From 65359ecbfaa5dfe20ccd8cf768ae08c75995beb9 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Wed, 17 Dec 2025 12:41:25 +0100 Subject: [PATCH] Needs tuning --- Assets/NanoBrain/Nucleus.cs | 8 +- Assets/NanoBrain/Perceptoid.cs | 24 +- Assets/NanoBrain/Receptor.cs | 2 +- .../VisualEditor/Editor/NanoBrainInspector.cs | 38 +- Assets/NanoBrain/VisualEditor/NanoBrainObj.cs | 16 +- Assets/Scenes/Boids/Boids.unity | 8 +- Assets/Scenes/Boids/RoamingBrain.asset | 58 + Assets/Scenes/Boids/Scripts/Boid.cs | 5 +- Assets/Scenes/Boids/SwarmingBrain.asset | 2021 +++++++---------- 9 files changed, 973 insertions(+), 1207 deletions(-) diff --git a/Assets/NanoBrain/Nucleus.cs b/Assets/NanoBrain/Nucleus.cs index 340d3c0..33e8493 100644 --- a/Assets/NanoBrain/Nucleus.cs +++ b/Assets/NanoBrain/Nucleus.cs @@ -61,7 +61,7 @@ public class Nucleus { #region Runtime state (not serialized) - public NanoBrainObj brain { get; protected set; } + public NanoBrainObj brain { get; set; } public virtual Vector3 outputValue { get; set; } @@ -110,8 +110,10 @@ public class Nucleus { receiver.nucleus.synapses.RemoveAll(s => s.nucleus == nucleus); } - nucleus.brain.nuclei.RemoveAll(n => n == nucleus); - nucleus.brain.GarbageCollection(); + if (nucleus.brain != null) { + nucleus.brain.nuclei.RemoveAll(n => n == nucleus); + nucleus.brain.GarbageCollection(); + } } public void GetInputFrom(Nucleus input, float weight = 1.0f) { diff --git a/Assets/NanoBrain/Perceptoid.cs b/Assets/NanoBrain/Perceptoid.cs index 02b3ccd..b6be740 100644 --- a/Assets/NanoBrain/Perceptoid.cs +++ b/Assets/NanoBrain/Perceptoid.cs @@ -123,19 +123,19 @@ public class Perceptoid : Neuroid { public void UpdateState(int thingId, Vector3 receptorValue) { this.thingId = thingId; Vector3 result = receptorValue; - foreach (Synapse synapse in this.synapses) { - Nucleus nucleus = synapse.nucleus; - float weight = synapse.weight; - Vector3 direction = nucleus.outputValue.normalized; - float magnitude = nucleus.outputValue.magnitude; + // foreach (Synapse synapse in this.synapses) { + // Nucleus nucleus = synapse.nucleus; + // float weight = synapse.weight; + // Vector3 direction = nucleus.outputValue.normalized; + // float magnitude = nucleus.outputValue.magnitude; - magnitude = weight * Mathf.Pow(magnitude, exponent); - if (inverse) - magnitude = 1 / magnitude; - result += direction * magnitude; - } - if (average && this.synapses.Count > 0) - result /= this.synapses.Count + 1; + // magnitude = weight * Mathf.Pow(magnitude, exponent); + // if (inverse) + // magnitude = 1 / magnitude; + // result += direction * magnitude; + // } + // if (average && this.synapses.Count > 0) + // result /= this.synapses.Count + 1; this.outputValue = result; foreach (Receiver receiver in this.receivers) diff --git a/Assets/NanoBrain/Receptor.cs b/Assets/NanoBrain/Receptor.cs index 4c0f770..9f5fbce 100644 --- a/Assets/NanoBrain/Receptor.cs +++ b/Assets/NanoBrain/Receptor.cs @@ -40,7 +40,7 @@ public class Receptor { Debug.Log("No perceptoid selected, stimulus is ignored"); return; } - Debug.Log($"Stimulus {thingId} {selectedPerceptoid.thingId}"); + //Debug.Log($"Stimulus {thingId} {selectedPerceptoid.thingId}"); selectedPerceptoid.UpdateState(this.thingId, this.localPosition); } } \ No newline at end of file diff --git a/Assets/NanoBrain/VisualEditor/Editor/NanoBrainInspector.cs b/Assets/NanoBrain/VisualEditor/Editor/NanoBrainInspector.cs index 3b8edd5..43a2af7 100644 --- a/Assets/NanoBrain/VisualEditor/Editor/NanoBrainInspector.cs +++ b/Assets/NanoBrain/VisualEditor/Editor/NanoBrainInspector.cs @@ -228,7 +228,7 @@ public class NanoBrainInspector : Editor { private void DrawGraph() { float size = 20; - Vector3 position = new(200, 210, 0); + Vector3 position = new(150, 210, 0); DrawReceivers(this.currentNucleus, position, size); DrawSynapses(this.currentNucleus, position, size); @@ -263,7 +263,7 @@ public class NanoBrainInspector : Editor { if (receiverNucleus == null) continue; - Vector3 pos = new(100, margin + row * spacing, 0.0f); + Vector3 pos = new(50, margin + row * spacing, 0.0f); Handles.color = Color.white; Handles.DrawLine(parentPos, pos); @@ -294,7 +294,7 @@ public class NanoBrainInspector : Editor { foreach (Synapse receiver in nucleus.synapses) { Nucleus receiverNucleus = receiver.nucleus; - Vector3 pos = new(300, margin + row * spacing, 0.0f); + Vector3 pos = new(250, margin + row * spacing, 0.0f); Handles.color = Color.white; Handles.DrawLine(parentPos, pos); @@ -400,8 +400,7 @@ public class NanoBrainInspector : Editor { this.currentNucleus.name = EditorGUILayout.TextField(this.currentNucleus.name); if (this.currentNucleus is Perceptoid currentPerceptoid) currentPerceptoid.thingType = EditorGUILayout.IntField("Thing Type", currentPerceptoid.thingType); - - if (this.currentNucleus is Neuroid neuroid) { + else if (this.currentNucleus is Neuroid neuroid) { EditorGUILayout.BeginHorizontal(); EditorGUILayout.LabelField("Activation Curve", GUILayout.Width(150)); if (neuroid.curveMax > 0) @@ -457,7 +456,7 @@ public class NanoBrainInspector : Editor { if (this.gameObject != null) { Vector3 worldVector = this.gameObject.transform.TransformVector(this.currentNucleus.outputValue); - Debug.DrawRay(this.gameObject.transform.position, worldVector, Color.yellow ); + Debug.DrawRay(this.gameObject.transform.position, worldVector, Color.yellow); } }); @@ -467,11 +466,15 @@ public class NanoBrainInspector : Editor { protected virtual void AddInputNeuron(Nucleus nucleus) { Neuroid newNeuroid = new(this.brain, "New neuron"); newNeuroid.AddReceiver(nucleus); + this.currentNucleus = newNeuroid; BuildLayers(); } protected virtual void DeleteNeuron(Nucleus nucleus) { - this.currentNucleus = nucleus.brain.root; + if (nucleus == null) + return; + if (nucleus.brain != null) + this.currentNucleus = nucleus.brain.root; foreach (Receiver receiver in nucleus.receivers) { if (receiver.nucleus != null) { this.currentNucleus = receiver.nucleus; @@ -485,18 +488,29 @@ public class NanoBrainInspector : Editor { protected virtual void AddPerceptoid(Nucleus nucleus) { Perceptoid newPerceptoid = new(this.brain, 0, "New Perceptoid"); newPerceptoid.AddReceiver(nucleus); + this.currentNucleus = newPerceptoid; BuildLayers(); } protected virtual void ConnectNucleus(Nucleus nucleus) { if (this.currentNucleus.brain == null) return; - string[] names = this.currentNucleus.brain.perceptei.Select(i => i.name).ToArray(); + + //string[] names = this.currentNucleus.brain.perceptei.Select(i => i.name).ToArray(); + IEnumerable perceptei = this.currentNucleus.brain.perceptei.Select(i => i.name); + IEnumerable nuclei = this.currentNucleus.brain.nuclei.Select(i => i.name); + string[] names = perceptei.Concat(nuclei).ToArray(); int selectedIndex = -1; selectedIndex = EditorGUILayout.Popup("Connect to", selectedIndex, names); - if (selectedIndex >= 0 && selectedIndex < this.currentNucleus.brain.perceptei.Count) { - Nucleus n = this.currentNucleus.brain.perceptei[selectedIndex]; - n.AddReceiver(this.currentNucleus); + if (selectedIndex >= 0) { + if (selectedIndex < perceptei.Count()) { + Nucleus n = this.currentNucleus.brain.perceptei[selectedIndex]; + n.AddReceiver(this.currentNucleus); + } + else { + Nucleus n = this.currentNucleus.brain.nuclei[selectedIndex - perceptei.Count()]; + n.AddReceiver(this.currentNucleus); + } } } @@ -544,7 +558,7 @@ public class NanoBrainInspector : Editor { #region Update private void UpdateLayout(float containerWidth) { - if (containerWidth > 800f) { + if (containerWidth > 700f) { mainContainer.style.flexDirection = FlexDirection.Row; inspectorContainer.style.width = 400; // fixed sidebar width inspectorContainer.style.flexGrow = 0; diff --git a/Assets/NanoBrain/VisualEditor/NanoBrainObj.cs b/Assets/NanoBrain/VisualEditor/NanoBrainObj.cs index 00fc89e..137125a 100644 --- a/Assets/NanoBrain/VisualEditor/NanoBrainObj.cs +++ b/Assets/NanoBrain/VisualEditor/NanoBrainObj.cs @@ -71,13 +71,16 @@ public class NanoBrainObj : ScriptableObject, ISerializationCallbackReceiver { MarkNuclei(visitedNuclei, this.root); Debug.Log($"Garbage collection found {visitedNuclei.Count} Nuclei"); this.nuclei.RemoveAll(nucleus => visitedNuclei.Contains(nucleus) == false); - this.perceptei.RemoveAll(perceptoid => visitedNuclei.Contains(perceptoid) == false); + this.perceptei.RemoveAll(perceptoid => visitedNuclei.Contains(perceptoid) == false); } public void MarkNuclei(HashSet visitedNuclei, Nucleus nucleus) { if (nucleus is null) return; + if (nucleus.brain == null) + nucleus.brain = this; + visitedNuclei.Add(nucleus); if (nucleus.synapses != null) { HashSet visitedSynapses = new(); @@ -89,5 +92,16 @@ public class NanoBrainObj : ScriptableObject, ISerializationCallbackReceiver { } nucleus.synapses.RemoveAll(synapse => visitedSynapses.Contains(synapse) == false); } + if (nucleus.receivers != null) { + HashSet visitedReceivers = new(); + foreach (Receiver receiver in nucleus.receivers) { + if (receiver != null && receiver.nucleus != null) { + visitedReceivers.Add(receiver); + visitedNuclei.Add(receiver.nucleus); + //MarkNuclei(visitedNuclei, receiver.nucleus); + } + } + nucleus.receivers.RemoveAll(receiver => visitedReceivers.Contains(receiver) == false); + } } } \ No newline at end of file diff --git a/Assets/Scenes/Boids/Boids.unity b/Assets/Scenes/Boids/Boids.unity index f0e9d7c..9df0ef9 100644 --- a/Assets/Scenes/Boids/Boids.unity +++ b/Assets/Scenes/Boids/Boids.unity @@ -371,13 +371,13 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: 0464906885ae3494f8fd0314719fb2db, type: 3} m_Name: m_EditorClassIdentifier: Assembly-CSharp::SwarmControl - speed: 2 - inertia: 0.5 + speed: 1 + inertia: 0.8 alignmentForce: 2 cohesionForce: 2 avoidanceForce: 1 separationDistance: 0.3 - perceptionDistance: 1 + perceptionDistance: 2 boundaryForce: 5 spaceSize: {x: 10, y: 10, z: 10} boundaryWidth: {x: 1, y: 1, z: 1} @@ -393,7 +393,7 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: ec888ca5333d45a438f9f417fa5ce135, type: 3} m_Name: m_EditorClassIdentifier: Assembly-CSharp::SwarmSpawn - count: 30 + count: 100 boidPrefab: {fileID: 8702527964058765413, guid: f9c706268554ce449a8773675b2864b8, type: 3} spawnAreaSize: {x: 0.5, y: 0.5, z: 0.5} minDelay: 0.05 diff --git a/Assets/Scenes/Boids/RoamingBrain.asset b/Assets/Scenes/Boids/RoamingBrain.asset index 02830cf..2ca9ea7 100644 --- a/Assets/Scenes/Boids/RoamingBrain.asset +++ b/Assets/Scenes/Boids/RoamingBrain.asset @@ -22,8 +22,42 @@ MonoBehaviour: synapses: - nucleusId: -112538112 weight: 1 + curvePreset: 0 + curve: + serializedVersion: 2 + m_Curve: [] + m_PreInfinity: 2 + m_PostInfinity: 2 + m_RotationOrder: 4 + curveMax: 0 receivers: [] nucleusType: + _curvePreset: 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: 1 + value: 1 + inSlope: 1 + outSlope: 0 + tangentMode: 0 + weightedMode: 0 + inWeight: 0 + outWeight: 0 + m_PreInfinity: 2 + m_PostInfinity: 2 + m_RotationOrder: 4 + curveMax: 1 average: 0 inverse: 0 exponent: 1 @@ -32,9 +66,25 @@ MonoBehaviour: synapses: - nucleusId: 407735232 weight: -1 + curvePreset: 0 + curve: + serializedVersion: 2 + m_Curve: [] + m_PreInfinity: 2 + m_PostInfinity: 2 + m_RotationOrder: 4 + curveMax: 0 receivers: - nucleusId: -1707533328 nucleusType: + _curvePreset: 0 + curve: + serializedVersion: 2 + m_Curve: [] + m_PreInfinity: 2 + m_PostInfinity: 2 + m_RotationOrder: 4 + curveMax: 0 average: 0 inverse: 0 exponent: 1 @@ -45,6 +95,14 @@ MonoBehaviour: receivers: - nucleusId: -112538112 nucleusType: Perceptoid + _curvePreset: 0 + curve: + serializedVersion: 2 + m_Curve: [] + m_PreInfinity: 2 + m_PostInfinity: 2 + m_RotationOrder: 4 + curveMax: 0 average: 0 inverse: 0 exponent: 1 diff --git a/Assets/Scenes/Boids/Scripts/Boid.cs b/Assets/Scenes/Boids/Scripts/Boid.cs index fe2deea..c2cc778 100644 --- a/Assets/Scenes/Boids/Scripts/Boid.cs +++ b/Assets/Scenes/Boids/Scripts/Boid.cs @@ -39,6 +39,7 @@ public class Boid : MonoBehaviour { continue; Vector3 localPosition = this.transform.InverseTransformPoint(neighbour.transform.position); + localPosition = localPosition.normalized * (localPosition.magnitude - sc.separationDistance); //Debug.DrawRay(this.transform.position, this.transform.TransformDirection(localPosition), Color.magenta); int thingId = neighbour.GetInstanceID(); @@ -61,13 +62,13 @@ public class Boid : MonoBehaviour { this.velocity = this.velocity.normalized * sc.speed; else this.velocity = this.transform.forward * sc.speed; - Debug.DrawRay(this.transform.position, this.velocity, Color.blue); + //Debug.DrawRay(this.transform.position, this.velocity, Color.blue); this.transform.position += this.velocity * Time.deltaTime; if (this.velocity != Vector3.zero) { Quaternion targetRotation = Quaternion.LookRotation(this.velocity); - transform.rotation = Quaternion.Slerp(transform.rotation, targetRotation, Time.deltaTime * 2f); // Adjust the speed of rotation + transform.rotation = Quaternion.Slerp(transform.rotation, targetRotation, Time.deltaTime * 5f); // Adjust the speed of rotation } nanoBrain.brain.UpdateNuclei(); diff --git a/Assets/Scenes/Boids/SwarmingBrain.asset b/Assets/Scenes/Boids/SwarmingBrain.asset index 6264b47..9213d2b 100644 --- a/Assets/Scenes/Boids/SwarmingBrain.asset +++ b/Assets/Scenes/Boids/SwarmingBrain.asset @@ -21,7 +21,7 @@ MonoBehaviour: _name: Root synapses: - nucleusId: -112538112 - weight: -1 + weight: -5 curvePreset: 0 curve: serializedVersion: 2 @@ -49,7 +49,7 @@ MonoBehaviour: m_RotationOrder: 4 curveMax: -10 - nucleusId: 1938577052 - weight: 0 + weight: 4 curvePreset: 0 curve: serializedVersion: 2 @@ -77,7 +77,7 @@ MonoBehaviour: m_RotationOrder: 4 curveMax: 10 - nucleusId: 1641120128 - weight: 0 + weight: -10 curvePreset: 3 curve: serializedVersion: 2 @@ -1238,6 +1238,16 @@ MonoBehaviour: m_PostInfinity: 2 m_RotationOrder: 4 curveMax: 1000 + - nucleusId: -1857835930 + weight: 9 + curvePreset: 0 + curve: + serializedVersion: 2 + m_Curve: [] + m_PreInfinity: 2 + m_PostInfinity: 2 + m_RotationOrder: 4 + curveMax: 1 receivers: [] nucleusType: _curvePreset: 0 @@ -1270,7 +1280,7 @@ MonoBehaviour: inverse: 0 exponent: 1 - id: -112538112 - _name: Avoidance + _name: Boundary Avoidance synapses: - nucleusId: 407735232 weight: 1 @@ -1285,27 +1295,27 @@ MonoBehaviour: receivers: - nucleusId: -1707533328 nucleusType: - _curvePreset: 4 + _curvePreset: 0 curve: serializedVersion: 2 m_Curve: - serializedVersion: 3 time: 0 - value: 1 - inSlope: -0.9985466 - outSlope: -0.9985466 - tangentMode: 34 + value: 0 + inSlope: 0 + outSlope: 1 + tangentMode: 0 weightedMode: 0 inWeight: 0 - outWeight: 0.33333334 + outWeight: 0 - serializedVersion: 3 time: 1 - value: 0.0014533997 - inSlope: -0.9985466 - outSlope: -0.9985466 - tangentMode: 34 + value: 1 + inSlope: 1 + outSlope: 0 + tangentMode: 0 weightedMode: 0 - inWeight: 0.33333334 + inWeight: 0 outWeight: 0 m_PreInfinity: 2 m_PostInfinity: 2 @@ -1317,7 +1327,7 @@ MonoBehaviour: - id: 1938577052 _name: Cohesion synapses: - - nucleusId: -1420275136 + - nucleusId: 1302452224 weight: 1 curvePreset: 0 curve: @@ -1326,8 +1336,8 @@ MonoBehaviour: m_PreInfinity: 2 m_PostInfinity: 2 m_RotationOrder: 4 - curveMax: 0 - - nucleusId: -1266532688 + curveMax: 1 + - nucleusId: 10881140 weight: 1 curvePreset: 0 curve: @@ -1336,7 +1346,47 @@ MonoBehaviour: m_PreInfinity: 2 m_PostInfinity: 2 m_RotationOrder: 4 - curveMax: 0 + curveMax: 1 + - nucleusId: 2020437392 + weight: 1 + curvePreset: 0 + curve: + serializedVersion: 2 + m_Curve: [] + m_PreInfinity: 2 + m_PostInfinity: 2 + m_RotationOrder: 4 + curveMax: 1 + - nucleusId: -1530763258 + weight: 1 + curvePreset: 0 + curve: + serializedVersion: 2 + m_Curve: [] + m_PreInfinity: 2 + m_PostInfinity: 2 + m_RotationOrder: 4 + curveMax: 1 + - nucleusId: 1790226608 + weight: 1 + curvePreset: 0 + curve: + serializedVersion: 2 + m_Curve: [] + m_PreInfinity: 2 + m_PostInfinity: 2 + m_RotationOrder: 4 + curveMax: 1 + - nucleusId: 626548796 + weight: 1 + curvePreset: 0 + curve: + serializedVersion: 2 + m_Curve: [] + m_PreInfinity: 2 + m_PostInfinity: 2 + m_RotationOrder: 4 + curveMax: 1 receivers: - nucleusId: -1707533328 nucleusType: @@ -1372,8 +1422,8 @@ MonoBehaviour: - id: 1641120128 _name: Separation synapses: - - nucleusId: -1420275136 - weight: 0.1 + - nucleusId: 1302452224 + weight: 1 curvePreset: 0 curve: serializedVersion: 2 @@ -1381,9 +1431,9 @@ MonoBehaviour: m_PreInfinity: 2 m_PostInfinity: 2 m_RotationOrder: 4 - curveMax: 0 - - nucleusId: -1266532688 - weight: 0.1 + curveMax: 1 + - nucleusId: 10881140 + weight: 1 curvePreset: 0 curve: serializedVersion: 2 @@ -1391,1170 +1441,711 @@ MonoBehaviour: m_PreInfinity: 2 m_PostInfinity: 2 m_RotationOrder: 4 - 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