedReceiver.name} receives from {clonedNeuron.name} {clonedNeuron.GetHashCode()}"); - } - } - } - - protected int GetNucleusIndex(Nucleus[] nuclei, Nucleus nucleus) { - for (int i = 0; i < nuclei.Length; i++) { - if (nucleus == nuclei[i]) - return i; - } - return -1; - } - - public static int GetNucleusIndex(List nuclei, Nucleus nucleus) { - int i = 0; - foreach (Nucleus nucleiElement in nuclei) { - //for (int i = 0; i < nuclei.Length; i++) { - if (nucleus == nucleiElement) - return i; - i++; - } - return -1; - } - - #endregion Init - - public ClusterPrefab prefab; - - - [SerializeReference] - public List clusterNuclei = new(); - // the nuclei sorted using topological sorting - // to ensure that the cluster is computer in the right order - public List sortedNuclei; - //public Dictionary nucleiDict = new(); - - public List _inputs = null; - public virtual List inputs { - get { - if (this._inputs == null) { - this._inputs = new(); - foreach (Nucleus nucleus in this.clusterNuclei) { - // inputs have no synapses - if (nucleus.synapses.Count == 0) - this._inputs.Add(nucleus); - } - ComputeOrders(); - } - return this._inputs; - } - } - - public Dictionary> computeOrders = new(); - private void ComputeOrders() { - foreach (Nucleus input in this._inputs) - computeOrders[input] = TopologicalSort2(input); - } - - private List TopologicalSort2(Nucleus startNode) { - Dictionary inDegree = new(); - HashSet visited = new(); - - // Initialize in-degrees and mark all nodes as unvisited - foreach (Nucleus node in this.clusterNuclei) - inDegree[node] = 0; - - // Calculate in-degrees for all nodes reachable from the start node - Queue queue = new Queue(); - queue.Enqueue(startNode); - visited.Add(startNode); - - while (queue.Count > 0) { - Nucleus current = queue.Dequeue(); - List receivers = null; - if (current is Neuron neuron) - receivers = neuron.receivers; - else if (current is Cluster cluster) - receivers = cluster.CollectReceivers(); - - // if (current is Neuron neuron) { - foreach (Nucleus receiver in receivers) { - if (!visited.Contains(receiver)) { - visited.Add(receiver); - queue.Enqueue(receiver); - } - inDegree[receiver]++; - } - // } - } - - // Perform topological sort on all reachable nodes - queue.Clear(); - foreach (Nucleus node in visited) { - if (inDegree[node] == 0) - queue.Enqueue(node); - } - - List sortedOrder = new List(); - while (queue.Count > 0) { - Nucleus current = queue.Dequeue(); - sortedOrder.Add(current); // Process the node - - List receivers = null; - if (current is Neuron neuron) - receivers = neuron.receivers; - else if (current is Cluster cluster) - receivers = cluster.CollectReceivers(); - - //if (current is Neuron neuron) { - - foreach (Nucleus receiver in receivers) { - if (visited.Contains(receiver)) { - inDegree[receiver]--; - if (inDegree[receiver] == 0) // If all dependencies resolved - queue.Enqueue(receiver); - } - } - //} - } - - // Check for cycles in the graph - if (sortedOrder.Count != visited.Count) - throw new InvalidOperationException("Graph is not a DAG; a cycle exists."); - - return sortedOrder; - } - - public virtual Neuron defaultOutput {//=> this.nuclei[0] as Nucleus; - get { - if (this.clusterNuclei.Count > 0) - return this.clusterNuclei[0] as Neuron; - return null; - } - } - protected List _outputs = null; - public List outputs { - get { - if (this._outputs == null) { - this._outputs = new(); - foreach (Nucleus nucleus in this.clusterNuclei) { - if (nucleus is Neuron neuron) // && neuron.receivers.Count == 0) - this._outputs.Add(neuron); - } - } - return this._outputs; - } - } - - public bool TryGetNucleus(string nucleusName, out Nucleus foundNucleus) { - foreach (Nucleus receptor in this.clusterNuclei) { - if (receptor is Nucleus nucleus) - if (nucleus.name == nucleusName) { - foundNucleus = nucleus; - return true; - } - } - foundNucleus = null; - return false; - } - - public Nucleus GetNucleus(string nucleusName) { - int dotPosition = nucleusName.IndexOf('.'); - if (dotPosition >= 0) { - string clusterName = nucleusName[..dotPosition]; - string clusterName0 = clusterName + ": 0"; - foreach (Nucleus nucleus in this.clusterNuclei) { - if (nucleus is Cluster cluster) { - if (cluster.name == clusterName || cluster.name == clusterName0) { - string subNucleusName = nucleusName[(dotPosition + 1)..]; - return cluster.GetNucleus(subNucleusName); - } - } - } - return null; - } - else { - string nucleusName0 = nucleusName + ": 0"; - foreach (Nucleus nucleus in this.clusterNuclei) { - if (nucleus is IReceptor receptor) { - if (nucleus.name == nucleusName | nucleus.name == nucleusName0) - return nucleus; - } - else if (nucleus.name == nucleusName) - return nucleus; - } - return null; - } - } - - // [Obsolete("Use GetNucleus instead")] - // public IReceptor GetReceptor(string receptorName) { - // return GetNucleus(receptorName) as IReceptor; - // } - - #region Receivers - - public virtual List CollectReceivers() { - List receivers = new(); - foreach (Neuron output in this.outputs) { - foreach (Nucleus receiver in output.receivers) { - // Only add receivers outside this cluster - if (receiver.clusterPrefab != this.prefab) - receivers.Add(receiver); - //receivers.AddRange(output.receivers); - } - } - return receivers; - } - - #endregion Receivers - - #region Update - - public void UpdateFromNucleus(Nucleus startNucleus) { - // no bias+synapse input state calculation for now... - - if (this.computeOrders.ContainsKey(startNucleus) == false) { - //Debug.LogError($"{this.name} compute orders does not contain an order for {startNucleus.name}"); - return; - } - - List computeOrder = this.computeOrders[startNucleus]; - if (startNucleus.trace) - Debug.Log($"Update from {startNucleus.name}"); - foreach (Nucleus nucleus in computeOrder) { - nucleus.UpdateStateIsolated(); - if (startNucleus.trace && nucleus is Neuron neuron) - Debug.Log($" {nucleus.name}[{nucleus.GetHashCode()}] = {neuron.outputValue}"); - } - - // continue in parent - this.parent?.UpdateFromNucleus(this); - - UpdateNuclei(); - } - - public override void UpdateStateIsolated() { - throw new Exception("Cluster should not be updated!"); - // float3 sum = this.bias; - - // //Applying the weight factors - // foreach (Synapse synapse in this.synapses) { - // if (lengthsq(synapse.neuron.outputValue) > 0) { - // sum += synapse.weight * synapse.neuron.outputValue; - // } - // } - - // foreach (Nucleus nucleus in this.sortedNuclei) - // nucleus.UpdateStateIsolated(); - - // UpdateNuclei(); - } - - public override void UpdateNuclei() { - foreach (Nucleus nucleus in this.clusterNuclei) - nucleus.UpdateNuclei(); - } - - #endregion Update - -} diff --git a/NanoBrain/Cluster.cs.meta b/NanoBrain/Cluster.cs.meta deleted file mode 100644 index c77fea0..0000000 --- a/NanoBrain/Cluster.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: f13cdc4a175a9f379a00317ae68d8bea -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/NanoBrain/ClusterPrefab.cs b/NanoBrain/ClusterPrefab.cs deleted file mode 100644 index 760e8bb..0000000 --- a/NanoBrain/ClusterPrefab.cs +++ /dev/null @@ -1,116 +0,0 @@ -using System.Collections.Generic; -using UnityEngine; - -[CreateAssetMenu(menuName = "Passer/Cluster")] -public class ClusterPrefab : ScriptableObject { - // The ScriptableObject asset from which the runtime object has been created - - [SerializeReference] - public List nuclei = new(); - - - public virtual Nucleus output => this.nuclei[0] as Nucleus; - - public List _inputs = null; - public virtual List inputs { - get { - if (this._inputs == null) { - this._inputs = new(); - foreach (Nucleus receptor in this.nuclei) { - if (receptor is Nucleus nucleus) { - // inputs have no incoming synapses yet. - if (nucleus.synapses.Count == 0) - this._inputs.Add(nucleus); - } - } - } - return this._inputs; - } - } - private List _outputs = null; - public List outputs { - get { - if (this._outputs == null) - RefreshOutputs(); - return this._outputs; - } - } - public void RefreshOutputs() { - this._outputs = new(); - foreach (Nucleus nucleus in this.nuclei) { - if (nucleus is Neuron neuron && neuron.receivers.Count == 0) - this._outputs.Add(nucleus); - } - } - - public Nucleus GetNucleus(string nucleusName) { - foreach (Nucleus nucleus in this.nuclei) { - if (nucleus.name == nucleusName) - return nucleus; - } - return null; - } - - // Call this function to ensure that there is at least one nucleus - // This is an invariant and should be ensured before the nucleus is used - // because output requires it. - public void EnsureInitialization() { - nuclei ??= new List(); - if (nuclei.Count == 0) - new Neuron(this, "Output"); // Every cluster should have at least 1 neuron - } - - public void GarbageCollection() { - HashSet visitedNuclei = new(); - foreach (Nucleus output in this.outputs) - MarkNuclei(visitedNuclei, output); - //Debug.Log($"Garbage collection found {visitedNuclei.Count} Nuclei"); - this.nuclei.RemoveAll(nucleus => visitedNuclei.Contains(nucleus) == false); - } - - public void MarkNuclei(HashSet visitedNuclei, Nucleus nucleus) { - if (nucleus is null) - return; - - if (nucleus.parent != null && nucleus.parent.prefab != this) - visitedNuclei.Add(nucleus.parent); - else - visitedNuclei.Add(nucleus); - if (nucleus.synapses != null) { - HashSet visitedSynapses = new(); - foreach (Synapse synapse in nucleus.synapses) { - if (synapse != null && synapse.neuron != null) { - visitedSynapses.Add(synapse); - if (synapse.neuron is Nucleus synapse_nucleus) - MarkNuclei(visitedNuclei, synapse_nucleus); - } - } - nucleus.synapses.RemoveAll(synapse => visitedSynapses.Contains(synapse) == false); - } - if (nucleus is Neuron neuron && neuron.receivers != null) { - HashSet visitedReceivers = new(); - foreach (Nucleus receiver in neuron.receivers) { - if (receiver != null && receiver != null) { - visitedReceivers.Add(receiver); - visitedNuclei.Add(receiver); - } - } - neuron.receivers.RemoveAll(receiver => visitedReceivers.Contains(receiver) == false); - } - } - - public virtual void UpdateNuclei() { - foreach (Nucleus nucleus in this.nuclei) - nucleus.UpdateNuclei(); - } - - public int GetNucleusIndex(Nucleus receiver) { - int ix = 0; - foreach (Nucleus nucleus in this.nuclei) { - if (receiver == nucleus) - return ix; - ix++; - } - return -1; - } -} diff --git a/NanoBrain/ClusterPrefab.cs.meta b/NanoBrain/ClusterPrefab.cs.meta deleted file mode 100644 index d8dad7a..0000000 --- a/NanoBrain/ClusterPrefab.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 60a957541c24c57e78018c202ebb1d9b -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/NanoBrain/ClusterReceptor.cs b/NanoBrain/ClusterReceptor.cs deleted file mode 100644 index ac65e7a..0000000 --- a/NanoBrain/ClusterReceptor.cs +++ /dev/null @@ -1,214 +0,0 @@ -using System; -using System.Collections.Generic; -using UnityEngine; -using Unity.Mathematics; -using static Unity.Mathematics.math; -using System.Linq; - -[Serializable] -public class ClusterReceptor : Cluster, IReceptor { - public ClusterReceptor(ClusterPrefab prefab, Cluster parent, string name) : base(prefab, parent) { - this.name = name; - this.array = new NucleusArray(this); - if (this.name.IndexOf(":") < 0) - this.name += ": 0"; - - } - public ClusterReceptor(ClusterPrefab prefab, ClusterPrefab parent, string name) : base(prefab, parent) { - this.name = name; - this.array = new NucleusArray(this); - } - - public string GetName() { - return this.name; - } - - public override Nucleus ShallowCloneTo(Cluster parent) { - ClusterReceptor clone = new(this.prefab, parent, this.name) { - clusterPrefab = this.clusterPrefab, - }; - - return clone; - } - - public override Nucleus Clone(ClusterPrefab parent) { - ClusterReceptor clone = new(prefab, parent, this.name) { - array = this._array - }; - - foreach (Synapse synapse in this.synapses) { - Synapse clonedSynapse = clone.AddSynapse(synapse.neuron); - clonedSynapse.weight = synapse.weight; - } - - this._outputs = null; // Make sure the output are regenerated - foreach (Neuron output in this.outputs) { - int ix = GetNucleusIndex(this.clusterNuclei, output); - if (ix < 0 || clone.clusterNuclei[ix] is not Neuron clonedOutput) - continue; - - foreach (Nucleus receiver in output.receivers) - clonedOutput.AddReceiver(receiver); - } - return clone; - } - - public override List CollectReceivers() { - List receivers = new(); - foreach (Nucleus element in this.nucleiArray) { - if (element is not Cluster clusterElement) - continue; - - foreach (Nucleus outputNucleus in clusterElement.clusterNuclei) { - if (outputNucleus is not Neuron output) - continue; - - // this should be clusterElement.outputs, - // but outputs is not updated when correctly and may contain old data... - foreach (Nucleus receiver in output.receivers) { - // Only add receivers outside clusterElement cluster - if (receiver.clusterPrefab != clusterElement.prefab && - receivers.Contains(receiver) == false) - receivers.Add(receiver); - } - } - } - return receivers; - } - - [SerializeReference] - private NucleusArray _array; - public NucleusArray array { - set { _array = value; } - } - - public Nucleus[] nucleiArray { - get { return _array.nuclei; } - set { _array.nuclei = value; } - } - - public void AddReceptorElement(ClusterPrefab prefab) { - IReceptorHelpers.AddReceptorElement(this, prefab); - } - - public void RemoveReceptorElement() { - IReceptorHelpers.RemoveReceptorElement(this); - } - - public void AddArrayReceiver(Nucleus receiverToAdd, float weight = 1) { - IReceptorHelpers.AddArrayReceiver(this, receiverToAdd, weight); - } - - public override void UpdateStateIsolated() { - // Clusters don't do anything, - // The nuclei in them do the work - // and should be called directly, not from the cluster - } - - public override void UpdateNuclei() { - foreach (Nucleus nucleus in this.clusterNuclei) - nucleus.UpdateNuclei(); - } - - public override void ProcessStimulus(Vector3 inputValue, int thingId = 0, string thingName = null) { - Debug.LogError("Process Stimulus was called on clusterreceptor without a neuron specified"); - } - - private readonly Dictionary thingReceivers = new(); - - public virtual void ProcessStimulus(Neuron input, Vector3 inputValue, int thingId = 0, string thingName = null) { - CleanupReceivers(); - - if (!thingReceivers.TryGetValue(thingId, out ClusterReceptor selectedReceiver)) - selectedReceiver = FindReceiver2(thingId, inputValue, input); - if (selectedReceiver == null) - return; - - if (thingName != null) { - string baseName = selectedReceiver.name; - int colonPos = selectedReceiver.name.IndexOf(":"); - if (colonPos > 0) - baseName = selectedReceiver.name[..colonPos]; - selectedReceiver.name = baseName + ": " + thingName; - } - - int inputIx = GetNucleusIndex(this.clusterNuclei, input); - if (inputIx < 0) - return; - - if (selectedReceiver.clusterNuclei[inputIx] is Neuron selectedNeuron) - selectedNeuron.ProcessStimulusDirect(inputValue); - } - - private ClusterReceptor FindReceiver2(int thingId, float3 inputValue, Neuron input) { - // No existing nucleus for this thing - ClusterReceptor selectedReceiver = null; - float selectedMagnitude = 0; - foreach (ClusterReceptor receiver in this.nucleiArray.Cast()) { - if (thingReceivers.ContainsValue(receiver) == false) { - // We found an unusued receiver - thingReceivers.Add(thingId, receiver); - return receiver; - } - else if (receiver.defaultOutput.isSleeping) { - // A sleeping receiver is not active and can therefore always be used - thingReceivers.Add(thingId, receiver); - receiver.bias = float3(0, 0, 0); - return receiver; - } - else if (selectedReceiver == null) { - // If we haven't found a receiver yet, just start by taking the first - selectedReceiver = receiver; - selectedMagnitude = length(selectedReceiver.defaultOutput.outputValue); - } - // Look for the receiver with the lowest output magnitude - else { - float magnitude = length(receiver.defaultOutput.outputValue); - - if (length(receiver.defaultOutput.outputValue) < selectedMagnitude) { - selectedReceiver = receiver; - selectedMagnitude = length(selectedReceiver.defaultOutput.outputValue); - } - } - } - if (selectedReceiver != null) { - // To re-initialize the cluster (esp. memory cells) - // we update the cluster neuron twice. - // Bit of a hack..... - int inputIx = GetNucleusIndex(this.clusterNuclei, input); - if (inputIx >= 0) { - if (selectedReceiver.clusterNuclei[inputIx] is Neuron selectedNeuron) - selectedNeuron.ProcessStimulusDirect(inputValue); - } - - // Replace the receiver - // Find the thingId current associated with the receiver - int keyToRemove = thingReceivers.FirstOrDefault(r => r.Value.Equals(selectedReceiver)).Key; - if (keyToRemove != 0 || thingReceivers.ContainsKey(keyToRemove)) - thingReceivers.Remove(keyToRemove); - // And add the new association - thingReceivers.Add(thingId, selectedReceiver); - } - return selectedReceiver; - } - - - private void CleanupReceivers() { - // Remove a thing-receiver connection when the nucleus is inactive - List receiversToRemove = new(); - foreach (KeyValuePair item in thingReceivers) { - if (item.Value != null && item.Value.defaultOutput.isSleeping) - receiversToRemove.Add(item.Key); - } - foreach (int thingId in receiversToRemove) { - Nucleus selectedReceiver = thingReceivers[thingId]; - - thingReceivers.Remove(thingId); - - int colonPos = selectedReceiver.name.IndexOf(":"); - if (colonPos > 0) - selectedReceiver.name = selectedReceiver.name[..colonPos]; - - } - } -} \ No newline at end of file diff --git a/NanoBrain/ClusterReceptor.cs.meta b/NanoBrain/ClusterReceptor.cs.meta deleted file mode 100644 index e3543da..0000000 --- a/NanoBrain/ClusterReceptor.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 4f64f5d72a422a7c8bb9ace598432aad -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/NanoBrain/Editor.meta b/NanoBrain/Editor.meta deleted file mode 100644 index 090b3ac..0000000 --- a/NanoBrain/Editor.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: 3aedf57a50b6dfa46a59457c87b8ef9d -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/NanoBrain/Editor/BrainEditorWindow.cs b/NanoBrain/Editor/BrainEditorWindow.cs deleted file mode 100644 index 11bba19..0000000 --- a/NanoBrain/Editor/BrainEditorWindow.cs +++ /dev/null @@ -1,365 +0,0 @@ -using UnityEngine; -using UnityEditor; -using System.Collections.Generic; -using System.Linq; - -// Simple DAG data model -[System.Serializable] -public class DagNode { - public int id; - public string title; - public Vector2 position; - public float radius = 20f; // circle radius -} - -[System.Serializable] -public class DagEdge { - public int fromId; - public int toId; -} - -public class BrainEditorWindow : EditorWindow { - readonly List nodes = new(); - readonly List edges = new(); - - Vector2 pan = Vector2.zero; - float zoom = 1.0f; - const float minZoom = 0.5f; - const float maxZoom = 2.0f; - - // Vector2 dragStart; - // bool draggingNode = false; - // int draggingNodeId = -1; - - private readonly System.Type acceptedType = typeof(ClusterPrefab); - - [MenuItem("Window/Brain Viewer")] - public static void ShowWindow() { - var w = GetWindow("Brain Viewer"); - w.minSize = new Vector2(500, 300); - } - - void OnEnable() { - // if (nodes.Count == 0) - // CreateSampleGraph(); - - - // Register callback so window updates when selection changes - Selection.selectionChanged += OnSelectionChanged; - RefreshSelection(); - ComputeLeftToRightLayout(); - } - - private void OnDisable() { - Selection.selectionChanged -= OnSelectionChanged; - } - - private void OnSelectionChanged() { - RefreshSelection(); - ComputeLeftToRightLayout(); - Repaint(); - } - - private void RefreshSelection() { - ClusterPrefab prefab = Selection.activeObject as ClusterPrefab; - if (prefab != null && acceptedType.IsAssignableFrom(prefab.GetType())) { - GenerateGraph(prefab); - } - } - - private void GenerateGraph(ClusterPrefab prefab) { - nodes.Clear(); - edges.Clear(); - - int ix = 0; - foreach (Nucleus nucleus in prefab.nuclei) { - nodes.Add(new DagNode() { id = ix, title = nucleus.name }); - if (nucleus is Neuron neuron) { - foreach (Nucleus receiver in neuron.receivers) { - int receiverIx = prefab.GetNucleusIndex(receiver); - edges.Add(new DagEdge() { fromId = ix, toId = receiverIx }); - } - } - ix++; - } - } - - - // void CreateSampleGraph() { - // nodes.Clear(); - // edges.Clear(); - - // nodes.Add(new DagNode() { id = 0, title = "In1" }); - // nodes.Add(new DagNode() { id = 1, title = "In2" }); - // nodes.Add(new DagNode() { id = 2, title = "A" }); - // nodes.Add(new DagNode() { id = 3, title = "B" }); - // nodes.Add(new DagNode() { id = 4, title = "C" }); - // nodes.Add(new DagNode() { id = 5, title = "Out1" }); - // nodes.Add(new DagNode() { id = 6, title = "Out2" }); - - // edges.Add(new DagEdge() { fromId = 0, toId = 2 }); - // edges.Add(new DagEdge() { fromId = 1, toId = 2 }); - // edges.Add(new DagEdge() { fromId = 2, toId = 3 }); - // edges.Add(new DagEdge() { fromId = 2, toId = 4 }); - // edges.Add(new DagEdge() { fromId = 3, toId = 5 }); - // edges.Add(new DagEdge() { fromId = 4, toId = 6 }); - // } - - void OnGUI() { - HandleInput(); - - Rect rect = new(0, 0, position.width, position.height); - EditorGUI.DrawRect(rect, new Color(0.11f, 0.11f, 0.11f)); - - // compute window center - Vector2 windowCenter = new(position.width / 2f, position.height / 2f); - - // compute graph bounds center (in graph space) - Rect bounds = GetGraphBounds(); - Vector2 graphCenter = bounds.center; - - // compute autoPan that recenters the graph (does not modify node positions) - Vector2 autoPan = -graphCenter; // moves graph center to origin - // total translation = windowCenter + autoPan + user pan - Matrix4x4 oldMatrix = GUI.matrix; - GUI.matrix = Matrix4x4.TRS(windowCenter + autoPan + pan, Quaternion.identity, Vector3.one * zoom) * - Matrix4x4.TRS(-windowCenter, Quaternion.identity, Vector3.one); - - - // Draw edges first - foreach (DagEdge e in edges) { - DagNode from = GetNodeById(e.fromId); - DagNode to = GetNodeById(e.toId); - if (from == null || to == null) continue; - DrawEdgeCircleNodes(from, to); - } - - // Draw nodes (circles) - foreach (DagNode n in nodes) - DrawNucleus(n); - - GUI.matrix = oldMatrix; - - // Footer toolbar - GUILayout.FlexibleSpace(); - EditorGUILayout.BeginHorizontal(EditorStyles.toolbar); - if (GUILayout.Button("Fit", EditorStyles.toolbarButton)) FitToView(); - if (GUILayout.Button("Layout LR", EditorStyles.toolbarButton)) ComputeLeftToRightLayout(); - EditorGUILayout.EndHorizontal(); - } - - void HandleInput() { - Event e = Event.current; - - // Zoom with scroll - if (e.type == EventType.ScrollWheel) { - float oldZoom = zoom; - float delta = -e.delta.y * 0.01f; - zoom = Mathf.Clamp(zoom + delta, minZoom, maxZoom); - Vector2 mouse = e.mousePosition; - pan += (mouse - new Vector2(position.width / 2, position.height / 2)) * (1 - zoom / oldZoom); - e.Use(); - } - - // Pan with middle or right+ctrl drag - if (e.type == EventType.MouseDrag && (e.button == 2 || (e.button == 1 && e.control))) { - pan += e.delta; - e.Use(); - } - } - - DagNode GetNodeById(int id) => nodes.FirstOrDefault(x => x.id == id); - List GetIncomingEdges(DagNode node) { - List incoming = new(); - foreach (DagEdge e in edges) { - if (e.toId == node.id) - incoming.Add(e); - } - return incoming; - } - List GetOutgoingEdges(DagNode node) { - List outgoing = new(); - foreach (DagEdge e in edges) { - if (e.fromId == node.id) - outgoing.Add(e); - } - return outgoing; - } - - void DrawNucleus(DagNode n) { - Vector3 position = n.position; - - Handles.color = Color.white * 0.9f; - Handles.DrawSolidDisc(n.position, Vector3.forward, n.radius); - - if (GetIncomingEdges(n).Count == 0) - DrawArrowHead(n.position - new Vector2(n.radius + 10, 0), n.position - new Vector2(n.radius + 5, 0), 10f / zoom, 12f / zoom, Color.white); - if (GetOutgoingEdges(n).Count == 0) - DrawArrowHead(n.position + new Vector2(n.radius + 10, 0), n.position + new Vector2(n.radius + 15, 0), 10f / zoom, 12f / zoom, Color.white); - - Handles.color = Color.white; - GUIStyle style = new(EditorStyles.label) { - alignment = TextAnchor.UpperCenter, - normal = { textColor = Color.white }, - fontStyle = FontStyle.Bold, - }; - Vector3 labelPos = position - Vector3.down * (n.radius + 10f); // below disc along up axis - Handles.Label(labelPos, n.title, style); - } - - void DrawEdgeCircleNodes(DagNode from, DagNode to) { - Vector2 a = from.position; - Vector2 b = to.position; - if (a == b) return; - - Handles.color = Color.white * 0.9f; - Handles.DrawLine(from.position, to.position); - - // Vector2 dir = (b - a).normalized; - // Vector2 start = a + dir * from.radius; - // Vector2 end = b - dir * to.radius; - - //DrawArrowHead(end - dir * 2f, end, 10f / zoom, 12f / zoom, Color.white); - - } - - void DrawArrowHead(Vector2 from, Vector2 to, float headWidth, float headLength, Color color) { - Vector2 dir = (to - from).normalized; - if (dir == Vector2.zero) return; - Vector2 right = new Vector2(-dir.y, dir.x); - - Vector3 p1 = to; - Vector3 p2 = to - dir * headLength + right * headWidth * 0.5f; - Vector3 p3 = to - dir * headLength - right * headWidth * 0.5f; - - Handles.color = color; - Handles.DrawAAConvexPolygon(p1, p2, p3); - } - - // Left-to-right layered layout (sources on the left, sinks on the right) - void ComputeLeftToRightLayout() { - // build adjacency and indegree - var adj = nodes.ToDictionary(n => n.id, n => new List()); - var indeg = nodes.ToDictionary(n => n.id, n => 0); - foreach (var e in edges) { - if (!adj.ContainsKey(e.fromId) || !adj.ContainsKey(e.toId)) continue; - adj[e.fromId].Add(e.toId); - indeg[e.toId]++; - } - - // Kahn's algorithm to compute topological layers (horizontal layers) - Dictionary layer = new(); - Queue q = new(indeg.Where(kv => kv.Value == 0).Select(kv => kv.Key)); - foreach (var id in q) layer[id] = 0; - - while (q.Count > 0) { - int u = q.Dequeue(); - int l = layer[u]; - foreach (var v in adj[u]) { - // prefer placing v at least one layer after u - if (!layer.ContainsKey(v) || layer[v] < l + 1) layer[v] = l + 1; - indeg[v]--; - if (indeg[v] == 0) q.Enqueue(v); - } - } - - // Any unreachable nodes -> assign next layers - int maxLayer = layer.Count > 0 ? layer.Values.Max() : 0; - foreach (var n in nodes) { - if (!layer.ContainsKey(n.id)) { - maxLayer++; - layer[n.id] = maxLayer; - } - } - - // Group nodes by layer (left to right) - var layers = layer.GroupBy(kv => kv.Value).OrderBy(g => g.Key).Select(g => g.Select(x => x.Key).ToList()).ToList(); - - // Layout parameters (horizontal spacing drives left->right) - float hSpacing = 150f; - float vSpacing = 100f; - - // Place nodes: x increases with layer index, y spaced within layer - for (int li = 0; li < layers.Count; li++) { - var lst = layers[li]; - float totalHeight = (lst.Count - 1) * vSpacing; - for (int i = 0; i < lst.Count; i++) { - int id = lst[i]; - var n = GetNodeById(id); - if (n == null) continue; - float x = hSpacing + li * hSpacing; - float y = 400 - totalHeight / 2f + i * vSpacing; - // Debug.Log($"({li}, {i}) -> {x}, {y}"); - n.position = new Vector2(x, y); - } - } - - Repaint(); - } - - void FitToView() { - if (nodes.Count == 0) return; - // compute bounds including radii - Rect bounds = new Rect(nodes[0].position - Vector2.one * nodes[0].radius, Vector2.one * nodes[0].radius * 2f); - foreach (var n in nodes) - bounds = RectUnion(bounds, new Rect(n.position - Vector2.one * n.radius, Vector2.one * n.radius * 2f)); - - // center graph at origin (0,0) then set pan so it appears centered in window - Vector2 graphCenter = bounds.center; - // move nodes so center is at origin - for (int i = 0; i < nodes.Count; i++) - nodes[i].position -= graphCenter; - - // reset pan/zoom so centered - pan = Vector2.zero; - zoom = 1.0f; - Repaint(); - } - - - static Rect RectUnion(Rect a, Rect b) { - float xMin = Mathf.Min(a.xMin, b.xMin); - float xMax = Mathf.Max(a.xMax, b.xMax); - float yMin = Mathf.Min(a.yMin, b.yMin); - float yMax = Mathf.Max(a.yMax, b.yMax); - return Rect.MinMaxRect(xMin, yMin, xMax, yMax); - } - - Vector2 ScreenToGraph_old(Vector2 screenPos) { - Vector2 origin = new Vector2(position.width / 2, position.height / 2); - // invert the GUI.matrix transform (approx for current simple transforms) - return (screenPos - (origin + pan)) / zoom + origin * (1 - 1 / zoom); - } - Vector2 ScreenToGraph(Vector2 screenPos) { - Vector2 windowCenter = new Vector2(position.width / 2f, position.height / 2f); - Rect bounds = GetGraphBounds(); - Vector2 graphCenter = bounds.center; - Vector2 autoPan = -graphCenter; - // inverse of: screen -> translate by -(windowCenter+autoPan+pan), scale by 1/zoom, translate by windowCenter - return (screenPos - (windowCenter + autoPan + pan)) / zoom + windowCenter; - } - - - Rect GetGraphBounds() { - if (nodes == null || nodes.Count == 0) return new Rect(Vector2.zero, Vector2.one); - Rect bounds = new( - nodes[0].position - Vector2.one * nodes[0].radius, - 2f * nodes[0].radius * Vector2.one); - foreach (var n in nodes) - bounds = RectUnion(bounds, - new Rect(n.position - Vector2.one * n.radius, 2f * n.radius * Vector2.one)); - return bounds; - } - - - - int HitTestNode(Vector2 graphPos) { - // returns node id under point or -1 - for (int i = nodes.Count - 1; i >= 0; i--) { - var n = nodes[i]; - if ((graphPos - n.position).sqrMagnitude <= n.radius * n.radius) return n.id; - } - return -1; - } - -} diff --git a/NanoBrain/Editor/BrainEditorWindow.cs.meta b/NanoBrain/Editor/BrainEditorWindow.cs.meta deleted file mode 100644 index 5d8b61f..0000000 --- a/NanoBrain/Editor/BrainEditorWindow.cs.meta +++ /dev/null @@ -1,2 +0,0 @@ -fileFormatVersion: 2 -guid: f041740900808273ab006e7d276a78e9 diff --git a/NanoBrain/Editor/BrainPickerWindow.cs b/NanoBrain/Editor/BrainPickerWindow.cs deleted file mode 100644 index 503bd10..0000000 --- a/NanoBrain/Editor/BrainPickerWindow.cs +++ /dev/null @@ -1,66 +0,0 @@ -using UnityEditor; -using UnityEngine; -using System; -using System.Linq; - -public class ClusterPickerWindow : EditorWindow { - private Vector2 scroll; - private ClusterPrefab[] items = new ClusterPrefab[0]; - private Action onPicked; - private string search = ""; - - public static void ShowPicker(Action onPicked, string title = "Select Cluster") { - var w = CreateInstance(); - w.titleContent = new GUIContent(title); - w.minSize = new Vector2(360, 320); - w.onPicked = onPicked; - w.RefreshList(); - w.ShowModalUtility(); // modal dialog - } - - private void OnEnable() => RefreshList(); - - private void RefreshList() { - var guids = AssetDatabase.FindAssets("t:ClusterPrefab"); - items = guids - .Select(g => AssetDatabase.LoadAssetAtPath(AssetDatabase.GUIDToAssetPath(g))) - .Where(b => b != null) - .OrderBy(b => b.name) - .ToArray(); - } - - private void OnGUI() { - EditorGUILayout.Space(); - EditorGUILayout.BeginHorizontal(); - EditorGUILayout.LabelField("Choose Cluster:", EditorStyles.boldLabel); - if (GUILayout.Button("Refresh", GUILayout.Width(80))) RefreshList(); - GUILayout.FlexibleSpace(); - EditorGUILayout.EndHorizontal(); - - EditorGUILayout.Space(); - search = EditorGUILayout.TextField(search); - - EditorGUILayout.Space(); - scroll = EditorGUILayout.BeginScrollView(scroll); - foreach (var it in items) { - if (!string.IsNullOrEmpty(search) && it.name.IndexOf(search, StringComparison.OrdinalIgnoreCase) < 0) - continue; - - EditorGUILayout.BeginHorizontal(); - EditorGUILayout.LabelField(EditorGUIUtility.ObjectContent(it, typeof(ClusterPrefab)), GUILayout.Height(20)); - if (GUILayout.Button("Select", GUILayout.Width(70))) { - onPicked?.Invoke(it); - Close(); - return; - } - EditorGUILayout.EndHorizontal(); - } - EditorGUILayout.EndScrollView(); - - EditorGUILayout.Space(); - EditorGUILayout.BeginHorizontal(); - if (GUILayout.Button("Cancel")) { onPicked?.Invoke(null); Close(); } - GUILayout.FlexibleSpace(); - EditorGUILayout.EndHorizontal(); - } -} diff --git a/NanoBrain/Editor/BrainPickerWindow.cs.meta b/NanoBrain/Editor/BrainPickerWindow.cs.meta deleted file mode 100644 index 1468869..0000000 --- a/NanoBrain/Editor/BrainPickerWindow.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 9197e2d322d23b5798ab4aef729815b0 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/NanoBrain/Editor/ClusterInspector.cs b/NanoBrain/Editor/ClusterInspector.cs deleted file mode 100644 index 2999938..0000000 --- a/NanoBrain/Editor/ClusterInspector.cs +++ /dev/null @@ -1,1100 +0,0 @@ -using System.Collections.Generic; -using System.Linq; -using UnityEditor; - -using UnityEngine; -using UnityEngine.UIElements; -using Unity.Mathematics; -using static Unity.Mathematics.math; - -[CustomEditor(typeof(ClusterPrefab))] -public class ClusterInspector : Editor { - protected static VisualElement mainContainer; - protected static VisualElement inspectorContainer; - - protected bool breakOnWake = false; - - #region Start - - public override VisualElement CreateInspectorGUI() { - ClusterPrefab prefab = target as ClusterPrefab; - - if (prefab != null) - prefab.EnsureInitialization(); - - serializedObject.Update(); - - VisualElement root = new(); - CreateInspector(root, prefab, prefab.output, null); - - serializedObject.ApplyModifiedProperties(); - return root; - } - - public static GraphView CreateInspector(VisualElement root, ClusterPrefab cluster, Nucleus output, GameObject gameObject) { - root.style.paddingLeft = 0; - root.style.paddingRight = 0; - root.style.paddingTop = 0; - root.style.paddingBottom = 0; - - root.styleSheets.Add(Resources.Load("GraphStyles")); - - // does the main container have added value? - // is just is like the root - mainContainer = new() { - style = { - height = 450, - flexDirection = FlexDirection.Row - } - }; - GraphView graph = new(cluster); - graph.style.flexGrow = 1; - - inspectorContainer = new VisualElement { - name = "inspector", - style = { - width = 500, - flexGrow = 0 - } - }; - - mainContainer.Add(graph); - mainContainer.Add(inspectorContainer); - root.Add(mainContainer); - - graph.SetGraph(gameObject, output, inspectorContainer); - - return graph; - } - - - public class GraphView : VisualElement { - readonly ClusterPrefab prefab; - SerializedObject serializedBrain; - Nucleus currentNucleus; - GameObject gameObject; - private List layers = new(); - private readonly Dictionary neuroidPositions = new(); - private bool expandArray = false; - - ClusterPrefab prefabAsset; - readonly PopupField outputsField; - - public GraphView(ClusterPrefab prefab) { - this.prefab = prefab; - - name = "content"; - style.flexGrow = 1; - - IMGUIContainer graphContainer = new(OnIMGUI); - graphContainer.style.position = Position.Absolute; - graphContainer.style.left = 0; graphContainer.style.top = 0; - graphContainer.style.right = 0; graphContainer.style.bottom = 0; - graphContainer.pickingMode = PickingMode.Position; - graphContainer.focusable = true; - Add(graphContainer); - - VisualElement outputContainer = new() { - style = { - flexDirection = FlexDirection.Row, - alignItems = Align.Center, - } - }; - - List names = this.prefab.outputs.Select(output => output.name).ToList(); - if (names.Count > 0 && names.First() != null) { - outputsField = new(names, names.First()) { - style = { flexGrow = 1 } - }; - outputsField.RegisterValueChangedCallback(evt => OnOutputChanged(evt.newValue)); - outputContainer.Add(outputsField); - } - - Button addButton = new(() => OnAddClusterOutput()) { - text = "Add" - }; - outputContainer.Add(addButton); - - Add(outputContainer); - - // Subscribe when added to panel (editor UI ready) - RegisterCallback(evt => Subscribe()); - RegisterCallback(evt => Unsubscribe()); - } - - void OnOutputChanged(string outputName) { - if (this.currentNucleus.parent != null) - // Get nucleus in the parent instance - this.currentNucleus = this.currentNucleus.parent.GetNucleus(outputName); - else - // Get nucleus in the prefab - this.currentNucleus = this.prefab.GetNucleus(outputName); - } - - void OnAddClusterOutput() { - Nucleus newOutput = new Neuron(this.prefab, "New Output"); - this.prefab.RefreshOutputs(); - outputsField.choices = this.prefab.outputs.Select(output => output.name).ToList(); - outputsField.value = newOutput.name; - - this.currentNucleus = newOutput; - } - - bool subscribed = false; - void Subscribe() { - if (subscribed) return; - SceneView.duringSceneGui += OnSceneGUI; - subscribed = true; - SceneView.RepaintAll(); - } - - void Unsubscribe() { - if (!subscribed) return; - SceneView.duringSceneGui -= OnSceneGUI; - subscribed = false; - } - - public void SetGraph(GameObject gameObject, Nucleus nucleus, VisualElement inspectorContainer) { - this.gameObject = gameObject; - //this.cluster = brain; - if (Application.isPlaying == false) - this.serializedBrain = new SerializedObject(this.prefab); - this.currentNucleus = nucleus; - Rebuild(inspectorContainer); - } - - void Rebuild(VisualElement inspectorContainer) { - BuildLayers(); - - if (this.currentNucleus == null) { - inspectorContainer.Clear(); - return; - } - - string path = AssetDatabase.GetAssetPath(this.prefab); // or known path - this.prefabAsset = AssetDatabase.LoadAssetAtPath(path); - if (this.prefabAsset == null) { - // create in memory save if it doesn't exist - this.prefabAsset = CreateInstance(); - //Debug.LogError("Cluster Prefab is not found on disk"); - } - DrawInspector(inspectorContainer); - } - - private void BuildLayers() { - // A temporary list to track what's been added to layers - this.layers = new(); - int layerIx = 0; - - Nucleus selectedNucleus = this.currentNucleus; - if (selectedNucleus == null) - return; - NeuroidLayer currentLayer = new() { ix = layerIx }; - - if (selectedNucleus is Neuron selectedNeuron && selectedNeuron.receivers != null) { - foreach (Nucleus receiver in selectedNeuron.receivers) { - Nucleus outputNeuroid = receiver; - if (outputNeuroid != null) { - AddToLayer(currentLayer, outputNeuroid); - // Debug.Log($"layer {layerIx} nucleus {outputNeuroid.name}"); - } - } - } - if (currentLayer.neuroids.Count > 0) { - this.layers.Add(currentLayer); - layerIx++; - currentLayer = new() { ix = layerIx }; - } - - AddToLayer(currentLayer, selectedNucleus); - this.layers.Add(currentLayer); - // Debug.Log($"layer {layerIx} nucleus {selectedNucleus.name}"); - - layerIx++; - currentLayer = new() { ix = layerIx }; - - if (selectedNucleus.synapses != null) { - foreach (Synapse synapse in selectedNucleus.synapses) { - Nucleus input = synapse.neuron; - AddToLayer(currentLayer, input); - // Debug.Log($"layer {layerIx} nucleus {input.name}"); - } - } - if (currentLayer.neuroids.Count > 0) { - this.layers.Add(currentLayer); - } - } - - private void AddToLayer(NeuroidLayer layer, Nucleus nucleus) { - if (nucleus == null) - return; - layer.neuroids.Add(nucleus); - //nucleus.layerIx = layer.ix; - // Store its position - Vector2Int neuroidPosition = new(layer.ix, layer.neuroids.Count - 1); - neuroidPositions[nucleus] = neuroidPosition; - - } - - - public void OnIMGUI() { - if (currentNucleus == null) - return; - - if (Application.isPlaying == false) - serializedBrain.Update(); - - Handles.BeginGUI(); - DrawGraph(); - Handles.EndGUI(); - - } - - private void DrawGraph() { - float size = 20; - Vector3 position = new(150, 210, 0); - - DrawReceivers(this.currentNucleus, position, size); - DrawSynapses(this.currentNucleus, position, size); - - // Draw selected Nucleus - if (expandArray) { - if (this.currentNucleus is IReceptor receptor1) { - float maxValue = 0; - foreach (Nucleus nucleus in receptor1.nucleiArray) { - if (nucleus is Neuron neuron) { - float value = length(neuron.outputValue); - if (value > maxValue) - maxValue = value; - } - } - - float spacing = 400f / receptor1.nucleiArray.Count(); - float margin = 10 + spacing / 2; - float xMin = 150 - size; - float xMax = 150 + size; - float yMin = 10 + margin - size / 2; - float yMax = 400 - margin + size; - Vector3[] verts = new Vector3[4] { - new(xMin, yMin, 0), - new(xMax, yMin, 0), - new(xMax, yMax, 0), - new(xMin, yMax, 0) - }; - Handles.color = Color.black; - Handles.DrawAAConvexPolygon(verts); - int row = 0; - foreach (Nucleus nucleus in receptor1.nucleiArray) { - Vector3 pos = new(150, margin + row * spacing, 0.0f); - Handles.color = Color.white; - // The selected nucleus highlight ring - Handles.DrawSolidDisc(pos, Vector3.forward, size + 2); - DrawNucleus(nucleus, pos, maxValue, size); - row++; - } - GUIStyle style = new(EditorStyles.label) { - alignment = TextAnchor.UpperCenter, - normal = { textColor = Color.white }, - fontStyle = FontStyle.Bold, - }; - Vector3 labelPos = new(150, yMax + size + 5, 0); - string receptorName = receptor1.GetName(); - int colonPos = receptorName.IndexOf(":"); - if (colonPos > 0) { - string baseName = receptorName[..colonPos]; - Handles.Label(labelPos, baseName, style); - } - else - Handles.Label(labelPos, receptorName, style); - } - else { - Handles.color = Color.white; - // The selected nucleus highlight ring - Handles.DrawSolidDisc(position, Vector3.forward, size + 2); - float maxValue = 1; - if (this.currentNucleus is Neuron neuron) - maxValue = length(neuron.outputValue); - else if (this.currentNucleus is Cluster cluster) - maxValue = length(cluster.defaultOutput.outputValue); - - DrawNucleus(this.currentNucleus, position, maxValue, 20); - - } - } - else { - Handles.color = Color.white; - // The selected nucleus highlight ring - Handles.DrawSolidDisc(position, Vector3.forward, size + 2); - float maxValue = 1; - if (this.currentNucleus is Neuron neuron) - maxValue = length(neuron.outputValue); - else if (this.currentNucleus is Cluster cluster) - maxValue = length(cluster.defaultOutput.outputValue); - DrawNucleus(this.currentNucleus, position, maxValue, 20); - } - } - - private void DrawReceivers(Nucleus nucleus, Vector3 parentPos, float size) { - List receivers; - if (nucleus is Neuron neuron) - receivers = neuron.receivers; - else if (nucleus is Cluster cluster) - receivers = cluster.CollectReceivers(); - else - return; - - int nodeCount = receivers.Count(); //neuron != null ? neuron.receivers.Count() : 1; - - // Determine the maximum value in this layer - // This is used to 'scale' the output value colors of the nuclei - float maxValue = 0; - foreach (Nucleus receiver in receivers) { - if (receiver is Neuron neuroid) { - float value = length(neuroid.outputValue); - if (value > maxValue) - maxValue = value; - } - } - - // Determine the spacing of the nuclei in the layer - float spacing = 400f / nodeCount; - float margin = 10 + spacing / 2; - - int row = 0; - List drawnArrays = new(); - foreach (Nucleus receiver in receivers) { - if (receiver is Receptor receptor) { - if (drawnArrays.Contains(receptor.nucleiArray)) - continue; - drawnArrays.Add(receptor.nucleiArray); - } - - Nucleus receiverNucleus = receiver; - if (receiverNucleus == null) - continue; - - Vector3 pos = new(50, margin + row * spacing, 0.0f); - Handles.color = Color.white; - Handles.DrawLine(parentPos, pos); - - DrawNucleus(receiverNucleus, pos, maxValue, size); - row++; - } - } - - private void DrawSynapses(Nucleus nucleus, Vector3 parentPos, float size) { - int nodeCount = nucleus.synapses.Count; - - // Determine the maximum value in this layer - // This is used to 'scale' the output value colors of the nuclei - float maxValue = 0; - int neuronCount = 0; - List drawnArrays = new(); - foreach (Synapse synapse in nucleus.synapses) { - if (synapse.neuron == null) - continue; - - if (synapse.neuron is Receptor receptor) { - if (drawnArrays.Contains(receptor.nucleiArray)) - continue; - drawnArrays.Add(receptor.nucleiArray); - } - else if (synapse.neuron.parent is ClusterReceptor clusterReceptor) { - if (drawnArrays.Contains(clusterReceptor.nucleiArray)) - continue; - drawnArrays.Add(clusterReceptor.nucleiArray); - } - if (synapse.neuron is Neuron synapseNeuron) { - float value = length(synapseNeuron.outputValue) * synapse.weight; - // Debug.Log($"{synapse.nucleus.name}: {value} {length(synapse.nucleus.outputValue)} {synapse.weight}"); - if (value > maxValue) - maxValue = value; - } - neuronCount++; - } - - // Determine the spacing of the nuclei in the layer - float spacing = 400f / neuronCount; - float margin = 10 + spacing / 2; - - int row = 0; - drawnArrays = new(); - foreach (Synapse synapse in nucleus.synapses) { - if (synapse.neuron is null) - continue; - - if (synapse.neuron is Receptor neuron) { - if (drawnArrays.Contains(neuron.nucleiArray)) - continue; - drawnArrays.Add(neuron.nucleiArray); - } - else if (synapse.neuron.parent is ClusterReceptor clusterReceptor) { - if (drawnArrays.Contains(clusterReceptor.nucleiArray)) - continue; - drawnArrays.Add(clusterReceptor.nucleiArray); - } - Vector3 pos = new(250, margin + row * spacing, 0.0f); - Handles.color = Color.white; - Handles.DrawLine(parentPos, pos); - Color color = Color.black; - if (Application.isPlaying) { - if (maxValue == 0 || !float.IsFinite(maxValue)) - maxValue = 1; - float brightness = 0; - if (synapse.neuron is Neuron synapseNeuron) - brightness = length(synapseNeuron.outputValue * synapse.weight) / maxValue; - color = new Color(brightness, brightness, brightness, 1f); - } - if (synapse.neuron.parent != null && synapse.neuron.parent != this.currentNucleus.parent) { - // the synapse nucleus is part of a subcluster - DrawNucleus(synapse.neuron.parent, pos, maxValue, size, color); - } - // else if (synapse.nucleus.cluster != null && synapse.nucleus.cluster != this.currentNucleus.cluster) { - // DrawNucleus(synapse.nucleus.parent, pos, maxValue, size, color); - // } - else { - DrawNucleus(synapse.neuron, pos, maxValue, size, color); - } - row++; - } - } - - private void DrawNucleus(Nucleus nucleus, Vector3 position, float maxValue, float size) { - Color color; - if (Application.isPlaying) { - float brightness = 0; - if (nucleus is Neuron neuron) - brightness = length(neuron.outputValue) / maxValue; - color = new Color(brightness, brightness, brightness, 1f); - } - else - color = Color.black; - DrawNucleus(nucleus, position, maxValue, size, color); - } - - private void DrawNucleus(Nucleus nucleus, Vector3 position, float maxValue, float size, Color color) { - if (nucleus is MemoryCell) { - Handles.color = Color.white; - Handles.DrawWireDisc(position + Vector3.right * 10, Vector3.forward, size); - } - - Handles.color = color; - Handles.DrawSolidDisc(position, Vector3.forward, size); - - Handles.color = Color.white; - // Position the label in front of the disc - Vector3 labelPosition = position + (Vector3.forward * 0.1f); - - GUIStyle style = new(EditorStyles.label) { - alignment = TextAnchor.MiddleCenter, - normal = { textColor = Color.white }, - fontStyle = FontStyle.Bold, - }; - - if (nucleus is IReceptor receptor1) { - if (expandArray) { - // Put array indices above elements - style.alignment = TextAnchor.LowerCenter; - Vector3 labelPos1 = position + Vector3.down * (size + 5); // below disc - int colonPos1 = nucleus.name.IndexOf(":"); - if (colonPos1 > 0) { - string extName = nucleus.name[(colonPos1 + 2)..]; - Handles.Label(labelPos1, extName, style); - } - } - else { - // draw the array size label - if (color.grayscale > 0.5f) - style.normal.textColor = Color.black; - else - style.normal.textColor = Color.white; - Handles.Label(labelPosition, receptor1.nucleiArray.Length.ToString(), style); - style.normal.textColor = Color.white; - } - } - - if (expandArray == false || nucleus is not IReceptor) { - // put name below nucleus - Vector3 labelPos = position - Vector3.down * (size + 5); // below neuron - style.alignment = TextAnchor.UpperCenter; - - int colonPos = nucleus.name.IndexOf(":"); - if (colonPos > 0 && colonPos < nucleus.name.Length - 2) { - // if it is an array, we should not show the :0 of the first element - string baseName = nucleus.name[..colonPos]; - Handles.Label(labelPos, baseName, style); - } - else - Handles.Label(labelPos, nucleus.name, style); - - } - - // Draw Cluster ring - if (nucleus is Cluster) { - Handles.color = Color.white; - Handles.DrawWireDisc(position, Vector3.forward, size + 5); - } - - // Tooltip - 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 HandleMouseHover(Nucleus nucleus, Rect rect) { - GUIContent tooltip; - if (nucleus is Neuron neuron) { - tooltip = new( - $"{nucleus.name}" + - $"\nValue: {length(neuron.outputValue)}"); - } - else - tooltip = new($"{nucleus.name}"); - - Vector2 mousePosition = Event.current.mousePosition; - - // Display tooltip with some offset - Vector2 tooltipSize = GUI.skin.box.CalcSize(tooltip); - Rect tooltipRect = new Rect(mousePosition.x + 10, mousePosition.y + 10, tooltipSize.x, tooltipSize.y); - - GUI.Box(tooltipRect, tooltip); - } - - private void HandleClicked(Nucleus nucleus) { - if (nucleus == this.currentNucleus) { - if (nucleus is Receptor || nucleus is ClusterReceptor) - expandArray = !expandArray; - else - expandArray = false; - } - // else if (nucleus is ReceptorInstance receptor) { - // this.currentNucleus = receptor.receptor; - // expandArray = false; - // BuildLayers(); - // } - else { - this.currentNucleus = nucleus; - expandArray = false; - BuildLayers(); - } - } - - private VisualElement inspectorIMGUIContainer; - private bool showSynapses = true; - private bool showActivation = true; - protected bool breakOnWake = false; - protected bool trace = false; - void DrawInspector(VisualElement 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); - this.inspectorIMGUIContainer = new IMGUIContainer(() => InspectorHandler(so)); - - inspectorContainer.Add(inspectorIMGUIContainer); - } - - void InspectorHandler(SerializedObject serializedObject) { - bool anythingChanged = false; - - if (serializedObject == null || serializedObject.targetObject == null) - return; - - if (this.currentNucleus == null) - return; - - serializedObject.Update(); - - GUIStyle headerStyle = new(EditorStyles.boldLabel) { - alignment = TextAnchor.MiddleLeft, - margin = new RectOffset(10, 0, 4, 4) - }; - GUIStyle boldTextFieldStyle = new(EditorStyles.textField) { - fontStyle = FontStyle.Bold - }; - - GUILayout.Label(this.currentNucleus.GetType().ToString(), headerStyle); - string newName = EditorGUILayout.TextField(this.currentNucleus.name, boldTextFieldStyle); - if (newName != this.currentNucleus.name) { - this.currentNucleus.name = newName; - this.prefab.RefreshOutputs(); - outputsField.choices = this.prefab.outputs.Select(output => output.name).ToList(); - anythingChanged = true; - } - - if (Application.isPlaying) { - if (currentNucleus is Neuron currentNeuron1) { - GUIContent nameLabel = new("Output", currentNeuron1.outputValue.ToString()); - EditorGUILayout.FloatField(nameLabel, length(currentNeuron1.outputValue)); - } - else - EditorGUILayout.LabelField(" "); - } - else - EditorGUILayout.LabelField(" "); - - if (this.currentNucleus is MemoryCell memory) { - memory.staticMemory = EditorGUILayout.Toggle("Static Memory", memory.staticMemory); - } - - if (this.currentNucleus is IReceptor receptor1) { - EditorGUILayout.BeginHorizontal(); - EditorGUILayout.IntField("Array size", receptor1.nucleiArray.Count()); - if (GUILayout.Button("Add")) { - Undo.RecordObject(prefabAsset, "Array add " + prefabAsset.name); - receptor1.AddReceptorElement(this.prefab); - anythingChanged = true; - } - if (GUILayout.Button("Del")) { - Undo.RecordObject(prefabAsset, "Array delete " + prefabAsset.name); - receptor1.RemoveReceptorElement(); - anythingChanged = true; - } - EditorGUILayout.EndHorizontal(); - } - - // Synapses - - if (this.currentNucleus is not Receptor && this.currentNucleus is not ClusterReceptor) { - showSynapses = EditorGUILayout.BeginFoldoutHeaderGroup(showSynapses, "Synapses"); - if (showSynapses) { - if (this.currentNucleus is Neuron neuron2) { - Neuron.CombinatorType newCombinator = (Neuron.CombinatorType)EditorGUILayout.EnumPopup("Combinator", neuron2.combinator); - anythingChanged |= newCombinator != neuron2.combinator; - neuron2.combinator = newCombinator; - } - - EditorGUIUtility.wideMode = true; - EditorGUIUtility.labelWidth = 100; - Vector3 newBias = EditorGUILayout.Vector3Field("Bias", this.currentNucleus.bias); - anythingChanged |= newBias != this.currentNucleus.bias; - this.currentNucleus.bias = newBias; - - Nucleus[] array = null; - int elementIx = -1; - if (this.currentNucleus.synapses.Count > 0) { - Synapse[] synapses = this.currentNucleus.synapses.ToArray(); - foreach (Synapse synapse in synapses) { - if (synapse.neuron == null) - continue; - - if (array != null) { - if (synapse.neuron.parent is Cluster iCluster && elementIx > 0) { - int thisElementIx = Cluster.GetNucleusIndex(iCluster.clusterNuclei, synapse.neuron); - if (thisElementIx == elementIx) - continue; - else - elementIx = thisElementIx; - } - // if (array.Contains(synapse.nucleus)) - // continue; - else if (array.Contains(synapse.neuron.parent)) - continue; - } - else { - if (synapse.neuron.parent is IReceptor iReceptor) { - array = iReceptor.nucleiArray; - if (iReceptor is Cluster iCluster) - elementIx = Cluster.GetNucleusIndex(iCluster.clusterNuclei, synapse.neuron); - } - // else if (synapse.nucleus is Receptor receptor2) // && receptor2.array != null && receptor2.array.nuclei.Length > 1) - // array = receptor2.nucleiArray; - } - - EditorGUILayout.Space(); - - if (Application.isPlaying) { - if (synapse.neuron is Neuron synapseNeuron) { - Vector3 value = synapseNeuron.outputValue * synapse.weight; - GUIContent synapseValueLabel = new(synapse.neuron.name, synapseNeuron.outputValue.ToString()); - EditorGUILayout.FloatField(synapseValueLabel, length(synapseNeuron.outputValue)); - } - } - else { - EditorGUILayout.BeginHorizontal(); - - if (synapse.neuron.parent != null && synapse.neuron.parent != this.currentNucleus) { - // If it is a cluster - GUIStyle labelStyle = new(GUI.skin.label); - float labelWidth = 200; - if (synapse.neuron.clusterPrefab != null) { - labelWidth = labelStyle.CalcSize(new GUIContent($"{synapse.neuron.parent.baseName}.")).x; - GUILayout.Label($"{synapse.neuron.parent.baseName}", GUILayout.Width(labelWidth)); - } - string[] options = synapse.neuron.parent.clusterNuclei.Select(n => n.name).ToArray(); - int selectedIndex = System.Array.IndexOf(options, synapse.neuron.name); - int newIndex = EditorGUILayout.Popup(selectedIndex, options); - if (newIndex != selectedIndex && synapse.neuron.parent.clusterNuclei[newIndex] is Neuron newNeuron) - ChangeSynapse(synapse, newNeuron); - } - else - GUILayout.Label(synapse.neuron.name); - - bool disconnecting = GUILayout.Button("Disconnect", GUILayout.Width(80)); - if (disconnecting && synapse.neuron is Neuron synapseNeuron) { - synapseNeuron.RemoveReceiver(this.currentNucleus); - this.prefab.GarbageCollection(); - anythingChanged = true; - } - EditorGUILayout.EndHorizontal(); - - } - - EditorGUI.indentLevel++; - float newWeight = EditorGUILayout.FloatField("Weight", synapse.weight); - if (newWeight != synapse.weight) { - if (synapse.neuron.parent is IReceptor receptor) { - Nucleus[] receptorArray = receptor.nucleiArray; - foreach (Synapse s in this.currentNucleus.synapses) { - if (s.neuron.parent is IReceptor r && r.nucleiArray == receptorArray) - s.weight = newWeight; - } - } - else - synapse.weight = newWeight; - anythingChanged = true; - } - EditorGUI.indentLevel--; - } - } - - EditorGUILayout.Space(); - anythingChanged |= ConnectNucleus(this.prefab, this.currentNucleus); - anythingChanged |= AddSynapse(this.prefab, this.currentNucleus); - } - EditorGUILayout.EndFoldoutHeaderGroup(); - } - - // Activation - - if (this.currentNucleus is not Cluster) { - EditorGUILayout.Space(); - showActivation = EditorGUILayout.BeginFoldoutHeaderGroup(showActivation, "Activation"); - if (showActivation) { - if (this.currentNucleus is Neuron neuron) { - if (this.currentNucleus is not MemoryCell) { - EditorGUILayout.BeginHorizontal(); - EditorGUILayout.LabelField("Activation Curve", GUILayout.Width(150)); - if (neuron.curveMax > 0) - EditorGUILayout.CurveField(neuron.curve, Color.cyan, new Rect(0, 0, 1, neuron.curveMax)); - else - EditorGUILayout.CurveField(neuron.curve, Color.cyan, new Rect(0, neuron.curveMax, 1, -neuron.curveMax)); - Neuron.CurvePresets newPreset = (Neuron.CurvePresets)EditorGUILayout.EnumPopup(neuron.curvePreset, GUILayout.Width(100)); - anythingChanged |= newPreset != neuron.curvePreset; - neuron.curvePreset = newPreset; - EditorGUILayout.EndHorizontal(); - } - if (neuron is Receptor receptor2) { - if (receptor2.nucleiArray == null || receptor2.nucleiArray.Count() == 0) - receptor2.array = new NucleusArray(neuron); - } - } - - EditorGUILayout.Space(); - } - EditorGUILayout.EndFoldoutHeaderGroup(); - } - - if (GUILayout.Button("Delete this neuron")) - DeleteNucleus(this.currentNucleus); - - if (this.currentNucleus is Cluster subCluster) { - if (GUILayout.Button("Edit Cluster")) - EditCluster(subCluster); - } - - EditorGUILayout.Space(); - breakOnWake = EditorGUILayout.Toggle("Break on wake", breakOnWake); - if (breakOnWake && this.currentNucleus is Neuron currentNeuron) { - if (currentNeuron.isSleeping == false) - Debug.Break(); - } - trace = EditorGUILayout.Toggle("Trace", trace); - this.currentNucleus.trace = trace; - - serializedObject.ApplyModifiedProperties(); - if (anythingChanged) { - EditorUtility.SetDirty(prefabAsset); - AssetDatabase.SaveAssets(); - } - } - - void OnSceneGUI(SceneView sceneView) { - if (this.gameObject != null) { - if (this.currentNucleus is IReceptor receptor) { - foreach (Nucleus nucleus in receptor.nucleiArray) { - if (nucleus is Neuron neuron) { - Vector3 worldVector = this.gameObject.transform.TransformVector(neuron.outputValue); - Handles.color = Color.yellow; - Handles.DrawLine(this.gameObject.transform.position, this.gameObject.transform.position + worldVector); - } - } - } - else { - if (this.currentNucleus is Neuron currentNeuron) { - Vector3 worldVector = this.gameObject.transform.TransformVector(currentNeuron.outputValue); - Handles.color = Color.yellow; - Handles.DrawLine(this.gameObject.transform.position, this.gameObject.transform.position + worldVector); - } - } - } - } - - #region Synapses - - protected virtual void AddInput(Nucleus.Type selectedType, Nucleus nucleus) { - switch (selectedType) { - case Nucleus.Type.Neuron: - AddNeuronInput(nucleus); - break; - case Nucleus.Type.MemoryCell: - AddMemoryCellInput(nucleus); - break; - // case Nucleus.Type.Selector: - // AddSelectorInput(nucleus); - // break; - case Nucleus.Type.Cluster: - AddClusterInput(nucleus); - break; - // case Nucleus.Type.Pulsar: - // AddPulsarInput(nucleus); - // break; - case Nucleus.Type.Receptor: - AddReceptorInput(nucleus); - break; - // case Nucleus.Type.ReceptorArray: - // AddReceptorArrayInput(nucleus); - // break; - case Nucleus.Type.ClusterReceptor: - AddClusterReceptorInput(nucleus); - break; - default: - break; - } - } - - protected virtual void AddNeuronInput(Nucleus nucleus) { - Neuron newNeuroid = new(this.prefab, "New neuron"); - newNeuroid.AddReceiver(nucleus); - this.currentNucleus = newNeuroid; - BuildLayers(); - } - - // protected void AddSelectorInput(Nucleus nucleus) { - // Selector newSelector = new(this.prefab, "New Selector"); - // newSelector.AddReceiver(nucleus); - // this.currentNucleus = newSelector; - // BuildLayers(); - // } - - // protected void AddPulsarInput(Nucleus nucleus) { - // Pulsar newPulsar = new(this.prefab, "New Pulsar"); - // newPulsar.AddReceiver(nucleus); - // this.currentNucleus = newPulsar; - // BuildLayers(); - // } - - protected virtual void AddMemoryCellInput(Nucleus nucleus) { - MemoryCell newMemory = new(this.prefab, "New memory cell"); - newMemory.AddReceiver(nucleus); - this.currentNucleus = newMemory; - BuildLayers(); - } - - protected virtual void AddClusterInput(Nucleus nucleus) { - ClusterPickerWindow.ShowPicker(brain => OnClusterPicked(nucleus, brain), "Select Cluster"); - } - private void OnClusterPicked(Nucleus nucleus, ClusterPrefab prefab) { - Cluster subclusterInstance = new(prefab, this.prefab); - subclusterInstance.defaultOutput.AddReceiver(nucleus); - } - - protected virtual void AddReceptorInput(Nucleus nucleus) { - Receptor newReceptor = new(this.prefab, "New Receptor"); - newReceptor.AddReceiver(nucleus); - this.currentNucleus = newReceptor; - BuildLayers(); - } - - protected virtual void AddClusterReceptorInput(Nucleus nucleus) { - ClusterPickerWindow.ShowPicker(prefab => OnClusterReceptorPicked(nucleus, prefab), "Select Cluster"); - } - private void OnClusterReceptorPicked(Nucleus nucleus, ClusterPrefab selectedPrefab) { - ClusterReceptor clusterInstance = new(selectedPrefab, this.prefab, "New " + selectedPrefab.name); - clusterInstance.defaultOutput.AddReceiver(nucleus); - this.currentNucleus = clusterInstance; - BuildLayers(); - } - - private void EditCluster(Cluster subCluster) { - // May be used with storedPrefab... - Selection.activeObject = subCluster.prefab; - EditorGUIUtility.PingObject(subCluster.prefab); - var editor = Editor.CreateEditor(subCluster.prefab); - } - - int selectedConnectNucleus = -1; - // Connect to another nucleus in the same cluster - protected virtual bool ConnectNucleus(ClusterPrefab cluster, Nucleus nucleusToConnect) { - if (cluster == null) - return false; - - IEnumerable synapseNuclei = this.currentNucleus.synapses - .Where(synapse => synapse.neuron != null) - .Select(synapse => synapse.neuron); - - IEnumerable nuclei = cluster.nuclei - .Except(synapseNuclei); - IEnumerable nucleiNames = nuclei - .Select(n => { - int idx = n.name.IndexOf(':'); - return idx < 0 ? n.name : n.name[..idx]; - }) - .Distinct(); - - string[] names = nucleiNames.ToArray(); - EditorGUILayout.BeginHorizontal(); - selectedConnectNucleus = EditorGUILayout.Popup(selectedConnectNucleus, names); - bool connecting = GUILayout.Button("Connect", GUILayout.Width(80)); - EditorGUILayout.EndHorizontal(); - if (connecting) { - Nucleus nucleus = nuclei.ElementAt(selectedConnectNucleus); - if (nucleus is IReceptor receptor) - receptor.AddArrayReceiver(this.currentNucleus); - else if (nucleus is Neuron neuron) - neuron.AddReceiver(this.currentNucleus); - else if (nucleus is Cluster subCluster) - subCluster.defaultOutput.AddReceiver(this.currentNucleus); - - } - return connecting; - } - - protected virtual void DeleteNucleus(Nucleus nucleus) { - if (nucleus == null) - return; - - if (nucleus is Neuron neuron) { - foreach (Nucleus receiver in neuron.receivers) { - if (receiver != null) { - this.currentNucleus = receiver; - break; - } - } - } - this.prefab.nuclei.Remove(nucleus); - - if (outputsField.value == nucleus.name) { - this.prefab.RefreshOutputs(); - outputsField.choices = this.prefab.outputs.Select(output => output.name).ToList(); - outputsField.index = 0; - } - - Neuron.Delete(nucleus); - - this.currentNucleus = this.prefab.output; - BuildLayers(); - } - - Nucleus.Type selectedType = Nucleus.Type.None; - protected virtual bool AddSynapse(ClusterPrefab cluster, Nucleus nucleus) { - if (cluster == null) - return false; - - EditorGUILayout.BeginHorizontal(); - selectedType = (Nucleus.Type)EditorGUILayout.EnumPopup(selectedType); - bool connecting = GUILayout.Button("Add", GUILayout.Width(80)); - EditorGUILayout.EndHorizontal(); - - if (connecting) { - AddInput(selectedType, this.currentNucleus); - } - return connecting; - // if (selectedType == Nucleus.Type.None) - // return false; - - // AddInput(selectedType, this.currentNucleus); - // return true; - } - - protected virtual void ChangeSynapse(Synapse synapse, Neuron newNucleus) { - Neuron synapseNeuron = synapse.neuron as Neuron; - if (synapse.neuron.parent is Cluster subCluster && subCluster.prefab != this.prefab) { - if (synapse.neuron.parent is ClusterReceptor receptor) { - // the new nucleus is part of a (cluster) receptor, - // so we have to change all synapses to this nucleus array elements - int oldNucleusIx = Cluster.GetNucleusIndex(subCluster.clusterNuclei, synapse.neuron); - int newNucleusIx = Cluster.GetNucleusIndex(subCluster.clusterNuclei, newNucleus); - foreach (Nucleus element in receptor.nucleiArray) { - if (element is not ClusterReceptor clusterReceptor) - continue; - // Get the same neuron as the synapse.nucleus in a different element - // of the ClusterReceptor array - Nucleus oldElementNucleus = clusterReceptor.clusterNuclei[oldNucleusIx]; - if (oldElementNucleus is not Neuron oldElementNeuron) - continue; - // Get the same neuron as newNucleus in a different element - // of the ClusterReceptor array - Nucleus newElementNucleus = clusterReceptor.clusterNuclei[newNucleusIx]; - if (newElementNucleus is not Neuron newElementNeuron) - continue; - - oldElementNeuron.RemoveReceiver(this.currentNucleus); - newElementNeuron.AddReceiver(this.currentNucleus); - // Now find the synapse which pointed to the old Neuron - // Synapse synapseForUpdate = this.currentNucleus.GetSynapse(oldElementNeuron); - // synapseForUpdate.nucleus = newElementNeuron; - } - } - else { - // it is a neuron in a subcluster - synapseNeuron.RemoveReceiver(this.currentNucleus); - newNucleus.AddReceiver(this.currentNucleus); - } - } - else { - synapseNeuron.RemoveReceiver(this.currentNucleus); - newNucleus.AddReceiver(this.currentNucleus); - } - } - - protected virtual void DisconnectNucleus(Neuron nucleus) { - if (this.currentNucleus.clusterPrefab == null) - return; - string[] names = this.currentNucleus.synapses.Select(synapse => synapse.neuron.name).ToArray(); - int selectedIndex = -1; - selectedIndex = EditorGUILayout.Popup("Disconnect from", selectedIndex, names); - if (selectedIndex >= 0 && selectedIndex < this.currentNucleus.clusterPrefab.nuclei.Count) { - Synapse synapse = this.currentNucleus.synapses[selectedIndex]; - Neuron synapseNeuron = synapse.neuron as Neuron; - synapseNeuron.RemoveReceiver(this.currentNucleus); - } - } - - #endregion Synapses - } - - #endregion Start - -} - -public class NeuroidLayer { - public int ix = 0; - public List neuroids = new(); -} diff --git a/NanoBrain/Editor/ClusterInspector.cs.meta b/NanoBrain/Editor/ClusterInspector.cs.meta deleted file mode 100644 index a933254..0000000 --- a/NanoBrain/Editor/ClusterInspector.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 1fc1fb7db9f7ad54a87d31313e7f457d -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/NanoBrain/Editor/DAGWindow.cs b/NanoBrain/Editor/DAGWindow.cs deleted file mode 100644 index aaf5aa3..0000000 --- a/NanoBrain/Editor/DAGWindow.cs +++ /dev/null @@ -1,393 +0,0 @@ - -using UnityEngine; -using UnityEditor; -using System.Collections.Generic; -using System.Linq; - -// Simple DAG data model -// [System.Serializable] -// public class DagNode -// { -// public int id; -// public string title; -// public Vector2 position; -// public float radius = 36f; // circle radius -// } - -// [System.Serializable] -// public class DagEdge -// { -// public int fromId; -// public int toId; -// } - -public class DAGEditorWindow : EditorWindow -{ - List nodes = new List(); - List edges = new List(); - - Vector2 pan = Vector2.zero; - float zoom = 1.0f; - const float minZoom = 0.5f; - const float maxZoom = 2.0f; - - GUIStyle labelStyle; - int selectedNodeId = -1; - - Vector2 dragStart; - bool draggingNode = false; - int draggingNodeId = -1; - - [MenuItem("Window/DAG Viewer (LR, Circles)")] - public static void ShowWindow() - { - var w = GetWindow("DAG Viewer (LR)"); - w.minSize = new Vector2(500, 300); - } - - void OnEnable() - { - labelStyle = new GUIStyle(EditorStyles.label); - labelStyle.alignment = TextAnchor.MiddleCenter; - labelStyle.normal.textColor = Color.white; - labelStyle.fontStyle = FontStyle.Bold; - - if (nodes.Count == 0) - CreateSampleGraph(); - - ComputeLeftToRightLayout(); - } - - void CreateSampleGraph() - { - nodes.Clear(); - edges.Clear(); - - nodes.Add(new DagNode() { id = 0, title = "In1" }); - nodes.Add(new DagNode() { id = 1, title = "In2" }); - nodes.Add(new DagNode() { id = 2, title = "A" }); - nodes.Add(new DagNode() { id = 3, title = "B" }); - nodes.Add(new DagNode() { id = 4, title = "C" }); - nodes.Add(new DagNode() { id = 5, title = "Out1" }); - nodes.Add(new DagNode() { id = 6, title = "Out2" }); - - edges.Add(new DagEdge() { fromId = 0, toId = 2 }); - edges.Add(new DagEdge() { fromId = 1, toId = 2 }); - edges.Add(new DagEdge() { fromId = 2, toId = 3 }); - edges.Add(new DagEdge() { fromId = 2, toId = 4 }); - edges.Add(new DagEdge() { fromId = 3, toId = 5 }); - edges.Add(new DagEdge() { fromId = 4, toId = 6 }); - } - - void OnGUI() - { - HandleInput(); - - Rect rect = new Rect(0, 0, position.width, position.height); - EditorGUI.DrawRect(rect, new Color(0.11f, 0.11f, 0.11f)); - - Matrix4x4 oldMatrix = GUI.matrix; - Vector2 origin = new Vector2(position.width / 2, position.height / 2); - GUI.matrix = Matrix4x4.TRS(origin + pan, Quaternion.identity, Vector3.one * zoom) * - Matrix4x4.TRS(-origin, Quaternion.identity, Vector3.one); - - // Draw edges first - foreach (var e in edges) - { - var from = GetNodeById(e.fromId); - var to = GetNodeById(e.toId); - if (from == null || to == null) continue; - DrawEdgeCircleNodes(from, to); - } - - // Draw nodes (circles) - foreach (var n in nodes) - { - DrawNodeCircle(n); - } - - GUI.matrix = oldMatrix; - - // Footer toolbar - GUILayout.FlexibleSpace(); - EditorGUILayout.BeginHorizontal(EditorStyles.toolbar); - if (GUILayout.Button("Fit", EditorStyles.toolbarButton)) FitToView(); - if (GUILayout.Button("Layout LR", EditorStyles.toolbarButton)) ComputeLeftToRightLayout(); - if (GUILayout.Button("Add Node", EditorStyles.toolbarButton)) - { - AddNode("N" + nodes.Count); - ComputeLeftToRightLayout(); - } - if (GUILayout.Button("Add Edge (selected->new)", EditorStyles.toolbarButton)) - { - if (selectedNodeId != -1) - { - var newNode = AddNode("N" + nodes.Count); - edges.Add(new DagEdge() { fromId = selectedNodeId, toId = newNode.id }); - ComputeLeftToRightLayout(); - } - } - EditorGUILayout.EndHorizontal(); - } - - void HandleInput() - { - Event e = Event.current; - - // Zoom with scroll - if (e.type == EventType.ScrollWheel) - { - float oldZoom = zoom; - float delta = -e.delta.y * 0.01f; - zoom = Mathf.Clamp(zoom + delta, minZoom, maxZoom); - Vector2 mouse = e.mousePosition; - pan += (mouse - new Vector2(position.width / 2, position.height / 2)) * (1 - zoom / oldZoom); - e.Use(); - } - - // Pan with middle or right+ctrl drag - if (e.type == EventType.MouseDrag && (e.button == 2 || (e.button == 1 && e.control))) - { - pan += e.delta; - e.Use(); - } - - // Node dragging & selection (convert mouse to graph space) - Vector2 graphMouse = ScreenToGraph(e.mousePosition); - if (e.type == EventType.MouseDown && e.button == 0) - { - int hit = HitTestNode(graphMouse); - if (hit != -1) - { - selectedNodeId = hit; - draggingNode = true; - draggingNodeId = hit; - dragStart = graphMouse; - e.Use(); - } - else - { - selectedNodeId = -1; - } - } - - if (draggingNode && draggingNodeId != -1) - { - if (e.type == EventType.MouseDrag && e.button == 0) - { - Vector2 graphDelta = e.delta / zoom; - var n = GetNodeById(draggingNodeId); - if (n != null) - { - n.position += graphDelta; - Repaint(); - e.Use(); - } - } - if (e.type == EventType.MouseUp && e.button == 0) - { - draggingNode = false; - draggingNodeId = -1; - e.Use(); - } - } - } - - DagNode AddNode(string title) - { - int nextId = nodes.Count > 0 ? nodes.Max(n => n.id) + 1 : 0; - var n = new DagNode() { id = nextId, title = title, position = Vector2.zero }; - nodes.Add(n); - return n; - } - - DagNode GetNodeById(int id) => nodes.FirstOrDefault(x => x.id == id); - - void DrawNodeCircle(DagNode n) - { - Vector2 center = n.position; - float r = n.radius; - Rect nodeRect = new Rect(center.x - r, center.y - r, r * 2, r * 2); - - // circle background - Color bg = (n.id == selectedNodeId) ? new Color(0.15f, 0.5f, 0.9f) : new Color(0.2f, 0.2f, 0.2f); - EditorGUI.DrawRect(nodeRect, bg); - - // anti-aliased circle outline - Handles.color = Color.white * 0.9f; - Handles.DrawAAPolyLine(3f / zoom, GetCircleOutlinePoints(center, r, 48).ToArray()); - - // label - Vector2 labelPos = center - new Vector2(0, 8); - GUI.Label(new Rect(labelPos.x - r, labelPos.y - 8, r * 2, 18), n.title, labelStyle); - } - - List GetCircleOutlinePoints(Vector2 center, float radius, int segments) - { - var pts = new List(segments + 1); - for (int i = 0; i <= segments; i++) - { - float a = (float)i / segments * Mathf.PI * 2f; - pts.Add(new Vector3(center.x + Mathf.Cos(a) * radius, center.y + Mathf.Sin(a) * radius, 0)); - } - return pts; - } - - void DrawEdgeCircleNodes(DagNode from, DagNode to) - { - Vector2 a = from.position; - Vector2 b = to.position; - if (a == b) return; - - // Compute edge line that starts/ends at circle circumferences - Vector2 dir = (b - a).normalized; - Vector2 start = a + dir * from.radius; - Vector2 end = b - dir * to.radius; - - // Use a simple curved line: start -> control -> end (bezier) - Vector2 control = new Vector2((start.x + end.x) / 2f, (start.y + end.y) / 2f); - // Slight vertical offset to separate overlapping lines based on node ids - float offset = ((from.id * 7 + to.id * 11) % 7 - 3) * 6f / zoom; - control += new Vector2(0, offset); - - Handles.color = Color.white * 0.9f; - Handles.DrawAAPolyLine(3f / zoom, 20, GetBezierPoints(start, control, end, 24).ToArray()); - - // Arrow at end pointing towards 'b' - DrawArrowHead(end - dir * 2f, end, 10f / zoom, 12f / zoom, Color.white); - } - - List GetBezierPoints(Vector2 p0, Vector2 p1, Vector2 p2, int seg) - { - var pts = new List(seg + 1); - for (int i = 0; i <= seg; i++) - { - float t = (float)i / seg; - Vector2 p = (1 - t) * (1 - t) * p0 + 2 * (1 - t) * t * p1 + t * t * p2; - pts.Add(new Vector3(p.x, p.y, 0)); - } - return pts; - } - - void DrawArrowHead(Vector2 from, Vector2 to, float headWidth, float headLength, Color color) - { - Vector2 dir = (to - from).normalized; - if (dir == Vector2.zero) return; - Vector2 right = new Vector2(-dir.y, dir.x); - - Vector3 p1 = to; - Vector3 p2 = to - dir * headLength + right * headWidth * 0.5f; - Vector3 p3 = to - dir * headLength - right * headWidth * 0.5f; - - Handles.color = color; - Handles.DrawAAConvexPolygon(p1, p2, p3); - } - - // Left-to-right layered layout (sources on the left, sinks on the right) - void ComputeLeftToRightLayout() - { - // build adjacency and indegree - var adj = nodes.ToDictionary(n => n.id, n => new List()); - var indeg = nodes.ToDictionary(n => n.id, n => 0); - foreach (var e in edges) - { - if (!adj.ContainsKey(e.fromId) || !adj.ContainsKey(e.toId)) continue; - adj[e.fromId].Add(e.toId); - indeg[e.toId]++; - } - - // Kahn's algorithm to compute topological layers (horizontal layers) - Dictionary layer = new Dictionary(); - Queue q = new Queue(indeg.Where(kv => kv.Value == 0).Select(kv => kv.Key)); - foreach (var id in q) layer[id] = 0; - - while (q.Count > 0) - { - int u = q.Dequeue(); - int l = layer[u]; - foreach (var v in adj[u]) - { - // prefer placing v at least one layer after u - if (!layer.ContainsKey(v) || layer[v] < l + 1) layer[v] = l + 1; - indeg[v]--; - if (indeg[v] == 0) q.Enqueue(v); - } - } - - // Any unreachable nodes -> assign next layers - int maxLayer = layer.Count > 0 ? layer.Values.Max() : 0; - foreach (var n in nodes) - { - if (!layer.ContainsKey(n.id)) - { - maxLayer++; - layer[n.id] = maxLayer; - } - } - - // Group nodes by layer (left to right) - var layers = layer.GroupBy(kv => kv.Value).OrderBy(g => g.Key).Select(g => g.Select(x => x.Key).ToList()).ToList(); - - // Layout parameters (horizontal spacing drives left->right) - float hSpacing = 220f; - float vSpacing = 120f; - - // Place nodes: x increases with layer index, y spaced within layer - for (int li = 0; li < layers.Count; li++) - { - var lst = layers[li]; - float totalHeight = (lst.Count - 1) * vSpacing; - for (int i = 0; i < lst.Count; i++) - { - int id = lst[i]; - var n = GetNodeById(id); - if (n == null) continue; - float x = li * hSpacing; - float y = -totalHeight / 2f + i * vSpacing; - n.position = new Vector2(x, y); - } - } - - Repaint(); - } - - void FitToView() - { - if (nodes.Count == 0) return; - Rect bounds = new Rect(nodes[0].position - Vector2.one * nodes[0].radius, Vector2.one * nodes[0].radius * 2f); - foreach (var n in nodes) - bounds = RectUnion(bounds, new Rect(n.position - Vector2.one * n.radius, Vector2.one * n.radius * 2f)); - - Vector2 center = bounds.center; - pan = -center; - zoom = 1.0f; - Repaint(); - } - - static Rect RectUnion(Rect a, Rect b) - { - float xMin = Mathf.Min(a.xMin, b.xMin); - float xMax = Mathf.Max(a.xMax, b.xMax); - float yMin = Mathf.Min(a.yMin, b.yMin); - float yMax = Mathf.Max(a.yMax, b.yMax); - return Rect.MinMaxRect(xMin, yMin, xMax, yMax); - } - - Vector2 ScreenToGraph(Vector2 screenPos) - { - Vector2 origin = new Vector2(position.width / 2, position.height / 2); - // invert the GUI.matrix transform (approx for current simple transforms) - return (screenPos - (origin + pan)) / zoom + origin * (1 - 1 / zoom); - } - - int HitTestNode(Vector2 graphPos) - { - // returns node id under point or -1 - for (int i = nodes.Count - 1; i >= 0; i--) - { - var n = nodes[i]; - if ((graphPos - n.position).sqrMagnitude <= n.radius * n.radius) return n.id; - } - return -1; - } -} diff --git a/NanoBrain/Editor/DAGWindow.cs.meta b/NanoBrain/Editor/DAGWindow.cs.meta deleted file mode 100644 index 8765c5a..0000000 --- a/NanoBrain/Editor/DAGWindow.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 95393aed582b8b30d965400672aec4d8 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/NanoBrain/Editor/NanoBrain_Editor.cs b/NanoBrain/Editor/NanoBrain_Editor.cs deleted file mode 100644 index 25572d7..0000000 --- a/NanoBrain/Editor/NanoBrain_Editor.cs +++ /dev/null @@ -1,50 +0,0 @@ -using UnityEditor; -using UnityEditor.UIElements; - -using UnityEngine; -using UnityEngine.UIElements; - -[CustomEditor(typeof(NanoBrain))] -public class NanoBrainComponent_Editor : Editor { - protected static VisualElement mainContainer; - protected static VisualElement inspectorContainer; - - protected NanoBrain component; - // private SerializedProperty brainProp; - - // ClusterInspector.GraphView board; - - public void OnEnable() { - component = target as NanoBrain; - - // if (Application.isPlaying == false) { - // string propertyName = nameof(NanoBrain.defaultBrain); - // brainProp = serializedObject.FindProperty(propertyName); - // } - } - - public override VisualElement CreateInspectorGUI() { - Cluster brain = component.brain; - - if (Application.isPlaying == false) - serializedObject.Update(); - - - VisualElement root = new(); - if (Application.isPlaying == false) { - SerializedProperty brainProp = serializedObject.FindProperty(nameof(NanoBrain.defaultBrain)); - PropertyField brainField = new(brainProp) { - label = "Nano Brain" - }; - root.Add(brainField); - } - - if (brain != null) - ClusterInspector.CreateInspector(root, brain.prefab, brain.defaultOutput, component.gameObject); - - if (Application.isPlaying == false) - serializedObject.ApplyModifiedProperties(); - return root; - } - -} \ No newline at end of file diff --git a/NanoBrain/Editor/NanoBrain_Editor.cs.meta b/NanoBrain/Editor/NanoBrain_Editor.cs.meta deleted file mode 100644 index c91bea9..0000000 --- a/NanoBrain/Editor/NanoBrain_Editor.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: f05072314d39990639a2dbf99f322664 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/NanoBrain/Editor/Resources.meta b/NanoBrain/Editor/Resources.meta deleted file mode 100644 index e9c19e4..0000000 --- a/NanoBrain/Editor/Resources.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: 7b61a93fc9332d2adae74fe4abe92d53 -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/NanoBrain/Editor/Resources/GraphStyles.uss b/NanoBrain/Editor/Resources/GraphStyles.uss deleted file mode 100644 index 79bafe8..0000000 --- a/NanoBrain/Editor/Resources/GraphStyles.uss +++ /dev/null @@ -1,12 +0,0 @@ -#content { - background-color: #2b2b2b; -} -#inspector { - border-left-width: 1px; - border-left-color: #000; - padding: 3px; -} -#title { - -unity-font-style: bold; - color: white; - } diff --git a/NanoBrain/Editor/Resources/GraphStyles.uss.meta b/NanoBrain/Editor/Resources/GraphStyles.uss.meta deleted file mode 100644 index 2546c45..0000000 --- a/NanoBrain/Editor/Resources/GraphStyles.uss.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 28268b644fa8f3948851b25e41f5b03b -ScriptedImporter: - internalIDToNameTable: [] - externalObjects: {} - serializedVersion: 2 - userData: - assetBundleName: - assetBundleVariant: - script: {fileID: 12385, guid: 0000000000000000e000000000000000, type: 0} - disableValidation: 0 diff --git a/NanoBrain/IReceptor.cs b/NanoBrain/IReceptor.cs deleted file mode 100644 index b56a360..0000000 --- a/NanoBrain/IReceptor.cs +++ /dev/null @@ -1,73 +0,0 @@ -using UnityEngine; - -public interface IReceptor { - public string GetName(); - - public Nucleus[] nucleiArray { get; set; } - - public void AddReceptorElement(ClusterPrefab prefab); - public void RemoveReceptorElement(); - - public void AddArrayReceiver(Nucleus receiverToAdd, float weight = 1); - - public void ProcessStimulus(Vector3 inputValue, int thingId = 0, string thingName = null); -} - -public static class IReceptorHelpers { - - public static void AddReceptorElement(IReceptor receptor, ClusterPrefab prefab) { - if (receptor.nucleiArray.Length == 0) { - Debug.LogError("Empty perceptoid array, cannot add"); - } - int newLength = receptor.nucleiArray.Length + 1; - Nucleus[] newArray = new Nucleus[newLength]; - - string baseName = receptor.GetName(); - int colonPos = baseName.IndexOf(":"); - if (colonPos > 0) - baseName = baseName[..colonPos]; - - for (int i = 0; i < receptor.nucleiArray.Length; i++) - newArray[i] = receptor.nucleiArray[i]; - if (receptor.nucleiArray[0] is Nucleus nucleus) { - newArray[newLength - 1] = nucleus.Clone(prefab); - newArray[newLength - 1].name = $"{baseName}: {newLength - 1}"; - } - - foreach (Nucleus element in receptor.nucleiArray) { - if (element is IReceptor receptorElement) { - receptorElement.nucleiArray = newArray; - } - } - } - - public static void RemoveReceptorElement(IReceptor receptor) { - int newLength = receptor.nucleiArray.Length - 1; - if (newLength == 0) { - Debug.LogWarning("Perceptoid array cannot be empty"); - } - Nucleus[] newArray = new Nucleus[newLength]; - for (int i = 0; i < newLength; i++) - newArray[i] = receptor.nucleiArray[i]; - // Delete the last perception - if (receptor.nucleiArray[newLength] is Nucleus nucleus) - Neuron.Delete(nucleus); - - foreach (Nucleus element in receptor.nucleiArray) { - if (element is IReceptor receptorElement) { - receptorElement.nucleiArray = newArray; - } - } - - } - - public static void AddArrayReceiver(IReceptor receptor, Nucleus receiverToAdd, float weight = 1) { - foreach (Nucleus element in receptor.nucleiArray) { - if (element is Cluster cluster) - cluster.defaultOutput.AddReceiver(receiverToAdd, weight); - if (element is Neuron neuron) - neuron.AddReceiver(receiverToAdd, weight); - } - - } -} \ No newline at end of file diff --git a/NanoBrain/IReceptor.cs.meta b/NanoBrain/IReceptor.cs.meta deleted file mode 100644 index 446d88c..0000000 --- a/NanoBrain/IReceptor.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 73f052292ad16bb53a3c07aa1694c705 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/NanoBrain/Icons.meta b/NanoBrain/Icons.meta deleted file mode 100644 index 4b8dfb3..0000000 --- a/NanoBrain/Icons.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: 885c5a70637820322b07e023ce18fdd5 -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/NanoBrain/Icons/NeuraalNetwerkIcoonSchets1.png b/NanoBrain/Icons/NeuraalNetwerkIcoonSchets1.png deleted file mode 100644 index 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- - steps: - - name: Checkout code - uses: actions/checkout@v2 - - - name: Setup .NET - uses: actions/setup-dotnet@v1 - with: - dotnet-version: '8.0.x' # Specify the .NET SDK version - - - name: Check Current Directory - run: pwd # Logs the current working directory - - - name: List Files - run: ls -la # Lists all files in the current directory - - - name: Restore Dependencies - run: dotnet restore ./LinearAlgebra-csharp.sln # Restore NuGet packages - - - name: Build the Project - run: dotnet build ./LinearAlgebra-csharp.sln --configuration Release # Build the C# project - - - name: Run Unit Tests - run: dotnet test ./test/LinearAlgebra_Test.csproj --configuration Release # Execute unit tests diff --git a/NanoBrain/LinearAlgebra/.gitignore b/NanoBrain/LinearAlgebra/.gitignore deleted file mode 100644 index b32a30c..0000000 --- a/NanoBrain/LinearAlgebra/.gitignore +++ /dev/null @@ -1,5 +0,0 @@ -DoxyGen/DoxyWarnLogfile.txt -.vscode/settings.json -**bin -**obj -**.meta diff --git a/NanoBrain/LinearAlgebra/LinearAlgebra-csharp.sln b/NanoBrain/LinearAlgebra/LinearAlgebra-csharp.sln deleted file mode 100644 index 4b13b2b..0000000 --- a/NanoBrain/LinearAlgebra/LinearAlgebra-csharp.sln +++ /dev/null @@ -1,30 +0,0 @@ -Microsoft Visual Studio Solution File, Format Version 12.00 -# Visual Studio Version 17 -VisualStudioVersion = 17.5.2.0 -MinimumVisualStudioVersion = 10.0.40219.1 -Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "LinearAlgebra", "src\LinearAlgebra.csproj", "{ECB58727-0354-924D-AE7B-22F6B21097EB}" -EndProject -Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "LinearAlgebra_Test", "test\LinearAlgebra_Test.csproj", "{715BB399-5FC4-2AC9-3757-177CA0C80774}" -EndProject -Global - GlobalSection(SolutionConfigurationPlatforms) = preSolution - Debug|Any CPU = Debug|Any CPU - Release|Any CPU = Release|Any CPU - EndGlobalSection - GlobalSection(ProjectConfigurationPlatforms) = postSolution - {ECB58727-0354-924D-AE7B-22F6B21097EB}.Debug|Any CPU.ActiveCfg = Debug|Any CPU - {ECB58727-0354-924D-AE7B-22F6B21097EB}.Debug|Any CPU.Build.0 = Debug|Any CPU - {ECB58727-0354-924D-AE7B-22F6B21097EB}.Release|Any CPU.ActiveCfg = Release|Any CPU - {ECB58727-0354-924D-AE7B-22F6B21097EB}.Release|Any CPU.Build.0 = Release|Any CPU - {715BB399-5FC4-2AC9-3757-177CA0C80774}.Debug|Any CPU.ActiveCfg = Debug|Any CPU - {715BB399-5FC4-2AC9-3757-177CA0C80774}.Debug|Any CPU.Build.0 = Debug|Any CPU - {715BB399-5FC4-2AC9-3757-177CA0C80774}.Release|Any CPU.ActiveCfg = Release|Any CPU - {715BB399-5FC4-2AC9-3757-177CA0C80774}.Release|Any CPU.Build.0 = Release|Any CPU - EndGlobalSection - GlobalSection(SolutionProperties) = preSolution - HideSolutionNode = FALSE - EndGlobalSection - GlobalSection(ExtensibilityGlobals) = postSolution - SolutionGuid = {E93B8294-87D4-4887-83B7-182A623D5833} - EndGlobalSection -EndGlobal diff --git a/NanoBrain/LinearAlgebra/src/Angle.cs b/NanoBrain/LinearAlgebra/src/Angle.cs deleted file mode 100644 index 7d2fd6b..0000000 --- a/NanoBrain/LinearAlgebra/src/Angle.cs +++ /dev/null @@ -1,341 +0,0 @@ -using System; - -namespace LinearAlgebra { - - public struct AngleFloat { - public const float Rad2Deg = 360.0f / ((float)Math.PI * 2); //0.0174532924F; - public const float Deg2Rad = (float)Math.PI * 2 / 360.0f; //57.29578F; - - private AngleFloat(float degrees) { - this.value = degrees; - } - private readonly float value; - - public static AngleFloat Degrees(float degrees) { - // Reduce it to (-180..180] - if (float.IsFinite(degrees)) { - while (degrees < -180) - degrees += 360; - while (degrees >= 180) - degrees -= 360; - } - return new AngleFloat(degrees); - } - - public static AngleFloat Radians(float radians) { - // Reduce it to (-pi..pi] - if (float.IsFinite(radians)) { - while (radians <= -Math.PI) - radians += 2 * (float)Math.PI; - while (radians > Math.PI) - radians -= 2 * (float)Math.PI; - } - - return new AngleFloat(radians * Rad2Deg); - } - - public static AngleFloat Revolutions(float revolutions) { - // reduce it to (-0.5 .. 0.5] - if (float.IsFinite(revolutions)) { - // Get the integer part - int integerPart = (int)revolutions; - - // Get the decimal part - revolutions -= integerPart; - if (revolutions < -0.5) - revolutions += 1; - if (revolutions >= 0.5) - revolutions -= 1; - } - return new AngleFloat(revolutions * 360); - } - - public readonly float inDegrees => this.value; - - public readonly float inRadians => this.value * Deg2Rad; - - public readonly float inRevolutions => this.value / 360.0f; - - public override string ToString() { - return $"{this.inDegrees}\u00B0"; - } - - public static readonly AngleFloat zero = Degrees(0); - public static readonly AngleFloat deg90 = Degrees(90); - public static readonly AngleFloat deg180 = Degrees(180); - - ///

- /// Get the sign of the angle - /// - /// The angle - /// -1 when the angle is negative, 1 when it is positive and 0 in all other cases - public static int Sign(AngleFloat a) { - if (a.value < 0) - return -1; - if (a.value > 0) - return 1; - return 0; - } - - /// - /// Returns the magnitude of the angle - /// - /// The angle - /// The positive magnitude of the angle - /// Negative values are negated to get a positive result - public static AngleFloat Abs(AngleFloat a) { - if (Sign(a) < 0) - return -a; - else - return a; - } - - /// - /// Tests the equality of two angles - /// - /// - /// - /// True when the angles are equal, false otherwise - /// The equality is determine within the limits of precision of a float - public static bool operator ==(AngleFloat a1, AngleFloat a2) { - return a1.value == a2.value; - } - - /// - /// Tests the inequality of two angles - /// - /// - /// - /// True when the angles are not equal, false otherwise - /// The equality is determine within the limits of precision of a float - public static bool operator !=(AngleFloat a1, AngleFloat a2) { - return a1.value != a2.value; - } - - public override readonly bool Equals(object obj) { - if (obj is AngleFloat other) { - return this == other; - } - return false; - } - - public override readonly int GetHashCode() { - return this.value.GetHashCode(); - } - - - /// - /// Tests if the first angle is greater than the second - /// - /// - /// - /// True when a1 is greater than a2, False otherwise - public static bool operator >(AngleFloat a1, AngleFloat a2) { - return a1.value > a2.value; - } - - /// - /// Tests if the first angle is greater than or equal to the second - /// - /// - /// - /// True when a1 is greater than or equal to a2, False otherwise - public static bool operator >=(AngleFloat a1, AngleFloat a2) { - return a1.value >= a2.value; - } - - /// - /// Tests if the first angle is less than the second - /// - /// - /// - /// True when a1 is less than a2, False otherwise - public static bool operator <(AngleFloat a1, AngleFloat a2) { - return a1.value < a2.value; - } - - /// - /// Tests if the first angle is less than or equal to the second - /// - /// - /// - /// True when a1 is less than or equal to a2, False otherwise - public static bool operator <=(AngleFloat a1, AngleFloat a2) { - return a1.value <= a2.value; - } - - /// - /// Negate the angle - /// - /// The angle - /// The negated angle - /// The negation of -180 is still -180 because the range is (-180..180] - public static AngleFloat operator -(AngleFloat a) { - AngleFloat r = new(-a.value); - return r; - } - - /// - /// Subtract two angles - /// - /// Angle 1 - /// Angle 2 - /// The result of the subtraction - public static AngleFloat operator -(AngleFloat a1, AngleFloat a2) { - AngleFloat r = new(a1.value - a2.value); - return r; - } - /// - /// Add two angles - /// - /// Angle 1 - /// Angle 2 - /// The result of the addition - public static AngleFloat operator +(AngleFloat a1, AngleFloat a2) { - AngleFloat r = new(a1.value + a2.value); - return r; - } - - /// - /// Multiplies the angle - /// - /// The angle to multiply - /// The factor by which the angle is multiplied - /// The multiplied angle - public static AngleFloat operator *(AngleFloat a, float factor) { - return Degrees(a.inDegrees * factor); - } - public static AngleFloat operator *(float factor, AngleFloat a) { - return Degrees(factor * a.inDegrees); - } - - /// - /// Clamp the angle between the given min and max values - /// - /// The angle to clamp - /// The minimum angle - /// The maximum angle - /// The clamped angle - /// Angles are normalized - public static float Clamp(AngleFloat angle, AngleFloat min, AngleFloat max) { - return Float.Clamp(angle.inDegrees, min.inDegrees, max.inDegrees); - } - - /// @brief Calculates the cosine of an angle - /// @param angle The given angle - /// @return The cosine of the angle - public static float Cos(AngleFloat angle) { - return MathF.Cos(angle.inRadians); - } - /// @brief Calculates the sine of an angle - /// @param angle The given angle - /// @return The sine of the angle - public static float Sin(AngleFloat angle) { - return MathF.Sin(angle.inRadians); - } - /// @brief Calculates the tangent of an angle - /// @param angle The given angle - /// @return The tangent of the angle - public static float Tan(AngleFloat angle) { - return MathF.Tan(angle.inRadians); - } - - /// @brief Calculates the arc cosine angle - /// @param f The value - /// @return The arc cosine for the given value - public static AngleFloat Acos(float f) { - return Radians(MathF.Acos(f)); - } - /// @brief Calculates the arc sine angle - /// @param f The value - /// @return The arc sine for the given value - public static AngleFloat Asin(float f) { - return Radians(MathF.Asin(f)); - } - /// @brief Calculates the arc tangent angle - /// @param f The value - /// @return The arc tangent for the given value - public static AngleFloat Atan(float f) { - return Radians(MathF.Atan(f)); - } - /// @brief Calculates the tangent for the given values - /// @param y The vertical value - /// @param x The horizontal value - /// @return The tanget for the given values - /// Uses the y and x signs to compute the quadrant - public static AngleFloat Atan2(float y, float x) { - return Radians(MathF.Atan2(y, x)); - } - - /// - /// Rotate from one angle to the other with a maximum degrees - /// - /// Starting angle - /// Target angle - /// Maximum angle to rotate - /// The resulting angle - /// This function is compatible with radian and degrees angles - public static AngleFloat MoveTowards(AngleFloat fromAngle, AngleFloat toAngle, float maxDegrees) { - maxDegrees = Math.Max(0, maxDegrees); // filter out negative distances - AngleFloat d = toAngle - fromAngle; - float dDegrees = Abs(d).inDegrees; - d = Degrees(Float.Clamp(dDegrees, 0, maxDegrees)); - if (Sign(d) < 0) - d = -d; - return fromAngle + d; - } - } - - - /// - /// %Angle utilities - /// - public static class Angles { - public const float pi = 3.1415927410125732421875F; - // public static float Rad2Deg = 360.0f / ((float)Math.PI * 2); - // public static float Deg2Rad = ((float)Math.PI * 2) / 360.0f; - - - /// - /// Determine the angle difference, result is a normalized angle - /// - /// First first angle - /// The second angle - /// the angle between the two angles - /// Angle values should be degrees - public static float Difference(float a, float b) { - float r = Normalize(b - a); - return r; - } - - /// - /// Normalize an angle to the range -180 < angle <= 180 - /// - /// The angle to normalize - /// The normalized angle in interval (-180..180] - /// Angle values should be in degrees - public static float Normalize(float angle) { - if (float.IsInfinity(angle)) - return angle; - - while (angle <= -180) angle += 360; - while (angle > 180) angle -= 360; - return angle; - } - - /// - /// Map interval of angles between vectors [0..Pi] to interval [0..1] - /// - /// The first vector - /// The second vector - /// The resulting factor in interval [0..1] - /// Vectors a and b must be normalized - /// \deprecated Please use Vector2.ToFactor instead. - // [Obsolete("Please use Vector2.ToFactor instead.")] - // public static float ToFactor(Vector2Float v1, Vector2Float v2) { - // return (1 - Vector2Float.Dot(v1, v2)) / 2; - // } - - } - -} \ No newline at end of file diff --git a/NanoBrain/LinearAlgebra/src/Decomposition.cs b/NanoBrain/LinearAlgebra/src/Decomposition.cs deleted file mode 100644 index ddaf434..0000000 --- a/NanoBrain/LinearAlgebra/src/Decomposition.cs +++ /dev/null @@ -1,287 +0,0 @@ -using System; -namespace LinearAlgebra { - class QR { - // QR Decomposition of a matrix A - public static (Matrix2 Q, Matrix2 R) Decomposition(Matrix2 A) { - int nRows = A.nRows; - int nCols = A.nCols; - - float[,] Q = new float[nRows, nCols]; - float[,] R = new float[nCols, nCols]; - - // Perform Gram-Schmidt orthogonalization - for (uint colIx = 0; colIx < nCols; colIx++) { - - // Step 1: v = column(ix) of A - float[] v = new float[nRows]; - for (int rowIx = 0; rowIx < nRows; rowIx++) - v[rowIx] = A.data[rowIx, colIx]; - - // Step 2: Subtract projections of v onto previous q's (orthogonalize) - for (uint colIx2 = 0; colIx2 < colIx; colIx2++) { - float dotProd = 0; - for (int i = 0; i < nRows; i++) - dotProd += Q[i, colIx2] * v[i]; - for (int i = 0; i < nRows; i++) - v[i] -= dotProd * Q[i, colIx2]; - } - - // Step 3: Normalize v to get column(ix) of Q - float norm = 0; - for (int rowIx = 0; rowIx < nRows; rowIx++) - norm += v[rowIx] * v[rowIx]; - norm = (float)Math.Sqrt(norm); - - for (int rowIx = 0; rowIx < nRows; rowIx++) - Q[rowIx, colIx] = v[rowIx] / norm; - - // Store the coefficients of R - for (int colIx2 = 0; colIx2 <= colIx; colIx2++) { - R[colIx2, colIx] = 0; - for (int k = 0; k < nRows; k++) - R[colIx2, colIx] += Q[k, colIx2] * A.data[k, colIx]; - } - } - return (new Matrix2(Q), new Matrix2(R)); - } - - // Reduced QR Decomposition of a matrix A - public static (Matrix2 Q, Matrix2 R) ReducedDecomposition(Matrix2 A) { - int nRows = A.nRows; - int nCols = A.nCols; - - float[,] Q = new float[nRows, nCols]; - float[,] R = new float[nCols, nCols]; - - // Perform Gram-Schmidt orthogonalization - for (int colIx = 0; colIx < nCols; colIx++) { - - // Step 1: v = column(colIx) of A - float[] columnIx = new float[nRows]; - bool isZeroColumn = true; - for (int rowIx = 0; rowIx < nRows; rowIx++) { - columnIx[rowIx] = A.data[rowIx, colIx]; - if (columnIx[rowIx] != 0) - isZeroColumn = false; - } - if (isZeroColumn) { - for (int rowIx = 0; rowIx < nRows; rowIx++) - Q[rowIx, colIx] = 0; - // Set corresponding R element to 0 - R[colIx, colIx] = 0; - - Console.WriteLine($"zero column {colIx}"); - - continue; - } - - // Step 2: Subtract projections of v onto previous q's (orthogonalize) - for (int colIx2 = 0; colIx2 < colIx; colIx2++) { - // Compute the dot product of v and column(colIx2) of Q - float dotProduct = 0; - for (int rowIx2 = 0; rowIx2 < nRows; rowIx2++) - dotProduct += columnIx[rowIx2] * Q[rowIx2, colIx2]; - // Subtract the projection from v - for (int rowIx2 = 0; rowIx2 < nRows; rowIx2++) - columnIx[rowIx2] -= dotProduct * Q[rowIx2, colIx2]; - } - - // Step 3: Normalize v to get column(colIx) of Q - float norm = 0; - for (int rowIx = 0; rowIx < nRows; rowIx++) - norm += columnIx[rowIx] * columnIx[rowIx]; - if (norm == 0) - throw new Exception("invalid value"); - - norm = (float)Math.Sqrt(norm); - - for (int rowIx = 0; rowIx < nRows; rowIx++) - Q[rowIx, colIx] = columnIx[rowIx] / norm; - - // Here is where it deviates from the Full QR Decomposition ! - - // Step 4: Compute the row(colIx) of R - for (int colIx2 = colIx; colIx2 < nCols; colIx2++) { - float dotProduct = 0; - for (int rowIx2 = 0; rowIx2 < nRows; rowIx2++) - dotProduct += Q[rowIx2, colIx] * A.data[rowIx2, colIx2]; - R[colIx, colIx2] = dotProduct; - } - } - if (!float.IsFinite(R[0, 0])) - throw new Exception("invalid value"); - - return (new Matrix2(Q), new Matrix2(R)); - } - } - - class SVD { - // According to ChatGPT, Mathnet uses Golub-Reinsch SVD algorithm - // 1. Bidiagonalization: The input matrix AA is reduced to a bidiagonal form using Golub-Kahan bidiagonalization. - // This process involves applying a sequence of Householder reflections to AA to create a bidiagonal matrix. - // This step reduces the complexity by making the matrix simpler while retaining the essential structure needed for SVD. - // - // 2. Diagonalization: Once the matrix is in bidiagonal form, - // the singular values are computed using an iterative process - // (typically involving QR factorization or Jacobi rotations) until convergence. - // This process diagonalizes the bidiagonal matrix and allows extraction of the singular values. - // - // 3. Computing UU and VTVT: After obtaining the singular values, - // the left singular vectors UU and right singular vectors VTVT are computed - // using the accumulated transformations (such as Householder reflections) from the bidiagonalization step. - - // Bidiagnolizations through Householder transformations - public static (Matrix2 U1, Matrix2 B, Matrix2 V1) Bidiagonalization(Matrix2 A) { - int m = A.nRows; // Rows of A - int n = A.nCols; // Columns of A - float[,] U1 = new float[m, m]; // Left orthogonal matrix - float[,] V1 = new float[n, n]; // Right orthogonal matrix - float[,] B = A.Clone().data; // Copy A to B for transformation - - // Initialize U1 and V1 as identity matrices - for (int i = 0; i < m; i++) - U1[i, i] = 1; - for (int i = 0; i < n; i++) - V1[i, i] = 1; - - // Perform Householder reflections to create a bidiagonal matrix B - for (int j = 0; j < n; j++) { - // Step 1: Construct the Householder vector y - float[] y = new float[m - j]; - for (int i = j; i < m; i++) - y[i - j] = B[i, j]; - - // Step 2: Compute the norm and scalar alpha - float norm = 0; - for (int i = 0; i < y.Length; i++) - norm += y[i] * y[i]; - norm = (float)Math.Sqrt(norm); - - if (B[j, j] > 0) - norm = -norm; - - float alpha = (float)Math.Sqrt(0.5 * (norm * (norm - B[j, j]))); - float r = (float)Math.Sqrt(0.5 * (norm * (norm + B[j, j]))); - - // Step 3: Apply the reflection to zero out below diagonal - for (int k = j; k < n; k++) { - float dot = 0; - for (int i = j; i < m; i++) - dot += y[i - j] * B[i, k]; - dot /= r; - - for (int i = j; i < m; i++) - B[i, k] -= 2 * dot * y[i - j]; - } - - // Step 4: Update U1 with the Householder reflection (U1 * Householder) - for (int i = j; i < m; i++) - U1[i, j] = y[i - j] / alpha; - - // Step 5: Update V1 (storing the Householder vector y) - // Correct indexing: we only need to store part of y in V1 from index j to n - for (int i = j; i < n; i++) - V1[j, i] = B[j, i]; - - // Repeat steps for further columns if necessary - } - return (new Matrix2(U1), new Matrix2(B), new Matrix2(V1)); - } - - public static Matrix2 Bidiagonalize(Matrix2 A) { - int m = A.nRows; // Rows of A - int n = A.nCols; // Columns of A - float[,] B = A.Clone().data; // Copy A to B for transformation - - // Perform Householder reflections to create a bidiagonal matrix B - for (int j = 0; j < n; j++) { - // Step 1: Construct the Householder vector y - float[] y = new float[m - j]; - for (int i = j; i < m; i++) - y[i - j] = B[i, j]; - - // Step 2: Compute the norm and scalar alpha - float norm = 0; - for (int i = 0; i < y.Length; i++) - norm += y[i] * y[i]; - norm = (float)Math.Sqrt(norm); - - if (B[j, j] > 0) - norm = -norm; - - float r = (float)Math.Sqrt(0.5 * (norm * (norm + B[j, j]))); - - // Step 3: Apply the reflection to zero out below diagonal - for (int k = j; k < n; k++) { - float dot = 0; - for (int i = j; i < m; i++) - dot += y[i - j] * B[i, k]; - dot /= r; - - for (int i = j; i < m; i++) - B[i, k] -= 2 * dot * y[i - j]; - } - - // Repeat steps for further columns if necessary - } - return new Matrix2(B); - } - - // QR Iteration for diagonalization of a bidiagonal matrix B - public static (Matrix1 singularValues, Matrix2 U, Matrix2 Vt) QRIteration(Matrix2 B) { - int m = B.nRows; - int n = B.nCols; - - Matrix2 U = new(m, m); // Left singular vectors (U) - Matrix2 Vt = new(n, n); // Right singular vectors (V^T) - float[] singularValues = new float[Math.Min(m, n)]; // Singular values - - // Initialize U and Vt as identity matrices - for (int i = 0; i < m; i++) - U.data[i, i] = 1; - for (int i = 0; i < n; i++) - Vt.data[i, i] = 1; - - // Perform QR iterations - float tolerance = 1e-7f; //1e-12f; for double - bool converged = false; - while (!converged) { - // Perform QR decomposition on the matrix B - (Matrix2 Q, Matrix2 R) = QR.Decomposition(B); - - // Update B to be the product Q * R //R * Q - B = R * Q; - - // Accumulate the transformations in U and Vt - U *= Q; - Vt *= R; - - // Check convergence by looking at the off-diagonal elements of B - converged = true; - for (int i = 0; i < m - 1; i++) { - for (int j = i + 1; j < n; j++) { - if (Math.Abs(B.data[i, j]) > tolerance) { - converged = false; - break; - } - } - } - } - - // Extract singular values (diagonal elements of B) - for (int i = 0; i < Math.Min(m, n); i++) - singularValues[i] = B.data[i, i]; - - return (new Matrix1(singularValues), U, Vt); - } - - public static (Matrix2 U, Matrix1 S, Matrix2 Vt) Decomposition(Matrix2 A) { - if (A.nRows != A.nCols) - throw new ArgumentException("SVD: matrix A has to be square."); - - Matrix2 B = Bidiagonalize(A); - (Matrix1 S, Matrix2 U, Matrix2 Vt) = QRIteration(B); - return (U, S, Vt); - } - } -} \ No newline at end of file diff --git a/NanoBrain/LinearAlgebra/src/Direction.cs b/NanoBrain/LinearAlgebra/src/Direction.cs deleted file mode 100644 index fd25b98..0000000 --- a/NanoBrain/LinearAlgebra/src/Direction.cs +++ /dev/null @@ -1,261 +0,0 @@ -using System; -#if UNITY_5_3_OR_NEWER -using Vector3Float = UnityEngine.Vector3; -#endif - -namespace LinearAlgebra -{ - - /// - /// A direction in 3D space - /// - /// A direction is represented using two angles: - /// * The horizontal angle ranging from -180 (inclusive) to 180 (exclusive) - /// degrees which is a rotation in the horizontal plane - /// * A vertical angle ranging from -90 (inclusive) to 90 (exclusive) degrees - /// which is the rotation in the up/down direction applied after the horizontal - /// rotation has been applied. - /// The angles are automatically normalized to stay within the abovenmentioned - /// ranges. - public struct Direction - { - /// @brief horizontal angle, range = (-180..180] degrees - public AngleFloat horizontal; - /// @brief vertical angle, range in degrees = (-90..90] degrees - public AngleFloat vertical; - - /// - /// Create a new direction - /// - /// The horizontal angle - /// The vertical angle - /// The direction will be normalized automatically - /// to ensure the angles are within the allowed ranges - public Direction(AngleFloat horizontal, AngleFloat vertical) - { - this.horizontal = horizontal; - this.vertical = vertical; - this.Normalize(); - } - - /// - /// Create a direction using angle values in degrees - /// - /// The horizontal angle in degrees - /// The vertical angle in degrees - /// The direction - /// The direction will be normalized automatically - /// to ensure the angles are within the allowed ranges - public static Direction Degrees(float horizontal, float vertical) - { - Direction d = new() - { - horizontal = AngleFloat.Degrees(horizontal), - vertical = AngleFloat.Degrees(vertical) - }; - d.Normalize(); - return d; - } - /// - /// Create a direction using angle values in radians - /// - /// The horizontal angle in radians - /// The vertical angle in radians - /// The direction - public static Direction Radians(float horizontal, float vertical) - { - Direction d = new() - { - horizontal = AngleFloat.Radians(horizontal), - vertical = AngleFloat.Radians(vertical) - }; - d.Normalize(); - return d; - } - - public override readonly string ToString() { - return $"Direction(h: {this.horizontal}, v: {this.vertical})"; - } - - /// - /// A forward direction with zero for both angles - /// - public readonly static Direction forward = Degrees(0, 0); - /// - /// A backward direction with horizontal angle -180 and zero vertical - /// angle - /// - public readonly static Direction backward = Degrees(-180, 0); - /// - /// A upward direction with zero horizontal angle and vertical angle 90 - /// - public readonly static Direction up = Degrees(0, 90); - /// - /// A downward direction with zero horizontal angle and vertical angle - /// -90 - /// - public readonly static Direction down = Degrees(0, -90); - /// - /// A left-pointing direction with horizontal angle -90 and zero - /// vertical angle - /// - public readonly static Direction left = Degrees(-90, 0); - /// - /// A right-pointing direction with horizontal angle 90 and zero - /// vertical angle - /// - public readonly static Direction right = Degrees(90, 0); - - private void Normalize() - { - if (this.vertical > AngleFloat.deg90 || this.vertical < -AngleFloat.deg90) - { - this.horizontal += AngleFloat.deg180; - this.vertical = AngleFloat.Degrees(180 - this.vertical.inDegrees); - } - } - -#if UNITY_5_3_OR_NEWER - /// - /// Convert the direction into a carthesian vector - /// - /// The carthesian vector corresponding to this direction. - public readonly UnityEngine.Vector3 ToVector3() { - // Convert degrees to radians - float radH = this.horizontal.inRadians; - float radV = this.vertical.inRadians; - - // Calculate Vector - float cosV = MathF.Cos(radV); - float sinV = MathF.Sin(radV); - - float x = cosV * MathF.Sin(radH); - float y = sinV; - float z = cosV * MathF.Cos(radH); - - return new UnityEngine.Vector3(x, y, z); - } - - /// - /// Convert a carthesian vector into a direction - /// - /// The carthesian vector - /// The direction - /// Information about the length of the carthesian vector is not - /// included in this transformation - public static Direction FromVector3(UnityEngine.Vector3 v) { - AngleFloat horizontal = AngleFloat.Atan2(v.x, v.z); - AngleFloat vertical = AngleFloat.deg90 - AngleFloat.Acos(v.y); - Direction d = new(horizontal, vertical); - return d; - } -#else - /// - /// Convert the direction into a carthesian vector - /// - /// The carthesian vector corresponding to this direction. - public readonly Vector3Float ToVector3() { - // Quaternion q = Quaternion.Euler(90 - this.vertical.inDegrees, this.horizontal.inDegrees, 0); - // Vector3Float v = q * Vector3Float.forward; - // return v; - - float radH = this.horizontal.inRadians; - float radV = this.vertical.inRadians; - - float cosV = MathF.Cos(radV); - float sinV = MathF.Sin(radV); - - float horizontal = cosV * MathF.Sin(radH); - float vertical = sinV; - float depth = cosV * MathF.Cos(radH); - - return new Vector3Float(horizontal, vertical, depth); - } - - /// - /// Convert a carthesian vector into a direction - /// - /// The carthesian vector - /// The direction - /// Information about the length of the carthesian vector is not - /// included in this transformation - public static Direction FromVector3(Vector3Float v) - { - AngleFloat horizontal = AngleFloat.Atan2(v.horizontal, v.depth); - AngleFloat vertical = AngleFloat.deg90 - AngleFloat.Acos(v.vertical); - Direction d = new(horizontal, vertical); - return d; - } -#endif - - public static Direction operator -(Direction d) { - AngleFloat horizontal = d.horizontal + AngleFloat.deg180; - AngleFloat vertical = -d.vertical; - return new Direction(horizontal, vertical); - } - - /// - /// Tests the equality of two directions - /// - /// - /// - /// True when the direction angles are equal, false otherwise. - public static bool operator ==(Direction d1, Direction d2) - { - bool horizontalEq = d1.horizontal == d2.horizontal; - bool verticalEq = d1.vertical == d2.vertical; - return horizontalEq && verticalEq; - } - - /// - /// Tests the inequality of two directions - /// - /// - /// - /// True when the direction angles are not equal, false otherwise. - public static bool operator !=(Direction d1, Direction d2) - { - bool horizontalNEq = d1.horizontal != d2.horizontal; - bool verticalNEq = d1.vertical != d2.vertical; - return horizontalNEq || verticalNEq; - } - - public override readonly bool Equals(object obj) - { - if (obj is not Direction d) - return false; - - bool horizontalEq = this.horizontal == d.horizontal; - bool verticalEq = this.vertical == d.vertical; - return horizontalEq && verticalEq; - } - - - public override readonly int GetHashCode() - { - return HashCode.Combine(horizontal, vertical); - } - - public static AngleFloat UnsignedAngle(Direction d1, Direction d2) { - // Convert angles from degrees to radians - float horizontal1Rad = d1.horizontal.inRadians; - float vertical1Rad = d1.vertical.inRadians; - - float horizontal2Rad = d2.horizontal.inRadians; - float vertical2Rad = d2.vertical.inRadians; - - // Calculate the cosine of the angle using the spherical law of cosines - float cosTheta = MathF.Sin(vertical1Rad) * MathF.Sin(vertical2Rad) + - MathF.Cos(vertical1Rad) * MathF.Cos(vertical2Rad) * - MathF.Cos(horizontal1Rad - horizontal2Rad); - - // Clip cosTheta to the valid range for acos - cosTheta = Float.Clamp(cosTheta, -1.0f, 1.0f); - - // Calculate the angle - AngleFloat angle = AngleFloat.Acos(cosTheta); - return angle; - } - } - -} \ No newline at end of file diff --git a/NanoBrain/LinearAlgebra/src/Float.cs b/NanoBrain/LinearAlgebra/src/Float.cs deleted file mode 100644 index 2217b84..0000000 --- a/NanoBrain/LinearAlgebra/src/Float.cs +++ /dev/null @@ -1,41 +0,0 @@ -namespace LinearAlgebra { - - /// - /// Float number utilities - /// - public class Float { - /// - /// The precision of float numbers - /// - public const float epsilon = 1E-05f; - /// - /// The square of the float number precision - /// - public const float sqrEpsilon = 1e-10f; - - /// - /// Clamp the value between the given minimum and maximum values - /// - /// The value to clamp - /// The minimum value - /// The maximum value - /// The clamped value - public static float Clamp(float f, float min, float max) { - if (f < min) - return min; - if (f > max) - return max; - return f; - } - - /// - /// Clamp the value between to the interval [0..1] - /// - /// The value to clamp - /// The clamped value - public static float Clamp01(float f) { - return Clamp(f, 0, 1); - } - } - -} \ No newline at end of file diff --git a/NanoBrain/LinearAlgebra/src/LinearAlgebra.csproj b/NanoBrain/LinearAlgebra/src/LinearAlgebra.csproj deleted file mode 100644 index d2d5a85..0000000 --- a/NanoBrain/LinearAlgebra/src/LinearAlgebra.csproj +++ /dev/null @@ -1,14 +0,0 @@ - - - - false - false - net8.0 - - - - - - - - diff --git a/NanoBrain/LinearAlgebra/src/Matrix.cs b/NanoBrain/LinearAlgebra/src/Matrix.cs deleted file mode 100644 index 37c6c24..0000000 --- a/NanoBrain/LinearAlgebra/src/Matrix.cs +++ /dev/null @@ -1,689 +0,0 @@ -using System; -#if UNITY_5_3_OR_NEWER -using Vector3Float = UnityEngine.Vector3; -using Vector2Float = UnityEngine.Vector2; -using Quaternion = UnityEngine.Quaternion; -#endif - -namespace LinearAlgebra { - - public readonly struct Slice - { - public int start { get; } - public int stop { get; } - public Slice(int start, int stop) - { - this.start = start; - this.stop = stop; - } - } - - public class Matrix2 { - public float[,] data { get; } - - public int nRows => data.GetLength(0); - public int nCols => data.GetLength(1); - - public Matrix2(int nRows, int nCols) - { - this.data = new float[nRows, nCols]; - } - public Matrix2(float[,] data) { - this.data = data; - } - - public Matrix2 Clone() { - float[,] data = new float[this.nRows, nCols]; - for (int rowIx = 0; rowIx < this.nRows; rowIx++) { - for (int colIx = 0; colIx < this.nCols; colIx++) - data[rowIx, colIx] = this.data[rowIx, colIx]; - } - return new Matrix2(data); - } - - public static Matrix2 Zero(int nRows, int nCols) - { - return new Matrix2(nRows, nCols); - } - - public static Matrix2 FromVector3(Vector3Float v) { - float[,] result = new float[3, 1]; - result[0, 0] = v.horizontal; - result[1, 0] = v.vertical; - result[2, 0] = v.depth; - return new Matrix2(result); - } - - public static Matrix2 Identity(int size) - { - return Diagonal(1, size); - } - public static Matrix2 Identity(int nRows, int nCols) - { - Matrix2 m = Zero(nRows, nCols); - m.FillDiagonal(1); - return m; - } - - public static Matrix2 Diagonal(Matrix1 v) { - float[,] resultData = new float[v.size, v.size]; - for (int ix = 0; ix < v.size; ix++) - resultData[ix, ix] = v.data[ix]; - return new Matrix2(resultData); - } - public static Matrix2 Diagonal(float f, int size) - { - float[,] resultData = new float[size, size]; - for (int ix = 0; ix < size; ix++) - resultData[ix, ix] = f; - return new Matrix2(resultData); - } - public void FillDiagonal(Matrix1 v) - { - int n = (int)Math.Min(Math.Min(this.nRows, this.nCols), v.size); - for (int ix = 0; ix < n; ix++) - this.data[ix, ix] = v.data[ix]; - } - public void FillDiagonal(float f) - { - int n = Math.Min(this.nRows, this.nCols); - for (int ix = 0; ix < n; ix++) - this.data[ix, ix] = f; - } - - public static Matrix2 SkewMatrix(Vector3Float v) { - float[,] result = new float[3, 3] { - {0, -v.depth, v.vertical}, - {v.depth, 0, -v.horizontal}, - {-v.vertical, v.horizontal, 0} - }; - return new Matrix2(result); - } - - public Matrix1 GetRow(int rowIx) { - float[] row = new float[this.nCols]; - for (int colIx = 0; colIx < this.nCols; colIx++) { - row[colIx] = this.data[rowIx, colIx]; - } - return new Matrix1(row); - } - -#if UNITY_5_3_OR_NEWER - public UnityEngine.Vector3 GetRow3(int rowIx) { - int cols = this.nCols; - UnityEngine.Vector3 row = new() { - x = this.data[rowIx, 0], - y = this.data[rowIx, 1], - z = this.data[rowIx, 2] - }; - return row; - } -#endif - public void SetRow(int rowIx, Matrix1 v) { - for (uint ix = 0; ix < v.size; ix++) - this.data[rowIx, ix] = v.data[ix]; - } - public void SetRow3(int rowIx, Vector3Float v) { - this.data[rowIx, 0] = v.horizontal; - this.data[rowIx, 1] = v.vertical; - this.data[rowIx, 2] = v.depth; - } - - public void SwapRows(int row1, int row2) { - for (uint ix = 0; ix < this.nCols; ix++) { - float temp = this.data[row1, ix]; - this.data[row1, ix] = this.data[row2, ix]; - this.data[row2, ix] = temp; - } - } - - public Matrix1 GetColumn(int colIx) - { - float[] column = new float[this.nRows]; - for (int i = 0; i < this.nRows; i++) { - column[i] = this.data[i, colIx]; - } - return new Matrix1(column); - } - public void SetColumn(int colIx, Matrix1 v) { - for (uint ix = 0; ix < v.size; ix++) - this.data[ix, colIx] = v.data[ix]; - } - public void SetColumn(int colIx, Vector3Float v) { - this.data[0, colIx] = v.horizontal; - this.data[1, colIx] = v.vertical; - this.data[2, colIx] = v.depth; - } - - public static bool AllClose(Matrix2 A, Matrix2 B, float atol = 1e-08f) { - for (int i = 0; i < A.nRows; i++) { - for (int j = 0; j < A.nCols; j++) { - float d = MathF.Abs(A.data[i, j] - B.data[i, j]); - if (d > atol) - return false; - } - } - return true; - } - - public Matrix2 Transpose() { - float[,] resultData = new float[this.nCols, this.nRows]; - for (uint rowIx = 0; rowIx < this.nRows; rowIx++) { - for (uint colIx = 0; colIx < this.nCols; colIx++) - resultData[colIx, rowIx] = this.data[rowIx, colIx]; - } - return new Matrix2(resultData); - // double checked code - } - public Matrix2 transposed { - get => Transpose(); - } - - public static Matrix2 operator -(Matrix2 m) { - float[,] result = new float[m.nRows, m.nCols]; - - for (int i = 0; i < m.nRows; i++) { - for (int j = 0; j < m.nCols; j++) - result[i, j] = -m.data[i, j]; - } - return new Matrix2(result); - } - - public static Matrix2 operator -(Matrix2 A, Matrix2 B) { - if (A.nRows != B.nRows || A.nCols != B.nCols) - throw new System.ArgumentException("Size of A must match size of B."); - - float[,] result = new float[A.nRows, B.nCols]; - - for (int i = 0; i < A.nRows; i++) { - for (int j = 0; j < A.nCols; j++) - result[i, j] = A.data[i, j] - B.data[i, j]; - } - return new Matrix2(result); - } - - public static Matrix2 operator +(Matrix2 A, Matrix2 B) { - if (A.nRows != B.nRows || A.nCols != B.nCols) - throw new System.ArgumentException("Size of A must match size of B."); - - float[,] result = new float[A.nRows, B.nCols]; - - for (int i = 0; i < A.nRows; i++) { - for (int j = 0; j < A.nCols; j++) - result[i, j] = A.data[i, j] + B.data[i, j]; - } - return new Matrix2(result); - } - - public static Matrix2 operator *(Matrix2 A, Matrix2 B) { - if (A.nCols != B.nRows) - throw new System.ArgumentException("Number of columns in A must match number of rows in B."); - - float[,] result = new float[A.nRows, B.nCols]; - - for (int i = 0; i < A.nRows; i++) { - for (int j = 0; j < B.nCols; j++) { - float sum = 0.0f; - for (int k = 0; k < A.nCols; k++) - sum += A.data[i, k] * B.data[k, j]; - - result[i, j] = sum; - } - } - - return new Matrix2(result); - // double checked code - } - - public static Matrix1 operator *(Matrix2 A, Matrix1 v) { - float[] result = new float[A.nRows]; - - for (int i = 0; i < A.nRows; i++) { - for (int j = 0; j < A.nCols; j++) { - result[i] += A.data[i, j] * v.data[j]; - } - } - - return new Matrix1(result); - } - - public static Vector3Float operator *(Matrix2 A, Vector3Float v) { - return new Vector3Float( - A.data[0, 0] * v.horizontal + A.data[0, 1] * v.vertical + A.data[0, 2] * v.depth, - A.data[1, 0] * v.horizontal + A.data[1, 1] * v.vertical + A.data[1, 2] * v.depth, - A.data[2, 0] * v.horizontal + A.data[2, 1] * v.vertical + A.data[2, 2] * v.depth - ); - } - - public static Matrix2 operator *(Matrix2 A, float s) { - float[,] result = new float[A.nRows, A.nCols]; - - for (int i = 0; i < A.nRows; i++) { - for (int j = 0; j < A.nCols; j++) - result[i, j] = A.data[i, j] * s; - } - - return new Matrix2(result); - } - public static Matrix2 operator *(float s, Matrix2 A) { - return A * s; - } - - public static Matrix2 operator /(Matrix2 A, float s) { - float[,] result = new float[A.nRows, A.nCols]; - - for (int i = 0; i < A.nRows; i++) { - for (int j = 0; j < A.nCols; j++) - result[i, j] = A.data[i, j] / s; - } - - return new Matrix2(result); - } - public static Matrix2 operator /(float s, Matrix2 A) { - float[,] result = new float[A.nRows, A.nCols]; - - for (int i = 0; i < A.nRows; i++) { - for (int j = 0; j < A.nCols; j++) - result[i, j] = s / A.data[i, j]; - } - - return new Matrix2(result); - } - - public Matrix2 GetRows(Slice slice) { - return GetRows(slice.start, slice.stop); - } - public Matrix2 GetRows(int from, int to) { - if (from < 0 || to >= this.nRows) - throw new System.ArgumentException("Slice index out of range."); - - float[,] result = new float[to - from, this.nCols]; - int resultRowIx = 0; - for (int rowIx = from; rowIx < to; rowIx++) { - for (int colIx = 0; colIx < this.nCols; colIx++) - result[resultRowIx, colIx] = this.data[rowIx, colIx]; - - resultRowIx++; - } - - return new Matrix2(result); - } - - public Matrix2 Slice(Slice slice) - { - return Slice(slice.start, slice.stop); - } - public Matrix2 Slice(int from, int to) - { - if (from < 0 || to >= this.nRows) - throw new System.ArgumentException("Slice index out of range."); - - float[,] result = new float[to - from, this.nCols]; - int resultRowIx = 0; - for (int rowIx = from; rowIx < to; rowIx++) - { - for (int colIx = 0; colIx < this.nCols; colIx++) - { - result[resultRowIx, colIx] = this.data[rowIx, colIx]; - } - resultRowIx++; - } - - return new Matrix2(result); - } - public Matrix2 Slice(Slice rowRange, Slice colRange) { - return Slice((rowRange.start, rowRange.stop), (colRange.start, colRange.stop)); - } - public Matrix2 Slice((int start, int stop) rowRange, (int start, int stop) colRange) - { - float[,] result = new float[rowRange.stop - rowRange.start, colRange.stop - colRange.start]; - - int resultRowIx = 0; - int resultColIx = 0; - for (int i = rowRange.start; i < rowRange.stop; i++) - { - for (int j = colRange.start; j < colRange.stop; j++) - result[resultRowIx, resultColIx] = this.data[i, j]; - } - return new Matrix2(result); - } - - public void UpdateSlice(Slice slice, Matrix2 m) { - UpdateSlice((slice.start, slice.stop), m); - } - public void UpdateSlice((int start, int stop) slice, Matrix2 m) { - // if (slice.start == slice.stop) - // Console.WriteLine("WARNING: no data is updates when start equals stop in a slice!"); - int mRowIx = 0; - for (int rowIx = slice.start; rowIx < slice.stop; rowIx++, mRowIx++) { - for (int colIx = 0; colIx < this.nCols; colIx++) - this.data[rowIx, colIx] = m.data[mRowIx, colIx]; - } - } - - public void UpdateSlice(Slice rowRange, Slice colRange, Matrix2 m) - { - UpdateSlice((rowRange.start, rowRange.stop), (colRange.start, colRange.stop), m); - } - public void UpdateSlice((int start, int stop) rowRange, (int start, int stop) colRange, Matrix2 m) - { - for (int i = rowRange.start; i < rowRange.stop; i++) - { - for (int j = colRange.start; j < colRange.stop; j++) - this.data[i, j] = m.data[i - rowRange.start, j - colRange.start]; - } - } - - public Matrix2 Inverse() { - Matrix2 A = this; - // unchecked - int n = A.nRows; - - // Create an identity matrix of the same size as the original matrix - float[,] augmentedMatrix = new float[n, 2 * n]; - for (int i = 0; i < n; i++) { - for (int j = 0; j < n; j++) { - augmentedMatrix[i, j] = A.data[i, j]; - augmentedMatrix[i, j + n] = (i == j) ? 1 : 0; // Identity matrix - } - } - - // Perform Gaussian elimination - for (int i = 0; i < n; i++) { - // Find the pivot row - float pivot = augmentedMatrix[i, i]; - if (Math.Abs(pivot) < 1e-10) // Check for singular matrix - throw new InvalidOperationException("Matrix is singular and cannot be inverted."); - - // Normalize the pivot row - for (int j = 0; j < 2 * n; j++) - augmentedMatrix[i, j] /= pivot; - - // Eliminate the column below the pivot - for (int j = i + 1; j < n; j++) { - float factor = augmentedMatrix[j, i]; - for (int k = 0; k < 2 * n; k++) - augmentedMatrix[j, k] -= factor * augmentedMatrix[i, k]; - } - } - - // Back substitution - for (int i = n - 1; i >= 0; i--) - { - // Eliminate the column above the pivot - for (int j = i - 1; j >= 0; j--) - { - float factor = augmentedMatrix[j, i]; - for (int k = 0; k < 2 * n; k++) - augmentedMatrix[j, k] -= factor * augmentedMatrix[i, k]; - } - } - - // Extract the inverse matrix from the augmented matrix - float[,] inverse = new float[n, n]; - for (int i = 0; i < n; i++) { - for (int j = 0; j < n; j++) - inverse[i, j] = augmentedMatrix[i, j + n]; - } - - return new Matrix2(inverse); - } - - public float Determinant() - { - int n = this.nRows; - if (n != this.nCols) - throw new System.ArgumentException("Matrix must be square."); - - if (n == 1) - return this.data[0, 0]; // Base case for 1x1 matrix - - if (n == 2) // Base case for 2x2 matrix - return this.data[0, 0] * this.data[1, 1] - this.data[0, 1] * this.data[1, 0]; - - float det = 0; - for (int col = 0; col < n; col++) - det += (col % 2 == 0 ? 1 : -1) * this.data[0, col] * this.Minor(0, col).Determinant(); - - return det; - } - - // Helper function to compute the minor of a matrix - private Matrix2 Minor(int rowToRemove, int colToRemove) - { - int n = this.nRows; - float[,] minor = new float[n - 1, n - 1]; - - int r = 0, c = 0; - for (int i = 0; i < n; i++) { - if (i == rowToRemove) continue; - - c = 0; - for (int j = 0; j < n; j++) { - if (j == colToRemove) continue; - - minor[r, c] = this.data[i, j]; - c++; - } - r++; - } - - return new Matrix2(minor); - } - - public static Matrix2 DeleteRows(Matrix2 A, Slice rowRange) { - float[,] result = new float[A.nRows - (rowRange.stop - rowRange.start), A.nCols]; - - int resultRowIx = 0; - for (int i = 0; i < A.nRows; i++) { - if (i >= rowRange.start && i < rowRange.stop) - continue; - - for (int j = 0; j < A.nCols; j++) - result[resultRowIx, j] = A.data[i, j]; - - resultRowIx++; - } - return new Matrix2(result); - } - - internal static Matrix2 DeleteColumns(Matrix2 A, Slice colRange) { - float[,] result = new float[A.nRows, A.nCols - (colRange.stop - colRange.start)]; - - for (int i = 0; i < A.nRows; i++) { - int resultColIx = 0; - for (int j = 0; j < A.nCols; j++) { - if (j >= colRange.start && j < colRange.stop) - continue; - - result[i, resultColIx++] = A.data[i, j]; - } - } - return new Matrix2(result); - } - } - - public class Matrix1 - { - public float[] data { get; } - - public int size => data.GetLength(0); - - public Matrix1(int size) - { - this.data = new float[size]; - } - - public Matrix1(float[] data) { - this.data = data; - } - - public static Matrix1 Zero(int size) - { - return new Matrix1(size); - } - - public static Matrix1 FromVector2(Vector2Float v) { - float[] result = new float[2]; - result[0] = v.horizontal; - result[1] = v.vertical; - return new Matrix1(result); - } - - public static Matrix1 FromVector3(Vector3Float v) { - float[] result = new float[3]; - result[0] = v.horizontal; - result[1] = v.vertical; - result[2] = v.depth; - return new Matrix1(result); - } - -#if UNITY_5_3_OR_NEWER - public static Matrix1 FromQuaternion(Quaternion q) { - float[] result = new float[4]; - result[0] = q.x; - result[1] = q.y; - result[2] = q.z; - result[3] = q.w; - return new Matrix1(result); - } -#endif - - public Vector2Float vector2 { - get { - if (this.size != 2) - throw new System.ArgumentException("Matrix1 must be of size 2"); - return new Vector2Float(this.data[0], this.data[1]); - } - } - public Vector3Float vector3 { - get { - if (this.size != 3) - throw new System.ArgumentException("Matrix1 must be of size 3"); - return new Vector3Float(this.data[0], this.data[1], this.data[2]); - } - } - -#if UNITY_5_3_OR_NEWER - public Quaternion quaternion { - get { - if (this.size != 4) - throw new System.ArgumentException("Matrix1 must be of size 4"); - return new Quaternion(this.data[0], this.data[1], this.data[2], this.data[3]); - } - } -#endif - - public Matrix1 Clone() { - float[] data = new float[this.size]; - for (int rowIx = 0; rowIx < this.size; rowIx++) - data[rowIx] = this.data[rowIx]; - return new Matrix1(data); - } - - - public float magnitude { - get { - float sum = 0; - foreach (var elm in data) - sum += elm; - return sum / data.Length; - } - } - public static Matrix1 operator +(Matrix1 A, Matrix1 B) { - if (A.size != B.size) - throw new System.ArgumentException("Size of A must match size of B."); - - float[] result = new float[A.size]; - - for (int i = 0; i < A.size; i++) { - result[i] = A.data[i] + B.data[i]; - } - return new Matrix1(result); - } - - public Matrix2 Transpose() { - float[,] r = new float[1, this.size]; - for (uint colIx = 0; colIx < this.size; colIx++) - r[1, colIx] = this.data[colIx]; - - return new Matrix2(r); - } - - public static float Dot(Matrix1 a, Matrix1 b) { - if (a.size != b.size) - throw new System.ArgumentException("Vectors must be of the same length."); - - float result = 0.0f; - for (int i = 0; i < a.size; i++) { - result += a.data[i] * b.data[i]; - } - return result; - } - - public static Matrix1 operator -(Matrix1 A, Matrix1 B) { - if (A.size != B.size) - throw new System.ArgumentException("Size of A must match size of B."); - - float[] result = new float[A.size]; - - for (int i = 0; i < A.size; i++) { - result[i] = A.data[i] - B.data[i]; - } - return new Matrix1(result); - } - - public static Matrix1 operator *(Matrix1 A, float f) - { - float[] result = new float[A.size]; - - for (int i = 0; i < A.size; i++) - result[i] += A.data[i] * f; - - return new Matrix1(result); - } - public static Matrix1 operator *(float f, Matrix1 A) { - return A * f; - } - - public static Matrix1 operator /(Matrix1 A, float f) { - float[] result = new float[A.size]; - - for (int i = 0; i < A.size; i++) - result[i] = A.data[i] / f; - - return new Matrix1(result); - } - public static Matrix1 operator /(float f, Matrix1 A) { - float[] result = new float[A.size]; - - for (int i = 0; i < A.size; i++) - result[i] = f / A.data[i]; - - return new Matrix1(result); - } - - public Matrix1 Slice(Slice range) - { - return Slice(range.start, range.stop); - } - public Matrix1 Slice(int from, int to) - { - if (from < 0 || to >= this.size) - throw new System.ArgumentException("Slice index out of range."); - - float[] result = new float[to - from]; - int resultIx = 0; - for (int ix = from; ix < to; ix++) - result[resultIx++] = this.data[ix]; - - return new Matrix1(result); - } - public void UpdateSlice(Slice slice, Matrix1 v) { - int vIx = 0; - for (int ix = slice.start; ix < slice.stop; ix++, vIx++) - this.data[ix] = v.data[vIx]; - } - } - -} \ No newline at end of file diff --git a/NanoBrain/LinearAlgebra/src/Quat32.cs b/NanoBrain/LinearAlgebra/src/Quat32.cs deleted file mode 100644 index 19ee9bc..0000000 --- a/NanoBrain/LinearAlgebra/src/Quat32.cs +++ /dev/null @@ -1,87 +0,0 @@ -using System; - -namespace LinearAlgebra { - public class Quat32 { - public float x; - public float y; - public float z; - public float w; - - public Quat32() { - this.x = 0; - this.y = 0; - this.z = 0; - this.w = 1; - } - - public Quat32(float x, float y, float z, float w) { - this.x = x; - this.y = y; - this.z = z; - this.w = w; - } - - public static Quat32 FromSwingTwist(SwingTwist s) { - Quat32 q32 = Quat32.Euler(-s.swing.vertical.inDegrees, s.swing.horizontal.inDegrees, s.twist.inDegrees); - return q32; - } - - public static Quat32 Euler(float yaw, float pitch, float roll) { - float rollOver2 = roll * AngleFloat.Deg2Rad * 0.5f; - float sinRollOver2 = (float)Math.Sin((float)rollOver2); - float cosRollOver2 = (float)Math.Cos((float)rollOver2); - float pitchOver2 = pitch * 0.5f; - float sinPitchOver2 = (float)Math.Sin((float)pitchOver2); - float cosPitchOver2 = (float)Math.Cos((float)pitchOver2); - float yawOver2 = yaw * 0.5f; - float sinYawOver2 = (float)Math.Sin((float)yawOver2); - float cosYawOver2 = (float)Math.Cos((float)yawOver2); - Quat32 result = new Quat32() { - w = cosYawOver2 * cosPitchOver2 * cosRollOver2 + - sinYawOver2 * sinPitchOver2 * sinRollOver2, - x = sinYawOver2 * cosPitchOver2 * cosRollOver2 + - cosYawOver2 * sinPitchOver2 * sinRollOver2, - y = cosYawOver2 * sinPitchOver2 * cosRollOver2 - - sinYawOver2 * cosPitchOver2 * sinRollOver2, - z = cosYawOver2 * cosPitchOver2 * sinRollOver2 - - sinYawOver2 * sinPitchOver2 * cosRollOver2 - }; - return result; - } - - public void ToAngles(out float right, out float up, out float forward) { - float test = this.x * this.y + this.z * this.w; - if (test > 0.499f) { // singularity at north pole - right = 0; - up = 2 * (float)Math.Atan2(this.x, this.w) * AngleFloat.Rad2Deg; - forward = 90; - return; - //return Vector3(0, 2 * (float)atan2(this.x, this.w) * Angle.Rad2Deg, 90); - } - else if (test < -0.499f) { // singularity at south pole - right = 0; - up = -2 * (float)Math.Atan2(this.x, this.w) * AngleFloat.Rad2Deg; - forward = -90; - return; - //return Vector3(0, -2 * (float)atan2(this.x, this.w) * Angle.Rad2Deg, -90); - } - else { - float sqx = this.x * this.x; - float sqy = this.y * this.y; - float sqz = this.z * this.z; - - right = (float)Math.Atan2(2 * this.x * this.w - 2 * this.y * this.z, 1 - 2 * sqx - 2 * sqz) * AngleFloat.Rad2Deg; - up = (float)Math.Atan2(2 * this.y * this.w - 2 * this.x * this.z, 1 - 2 * sqy - 2 * sqz) * AngleFloat.Rad2Deg; - forward = (float)Math.Asin(2 * test) * AngleFloat.Rad2Deg; - return; - // return Vector3( - // atan2f(2 * this.x * this.w - 2 * this.y * this.z, 1 - 2 * sqx - 2 * sqz) * - // Rad2Deg, - // atan2f(2 * this.y * this.w - 2 * this.x * this.z, 1 - 2 * sqy - 2 * sqz) * - // Rad2Deg, - // asinf(2 * test) * Angle.Rad2Deg); - } - } - - } -} \ No newline at end of file diff --git a/NanoBrain/LinearAlgebra/src/Quaternion.cs b/NanoBrain/LinearAlgebra/src/Quaternion.cs deleted file mode 100644 index 7936843..0000000 --- a/NanoBrain/LinearAlgebra/src/Quaternion.cs +++ /dev/null @@ -1,582 +0,0 @@ -using System; -#if UNITY_5_3_OR_NEWER -using Quaternion = UnityEngine.Quaternion; -#endif - -namespace LinearAlgebra { - -#if UNITY_5_3_OR_NEWER - public class QuaternionExtensions { - public static Quaternion Reflect(Quaternion q) { - return new(-q.x, -q.y, -q.z, q.w); - } - - public static Matrix2 ToRotationMatrix(Quaternion q) { - float w = q.x, x = q.y, y = q.z, z = q.w; - - float[,] result = new float[,] - { - { 1 - 2 * (y * y + z * z), 2 * (x * y - w * z), 2 * (x * z + w * y) }, - { 2 * (x * y + w * z), 1 - 2 * (x * x + z * z), 2 * (y * z - w * x) }, - { 2 * (x * z - w * y), 2 * (y * z + w * x), 1 - 2 * (x * x + y * y) } - }; - return new Matrix2(result); - } - - public static Quaternion FromRotationMatrix(Matrix2 m) { - float trace = m.data[0, 0] + m.data[1, 1] + m.data[2, 2]; - float w, x, y, z; - - if (trace > 0) { - float s = 0.5f / (float)Math.Sqrt(trace + 1.0f); - w = 0.25f / s; - x = (m.data[2, 1] - m.data[1, 2]) * s; - y = (m.data[0, 2] - m.data[2, 0]) * s; - z = (m.data[1, 0] - m.data[0, 1]) * s; - } - else { - if (m.data[0, 0] > m.data[1, 1] && m.data[0, 0] > m.data[2, 2]) { - float s = 2.0f * (float)Math.Sqrt(1.0f + m.data[0, 0] - m.data[1, 1] - m.data[2, 2]); - w = (m.data[2, 1] - m.data[1, 2]) / s; - x = 0.25f * s; - y = (m.data[0, 1] + m.data[1, 0]) / s; - z = (m.data[0, 2] + m.data[2, 0]) / s; - } - else if (m.data[1, 1] > m.data[2, 2]) { - float s = 2.0f * (float)Math.Sqrt(1.0f + m.data[1, 1] - m.data[0, 0] - m.data[2, 2]); - w = (m.data[0, 2] - m.data[2, 0]) / s; - x = (m.data[0, 1] + m.data[1, 0]) / s; - y = 0.25f * s; - z = (m.data[1, 2] + m.data[2, 1]) / s; - } - else { - float s = 2.0f * (float)Math.Sqrt(1.0f + m.data[2, 2] - m.data[0, 0] - m.data[1, 1]); - w = (m.data[1, 0] - m.data[0, 1]) / s; - x = (m.data[0, 2] + m.data[2, 0]) / s; - y = (m.data[1, 2] + m.data[2, 1]) / s; - z = 0.25f * s; - } - } - - return new Quaternion(x, y, z, w); - } - } -#else - public struct Quaternion { - public float x; - public float y; - public float z; - public float w; - - /// - /// create a new quaternion with the given values - /// - /// x component - /// y component - /// z component - /// w component - public Quaternion(float x, float y, float z, float w) { - this.x = x; - this.y = y; - this.z = z; - this.w = w; - } - - /// - /// An identity quaternion - /// - public static readonly Quaternion identity = new(0, 0, 0, 1); - - private readonly Vector3Float xyz => new(x, y, z); - - private readonly float magnitude => MathF.Sqrt(this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w); - - private readonly float sqrMagnitude => x * x + y * y + z * z + w * w; - - /// - /// Convert to unit quaternion - /// - /// This will preserve the orientation, - /// but ensures that it is a unit quaternion. - public readonly Quaternion normalized { - get { - float length = this.magnitude; - Quaternion q = new(this.x / length, this.y / length, this.z / length, this.w / length); - return q; - } - } - - /// - /// Convert to unity quaternion - /// - /// The quaternion to convert - /// A unit quaternion - /// This will preserve the orientation, - /// but ensures that it is a unit quaternion. - public static Quaternion Normalize(Quaternion q) { - return q.normalized; - } - - /// - /// Convert to euler angles - /// - /// The quaternion to convert - /// A vector containing euler angles - /// The euler angles performed in the order: Z, X, Y - public static Vector3Float ToAngles(Quaternion q) { - // Extract Euler angles in Unity order (X = pitch, Y = yaw, Z = roll), returned in degrees as (x,pitch),(y,yaw),(z,roll) - // Handle singularities/gimbal lock - float test = 2f * (q.w * q.x - q.y * q.z); - // clamp - if (test >= 1f) test = 1f; - if (test <= -1f) test = -1f; - - float pitch = MathF.Asin(test); // X - - float roll = MathF.Atan2(2f * (q.w * q.z + q.x * q.y), - 1f - 2f * (q.x * q.x + q.z * q.z)); // Z - - float yaw = MathF.Atan2(2f * (q.w * q.y + q.x * q.z), - 1f - 2f * (q.y * q.y + q.x * q.x)); // Y - - const float rad2deg = 180f / MathF.PI; - return new Vector3Float(pitch * rad2deg, yaw * rad2deg, roll * rad2deg); - // float test = q.x * q.y + q.z * q.w; - // if (test > 0.499f) // singularity at north pole - // return new Vector3Float(0, 2 * MathF.Atan2(q.x, q.w) * AngleFloat.Rad2Deg, 90); - - // else if (test < -0.499f) // singularity at south pole - // return new Vector3Float(0, -2 * MathF.Atan2(q.x, q.w) * AngleFloat.Rad2Deg, -90); - - // else { - // float sqx = q.x * q.x; - // float sqy = q.y * q.y; - // float sqz = q.z * q.z; - - // return new Vector3Float( - // MathF.Atan2(2 * q.x * q.w - 2 * q.y * q.z, 1 - 2 * sqx - 2 * sqz) * - // AngleFloat.Rad2Deg, - // MathF.Atan2(2 * q.y * q.w - 2 * q.x * q.z, 1 - 2 * sqy - 2 * sqz) * - // AngleFloat.Rad2Deg, - // MathF.Asin(2 * test) * AngleFloat.Rad2Deg); - // } - } - - /// - /// Create a rotation from euler angles - /// - /// The angle around the right axis - /// The angle around the upward axis - /// The angle around the forward axis - /// The resulting quaternion - /// Rotation are appied in the order Z, X, Y. - public static Quaternion Euler(float x, float y, float z) { - return Quaternion.Euler(new Vector3Float(x, y, z)); - } - /// - /// Create a rotation from a vector containing euler angles - /// - /// Vector with the euler angles - /// The resulting quaternion - /// Rotation are appied in the order Z, X, Y. - public static Quaternion Euler(Vector3Float angles) { - Vector3Float euler = angles * AngleFloat.Deg2Rad; - float cx = MathF.Cos(euler.horizontal * 0.5f); - float sx = MathF.Sin(euler.horizontal * 0.5f); - float cy = MathF.Cos(euler.vertical * 0.5f); - float sy = MathF.Sin(euler.vertical * 0.5f); - float cz = MathF.Cos(euler.depth * 0.5f); - float sz = MathF.Sin(euler.depth * 0.5f); - - // Unity uses intrinsic Z, then X, then Y -> q = Qy * Qx * Qz - Quaternion q; - q.w = cy * cx * cz + sy * sx * sz; - q.x = cy * sx * cz + sy * cx * sz; - q.y = sy * cx * cz - cy * sx * sz; - q.z = cy * cx * sz - sy * sx * cz; - return q; - } - - /// - /// Multiply two quaternions - /// - /// - /// - /// The resulting rotation - public static Quaternion operator *(Quaternion q1, Quaternion q2) { - return new Quaternion( - q1.x * q2.w + q1.y * q2.z - q1.z * q2.y + q1.w * q2.x, - -q1.x * q2.z + q1.y * q2.w + q1.z * q2.x + q1.w * q2.y, - q1.x * q2.y - q1.y * q2.x + q1.z * q2.w + q1.w * q2.z, - -q1.x * q2.x - q1.y * q2.y - q1.z * q2.z + q1.w * q2.w); - } - - /// - /// Rotate a vector using this quaterion - /// - /// The rotation - /// The vector to rotate - /// The rotated vector - public static Vector3Float operator *(Quaternion q, Vector3Float v) { - float num = q.x * 2; - float num2 = q.y * 2; - float num3 = q.z * 2; - float num4 = q.x * num; - float num5 = q.y * num2; - float num6 = q.z * num3; - float num7 = q.x * num2; - float num8 = q.x * num3; - float num9 = q.y * num3; - float num10 = q.w * num; - float num11 = q.w * num2; - float num12 = q.w * num3; - - float px = v.horizontal; - float py = v.vertical; - float pz = v.depth; - float rx = - (1 - (num5 + num6)) * px + (num7 - num12) * py + (num8 + num11) * pz; - float ry = - (num7 + num12) * px + (1 - (num4 + num6)) * py + (num9 - num10) * pz; - float rz = - (num8 - num11) * px + (num9 + num10) * py + (1 - (num4 + num5)) * pz; - Vector3Float result = new(rx, ry, rz); - return result; - } - - /// - /// The inverse of quaterion - /// - /// The quaternion for which the inverse is - /// needed The inverted quaternion - public static Quaternion Inverse(Quaternion q) { - float n = MathF.Sqrt(q.x * q.x + q.y * q.y + q.z * q.z + q.w * q.w); - return new Quaternion(-q.x / n, -q.y / n, -q.z / n, q.w / n); - } - - /// - /// A rotation which looks in the given direction - /// - /// The look direction - /// The up direction - /// The look rotation - public static Quaternion LookRotation(Vector3Float forward, Vector3Float up) { - Vector3Float nForward = forward.normalized; - Vector3Float nRight = Vector3Float.Normalize(Vector3Float.Cross(up, nForward)); - Vector3Float nUp = Vector3Float.Cross(nForward, nRight); - float m00 = nRight.horizontal; // x; - float m01 = nRight.vertical; // y; - float m02 = nRight.depth; // z; - float m10 = nUp.horizontal; // x; - float m11 = nUp.vertical; // y; - float m12 = nUp.depth; // z; - float m20 = nForward.horizontal; // x; - float m21 = nForward.vertical; // y; - float m22 = nForward.depth; // z; - - float num8 = (m00 + m11) + m22; - float x, y, z, w; - if (num8 > 0) { - float num = MathF.Sqrt(num8 + 1); - w = num * 0.5f; - num = 0.5f / num; - x = (m12 - m21) * num; - y = (m20 - m02) * num; - z = (m01 - m10) * num; - return new Quaternion(x, y, z, w); - } - if ((m00 >= m11) && (m00 >= m22)) { - float num7 = MathF.Sqrt(((1 + m00) - m11) - m22); - float num4 = 0.5F / num7; - x = 0.5f * num7; - y = (m01 + m10) * num4; - z = (m02 + m20) * num4; - w = (m12 - m21) * num4; - return new Quaternion(x, y, z, w); - } - if (m11 > m22) { - float num6 = MathF.Sqrt(((1 + m11) - m00) - m22); - float num3 = 0.5F / num6; - x = (m10 + m01) * num3; - y = 0.5F * num6; - z = (m21 + m12) * num3; - w = (m20 - m02) * num3; - return new Quaternion(x, y, z, w); - } - float num5 = MathF.Sqrt(((1 + m22) - m00) - m11); - float num2 = 0.5F / num5; - x = (m20 + m02) * num2; - y = (m21 + m12) * num2; - z = 0.5F * num5; - w = (m01 - m10) * num2; - return new Quaternion(x, y, z, w); - } - - /// - /// Creates a quaternion with the given forward direction with up = - /// Vector3::up - /// - /// The look direction - /// The rotation for this direction - /// For the rotation, Vector::up is used for the up direction. - /// Note: if the forward direction == Vector3::up, the result is - /// Quaternion::identity - public static Quaternion LookRotation(Vector3Float forward) { - Vector3Float up = new(0, 1, 0); - return LookRotation(forward, up); - } - - /// - /// Calculat the rotation from on vector to another - /// - /// The from direction - /// The to direction - /// The rotation from the first to the second vector - public static Quaternion FromToRotation(Vector3Float fromDirection, Vector3Float toDirection) { - Vector3Float axis = Vector3Float.Cross(fromDirection, toDirection); - axis = axis.normalized; - AngleFloat angle = Vector3Float.SignedAngle(fromDirection, toDirection, axis); - Quaternion rotation = AngleAxis(angle, axis); - return rotation; - - } - - /// - /// Rotate form one orientation to anther with a maximum amount of degrees - /// - /// The from rotation - /// The destination rotation - /// The maximum amount of degrees to - /// rotate The possibly limited rotation - public static Quaternion RotateTowards(Quaternion from, Quaternion to, - float maxDegreesDelta) { - float num = Quaternion.UnsignedAngle(from, to); - if (num == 0) { - return to; - } - float t = MathF.Min(1, maxDegreesDelta / num); - return SlerpUnclamped(from, to, t); - - } - - /// - /// Convert an angle/axis representation to a quaternion - /// - /// The angle - /// The axis - /// The resulting quaternion - public static Quaternion AngleAxis(AngleFloat angle, Vector3Float axis) { - if (axis.sqrMagnitude == 0.0f) - return Quaternion.identity; - - float radians = angle.inRadians; - radians *= 0.5f; - - Vector3Float axis2 = axis * MathF.Sin(radians); - float x = axis2.horizontal; // x; - float y = axis2.vertical; // y; - float z = axis2.depth; // z; - float w = MathF.Cos(radians); - - return new Quaternion(x, y, z, w).normalized; - } - /// - /// Convert this quaternion to angle/axis representation - /// - /// A pointer to the angle for the result - /// A pointer to the axis for the result - public readonly void ToAngleAxis(out AngleFloat angle, out Vector3Float axis) { - Quaternion q1 = (MathF.Abs(this.w) > 1.0f) ? this.normalized : this; - angle = AngleFloat.Radians(2.0f * MathF.Acos(q1.w)); // angle - float den = MathF.Sqrt(1.0F - q1.w * q1.w); - if (den > 0.0001f) { - axis = Vector3Float.Normalize(q1.xyz / den); - } - else { - // This occurs when the angle is zero. - // Not a problem: just set an arbitrary normalized axis. - axis = Vector3Float.right; - } - } - - /// - /// Get the angle between two orientations - /// - /// The first orientation - /// The second orientation - /// The smallest angle in degrees between the two - /// orientations - public static float UnsignedAngle(Quaternion q1, Quaternion q2) { - // float f = Dot(q1, q2); - // return MathF.Acos(MathF.Min(MathF.Abs(f), 1)) * 2 * AngleFloat.Rad2Deg; - - float dot = q1.x * q2.x + q1.y * q2.y + q1.z * q2.z + q1.w * q2.w; - dot = MathF.Min(MathF.Max(dot, -1f), 1f); - return 2f * MathF.Acos(MathF.Abs(dot)) * (180f / MathF.PI); - } - - /// - /// Sherical lerp between two rotations - /// - /// The first rotation - /// The second rotation - /// The factor between 0 and 1. - /// The resulting rotation - /// A factor 0 returns rotation1, factor1 returns rotation2. - public static Quaternion Slerp(Quaternion a, - Quaternion b, float t) { - if (t > 1) - t = 1; - if (t < 0) - t = 0; - return SlerpUnclamped(a, b, t); - } - - /// - /// Unclamped sherical lerp between two rotations - /// - /// The first rotation - /// The second rotation - /// The factor - /// The resulting rotation - /// A factor 0 returns rotation1, factor1 returns rotation2. - /// Values outside the 0..1 range will result in extrapolated rotations - public static Quaternion SlerpUnclamped(Quaternion a, - Quaternion b, float t) { - // if either input is zero, return the other. - if (a.sqrMagnitude == 0.0f) { - if (b.sqrMagnitude == 0.0f) { - return identity; - } - return b; - } - else if (b.sqrMagnitude == 0.0f) { - return a; - } - - Vector3Float axyz = a.xyz; - Vector3Float bxyz = b.xyz; - float cosHalfAngle = a.w * b.w + Vector3Float.Dot(axyz, bxyz); - - Quaternion b2 = b; - if (cosHalfAngle >= 1.0f || cosHalfAngle <= -1.0f) { - // angle = 0.0f, so just return one input. - return a; - } - else if (cosHalfAngle < 0.0f) { - b2.x = -b.x; - b2.y = -b.y; - b2.z = -b.z; - b2.w = -b.w; - cosHalfAngle = -cosHalfAngle; - } - - float blendA; - float blendB; - if (cosHalfAngle < 0.99f) { - // do proper slerp for big angles - float halfAngle = MathF.Acos(cosHalfAngle); - float sinHalfAngle = MathF.Sin(halfAngle); - float oneOverSinHalfAngle = 1.0F / sinHalfAngle; - blendA = MathF.Sin(halfAngle * (1.0F - t)) * oneOverSinHalfAngle; - blendB = MathF.Sin(halfAngle * t) * oneOverSinHalfAngle; - } - else { - // do lerp if angle is really small. - blendA = 1.0f - t; - blendB = t; - } - Vector3Float v = axyz * blendA + b2.xyz * blendB; - Quaternion result = - new(v.horizontal, v.vertical, v.depth, blendA * a.w + blendB * b2.w); - if (result.sqrMagnitude > 0.0f) - return result.normalized; - else - return Quaternion.identity; - } - - /// - /// Convert this quaternion to angle/axis representation - /// - /// A pointer to the angle for the result - /// A pointer to the axis for the result - public readonly void ToAngleAxis(out float angle, out Vector3Float axis) { - ToAxisAngleRad(this, out axis, out angle); - angle *= AngleFloat.Rad2Deg; - } - private static void ToAxisAngleRad(Quaternion q, - out Vector3Float axis, - out float angle) { - Quaternion q1 = (MathF.Abs(q.w) > 1.0f) ? Quaternion.Normalize(q) : q; - angle = 2.0f * MathF.Acos(q1.w); // angle - float den = MathF.Sqrt(1.0F - q1.w * q1.w); - if (den > 0.0001f) { - axis = (q1.xyz / den).normalized; - } - else { - // This occurs when the angle is zero. - // Not a problem: just set an arbitrary normalized axis. - axis = new Vector3Float(1, 0, 0); - } - } - - /// - /// Returns the angle of around the give axis for a rotation - /// - /// The axis around which the angle should be - /// computed The source rotation - /// The signed angle around the axis - public static float GetAngleAround(Vector3Float axis, Quaternion rotation) { - Quaternion secondaryRotation = GetRotationAround(axis, rotation); - secondaryRotation.ToAngleAxis(out float rotationAngle, out Vector3Float rotationAxis); - - // Do the axis point in opposite directions? - if (Vector3Float.Dot(axis, rotationAxis) < 0) - rotationAngle = -rotationAngle; - - return rotationAngle; - } - - /// - /// Returns the rotation limited around the given axis - /// - /// The axis which which the rotation should be - /// limited The source rotation - /// The rotation around the given axis - public static Quaternion GetRotationAround(Vector3Float axis, Quaternion rotation) { - Vector3Float ra = new(rotation.x, rotation.y, rotation.z); // rotation axis - Vector3Float p = Vector3Float.Project( - ra, axis); // return projection ra on to axis (parallel component) - Quaternion twist = new(p.horizontal, p.vertical, p.depth, rotation.w); - twist = Normalize(twist); - return twist; - - } - - /// - /// Swing-twist decomposition of a rotation - /// - /// The base direction for the decomposition - /// The source rotation - /// A pointer to the quaternion for the swing - /// result A pointer to the quaternion for the - /// twist result - static void GetSwingTwist(Vector3Float axis, Quaternion q, - out Quaternion swing, out Quaternion twist) { - twist = GetRotationAround(axis, q); - swing = q * Inverse(twist); - } - - /// - /// Calculate the dot product of two quaternions - /// - /// The first rotation - /// The second rotation - /// - public static float Dot(Quaternion q1, Quaternion q2) { - return q1.x * q2.x + q1.y * q2.y + q1.z * q2.z + q1.w * q2.w; - } - } -#endif - -} \ No newline at end of file diff --git a/NanoBrain/LinearAlgebra/src/Spherical.cs b/NanoBrain/LinearAlgebra/src/Spherical.cs deleted file mode 100644 index 318839d..0000000 --- a/NanoBrain/LinearAlgebra/src/Spherical.cs +++ /dev/null @@ -1,279 +0,0 @@ -using System; -using System.Collections.Generic; - -#if UNITY_5_3_OR_NEWER -using Vector3 = UnityEngine.Vector3; -#endif - -namespace LinearAlgebra { - /// - /// A spherical vector - /// - /// This is a struct such that it is a value type and cannot be null - public struct Spherical { - /// - /// Create a spherical vector - /// - /// The distance in meters - /// The direction of the vector - public Spherical(float distance, Direction direction) { - if (distance > 0) { - this.distance = distance; - this.direction = direction; - } - else { - this.distance = -distance; - this.direction = -direction; - } - } - - /// - /// Create spherical vector. All given angles are in degrees - /// - /// The distance in meters - /// The horizontal angle in degrees - /// The vertical angle in degrees - /// - public static Spherical Degrees(float distance, float horizontal, float vertical) { - Direction direction = Direction.Degrees(horizontal, vertical); - Spherical s = new(distance, direction); - return s; - } - - public static Spherical Radians(float distance, float horizontal, float vertical) { - Direction direction = Direction.Radians(horizontal, vertical); - Spherical s = new(distance, direction); - return s; - } - - /// - /// The distance in meters - /// - /// @remark The distance should never be negative - public float distance; - /// - /// The direction of the vector - /// - public Direction direction; - - /// - /// A spherical vector with zero degree angles and distance - /// - public readonly static Spherical zero = new(0, Direction.forward); - /// - /// A normalized forward-oriented vector - /// - public readonly static Spherical forward = new(1, Direction.forward); - -#if UNITY_5_3_OR_NEWER - public static Spherical FromVector3(Vector3 v) { - float distance = v.magnitude; - Direction direction = Direction.FromVector3(v / distance); - return new Spherical(distance, direction); - } - - public readonly Vector3 ToVector3() { - Vector3 v = this.direction.ToVector3(); - v *= this.distance; - return v; - } -#else - public static Spherical FromVector3(Vector3Float v) { - float distance = v.magnitude; - if (distance == 0.0f) - return Spherical.zero; - else { - float verticalAngle = (float)(Math.PI / 2 - Math.Acos(v.vertical / distance)) * AngleFloat.Rad2Deg; - float horizontalAngle = (float)Math.Atan2(v.horizontal, v.depth) * AngleFloat.Rad2Deg; - return Degrees(distance, horizontalAngle, verticalAngle); - } - } - - public readonly Vector3Float ToVector3() { - // float verticalRad = (AngleFloat.deg90 - this.direction.vertical).inRadians; - // float horizontalRad = this.direction.horizontal.inRadians; - // float cosVertical = (float)Math.Cos(verticalRad); - // float sinVertical = (float)Math.Sin(verticalRad); - // float cosHorizontal = (float)Math.Cos(horizontalRad); - // float sinHorizontal = (float)Math.Sin(horizontalRad); - - // float x = this.distance * sinVertical * sinHorizontal; - // float y = this.distance * cosVertical; - // float z = this.distance * sinVertical * cosHorizontal; - - // Vector3Float v = new(x, y, z); - Vector3Float v = this.direction.ToVector3(); - v *= this.distance; - return v; - } -#endif - - public override readonly string ToString() { - return $"Spherical({this.distance}, h: {this.direction.horizontal}, v: {this.direction.vertical})"; - } - - - public readonly float magnitude => this.distance; - - public Spherical normalized { - get { - Spherical r = new() { - distance = 1, - direction = this.direction - }; - return r; - } - } - - public static Spherical operator +(Spherical s1, Spherical s2) { - // let's do it the easy way... - // using vars to be compatible with both unity (Vector3) and native (Vector3Float) - var v1 = s1.ToVector3(); - var v2 = s2.ToVector3(); - var v = v1 + v2; - Spherical r = FromVector3(v); - return r; - } - - public static Spherical operator *(Spherical v, float d) { - Spherical r = new(v.distance * d, v.direction); - return r; - } - - public static bool operator ==(Spherical v1, Spherical v2) { - return (v1.distance == v2.distance && v1.direction == v2.direction); - } - - public static bool operator !=(Spherical v1, Spherical v2) { - return (v1.distance != v2.distance || v1.direction != v2.direction); - } - - public override readonly bool Equals(object o) { - if (o is Spherical s) - return this == s; - return false; - } - - public override readonly int GetHashCode() { - return HashCode.Combine(this.distance, this.direction); - } - - public static float Distance(Spherical v1, Spherical v2) { - // Convert degrees to radians - float thetaARadians = v1.direction.horizontal.inRadians; - float phiARadians = v1.direction.vertical.inRadians;// DegreesToRadians(phiA); - float thetaBRadians = v2.direction.horizontal.inRadians; // DegreesToRadians(thetaB); - float phiBRadians = v2.direction.vertical.inRadians; // DegreesToRadians(phiB); - - // Calculate sine and cosine values - float sinPhiA = MathF.Sin(phiARadians); - float cosPhiA = MathF.Cos(phiARadians); - float sinPhiB = MathF.Sin(phiBRadians); - float cosPhiB = MathF.Cos(phiBRadians); - - // Calculate the cosine of the difference in azimuthal angles - float cosThetaDifference = MathF.Cos(thetaARadians - thetaBRadians); - - // Apply the spherical law of cosines - float distance = MathF.Sqrt( - v1.distance * v1.distance + - v2.distance * v2.distance - - 2 * v1.distance * v2.distance * (sinPhiA * sinPhiB * cosThetaDifference + cosPhiA * cosPhiB) - ); - - return distance; - } - - public static Spherical Average(Spherical v1, Spherical v2) { - const float EPS = 1e-6f; - - // Angles in radians - float a1 = v1.direction.horizontal.inRadians; - float a2 = v2.direction.horizontal.inRadians; - float e1 = v1.direction.vertical.inRadians; - float e2 = v2.direction.vertical.inRadians; - - // Fast path: exactly same direction (allowing wrap for azimuth) -> preserve exact angles - bool sameAz = MathF.Abs(MathF.IEEERemainder(a1 - a2, MathF.PI * 2f)) < EPS; - bool sameEl = MathF.Abs(e1 - e2) < EPS; - if (sameAz && sameEl) { - // Distances may differ; average distance but keep exact angles from v1 - float rAvgExact = 0.5f * (v1.distance + v2.distance); - return new Spherical(rAvgExact, v1.direction); - } - - // Horizontal unit-circle sum - float cx = MathF.Cos(a1) + MathF.Cos(a2); - float cy = MathF.Sin(a1) + MathF.Sin(a2); - - // Vertical as z = sin(el) - float z1 = MathF.Sin(e1); - float z2 = MathF.Sin(e2); - float cz = z1 + z2; - - // Magnitude of summed unit-direction vectors - float sumX = cx; - float sumY = cy; - float sumZ = cz; - float magSum = MathF.Sqrt(sumX * sumX + sumY * sumY + sumZ * sumZ); - - // If the two direction unit-vectors cancel (or nearly), return zero distance. - if (magSum < EPS) { - return Spherical.Radians(0f, 0f, 0f); - } - - // Normalized averaged direction components - float ux = sumX / magSum; - float uy = sumY / magSum; - float uz = sumZ / magSum; - - // Compute averaged angles from normalized vector - float azAvgRad = MathF.Atan2(uy, ux); - float elAvgRad = MathF.Asin(Float.Clamp(uz, -1f, 1f)); - - // Average distance (arithmetic mean) - float rAvg = 0.5f * (v1.distance + v2.distance); - - return Spherical.Radians(rAvg, azAvgRad, elAvgRad); - } - - public static Spherical Sum(List vectors) { - if (vectors == null || vectors.Count == 0) - throw new ArgumentException("vectors must contain at least one element", nameof(vectors)); - -#if UNITY_5_3_OR_NEWER - Vector3 sum = Vector3.zero; -#else - Vector3Float sum = Vector3Float.zero; -#endif - foreach (Spherical v in vectors) - sum += v.ToVector3(); - - return FromVector3(sum); - } - - - public static Spherical Average(List vectors) { - if (vectors == null || vectors.Count == 0) - throw new ArgumentException("vectors must contain at least one element", nameof(vectors)); - -#if UNITY_5_3_OR_NEWER - Vector3 sum = Vector3.zero; -#else - Vector3Float sum = Vector3Float.zero; -#endif - int n = 0; - foreach (Spherical v in vectors) { - sum += v.ToVector3(); - n++; - } - var avg = sum / n; - - // if (avg.sqrMagnitude == 0f) - // return new Spherical(0f, new Direction(AngleFloat.Radians(0f), AngleFloat.Radians(0f))); - // else - return FromVector3(avg); - } - - } -} \ No newline at end of file diff --git a/NanoBrain/LinearAlgebra/src/SwingTwist.cs b/NanoBrain/LinearAlgebra/src/SwingTwist.cs deleted file mode 100644 index df6e048..0000000 --- a/NanoBrain/LinearAlgebra/src/SwingTwist.cs +++ /dev/null @@ -1,136 +0,0 @@ -// #if !UNITY_5_3_OR_NEWER -// using UnityEngine; -// #endif - -namespace LinearAlgebra { - - /// - /// An orientation using swing and twist angles - /// - /// The swing rotation - /// The twist rotation - public struct SwingTwist { - public Direction swing; - public AngleFloat twist; - - public SwingTwist(Direction swing, AngleFloat twist) { - this.swing = swing; - this.twist = twist; - } - - /// - /// Create a swing/twist rotation using angles in degrees - /// - /// The swing angle in the horizontal plane in degrees - /// The swing angle in the vertical plan in degrees - /// The twist angle in degrees - /// The swing/twist rotation - public static SwingTwist Degrees(float horizontalSwing, float verticalSwing, float twist) { - Direction swing = Direction.Degrees(horizontalSwing, verticalSwing); - AngleFloat twistAngle = AngleFloat.Degrees(twist); - SwingTwist s = new(swing, twistAngle); - return s; - } - - /// - /// Create a swing/twist rotation using angles in degrees - /// - /// The swing angle in the horizontal plane in degrees - /// The swing angle in the vertical plan in degrees - /// The twist angle in degrees - /// The swing/twist rotation - public static SwingTwist Radians(float horizontalSwing, float verticalSwing, float twist) { - Direction swing = Direction.Radians(horizontalSwing, verticalSwing); - AngleFloat twistAngle = AngleFloat.Radians(twist); - SwingTwist s = new(swing, twistAngle); - return s; - } - -#if UNITY_5_3_OR_NEWER - /// - /// A zero angle rotation - /// - public static readonly SwingTwist zero = Degrees(0, 0, 0); - - public Spherical ToAngleAxis() { - UnityEngine.Quaternion q = this.ToQuaternion(); - q.ToAngleAxis(out float angle, out UnityEngine.Vector3 axis); - Direction direction = Direction.FromVector3(axis); - - Spherical r = new(angle, direction); - return r; - } - - public static SwingTwist FromAngleAxis(Spherical r) { - UnityEngine.Vector3 vectorAxis = r.direction.ToVector3(); - UnityEngine.Quaternion q = UnityEngine.Quaternion.AngleAxis(r.distance, vectorAxis); - return FromQuaternion(q); - } - - /// - /// Convert a quaternion in a swing/twist rotation - /// - /// The quaternion to convert - /// The swing/twist rotation - public static SwingTwist FromQuaternion(UnityEngine.Quaternion q) { - UnityEngine.Vector3 angles = q.eulerAngles; - SwingTwist r = Degrees(angles.y, -angles.x, -angles.z); - return r; - } - - public UnityEngine.Quaternion ToQuaternion() { - UnityEngine.Quaternion q = UnityEngine.Quaternion.Euler(this.swing.vertical.inDegrees, - this.swing.horizontal.inDegrees, - this.twist.inDegrees); - return q; - } -#else - /// - /// A zero angle rotation - /// - public static readonly SwingTwist zero = Degrees(0, 0, 0); - - public Spherical ToAngleAxis() { - LinearAlgebra.Quaternion q = this.ToQuaternion(); - q.ToAngleAxis(out float angle, out Vector3Float axis); - Direction direction = Direction.FromVector3(axis); - - Spherical r = new(angle, direction); - return r; - } - - public static SwingTwist FromAngleAxis(Spherical r) { - Vector3Float vectorAxis = r.direction.ToVector3(); - LinearAlgebra.Quaternion q = LinearAlgebra.Quaternion.AngleAxis(AngleFloat.Degrees(r.distance), vectorAxis); - return FromQuaternion(q); - } - - /// - /// Convert a quaternion in a swing/twist rotation - /// - /// The quaternion to convert - /// The swing/twist rotation - public static SwingTwist FromQuaternion(LinearAlgebra.Quaternion q) { - Vector3Float v = LinearAlgebra.Quaternion.ToAngles(q); - SwingTwist r = Degrees(v.vertical, v.horizontal, v.depth); - return r; - } - - public LinearAlgebra.Quaternion ToQuaternion() { - LinearAlgebra.Quaternion q = LinearAlgebra.Quaternion.Euler(this.swing.vertical.inDegrees, - this.swing.horizontal.inDegrees, - this.twist.inDegrees); - return q; - - } - - public static SwingTwist FromQuat32(Quat32 q32) { - q32.ToAngles(out float right, out float up, out float forward); - SwingTwist r = Degrees(up, right, forward); - return r; - } -#endif - - } - -} \ No newline at end of file diff --git a/NanoBrain/LinearAlgebra/src/Vector2Float.cs b/NanoBrain/LinearAlgebra/src/Vector2Float.cs deleted file mode 100644 index ac1867c..0000000 --- a/NanoBrain/LinearAlgebra/src/Vector2Float.cs +++ /dev/null @@ -1,479 +0,0 @@ -using System; -using System.Numerics; - -namespace LinearAlgebra { - - /* - public struct Vector2Int { - public int horizontal; - public int vertical; - - public Vector2Int(int horizontal, int vertical) { - this.horizontal = horizontal; - this.vertical = vertical; - } - - /// - /// A vector with zero for all axis - /// - public static readonly Vector2Int zero = new(0, 0); - /// - /// A vector with values (1, 1) - /// - public static readonly Vector2Int one = new(1, 1); - /// - /// A vector with values (0, 1) - /// - public static readonly Vector2Int up = new(0, 1); - /// - /// A vector with values (0, -1) - /// - public static readonly Vector2Int down = new(0, -1); - /// - /// A vector with values (0, 1) - /// - public static readonly Vector2Int forward = new(0, 1); - /// - /// A vector with values (0, -1) - /// - public static readonly Vector2Int back = new(0, -1); - /// - /// A vector3 with values (-1, 0) - /// - public static readonly Vector2Int left = new(-1, 0); - /// - /// A vector with values (1, 0) - /// - public static readonly Vector2Int right = new(1, 0); - - /// - /// Tests if the vector has equal values as the given vector - /// - /// The vector to compare to - /// true if the vector values are equal - public readonly bool Equals(Vector2Int v) => this.horizontal == v.horizontal && vertical == v.vertical; - - /// - /// Tests if the vector is equal to the given object - /// - /// The object to compare to - /// false when the object is not a Vector2 or does not have equal values - public override readonly bool Equals(object obj) { - if (obj is not Vector2Int v) - return false; - - return (this.horizontal == v.horizontal && this.vertical == v.vertical); - } - - /// - /// Tests if the two vectors have equal values - /// - /// The first vector - /// The second vector - /// truewhen the vectors have equal values - /// Note that this uses a Float equality check which cannot be not exact in all cases. - /// In most cases it is better to check if the Vector2.Distance between the vectors is smaller than Float.epsilon - /// Or more efficient: (v1 - v2).sqrMagnitude < Float.sqrEpsilon - public static bool operator ==(Vector2Int v1, Vector2Int v2) { - return (v1.horizontal == v2.horizontal && v1.vertical == v2.vertical); - } - /// - /// Tests if two vectors have different values - /// - /// The first vector - /// The second vector - /// truewhen the vectors have different values - /// Note that this uses a Float equality check which cannot be not exact in all case. - /// In most cases it is better to check if the Vector2.Distance between the vectors is smaller than Float.epsilon. - /// Or more efficient: (v1 - v2).sqrMagnitude < Float.sqrEpsilon - public static bool operator !=(Vector2Int v1, Vector2Int v2) { - return (v1.horizontal != v2.horizontal || v1.vertical != v2.vertical); - } - public readonly float magnitude { - get { - int h = this.horizontal; - int v = this.vertical; - return MathF.Sqrt(h * h + v * v); - } - } - - public static float MagnitudeOf(Vector2Int v) { - return v.magnitude; - } - - public static Vector2Int operator -(Vector2Int v1, Vector2Int v2) { - return new Vector2Int(v1.horizontal - v2.horizontal, v1.vertical - v2.vertical); - } - public static Vector2Int operator +(Vector2Int v1, Vector2Int v2) { - return new Vector2Int(v1.horizontal + v2.horizontal, v1.vertical + v2.vertical); - } - - public static float Distance(Vector2Int v1, Vector2Int v2) { - return (v1 - v2).magnitude; - } - } - - public struct Vector2Float { - public float horizontal; - public float vertical; - - public Vector2Float(float horizontal, float vertical) { - this.horizontal = horizontal; - this.vertical = vertical; - } - - public readonly float magnitude { - get { - float h = this.horizontal; - float v = this.vertical; - return MathF.Sqrt(h * h + v * v); - } - } - - public static Vector2Float operator -(Vector2Float v1, Vector2Float v2) { - return new Vector2Float(v1.horizontal - v2.horizontal, v1.vertical - v2.vertical); - } - - public static float Distance(Vector2Float v1, Vector2Float v2) { - return (v1 - v2).magnitude; - } - } - */ - - /// - /// 2-dimensional vectors - /// - public struct Vector2Float { - - /// - /// The right axis of the vector - /// - public float horizontal; // left/right - /// - /// The upward/forward axis of the vector - /// - public float vertical; // forward/backward - // directions are to be inline with Vector3 as much as possible... - - /// - /// Create a new 2-dimensional vector - /// - /// x axis value - /// y axis value - public Vector2Float(float x, float y) { - this.horizontal = x; - this.vertical = y; - } - - /// - /// Convert a Vector2Int into a Vector2Float - /// - /// The Vector2Int - public Vector2Float(Vector2Int v) { - this.horizontal = v.horizontal; - this.vertical = v.vertical; - } - - /// - /// A vector with zero for all axis - /// - public static readonly Vector2Float zero = new Vector2Float(0, 0); - /// - /// A vector with values (1, 1) - /// - public static readonly Vector2Float one = new Vector2Float(1, 1); - /// - /// A vector with values (0, 1) - /// - public static readonly Vector2Float up = new Vector2Float(0, 1); - /// - /// A vector with values (0, -1) - /// - public static readonly Vector2Float down = new Vector2Float(0, -1); - /// - /// A vector with values (0, 1) - /// - public static readonly Vector2Float forward = new Vector2Float(0, 1); - /// - /// A vector with values (0, -1) - /// - public static readonly Vector2Float back = new Vector2Float(0, -1); - /// - /// A vector3 with values (-1, 0) - /// - public static readonly Vector2Float left = new Vector2Float(-1, 0); - /// - /// A vector with values (1, 0) - /// - public static readonly Vector2Float right = new Vector2Float(1, 0); - - /// - /// The squared length of this vector - /// - /// The squared length - /// The squared length is computationally simpler than the real length. - /// Think of Pythagoras A^2 + B^2 = C^2. - /// This leaves out the calculation of the squared root of C. - public readonly float sqrMagnitude => horizontal * horizontal + vertical * vertical; - public static float SqrMagnitudeOf(Vector2Float v) { - return v.sqrMagnitude; - } - - /// - /// The length of this vector - /// - /// The length of this vector - public readonly float magnitude => MathF.Sqrt(horizontal * horizontal + vertical * vertical); - public static float MagnitudeOf(Vector2Float v) { - return v.magnitude; - } - - /// - /// Convert the vector to a length of a 1 - /// - /// The vector with length 1 - public Vector2Float normalized { - get { - float l = magnitude; - Vector2Float v = zero; - if (l > Float.epsilon) - v = this / l; - return v; - } - } - public static Vector2Float Normalize(Vector2Float v) { - return v.normalized; - } - - /// - /// Add two vectors - /// - /// The first vector - /// The second vector - /// The result of adding the two vectors - public static Vector2Float operator +(Vector2Float v1, Vector2Float v2) { - Vector2Float v = new Vector2Float(v1.horizontal + v2.horizontal, v1.vertical + v2.vertical); - return v; - } - - /// - /// Subtract two vectors - /// - /// The first vector - /// The second vector - /// The result of adding the two vectors - public static Vector2Float operator -(Vector2Float v1, Vector2Float v2) { - Vector2Float v = new Vector2Float(v1.horizontal - v2.horizontal, v1.vertical - v2.vertical); - return v; - } - - /// - /// Negate the vector - /// - /// The vector to negate - /// The negated vector - /// This will result in a vector pointing in the opposite direction - public static Vector2Float operator -(Vector2Float v1) { - Vector2Float v = new Vector2Float(-v1.horizontal, -v1.vertical); - return v; - } - - /// - /// Scale a vector uniformly down - /// - /// The vector to scale - /// The scaling factor - /// The scaled vector - /// Each component of the vector will be devided by the same factor. - public static Vector2Float operator /(Vector2Float v, float f) { - Vector2Float r = new(v.horizontal / f, v.vertical / f); - return r; - } - - - /// - /// Scale a vector uniformly up - /// - /// The vector to scale - /// The scaling factor - /// The scaled vector - /// Each component of the vector will be multipled with the same factor. - public static Vector2Float operator *(Vector2Float v1, float f) { - Vector2Float v = new Vector2Float(v1.horizontal * f, v1.vertical * f); - return v; - } - - /// - /// Scale a vector uniformly up - /// - /// The scaling factor - /// The vector to scale - /// The scaled vector - /// Each component of the vector will be multipled with the same factor. - public static Vector2Float operator *(float f, Vector2Float v1) { - Vector2Float v = new Vector2Float(f * v1.horizontal, f * v1.vertical); - return v; - } - - /// @brief Scale the vector using another vector - /// @param v1 The vector to scale - /// @param v2 A vector with the scaling factors - /// @return The scaled vector - /// @remark Each component of the vector v1 will be multiplied with the - /// matching component from the scaling vector v2. - public static Vector2Float Scale(Vector2Float v1, Vector2Float v2) { - return new Vector2Float(v1.horizontal * v2.horizontal, v1.vertical * v2.vertical); - } - - /// - /// Tests if the vector has equal values as the given vector - /// - /// The vector to compare to - /// true if the vector values are equal - //public readonly bool Equals(Vector2Float v1) => horizontal == v1.horizontal && vertical == v1.vertical; - - /// - /// Tests if the two vectors have equal values - /// - /// The first vector - /// The second vector - /// truewhen the vectors have equal values - /// Note that this uses a Float equality check which cannot be not exact in all cases. - /// In most cases it is better to check if the Vector2.Distance between the vectors is smaller than Float.epsilon - /// Or more efficient: (v1 - v2).sqrMagnitude < Float.sqrEpsilon - public static bool operator ==(Vector2Float v1, Vector2Float v2) { - return (v1.horizontal == v2.horizontal && v1.vertical == v2.vertical); - } - - /// - /// Tests if two vectors have different values - /// - /// The first vector - /// The second vector - /// truewhen the vectors have different values - /// Note that this uses a Float equality check which cannot be not exact in all case. - /// In most cases it is better to check if the Vector2.Distance between the vectors is smaller than Float.epsilon. - /// Or more efficient: (v1 - v2).sqrMagnitude < Float.sqrEpsilon - public static bool operator !=(Vector2Float v1, Vector2Float v2) { - return (v1.horizontal != v2.horizontal || v1.vertical != v2.vertical); - } - - /// - /// Tests if the vector is equal to the given object - /// - /// The object to compare to - /// false when the object is not a Vector2 or does not have equal values - public override readonly bool Equals(object obj) { - if (obj is not Vector2Float v) - return false; - - return (horizontal == v.horizontal && vertical == v.vertical); - } - - /// - /// Get an hash code for the vector - /// - /// The hash code - public override readonly int GetHashCode() { - return HashCode.Combine(horizontal, vertical); - } - - /// - /// Get the distance between two vectors - /// - /// The first vector - /// The second vector - /// The distance between the two vectors - public static float Distance(Vector2Float v1, Vector2Float v2) { - float x = v1.horizontal - v2.horizontal; - float y = v1.vertical - v2.vertical; - float d = (float)Math.Sqrt(x * x + y * y); - return d; - } - - /// - /// The dot product of two vectors - /// - /// The first vector - /// The second vector - /// The dot product of the two vectors - public static float Dot(Vector2Float v1, Vector2Float v2) { - return v1.horizontal * v2.horizontal + v1.vertical * v2.vertical; - } - - /// - /// Calculate the signed angle between two vectors. - /// - /// The starting vector - /// The ending vector - /// The axis to rotate around - /// The signed angle in degrees - public static float SignedAngle(Vector2Float from, Vector2Float to) { - //float sign = Math.Sign(v1.y * v2.x - v1.x * v2.y); - //return Vector2.Angle(v1, v2) * sign; - - float sqrMagFrom = from.sqrMagnitude; - float sqrMagTo = to.sqrMagnitude; - - if (sqrMagFrom == 0 || sqrMagTo == 0) - return 0; - //if (!isfinite(sqrMagFrom) || !isfinite(sqrMagTo)) - // return nanf(""); - - float angleFrom = (float)Math.Atan2(from.vertical, from.horizontal); - float angleTo = (float)Math.Atan2(to.vertical, to.horizontal); - return -(angleTo - angleFrom) * AngleFloat.Rad2Deg; - } - - public static float UnsignedAngle(Vector2Float from, Vector2Float to) { - return MathF.Abs(SignedAngle(from, to)); - } - - /// - /// Rotates the vector with the given angle - /// - /// The vector to rotate - /// The angle in degrees - /// - public static Vector2Float Rotate(Vector2Float v1, AngleFloat angle) { - float sin = (float)Math.Sin(angle.inRadians); - float cos = (float)Math.Cos(angle.inRadians); - // float sin = AngleFloat.Sin(angle); - // float cos = AngleFloat.Cos(angle); - - float tx = v1.horizontal; - float ty = v1.vertical; - Vector2Float v = new Vector2Float() { - horizontal = (cos * tx) - (sin * ty), - vertical = (sin * tx) + (cos * ty) - }; - return v; - } - - /// - /// Lerp between two vectors - /// - /// The from vector - /// The to vector - /// The interpolation distance [0..1] - /// The lerped vector - /// The factor f is unclamped. Value 0 matches the *v1* vector, Value 1 - /// matches the *v2* vector Value -1 is *v1* vector minus the difference - /// between *v1* and *v2* etc. - public static Vector2Float Lerp(Vector2Float v1, Vector2Float v2, float f) { - Vector2Float v = v1 + (v2 - v1) * f; - return v; - } - - /// - /// Map interval of angles between vectors [0..Pi] to interval [0..1] - /// - /// The first vector - /// The second vector - /// The resulting factor in interval [0..1] - /// Vectors a and b must be normalized - public static float ToFactor(Vector2Float v1, Vector2Float v2) { - return (1 - Vector2Float.Dot(v1, v2)) / 2; - } - } -} \ No newline at end of file diff --git a/NanoBrain/LinearAlgebra/src/Vector2Int.cs b/NanoBrain/LinearAlgebra/src/Vector2Int.cs deleted file mode 100644 index ed68e8b..0000000 --- a/NanoBrain/LinearAlgebra/src/Vector2Int.cs +++ /dev/null @@ -1,185 +0,0 @@ -using System; - -namespace LinearAlgebra { - - public struct Vector2Int { - public int horizontal; - public int vertical; - - public Vector2Int(int horizontal, int vertical) { - this.horizontal = horizontal; - this.vertical = vertical; - } - - /// - /// A vector with zero for all axis - /// - public static readonly Vector2Int zero = new(0, 0); - /// - /// A vector with values (1, 1) - /// - public static readonly Vector2Int one = new(1, 1); - /// - /// A vector with values (0, 1) - /// - public static readonly Vector2Int up = new(0, 1); - /// - /// A vector with values (0, -1) - /// - public static readonly Vector2Int down = new(0, -1); - /// - /// A vector with values (0, 1) - /// - public static readonly Vector2Int forward = new(0, 1); - /// - /// A vector with values (0, -1) - /// - public static readonly Vector2Int back = new(0, -1); - /// - /// A vector3 with values (-1, 0) - /// - public static readonly Vector2Int left = new(-1, 0); - /// - /// A vector with values (1, 0) - /// - public static readonly Vector2Int right = new(1, 0); - - /* - /// - /// Get an hash code for the vector - /// - /// The hash code - public override int GetHashCode() { - return (this.horizontal, this.vertical).GetHashCode(); - } - - /// - /// Tests if the vector has equal values as the given vector - /// - /// The vector to compare to - /// true if the vector values are equal - public readonly bool Equals(Vector2Int v) => this.horizontal == v.horizontal && vertical == v.vertical; - - */ - - /// - /// Tests if the two vectors have equal values - /// - /// The first vector - /// The second vector - /// truewhen the vectors have equal values - /// Note that this uses a Float equality check which cannot be not exact in all cases. - /// In most cases it is better to check if the Vector2.Distance between the vectors is smaller than Float.epsilon - /// Or more efficient: (v1 - v2).sqrMagnitude < Float.sqrEpsilon - public static bool operator ==(Vector2Int v1, Vector2Int v2) { - return (v1.horizontal == v2.horizontal && v1.vertical == v2.vertical); - } - /// - /// Tests if two vectors have different values - /// - /// The first vector - /// The second vector - /// truewhen the vectors have different values - /// Note that this uses a Float equality check which cannot be not exact in all case. - /// In most cases it is better to check if the Vector2.Distance between the vectors is smaller than Float.epsilon. - /// Or more efficient: (v1 - v2).sqrMagnitude < Float.sqrEpsilon - public static bool operator !=(Vector2Int v1, Vector2Int v2) { - return (v1.horizontal != v2.horizontal || v1.vertical != v2.vertical); - } - - /// - /// Tests if the vector is equal to the given object - /// - /// The object to compare to - /// false when the object is not a Vector2 or does not have equal values - public override readonly bool Equals(object obj) { - if (obj is not Vector2Int v) - return false; - - return (this.horizontal == v.horizontal && this.vertical == v.vertical); - } - - /// - /// Get an hash code for the vector - /// - /// The hash code - public override readonly int GetHashCode() { - return HashCode.Combine(horizontal, vertical); - } - - public readonly float sqrMagnitude => this.horizontal * this.horizontal + this.vertical * this.vertical; - - public static float SqrMagnitudeOf(Vector2Int v) { - return v.sqrMagnitude; - } - - public readonly float magnitude => - MathF.Sqrt(this.horizontal * this.horizontal + this.vertical * this.vertical); - - public static float MagnitudeOf(Vector2Int v) { - return v.magnitude; - } - - /// @brief Convert the vector to a length of 1 - /// @return The vector normalized to a length of 1 - public readonly Vector2Float normalized { - get { - float l = magnitude; - Vector2Float v = Vector2Float.zero; - if (l > Float.epsilon) - v = new Vector2Float(this) / l; - return v; - } - } - /// @brief Convert the vector to a length of 1 - /// @param v The vector to convert - /// @return The vector normalized to a length of 1 - public static Vector2Float Normalize(Vector2Int v) { - float num = v.magnitude; - Vector2Float result = Vector2Float.zero; - if (num > Float.epsilon) - result = new Vector2Float(v) / num; - - return result; - } - - public static Vector2Int operator -(Vector2Int v) { - return new Vector2Int(-v.horizontal, -v.vertical); - } - - public static Vector2Int operator -(Vector2Int v1, Vector2Int v2) { - return new Vector2Int(v1.horizontal - v2.horizontal, v1.vertical - v2.vertical); - } - public static Vector2Int operator +(Vector2Int v1, Vector2Int v2) { - return new Vector2Int(v1.horizontal + v2.horizontal, v1.vertical + v2.vertical); - } - - public static Vector2Int operator /(Vector2Int v, int f) { - return new Vector2Int(v.horizontal / f, v.vertical / f); - } - - public static Vector2Int operator *(Vector2Int v1, int d) { - return new Vector2Int(v1.horizontal * d, v1.vertical * d); - } - - public static Vector2Int operator *(int d, Vector2Int v1) { - return new Vector2Int(d * v1.horizontal, d * v1.vertical); - } - - public static Vector2Int Scale(Vector2Int v1, Vector2Int v2) { - return new Vector2Int(v1.horizontal * v2.horizontal, v1.vertical * v2.vertical); - } - - /// @brief The dot product of two vectors - /// @param v1 The first vector - /// @param v2 The second vector - /// @return The dot product of the two vectors - public static int Dot(Vector2Int v1, Vector2Int v2) { - return v1.horizontal * v2.horizontal + v1.vertical * v2.vertical; - } - - public static float Distance(Vector2Int v1, Vector2Int v2) { - return (v1 - v2).magnitude; - } - } -} \ No newline at end of file diff --git a/NanoBrain/LinearAlgebra/src/Vector3Float.cs b/NanoBrain/LinearAlgebra/src/Vector3Float.cs deleted file mode 100644 index bcf8626..0000000 --- a/NanoBrain/LinearAlgebra/src/Vector3Float.cs +++ /dev/null @@ -1,402 +0,0 @@ -//#if !UNITY_5_3_OR_NEWER -using System; - -namespace LinearAlgebra { - /* - public struct Vector3Float { - public float horizontal; - public float vertical; - public float depth; - - public Vector3Float(float horizontal, float vertical, float depth) { - this.horizontal = horizontal; - this.vertical = vertical; - this.depth = depth; - } - - /// - /// A vector with zero for all axis - /// - public static readonly Vector3Float zero = new(0, 0, 0); - - public readonly float magnitude { - get => (float)Math.Sqrt(this.horizontal * this.horizontal + this.vertical * this.vertical + this.depth * this.depth); - } - - /// - /// Convert the vector to a length of a 1 - /// - /// The vector with length 1 - public readonly Vector3Float normalized { - get { - float l = magnitude; - Vector3Float v = zero; - if (l > Float.epsilon) - v = this / l; - return v; - } - } - - - public static Vector3Float operator *(Vector3Float v, float f) { - Vector3Float r = new(v.horizontal * f, v.vertical * f, v.depth * f); - return r; - } - public static Vector3Float operator /(Vector3Float v, float f) { - Vector3Float r = new(v.horizontal / f, v.vertical / f, v.depth / f); - return r; - } - - public static float Dot(Vector3Float v1, Vector3Float v2) { - return v1.horizontal * v2.horizontal + v1.vertical * v2.vertical + - v1.depth * v2.depth; - } - - const float epsilon = 1E-05f; - public static Vector3Float Project(Vector3Float v, Vector3Float n) { - float sqrMagnitude = Dot(n, n); - if (sqrMagnitude < epsilon) - return zero; - else { - float dot = Dot(v, n); - Vector3Float r = n * dot; - r /= sqrMagnitude; - return r; - } - - } - } - */ - - /// - /// 3-dimensional vectors - /// - /// This uses the right-handed coordinate system. - public struct Vector3Float { - - /// - /// The right axis of the vector - /// - public float horizontal; //> left/right - /// - /// The upward axis of the vector - /// - public float vertical; //> up/down - /// - /// The forward axis of the vector - /// - public float depth; //> forward/backward - - /// - /// Create a new 3-dimensional vector - /// - /// x axis value - /// y axis value - /// z axis value - public Vector3Float(float horizontal, float vertical, float depth) { - this.horizontal = horizontal; - this.vertical = vertical; - this.depth = depth; - } - - public Vector3Float(Vector3Int v) { - this.horizontal = v.horizontal; - this.vertical = v.vertical; - this.depth = v.depth; - } - - public static Vector3Float FromSpherical(Spherical s) { - float verticalRad = (AngleFloat.deg90 - s.direction.vertical).inRadians; - float horizontalRad = s.direction.horizontal.inRadians; - float cosVertical = MathF.Cos(verticalRad); - float sinVertical = MathF.Sin(verticalRad); - float cosHorizontal = MathF.Cos(horizontalRad); - float sinHorizontal = MathF.Sin(horizontalRad); - - float horizontal = s.distance * sinVertical * sinHorizontal; - float vertical = s.distance * cosVertical; - float depth = s.distance * sinVertical * cosHorizontal; - return new Vector3Float(horizontal, vertical, depth); - } - - public override string ToString() { - return $"({this.horizontal}, {this.vertical}, {this.depth})"; - } - - /// - /// A vector with zero for all axis - /// - public static readonly Vector3Float zero = new Vector3Float(0, 0, 0); - /// - /// A vector with one for all axis - /// - public static readonly Vector3Float one = new Vector3Float(1, 1, 1); - /// - /// A Vector3Float with values (-1, 0, 0) - /// - public static readonly Vector3Float left = new Vector3Float(-1, 0, 0); - /// - /// A vector with values (1, 0, 0) - /// - public static readonly Vector3Float right = new Vector3Float(1, 0, 0); - /// - /// A vector with values (0, -1, 0) - /// - public static readonly Vector3Float down = new Vector3Float(0, -1, 0); - /// - /// A vector with values (0, 1, 0) - /// - public static readonly Vector3Float up = new Vector3Float(0, 1, 0); - /// - /// A vector with values (0, 0, -1) - /// - public static readonly Vector3Float back = new Vector3Float(0, -1, 0); - /// - /// A vector with values (0, 0, 1) - /// - public static readonly Vector3Float forward = new Vector3Float(0, 1, 0); - - /// @brief The vector length - /// @return The vector length - public readonly float magnitude => MathF.Sqrt(horizontal * horizontal + vertical * vertical + depth * depth); - /// - /// The vector length - /// - /// The vector for which you need the length - /// The vector length - public static float MagnitudeOf(Vector3Float v) { - return v.magnitude; - } - - /// @brief The squared vector length - /// @return The squared vector length - /// @remark The squared length is computationally simpler than the real - /// length. Think of Pythagoras A^2 + B^2 = C^2. This leaves out the - /// calculation of the squared root of C. - public readonly float sqrMagnitude => (horizontal * horizontal + vertical * vertical + depth * depth); - - /// - /// The squared vector length - /// - /// The vector for which you need the squared length - /// The squared vector length - /// The squared length is computationally simpler than the real - /// length. Think of Pythagoras A^2 + B^2 = C^2. This leaves out the - /// calculation of the squared root of C. - public static float SqrMagnitudeOf(Vector3Float v) { - return v.sqrMagnitude; - } - - /// @brief Convert the vector to a length of 1 - /// @return The vector normalized to a length of 1 - public readonly Vector3Float normalized { - get { - float l = magnitude; - Vector3Float v = zero; - if (l > Float.epsilon) - v = this / l; - return v; - } - } - /// @brief Convert the vector to a length of 1 - /// @param v The vector to convert - /// @return The vector normalized to a length of 1 - public static Vector3Float Normalize(Vector3Float v) { - float num = v.magnitude; - Vector3Float result = zero; - if (num > Float.epsilon) - result = v / num; - - return result; - } - - /// - /// Negate te vector such that it points in the opposite direction - /// - /// - /// The negated vector - public static Vector3Float operator -(Vector3Float v1) { - Vector3Float v = new(-v1.horizontal, -v1.vertical, -v1.depth); - return v; - } - - /// - /// Subtract two vectors - /// - /// - /// - /// The result of the subtraction - public static Vector3Float operator -(Vector3Float v1, Vector3Float v2) { - Vector3Float v = new(v1.horizontal - v2.horizontal, v1.vertical - v2.vertical, v1.depth - v2.depth); - return v; - } - - /// - /// Add two vectors - /// - /// - /// - /// The result of the addition - public static Vector3Float operator +(Vector3Float v1, Vector3Float v2) { - Vector3Float v = new(v1.horizontal + v2.horizontal, v1.vertical + v2.vertical, v1.depth + v2.depth); - return v; - } - - /// @brief Scale the vector using another vector - /// @param v1 The vector to scale - /// @param v2 A vector with the scaling factors - /// @return The scaled vector - /// @remark Each component of the vector v1 will be multiplied with the - /// matching component from the scaling vector v2. - public static Vector3Float Scale(Vector3Float v1, Vector3Float v2) { - return new Vector3Float(v1.horizontal * v2.horizontal, v1.vertical * v2.vertical, v1.depth * v2.depth); - } - - - public static Vector3Float operator *(Vector3Float v1, float d) { - Vector3Float v = new(v1.horizontal * d, v1.vertical * d, v1.depth * d); - return v; - } - - public static Vector3Float operator *(float d, Vector3Float v1) { - Vector3Float v = new(d * v1.horizontal, d * v1.vertical, d * v1.depth); - return v; - } - - public static Vector3Float operator /(Vector3Float v1, float d) { - Vector3Float v = new(v1.horizontal / d, v1.vertical / d, v1.depth / d); - return v; - } - - - //public bool Equals(Vector3Float v) => (horizontal == v.horizontal && vertical == v.vertical && depth == v.depth); - - public static bool operator ==(Vector3Float v1, Vector3Float v2) { - return (v1.horizontal == v2.horizontal && v1.vertical == v2.vertical && v1.depth == v2.depth); - } - - public static bool operator !=(Vector3Float v1, Vector3Float v2) { - return (v1.horizontal != v2.horizontal || v1.vertical != v2.vertical || v1.depth != v2.depth); - } - - public override readonly bool Equals(object obj) { - if (obj is not Vector3Float v) - return false; - - return (horizontal == v.horizontal && vertical == v.vertical && depth == v.depth); - } - - public override readonly int GetHashCode() { - return HashCode.Combine(horizontal, vertical, depth); - } - - /// @brief The distance between two vectors - /// @param v1 The first vector - /// @param v2 The second vector - /// @return The distance between the two vectors - public static float Distance(Vector3Float v1, Vector3Float v2) { - return (v2 - v1).magnitude; - } - - /// @brief The dot product of two vectors - /// @param v1 The first vector - /// @param v2 The second vector - /// @return The dot product of the two vectors - public static float Dot(Vector3Float v1, Vector3Float v2) { - return v1.horizontal * v2.horizontal + v1.vertical * v2.vertical + v1.depth * v2.depth; - } - - /// @brief The cross product of two vectors - /// @param v1 The first vector - /// @param v2 The second vector - /// @return The cross product of the two vectors - public static Vector3Float Cross(Vector3Float v1, Vector3Float v2) { - return new Vector3Float(v1.vertical * v2.depth - v1.depth * v2.vertical, v1.depth * v2.horizontal - v1.horizontal * v2.depth, - v1.horizontal * v2.vertical - v1.vertical * v2.horizontal); - - } - - /// @brief Project the vector on another vector - /// @param v The vector to project - /// @param n The normal vecto to project on - /// @return The projected vector - public static Vector3Float Project(Vector3Float v, Vector3Float n) { - float sqrMagnitude = Dot(n, n); - if (sqrMagnitude < Float.epsilon) - return zero; - else { - float dot = Dot(v, n); - Vector3Float r = n * dot / sqrMagnitude; - return r; - } - } - - /// @brief Project the vector on a plane defined by a normal orthogonal to the - /// plane. - /// @param v The vector to project - /// @param n The normal of the plane to project on - /// @return Teh projected vector - public static Vector3Float ProjectOnPlane(Vector3Float v, Vector3Float n) { - Vector3Float r = v - Project(v, n); - return r; - } - - /// @brief The angle between two vectors - /// @param v1 The first vector - /// @param v2 The second vector - /// @return The angle between the two vectors - /// @remark This reterns an unsigned angle which is the shortest distance - /// between the two vectors. Use Vector3::SignedAngle if a signed angle is - /// needed. - public static AngleFloat UnsignedAngle(Vector3Float v1, Vector3Float v2) { - float denominator = MathF.Sqrt(v1.sqrMagnitude * v2.sqrMagnitude); - if (denominator < Float.epsilon) - return AngleFloat.zero; - - float dot = Dot(v1, v2); - float fraction = dot / denominator; - if (float.IsNaN(fraction)) - return AngleFloat.Degrees( - fraction); // short cut to returning NaN universally - - float cdot = Float.Clamp(fraction, -1.0f, 1.0f); - float r = MathF.Acos(cdot); - return AngleFloat.Radians(r); - } - /// @brief The signed angle between two vectors - /// @param v1 The starting vector - /// @param v2 The ending vector - /// @param axis The axis to rotate around - /// @return The signed angle between the two vectors - public static AngleFloat SignedAngle(Vector3Float v1, Vector3Float v2, - Vector3Float axis) { - // angle in [0,180] - AngleFloat angle = UnsignedAngle(v1, v2); - - Vector3Float cross = Cross(v1, v2); - float b = Dot(axis, cross); - float signd = b < 0 ? -1.0F : (b > 0 ? 1.0F : 0.0F); - - // angle in [-179,180] - AngleFloat signed_angle = angle * signd; - - return signed_angle; - } - - - /// @brief Lerp (linear interpolation) between two vectors - /// @param v1 The starting vector - /// @param v2 The ending vector - /// @param f The interpolation distance - /// @return The lerped vector - /// @remark The factor f is unclamped. Value 0 matches the vector *v1*, Value - /// 1 matches vector *v2*. Value -1 is vector *v1* minus the difference - /// between *v1* and *v2* etc. - public static Vector3Float Lerp(Vector3Float v1, Vector3Float v2, float f) { - Vector3Float v = v1 + (v2 - v1) * f; - return v; - } - - } -} -//#endif \ No newline at end of file diff --git a/NanoBrain/LinearAlgebra/src/Vector3Int.cs b/NanoBrain/LinearAlgebra/src/Vector3Int.cs deleted file mode 100644 index 18edf40..0000000 --- a/NanoBrain/LinearAlgebra/src/Vector3Int.cs +++ /dev/null @@ -1,273 +0,0 @@ -//#if !UNITY_5_3_OR_NEWER -using System; - -namespace LinearAlgebra { - - /// - /// 3-dimensional vectors - /// - /// This uses the right-handed coordinate system. - /// - /// Create a new 3-dimensional vector - /// - /// x axis value - /// y axis value - /// z axis value - public struct Vector3Int { - - /// - /// The right axis of the vector - /// - public int horizontal; //> left/right - /// - /// The upward axis of the vector - /// - public int vertical; //> up/down - /// - /// The forward axis of the vector - /// - public int depth; //> forward/backward - - public Vector3Int(int horizontal, int vertical, int depth) { - this.horizontal = horizontal; - this.vertical = vertical; - this.depth = depth; - } - - /// - /// A vector with zero for all axis - /// - public static readonly Vector3Int zero = new(0, 0, 0); - /// - /// A vector with one for all axis - /// - public static readonly Vector3Int one = new(1, 1, 1); - /// - /// A Vector3Int with values (-1, 0, 0) - /// - public static readonly Vector3Int left = new(-1, 0, 0); - /// - /// A vector with values (1, 0, 0) - /// - public static readonly Vector3Int right = new(1, 0, 0); - /// - /// A vector with values (0, -1, 0) - /// - public static readonly Vector3Int down = new(0, -1, 0); - /// - /// A vector with values (0, 1, 0) - /// - public static readonly Vector3Int up = new(0, 1, 0); - /// - /// A vector with values (0, 0, -1) - /// - public static readonly Vector3Int back = new(0, -1, 0); - /// - /// A vector with values (0, 0, 1) - /// - public static readonly Vector3Int forward = new(0, 1, 0); - - /// @brief The vector length - /// @return The vector length - public readonly float magnitude => MathF.Sqrt(horizontal * horizontal + vertical * vertical + depth * depth); - /// - /// The vector length - /// - /// The vector for which you need the length - /// The vector length - public static float MagnitudeOf(Vector3Int v) { - return v.magnitude; - } - - /// @brief The squared vector length - /// @return The squared vector length - /// @remark The squared length is computationally simpler than the real - /// length. Think of Pythagoras A^2 + B^2 = C^2. This leaves out the - /// calculation of the squared root of C. - public readonly float sqrMagnitude => (horizontal * horizontal + vertical * vertical + depth * depth); - - /// - /// The squared vector length - /// - /// The vector for which you need the squared length - /// The squared vector length - /// The squared length is computationally simpler than the real - /// length. Think of Pythagoras A^2 + B^2 = C^2. This leaves out the - /// calculation of the squared root of C. - public static float SqrMagnitudeOf(Vector3Int v) { - return v.sqrMagnitude; - } - - /// @brief Convert the vector to a length of 1 - /// @return The vector normalized to a length of 1 - public readonly Vector3Float normalized { - get { - float l = magnitude; - Vector3Float v = Vector3Float.zero; - if (l > Float.epsilon) - v = new Vector3Float(this) / l; - return v; - } - } - /// @brief Convert the vector to a length of 1 - /// @param v The vector to convert - /// @return The vector normalized to a length of 1 - public static Vector3Float Normalize(Vector3Int v) { - float num = v.magnitude; - Vector3Float result = Vector3Float.zero; - if (num > Float.epsilon) - result = new Vector3Float(v) / num; - - return result; - } - - /// - /// Negate te vector such that it points in the opposite direction - /// - /// - /// The negated vector - public static Vector3Int operator -(Vector3Int v1) { - Vector3Int v = new(-v1.horizontal, -v1.vertical, -v1.depth); - return v; - } - - /// - /// Subtract two vectors - /// - /// - /// - /// The result of the subtraction - public static Vector3Int operator -(Vector3Int v1, Vector3Int v2) { - Vector3Int v = new(v1.horizontal - v2.horizontal, v1.vertical - v2.vertical, v1.depth - v2.depth); - return v; - } - - /// - /// Add two vectors - /// - /// - /// - /// The result of the addition - public static Vector3Int operator +(Vector3Int v1, Vector3Int v2) { - Vector3Int v = new(v1.horizontal + v2.horizontal, v1.vertical + v2.vertical, v1.depth + v2.depth); - return v; - } - - /// @brief Scale the vector using another vector - /// @param v1 The vector to scale - /// @param v2 A vector with the scaling factors - /// @return The scaled vector - /// @remark Each component of the vector v1 will be multiplied with the - /// matching component from the scaling vector v2. - public static Vector3Int Scale(Vector3Int v1, Vector3Int v2) { - return new Vector3Int(v1.horizontal * v2.horizontal, v1.vertical * v2.vertical, v1.depth * v2.depth); - } - - - public static Vector3Int operator *(Vector3Int v1, int d) { - Vector3Int v = new(v1.horizontal * d, v1.vertical * d, v1.depth * d); - return v; - } - - public static Vector3Int operator *(int d, Vector3Int v1) { - Vector3Int v = new(d * v1.horizontal, d * v1.vertical, d * v1.depth); - return v; - } - - public static Vector3Int operator /(Vector3Int v1, int d) { - Vector3Int v = new(v1.horizontal / d, v1.vertical / d, v1.depth / d); - return v; - } - - public bool Equals(Vector3Int v) => (horizontal == v.horizontal && vertical == v.vertical && depth == v.depth); - - public override bool Equals(object obj) { - if (!(obj is Vector3Int v)) - return false; - - return (horizontal == v.horizontal && vertical == v.vertical && depth == v.depth); - } - - public static bool operator ==(Vector3Int v1, Vector3Int v2) { - return (v1.horizontal == v2.horizontal && v1.vertical == v2.vertical && v1.depth == v2.depth); - } - - public static bool operator !=(Vector3Int v1, Vector3Int v2) { - return (v1.horizontal != v2.horizontal || v1.vertical != v2.vertical || v1.depth != v2.depth); - } - - public override int GetHashCode() { - return (horizontal, vertical, depth).GetHashCode(); - } - - /// @brief The distance between two vectors - /// @param v1 The first vector - /// @param v2 The second vector - /// @return The distance between the two vectors - public static float Distance(Vector3Int v1, Vector3Int v2) { - return (v2 - v1).magnitude; - } - - /// @brief The dot product of two vectors - /// @param v1 The first vector - /// @param v2 The second vector - /// @return The dot product of the two vectors - public static float Dot(Vector3Int v1, Vector3Int v2) { - return v1.horizontal * v2.horizontal + v1.vertical * v2.vertical + v1.depth * v2.depth; - } - - /// @brief The cross product of two vectors - /// @param v1 The first vector - /// @param v2 The second vector - /// @return The cross product of the two vectors - public static Vector3Int Cross(Vector3Int v1, Vector3Int v2) { - return new Vector3Int(v1.vertical * v2.depth - v1.depth * v2.vertical, v1.depth * v2.horizontal - v1.horizontal * v2.depth, - v1.horizontal * v2.vertical - v1.vertical * v2.horizontal); - - } - - /// @brief The angle between two vectors - /// @param v1 The first vector - /// @param v2 The second vector - /// @return The angle between the two vectors - /// @remark This reterns an unsigned angle which is the shortest distance - /// between the two vectors. Use Vector3::SignedAngle if a signed angle is - /// needed. - public static AngleFloat UnsignedAngle(Vector3Int v1, Vector3Int v2) { - float denominator = MathF.Sqrt(v1.sqrMagnitude * v2.sqrMagnitude); - if (denominator < Float.epsilon) - return AngleFloat.zero; - - float dot = Dot(v1, v2); - float fraction = dot / denominator; - if (float.IsNaN(fraction)) - return AngleFloat.Degrees( - fraction); // short cut to returning NaN universally - - float cdot = Float.Clamp(fraction, -1.0f, 1.0f); - float r = MathF.Acos(cdot); - return AngleFloat.Radians(r); - } - /// @brief The signed angle between two vectors - /// @param v1 The starting vector - /// @param v2 The ending vector - /// @param axis The axis to rotate around - /// @return The signed angle between the two vectors - public static AngleFloat SignedAngle(Vector3Int v1, Vector3Int v2, - Vector3Int axis) { - // angle in [0,180] - AngleFloat angle = UnsignedAngle(v1, v2); - - Vector3Int cross = Cross(v1, v2); - float b = Dot(axis, cross); - float signd = b < 0 ? -1.0F : (b > 0 ? 1.0F : 0.0F); - - // angle in [-179,180] - AngleFloat signed_angle = angle * signd; - - return signed_angle; - } - - } -} -//#endif \ No newline at end of file diff --git a/NanoBrain/LinearAlgebra/src/float16.cs b/NanoBrain/LinearAlgebra/src/float16.cs deleted file mode 100644 index 4b58cdd..0000000 --- a/NanoBrain/LinearAlgebra/src/float16.cs +++ /dev/null @@ -1,322 +0,0 @@ -using System; - -namespace LinearAlgebra { - - public class float16 { - // - // FILE: float16.cpp - // AUTHOR: Rob Tillaart - // VERSION: 0.1.8 - // PURPOSE: library for Float16s for Arduino - // URL: http://en.wikipedia.org/wiki/Half-precision_floating-point_format - - ushort _value; - - public float16() { _value = 0; } - - public float16(float f) { - //_value = f32tof16(f); - _value = F32ToF16__(f); - } - - public float toFloat() { - return f16tof32(_value); - } - - public ushort GetBinary() { return _value; } - public void SetBinary(ushort value) { _value = value; } - - ////////////////////////////////////////////////////////// - // - // EQUALITIES - // - /* - bool float16::operator ==(const float16 &f) { return (_value == f._value); } - - bool float16::operator !=(const float16 &f) { return (_value != f._value); } - - bool float16::operator >(const float16 &f) { - if ((_value & 0x8000) && (f._value & 0x8000)) - return _value < f._value; - if (_value & 0x8000) - return false; - if (f._value & 0x8000) - return true; - return _value > f._value; - } - - bool float16::operator >=(const float16 &f) { - if ((_value & 0x8000) && (f._value & 0x8000)) - return _value <= f._value; - if (_value & 0x8000) - return false; - if (f._value & 0x8000) - return true; - return _value >= f._value; - } - - bool float16::operator <(const float16 &f) { - if ((_value & 0x8000) && (f._value & 0x8000)) - return _value > f._value; - if (_value & 0x8000) - return true; - if (f._value & 0x8000) - return false; - return _value < f._value; - } - - bool float16::operator <=(const float16 &f) { - if ((_value & 0x8000) && (f._value & 0x8000)) - return _value >= f._value; - if (_value & 0x8000) - return true; - if (f._value & 0x8000) - return false; - return _value <= f._value; - } - - ////////////////////////////////////////////////////////// - // - // NEGATION - // - float16 float16::operator -() { - float16 f16; - f16.setBinary(_value ^ 0x8000); - return f16; - } - - ////////////////////////////////////////////////////////// - // - // MATH - // - float16 float16::operator +(const float16 &f) { - return float16(this->toDouble() + f.toDouble()); - } - - float16 float16::operator -(const float16 &f) { - return float16(this->toDouble() - f.toDouble()); - } - - float16 float16::operator *(const float16 &f) { - return float16(this->toDouble() * f.toDouble()); - } - - float16 float16::operator /(const float16 &f) { - return float16(this->toDouble() / f.toDouble()); - } - - float16 & float16::operator+=(const float16 &f) { - *this = this->toDouble() + f.toDouble(); - return *this; - } - - float16 & float16::operator-=(const float16 &f) { - *this = this->toDouble() - f.toDouble(); - return *this; - } - - float16 & float16::operator*=(const float16 &f) { - *this = this->toDouble() * f.toDouble(); - return *this; - } - - float16 & float16::operator/=(const float16 &f) { - *this = this->toDouble() / f.toDouble(); - return *this; - } - - ////////////////////////////////////////////////////////// - // - // MATH HELPER FUNCTIONS - // - int float16::sign() { - if (_value & 0x8000) - return -1; - if (_value & 0xFFFF) - return 1; - return 0; - } - - bool float16::isZero() { return ((_value & 0x7FFF) == 0x0000); } - - bool float16::isNaN() { - if ((_value & 0x7C00) != 0x7C00) - return false; - if ((_value & 0x03FF) == 0x0000) - return false; - return true; - } - - bool float16::isInf() { return ((_value == 0x7C00) || (_value == 0xFC00)); } - */ - ////////////////////////////////////////////////////////// - // - // CORE CONVERSION - // - float f16tof32(ushort _value) { - //ushort sgn; - ushort man; - int exp; - float f; - - //Debug.Log($"{_value}"); - - bool sgn = (_value & 0x8000) > 0; - exp = (_value & 0x7C00) >> 10; - man = (ushort)(_value & 0x03FF); - - //Debug.Log($"{sgn} {exp} {man}"); - - // ZERO - if ((_value & 0x7FFF) == 0) { - return sgn ? -0 : 0; - } - // NAN & INF - if (exp == 0x001F) { - if (man == 0) - return sgn ? float.NegativeInfinity : float.PositiveInfinity; //-INFINITY : INFINITY; - else - return float.NaN; // NAN; - } - - // SUBNORMAL/NORMAL - if (exp == 0) - f = 0; - else - f = 1; - - // PROCESS MANTISSE - for (int i = 9; i >= 0; i--) { - f *= 2; - if ((man & (1 << i)) != 0) - f = f + 1; - } - //Debug.Log($"{f}"); - f = f * (float)Math.Pow(2.0f, exp - 25); - if (exp == 0) { - f = f * (float)Math.Pow(2.0f, -13); // 5.96046447754e-8; - } - //Debug.Log($"{f}"); - return sgn ? -f : f; - } - - public static uint SingleToInt32Bits(float value) { - byte[] bytes = BitConverter.GetBytes(value); - if (BitConverter.IsLittleEndian) - Array.Reverse(bytes); // If the system is little-endian, reverse the byte order - return BitConverter.ToUInt32(bytes, 0); - } - - public ushort F32ToF16__(float f) { - uint t = BitConverter.ToUInt32(BitConverter.GetBytes(f), 0); - ushort man = (ushort)((t & 0x007FFFFF) >> 12); - int exp = (int)((t & 0x7F800000) >> 23); - bool sgn = (t & 0x80000000) != 0; - - // handle 0 - if ((t & 0x7FFFFFFF) == 0) { - return sgn ? (ushort)0x8000 : (ushort)0x0000; - } - // denormalized float32 does not fit in float16 - if (exp == 0x00) { - return sgn ? (ushort)0x8000 : (ushort)0x0000; - } - // handle infinity & NAN - if (exp == 0x00FF) { - if (man != 0) - return 0xFE00; // NAN - return sgn ? (ushort)0xFC00 : (ushort)0x7C00; // -INF : INF - } - - // normal numbers - exp = exp - 127 + 15; - // overflow does not fit => INF - if (exp > 30) { - return sgn ? (ushort)0xFC00 : (ushort)0x7C00; // -INF : INF - } - // subnormal numbers - if (exp < -38) { - return sgn ? (ushort)0x8000 : (ushort)0x0000; // -0 or 0 ? just 0 ? - } - if (exp <= 0) // subnormal - { - man >>= (exp + 14); - // rounding - man++; - man >>= 1; - if (sgn) - return (ushort)(0x8000 | man); - return man; - } - - // normal - // TODO rounding - exp <<= 10; - man++; - man >>= 1; - if (sgn) - return (ushort)(0x8000 | exp | man); - return (ushort)(exp | man); - } - - //This function is faulty!!!! - ushort f32tof16(float f) { - //uint t = *(uint*)&f; - //uint t = (uint)BitConverter.SingleToInt32Bits(f); - uint t = SingleToInt32Bits(f); - // man bits = 10; but we keep 11 for rounding - ushort man = (ushort)((t & 0x007FFFFF) >> 12); - short exp = (short)((t & 0x7F800000) >> 23); - bool sgn = (t & 0x80000000) != 0; - - // handle 0 - if ((t & 0x7FFFFFFF) == 0) { - return sgn ? (ushort)0x8000 : (ushort)0x0000; - } - // denormalized float32 does not fit in float16 - if (exp == 0x00) { - return sgn ? (ushort)0x8000 : (ushort)0x0000; - } - // handle infinity & NAN - if (exp == 0x00FF) { - if (man != 0) - return 0xFE00; // NAN - return sgn ? (ushort)0xFC00 : (ushort)0x7C00; // -INF : INF - } - - // normal numbers - exp = (short)(exp - 127 + 15); - // overflow does not fit => INF - if (exp > 30) { - return sgn ? (ushort)0xFC00 : (ushort)0x7C00; // -INF : INF - } - // subnormal numbers - if (exp < -38) { - return sgn ? (ushort)0x8000 : (ushort)0x0000; // -0 or 0 ? just 0 ? - } - if (exp <= 0) // subnormal - { - man >>= (exp + 14); - // rounding - man++; - man >>= 1; - if (sgn) - return (ushort)(0x8000 | man); - return man; - } - - // normal - // TODO rounding - exp <<= 10; - man++; - man >>= 1; - ushort uexp = (ushort)exp; - if (sgn) - return (ushort)(0x8000 | uexp | man); - return (ushort)(uexp | man); - } - - // -- END OF FILE -- - } - -} \ No newline at end of file diff --git a/NanoBrain/LinearAlgebra/test/AngleTest.cs b/NanoBrain/LinearAlgebra/test/AngleTest.cs deleted file mode 100644 index 8362d82..0000000 --- a/NanoBrain/LinearAlgebra/test/AngleTest.cs +++ /dev/null @@ -1,501 +0,0 @@ -#if !UNITY_5_6_OR_NEWER -using System; -using System.Formats.Asn1; -using NUnit.Framework; - -namespace LinearAlgebra.Test { - public class AngleTests { - [SetUp] - public void Setup() { - } - - [Test] - public void Construct() { - // Degrees - float angle = 0.0f; - AngleFloat a = AngleFloat.Degrees(angle); - Assert.AreEqual(angle, a.inDegrees); - - angle = -180.0f; - a = AngleFloat.Degrees(angle); - Assert.AreEqual(angle, a.inDegrees); - - angle = 270.0f; - a = AngleFloat.Degrees(angle); - Assert.AreEqual(-90, a.inDegrees); - - angle = -270.0f; - a = AngleFloat.Degrees(angle); - Assert.AreEqual(90, a.inDegrees); - - // Radians - angle = 0.0f; - a = AngleFloat.Radians(angle); - Assert.AreEqual(angle, a.inRadians); - - angle = (float)-Math.PI; - a = AngleFloat.Radians(angle); - Assert.AreEqual(angle, a.inRadians); - - angle = (float)Math.PI * 1.5f; - a = AngleFloat.Radians(angle); - Assert.AreEqual(-Math.PI * 0.5f, a.inRadians, 1.0E-05F); - - // Revolutions - angle = 0.0f; - a = AngleFloat.Revolutions(angle); - Assert.AreEqual(angle, a.inRevolutions); - - angle = -0.5f; - a = AngleFloat.Revolutions(angle); - Assert.AreEqual(angle, a.inRevolutions); - - angle = 0.75f; - a = AngleFloat.Revolutions(angle); - Assert.AreEqual(-0.25f, a.inRevolutions); - - } - - [Test] - public void Revolutions() { - AngleFloat a; - - // Test zero - a = AngleFloat.Revolutions(0.0f); - Assert.AreEqual(0.0f, a.inRevolutions); - - // Test positive values within range - a = AngleFloat.Revolutions(0.25f); - Assert.AreEqual(0.25f, a.inRevolutions); - - a = AngleFloat.Revolutions(0.5f); - Assert.AreEqual(-0.5f, a.inRevolutions); - - // Test negative values within range - a = AngleFloat.Revolutions(-0.25f); - Assert.AreEqual(-0.25f, a.inRevolutions); - - a = AngleFloat.Revolutions(-0.5f); - Assert.AreEqual(-0.5f, a.inRevolutions); - - // Test values outside range (positive) - a = AngleFloat.Revolutions(1.0f); - Assert.AreEqual(0.0f, a.inRevolutions); - - a = AngleFloat.Revolutions(1.25f); - Assert.AreEqual(0.25f, a.inRevolutions); - - a = AngleFloat.Revolutions(1.75f); - Assert.AreEqual(-0.25f, a.inRevolutions); - - // Test values outside range (negative) - a = AngleFloat.Revolutions(-1.0f); - Assert.AreEqual(0.0f, a.inRevolutions); - - a = AngleFloat.Revolutions(-1.25f); - Assert.AreEqual(-0.25f, a.inRevolutions); - - a = AngleFloat.Revolutions(-1.75f); - Assert.AreEqual(0.25f, a.inRevolutions); - - // Test infinity - a = AngleFloat.Revolutions(float.PositiveInfinity); - Assert.AreEqual(float.PositiveInfinity, a.inRevolutions); - - a = AngleFloat.Revolutions(float.NegativeInfinity); - Assert.AreEqual(float.NegativeInfinity, a.inRevolutions); - } - - [Test] - public void Equality() { - // Test equality operator - Assert.IsTrue(AngleFloat.Degrees(90) == AngleFloat.Degrees(90), "90 == 90"); - Assert.IsFalse(AngleFloat.Degrees(90) == AngleFloat.Degrees(45), "90 == 45"); - Assert.IsTrue(AngleFloat.Degrees(0) == AngleFloat.Degrees(0), "0 == 0"); - Assert.IsTrue(AngleFloat.Degrees(-180) == AngleFloat.Degrees(-180), "-180 == -180"); - - // Test inequality operator - Assert.IsTrue(AngleFloat.Degrees(90) != AngleFloat.Degrees(45), "90 != 45"); - Assert.IsFalse(AngleFloat.Degrees(90) != AngleFloat.Degrees(90), "90 != 90"); - Assert.IsTrue(AngleFloat.Degrees(0) != AngleFloat.Degrees(1), "0 != 1"); - - // Test greater than operator - Assert.IsTrue(AngleFloat.Degrees(90) > AngleFloat.Degrees(45), "90 > 45"); - Assert.IsFalse(AngleFloat.Degrees(45) > AngleFloat.Degrees(90), "45 > 90"); - Assert.IsFalse(AngleFloat.Degrees(90) > AngleFloat.Degrees(90), "90 > 90"); - - // Test greater than or equal operator - Assert.IsTrue(AngleFloat.Degrees(90) >= AngleFloat.Degrees(45), "90 >= 45"); - Assert.IsTrue(AngleFloat.Degrees(90) >= AngleFloat.Degrees(90), "90 >= 90"); - Assert.IsFalse(AngleFloat.Degrees(45) >= AngleFloat.Degrees(90), "45 >= 90"); - - // Test less than operator - Assert.IsTrue(AngleFloat.Degrees(45) < AngleFloat.Degrees(90), "45 < 90"); - Assert.IsFalse(AngleFloat.Degrees(90) < AngleFloat.Degrees(45), "90 < 45"); - Assert.IsFalse(AngleFloat.Degrees(90) < AngleFloat.Degrees(90), "90 < 90"); - - // Test less than or equal operator - Assert.IsTrue(AngleFloat.Degrees(45) <= AngleFloat.Degrees(90), "45 <= 90"); - Assert.IsTrue(AngleFloat.Degrees(90) <= AngleFloat.Degrees(90), "90 <= 90"); - Assert.IsFalse(AngleFloat.Degrees(90) <= AngleFloat.Degrees(45), "90 <= 45"); - } - - // [Test] - // public void Normalize() { - // float r = 0; - - // r = Angle.Normalize(90); - // Assert.AreEqual(r, 90, "Normalize 90"); - - // r = Angle.Normalize(-90); - // Assert.AreEqual(r, -90, "Normalize -90"); - - // r = Angle.Normalize(270); - // Assert.AreEqual(r, -90, "Normalize 270"); - - // r = Angle.Normalize(270 + 360); - // Assert.AreEqual(r, -90, "Normalize 270+360"); - - // r = Angle.Normalize(-270); - // Assert.AreEqual(r, 90, "Normalize -270"); - - // r = Angle.Normalize(-270 - 360); - // Assert.AreEqual(r, 90, "Normalize -270-360"); - - // r = Angle.Normalize(0); - // Assert.AreEqual(r, 0, "Normalize 0"); - - // r = Angle.Normalize(float.PositiveInfinity); - // Assert.AreEqual(r, float.PositiveInfinity, "Normalize INFINITY"); - - // r = Angle.Normalize(float.NegativeInfinity); - // Assert.AreEqual(r, float.NegativeInfinity, "Normalize INFINITY"); - // } - - [Test] - public void Clamp() { - float r = 0; - - r = AngleFloat.Clamp(AngleFloat.Degrees(1), AngleFloat.Degrees(0), AngleFloat.Degrees(2)); - Assert.AreEqual(1, r, "Clamp 1 0 2"); - - r = AngleFloat.Clamp(AngleFloat.Degrees(-1), AngleFloat.Degrees(0), AngleFloat.Degrees(2)); - Assert.AreEqual(0, r, "Clamp -1 0 2"); - - r = AngleFloat.Clamp(AngleFloat.Degrees(3), AngleFloat.Degrees(0), AngleFloat.Degrees(2)); - Assert.AreEqual(2, r, "Clamp 3 0 2"); - - r = AngleFloat.Clamp(AngleFloat.Degrees(1), AngleFloat.Degrees(0), AngleFloat.Degrees(0)); - Assert.AreEqual(0, r, "Clamp 1 0 0"); - - r = AngleFloat.Clamp(AngleFloat.Degrees(0), AngleFloat.Degrees(0), AngleFloat.Degrees(0)); - Assert.AreEqual(0, r, "Clamp 0 0 0"); - - r = AngleFloat.Clamp(AngleFloat.Degrees(0), AngleFloat.Degrees(1), AngleFloat.Degrees(-1)); - Assert.AreEqual(1, r, "Clamp 0 1 -1"); - - r = AngleFloat.Clamp(AngleFloat.Degrees(1), AngleFloat.Degrees(0), AngleFloat.Degrees(float.PositiveInfinity)); - Assert.AreEqual(1, r, "Clamp 1 0 INFINITY"); - - r = AngleFloat.Clamp(AngleFloat.Degrees(1), AngleFloat.Degrees(float.NegativeInfinity), AngleFloat.Degrees(1)); - Assert.AreEqual(1, r, "Clamp 1 -INFINITY 1"); - } - - [Test] - public void Cos() { - // Test zero - Assert.AreEqual(1.0f, AngleFloat.Cos(AngleFloat.Degrees(0)), 1.0E-05F, "Cos(0°)"); - - // Test 90 degrees - Assert.AreEqual(0.0f, AngleFloat.Cos(AngleFloat.Degrees(90)), 1.0E-05F, "Cos(90°)"); - - // Test 180 degrees - Assert.AreEqual(-1.0f, AngleFloat.Cos(AngleFloat.Degrees(180)), 1.0E-05F, "Cos(180°)"); - - // Test 270 degrees - Assert.AreEqual(0.0f, AngleFloat.Cos(AngleFloat.Degrees(270)), 1.0E-05F, "Cos(270°)"); - - // Test 45 degrees - Assert.AreEqual(MathF.Sqrt(2) / 2, AngleFloat.Cos(AngleFloat.Degrees(45)), 1.0E-05F, "Cos(45°)"); - - // Test negative angle - Assert.AreEqual(1.0f, AngleFloat.Cos(AngleFloat.Degrees(-360)), 1.0E-05F, "Cos(-360°)"); - - // Test using radians - Assert.AreEqual(1.0f, AngleFloat.Cos(AngleFloat.Radians(0)), 1.0E-05F, "Cos(0 rad)"); - Assert.AreEqual(0.0f, AngleFloat.Cos(AngleFloat.Radians((float)Math.PI / 2)), 1.0E-05F, "Cos(π/2)"); - Assert.AreEqual(-1.0f, AngleFloat.Cos(AngleFloat.Radians((float)Math.PI)), 1.0E-05F, "Cos(π)"); - } - - [Test] - public void Sin() { - // Test zero - Assert.AreEqual(0.0f, AngleFloat.Sin(AngleFloat.Degrees(0)), 1.0E-05F, "Sin(0°)"); - - // Test 90 degrees - Assert.AreEqual(1.0f, AngleFloat.Sin(AngleFloat.Degrees(90)), 1.0E-05F, "Sin(90°)"); - - // Test 180 degrees - Assert.AreEqual(0.0f, AngleFloat.Sin(AngleFloat.Degrees(180)), 1.0E-05F, "Sin(180°)"); - - // Test 270 degrees - Assert.AreEqual(-1.0f, AngleFloat.Sin(AngleFloat.Degrees(270)), 1.0E-05F, "Sin(270°)"); - - // Test 45 degrees - Assert.AreEqual(MathF.Sqrt(2) / 2, AngleFloat.Sin(AngleFloat.Degrees(45)), 1.0E-05F, "Sin(45°)"); - - // Test negative angle - Assert.AreEqual(0.0f, AngleFloat.Sin(AngleFloat.Degrees(-360)), 1.0E-05F, "Sin(-360°)"); - - // Test using radians - Assert.AreEqual(0.0f, AngleFloat.Sin(AngleFloat.Radians(0)), 1.0E-05F, "Sin(0 rad)"); - Assert.AreEqual(1.0f, AngleFloat.Sin(AngleFloat.Radians((float)Math.PI / 2)), 1.0E-05F, "Sin(π/2)"); - Assert.AreEqual(0.0f, AngleFloat.Sin(AngleFloat.Radians((float)Math.PI)), 1.0E-05F, "Sin(π)"); - } - - [Test] - public void Tan() { - // Test zero - Assert.AreEqual(0.0f, AngleFloat.Tan(AngleFloat.Degrees(0)), 1.0E-05F, "Tan(0°)"); - - // Test 45 degrees - Assert.AreEqual(1.0f, AngleFloat.Tan(AngleFloat.Degrees(45)), 1.0E-05F, "Tan(45°)"); - - // Test -45 degrees - Assert.AreEqual(-1.0f, AngleFloat.Tan(AngleFloat.Degrees(-45)), 1.0E-05F, "Tan(-45°)"); - - // Test using radians - Assert.AreEqual(0.0f, AngleFloat.Tan(AngleFloat.Radians(0)), 1.0E-05F, "Tan(0 rad)"); - Assert.AreEqual(1.0f, AngleFloat.Tan(AngleFloat.Radians((float)Math.PI / 4)), 1.0E-05F, "Tan(π/4)"); - } - - [Test] - public void Acos() { - // Test 1 (0 degrees) - Assert.AreEqual(0.0f, AngleFloat.Acos(1.0f).inRadians, 1.0E-05F, "Acos(1)"); - - // Test 0 (90 degrees or π/2 radians) - Assert.AreEqual((float)Math.PI / 2, AngleFloat.Acos(0.0f).inRadians, 1.0E-05F, "Acos(0)"); - - // Test -1 (-180 degrees or π radians) - Assert.AreEqual((float)-Math.PI, AngleFloat.Acos(-1.0f).inRadians, 1.0E-05F, "Acos(-1)"); - - // Test 0.5 (60 degrees or π/3 radians) - Assert.AreEqual((float)Math.PI / 3, AngleFloat.Acos(0.5f).inRadians, 1.0E-05F, "Acos(0.5)"); - - // Test sqrt(2)/2 (45 degrees or π/4 radians) - Assert.AreEqual((float)Math.PI / 4, AngleFloat.Acos(MathF.Sqrt(2) / 2).inRadians, 1.0E-05F, "Acos(√2/2)"); - } - - [Test] - public void Asin() { - // Test 0 (0 degrees) - Assert.AreEqual(0.0f, AngleFloat.Asin(0.0f).inRadians, 1.0E-05F, "Asin(0)"); - - // Test 1 (90 degrees or π/2 radians) - Assert.AreEqual((float)Math.PI / 2, AngleFloat.Asin(1.0f).inRadians, 1.0E-05F, "Asin(1)"); - - // Test -1 (-90 degrees or -π/2 radians) - Assert.AreEqual(-(float)Math.PI / 2, AngleFloat.Asin(-1.0f).inRadians, 1.0E-05F, "Asin(-1)"); - - // Test 0.5 (30 degrees or π/6 radians) - Assert.AreEqual((float)Math.PI / 6, AngleFloat.Asin(0.5f).inRadians, 1.0E-05F, "Asin(0.5)"); - - // Test sqrt(2)/2 (45 degrees or π/4 radians) - Assert.AreEqual((float)Math.PI / 4, AngleFloat.Asin(MathF.Sqrt(2) / 2).inRadians, 1.0E-05F, "Asin(√2/2)"); - } - - - [Test] - public void Atan() { - // Test zero - Assert.AreEqual(0.0f, AngleFloat.Atan(0.0f).inRadians, 1.0E-05F, "Atan(0)"); - - // Test 1 (45 degrees or π/4 radians) - Assert.AreEqual((float)Math.PI / 4, AngleFloat.Atan(1.0f).inRadians, 1.0E-05F, "Atan(1)"); - - // Test -1 (-45 degrees or -π/4 radians) - Assert.AreEqual(-(float)Math.PI / 4, AngleFloat.Atan(-1.0f).inRadians, 1.0E-05F, "Atan(-1)"); - - // Test sqrt(3) (60 degrees or π/3 radians) - Assert.AreEqual((float)Math.PI / 3, AngleFloat.Atan(MathF.Sqrt(3)).inRadians, 1.0E-05F, "Atan(√3)"); - - // Test 1/sqrt(3) (30 degrees or π/6 radians) - Assert.AreEqual((float)Math.PI / 6, AngleFloat.Atan(1.0f / MathF.Sqrt(3)).inRadians, 1.0E-05F, "Atan(1/√3)"); - - // Test positive infinity - Assert.AreEqual((float)Math.PI / 2, AngleFloat.Atan(float.PositiveInfinity).inRadians, 1.0E-05F, "Atan(+∞)"); - - // Test negative infinity - Assert.AreEqual(-(float)Math.PI / 2, AngleFloat.Atan(float.NegativeInfinity).inRadians, 1.0E-05F, "Atan(-∞)"); - } - - [Test] - public void Atan2() { - // Test basic quadrant I - Assert.AreEqual((float)Math.PI / 4, AngleFloat.Atan2(1.0f, 1.0f).inRadians, 1.0E-05F, "Atan2(1, 1)"); - - // Test quadrant II - Assert.AreEqual(3 * (float)Math.PI / 4, AngleFloat.Atan2(1.0f, -1.0f).inRadians, 1.0E-05F, "Atan2(1, -1)"); - - // Test quadrant III - Assert.AreEqual(-(float)Math.PI * 0.75f, AngleFloat.Atan2(-1.0f, -1.0f).inRadians, 1.0E-05F, "Atan2(-1, -1)"); - - // Test quadrant IV - Assert.AreEqual(-(float)Math.PI / 4, AngleFloat.Atan2(-1.0f, 1.0f).inRadians, 1.0E-05F, "Atan2(-1, 1)"); - - // Test positive x-axis - Assert.AreEqual(0.0f, AngleFloat.Atan2(0.0f, 1.0f).inRadians, 1.0E-05F, "Atan2(0, 1)"); - - // Test positive y-axis - Assert.AreEqual((float)Math.PI / 2, AngleFloat.Atan2(1.0f, 0.0f).inRadians, 1.0E-05F, "Atan2(1, 0)"); - - // Test negative y-axis - Assert.AreEqual(-(float)Math.PI / 2, AngleFloat.Atan2(-1.0f, 0.0f).inRadians, 1.0E-05F, "Atan2(-1, 0)"); - - // Test origin - Assert.AreEqual(0.0f, AngleFloat.Atan2(0.0f, 0.0f).inRadians, 1.0E-05F, "Atan2(0, 0)"); - - // Test with different magnitudes - Assert.AreEqual((float)Math.PI / 3, AngleFloat.Atan2(MathF.Sqrt(3), 1.0f).inRadians, 1.0E-05F, "Atan2(√3, 1)"); - - // Test negative x-axis - Assert.AreEqual((float)-Math.PI, AngleFloat.Atan2(0.0f, -1.0f).inRadians, 1.0E-05F, "Atan2(0, -1)"); - } - - [Test] - public void Multiplication() { - AngleFloat r = AngleFloat.zero; - - // Angle * float - r = AngleFloat.Degrees(90) * 2; - Assert.AreEqual(-180, r.inDegrees, "Multiply 90 * 2"); - - r = AngleFloat.Degrees(45) * 0.5f; - Assert.AreEqual(22.5f, r.inDegrees, "Multiply 45 * 0.5"); - - r = AngleFloat.Degrees(90) * 0; - Assert.AreEqual(0, r.inDegrees, "Multiply 90 * 0"); - - r = AngleFloat.Degrees(-90) * 2; - Assert.AreEqual(-180, r.inDegrees, "Multiply -90 * 2"); - - r = AngleFloat.Degrees(270) * 2; - Assert.AreEqual(-180, r.inDegrees, "Multiply 270 * 2 (normalized)"); - - // float * Angle - r = 2 * AngleFloat.Degrees(90); - Assert.AreEqual(-180, r.inDegrees, "Multiply 2 * 90"); - - r = 0.5f * AngleFloat.Degrees(45); - Assert.AreEqual(22.5, r.inDegrees, "Multiply 0.5 * 45"); - - r = 0 * AngleFloat.Degrees(90); - Assert.AreEqual(0, r.inDegrees, "Multiply 0 * 90"); - - r = 2 * AngleFloat.Degrees(-90); - Assert.AreEqual(-180, r.inDegrees, "Multiply 2 * -90"); - - // Negative factor - r = AngleFloat.Degrees(90) * -1; - Assert.AreEqual(-90, r.inDegrees, "Multiply 90 * -1"); - - r = -1 * AngleFloat.Degrees(90); - Assert.AreEqual(-90, r.inDegrees, "Multiply -1 * 90"); - } - - [Test] - public void MoveTowards() { - AngleFloat r = AngleFloat.zero; - - r = AngleFloat.MoveTowards(AngleFloat.Degrees(0), AngleFloat.Degrees(90), 30); - Assert.AreEqual(30, r.inDegrees, "MoveTowards 0 90 30"); - - r = AngleFloat.MoveTowards(AngleFloat.Degrees(0), AngleFloat.Degrees(90), 90); - Assert.AreEqual(90, r.inDegrees, "MoveTowards 0 90 90"); - - r = AngleFloat.MoveTowards(AngleFloat.Degrees(0), AngleFloat.Degrees(90), 180); - Assert.AreEqual(90, r.inDegrees, "MoveTowards 0 90 180"); - - r = AngleFloat.MoveTowards(AngleFloat.Degrees(0), AngleFloat.Degrees(90), 270); - Assert.AreEqual(90, r.inDegrees, "MoveTowrads 0 90 270"); - - r = AngleFloat.MoveTowards(AngleFloat.Degrees(0), AngleFloat.Degrees(90), -30); - Assert.AreEqual(0, r.inDegrees, "MoveTowards 0 90 -30"); - - r = AngleFloat.MoveTowards(AngleFloat.Degrees(0), AngleFloat.Degrees(-90), -30); - Assert.AreEqual(0, r.inDegrees, "MoveTowards 0 -90 -30"); - - r = AngleFloat.MoveTowards(AngleFloat.Degrees(0), AngleFloat.Degrees(-90), -90); - Assert.AreEqual(0, r.inDegrees, "MoveTowards 0 -90 -90"); - - r = AngleFloat.MoveTowards(AngleFloat.Degrees(0), AngleFloat.Degrees(-90), -180); - Assert.AreEqual(0, r.inDegrees, "MoveTowards 0 -90 -180"); - - r = AngleFloat.MoveTowards(AngleFloat.Degrees(0), AngleFloat.Degrees(-90), -270); - Assert.AreEqual(0, r.inDegrees, "MoveTowrads 0 -90 -270"); - - r = AngleFloat.MoveTowards(AngleFloat.Degrees(0), AngleFloat.Degrees(90), 0); - Assert.AreEqual(0, r.inDegrees, "MoveTowards 0 90 0"); - - r = AngleFloat.MoveTowards(AngleFloat.Degrees(0), AngleFloat.Degrees(0), 0); - Assert.AreEqual(0, r.inDegrees, "MoveTowards 0 0 0"); - - r = AngleFloat.MoveTowards(AngleFloat.Degrees(0), AngleFloat.Degrees(0), 30); - Assert.AreEqual(0, r.inDegrees, "MoveTowrads 0 0 30"); - - r = AngleFloat.MoveTowards(AngleFloat.Degrees(0), AngleFloat.Degrees(90), float.PositiveInfinity); - Assert.AreEqual(90, r.inDegrees, "MoveTowards 0 90 INFINITY"); - - r = AngleFloat.MoveTowards(AngleFloat.Degrees(0), AngleFloat.Degrees(float.PositiveInfinity), 30); - Assert.AreEqual(30, r.inDegrees, "MoveTowrads 0 INFINITY 30"); - - r = AngleFloat.MoveTowards(AngleFloat.Degrees(0), AngleFloat.Degrees(-90), float.NegativeInfinity); - Assert.AreEqual(0, r.inDegrees, "MoveTowards 0 -90 -INFINITY"); - - r = AngleFloat.MoveTowards(AngleFloat.Degrees(0), AngleFloat.Degrees(float.NegativeInfinity), -30); - Assert.AreEqual(0, r.inDegrees, "MoveTowrads 0 -INFINITY -30"); - - } - - [Test] - public void Difference() { - float r = 0; - - r = Angles.Difference(0, 90); - Assert.AreEqual(90, r, "Difference 0 90"); - - r = Angles.Difference(0, -90); - Assert.AreEqual(-90, r, "Difference 0 -90"); - - r = Angles.Difference(0, 270); - Assert.AreEqual(-90, r, "Difference 0 270"); - - r = Angles.Difference(0, -270); - Assert.AreEqual(90, r, "Difference 0 -270"); - - r = Angles.Difference(90, 0); - Assert.AreEqual(-90, r, "Difference 90 0"); - - r = Angles.Difference(-90, 0); - Assert.AreEqual(90, r, "Difference -90 0"); - - r = Angles.Difference(0, 0); - Assert.AreEqual(0, r, "Difference 0 0"); - - r = Angles.Difference(90, 90); - Assert.AreEqual(0, r, "Difference 90 90"); - - r = Angles.Difference(0, float.PositiveInfinity); - Assert.AreEqual(float.PositiveInfinity, r, "Difference 0 INFINITY"); - - r = Angles.Difference(0, float.NegativeInfinity); - Assert.AreEqual(float.NegativeInfinity, r, "Difference 0 -INFINITY"); - - r = Angles.Difference(float.NegativeInfinity, float.PositiveInfinity); - Assert.AreEqual(float.PositiveInfinity, r, "Difference -INFINITY INFINITY"); - } - } - -} -#endif diff --git a/NanoBrain/LinearAlgebra/test/DirectionTest.cs b/NanoBrain/LinearAlgebra/test/DirectionTest.cs deleted file mode 100644 index 0eb9882..0000000 --- a/NanoBrain/LinearAlgebra/test/DirectionTest.cs +++ /dev/null @@ -1,226 +0,0 @@ -#if !UNITY_5_6_OR_NEWER -using System; -using NUnit.Framework; - -namespace LinearAlgebra.Test { - public class DirectionTest { - - [Test] - public void RadiansForward() { - Direction d = Direction.Radians(0, 0); - Assert.AreEqual(0, d.horizontal.inDegrees, 0.0001f); - Assert.AreEqual(0, d.vertical.inDegrees, 0.0001f); - } - - [Test] - public void RadiansUp() { - Direction d = Direction.Radians(0, (float)Math.PI / 2); - Assert.AreEqual(0, d.horizontal.inDegrees, 0.0001f); - Assert.AreEqual(90, d.vertical.inDegrees, 0.0001f); - } - - [Test] - public void RadiansDown() { - Direction d = Direction.Radians(0, -(float)Math.PI / 2); - Assert.AreEqual(0, d.horizontal.inDegrees, 0.0001f); - Assert.AreEqual(-90, d.vertical.inDegrees, 0.0001f); - } - - [Test] - public void RadiansArbitrary() { - Direction d = Direction.Radians((float)Math.PI / 4, (float)Math.PI / 6); - Assert.AreEqual(45, d.horizontal.inDegrees, 0.0001f); - Assert.AreEqual(30, d.vertical.inDegrees, 0.0001f); - } - - [Test] - public void DegreesNormalize1() { - Direction d = Direction.Degrees(112, 91); - Assert.AreEqual(-68, d.horizontal.inDegrees, 0.0001f); - Assert.AreEqual(89, d.vertical.inDegrees, 0.0001f); - } - - [Test] - public void RadiansEquivalentToDegreesConversion() { - Direction d1 = Direction.Radians((float)Math.PI / 3, (float)Math.PI / 4); - Direction d2 = Direction.Degrees(60, 45); - Assert.AreEqual(d1.horizontal.inDegrees, d2.horizontal.inDegrees, 0.0001f); - Assert.AreEqual(d1.vertical.inDegrees, d2.vertical.inDegrees, 0.0001f); - } - - [Test] - public void ToVector3Forward() { - Direction d = Direction.forward; - Vector3Float v = d.ToVector3(); - Assert.AreEqual(0, v.horizontal, 0.0001f); - Assert.AreEqual(0, v.vertical, 0.0001f); - Assert.AreEqual(1, v.depth, 0.0001f); - } - - [Test] - public void ToVector3Up() { - Direction d = Direction.up; - Vector3Float v = d.ToVector3(); - Assert.AreEqual(0, v.horizontal, 0.0001f); - Assert.AreEqual(1, v.vertical, 0.0001f); - Assert.AreEqual(0, v.depth, 0.0001f); - } - - [Test] - public void ToVector3Down() { - Direction d = Direction.down; - Vector3Float v = d.ToVector3(); - Assert.AreEqual(0, v.horizontal, 0.0001f); - Assert.AreEqual(-1, v.vertical, 0.0001f); - Assert.AreEqual(0, v.depth, 0.0001f); - } - - [Test] - public void ToVector3Left() { - Direction d = Direction.left; - Vector3Float v = d.ToVector3(); - Assert.AreEqual(-1, v.horizontal, 0.0001f); - Assert.AreEqual(0, v.vertical, 0.0001f); - Assert.AreEqual(0, v.depth, 0.0001f); - } - - [Test] - public void FromVector3Forward() { - Vector3Float v = new(0, 0, 1); - Direction d = Direction.FromVector3(v); - Assert.AreEqual(0, d.horizontal.inDegrees, 0.0001f); - Assert.AreEqual(0, d.vertical.inDegrees, 0.0001f); - } - - [Test] - public void ToVector3AndBack() { - Direction d1 = Direction.Degrees(45, 30); - Vector3Float v = d1.ToVector3(); - Direction d2 = Direction.FromVector3(v); - Assert.AreEqual(d1.horizontal.inDegrees, d2.horizontal.inDegrees, 0.0001f); - Assert.AreEqual(d1.vertical.inDegrees, d2.vertical.inDegrees, 0.0001f); - } - - [Test] - public void ToVector3AndBack2() { - Direction d1 = Direction.Degrees(-135, 85); - Vector3Float v = d1.ToVector3(); - Direction d2 = Direction.FromVector3(v); - Assert.AreEqual(d1.horizontal.inDegrees, d2.horizontal.inDegrees, 0.0001f); - Assert.AreEqual(d1.vertical.inDegrees, d2.vertical.inDegrees, 0.0001f); - } - - [Test] - public void Compare() { - Direction d1 = Direction.Degrees(45, 135); - Direction d2 = new(AngleFloat.Degrees(45), AngleFloat.Degrees(135)); - bool r; - r = d1 == d2; - Assert.True(r); - Assert.AreEqual(d1, d2); - } - - [Test] - public void NotEqualWithDifferentHorizontal() { - Direction d1 = Direction.Degrees(45, 30); - Direction d2 = Direction.Degrees(90, 30); - Assert.True(d1 != d2); - } - - [Test] - public void NotEqualWithDifferentVertical() { - Direction d1 = Direction.Degrees(45, 30); - Direction d2 = Direction.Degrees(45, 60); - Assert.True(d1 != d2); - } - - [Test] - public void NotEqualWithDifferentBoth() { - Direction d1 = Direction.Degrees(45, 30); - Direction d2 = Direction.Degrees(90, 60); - Assert.True(d1 != d2); - } - - [Test] - public void NotEqualWithSameValues() { - Direction d1 = Direction.Degrees(45, 30); - Direction d2 = Direction.Degrees(45, 30); - Assert.False(d1 != d2); - } - - - [Test] - public void EqualsWithSameValues() { - Direction d1 = Direction.Degrees(45, 30); - Direction d2 = Direction.Degrees(45, 30); - Assert.True(d1.Equals(d2)); - } - - [Test] - public void EqualsWithDifferentHorizontal() { - Direction d1 = Direction.Degrees(45, 30); - Direction d2 = Direction.Degrees(90, 30); - Assert.False(d1.Equals(d2)); - } - - [Test] - public void EqualsWithDifferentVertical() { - Direction d1 = Direction.Degrees(45, 30); - Direction d2 = Direction.Degrees(45, 60); - Assert.False(d1.Equals(d2)); - } - - [Test] - public void EqualsWithDifferentBoth() { - Direction d1 = Direction.Degrees(45, 30); - Direction d2 = Direction.Degrees(90, 60); - Assert.False(d1.Equals(d2)); - } - - [Test] - public void EqualsWithNonDirectionObject() { - Direction d = Direction.Degrees(45, 30); - Assert.False(d.Equals("not a direction")); - } - - [Test] - public void EqualsWithNull() { - Direction d = Direction.Degrees(45, 30); - Assert.False(d.Equals(null)); - } - - [Test] - public void EqualsWithZeros() { - Direction d1 = Direction.forward; - Direction d2 = Direction.Degrees(0, 0); - Assert.True(d1.Equals(d2)); - } - - [Test] - public void HashCode() { - Direction d1 = Direction.Degrees(45, 30); - Direction d2 = Direction.Degrees(45, 30); - Assert.AreEqual(d1.GetHashCode(), d2.GetHashCode()); - - d1 = Direction.Degrees(45, 30); - d2 = Direction.Degrees(90, 30); - Assert.AreNotEqual(d1.GetHashCode(), d2.GetHashCode()); - - d1 = Direction.Degrees(45, 30); - d2 = Direction.Degrees(45, 60); - Assert.AreNotEqual(d1.GetHashCode(), d2.GetHashCode()); - - Direction d = Direction.Degrees(45, 30); - int hash1 = d.GetHashCode(); - int hash2 = d.GetHashCode(); - Assert.AreEqual(hash1, hash2); - - d1 = Direction.forward; - d2 = Direction.Degrees(0, 0); - Assert.AreEqual(d1.GetHashCode(), d2.GetHashCode()); - } - - }; -} -#endif - diff --git a/NanoBrain/LinearAlgebra/test/LinearAlgebra_Test.csproj b/NanoBrain/LinearAlgebra/test/LinearAlgebra_Test.csproj deleted file mode 100644 index 5b48e60..0000000 --- a/NanoBrain/LinearAlgebra/test/LinearAlgebra_Test.csproj +++ /dev/null @@ -1,19 +0,0 @@ - - - - net8.0 - false - true - - - - - - - - - - - - - diff --git a/NanoBrain/LinearAlgebra/test/QuaternionTest.cs b/NanoBrain/LinearAlgebra/test/QuaternionTest.cs deleted file mode 100644 index 9dd5a96..0000000 --- a/NanoBrain/LinearAlgebra/test/QuaternionTest.cs +++ /dev/null @@ -1,185 +0,0 @@ -#if !UNITY_5_6_OR_NEWER -using NUnit.Framework; - -namespace LinearAlgebra.Test { - - public class QuaternionTest { - - [SetUp] - public void Setup() { - } - - [Test] - public void Normalize() { - Quaternion q1 = new(0, 0, 0, 1); - Quaternion r = Quaternion.identity; - - r = q1.normalized; - Assert.AreEqual(r, q1, "q.normalized 0 0 0 1"); - - r = Quaternion.Normalize(q1); - Assert.AreEqual(r, q1, "q.normalized 0 0 0 1"); - } - - [Test] - public void ToAngles() { - Quaternion q1 = new(0, 0, 0, 1); - Vector3Float v = Vector3Float.zero; - - v = Quaternion.ToAngles(q1); - Assert.AreEqual(v, new Vector3Float(0, 0, 0), "ToAngles 0 0 0 1"); - - q1 = new(1, 0, 0, 0); - v = Quaternion.ToAngles(q1); - Assert.AreEqual(0, v.horizontal, "1 0 0 0 H"); - Assert.AreEqual(180, v.vertical, "1 0 0 0 V"); - Assert.AreEqual(180, v.depth, "1 0 0 0 D"); - - } - - [Test] - public void Multiplication() { - Quaternion q1 = new(0, 0, 0, 1); - Quaternion q2 = new(1, 0, 0, 0); - Quaternion r; - - r = q1 * q2; - Assert.AreEqual(r, new Quaternion(1, 0, 0, 0), "0 0 0 1 * 1 0 0 0 "); - } - - [Test] - public void MultiplicationVector() { - Quaternion q1 = new(0, 0, 0, 1); - Vector3Float v1 = new(0, 1, 0); - Vector3Float r; - - r = q1 * v1; - Assert.AreEqual(r, new Vector3Float(0, 1, 0), "0 0 0 1 * Vector 0 1 0"); - - q1 = new(1, 0, 0, 0); - r = q1 * v1; - Assert.AreEqual(r, new Vector3Float(0, -1, 0), "1 0 0 0 * Vector 0 1 0"); - } - - [Test] - public void Equality() { - Quaternion q1 = new(0, 0, 0, 1); - Quaternion q2 = new(1, 0, 0, 0); - Assert.AreNotEqual(q1, q2, "0 0 0 1 == 1 0 0 0"); - - q2 = new(0, 0, 0, 1); - Assert.AreEqual(q1, q2, "0 0 0 1 == 1 0 0 0"); - } - - [Test, Ignore("ToDo")] - public void Inverse() { } - - [Test, Ignore("ToDo")] - public void LookRotation() { } - - [Test, Ignore("ToDo")] - public void FromToRotation() { } - - [Test, Ignore("ToDo")] - public void RotateTowards() { } - - [Test, Ignore("ToDo")] - public void AngleAxis() { } - - [Test, Ignore("ToDo")] - public void Angle() { } - - [Test, Ignore("ToDo")] - public void Slerp() { } - - [Test, Ignore("ToDo")] - public void SlerpUnclamped() { } - - [Test] - public void Euler() { - Vector3Float v1 = new(0, 0, 0); - Quaternion q; - - q = Quaternion.Euler(v1); - Assert.AreEqual(q, Quaternion.identity, "Euler Vector 0 0 0"); - - q = Quaternion.Euler(0, 0, 0); - Assert.AreEqual(q, Quaternion.identity, "Euler 0 0 0"); - - v1 = new(90, 90, -90); - q = Quaternion.Euler(v1); - Assert.AreEqual(q, new Quaternion(0, 0.707106709F, -0.707106709F, 0), "Euler Vector 90 90 -90"); - - q = Quaternion.Euler(90, 90, -90); - Assert.AreEqual(q, new Quaternion(0, 0.707106709F, -0.707106709F, 0), "Euler 90 90 -90"); - } - - [Test] - public void EulerToAngles() { - Vector3Float v; - Quaternion q; - Quaternion r; - - //v = new(0, 0, 0); - q = Quaternion.Euler(0, 0 , 0); - v = Quaternion.ToAngles(q); - r = Quaternion.Euler(v); - Assert.AreEqual(0, Quaternion.UnsignedAngle(q, r), 10e-2f, "0 0 0"); - - q = Quaternion.Euler(-45, -30, -15); - v = Quaternion.ToAngles(q); - r = Quaternion.Euler(v); - Assert.AreEqual(0, Quaternion.UnsignedAngle(q, r), 10e-2f, "-45, -30, -15"); - - // Gimball lock - // q = Quaternion.Euler(90, 90, -90); - // v = Quaternion.ToAngles(q); - // r = Quaternion.Euler(v); - // Assert.AreEqual(0, Quaternion.UnsignedAngle(q, r), 10e-2f, "0 0 0"); - - } - - [Test] - public void GetAngleAround() { - Vector3Float v1 = new(0, 1, 0); - Quaternion q1 = new(0, 0, 0, 1); - - float f = Quaternion.GetAngleAround(v1, q1); - Assert.AreEqual(f, 0, "GetAngleAround 0 1 0 , 0 0 0 1"); - - q1 = new(0, 0.707106709F, -0.707106709F, 0); - f = Quaternion.GetAngleAround(v1, q1); - Assert.AreEqual(f, 180, "GetAngleAround 0 1 0 , 0 0.7 -0.7 0"); - - v1 = new(0, 0, 0); - f = Quaternion.GetAngleAround(v1, q1); - Assert.IsTrue(float.IsNaN(f), "GetAngleAround 0 0 0 , 0 0.7 -0.7 0"); - } - - [Test] - public void GetRotationAround() { - Vector3Float v1 = new(0, 1, 0); - Quaternion q1 = new(0, 0, 0, 1); - - Quaternion q = Quaternion.GetRotationAround(v1, q1); - Assert.AreEqual(q, new Quaternion(0, 0, 0, 1), "GetRotationAround 0 1 0 , 0 0 0 1"); - - q1 = new(0, 0.707106709F, -0.707106709F, 0); - q = Quaternion.GetRotationAround(v1, q1); - Assert.AreEqual(q, new Quaternion(0, 1, 0, 0), "GetRotationAround 0 1 0 , 0 0.7 -0.7 0"); - - v1 = new(0, 0, 0); - q = Quaternion.GetRotationAround(v1, q1); - bool r = float.IsNaN(q.x) && float.IsNaN(q.y) && float.IsNaN(q.z) && float.IsNaN(q.w); - Assert.IsTrue(r, "GetRotationAround 0 0 0 , 0 0.7 -0.7 0"); - } - - [Test, Ignore("ToDo")] - public void GetSwingTwist() { } - - [Test, Ignore("ToDo")] - public void Dot() { } - - } -} -#endif \ No newline at end of file diff --git a/NanoBrain/LinearAlgebra/test/SphericalTest.cs b/NanoBrain/LinearAlgebra/test/SphericalTest.cs deleted file mode 100644 index 658ca04..0000000 --- a/NanoBrain/LinearAlgebra/test/SphericalTest.cs +++ /dev/null @@ -1,271 +0,0 @@ -#if !UNITY_5_6_OR_NEWER -using System; -using System.Collections.Generic; -using NUnit.Framework; - -namespace LinearAlgebra.Test { - public class SphericalTest { - [SetUp] - public void Setup() { - } - - [Test] - public void FromVector3() { -#if UNITY_5_6_OR_NEWER - UnityEngine.Vector3 v = new(0, 0, 1); -#else - Vector3Float v = new(0, 0, 1); -#endif - Spherical s = Spherical.FromVector3(v); - Assert.AreEqual(1.0f, s.distance, "s.distance 0 0 1"); - Assert.AreEqual(0.0f, s.direction.horizontal.inDegrees, "s.hor 0 0 1"); - Assert.AreEqual(0.0f, s.direction.vertical.inDegrees, 1.0E-05F, "s.vert 0 0 1"); - - v = new(0, 1, 0); - s = Spherical.FromVector3(v); - Assert.AreEqual(1.0f, s.distance, "s.distance 0 1 0"); - Assert.AreEqual(0.0f, s.direction.horizontal.inDegrees, "s.hor 0 1 0"); - Assert.AreEqual(90.0f, s.direction.vertical.inDegrees, "s.vert 0 1 0"); - - v = new(1, 0, 0); - s = Spherical.FromVector3(v); - Assert.AreEqual(1.0f, s.distance, "s.distance 1 0 0"); - Assert.AreEqual(90.0f, s.direction.horizontal.inDegrees, "s.hor 1 0 0"); - Assert.AreEqual(0.0f, s.direction.vertical.inDegrees, 1.0E-05F, "s.vert 1 0 0"); - } - - [Test] - public void Addition() { - Spherical v1 = Spherical.Degrees(1, 45, 0); - Spherical v2 = Spherical.zero; - Spherical r = Spherical.zero; - - r = v1 + v2; - Assert.AreEqual(v1.distance, r.distance, 1.0E-05F, "Addition(0,0,0)"); - - r = v1; - r += v2; - Assert.AreEqual(v1.distance, r.distance, 1.0E-05F, "Addition(0,0,0)"); - - v2 = Spherical.Degrees(1, 0, 90); - r = v1 + v2; - Assert.AreEqual(Math.Sqrt(2), r.distance, 1.0E-05F, "Addition(1 0 90)"); - Assert.AreEqual(45.0f, r.direction.horizontal.inDegrees, 1e-5f, "Addition(1 0 90)"); - Assert.AreEqual(45.0f, r.direction.vertical.inDegrees, 1.0E-05F, "Addition(1 0 90)"); - } - - [Test] - public void Average2_IdenticalVectors() { - Direction dir = Direction.Radians(MathF.PI / 4f, MathF.PI / 6f); - Spherical v = new(2.5f, dir); - - Spherical avg = Spherical.Average(v, v); - - Assert.AreEqual(2.5f, avg.distance, 1e-5f); - Assert.AreEqual(dir.horizontal, avg.direction.horizontal); - Assert.AreEqual(dir.vertical, avg.direction.vertical); - } - - [Test] - public void Average2_OppositeUnitVectors() { - // Two opposite vectors: same distance, horizontal opposite (pi apart), same vertical - Spherical v1 = Spherical.Radians(1f, 0f, 0f); - Spherical v2 = Spherical.Radians(1f, MathF.PI, 0f); - Spherical avg = Spherical.Average(v1, v2); - - Assert.AreEqual(0f, avg.distance, 1e-4f); - // When distance is zero, angles may be undefined; allow any angle but ensure near-zero magnitude - } - - [Test] - public void Average2_WeightedByDistance() { - // Two vectors same direction but different distances -> weighted average distance - Direction dir = Direction.Radians(MathF.PI / 3f, MathF.PI / 4f); - Spherical a = new(1f, dir); - Spherical b = new(3f, dir); - Spherical avg = Spherical.Average(a, b); - - // average distance should be (1+3)/2 = 2 - Assert.AreEqual(2f, avg.distance, 1e-5f); - Assert.AreEqual(dir.horizontal.inRadians, avg.direction.horizontal.inRadians, 1e-5f); - Assert.AreEqual(dir.vertical.inRadians, avg.direction.vertical.inRadians, 1e-5f); - } - - [Test] - public void Average2_OppositeButNotExact_NotZero() { - // Nearly opposite but not exact; expect a valid averaged direction and averaged distance - Direction d1 = Direction.Radians(0f, 0f); - Direction d2 = Direction.Radians(MathF.PI - 1e-3f, 0.0f); // slight offset - Spherical v1 = new(2.0f, d1); - Spherical v2 = new(4.0f, d2); - - Spherical avg = Spherical.Average(v1, v2); - - // Distance is arithmetic mean - Assert.AreEqual(3.0f, avg.distance, 1e-5f); - - // Averaged azimuth should be near +pi/2 or -pi/2? we can check it's not NaN and unit-vector properties hold - float ux = MathF.Cos(avg.direction.horizontal.inRadians) * MathF.Cos(avg.direction.vertical.inRadians); - float uy = MathF.Sin(avg.direction.horizontal.inRadians) * MathF.Cos(avg.direction.vertical.inRadians); - float uz = MathF.Sin(avg.direction.vertical.inRadians); - float mag = MathF.Sqrt(ux * ux + uy * uy + uz * uz); - Assert.IsTrue(mag > 0.999f && mag < 1.001f); - - } - - [Test] - public void Average2_BasicAverageDirectionAndDistance() { - // Two different directions not cancelling: expect vector-average result - Direction d1 = Direction.Radians(MathF.PI / 6f, MathF.PI / 12f); // 30°, 15° - Direction d2 = Direction.Radians(MathF.PI / 3f, MathF.PI / 18f); // 60°, 10° - Spherical v1 = new(2.0f, d1); - Spherical v2 = new(4.0f, d2); - - Spherical avg = Spherical.Average(v1, v2); - - // Distance is arithmetic mean - Assert.AreEqual(3.0f, avg.distance, 1e-5f); - - // Check averaged unit-vector equals normalized sum of unit vectors computed here - float a1 = d1.horizontal.inRadians; - float a2 = d2.horizontal.inRadians; - float e1 = d1.vertical.inRadians; - float e2 = d2.vertical.inRadians; - - float cx = MathF.Cos(a1) + MathF.Cos(a2); - float cy = MathF.Sin(a1) + MathF.Sin(a2); - float z1 = MathF.Sin(e1); - float z2 = MathF.Sin(e2); - float cz = z1 + z2; - float mag = MathF.Sqrt(cx * cx + cy * cy + cz * cz); - Assert.IsTrue(mag > 1e-6f); - - float ux = cx / mag; - float uy = cy / mag; - float uz = cz / mag; - - // Reconstruct direction from avg result - float uxAvg = MathF.Cos(avg.direction.horizontal.inRadians) * MathF.Cos(avg.direction.vertical.inRadians); - float uyAvg = MathF.Sin(avg.direction.horizontal.inRadians) * MathF.Cos(avg.direction.vertical.inRadians); - float uzAvg = MathF.Sin(avg.direction.vertical.inRadians); - - Assert.AreEqual(ux, uxAvg, 1e-4f); - Assert.AreEqual(uy, uyAvg, 1e-4f); - Assert.AreEqual(uz, uzAvg, 1e-4f); - } - - [Test] - public void Average_IdenticalVectors() { - var dir = Direction.Radians(MathF.PI / 4f, MathF.PI / 6f); - var v = new Spherical(2.5f, dir); - var list = new List { v, v, v }; - - var avg = Spherical.Average(list); - - Assert.AreEqual(2.5f, avg.distance, 1e-5f); - Assert.AreEqual(dir.horizontal, avg.direction.horizontal); - Assert.AreEqual(dir.vertical, avg.direction.vertical); - } - - [Test] - public void Average_SingleElement() { - Spherical s = Spherical.Radians(1.234f, 0.3f, -0.7f); - Spherical avg = Spherical.Average(new List { s }); - - Assert.AreEqual(s.distance, avg.distance, 1e-5f); - Assert.AreEqual(s.direction.horizontal.inRadians, avg.direction.horizontal.inRadians, 1e-5f); - Assert.AreEqual(s.direction.vertical.inRadians, avg.direction.vertical.inRadians, 1e-5f); - } - - [Test] - public void Average_OppositeUnitVectors() { - // Two opposite vectors: same distance, horizontal opposite (pi apart), same vertical - Spherical v1 = Spherical.Radians(1f, 0f, 0f); - Spherical v2 = Spherical.Radians(1f, MathF.PI, 0f); - Spherical avg = Spherical.Average(new List { v1, v2 }); - - Assert.AreEqual(0f, avg.distance, 1e-4f); - // When distance is zero, angles may be undefined; allow any angle but ensure near-zero magnitude - } - - [Test] - public void Average_WeightedByDistance() { - // Two vectors same direction but different distances -> weighted average distance - Direction dir = Direction.Radians(MathF.PI / 3f, MathF.PI / 4f); - Spherical a = new(1f, dir); - Spherical b = new(3f, dir); - Spherical avg = Spherical.Average(new List { a, b }); - - // average distance should be (1+3)/2 = 2 - Assert.AreEqual(2f, avg.distance, 1e-5f); - Assert.AreEqual(dir.horizontal.inRadians, avg.direction.horizontal.inRadians, 1e-5f); - Assert.AreEqual(dir.vertical.inRadians, avg.direction.vertical.inRadians, 1e-5f); - } - - [Test] - public void Average_AxisSymmetricAroundVertical() { - // Four vectors around azimuth 0, pi/2, pi, 3pi/2 at same elevation (vertical) angle phi - float phi = MathF.PI / 6f; // elevation from horizontal plane - var dirs = new List { - new(1f, Direction.Radians(0f, phi)), - new(1f, Direction.Radians(MathF.PI/2, phi)), - new(1f, Direction.Radians(MathF.PI, phi)), - new(1f, Direction.Radians(3*MathF.PI/2, phi)) - }; - - Spherical avg = Spherical.Average(dirs); - - // rAvg should equal r * sin(elevation) = sin(phi) - Assert.AreEqual(MathF.Sin(phi), avg.distance, 1e-4f); - // vertical angle undefined when horizontal xy components cancel; allow any angle but ensure r matches - } - - [Test] - public void Average_AxisSymmetricAroundVertical2() { - // Four vectors around azimuth 0, pi/2, pi, 3pi/2 at same polar angle from vertical (alpha) - float alpha = MathF.PI / 6f; // polar angle from vertical - float elevation = MathF.PI / 2f - alpha; // convert polar-from-vertical to elevation - var dirs = new List { - new(1f, Direction.Radians(0f, elevation)), - new(1f, Direction.Radians(MathF.PI/2, elevation)), - new(1f, Direction.Radians(MathF.PI, elevation)), - new(1f, Direction.Radians(3*MathF.PI/2, elevation)) - }; - - Spherical avg = Spherical.Average(dirs); - - // rAvg should equal r * sin(elevation) which equals cos(alpha) - Assert.AreEqual(MathF.Cos(alpha), avg.distance, 1e-4f); - } - - [Test] - public void Average_CompareWithVector3() { - // Four vectors around azimuth 0, pi/2, pi, 3pi/2 at same polar angle from vertical (alpha) - float alpha = MathF.PI / 6f; // polar angle from vertical - float elevation = MathF.PI / 2f - alpha; // convert polar-from-vertical to elevation - List dirs = new List { - new(1f, Direction.Radians(0f, elevation)), - new(2f, Direction.Radians(MathF.PI/2, elevation+1)), - new(3f, Direction.Radians(MathF.PI, elevation+2)), - new(4f, Direction.Radians(3*MathF.PI/2, elevation+3)) - }; - - Spherical avg = Spherical.Average(dirs); - -#if UNITY_5_3_OR_NEWER - UnityEngine.Vector3 r = UnityEngine.Vector3.zero; -#else - Vector3Float r = Vector3Float.zero; -#endif - foreach (Spherical dir in dirs) { - r += dir.ToVector3(); - } - r = r / 4; - Spherical avg2 = Spherical.FromVector3(r); - - Assert.AreEqual(avg, avg2); - } - - } -} -#endif \ No newline at end of file diff --git a/NanoBrain/LinearAlgebra/test/SwingTwistTest.cs b/NanoBrain/LinearAlgebra/test/SwingTwistTest.cs deleted file mode 100644 index 5f05a96..0000000 --- a/NanoBrain/LinearAlgebra/test/SwingTwistTest.cs +++ /dev/null @@ -1,131 +0,0 @@ -#if !UNITY_5_6_OR_NEWER -using NUnit.Framework; - -namespace LinearAlgebra.Test { - - [TestFixture] - public class SwingTwistTest { - - [Test] - public void Degrees_CreatesSwingTwistWithDegreeAngles() { - SwingTwist st = SwingTwist.Degrees(45, 30, 15); - Assert.IsNotNull(st); - Assert.AreEqual(45, st.swing.horizontal.inDegrees, 0.01f); - Assert.AreEqual(30, st.swing.vertical.inDegrees, 0.01f); - Assert.AreEqual(15, st.twist.inDegrees, 0.01f); - } - - [Test] - public void Radians_CreatesSwingTwistWithRadianAngles() { - float pi = (float)System.Math.PI; - SwingTwist st = SwingTwist.Radians(pi / 4, pi / 6, pi / 12); - Assert.IsNotNull(st); - Assert.AreEqual(45, st.swing.horizontal.inDegrees, 0.01f); - Assert.AreEqual(30, st.swing.vertical.inDegrees, 0.01f); - Assert.AreEqual(15, st.twist.inDegrees, 0.01f); - } - - [Test] - public void Zero_CreatesZeroRotation() { - SwingTwist st = SwingTwist.zero; - Assert.AreEqual(0, st.swing.horizontal.inDegrees, 0.01f); - Assert.AreEqual(0, st.swing.vertical.inDegrees, 0.01f); - Assert.AreEqual(0, st.twist.inDegrees, 0.01f); - } - - [Test] - public void QuaternionTest() { - Quaternion q; - SwingTwist s; - Quaternion r; - - q = Quaternion.identity; - s = SwingTwist.FromQuaternion(q); - r = s.ToQuaternion(); - Assert.AreEqual(q, r); - - q = Quaternion.Euler(90, 0, 0); - s = SwingTwist.FromQuaternion(q); - Assert.AreEqual(0, s.swing.horizontal.inDegrees, 10e-2f); - Assert.AreEqual(90, s.swing.vertical.inDegrees, 10e-2f); - Assert.AreEqual(0, s.twist.inDegrees, 0.01f); - r = s.ToQuaternion(); - Assert.AreEqual(0, Quaternion.UnsignedAngle(q, r), 10e-2f); - - q = Quaternion.Euler(0, 90, 0); - s = SwingTwist.FromQuaternion(q); - Assert.AreEqual(90, s.swing.horizontal.inDegrees,10e-2f); - Assert.AreEqual(0, s.swing.vertical.inDegrees, 0.01f); - Assert.AreEqual(0, s.twist.inDegrees, 0.01f); - r = s.ToQuaternion(); - Assert.AreEqual(0, Quaternion.UnsignedAngle(q, r), 10e-2f); - - q = Quaternion.Euler(0, 0, 90); - s = SwingTwist.FromQuaternion(q); - Assert.AreEqual(0, s.swing.horizontal.inDegrees, 0.01f); - Assert.AreEqual(0, s.swing.vertical.inDegrees, 0.01f); - Assert.AreEqual(90, s.twist.inDegrees, 0.01f); - r = s.ToQuaternion(); - Assert.AreEqual(0, Quaternion.UnsignedAngle(q, r), 10e-2f); - - q = Quaternion.Euler(0, 180, 0); - s = SwingTwist.FromQuaternion(q); - Assert.AreEqual(-180, s.swing.horizontal.inDegrees, 0.01f); - Assert.AreEqual(0, s.swing.vertical.inDegrees, 0.01f); - Assert.AreEqual(0, s.twist.inDegrees, 0.01f); - r = s.ToQuaternion(); - Assert.AreEqual(0, Quaternion.UnsignedAngle(q, r), 10e-2f); - - q = Quaternion.Euler(0, 135, 0); - s = SwingTwist.FromQuaternion(q); - Assert.AreEqual(135, s.swing.horizontal.inDegrees, 0.01f); - Assert.AreEqual(0, s.swing.vertical.inDegrees, 0.01f); - Assert.AreEqual(0, s.twist.inDegrees, 0.01f); - r = s.ToQuaternion(); - Assert.AreEqual(0, Quaternion.UnsignedAngle(q, r), 10e-2f); - - q = Quaternion.Euler(60, 45, 30); - s = SwingTwist.FromQuaternion(q); - Assert.AreEqual(45, s.swing.horizontal.inDegrees, 0.01f); - Assert.AreEqual(60, s.swing.vertical.inDegrees, 0.01f); - Assert.AreEqual(30, s.twist.inDegrees, 0.01f); - // r = s.ToQuaternion(); - // Assert.AreEqual(0, Quaternion.UnsignedAngle(q, r), 10e-2f); - - // q = Quaternion.Euler(-45, -30, -15); - // s = SwingTwist.FromQuaternion(q); - // Assert.AreEqual(-30, s.swing.horizontal.inDegrees, 0.01f); - // Assert.AreEqual(-45, s.swing.vertical.inDegrees, 0.01f); - // Assert.AreEqual(-15, s.twist.inDegrees, 0.01f); - // r = s.ToQuaternion(); - // Assert.AreEqual(0, Quaternion.UnsignedAngle(q, r), 10e-2f); - - // q = Quaternion.Euler(180, 180, 180); - // s = SwingTwist.FromQuaternion(q); - // Assert.AreEqual(-180, s.swing.horizontal.inDegrees, 0.01f); - // Assert.AreEqual(-180, s.swing.vertical.inDegrees, 0.01f); - // Assert.AreEqual(-180, s.twist.inDegrees, 0.01f); - // r = s.ToQuaternion(); - // Assert.AreEqual(0, Quaternion.UnsignedAngle(q, r), 10e-2f); - - } - - [Test] - public void ToAngleAxis_ConvertsToSpherical() { - SwingTwist st = SwingTwist.Degrees(45, 30, 15); - Spherical s = st.ToAngleAxis(); - Assert.IsNotNull(s); - } - - [Test] - public void FromAngleAxis_ConvertsFromSpherical() { - Spherical s = new(90, Direction.Degrees(45, 0)); - SwingTwist st = SwingTwist.FromAngleAxis(s); - Assert.IsNotNull(st); - } - - } - -} - -#endif \ No newline at end of file diff --git a/NanoBrain/LinearAlgebra/test/Vector2FloatTest.cs b/NanoBrain/LinearAlgebra/test/Vector2FloatTest.cs deleted file mode 100644 index 867765a..0000000 --- a/NanoBrain/LinearAlgebra/test/Vector2FloatTest.cs +++ /dev/null @@ -1,364 +0,0 @@ -#if !UNITY_5_6_OR_NEWER -using NUnit.Framework; - -namespace LinearAlgebra.Test { - using Vector2 = Vector2Float; - - public class Vector2FloatTest { - - [SetUp] - public void Setup() { - } - - [Test] - public void FromPolar() { - } - - [Test] - public void Equality() { - Vector2 v1 = new(4, 5); - Vector2 v2 = new(1, 2); - - Assert.IsFalse(v1 == v2, "4 5 == 1 2"); - Assert.IsTrue(v1 != v2, "4 5 != 1 2"); - - v2 = new(4, 5); - Assert.IsTrue(v1 == v2, "4 5 == 4 5"); - Assert.IsFalse(v1 != v2, "4 5 != 4 5"); - } - - [Test] - public void Magnitude() { - Vector2 v = new(1, 2); - float m = 0; - m = v.magnitude; - Assert.AreEqual(m, 2.236068F, "v.magnitude 1 2"); - - m = Vector2.MagnitudeOf(v); - Assert.AreEqual(m, 2.236068F, "MagnitudeOf 1 2"); - - v = new(-1, -2); - m = v.magnitude; - Assert.AreEqual(m, 2.236068F, "v.magnitude -1 -2"); - - v = new(0, 0); - m = v.magnitude; - Assert.AreEqual(m, 0, "v.magnitude 0 0"); - } - - [Test] - public void SqrMagnitude() { - Vector2 v = new(1, 2); - float m = 0; - - m = v.sqrMagnitude; - Assert.AreEqual(m, 5, "v.sqrMagnitude 1 2"); - - m = Vector2.SqrMagnitudeOf(v); - Assert.AreEqual(m, 5, "SqrMagnitudeOf 1 2"); - - v = new(-1, -2); - m = v.sqrMagnitude; - Assert.AreEqual(m, 5, "v.sqrMagnitude -1 -2"); - - v = new(0, 0); - m = v.sqrMagnitude; - Assert.AreEqual(m, 0, "v.sqrMagnitude 0 0"); - } - - [Test] - public void Distance() { - Vector2 v1 = new(4, 5); - Vector2 v2 = new(1, 2); - float f = 0; - - f = Vector2.Distance(v1, v2); - Assert.AreEqual(f, 4.24264002f, 1.0E-05F, "Distance(4 5, 1 2)"); - - v2 = new(-1, -2); - f = Vector2.Distance(v1, v2); - Assert.AreEqual(f, 8.602325F, "Distance(4 5, 1 2)"); - - v2 = new(0, 0); - f = Vector2.Distance(v1, v2); - Assert.AreEqual(f, 6.403124F, 1.0E-05F, "Distance(4 5, 1 2)"); - } - - [Test] - public void Normalize() { - Vector2 v = new(0, 3); - Vector2Float r; - - r = v.normalized; - Assert.AreEqual(0, r.horizontal, "normalized 0 3 H"); - Assert.AreEqual(1, r.vertical, "normalized 0 3 V"); - - r = Vector2.Normalize(v); - Assert.AreEqual(0, r.horizontal, "Normalize 0 3 H"); - Assert.AreEqual(1, r.vertical, "Normalize 0 3 V"); - - v = new(0, -3); - r = v.normalized; - Assert.AreEqual(0, r.horizontal, "normalized 0 -3 H"); - Assert.AreEqual(-1, r.vertical, "normalized 0 -3 V"); - - v = new(0, 0); - r = v.normalized; - Assert.AreEqual(0, r.horizontal, "normalized 0 0 H"); - Assert.AreEqual(0, r.vertical, "normalized 0 0 V"); - } - - [Test] - public void Negate() { - Vector2 v = new(4, 5); - Vector2 r; - - r = -v; - Assert.AreEqual(-4, r.horizontal, "- 4 5 H"); - Assert.AreEqual(-5, r.vertical, "- 4 5 V"); - - v = new(-4, -5); - r = -v; - Assert.AreEqual(4, r.horizontal, "- -4 -5 H"); - Assert.AreEqual(5, r.vertical, "- -4 -5 V"); - - v = new(0, 0); - r = -v; - Assert.AreEqual(0, r.horizontal, "- 0 0 H"); - Assert.AreEqual(0, r.vertical, "- 0 0 V"); - } - - [Test] - public void Subtract() { - Vector2 v1 = new(4, 5); - Vector2 v2 = new(1, 2); - Vector2 r = Vector2.zero; - - r = v1 - v2; - Assert.IsTrue(r == new Vector2(3, 3), "4 5 - 1 2"); - - v2 = new(-1, -2); - r = v1 - v2; - Assert.IsTrue(r == new Vector2(5, 7), "4 5 - -1 -2"); - - v2 = new(4, 5); - r = v1 - v2; - Assert.IsTrue(r == new Vector2(0, 0), "4 5 - 4 5"); - r = v1; - r -= v2; - Assert.AreEqual(r, new Vector2(0, 0), "4 5 - 4 5"); - - v2 = new(0, 0); - r = v1 - v2; - Assert.AreEqual(r, new Vector2(4, 5), "4 5 - 0 0"); - r -= v2; - Assert.AreEqual(r, new Vector2(4, 5), "4 5 - 0 0"); - } - - [Test] - public void Addition() { - Vector2 v1 = new(4, 5); - Vector2 v2 = new(1, 2); - Vector2 r = Vector2.zero; - - r = v1 + v2; - Assert.IsTrue(r == new Vector2(5, 7), "4 5 + 1 2"); - - v2 = new(-1, -2); - r = v1 + v2; - Assert.IsTrue(r == new Vector2(3, 3), "4 5 + -1 -2"); - r = v1; - r += v2; - Assert.AreEqual(r, new Vector2(3, 3), "4 5 + -1 -2"); - - v2 = new(0, 0); - r = v1 + v2; - Assert.AreEqual(r, new Vector2(4, 5), "4 5 + 0 0"); - r += v2; - Assert.AreEqual(r, new Vector2(4, 5), "4 5 + 0 0"); - } - - [Test] - public void Scale() { - Vector2 v1 = new(4, 5); - Vector2 v2 = new(1, 2); - Vector2 r; - - r = Vector2.Scale(v1, v2); - Assert.AreEqual(4, r.horizontal, "Scale 4 5 , 1 2 H"); - Assert.AreEqual(10, r.vertical, "Scale 4 5 , 1 2 V"); - - v2 = new(-1, -2); - r = Vector2.Scale(v1, v2); - Assert.AreEqual(-4, r.horizontal, "Scale 4 5 , -1 -2 H"); - Assert.AreEqual(-10, r.vertical, "Scale 4 5 , -1 -2 V"); - - v2 = new(0, 0); - r = Vector2.Scale(v1, v2); - Assert.AreEqual(0, r.horizontal, "Scale 4 5 , 0 0 H"); - Assert.AreEqual(0, r.vertical, "Scale 4 5 , 0 0 V"); - } - - [Test] - public void Multiply() { - Vector2 v1 = new(4, 5); - int f = 3; - Vector2 r; - - r = v1 * f; - Assert.AreEqual(12, r.horizontal, "4 5 * 3 H"); - Assert.AreEqual(15, r.vertical, "4 5 * 3 V"); - - r = f * v1; - Assert.AreEqual(12, r.horizontal, "3 * 4 5 H"); - Assert.AreEqual(15, r.vertical, "3 * 4 5 V"); - - f = -3; - r = v1 * f; - Assert.AreEqual(-12, r.horizontal, "4 5 * -3 H"); - Assert.AreEqual(-15, r.vertical, "4 5 * -3 V"); - - f = 0; - r = v1 * f; - Assert.AreEqual(0, r.horizontal, "4 5 * 0 H"); - Assert.AreEqual(0, r.vertical, "4 5 * 0 V"); - } - - [Test] - public void Divide() { - Vector2 v1 = new(4, 5); - float f = 2; - Vector2 r; - - r = v1 / f; - Assert.AreEqual(2, r.horizontal, "4 5 / 2 H"); - Assert.AreEqual(2.5, r.vertical, "4 5 / 2 V"); - - f = -2; - r = v1 / f; - Assert.AreEqual(-2, r.horizontal, "4 5 / -2 H"); - Assert.AreEqual(-2.5, r.vertical, "4 5 / -2 V"); - - f = 0; - r = v1 / f; - Assert.AreEqual(float.PositiveInfinity, r.horizontal, "4 5 / 0 H"); - Assert.AreEqual(float.PositiveInfinity, r.vertical, "4 5 / 0 V"); - } - - [Test] - public void Dot() { - Vector2 v1 = new(4, 5); - Vector2 v2 = new(1, 2); - float f; - - f = Vector2.Dot(v1, v2); - Assert.AreEqual(14, f, "Dot(4 5, 1 2)"); - - v2 = new(-1, -2); - f = Vector2.Dot(v1, v2); - Assert.AreEqual(-14, f, "Dot(4 5, -1 -2)"); - - v2 = new(0, 0); - f = Vector2.Dot(v1, v2); - Assert.AreEqual(0, f, "Dot(4 5, 0 0)"); - } - - [Test] - public void SignedAngle() { - Vector2 v1 = new(4, 5); - Vector2 v2 = new(1, 2); - float f; - - f = Vector2.SignedAngle(v1, v2); - Assert.AreEqual(-12.094758f, f); - - v2 = new(-1, -2); - f = Vector2.SignedAngle(v1, v2); - Assert.AreEqual(167.905228f, f); - - v2 = new(0, 0); - f = Vector2.SignedAngle(v1, v2); - Assert.AreEqual(0, f); - - v1 = new(0, 1); - v2 = new(1, 0); - f = Vector2.SignedAngle(v1, v2); - Assert.AreEqual(90, f); - - v1 = new(0, 1); - v2 = new(0, -1); - f = Vector2.SignedAngle(v1, v2); - Assert.AreEqual(180, f); - } - - [Test] - public void UnsignedAngle() { - Vector2 v1 = new(4, 5); - Vector2 v2 = new(1, 2); - float f; - - f = Vector2.UnsignedAngle(v1, v2); - Assert.AreEqual(12.094758f, f); - - v2 = new(-1, -2); - f = Vector2.UnsignedAngle(v1, v2); - Assert.AreEqual(167.905228f, f); - - v2 = new(0, 0); - f = Vector2.UnsignedAngle(v1, v2); - Assert.AreEqual(0, f); - - v1 = new(0, 1); - v2 = new(1, 0); - f = Vector2.UnsignedAngle(v1, v2); - Assert.AreEqual(90, f); - - v1 = new(0, 1); - v2 = new(0, -1); - f = Vector2.UnsignedAngle(v1, v2); - Assert.AreEqual(180, f); - } - - [Test] - public void Rotate() { - Vector2 v1 = new(1, 2); - Vector2 r; - - r = Vector2.Rotate(v1, AngleFloat.Degrees(0)); - Assert.AreEqual(0, Vector2.Distance(r, v1)); - - r = Vector2.Rotate(v1, AngleFloat.Degrees(180)); - Assert.AreEqual(0, Vector2.Distance(r, new Vector2(-1, -2)), 1.0e-06); - - r = Vector2.Rotate(v1, AngleFloat.Degrees(-90)); - Assert.AreEqual(0, Vector2.Distance(r, new Vector2(2, -1)), 1.0e-06); - - r = Vector2.Rotate(v1, AngleFloat.Degrees(270)); - Assert.AreEqual(0, Vector2.Distance(r, new Vector2(2, -1)), 1.0e-06); - } - - [Test] - public void Lerp() { - Vector2 v1 = new(4, 5); - Vector2 v2 = new(1, 2); - Vector2 r; - - r = Vector2.Lerp(v1, v2, 0); - Assert.AreEqual(0, Vector2.Distance(r, v1), 0); - - r = Vector2.Lerp(v1, v2, 1); - Assert.AreEqual(0, Vector2.Distance(r, v2), 0); - - r = Vector2.Lerp(v1, v2, 0.5f); - Assert.AreEqual(0, Vector2.Distance(r, new Vector2(2.5f, 3.5f)), 0); - - r = Vector2.Lerp(v1, v2, -1); - Assert.AreEqual(0, Vector2.Distance(r, new Vector2(7, 8)), 0); - - r = Vector2.Lerp(v1, v2, 2); - Assert.AreEqual(0, Vector2.Distance(r, new Vector2(-2, -1)), 0); - } - - } -} -#endif \ No newline at end of file diff --git a/NanoBrain/LinearAlgebra/test/Vector2IntTest.cs b/NanoBrain/LinearAlgebra/test/Vector2IntTest.cs deleted file mode 100644 index 3647ca0..0000000 --- a/NanoBrain/LinearAlgebra/test/Vector2IntTest.cs +++ /dev/null @@ -1,270 +0,0 @@ -#if !UNITY_5_6_OR_NEWER -using NUnit.Framework; - -namespace LinearAlgebra.Test { - using Vector2 = Vector2Int; - - public class Vector2IntTest { - - [SetUp] - public void Setup() { - } - - [Test] - public void FromPolar() { - } - - [Test] - public void Equality() { - Vector2 v1 = new(4, 5); - Vector2 v2 = new(1, 2); - - Assert.IsFalse(v1 == v2, "4 5 == 1 2"); - Assert.IsTrue(v1 != v2, "4 5 != 1 2"); - - v2 = new(4, 5); - Assert.IsTrue(v1 == v2, "4 5 == 4 5"); - Assert.IsFalse(v1 != v2, "4 5 != 4 5"); - } - - [Test] - public void Magnitude() { - Vector2 v = new(1, 2); - float m = 0; - m = v.magnitude; - Assert.AreEqual(m, 2.236068F, "v.magnitude 1 2"); - - m = Vector2.MagnitudeOf(v); - Assert.AreEqual(m, 2.236068F, "MagnitudeOf 1 2"); - - v = new(-1, -2); - m = v.magnitude; - Assert.AreEqual(m, 2.236068F, "v.magnitude -1 -2"); - - v = new(0, 0); - m = v.magnitude; - Assert.AreEqual(m, 0, "v.magnitude 0 0"); - } - - [Test] - public void SqrMagnitude() { - Vector2 v = new(1, 2); - float m = 0; - - m = v.sqrMagnitude; - Assert.AreEqual(m, 5, "v.sqrMagnitude 1 2"); - - m = Vector2.SqrMagnitudeOf(v); - Assert.AreEqual(m, 5, "SqrMagnitudeOf 1 2"); - - v = new(-1, -2); - m = v.sqrMagnitude; - Assert.AreEqual(m, 5, "v.sqrMagnitude -1 -2"); - - v = new(0, 0); - m = v.sqrMagnitude; - Assert.AreEqual(m, 0, "v.sqrMagnitude 0 0"); - } - - [Test] - public void Distance() { - Vector2 v1 = new(4, 5); - Vector2 v2 = new(1, 2); - float f = 0; - - f = Vector2.Distance(v1, v2); - Assert.AreEqual(f, 4.24264002f, 1.0E-05F, "Distance(4 5, 1 2)"); - - v2 = new(-1, -2); - f = Vector2.Distance(v1, v2); - Assert.AreEqual(f, 8.602325F, "Distance(4 5, 1 2)"); - - v2 = new(0, 0); - f = Vector2.Distance(v1, v2); - Assert.AreEqual(f, 6.403124F, 1.0E-05F, "Distance(4 5, 1 2)"); - } - - [Test] - public void Normalize() { - Vector2 v = new(0, 3); - Vector2Float r; - - r = v.normalized; - Assert.AreEqual(0, r.horizontal, "normalized 0 3 H"); - Assert.AreEqual(1, r.vertical, "normalized 0 3 V"); - - r = Vector2.Normalize(v); - Assert.AreEqual(0, r.horizontal, "Normalize 0 3 H"); - Assert.AreEqual(1, r.vertical, "Normalize 0 3 V"); - - v = new(0, -3); - r = v.normalized; - Assert.AreEqual(0, r.horizontal, "normalized 0 -3 H"); - Assert.AreEqual(-1, r.vertical, "normalized 0 -3 V"); - - v = new(0, 0); - r = v.normalized; - Assert.AreEqual(0, r.horizontal, "normalized 0 0 H"); - Assert.AreEqual(0, r.vertical, "normalized 0 0 V"); - } - - [Test] - public void Negate() { - Vector2 v = new(4, 5); - Vector2 r; - - r = -v; - Assert.AreEqual(-4, r.horizontal, "- 4 5 H"); - Assert.AreEqual(-5, r.vertical, "- 4 5 V"); - - v = new(-4, -5); - r = -v; - Assert.AreEqual(4, r.horizontal, "- -4 -5 H"); - Assert.AreEqual(5, r.vertical, "- -4 -5 V"); - - v = new(0, 0); - r = -v; - Assert.AreEqual(0, r.horizontal, "- 0 0 H"); - Assert.AreEqual(0, r.vertical, "- 0 0 V"); - } - - [Test] - public void Subtract() { - Vector2 v1 = new(4, 5); - Vector2 v2 = new(1, 2); - Vector2 r = Vector2.zero; - - r = v1 - v2; - Assert.IsTrue(r == new Vector2(3, 3), "4 5 - 1 2"); - - v2 = new(-1, -2); - r = v1 - v2; - Assert.IsTrue(r == new Vector2(5, 7), "4 5 - -1 -2"); - - v2 = new(4, 5); - r = v1 - v2; - Assert.IsTrue(r == new Vector2(0, 0), "4 5 - 4 5"); - r = v1; - r -= v2; - Assert.AreEqual(r, new Vector2(0, 0), "4 5 - 4 5"); - - v2 = new(0, 0); - r = v1 - v2; - Assert.AreEqual(r, new Vector2(4, 5), "4 5 - 0 0"); - r -= v2; - Assert.AreEqual(r, new Vector2(4, 5), "4 5 - 0 0"); - } - - [Test] - public void Addition() { - Vector2 v1 = new(4, 5); - Vector2 v2 = new(1, 2); - Vector2 r = Vector2.zero; - - r = v1 + v2; - Assert.IsTrue(r == new Vector2(5, 7), "4 5 + 1 2"); - - v2 = new(-1, -2); - r = v1 + v2; - Assert.IsTrue(r == new Vector2(3, 3), "4 5 + -1 -2"); - r = v1; - r += v2; - Assert.AreEqual(r, new Vector2(3, 3), "4 5 + -1 -2"); - - v2 = new(0, 0); - r = v1 + v2; - Assert.AreEqual(r, new Vector2(4, 5), "4 5 + 0 0"); - r += v2; - Assert.AreEqual(r, new Vector2(4, 5), "4 5 + 0 0"); - } - - [Test] - public void Scale() { - Vector2 v1 = new(4, 5); - Vector2 v2 = new(1, 2); - Vector2 r; - - r = Vector2.Scale(v1, v2); - Assert.AreEqual(4, r.horizontal, "Scale 4 5 , 1 2 H"); - Assert.AreEqual(10, r.vertical, "Scale 4 5 , 1 2 V"); - - v2 = new(-1, -2); - r = Vector2.Scale(v1, v2); - Assert.AreEqual(-4, r.horizontal, "Scale 4 5 , -1 -2 H"); - Assert.AreEqual(-10, r.vertical, "Scale 4 5 , -1 -2 V"); - - v2 = new(0, 0); - r = Vector2.Scale(v1, v2); - Assert.AreEqual(0, r.horizontal, "Scale 4 5 , 0 0 H"); - Assert.AreEqual(0, r.vertical, "Scale 4 5 , 0 0 V"); - } - - [Test] - public void Multiply() { - Vector2 v1 = new(4, 5); - int f = 3; - Vector2 r; - - r = v1 * f; - Assert.AreEqual(12, r.horizontal, "4 5 * 3 H"); - Assert.AreEqual(15, r.vertical, "4 5 * 3 V"); - - r = f * v1; - Assert.AreEqual(12, r.horizontal, "3 * 4 5 H"); - Assert.AreEqual(15, r.vertical, "3 * 4 5 V"); - - f = -3; - r = v1 * f; - Assert.AreEqual(-12, r.horizontal, "4 5 * -3 H"); - Assert.AreEqual(-15, r.vertical, "4 5 * -3 V"); - - f = 0; - r = v1 * f; - Assert.AreEqual(0, r.horizontal, "4 5 * 0 H"); - Assert.AreEqual(0, r.vertical, "4 5 * 0 V"); - } - - [Test] - public void Divide() { - Vector2 v1 = new(4, 5); - int f = 2; - Vector2 r; - - r = v1 / f; - Assert.AreEqual(2, r.horizontal, "4 5 / 2 H"); - Assert.AreEqual(2, r.vertical, "4 5 / 2 V"); - - f = -2; - r = v1 / f; - Assert.AreEqual(-2, r.horizontal, "4 5 / -2 H"); - Assert.AreEqual(-2, r.vertical, "4 5 / -2 V"); - - Assert.Throws(() => { - f = 0; - r = v1 / f; - Assert.AreEqual(float.PositiveInfinity, r.horizontal, "4 5 / 0 H"); - Assert.AreEqual(float.PositiveInfinity, r.vertical, "4 5 / 0 V"); - }); - } - - [Test] - public void Dot() { - Vector2 v1 = new(4, 5); - Vector2 v2 = new(1, 2); - int f; - - f = Vector2.Dot(v1, v2); - Assert.AreEqual(14, f, "Dot(4 5, 1 2)"); - - v2 = new(-1, -2); - f = Vector2.Dot(v1, v2); - Assert.AreEqual(-14, f, "Dot(4 5, -1 -2)"); - - v2 = new(0, 0); - f = Vector2.Dot(v1, v2); - Assert.AreEqual(0, f, "Dot(4 5, 0 0)"); - } - - } -} -#endif \ No newline at end of file diff --git a/NanoBrain/LinearAlgebra/test/Vector3FloatTest.cs b/NanoBrain/LinearAlgebra/test/Vector3FloatTest.cs deleted file mode 100644 index fd3c2dc..0000000 --- a/NanoBrain/LinearAlgebra/test/Vector3FloatTest.cs +++ /dev/null @@ -1,581 +0,0 @@ -#if !UNITY_5_6_OR_NEWER -using NUnit.Framework; - -namespace LinearAlgebra.Test { - using Vector3 = Vector3Float; - - public class Vector3FloatTest { - - [Test] - public void FromSpherical() { - Vector3 v = new(0, 0, 1); - Spherical s = Spherical.FromVector3(v); - Vector3 r = Vector3.FromSpherical(s); - - Assert.AreEqual(0, r.horizontal, "0 0 1"); - Assert.AreEqual(0, r.vertical, 1.0e-06, "0 0 1"); - Assert.AreEqual(1, r.depth, "0 0 1"); - - v = new(0, 1, 0); - s = Spherical.FromVector3(v); - r = Vector3.FromSpherical(s); - Assert.AreEqual(0, r.horizontal, "0 0 1"); - Assert.AreEqual(1, r.vertical, "0 0 1"); - Assert.AreEqual(0, r.depth, 1.0e-06, "0 0 1"); - - v = new(1, 0, 0); - s = Spherical.FromVector3(v); - r = Vector3.FromSpherical(s); - Assert.AreEqual(1, r.horizontal, "0 0 1"); - Assert.AreEqual(0, r.vertical, 1.0e-06, "0 0 1"); - Assert.AreEqual(0, r.depth, 1.0e-06, "0 0 1"); - } - - [Test] - public void Magnitude() { - Vector3 v = new(1, 2, 3); - float m = 0; - - m = v.magnitude; - Assert.AreEqual(3.7416575f, m, "magnitude 1 2 3"); - - m = Vector3.MagnitudeOf(v); - Assert.AreEqual(3.7416575f, m, "MagnitudeOf 1 2 3"); - - v = new(-1, -2, -3); - m = v.magnitude; - Assert.AreEqual(3.7416575f, m, "magnitude -1 -2 -3"); - - v = new(0, 0, 0); - m = v.magnitude; - Assert.AreEqual(0, m, "magnitude 0 0 0"); - - // Infinity tests are still missing - } - - [Test] - public void SqrMagnitude() { - Vector3 v = new(1, 2, 3); - float m = 0; - - m = v.sqrMagnitude; - Assert.AreEqual(14, m, "sqrMagnitude 1 2 3"); - - m = Vector3.SqrMagnitudeOf(v); - Assert.AreEqual(14, m, "SqrMagnitudeOf 1 2 3"); - - v = new(-1, -2, -3); - m = v.sqrMagnitude; - Assert.AreEqual(14, m, "sqrMagnitude -1 -2 -3"); - - v = new(0, 0, 0); - m = v.sqrMagnitude; - Assert.AreEqual(0, m, "sqrMagnitude 0 0 0"); - - // Infinity tests are still missing - } - - [Test] - public void Normalize() { - Vector3 v = new(0, 2, 0); - Vector3 r; - - r = v.normalized; - Assert.AreEqual(new Vector3(0, 1, 0), r, "normalized 0 2 0"); - - r = Vector3.Normalize(v); - Assert.AreEqual(new Vector3(0, 1, 0), r, "Normalize 0 2 0"); - - v = new(0, -2, 0); - r = v.normalized; - Assert.AreEqual(new Vector3(0, -1, 0), r, "normalized 0 -2 0"); - v = new(0, 0, 0); - r = v.normalized; - Assert.AreEqual(new Vector3(0, 0, 0), r, "normalized 0 0 0"); - - v = new(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity); - r = v.normalized; - Assert.IsTrue(float.IsNaN(r.horizontal), "normalized infinity infinity infinity"); - Assert.IsTrue(float.IsNaN(r.vertical), "normalized infinity infinity infinity"); - Assert.IsTrue(float.IsNaN(r.depth), "normalized infinity infinity infinity"); - - v = new(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity); - r = v.normalized; - Assert.IsTrue(float.IsNaN(r.horizontal), "normalized -infinity -infinity -infinity"); - Assert.IsTrue(float.IsNaN(r.vertical), "normalized -infinity -infinity -infinity"); - Assert.IsTrue(float.IsNaN(r.depth), "normalized -infinity -infinity -infinity"); - } - - [Test] - public void Negate() { - Vector3 v = new(4, 5, 6); - Vector3 r; - - r = -v; - Assert.AreEqual(-4, r.horizontal, "- 4 5 6 H"); - Assert.AreEqual(-5, r.vertical, "- 4 5 6 V"); - Assert.AreEqual(-6, r.depth, "- 4 5 6 D"); - - v = new(-4, -5, -6); - r = -v; - Assert.AreEqual(4, r.horizontal, "- -4 -5 -6 H"); - Assert.AreEqual(5, r.vertical, "- -4 -5 -6 V"); - Assert.AreEqual(6, r.depth, "- -4 -5 -6 D"); - - v = new(0, 0, 0); - r = -v; - Assert.AreEqual(new Vector3(0, 0, 0), r, "- 0 0 0"); - Assert.AreEqual(0, r.horizontal, "- 0 0 0 H"); - Assert.AreEqual(0, r.vertical, "- 0 0 0 V"); - Assert.AreEqual(0, r.depth, "- 0 0 0 D"); - - - v = new(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity); - r = -v; - Assert.AreEqual(new Vector3(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity), r, "- inifinty infinity infinity"); - - v = new(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity); - r = -v; - Assert.AreEqual(new Vector3(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity), r, "- -inifinty -infinity -infinity"); - } - - [Test] - public void Subtract() { - Vector3 v1 = new(4, 5, 6); - Vector3 v2 = new(1, 2, 3); - Vector3 r = Vector3.zero; - - r = v1 - v2; - Assert.IsTrue(r == new Vector3(3, 3, 3), "4 5 6 - 1 2 3"); - - v2 = new(-1, -2, -3); - r = v1 - v2; - Assert.IsTrue(r == new Vector3(5, 7, 9), "4 5 6 - -1 -2 -3"); - - v2 = new(4, 5, 6); - r = v1 - v2; - Assert.IsTrue(r == new Vector3(0, 0, 0), "4 5 6 - 4 5 6"); - r = v1; - r -= v2; - Assert.AreEqual(r, new Vector3(0, 0, 0), "4 5 6 - 4 5 6"); - - v2 = new(0, 0, 0); - r = v1 - v2; - Assert.AreEqual(r, new Vector3(4, 5, 6), "4 5 6 - 0 0 0"); - r -= v2; - Assert.AreEqual(r, new Vector3(4, 5, 6), "4 5 6 - 0 0 0"); - - // Infinity tests are still missing - } - - [Test] - public void Addition() { - Vector3 v1 = new(4, 5, 6); - Vector3 v2 = new(1, 2, 3); - Vector3 r = Vector3.zero; - - r = v1 + v2; - Assert.IsTrue(r == new Vector3(5, 7, 9), "4 5 6 + 1 2 3"); - - v2 = new(-1, -2, -3); - r = v1 + v2; - Assert.IsTrue(r == new Vector3(3, 3, 3), "4 5 6 + -1 -2 -3"); - r = v1; - r += v2; - Assert.AreEqual(r, new Vector3(3, 3, 3), "4 5 6 + -1 -2 -3"); - - v2 = new(0, 0, 0); - r = v1 + v2; - Assert.AreEqual(r, new Vector3(4, 5, 6), "4 5 6 + 0 0 0"); - r += v2; - Assert.AreEqual(r, new Vector3(4, 5, 6), "4 5 6 + 0 0 0"); - - // Infinity tests are still missing - } - - [Test] - public void Scale() { - Vector3 v1 = new(4, 5, 6); - Vector3 v2 = new(1, 2, 3); - Vector3 r; - - r = Vector3.Scale(v1, v2); - Assert.AreEqual(4, r.horizontal, "Scale 4 5 6 , 1 2 3 H"); - Assert.AreEqual(10, r.vertical, "Scale 4 5 6 , 1 2 3 V"); - Assert.AreEqual(18, r.depth, "Scale 4 5 6 , 1 2 3 D"); - - v2 = new(-1, -2, -3); - r = Vector3.Scale(v1, v2); - Assert.AreEqual(-4, r.horizontal, "Scale 4 5 6 , -1 -2 -3 H"); - Assert.AreEqual(-10, r.vertical, "Scale 4 5 6 , -1 -2 -3 V"); - Assert.AreEqual(-18, r.depth, "Scale 4 5 6 , -1 -2 -3 D"); - - v2 = new(0, 0, 0); - r = Vector3.Scale(v1, v2); - Assert.AreEqual(0, r.horizontal, "Scale 4 5 6 , 0 0 0 H"); - Assert.AreEqual(0, r.vertical, "Scale 4 5 6 , 0 0 0 V"); - Assert.AreEqual(0, r.depth, "Scale 4 5 6 , 0 0 0 D"); - - v2 = new(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity); - r = Vector3.Scale(v1, v2); - Assert.AreEqual(float.PositiveInfinity, r.horizontal, "Scale 4 5 6 , inf inf inf H"); - Assert.AreEqual(float.PositiveInfinity, r.vertical, "Scale 4 5 6 , inf inf inf V"); - Assert.AreEqual(float.PositiveInfinity, r.depth, "Scale 4 5 6 , inf inf inf D"); - - v2 = new(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity); - r = Vector3.Scale(v1, v2); - Assert.AreEqual(float.NegativeInfinity, r.horizontal, "Scale 4 5 6 , -inf -inf -inf H"); - Assert.AreEqual(float.NegativeInfinity, r.vertical, "Scale 4 5 6 , -inf -inf -inf V"); - Assert.AreEqual(float.NegativeInfinity, r.depth, "Scale 4 5 6 , -inf -inf -inf D"); - } - - [Test] - public void Multiply() { - Vector3 v1 = new(4, 5, 6); - float f = 3; - Vector3 r; - - r = v1 * f; - Assert.AreEqual(12, r.horizontal, "4 5 6 * 3 H"); - Assert.AreEqual(15, r.vertical, "4 5 6 * 3 V"); - Assert.AreEqual(18, r.depth, "4 5 6 * 3 D"); - - f = -3; - r = v1 * f; - Assert.AreEqual(-12, r.horizontal, "4 5 6 * -3 H"); - Assert.AreEqual(-15, r.vertical, "4 5 6 * -3 V"); - Assert.AreEqual(-18, r.depth, "4 5 6 * -3 D"); - - f = 0; - r = v1 * f; - Assert.AreEqual(0, r.horizontal, "4 5 6 * 0 H"); - Assert.AreEqual(0, r.vertical, "4 5 6 * 0 V"); - Assert.AreEqual(0, r.depth, "4 5 6 * 0 D"); - - f = float.PositiveInfinity; - r = v1 * f; - Assert.AreEqual(float.PositiveInfinity, r.horizontal, "4 5 6 * inf H"); - Assert.AreEqual(float.PositiveInfinity, r.vertical, "4 5 6 * inf V"); - Assert.AreEqual(float.PositiveInfinity, r.depth, "4 5 6 * inf D"); - - f = float.NegativeInfinity; - r = v1 * f; - Assert.AreEqual(float.NegativeInfinity, r.horizontal, "4 5 6 * -inf H"); - Assert.AreEqual(float.NegativeInfinity, r.vertical, "4 5 6 * -inf V"); - Assert.AreEqual(float.NegativeInfinity, r.depth, "4 5 6 * -inf D"); - } - - [Test] - public void Divide() { - Vector3 v1 = new(4, 5, 6); - float f = 2; - Vector3 r; - - r = v1 / f; - Assert.AreEqual(2, r.horizontal, "4 5 6 / 2 H"); - Assert.AreEqual(2.5, r.vertical, "4 5 6 / 2 V"); - Assert.AreEqual(3, r.depth, "4 5 6 / 2 D"); - - f = -2; - r = v1 / f; - Assert.AreEqual(-2, r.horizontal, "4 5 6 / -2 H"); - Assert.AreEqual(-2.5, r.vertical, "4 5 6 / -2 V"); - Assert.AreEqual(-3, r.depth, "4 5 6 / -2 D"); - - f = 0; - r = v1 / f; - Assert.AreEqual(float.PositiveInfinity, r.horizontal, "4 5 6 / 0 H"); - Assert.AreEqual(float.PositiveInfinity, r.vertical, "4 5 6 / 0 V"); - Assert.AreEqual(float.PositiveInfinity, r.depth, "4 5 6 / 0 D"); - - f = float.PositiveInfinity; - r = v1 / f; - Assert.AreEqual(0, r.horizontal, "4 5 6 / inf H"); - Assert.AreEqual(0, r.vertical, "4 5 6 / inf V"); - Assert.AreEqual(0, r.depth, "4 5 6 / inf D"); - - f = float.NegativeInfinity; - r = v1 / f; - Assert.AreEqual(0, r.horizontal, "4 5 6 / -inf H"); - Assert.AreEqual(0, r.vertical, "4 5 6 / -inf V"); - Assert.AreEqual(0, r.depth, "4 5 6 / -inf D"); - } - - [Test] - public void Dot() { - Vector3 v1 = new(4, 5, 6); - Vector3 v2 = new(1, 2, 3); - float f; - - f = Vector3.Dot(v1, v2); - Assert.AreEqual(32, f, "Dot(4 5 6, 1 2 3)"); - - v2 = new(-1, -2, -3); - f = Vector3.Dot(v1, v2); - Assert.AreEqual(-32, f, "Dot(4 5 6, -1 -2 -3)"); - - v2 = new(0, 0, 0); - f = Vector3.Dot(v1, v2); - Assert.AreEqual(0, f, "Dot(4 5 6, 0 0 0)"); - - v2 = new(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity); - f = Vector3.Dot(v1, v2); - Assert.AreEqual(float.PositiveInfinity, f, "Dot(4 5 6, inf inf inf)"); - - v2 = new(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity); - f = Vector3.Dot(v1, v2); - Assert.AreEqual(float.NegativeInfinity, f, "Dot(4 5 6, -inf -inf -inf)"); - } - - [Test] - public void Equality() { - Vector3 v1 = new(4, 5, 6); - Vector3 v2 = new(1, 2, 3); - bool r; - - r = v1 == v2; - Assert.IsFalse(r, "4 5 6 == 1 2 3"); - - v2 = new(4, 5, 6); - r = v1 == v2; - Assert.IsTrue(r, "4 5 6 == 4 5 6"); - - v2 = new(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity); - r = v1 == v2; - Assert.IsFalse(r, "4 5 6 == inf inf inf"); - - v1 = new(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity); - r = v1 == v2; - Assert.IsFalse(r, "-inf -inf -inf == inf inf inf"); - } - - [Test] - public void Distance() { - Vector3 v1 = new(4, 5, 6); - Vector3 v2 = new(1, 2, 3); - float f; - - f = Vector3.Distance(v1, v2); - Assert.AreEqual(5.19615221F, f, "Distance(4 5 6, 1 2 3)"); - - v2 = new(-1, -2, -3); - f = Vector3.Distance(v1, v2); - Assert.AreEqual(12.4498997F, f, "Distance(4 5 6, -1 -2 -3)"); - - v2 = new(0, 0, 0); - f = Vector3.Distance(v1, v2); - Assert.AreEqual(v1.magnitude, f, "Distance(4 5 6, 0 0 0)"); - - v2 = new(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity); - f = Vector3.Distance(v1, v2); - Assert.AreEqual(float.PositiveInfinity, f, "Distance(4 5 6, inf inf inf)"); - - v2 = new(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity); - f = Vector3.Distance(v1, v2); - Assert.AreEqual(float.PositiveInfinity, f, "Distance(4 5 6, -inf -inf -inf)"); - } - - [Test] - public void Cross() { - Vector3 v1 = new(4, 5, 6); - Vector3 v2 = new(1, 2, 3); - Vector3 r; - - r = Vector3.Cross(v1, v2); - Assert.AreEqual(3, r.horizontal, "Cross(4 5 6, 1 2 3) H"); - Assert.AreEqual(-6, r.vertical, "Cross(4 5 6, 1 2 3) V"); - Assert.AreEqual(3, r.depth, "Cross(4 5 6, 1 2 3) D"); - - v2 = new(-1, -2, -3); - r = Vector3.Cross(v1, v2); - Assert.AreEqual(-3, r.horizontal, "Cross(4 5 6, -1 -2 -3) H"); - Assert.AreEqual(6, r.vertical, "Cross(4 5 6, -1 -2 -3) V"); - Assert.AreEqual(-3, r.depth, "Cross(4 5 6, -1 -2 -3) D"); - - v2 = new(0, 0, 0); - r = Vector3.Cross(v1, v2); - Assert.AreEqual(0, r.horizontal, "Cross(4 5 6, 0 0 0) H"); - Assert.AreEqual(0, r.vertical, "Cross(4 5 6, 0 0 0) V"); - Assert.AreEqual(0, r.depth, "Cross(4 5 6, 0 0 0) D"); - - v2 = new(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity); - r = Vector3.Cross(v1, v2); - Assert.IsTrue(float.IsNaN(r.horizontal), "Cross(4 5 6, inf inf inf) H"); - Assert.IsTrue(float.IsNaN(r.vertical), "Cross(4 5 6, inf inf inf) V"); - Assert.IsTrue(float.IsNaN(r.depth), "Cross(4 5 6, inf inf inf) D"); - - v2 = new(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity); - r = Vector3.Cross(v1, v2); - Assert.IsTrue(float.IsNaN(r.horizontal), "Cross(4 5 6, -inf -inf -inf) H"); - Assert.IsTrue(float.IsNaN(r.vertical), "Cross(4 5 6, -inf -inf -inf) V"); - Assert.IsTrue(float.IsNaN(r.depth), "Cross(4 5 6, -inf -inf -inf) D"); - } - - [Test] - public void Project() { - Vector3 v1 = new(4, 5, 6); - Vector3 v2 = new(1, 2, 3); - Vector3 r; - - r = Vector3.Project(v1, v2); - Assert.AreEqual(2.28571439F, r.horizontal, "Project(4 5 6, 1 2 3) H"); - Assert.AreEqual(4.57142878F, r.vertical, "Project(4 5 6, 1 2 3) V"); - Assert.AreEqual(6.85714293F, r.depth, "Project(4 5 6, 1 2 3) D"); - - v2 = new(-1, -2, -3); - r = Vector3.Project(v1, v2); - Assert.AreEqual(2.28571439F, r.horizontal, "Project(4 5 6, -1 -2 -3) H"); - Assert.AreEqual(4.57142878F, r.vertical, "Project(4 5 6, -1 -2 -3) V"); - Assert.AreEqual(6.85714293F, r.depth, "Project(4 5 6, -1 -2 -3) D"); - - v2 = new(0, 0, 0); - r = Vector3.Project(v1, v2); - Assert.AreEqual(0, r.horizontal, "Project(4 5 6, 0 0 0) H"); - Assert.AreEqual(0, r.vertical, "Project(4 5 6, 0 0 0) V"); - Assert.AreEqual(0, r.depth, "Project(4 5 6, 0 0 0) D"); - - r = Vector3.Project(v2, v1); - Assert.AreEqual(0, r.horizontal, "Project(0 0 0, 4 5 6) H"); - Assert.AreEqual(0, r.vertical, "Project(0 0 0, 4 5 6) V"); - Assert.AreEqual(0, r.depth, "Project(0 0 0, 4 5 6) D"); - - v2 = new(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity); - r = Vector3.Project(v1, v2); - Assert.IsTrue(float.IsNaN(r.horizontal), "Project(4 5 6, inf inf inf) H"); - Assert.IsTrue(float.IsNaN(r.vertical), "Project(4 5 6, inf inf inf) V"); - Assert.IsTrue(float.IsNaN(r.depth), "Project(4 5 6, inf inf inf) D"); - - v2 = new(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity); - r = Vector3.Project(v1, v2); - Assert.IsTrue(float.IsNaN(r.horizontal), "Project(4 5 6, -inf -inf -inf) H"); - Assert.IsTrue(float.IsNaN(r.vertical), "Project(4 5 6, -inf -inf -inf) V"); - Assert.IsTrue(float.IsNaN(r.depth), "Project(4 5 6, -inf -inf -inf) D"); - } - - [Test] - public void ProjectOnPlane() { - Vector3 v1 = new(4, 5, 6); - Vector3 v2 = new(1, 2, 3); - Vector3 r; - - r = Vector3.ProjectOnPlane(v1, v2); - Assert.AreEqual(1.71428561F, r.horizontal, "ProjectOnPlane(4 5 6, 1 2 3) H"); - Assert.AreEqual(0.428571224F, r.vertical, "ProjectOnPlane(4 5 6, 1 2 3) V"); - Assert.AreEqual(-0.857142925F, r.depth, "ProjectOnPlane(4 5 6, 1 2 3) D"); - - v2 = new(-1, -2, -3); - r = Vector3.ProjectOnPlane(v1, v2); - Assert.AreEqual(1.71428561F, r.horizontal, "ProjectOnPlane(4 5 6, -1 -2 -3) H"); - Assert.AreEqual(0.428571224F, r.vertical, "ProjectOnPlane(4 5 6, -1 -2 -3) V"); - Assert.AreEqual(-0.857142925F, r.depth, "ProjectOnPlane(4 5 6, -1 -2 -3) D"); - - v2 = new(0, 0, 0); - r = Vector3.ProjectOnPlane(v1, v2); - Assert.AreEqual(4, r.horizontal, "ProjectOnPlane(4 5 6, 0 0 0) H"); - Assert.AreEqual(5, r.vertical, "ProjectOnPlane(4 5 6, 0 0 0) V"); - Assert.AreEqual(6, r.depth, "ProjectOnPlane(4 5 6, 0 0 0) D"); - - r = Vector3.ProjectOnPlane(v2, v1); - Assert.AreEqual(0, r.horizontal, "ProjectOnPlane(0 0 0, 4 5 6) H"); - Assert.AreEqual(0, r.vertical, "ProjectOnPlane(0 0 0, 4 5 6) V"); - Assert.AreEqual(0, r.depth, "ProjectOnPlane(0 0 0, 4 5 6) D"); - - v2 = new(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity); - r = Vector3.ProjectOnPlane(v1, v2); - Assert.IsTrue(float.IsNaN(r.horizontal), "ProjectOnPlane(4 5 6, inf inf inf) H"); - Assert.IsTrue(float.IsNaN(r.vertical), "ProjectOnPlane(4 5 6, inf inf inf) V"); - Assert.IsTrue(float.IsNaN(r.depth), "ProjectOnPlane(4 5 6, inf inf inf) D"); - - v2 = new(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity); - r = Vector3.ProjectOnPlane(v1, v2); - Assert.IsTrue(float.IsNaN(r.horizontal), "ProjectOnPlane(4 5 6, -inf -inf -inf) H"); - Assert.IsTrue(float.IsNaN(r.vertical), "ProjectOnPlane(4 5 6, -inf -inf -inf) V"); - Assert.IsTrue(float.IsNaN(r.depth), "ProjectOnPlane(4 5 6, -inf -inf -inf) D"); - } - - [Test] - public void UnsignedAngle() { - Vector3 v1 = new(4, 5, 6); - Vector3 v2 = new(1, 2, 3); - AngleFloat a; - - a = Vector3.UnsignedAngle(v1, v2); - Assert.AreEqual(12.9331379F, a.inDegrees, "Angle(4 5 6, 1 2 3)"); - - v2 = new(-1, -2, -3); - a = Vector3.UnsignedAngle(v1, v2); - Assert.AreEqual(167.066849F, a.inDegrees, "Angle(4 5 6, -1 -2 -3)"); - - v2 = new(0, 0, 0); - a = Vector3.UnsignedAngle(v1, v2); - Assert.AreEqual(0, a.inDegrees, "Angle(4 5 6, 0 0 0)"); - - v2 = new(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity); - a = Vector3.UnsignedAngle(v1, v2); - Assert.IsTrue(float.IsNaN(a.inDegrees), "Angle(4 5 6, inf inf inf)"); - - v2 = new(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity); - a = Vector3.UnsignedAngle(v1, v2); - Assert.IsTrue(float.IsNaN(a.inDegrees), "Angle(4 5 6, inf inf inf)"); - } - - [Test] - public void SignedAngle() { - Vector3 v1 = new(4, 5, 6); - Vector3 v2 = new(1, 2, 3); - Vector3 v3 = new(7, 8, -9); - AngleFloat a; - - a = Vector3.SignedAngle(v1, v2, v3); - Assert.AreEqual(-12.9331379F, a.inDegrees, "SignedAngle(4 5 6, 1 2 3, 7 8 -9)"); - - v2 = new(-1, -2, -3); - a = Vector3.SignedAngle(v1, v2, v3); - Assert.AreEqual(167.066849F, a.inDegrees, "SignedAngle(4 5 6, -1 -2 -3, 7 8 -9)"); - - v2 = new(0, 0, 0); - a = Vector3.SignedAngle(v1, v2, v3); - Assert.AreEqual(0, a.inDegrees, "SignedAngle(4 5 6, 0 0 0, 7 8 -9)"); - - v2 = new(1, 2, 3); - v3 = new(-7, -8, 9); - a = Vector3.SignedAngle(v1, v2, v3); - Assert.AreEqual(12.9331379F, a.inDegrees, "SignedAngle(4 5 6, 1 2 3, -7 -8 9)"); - - v3 = new(0, 0, 0); - a = Vector3.SignedAngle(v1, v2, v3); - Assert.AreEqual(0, a.inDegrees, "SignedAngle(4 5 6, 1 2 3, 0 0 0)"); - - v2 = new(float.PositiveInfinity, float.PositiveInfinity, float.PositiveInfinity); - a = Vector3.SignedAngle(v1, v2, v3); - Assert.IsTrue(float.IsNaN(a.inDegrees), "SignedAngle(4 5 6, inf inf inf, 0 0 0)"); - - v2 = new(float.NegativeInfinity, float.NegativeInfinity, float.NegativeInfinity); - a = Vector3.SignedAngle(v1, v2, v3); - Assert.IsTrue(float.IsNaN(a.inDegrees), "SignedAngle(4 5 6, -inf -inf -inf, 0 0 0)"); - } - - [Test] - public void Lerp() { - Vector3 v1 = new(4, 5, 6); - Vector3 v2 = new(1, 2, 3); - Vector3 r; - - r = Vector3.Lerp(v1, v2, 0); - Assert.AreEqual(0, Vector3.Distance(r, v1), 0); - - r = Vector3.Lerp(v1, v2, 1); - Assert.AreEqual(0, Vector3.Distance(r, v2), 0); - - r = Vector3.Lerp(v1, v2, 0.5f); - Assert.AreEqual(0, Vector3.Distance(r, new Vector3(2.5f, 3.5f, 4.5f)), 0); - - r = Vector3.Lerp(v1, v2, -1); - Assert.AreEqual(0, Vector3.Distance(r, new Vector3(7, 8, 9)), 0); - - r = Vector3.Lerp(v1, v2, 2); - Assert.AreEqual(0, Vector3.Distance(r, new Vector3(-2, -1, 0)), 0); - } - } -} -#endif \ No newline at end of file diff --git a/NanoBrain/LinearAlgebra/test/Vector3IntTest.cs b/NanoBrain/LinearAlgebra/test/Vector3IntTest.cs deleted file mode 100644 index b718178..0000000 --- a/NanoBrain/LinearAlgebra/test/Vector3IntTest.cs +++ /dev/null @@ -1,349 +0,0 @@ -#if !UNITY_5_6_OR_NEWER -using NUnit.Framework; - -namespace LinearAlgebra.Test { - using Vector3 = Vector3Int; - - public class Vector3IntTest { - - [Test] - public void Equality() { - Vector3 v1 = new(4, 5, 6); - Vector3 v2 = new(1, 2, 3); - - Assert.IsFalse(v1 == v2, "4 5 6 == 1 2 3"); - Assert.IsTrue(v1 != v2, "4 5 6 != 1 2 3"); - - v2 = new(4, 5, 6); - Assert.IsTrue(v1 == v2, "4 5 6 == 4 5 6"); - Assert.IsFalse(v1 != v2, "4 5 6 != 4 5 6"); - } - - [Test] - public void Magnitude() { - Vector3 v = new(1, 2, 3); - float m = 0; - - m = v.magnitude; - Assert.AreEqual(3.7416575f, m, "magnitude 1 2 3"); - - m = Vector3.MagnitudeOf(v); - Assert.AreEqual(3.7416575f, m, "MagnitudeOf 1 2 3"); - - v = new(-1, -2, -3); - m = v.magnitude; - Assert.AreEqual(3.7416575f, m, "magnitude -1 -2 -3"); - - v = new(0, 0, 0); - m = v.magnitude; - Assert.AreEqual(0, m, "magnitude 0 0 0"); - - // Infinity tests are still missing - } - - [Test] - public void SqrMagnitude() { - Vector3 v = new(1, 2, 3); - float m = 0; - - m = v.sqrMagnitude; - Assert.AreEqual(14, m, "sqrMagnitude 1 2 3"); - - m = Vector3.SqrMagnitudeOf(v); - Assert.AreEqual(14, m, "SqrMagnitudeOf 1 2 3"); - - v = new(-1, -2, -3); - m = v.sqrMagnitude; - Assert.AreEqual(14, m, "sqrMagnitude -1 -2 -3"); - - v = new(0, 0, 0); - m = v.sqrMagnitude; - Assert.AreEqual(0, m, "sqrMagnitude 0 0 0"); - - // Infinity tests are still missing - } - - [Test] - public void Distance() { - Vector3 v1 = new(4, 5, 6); - Vector3 v2 = new(1, 2, 3); - float f; - - f = Vector3.Distance(v1, v2); - Assert.AreEqual(5.19615221F, f, "Distance(4 5 6, 1 2 3)"); - - v2 = new(-1, -2, -3); - f = Vector3.Distance(v1, v2); - Assert.AreEqual(12.4498997F, f, "Distance(4 5 6, -1 -2 -3)"); - - v2 = new(0, 0, 0); - f = Vector3.Distance(v1, v2); - Assert.AreEqual(v1.magnitude, f, "Distance(4 5 6, 0 0 0)"); - } - - [Test] - public void Normalize() { - Vector3 v = new(0, 2, 0); - Vector3Float r; - - r = v.normalized; - //Assert.AreEqual(new Vector3(0, 1, 0), r, "normalized 0 2 0"); - Assert.AreEqual(0, r.horizontal, "normalized 0 2 0"); - Assert.AreEqual(1, r.vertical, "normalized 0 2 0"); - Assert.AreEqual(0, r.depth, "normalized 0 2 0"); - - r = Vector3.Normalize(v); - Assert.AreEqual(new Vector3Float(0, 1, 0), r, "Normalize 0 2 0"); - - v = new(0, -2, 0); - r = v.normalized; - Assert.AreEqual(new Vector3Float(0, -1, 0), r, "normalized 0 -2 0"); - v = new(0, 0, 0); - r = v.normalized; - Assert.AreEqual(new Vector3Float(0, 0, 0), r, "normalized 0 0 0"); - } - - [Test] - public void Negate() { - Vector3 v = new(4, 5, 6); - Vector3 r; - - r = -v; - Assert.AreEqual(-4, r.horizontal, "- 4 5 6 H"); - Assert.AreEqual(-5, r.vertical, "- 4 5 6 V"); - Assert.AreEqual(-6, r.depth, "- 4 5 6 D"); - - v = new(-4, -5, -6); - r = -v; - Assert.AreEqual(4, r.horizontal, "- -4 -5 -6 H"); - Assert.AreEqual(5, r.vertical, "- -4 -5 -6 V"); - Assert.AreEqual(6, r.depth, "- -4 -5 -6 D"); - - v = new(0, 0, 0); - r = -v; - Assert.AreEqual(new Vector3(0, 0, 0), r, "- 0 0 0"); - Assert.AreEqual(0, r.horizontal, "- 0 0 0 H"); - Assert.AreEqual(0, r.vertical, "- 0 0 0 V"); - Assert.AreEqual(0, r.depth, "- 0 0 0 D"); - } - - [Test] - public void Subtract() { - Vector3 v1 = new(4, 5, 6); - Vector3 v2 = new(1, 2, 3); - Vector3 r = Vector3.zero; - - r = v1 - v2; - Assert.IsTrue(r == new Vector3(3, 3, 3), "4 5 6 - 1 2 3"); - - v2 = new(-1, -2, -3); - r = v1 - v2; - Assert.IsTrue(r == new Vector3(5, 7, 9), "4 5 6 - -1 -2 -3"); - - v2 = new(4, 5, 6); - r = v1 - v2; - Assert.IsTrue(r == new Vector3(0, 0, 0), "4 5 6 - 4 5 6"); - r = v1; - r -= v2; - Assert.AreEqual(r, new Vector3(0, 0, 0), "4 5 6 - 4 5 6"); - - v2 = new(0, 0, 0); - r = v1 - v2; - Assert.AreEqual(r, new Vector3(4, 5, 6), "4 5 6 - 0 0 0"); - r -= v2; - Assert.AreEqual(r, new Vector3(4, 5, 6), "4 5 6 - 0 0 0"); - - // Infinity tests are still missing - } - - [Test] - public void Addition() { - Vector3 v1 = new(4, 5, 6); - Vector3 v2 = new(1, 2, 3); - Vector3 r = Vector3.zero; - - r = v1 + v2; - Assert.IsTrue(r == new Vector3(5, 7, 9), "4 5 6 + 1 2 3"); - - v2 = new(-1, -2, -3); - r = v1 + v2; - Assert.IsTrue(r == new Vector3(3, 3, 3), "4 5 6 + -1 -2 -3"); - r = v1; - r += v2; - Assert.AreEqual(r, new Vector3(3, 3, 3), "4 5 6 + -1 -2 -3"); - - v2 = new(0, 0, 0); - r = v1 + v2; - Assert.AreEqual(r, new Vector3(4, 5, 6), "4 5 6 + 0 0 0"); - r += v2; - Assert.AreEqual(r, new Vector3(4, 5, 6), "4 5 6 + 0 0 0"); - - // Infinity tests are still missing - } - - [Test] - public void Scale() { - Vector3 v1 = new(4, 5, 6); - Vector3 v2 = new(1, 2, 3); - Vector3 r; - - r = Vector3.Scale(v1, v2); - Assert.AreEqual(4, r.horizontal, "Scale 4 5 6 , 1 2 3 H"); - Assert.AreEqual(10, r.vertical, "Scale 4 5 6 , 1 2 3 V"); - Assert.AreEqual(18, r.depth, "Scale 4 5 6 , 1 2 3 D"); - - v2 = new(-1, -2, -3); - r = Vector3.Scale(v1, v2); - Assert.AreEqual(-4, r.horizontal, "Scale 4 5 6 , -1 -2 -3 H"); - Assert.AreEqual(-10, r.vertical, "Scale 4 5 6 , -1 -2 -3 V"); - Assert.AreEqual(-18, r.depth, "Scale 4 5 6 , -1 -2 -3 D"); - - v2 = new(0, 0, 0); - r = Vector3.Scale(v1, v2); - Assert.AreEqual(0, r.horizontal, "Scale 4 5 6 , 0 0 0 H"); - Assert.AreEqual(0, r.vertical, "Scale 4 5 6 , 0 0 0 V"); - Assert.AreEqual(0, r.depth, "Scale 4 5 6 , 0 0 0 D"); - } - - [Test] - public void Multiply() { - Vector3 v1 = new(4, 5, 6); - int f = 3; - Vector3 r; - - r = v1 * f; - Assert.AreEqual(12, r.horizontal, "4 5 6 * 3 H"); - Assert.AreEqual(15, r.vertical, "4 5 6 * 3 V"); - Assert.AreEqual(18, r.depth, "4 5 6 * 3 D"); - - r = f * v1; - Assert.AreEqual(12, r.horizontal, "3 * 4 5 6 H"); - Assert.AreEqual(15, r.vertical, "3 * 4 5 6 V"); - Assert.AreEqual(18, r.depth, "3 * 4 5 6 D"); - - f = -3; - r = v1 * f; - Assert.AreEqual(-12, r.horizontal, "4 5 6 * -3 H"); - Assert.AreEqual(-15, r.vertical, "4 5 6 * -3 V"); - Assert.AreEqual(-18, r.depth, "4 5 6 * -3 D"); - - f = 0; - r = v1 * f; - Assert.AreEqual(0, r.horizontal, "4 5 6 * 0 H"); - Assert.AreEqual(0, r.vertical, "4 5 6 * 0 V"); - Assert.AreEqual(0, r.depth, "4 5 6 * 0 D"); - } - - [Test] - public void Divide() { - Vector3 v1 = new(4, 5, 6); - int f = 2; - Vector3 r; - - r = v1 / f; - Assert.AreEqual(2, r.horizontal, "4 5 6 / 2 H"); - Assert.AreEqual(2, r.vertical, "4 5 6 / 2 V"); - Assert.AreEqual(3, r.depth, "4 5 6 / 2 D"); - - f = -2; - r = v1 / f; - Assert.AreEqual(-2, r.horizontal, "4 5 6 / -2 H"); - Assert.AreEqual(-2, r.vertical, "4 5 6 / -2 V"); - Assert.AreEqual(-3, r.depth, "4 5 6 / -2 D"); - - Assert.Throws(() => { - f = 0; - r = v1 / f; - }); - } - - [Test] - public void Dot() { - Vector3 v1 = new(4, 5, 6); - Vector3 v2 = new(1, 2, 3); - float f; - - f = Vector3.Dot(v1, v2); - Assert.AreEqual(32, f, "Dot(4 5 6, 1 2 3)"); - - v2 = new(-1, -2, -3); - f = Vector3.Dot(v1, v2); - Assert.AreEqual(-32, f, "Dot(4 5 6, -1 -2 -3)"); - - v2 = new(0, 0, 0); - f = Vector3.Dot(v1, v2); - Assert.AreEqual(0, f, "Dot(4 5 6, 0 0 0)"); - } - - [Test] - public void Cross() { - Vector3 v1 = new(4, 5, 6); - Vector3 v2 = new(1, 2, 3); - Vector3 r; - - r = Vector3.Cross(v1, v2); - Assert.AreEqual(3, r.horizontal, "Cross(4 5 6, 1 2 3) H"); - Assert.AreEqual(-6, r.vertical, "Cross(4 5 6, 1 2 3) V"); - Assert.AreEqual(3, r.depth, "Cross(4 5 6, 1 2 3) D"); - - v2 = new(-1, -2, -3); - r = Vector3.Cross(v1, v2); - Assert.AreEqual(-3, r.horizontal, "Cross(4 5 6, -1 -2 -3) H"); - Assert.AreEqual(6, r.vertical, "Cross(4 5 6, -1 -2 -3) V"); - Assert.AreEqual(-3, r.depth, "Cross(4 5 6, -1 -2 -3) D"); - - v2 = new(0, 0, 0); - r = Vector3.Cross(v1, v2); - Assert.AreEqual(0, r.horizontal, "Cross(4 5 6, 0 0 0) H"); - Assert.AreEqual(0, r.vertical, "Cross(4 5 6, 0 0 0) V"); - Assert.AreEqual(0, r.depth, "Cross(4 5 6, 0 0 0) D"); - } - - [Test] - public void UnsignedAngle() { - Vector3 v1 = new(4, 5, 6); - Vector3 v2 = new(1, 2, 3); - AngleFloat a; - - a = Vector3.UnsignedAngle(v1, v2); - Assert.AreEqual(12.9331379F, a.inDegrees, "Angle(4 5 6, 1 2 3)"); - - v2 = new(-1, -2, -3); - a = Vector3.UnsignedAngle(v1, v2); - Assert.AreEqual(167.066849F, a.inDegrees, "Angle(4 5 6, -1 -2 -3)"); - - v2 = new(0, 0, 0); - a = Vector3.UnsignedAngle(v1, v2); - Assert.AreEqual(0, a.inDegrees, "Angle(4 5 6, 0 0 0)"); - } - - [Test] - public void SignedAngle() { - Vector3 v1 = new(4, 5, 6); - Vector3 v2 = new(1, 2, 3); - Vector3 v3 = new(7, 8, -9); - AngleFloat a; - - a = Vector3.SignedAngle(v1, v2, v3); - Assert.AreEqual(-12.9331379F, a.inDegrees, "SignedAngle(4 5 6, 1 2 3, 7 8 -9)"); - - v2 = new(-1, -2, -3); - a = Vector3.SignedAngle(v1, v2, v3); - Assert.AreEqual(167.066849F, a.inDegrees, "SignedAngle(4 5 6, -1 -2 -3, 7 8 -9)"); - - v2 = new(0, 0, 0); - a = Vector3.SignedAngle(v1, v2, v3); - Assert.AreEqual(0, a.inDegrees, "SignedAngle(4 5 6, 0 0 0, 7 8 -9)"); - - v2 = new(1, 2, 3); - v3 = new(-7, -8, 9); - a = Vector3.SignedAngle(v1, v2, v3); - Assert.AreEqual(12.9331379F, a.inDegrees, "SignedAngle(4 5 6, 1 2 3, -7 -8 9)"); - - v3 = new(0, 0, 0); - a = Vector3.SignedAngle(v1, v2, v3); - Assert.AreEqual(0, a.inDegrees, "SignedAngle(4 5 6, 1 2 3, 0 0 0)"); - } - } -} -#endif \ No newline at end of file diff --git a/NanoBrain/MemoryCell.cs b/NanoBrain/MemoryCell.cs deleted file mode 100644 index 7b7b8e5..0000000 --- a/NanoBrain/MemoryCell.cs +++ /dev/null @@ -1,59 +0,0 @@ -using System; -using Unity.Mathematics; - -[Serializable] -public class MemoryCell : Neuron { - - public MemoryCell(ClusterPrefab cluster, string name) : base(cluster, name) { } - public MemoryCell(Cluster parent, string name) : base(parent, name) { } - - public bool staticMemory = false; - public override bool isSleeping { - get { - if (staticMemory) - return false; - - return base.isSleeping; - } - } - - public override Nucleus ShallowCloneTo(Cluster newParent) { - MemoryCell clone = new(newParent, this.name); - CloneFields(clone); - clone.staticMemory = this.staticMemory; - return clone; - } - - #region State - - private bool initialized = false; - - private float3 _memorizedValue; - - public override void UpdateStateIsolated() { - // A memorycell does not have an activation function - float3 result = Combinator(); - - if (initialized) - // Output the previous, memorized value - this.outputValue = this._memorizedValue; - else { - // The first time, the result is directly set in output - this.outputValue = result; - this.initialized = true; - } - - // Store the result for the next time - this._memorizedValue = result; - } - - public override void UpdateNuclei() { - if (staticMemory) - // Static memory does not get stale or go to sleep - return; - - base.UpdateNuclei(); - } - - #endregion State -} diff --git a/NanoBrain/MemoryCell.cs.meta b/NanoBrain/MemoryCell.cs.meta deleted file mode 100644 index 24dc14d..0000000 --- a/NanoBrain/MemoryCell.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 29633aa3fe5cd9dcc8d886051f45d4d8 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/NanoBrain/NanoBrain-Unity.code-workspace b/NanoBrain/NanoBrain-Unity.code-workspace deleted file mode 100644 index 5194438..0000000 --- a/NanoBrain/NanoBrain-Unity.code-workspace +++ /dev/null @@ -1,12 +0,0 @@ -{ - "folders": [ - { - "path": "../.." - }, - { - "name": "LinearAlgebra-csharp", - "path": "LinearAlgebra-csharp" - } - ], - "settings": {} -} \ No newline at end of file diff --git a/NanoBrain/NanoBrain-Unity.code-workspace.meta b/NanoBrain/NanoBrain-Unity.code-workspace.meta deleted file mode 100644 index 65bb132..0000000 --- a/NanoBrain/NanoBrain-Unity.code-workspace.meta +++ /dev/null @@ -1,7 +0,0 @@ -fileFormatVersion: 2 -guid: cfec45da5945b94d684a763d86b0dcf8 -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/NanoBrain/NanoBrain.cs b/NanoBrain/NanoBrain.cs deleted file mode 100644 index 5a7525e..0000000 --- a/NanoBrain/NanoBrain.cs +++ /dev/null @@ -1,31 +0,0 @@ -using System; -using UnityEngine; - -public class NanoBrain : MonoBehaviour { - public ClusterPrefab defaultBrain; - - [NonSerialized] - private Cluster brainInstance; - public Cluster brain { - get { - if (brainInstance == null && defaultBrain != null) { - brainInstance = new Cluster(defaultBrain) { - name = defaultBrain.name + " (Instance)" - }; - } - return brainInstance; - } - } - - public static void UpdateWeight(Cluster brain, string name, float weight) { - Nucleus root = brain.defaultOutput; - foreach (Synapse synapse in root.synapses) { - if (synapse.neuron.name == name) { - if (synapse.weight != weight) { - synapse.weight = weight; - // Debug.Log($"Updated weight for {name}"); - } - } - } - } -} \ No newline at end of file diff --git a/NanoBrain/NanoBrain.cs.meta b/NanoBrain/NanoBrain.cs.meta deleted file mode 100644 index fc8b1c9..0000000 --- a/NanoBrain/NanoBrain.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 92f34a5e4027a1dc39efd8ce63cf6aba -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/NanoBrain/Neuron.cs b/NanoBrain/Neuron.cs deleted file mode 100644 index 3ca76c4..0000000 --- a/NanoBrain/Neuron.cs +++ /dev/null @@ -1,336 +0,0 @@ -using System; -using System.Collections.Generic; -using UnityEngine; -using UnityEditor; -#if UNITY_MATHEMATICS -using Unity.Mathematics; -using static Unity.Mathematics.math; -#endif - -[Serializable] -public class Neuron : Nucleus { - - public Neuron(Cluster parent, string name) { - this.parent = parent; - this.name = name; - this.parent?.clusterNuclei.Add(this); - } - public Neuron(ClusterPrefab prefab, string name) { - this.clusterPrefab = prefab; - this.name = name; - if (this.clusterPrefab != null) - this.clusterPrefab.nuclei.Add(this); - else - Debug.LogError("No prefab when adding neuron to prefab"); - } - - #region Serialization - - public enum CombinatorType { - Sum, - Product, - Max - } - public CombinatorType combinator = CombinatorType.Sum; - - public enum CurvePresets { - Linear, - Power, - Sqrt, - Reciprocal, - Custom - } - [SerializeField] - public CurvePresets _curvePreset; - public CurvePresets curvePreset { - get { return _curvePreset; } - set { - _curvePreset = value; - this.curve = GenerateCurve(); - } - } - public AnimationCurve curve; - public float curveMax = 1.0f; - - public AnimationCurve GenerateCurve() { - switch (this.curvePreset) { - case CurvePresets.Linear: - this.curveMax = 1; - return Presets.Linear(1); - case CurvePresets.Power: - this.curveMax = 1; - return Presets.Power(2.0f, 1); - case CurvePresets.Sqrt: - this.curveMax = 1; - return Presets.Power(0.5f, 1); - case CurvePresets.Reciprocal: - this.curveMax = 1 / 0.01f * 1; - return Presets.Reciprocal(1); - default: - this.curveMax = 1; - return this.curve; - } - } - - public static class Presets { - private const int samples = 32; - public static AnimationCurve Linear(float weight) { - return AnimationCurve.Linear(0f, 0f, 1000f, weight * 1000); - } - public static AnimationCurve Power(float exponent, float weight) { - // build keyframes - Keyframe[] keys = new Keyframe[samples]; - for (int i = 0; i < samples; i++) { - float t = i / (float)(samples - 1); - float v = Mathf.Pow(t, exponent) * weight; - keys[i] = new Keyframe(t, v); - } - - AnimationCurve curve = new(keys); - - // set tangent modes for each key to Auto (smooth). Use Linear if you prefer straight segments. - for (int i = 0; i < curve.length; i++) { - AnimationUtility.SetKeyLeftTangentMode(curve, i, AnimationUtility.TangentMode.Auto); - AnimationUtility.SetKeyRightTangentMode(curve, i, AnimationUtility.TangentMode.Auto); - } - - return curve; - } - public static AnimationCurve Reciprocal(float weight) { - int samples = 128; - float xMin = 0.001f; - float xMax = 1; - var keys = new Keyframe[samples]; - for (int i = 0; i < samples; i++) { - float t = i / (float)(samples - 1); - float x = Mathf.Lerp(xMin, xMax, t); - float y = 1f / x * weight; - keys[i] = new Keyframe(x, y); - } - var curve = new AnimationCurve(keys); - for (int i = 0; i < curve.length; i++) { - AnimationUtility.SetKeyLeftTangentMode(curve, i, AnimationUtility.TangentMode.Linear); - AnimationUtility.SetKeyRightTangentMode(curve, i, AnimationUtility.TangentMode.Linear); - } - return curve; - } - } - - #endregion Serialization - - protected float3 _outputValue; - public virtual float3 outputValue { - get { return _outputValue; } - set { - _outputValue = value; - if (this.isFiring) - WhenFiring?.Invoke(); - } - } - public bool isFiring => length(_outputValue) > 0.5f; - public Action WhenFiring; - - public virtual bool isSleeping => lengthsq(this.outputValue) == 0; - [NonSerialized] - public int stale = 1000; - public readonly int staleValueForSleep = 20; - - // this clone the nucleus without the synapses and receivers - public override Nucleus ShallowCloneTo(Cluster newParent) { - Neuron clone = new(newParent, this.name); - CloneFields(clone); - return clone; - } - - public override Nucleus Clone(ClusterPrefab prefab) { - Neuron clone = new(prefab, this.name); - CloneFields(clone); - foreach (Synapse synapse in this.synapses) { - Synapse clonedSynapse = clone.AddSynapse(synapse.neuron); - clonedSynapse.weight = synapse.weight; - } - foreach (Nucleus receiver in this.receivers) { - clone.AddReceiver(receiver); - } - return clone; - } - - protected virtual void CloneFields(Neuron clone) { - clone.clusterPrefab = this.clusterPrefab; - clone.bias = this.bias; - clone.combinator = this.combinator; - clone.curve = this.curve; - clone.curvePreset = this.curvePreset; - clone.curveMax = this.curveMax; - } - - public static void Delete(Nucleus nucleus) { - foreach (Synapse synapse in nucleus.synapses) { - if (synapse.neuron is Neuron synapse_nucleus) { - if (synapse_nucleus.receivers.Count > 1) { - // there is another nucleus feeding into this input nucleus - synapse_nucleus.receivers.RemoveAll(r => r == nucleus); - } - else { - // No other links, delete it. - Neuron.Delete(synapse_nucleus); - } - } - } - if (nucleus is Neuron neuron) { - foreach (Nucleus receiver in neuron.receivers) { - if (receiver != null && receiver.synapses != null) - receiver.synapses.RemoveAll(s => s.neuron == nucleus); - } - } - else if (nucleus is Cluster cluster) { - // remove all receivers for this cluster - foreach (Neuron output in cluster.outputs) { - foreach (Nucleus receiver in output.receivers) { - receiver.synapses.RemoveAll(s => s.neuron == output); - } - } - } - - - if (nucleus.clusterPrefab != null) { - nucleus.clusterPrefab.nuclei.RemoveAll(n => n == nucleus); - nucleus.clusterPrefab.RefreshOutputs(); - nucleus.clusterPrefab.GarbageCollection(); - } - } - - public override void UpdateStateIsolated() { - float3 result = Combinator(); - this.outputValue = Activator(result); - } - - #region Combinator - - protected Func Combinator => combinator switch { - CombinatorType.Sum => CombinatorSum, - CombinatorType.Product => CombinatorProduct, - CombinatorType.Max => CombinatorMax, - _ => CombinatorSum - }; - - public float3 CombinatorSum() { - float3 sum = this.bias; - foreach (Synapse synapse in this.synapses) - sum += synapse.weight * synapse.neuron.outputValue; - return sum; - } - - public float3 CombinatorProduct() { - float3 product = this.bias; - foreach (Synapse synapse in this.synapses) { - product *= synapse.weight * synapse.neuron.outputValue; - } - return product; - } - - public float3 CombinatorMax() { - float3 max = this.bias; - float maxLength = length(max); - - //Applying the weight factors - foreach (Synapse synapse in this.synapses) { - float3 input = synapse.weight * synapse.neuron.outputValue; - - float inputLength = length(input); - if (inputLength > maxLength) { - max = input; - maxLength = inputLength; - } - } - return max; - } - - #endregion Combinator - - #region Activator - - public Func Activator => this.curvePreset switch { - CurvePresets.Linear => ActivatorLinear, - CurvePresets.Sqrt => ActivatorSqrt, - CurvePresets.Power => ActivatorPower, - CurvePresets.Reciprocal => ActivatorReciprocal, - _ => ActivatorCustom - }; - - protected float3 ActivatorLinear(float3 input) { - return input; - } - - protected float3 ActivatorSqrt(float3 input) { - float3 result = normalize(input) * System.MathF.Sqrt(length(input)); - return result; - } - - protected float3 ActivatorPower(float3 input) { - float3 result = normalize(input) * System.MathF.Pow(length(input), 2); - return result; - } - - protected float3 ActivatorReciprocal(float3 input) { - float magnitude = length(input); - if (magnitude == 0) - return new float3(0, 0, 0); - - float3 result = normalize(input) * (1 / magnitude); - return result; - } - - protected float3 ActivatorCustom(float3 input) { - float activatedValue = this.curve.Evaluate(length(input)); - float3 result = normalize(input) * activatedValue; - return result; - } - - #endregion Activator - - #region Receivers - - [SerializeReference] - private List _receivers = new(); - public virtual List receivers { - get { return _receivers; } - set { _receivers = value; } - } - - public virtual void AddReceiver(Nucleus receiverToAdd, float weight = 1) { - this._receivers.Add(receiverToAdd); - receiverToAdd.AddSynapse(this, weight); - } - - public virtual void RemoveReceiver(Nucleus receiverToRemove) { - if (this is IReceptor receptor) { - foreach (Nucleus element in receptor.nucleiArray) { - if (element is Neuron neuron) { - neuron._receivers.RemoveAll(receiver => receiver == receiverToRemove); - receiverToRemove.synapses.RemoveAll(synapse => synapse.neuron == neuron); - } - } - } - else { - this._receivers.RemoveAll(receiver => receiver == receiverToRemove); - receiverToRemove.synapses.RemoveAll(synapse => synapse.neuron == this); - } - } - - - #endregion Receivers - - public override void ProcessStimulus(Vector3 inputValue, int thingId = 0, string thingName = null) { - if (this.parent is ClusterReceptor clusterReceptor) - clusterReceptor.ProcessStimulus(this, inputValue, thingId, thingName); - else - ProcessStimulusDirect(inputValue, thingId, thingName); - } - - public void ProcessStimulusDirect(Vector3 inputValue, int thingId = 0, string thingName = null) { - this.stale = 0; - this.bias = inputValue; - this.parent.UpdateFromNucleus(this); - } -} \ No newline at end of file diff --git a/NanoBrain/Neuron.cs.meta b/NanoBrain/Neuron.cs.meta 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a/NanoBrain/Nucleus.cs b/NanoBrain/Nucleus.cs deleted file mode 100644 index 2b1f5da..0000000 --- a/NanoBrain/Nucleus.cs +++ /dev/null @@ -1,72 +0,0 @@ -using System; -using System.Collections.Generic; -using UnityEngine; - -[Serializable] -public abstract class Nucleus { - public string name; - - [SerializeReference] - public ClusterPrefab clusterPrefab; - [SerializeReference] - public Cluster parent; - - public bool trace = false; - - public abstract Nucleus ShallowCloneTo(Cluster parent); - public abstract Nucleus Clone(ClusterPrefab prefab); - - public enum Type { - None, - Neuron, - MemoryCell, - Cluster, - Receptor, - ClusterReceptor, - } - - #region Synapses - - public Vector3 bias = Vector3.zero; - - [SerializeField] - private List _synapses = new(); - public List synapses => _synapses; - - public Synapse AddSynapse(Neuron sendingNucleus, float weight = 1.0f) { - Synapse synapse = new(sendingNucleus, weight); - this.synapses.Add(synapse); - return synapse; - } - - public Synapse GetSynapse(Nucleus sender) { - foreach (Synapse synapse in this.synapses) - if (synapse.neuron == sender) - return synapse; - return null; - } - - public void RemoveSynapse(Nucleus sendingNucleus) { - this.synapses.RemoveAll(synapse => synapse.neuron == sendingNucleus); - } - - #endregion Synapses - - #region Update - - public abstract void UpdateStateIsolated(); - - public virtual void UpdateNuclei() { - } - - public virtual void SetBias(Vector3 inputValue) { - this.bias = inputValue; - this.parent.UpdateFromNucleus(this); - } - - public virtual void ProcessStimulus(Vector3 inputValue, int thingId = 0, string thingName = "") { - } - - #endregion Update - -} \ No newline at end of file diff --git a/NanoBrain/Nucleus.cs.meta b/NanoBrain/Nucleus.cs.meta deleted file mode 100644 index 0868066..0000000 --- a/NanoBrain/Nucleus.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: 4310eea6ab77628b085387a226c1c386 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/NanoBrain/NucleusArray.cs b/NanoBrain/NucleusArray.cs deleted file mode 100644 index 9f8a172..0000000 --- a/NanoBrain/NucleusArray.cs +++ /dev/null @@ -1,157 +0,0 @@ -using System.Linq; -using System.Collections.Generic; -using UnityEngine; -using Unity.Mathematics; -using static Unity.Mathematics.math; - -[System.Serializable] -public class NucleusArray { - [SerializeReference] - private Nucleus[] _nuclei; - public Nucleus[] nuclei { - get { - return _nuclei; - } - set { - _nuclei = value; - } - } - - public NucleusArray(Nucleus nucleus) { - this._nuclei = new Nucleus[1]; - this._nuclei[0] = nucleus; - } - public NucleusArray(ClusterPrefab cluster) { - this._nuclei = new Nucleus[0]; - } - public NucleusArray(int size, string name) { - this._nuclei = new Nucleus[size]; - } - - - public void AddNucleus(ClusterPrefab prefab) { - if (this._nuclei.Length == 0) { - Debug.LogError("Empty perceptoid array, cannot add"); - return; - } - int newLength = this._nuclei.Length + 1; - Nucleus[] newArray = new Nucleus[newLength]; - - for (int i = 0; i < this._nuclei.Length; i++) - newArray[i] = this._nuclei[i]; - if (this._nuclei[0] is Nucleus nucleus) { - newArray[newLength - 1] = nucleus.Clone(prefab); - newArray[newLength - 1].name += $": {newLength - 1}"; - } - - this._nuclei = newArray; - } - - public void RemoveNucleus() { - int newLength = this._nuclei.Length - 1; - if (newLength == 0) { - Debug.LogWarning("Perceptoid array cannot be empty"); - return; - } - Nucleus[] newPerceptei = new Nucleus[newLength]; - for (int i = 0; i < newLength; i++) - newPerceptei[i] = this._nuclei[i]; - // Delete the last perception - if (this._nuclei[newLength] is Nucleus nucleus) - Neuron.Delete(nucleus); //this._nuclei[newLength]); - - this._nuclei = newPerceptei; - } - - public Dictionary thingReceivers = new(); - - - private Nucleus FindReceiver(int thingId, float3 inputValue) { - // No existing nucleus for this thing - float inputMagnitude = length(inputValue); - Neuron selectedReceiver = null; - float selectedMagnitude = 0; - foreach (Nucleus nucleusReceiver in this._nuclei) { - if (nucleusReceiver is not Neuron receiver) - continue; - if (thingReceivers.ContainsValue(receiver) == false) { - // We found an unusued receiver - thingReceivers.Add(thingId, receiver); - return receiver; - } - else if (receiver.isSleeping) { - // A sleeping receiver is not active and can therefore always be used - thingReceivers.Add(thingId, receiver); - return receiver; - } - else if (selectedReceiver == null) { - // If we haven't found a receiver yet, just start by taking the first - selectedReceiver = receiver; - selectedMagnitude = length(selectedReceiver.outputValue); - } - // Look for the receiver with the lowest magnitude - else { - float magnitude = length(receiver.outputValue); - - if (magnitude < inputMagnitude && length(receiver.outputValue) < selectedMagnitude) { - selectedReceiver = receiver; - selectedMagnitude = length(selectedReceiver.outputValue); - } - } - } - if (selectedReceiver != null) { - // Replace the receiver - // Find the thingId current associated with the receiver - int keyToRemove = thingReceivers.FirstOrDefault(r => r.Value.Equals(selectedReceiver)).Key; - if (keyToRemove != 0 || thingReceivers.ContainsKey(keyToRemove)) - thingReceivers.Remove(keyToRemove); - // And add the new association - thingReceivers.Add(thingId, selectedReceiver); - } - return selectedReceiver; - } - - public virtual void ProcessStimulus(int thingId, Vector3 inputValue, string thingName = null) { - CleanupReceivers(); - - if (this._nuclei[0] is Neuron neuron) - inputValue = neuron.Activator(inputValue); - - if (!thingReceivers.TryGetValue(thingId, out Nucleus selectedReceiver)) { - // No existing nucleus for this thing - selectedReceiver = FindReceiver(thingId, inputValue); - } - if (selectedReceiver == null) - return; - - if (thingName != null) { - string baseName = selectedReceiver.name; - int colonPos = selectedReceiver.name.IndexOf(":"); - if (colonPos > 0) - baseName = selectedReceiver.name[..colonPos]; - selectedReceiver.name = baseName + ": " + thingName; - } - - if (selectedReceiver is Neuron selectedNucleus) - selectedNucleus.ProcessStimulusDirect(inputValue); - } - - private void CleanupReceivers() { - // Remove a thing-receiver connection when the nucleus is inactive - List receiversToRemove = new(); - foreach (KeyValuePair item in thingReceivers) { - if (item.Value != null && item.Value is Neuron neuron && neuron.isSleeping) - receiversToRemove.Add(item.Key); - } - foreach (int thingId in receiversToRemove) { - Nucleus selectedReceiver = thingReceivers[thingId]; - - thingReceivers.Remove(thingId); - - int colonPos = selectedReceiver.name.IndexOf(":"); - if (colonPos > 0) - selectedReceiver.name = selectedReceiver.name[..colonPos]; - - } - } -} \ No newline at end of file diff --git a/NanoBrain/NucleusArray.cs.meta b/NanoBrain/NucleusArray.cs.meta deleted file mode 100644 index b03ebae..0000000 --- a/NanoBrain/NucleusArray.cs.meta +++ /dev/null @@ -1,11 +0,0 @@ -fileFormatVersion: 2 -guid: f8cac60bd79854595a8571c042f77998 -MonoImporter: - externalObjects: {} - serializedVersion: 2 - defaultReferences: [] - executionOrder: 0 - icon: {instanceID: 0} - userData: - assetBundleName: - assetBundleVariant: diff --git a/NanoBrain/Receptor.cs b/NanoBrain/Receptor.cs deleted file mode 100644 index a102835..0000000 --- a/NanoBrain/Receptor.cs +++ /dev/null @@ -1,78 +0,0 @@ -using UnityEngine; -using Unity.Mathematics; -using static Unity.Mathematics.math; - -[System.Serializable] -public class Receptor : Neuron, IReceptor { - public Receptor(Cluster parent, string name) : base(parent, name) { - this.array = new NucleusArray(this); - if (this.name.IndexOf(":") < 0) - this.name += ": 0"; - } - public Receptor(ClusterPrefab prefab, string name) : base(prefab, name) { - this.array = new NucleusArray(this); - } - - public string GetName() { - return this.name; - } - - public override Nucleus ShallowCloneTo(Cluster parent) { - Receptor clone = new(parent, name) { - - }; - CloneFields(clone); - return clone; - } - public override Nucleus Clone(ClusterPrefab prefab) { - Receptor clone = new(prefab, name) { - array = this._array - }; - CloneFields(clone); - // Adding receivers will also add synapses to the receivers - foreach (Nucleus receiver in this.receivers.ToArray()) - clone.AddReceiver(receiver); - - return clone; - } - - [SerializeReference] - private NucleusArray _array; - public NucleusArray array { - set { _array = value; } - } - - public Nucleus[] nucleiArray { - get { return _array.nuclei; } - set { _array.nuclei = value; } - } - - public void AddReceptorElement(ClusterPrefab prefab) { - IReceptorHelpers.AddReceptorElement(this, prefab); - } - - public void RemoveReceptorElement() { - IReceptorHelpers.RemoveReceptorElement(this); - } 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