Merge commit 'b5662b875f5cd93c51b53a517dc9cc6ed332bb8e'
This commit is contained in:
commit
5e73335997
@ -22,6 +22,8 @@ namespace NanoBrain.Unity {
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}
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public override void OnInspectorGUI() {
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EditorGUI.BeginChangeCheck();
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// Begin horizontal split
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EditorGUILayout.BeginHorizontal();
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@ -45,6 +47,16 @@ namespace NanoBrain.Unity {
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EditorGUIUtility.labelWidth = prevLabelWidth;
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EditorGUILayout.EndVertical(); // end right column
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EditorGUILayout.EndHorizontal(); // end split
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if (EditorGUI.EndChangeCheck()) {
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Undo.RecordObject(target, "Edit ClusterPrefab");
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SerializedProperty versionProp = serializedObject.FindProperty("version");
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versionProp.intValue++;
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serializedObject.ApplyModifiedProperties();
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EditorUtility.SetDirty(target);
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Debug.Log($"{name} Prefab changed, version {versionProp.intValue}");
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}
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}
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#region Inspector
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@ -26,15 +26,26 @@ namespace NanoBrain.Unity {
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public static readonly Dictionary<string, ClusterView> clusterViews = new();
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public static ClusterView GetClusterView(SerializedProperty property) {
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string key = property.propertyPath + "_" + property.serializedObject.targetObject.GetInstanceID();//GetEntityId();
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#if UNITY_6000_0_OR_NEWER
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EntityId id = property.serializedObject.targetObject.GetEntityId();
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#else
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int id = property.serializedObject.targetObject.GetInstanceID();
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#endif
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string key = property.propertyPath + "_" + id;
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if (!clusterViews.TryGetValue(key, out ClusterView clusterView))
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clusterView = new(key);// { key = key };
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return clusterView;
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}
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public static ClusterView GetClusterView(SerializedObject serializedObject) {
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string key = serializedObject.targetObject.GetInstanceID().ToString(); //GetEntityId().ToString();
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#if UNITY_6000_0_OR_NEWER
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EntityId id = serializedObject.targetObject.GetEntityId();
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#else
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int id = serializedObject.targetObject.GetInstanceID();
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#endif
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string key = id.ToString();
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if (!clusterViews.TryGetValue(key, out ClusterView clusterView))
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clusterView = new(key); // { key = key };
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clusterView = new(key);
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return clusterView;
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}
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@ -202,12 +213,12 @@ namespace NanoBrain.Unity {
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#region Full Graph
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protected void DrawFullGraph() {
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if (this.currentNucleus == null) {
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Vector3 position = new(150, 210, 0);
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DrawAllOutputs(position);
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DrawOutputs(position);
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return;
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}
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// if (this.currentNucleus == null) {
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// Vector3 position = new(150, 210, 0);
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// DrawAllOutputs(position);
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// DrawOutputs(position);
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// return;
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// }
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Dag dag = GenerateGraph(this.selectedOutput);
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Dag.ComputeLayout(dag);
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@ -260,8 +271,8 @@ namespace NanoBrain.Unity {
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public Dag GenerateGraph(Nucleus rootNucleus) {
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Dag dag = new();
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if (rootNucleus == null)
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return dag;
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// if (rootNucleus == null)
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// return dag;
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int ix = 0;
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Dag.Node receiver = new() {
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@ -270,18 +281,41 @@ namespace NanoBrain.Unity {
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};
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dag.nodes.Add(receiver);
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ix++;
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DescendGraph(receiver, ref ix, dag);
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if (rootNucleus == null)
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DescendGraphFromRoot(ref ix, dag);
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else
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DescendGraph(receiver, ref ix, dag);
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return dag;
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}
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private void DescendGraphFromRoot(ref int ix, Dag dag) {
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foreach (Nucleus nucleus in this.currentCluster.outputs) {
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string nucleusName = nucleus.name;
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Dag.Node node = dag.FindNode(nucleusName);
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if (node == null) {
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node = new() {
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id = ix,
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nucleus = nucleus
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};
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dag.nodes.Add(node);
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}
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Dag.Edge edge = new() {
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fromId = node.id,
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toId = 0
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};
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dag.edges.Add(edge);
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ix++;
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DescendGraph(node, ref ix, dag);
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}
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}
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private void DescendGraph(Dag.Node receiver, ref int ix, Dag dag) {
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Neuron receiverNeuron = receiver.nucleus as Neuron;
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if (receiverNeuron == null)
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if (receiver.nucleus is not Neuron receiverNeuron)
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return;
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foreach (Synapse synapse in receiverNeuron.synapses) {
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Nucleus nucleus = synapse.neuron;
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if (nucleus.parent != null && nucleus.parent != currentNucleus.parent) {
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if (nucleus.parent != null && currentNucleus != null && nucleus.parent != currentNucleus.parent) {
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nucleus = nucleus.parent;
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}
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string nucleusName = nucleus.name;
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@ -739,13 +773,13 @@ namespace NanoBrain.Unity {
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Vector2 dir = to - from;
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float len = dir.magnitude;
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if (len <= 2f * discRadius || len <= Mathf.Epsilon)
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if (len <= Mathf.Epsilon) //len <= 2f * discRadius || )
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// line too short
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return;
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Vector2 n = dir / len; // normalized
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Vector2 a = from + n * discRadius;
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Vector2 b = to - n * discRadius;
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Vector2 a = from;// + n * discRadius;
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Vector2 b = to;// - n * discRadius;
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Handles.DrawLine(a, b);
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}
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@ -756,7 +790,7 @@ namespace NanoBrain.Unity {
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if (nucleus is Neuron neuron) {
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tooltip = new(
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$"{nucleus.name}" +
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$"\nValue: {neuron.outputMagnitude}");
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$"\nValue: {neuron.outputValue}");
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}
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else
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tooltip = new($"{nucleus.name}");
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@ -1,5 +1,4 @@
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using System.Collections;
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using System.Collections.Generic;
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using System.Reflection;
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using UnityEngine;
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using UnityEditor;
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@ -13,38 +12,55 @@ namespace NanoBrain.Unity {
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static Cluster_Drawer() {
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if (Application.isPlaying)
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SceneView.duringSceneGui += OnSceneGUI;
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Selection.selectionChanged += OnSelectionChanged;
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if (clusterView != null)
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clusterView.initialized = false;
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}
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private const float padding = 4f;
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private const float elementHeight = 64f; // height reserved for the VisualElement
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private static ClusterView clusterView;
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private const float graphHeight = 500f; // height reserved for the VisualElement
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private static ClusterView currentClusterView;
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private static UnityEngine.Object selectedTarget;
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public override float GetPropertyHeight(SerializedProperty property, GUIContent label) {
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if (Cluster_Drawer.clusterView == null)
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return 0;
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float height = EditorGUIUtility.singleLineHeight + padding;
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float height = EditorGUIUtility.singleLineHeight;
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if (Cluster_Drawer.currentClusterView == null)
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// When no cluster is viewed
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return height;
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SerializedProperty prefabProp = property.FindPropertyRelative(nameof(Cluster.prefab));
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if (prefabProp.objectReferenceValue != null && Cluster_Drawer.clusterView.isOpen) {
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height += padding + elementHeight;
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height = 500;
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if (prefabProp.objectReferenceValue != null && Cluster_Drawer.currentClusterView.isOpen) {
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height = graphHeight;
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}
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else {
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// Unclear why this is necessary,
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// but without this, expanding the graph foldout is not possible
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height += EditorGUIUtility.singleLineHeight;
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}
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else
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height = 18;
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return height;
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}
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private void InstantiateCluster(SerializedProperty property, ClusterView clusterView) {
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if (property == null || property.serializedObject == null || clusterView.initialized)
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return;
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SerializedProperty prefabProp = property.FindPropertyRelative(nameof(Cluster.prefab));
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UnityEngine.Object targetObject = property.serializedObject.targetObject;
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if (targetObject == null)
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return;
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Debug.Log($"Instantiate new Cluster for {targetObject.name}");
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ClusterPrefab clusterPrefab = prefabProp.objectReferenceValue as ClusterPrefab;
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Cluster cluster = new(clusterPrefab);
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object parent = SerializedPropertyUtility.GetParentObjectAndMember(targetObject, property.propertyPath, out var memberInfo, out int outIndex);
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if (parent != null && memberInfo is FieldInfo fieldInfo) {
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fieldInfo.SetValue(parent, cluster);
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EditorUtility.SetDirty(targetObject);
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}
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clusterView.initialized = true;
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}
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public override void OnGUI(Rect position, SerializedProperty property, GUIContent label) {
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// Not sure if this works properly with multiple Clusters in a single gameObject
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ClusterView clusterView = Cluster_Drawer.clusterView;
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if (Cluster_Drawer.clusterView == null)
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ClusterView clusterView = Cluster_Drawer.currentClusterView;
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if (Cluster_Drawer.currentClusterView == null)
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clusterView = ClusterView.GetClusterView(property);
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label = EditorGUI.BeginProperty(position, label, property);
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@ -59,44 +75,34 @@ namespace NanoBrain.Unity {
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Rect fieldRect = new(position.x, position.y, position.width, EditorGUIUtility.singleLineHeight);
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EditorGUI.BeginChangeCheck();
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EditorGUI.PropertyField(fieldRect, prefabProp, label);
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// If a new prefab has been selected
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if (EditorGUI.EndChangeCheck()) {
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Debug.Log($"Cluster change, Event is {Event.current.type}");
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// Ensure the changed prefab is changed in the object
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prefabProp.serializedObject.ApplyModifiedProperties();
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ClusterPrefab clusterPrefab = prefabProp.objectReferenceValue as ClusterPrefab;
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if (clusterPrefab != null) {
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Cluster newCluster = new(clusterPrefab);
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SerializedObject serializedObject = property.serializedObject;
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foreach (UnityEngine.Object targetObject in serializedObject.targetObjects) {
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var parent = SerializedPropertyUtility.GetParentObjectAndMember(targetObject, property.propertyPath, out var memberInfo, out int outIndex);
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if (parent != null && memberInfo is FieldInfo fieldInfo) {
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fieldInfo.SetValue(parent, newCluster);
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EditorUtility.SetDirty(targetObject);
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}
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}
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SetInstance(property, newCluster);
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}
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else {
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// No prefab selected -> no cluster instance
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SetInstance(property, new());
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}
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}
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// If a brain has been selected
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if (prefabProp.objectReferenceValue != null) {
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// Graph is not shown when multi-editing
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if (property.serializedObject.targetObjects.Length == 1) {
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UnityEngine.Object targetObject = property.serializedObject.targetObject;
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Cluster_Drawer.selectedTarget = targetObject;
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Cluster cluster;
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if (clusterView.initialized || Application.isPlaying) {
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cluster = SerializedPropertyUtility.GetManagedObjectForProperty(targetObject, property.propertyPath) as Cluster;
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}
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else {
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Debug.Log("New cluster instance");
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// This does not work properly yet it seems
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ClusterPrefab clusterPrefab = prefabProp.objectReferenceValue as ClusterPrefab;
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cluster = new(clusterPrefab);
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object parent = SerializedPropertyUtility.GetParentObjectAndMember(targetObject, property.propertyPath, out var memberInfo, out int outIndex);
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if (parent != null && memberInfo is FieldInfo fieldInfo) {
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fieldInfo.SetValue(parent, cluster);
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EditorUtility.SetDirty(targetObject);
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}
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clusterView.initialized = true;
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Cluster cluster = SerializedPropertyUtility.GetManagedObjectForProperty(targetObject, property.propertyPath) as Cluster;
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if (cluster.version != cluster.prefab.version) {
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// Debug.Log($"prefab version: {cluster.prefab.version} cluster version: {cluster.version}");
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clusterView.initialized = false;
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EditorApplication.delayCall += () => InstantiateCluster(property, clusterView);
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}
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// foldout header rect
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@ -107,12 +113,12 @@ namespace NanoBrain.Unity {
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// content rect below header
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Rect drawRect = new(fieldRect.x, headerRect.yMax + 2f, fieldRect.width, 450f);
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if (clusterView.currentCluster == null || clusterView.currentCluster != cluster) {
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if (cluster is not null && (clusterView.currentCluster == null || clusterView.currentCluster != cluster)) {
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clusterView.currentCluster = cluster;
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clusterView.currentNucleus = cluster.defaultOutput;
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clusterView.selectedOutput = clusterView.currentNucleus;
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}
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Cluster_Drawer.clusterView = clusterView;
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Cluster_Drawer.currentClusterView = clusterView;
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clusterView.Render(drawRect);
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//Debug.Log(prefab.cluster.defaultOutput.outputMagnitude);
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}
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@ -123,6 +129,17 @@ namespace NanoBrain.Unity {
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EditorGUI.EndProperty();
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}
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private static void SetInstance(SerializedProperty property, Cluster newCluster) {
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SerializedObject serializedObject = property.serializedObject;
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foreach (UnityEngine.Object targetObject in serializedObject.targetObjects) {
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object parent = SerializedPropertyUtility.GetParentObjectAndMember(targetObject, property.propertyPath, out var memberInfo, out int outIndex);
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if (parent != null && memberInfo is FieldInfo fieldInfo) {
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fieldInfo.SetValue(parent, newCluster);
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EditorUtility.SetDirty(targetObject);
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}
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}
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}
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private static void OnSceneGUI(SceneView sceneView) {
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if (Application.isPlaying == false || selectedTarget == null)
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return;
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@ -134,29 +151,21 @@ namespace NanoBrain.Unity {
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gameObject = g;
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Handles.color = Color.yellow;
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if (Cluster_Drawer.clusterView.selectedSynapseNeuron != null) {
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foreach (Cluster sibling in Cluster_Drawer.clusterView.selectedSynapseNeuron.parent.instances) {
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Neuron siblingNeuron = sibling.GetNeuron(Cluster_Drawer.clusterView.selectedSynapseNeuron.name);
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if (Cluster_Drawer.currentClusterView.selectedSynapseNeuron != null) {
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foreach (Cluster sibling in Cluster_Drawer.currentClusterView.selectedSynapseNeuron.parent.instances) {
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Neuron siblingNeuron = sibling.GetNeuron(Cluster_Drawer.currentClusterView.selectedSynapseNeuron.name);
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Vector3 worldVector = gameObject.transform.TransformVector(siblingNeuron.outputValue);
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Handles.DrawLine(gameObject.transform.position, gameObject.transform.position + worldVector);
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}
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}
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else {
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if (Cluster_Drawer.clusterView.currentNucleus is Neuron currentNeuron) {
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if (Cluster_Drawer.currentClusterView.currentNucleus is Neuron currentNeuron) {
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Vector3 worldVector = gameObject.transform.TransformVector(currentNeuron.outputValue);
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Handles.DrawLine(gameObject.transform.position, gameObject.transform.position + worldVector);
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}
|
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}
|
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}
|
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|
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private static void OnSelectionChanged() {
|
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UnityEngine.Object active = Selection.activeObject;
|
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if (active == null)
|
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return;
|
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|
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foreach (ClusterView clusterView in ClusterView.clusterViews.Values)
|
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clusterView.initialized = false;
|
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}
|
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}
|
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|
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public static class SerializedPropertyUtility {
|
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|
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167
Editor/Dag.cs
167
Editor/Dag.cs
@ -28,6 +28,9 @@ namespace NanoBrain.Unity {
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name = name[..colonPos];
|
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}
|
||||
foreach (Node node in this.nodes) {
|
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if (node.nucleus == null)
|
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continue;
|
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|
||||
string nodeName = node.nucleus.name;
|
||||
if (justBaseName) {
|
||||
int colonPos = nodeName.IndexOf(":");
|
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@ -43,6 +46,144 @@ namespace NanoBrain.Unity {
|
||||
public static Node GetNodeById(Dag dag, int id) => dag.nodes.FirstOrDefault(x => x.id == id);
|
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|
||||
public static void ComputeLayout(Dag dag) {
|
||||
BuildAdjacencyAndPredecessors(dag, out Dictionary<int, List<int>> adjacency, out Dictionary<int, List<int>> predecessors);
|
||||
List<int> order = TopologicalOrder(adjacency, dag.nodes.Select(n => n.id));
|
||||
Dictionary<int, int> column = ComputeLongestPathColumns(adjacency, order, dag.nodes.Select(n => n.id));
|
||||
|
||||
CreateDummiesAndEdges(dag, column, out List<Node> allNodes, out Dictionary<int, int> allColumns, out List<Edge> newEdges);
|
||||
|
||||
List<List<int>> columns = GroupColumns(allColumns);
|
||||
PlaceNodes(allNodes, columns);
|
||||
|
||||
// update dag with new lists (dummies included)
|
||||
dag.edges = newEdges;
|
||||
dag.nodes = allNodes;
|
||||
}
|
||||
|
||||
// Helper: build adjacency and predecessor lists
|
||||
private static void BuildAdjacencyAndPredecessors(Dag dag, out Dictionary<int, List<int>> adjacency, out Dictionary<int, List<int>> predecessors) {
|
||||
adjacency = dag.nodes.ToDictionary(n => n.id, n => new List<int>());
|
||||
predecessors = dag.nodes.ToDictionary(n => n.id, n => new List<int>());
|
||||
foreach (Edge edge in dag.edges) {
|
||||
if (!adjacency.ContainsKey(edge.fromId) || !adjacency.ContainsKey(edge.toId))
|
||||
continue;
|
||||
adjacency[edge.fromId].Add(edge.toId);
|
||||
predecessors[edge.toId].Add(edge.fromId);
|
||||
}
|
||||
}
|
||||
|
||||
// Helper: compute topological order (returns empty list if cycle present)
|
||||
private static List<int> TopologicalOrder(Dictionary<int, List<int>> adjacency, IEnumerable<int> nodeIds) {
|
||||
Dictionary<int, int> inDegree = nodeIds.ToDictionary(id => id, _ => 0);
|
||||
foreach (KeyValuePair<int, List<int>> keyValue in adjacency)
|
||||
foreach (int to in keyValue.Value) if (inDegree.ContainsKey(to))
|
||||
inDegree[to]++;
|
||||
|
||||
Queue<int> queue = new(inDegree.Where(keyValue => keyValue.Value == 0).Select(kv => kv.Key));
|
||||
List<int> topo = new();
|
||||
while (queue.Count > 0) {
|
||||
int nodeId = queue.Dequeue();
|
||||
topo.Add(nodeId);
|
||||
foreach (int adjacentNodeId in adjacency[nodeId]) {
|
||||
if (!inDegree.ContainsKey(adjacentNodeId))
|
||||
continue;
|
||||
inDegree[adjacentNodeId]--;
|
||||
if (inDegree[adjacentNodeId] == 0)
|
||||
queue.Enqueue(adjacentNodeId);
|
||||
}
|
||||
}
|
||||
return topo;
|
||||
}
|
||||
|
||||
// Helper: longest-path-from-sinks column assignment (deterministic)
|
||||
private static Dictionary<int, int> ComputeLongestPathColumns(Dictionary<int, List<int>> adjacency, List<int> order, IEnumerable<int> nodeIds) {
|
||||
Dictionary<int, int> column = nodeIds.ToDictionary(id => id, _ => 0);
|
||||
foreach (int nodeId in Enumerable.Reverse(order)) {
|
||||
foreach (int child in adjacency[nodeId]) {
|
||||
int cand = column[child] + 1;
|
||||
if (cand > column[nodeId])
|
||||
column[nodeId] = cand;
|
||||
}
|
||||
}
|
||||
return column;
|
||||
}
|
||||
|
||||
// Helper: replace long edges with dummy node chains and return augmented node/column/edge lists
|
||||
private static void CreateDummiesAndEdges(Dag dag, Dictionary<int, int> column, out List<Node> allNodes, out Dictionary<int, int> allColumns, out List<Edge> newEdges) {
|
||||
allColumns = new Dictionary<int, int>(column);
|
||||
allNodes = new List<Node>(dag.nodes);
|
||||
newEdges = new List<Edge>();
|
||||
int nextDummyId = -1;
|
||||
|
||||
foreach (Edge edge in dag.edges) {
|
||||
if (!column.ContainsKey(edge.fromId) || !column.ContainsKey(edge.toId)) {
|
||||
newEdges.Add(edge);
|
||||
continue;
|
||||
}
|
||||
|
||||
int columnFrom = column[edge.fromId];
|
||||
int columnTo = column[edge.toId];
|
||||
int span = Mathf.Abs(columnTo - columnFrom);
|
||||
if (span <= 1) {
|
||||
newEdges.Add(edge);
|
||||
continue;
|
||||
}
|
||||
|
||||
int prev = edge.fromId;
|
||||
int direction = columnTo > columnFrom ? 1 : -1;
|
||||
for (int step = 1; step < span; step++) {
|
||||
int dummyCol = columnFrom + step * direction;
|
||||
int dummyId = nextDummyId--;
|
||||
Node dummy = new() {
|
||||
id = dummyId,
|
||||
position = Vector2.zero
|
||||
};
|
||||
// System.Reflection.FieldInfo field = typeof(Node).GetField("isDummy");
|
||||
// if (field != null) field.SetValue(dummy, true);
|
||||
allNodes.Add(dummy);
|
||||
allColumns[dummyId] = dummyCol;
|
||||
|
||||
Edge newDummyEdge = new() {
|
||||
fromId = prev,
|
||||
toId = dummyId
|
||||
};
|
||||
newEdges.Add(newDummyEdge);
|
||||
prev = dummyId;
|
||||
}
|
||||
Edge newEdge = new() {
|
||||
fromId = prev,
|
||||
toId = edge.toId
|
||||
};
|
||||
newEdges.Add(newEdge);
|
||||
}
|
||||
}
|
||||
|
||||
// Helper: group columns into ordered list of lists
|
||||
private static List<List<int>> GroupColumns(Dictionary<int, int> allColumns) {
|
||||
return allColumns.GroupBy(kv => kv.Value).OrderBy(g => g.Key).Select(g => g.Select(x => x.Key).ToList()).ToList();
|
||||
}
|
||||
|
||||
// Helper: place nodes vertically within each column
|
||||
private static void PlaceNodes(List<Node> allNodes, List<List<int>> columns) {
|
||||
float hSpacing = 100f;
|
||||
float totalHeight = 400f;
|
||||
for (int columnIx = 0; columnIx < columns.Count; columnIx++) {
|
||||
List<int> nodeList = columns[columnIx];
|
||||
float spacing = totalHeight / Mathf.Max(1, nodeList.Count);
|
||||
float margin = 10 + spacing / 2;
|
||||
for (int i = 0; i < nodeList.Count; i++) {
|
||||
int id = nodeList[i];
|
||||
Node node = allNodes.FirstOrDefault(n => n.id == id);
|
||||
if (node == null)
|
||||
continue;
|
||||
float x = (hSpacing * 1.5f) + columnIx * hSpacing;
|
||||
float y = margin + i * spacing;
|
||||
node.position = new Vector2(x, y);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
public static void ComputeLayoutKahn(Dag dag) {
|
||||
Dictionary<int, List<int>> adjacency = dag.nodes.ToDictionary(n => n.id, n => new List<int>());
|
||||
Dictionary<int, int> outdegree = dag.nodes.ToDictionary(node => node.id, n => 0);
|
||||
foreach (Edge edge in dag.edges) {
|
||||
@ -99,29 +240,6 @@ namespace NanoBrain.Unity {
|
||||
Select(g => g.Select(x => x.Key).ToList()).
|
||||
ToList();
|
||||
|
||||
// Same code without using Linq
|
||||
// Build layers dictionary: layerIndex -> List<int> nodeIds
|
||||
// Dictionary<int, List<int>> layersDict = new();
|
||||
// foreach (KeyValuePair<int, int> kv in layer) {
|
||||
// int nodeId = kv.Key;
|
||||
// int layerIndex = kv.Value;
|
||||
// if (!layersDict.TryGetValue(layerIndex, out List<int> list)) {
|
||||
// list = new List<int>();
|
||||
// layersDict[layerIndex] = list;
|
||||
// }
|
||||
// list.Add(nodeId);
|
||||
// }
|
||||
|
||||
// // Determine sorted layer indices
|
||||
// List<int> layerIndices = new(layersDict.Keys);
|
||||
// layerIndices.Sort(); // ascending order
|
||||
|
||||
// // Build final List<List<int>> in sorted order
|
||||
// List<List<int>> layers = new();
|
||||
// foreach (int idx in layerIndices) {
|
||||
// layers.Add(layersDict[idx]);
|
||||
// }
|
||||
|
||||
float hSpacing = 100f;
|
||||
float totalHeight = 400f;
|
||||
|
||||
@ -136,14 +254,11 @@ namespace NanoBrain.Unity {
|
||||
if (node == null)
|
||||
continue;
|
||||
float x = (hSpacing * 1.5f) + columnIx * hSpacing;
|
||||
//float y = 400 - totalHeight / 2f + i * vSpacing;
|
||||
float y = margin + i * spacing;
|
||||
// Debug.Log($"({li}, {i}) -> {x}, {y}");
|
||||
node.position = new Vector2(x, y);
|
||||
}
|
||||
}
|
||||
|
||||
//Repaint();
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -72,6 +72,10 @@ namespace NanoBrain {
|
||||
|
||||
#region Init
|
||||
|
||||
public Cluster() {
|
||||
this.name = "Empty Cluster";
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Instantiate a new copy of a ClusterPrefab in the given parent
|
||||
/// </summary>
|
||||
@ -451,7 +455,7 @@ namespace NanoBrain {
|
||||
/// </summary>
|
||||
public virtual Neuron defaultOutput {//=> this.nuclei[0] as Nucleus;
|
||||
get {
|
||||
if (this.nuclei.Count > 0)
|
||||
if (this.nuclei != null && this.nuclei.Count > 0)
|
||||
return this.nuclei[0] as Neuron;
|
||||
return null;
|
||||
}
|
||||
@ -471,6 +475,9 @@ namespace NanoBrain {
|
||||
get {
|
||||
if (this._outputs == null || this._outputs.Count == 0) {
|
||||
this._outputs = new();
|
||||
if (this.nuclei == null)
|
||||
return this._outputs;
|
||||
|
||||
foreach (Nucleus nucleus in this.nuclei) {
|
||||
if (nucleus is Neuron neuron && neuron.receivers.Count == 0)
|
||||
this._outputs.Add(neuron);
|
||||
|
||||
@ -32,7 +32,10 @@ namespace NanoBrain {
|
||||
public Neuron(Cluster parent, string name) {
|
||||
this.parent = parent;
|
||||
this.name = name;
|
||||
this.parent?.nuclei.Add(this);
|
||||
if (this.parent != null) {
|
||||
this.parent.nuclei ??= new();
|
||||
this.parent.nuclei.Add(this);
|
||||
}
|
||||
}
|
||||
|
||||
#region Serialization
|
||||
|
||||
@ -1,4 +1,3 @@
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
|
||||
namespace NanoBrain.Unity {
|
||||
@ -17,25 +16,43 @@ namespace NanoBrain.Unity {
|
||||
//[HideInInspector]
|
||||
public int version;
|
||||
|
||||
/// <summary>
|
||||
/// Call this function to ensure that there is at least one nucleus
|
||||
/// </summary>
|
||||
/// his is an invariant and should be ensured before the nucleus is used
|
||||
/// because output requires it.
|
||||
public void EnsureInitialization() {
|
||||
this.cluster.prefab = this;
|
||||
this.cluster.name = this.name;
|
||||
this.cluster.nuclei ??= new List<Nucleus>();
|
||||
if (this.cluster.nuclei.Count <= 0)
|
||||
new Neuron(this.cluster, "Output"); // Every cluster should have at least 1 neuron
|
||||
this.cluster.instanceCount = 1;
|
||||
}
|
||||
// #if UNITY_EDITOR
|
||||
// private bool queuedIncrement = false;
|
||||
|
||||
#if UNITY_EDITOR
|
||||
private void OnValidate() {
|
||||
version++;
|
||||
}
|
||||
#endif
|
||||
// private void OnValidate() {
|
||||
// Debug.Log("Validating...");
|
||||
// if (queuedIncrement) {
|
||||
// Debug.Log("Re-entry");
|
||||
// return; // avoid re-entrancy
|
||||
// }
|
||||
|
||||
// queuedIncrement = true;
|
||||
|
||||
// // Defer so Unity finishes its internal serialization/validate cycle first
|
||||
// UnityEditor.EditorApplication.update += IncrementVersion;
|
||||
// }
|
||||
// private void IncrementVersion() {
|
||||
// UnityEditor.EditorApplication.update -= IncrementVersion;
|
||||
// Debug.Log("updating version...");
|
||||
// // Ensure object still exists and hasn't been destroyed
|
||||
// if (this == null) {
|
||||
// queuedIncrement = false;
|
||||
// return;
|
||||
// }
|
||||
|
||||
// // Record for Undo and mark dirty so change persists
|
||||
// UnityEditor.Undo.RecordObject(this, $"Increment {name} version");
|
||||
// version++;
|
||||
// UnityEditor.EditorUtility.SetDirty(this);
|
||||
// Debug.Log($"{name} Prefab changed, version {version}");
|
||||
|
||||
// // Optional: force Inspector repaint
|
||||
// //UnityEditor.EditorUtility.SetDirty(this);
|
||||
// // clear the flag
|
||||
// queuedIncrement = false;
|
||||
|
||||
// }
|
||||
// #endif
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@ -17,103 +17,60 @@ MonoBehaviour:
|
||||
parent:
|
||||
rid: -2
|
||||
prefab: {fileID: 11400000}
|
||||
version: 65
|
||||
instances: []
|
||||
instanceCount: 1
|
||||
nuclei:
|
||||
- rid: 4201949899492425781
|
||||
- rid: 4201949899492425817
|
||||
- rid: 4201950332465446972
|
||||
- rid: 4201950332465446973
|
||||
version: 506
|
||||
references:
|
||||
version: 2
|
||||
RefIds:
|
||||
- rid: -2
|
||||
type: {class: , ns: , asm: }
|
||||
- rid: 4201949899492425781
|
||||
- rid: 4201950332465446972
|
||||
type: {class: Neuron, ns: NanoBrain, asm: Assembly-CSharp}
|
||||
data:
|
||||
name: Output
|
||||
parent:
|
||||
rid: 4201950148723474519
|
||||
rid: 4201950332465446974
|
||||
bias: {x: 0, y: 0, z: 1}
|
||||
_synapses:
|
||||
- neuron:
|
||||
rid: 4201949899492425817
|
||||
rid: 4201950332465446973
|
||||
weight: 4
|
||||
combinator: 0
|
||||
combinator: 1
|
||||
_activator: 0
|
||||
curve:
|
||||
serializedVersion: 2
|
||||
m_Curve:
|
||||
- serializedVersion: 3
|
||||
time: 0
|
||||
value: 0
|
||||
inSlope: 0
|
||||
outSlope: 1
|
||||
tangentMode: 0
|
||||
weightedMode: 0
|
||||
inWeight: 0
|
||||
outWeight: 0
|
||||
- serializedVersion: 3
|
||||
time: 1000
|
||||
value: 1000
|
||||
inSlope: 1
|
||||
outSlope: 0
|
||||
tangentMode: 0
|
||||
weightedMode: 0
|
||||
inWeight: 0
|
||||
outWeight: 0
|
||||
m_PreInfinity: 2
|
||||
m_PostInfinity: 2
|
||||
m_RotationOrder: 4
|
||||
curveMax: 1
|
||||
persistOutput: 0
|
||||
lastUpdate: 19.870863
|
||||
lastUpdate: 35.320103
|
||||
breakOnUpdate: 0
|
||||
_receivers: []
|
||||
- rid: 4201949899492425817
|
||||
- rid: 4201950332465446973
|
||||
type: {class: Neuron, ns: NanoBrain, asm: Assembly-CSharp}
|
||||
data:
|
||||
name: Sensor
|
||||
parent:
|
||||
rid: 4201950148723474519
|
||||
rid: 4201950332465446974
|
||||
bias: {x: 0, y: 0, z: 0}
|
||||
_synapses: []
|
||||
combinator: 0
|
||||
_activator: 0
|
||||
curve:
|
||||
serializedVersion: 2
|
||||
m_Curve:
|
||||
- serializedVersion: 3
|
||||
time: 0
|
||||
value: 0
|
||||
inSlope: 0
|
||||
outSlope: 1
|
||||
tangentMode: 0
|
||||
weightedMode: 0
|
||||
inWeight: 0
|
||||
outWeight: 0
|
||||
- serializedVersion: 3
|
||||
time: 1000
|
||||
value: 1000
|
||||
inSlope: 1
|
||||
outSlope: 0
|
||||
tangentMode: 0
|
||||
weightedMode: 0
|
||||
inWeight: 0
|
||||
outWeight: 0
|
||||
m_PreInfinity: 2
|
||||
m_PostInfinity: 2
|
||||
m_RotationOrder: 4
|
||||
curveMax: 1
|
||||
persistOutput: 0
|
||||
lastUpdate: 19.870863
|
||||
lastUpdate: 35.320103
|
||||
breakOnUpdate: 0
|
||||
_receivers:
|
||||
- rid: 4201949899492425781
|
||||
- rid: 4201950148723474519
|
||||
- rid: 4201950332465446972
|
||||
- rid: 4201950332465446974
|
||||
type: {class: Cluster, ns: NanoBrain, asm: Assembly-CSharp}
|
||||
data:
|
||||
name: Braitenberg 1
|
||||
parent:
|
||||
rid: -2
|
||||
prefab: {fileID: 11400000}
|
||||
version: 65
|
||||
instances: []
|
||||
instanceCount: 1
|
||||
nuclei:
|
||||
- rid: 4201949899492425781
|
||||
- rid: 4201949899492425817
|
||||
- rid: 4201950332465446972
|
||||
- rid: 4201950332465446973
|
||||
|
||||
@ -17,12 +17,15 @@ MonoBehaviour:
|
||||
parent:
|
||||
rid: -2
|
||||
prefab: {fileID: 11400000}
|
||||
version: 0
|
||||
instances: []
|
||||
instanceCount: 1
|
||||
nuclei:
|
||||
- rid: 4201949899492425781
|
||||
- rid: 4201949899492425817
|
||||
- rid: 4201950127862317404
|
||||
- rid: 4201950127862317405
|
||||
version: 21
|
||||
references:
|
||||
version: 2
|
||||
RefIds:
|
||||
@ -38,36 +41,12 @@ MonoBehaviour:
|
||||
_synapses:
|
||||
- neuron:
|
||||
rid: 4201949899492425817
|
||||
weight: 1
|
||||
weight: 5
|
||||
combinator: 0
|
||||
_activator: 0
|
||||
curve:
|
||||
serializedVersion: 2
|
||||
m_Curve:
|
||||
- serializedVersion: 3
|
||||
time: 0
|
||||
value: 0
|
||||
inSlope: 0
|
||||
outSlope: 1
|
||||
tangentMode: 0
|
||||
weightedMode: 0
|
||||
inWeight: 0
|
||||
outWeight: 0
|
||||
- serializedVersion: 3
|
||||
time: 1000
|
||||
value: 1000
|
||||
inSlope: 1
|
||||
outSlope: 0
|
||||
tangentMode: 0
|
||||
weightedMode: 0
|
||||
inWeight: 0
|
||||
outWeight: 0
|
||||
m_PreInfinity: 2
|
||||
m_PostInfinity: 2
|
||||
m_RotationOrder: 4
|
||||
curveMax: 1
|
||||
persistOutput: 0
|
||||
lastUpdate: 4.0097623
|
||||
breakOnUpdate: 0
|
||||
_receivers: []
|
||||
- rid: 4201949899492425817
|
||||
type: {class: Neuron, ns: NanoBrain, asm: Assembly-CSharp}
|
||||
@ -79,33 +58,9 @@ MonoBehaviour:
|
||||
_synapses: []
|
||||
combinator: 0
|
||||
_activator: 0
|
||||
curve:
|
||||
serializedVersion: 2
|
||||
m_Curve:
|
||||
- serializedVersion: 3
|
||||
time: 0
|
||||
value: 0
|
||||
inSlope: 0
|
||||
outSlope: 1
|
||||
tangentMode: 0
|
||||
weightedMode: 0
|
||||
inWeight: 0
|
||||
outWeight: 0
|
||||
- serializedVersion: 3
|
||||
time: 1000
|
||||
value: 1000
|
||||
inSlope: 1
|
||||
outSlope: 0
|
||||
tangentMode: 0
|
||||
weightedMode: 0
|
||||
inWeight: 0
|
||||
outWeight: 0
|
||||
m_PreInfinity: 2
|
||||
m_PostInfinity: 2
|
||||
m_RotationOrder: 4
|
||||
curveMax: 1
|
||||
persistOutput: 0
|
||||
lastUpdate: 4.0097623
|
||||
breakOnUpdate: 0
|
||||
_receivers:
|
||||
- rid: 4201949899492425781
|
||||
- rid: 4201950127862317404
|
||||
@ -118,36 +73,12 @@ MonoBehaviour:
|
||||
_synapses:
|
||||
- neuron:
|
||||
rid: 4201950127862317405
|
||||
weight: 1
|
||||
weight: 5
|
||||
combinator: 0
|
||||
_activator: 0
|
||||
curve:
|
||||
serializedVersion: 2
|
||||
m_Curve:
|
||||
- serializedVersion: 3
|
||||
time: 0
|
||||
value: 0
|
||||
inSlope: 0
|
||||
outSlope: 1
|
||||
tangentMode: 0
|
||||
weightedMode: 0
|
||||
inWeight: 0
|
||||
outWeight: 0
|
||||
- serializedVersion: 3
|
||||
time: 1000
|
||||
value: 1000
|
||||
inSlope: 1
|
||||
outSlope: 0
|
||||
tangentMode: 0
|
||||
weightedMode: 0
|
||||
inWeight: 0
|
||||
outWeight: 0
|
||||
m_PreInfinity: 2
|
||||
m_PostInfinity: 2
|
||||
m_RotationOrder: 4
|
||||
curveMax: 1
|
||||
persistOutput: 0
|
||||
lastUpdate: 4.0097623
|
||||
breakOnUpdate: 0
|
||||
_receivers: []
|
||||
- rid: 4201950127862317405
|
||||
type: {class: Neuron, ns: NanoBrain, asm: Assembly-CSharp}
|
||||
@ -159,33 +90,9 @@ MonoBehaviour:
|
||||
_synapses: []
|
||||
combinator: 0
|
||||
_activator: 0
|
||||
curve:
|
||||
serializedVersion: 2
|
||||
m_Curve:
|
||||
- serializedVersion: 3
|
||||
time: 0
|
||||
value: 0
|
||||
inSlope: 0
|
||||
outSlope: 1
|
||||
tangentMode: 0
|
||||
weightedMode: 0
|
||||
inWeight: 0
|
||||
outWeight: 0
|
||||
- serializedVersion: 3
|
||||
time: 1000
|
||||
value: 1000
|
||||
inSlope: 1
|
||||
outSlope: 0
|
||||
tangentMode: 0
|
||||
weightedMode: 0
|
||||
inWeight: 0
|
||||
outWeight: 0
|
||||
m_PreInfinity: 2
|
||||
m_PostInfinity: 2
|
||||
m_RotationOrder: 4
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m_RemovedComponents: []
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m_RemovedGameObjects: []
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m_AddedGameObjects: []
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@ -59,15 +59,9 @@ MonoBehaviour:
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_synapses: []
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combinator: 0
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curve:
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useOcclusion: 1
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sensitivityAngle: 90
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@ -225,15 +219,9 @@ MonoBehaviour:
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combinator: 0
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curve:
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references:
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version: 2
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@ -427,15 +415,9 @@ MonoBehaviour:
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_synapses: []
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combinator: 0
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curve:
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references:
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version: 2
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@ -540,15 +522,9 @@ MonoBehaviour:
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@ -666,7 +642,7 @@ BoxCollider:
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m_LayerOverridePriority: 0
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m_IsTrigger: 0
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m_ProvidesContacts: 0
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m_Enabled: 0
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m_Enabled: 1
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serializedVersion: 3
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m_Size: {x: 1, y: 1, z: 1}
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m_Center: {x: 0, y: 0, z: 0}
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@ -749,11 +725,24 @@ MonoBehaviour:
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m_Script: {fileID: 11500000, guid: a8d53357b6673864d91bbc5c595d48b9, type: 3}
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m_Name:
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m_EditorClassIdentifier: Assembly-CSharp::Breitenberg.Vehicle
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brain: {fileID: 11400000, guid: c2d142058a073d6fdba2c8fab05834e3, type: 2}
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brain:
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name:
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motorLeft: {fileID: 2164057505425015568}
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motorRight: {fileID: 7548586118443431667}
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sensorLeft: {fileID: 93666564301131443}
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sensorRight: {fileID: 6470252300495393990}
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references:
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version: 2
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type: {class: , ns: , asm: }
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--- !u!1 &6750002523281406744
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GameObject:
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m_ObjectHideFlags: 0
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@ -15,7 +15,11 @@ namespace NanoBrain.Braitenberg {
|
||||
protected override float SampleSensor() {
|
||||
float sum = 0f;
|
||||
// Get all active lights in scene (Point lights only)
|
||||
#if UNITY_6000_0_OR_NEWER
|
||||
Light[] lights = FindObjectsByType<Light>();
|
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#else
|
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Light[] lights = FindObjectsByType<Light>(FindObjectsSortMode.None);
|
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#endif
|
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Vector3 pos = transform.position;
|
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Vector3 forward = transform.forward;
|
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@ -27,7 +27,7 @@ namespace NanoBrain.Braitenberg {
|
||||
return;
|
||||
|
||||
this.speed = motorNeuron.outputValue.z;
|
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//Debug.DrawRay(this.transform.position, this.transform.forward * this.speed, Color.magenta);
|
||||
Debug.DrawRay(this.transform.position, this.transform.forward * this.speed, Color.blue);
|
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|
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float desiredRpm = speed * 60; // target wheel RPM
|
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float currentRpm = wheelCollider.rpm;
|
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|
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@ -2,8 +2,11 @@ using System.Collections;
|
||||
using UnityEngine;
|
||||
|
||||
namespace NanoBrain.Braitenberg {
|
||||
using Unity;
|
||||
|
||||
/// <summary>
|
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/// A non-directional sensor
|
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/// </summary>
|
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/// The sensor has a field of view, but the signal returned does not include a direction
|
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public class Sensor : MonoBehaviour {
|
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[Tooltip("Max distance sensor detects anything")]
|
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public float sensorRange = 10f;
|
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@ -60,7 +63,7 @@ namespace NanoBrain.Braitenberg {
|
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float angle = Mathf.Lerp(-halfAngle, halfAngle, t);
|
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Vector3 dir = Quaternion.AngleAxis(angle, this.transform.up) * this.transform.forward;
|
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|
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Debug.DrawRay(this.transform.position, dir * sensorRange);
|
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//Debug.DrawRay(this.transform.position, dir * sensorRange);
|
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if (Physics.Raycast(this.transform.position, dir, out RaycastHit hit, sensorRange, senseLayer)) {
|
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// Strength inversely proportional to distance, clamped to [0,1]
|
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float str = 1f - (hit.distance / sensorRange);
|
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|
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@ -15,8 +15,8 @@ namespace NanoBrain.Braitenberg {
|
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public Sensor sensorRight;
|
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|
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void FixedUpdate() {
|
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// //Debug.Log($"L: {sensorLeft.output} R: {sensorRight.output}");
|
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// //Debug.Log($"L: {motorLeft.speed} R: {motorRight.speed}");
|
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// Debug.Log($"L: {sensorLeft.output} R: {sensorRight.output}");
|
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// Debug.Log($"L: {motorLeft.speed} R: {motorRight.speed}");
|
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// Debug.Log($"L: {motorLeft.wheelCollider.rpm} R: {motorRight.wheelCollider.rpm}");
|
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}
|
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}
|
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|
||||
Loading…
x
Reference in New Issue
Block a user