Needs tuning

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; }
 
@@ -110,9 +110,11 @@ public class Nucleus {
                 receiver.nucleus.synapses.RemoveAll(s => s.nucleus == nucleus);
         }
 
+        if (nucleus.brain != null) {
             nucleus.brain.nuclei.RemoveAll(n => n == nucleus);
             nucleus.brain.GarbageCollection();
         }
+    }
 
     public void GetInputFrom(Nucleus input, float weight = 1.0f) {
         input.AddReceiver(this);

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) {
+        // foreach (Synapse synapse in this.synapses) {
-            Nucleus nucleus = synapse.nucleus;
+        //     Nucleus nucleus = synapse.nucleus;
-            float weight = synapse.weight;
+        //     float weight = synapse.weight;
-            Vector3 direction = nucleus.outputValue.normalized;
+        //     Vector3 direction = nucleus.outputValue.normalized;
-            float magnitude = nucleus.outputValue.magnitude;
+        //     float magnitude = nucleus.outputValue.magnitude;
 
-            magnitude = weight * Mathf.Pow(magnitude, exponent);
+        //     magnitude = weight * Mathf.Pow(magnitude, exponent);
-            if (inverse)
+        //     if (inverse)
-                magnitude = 1 / magnitude;
+        //         magnitude = 1 / magnitude;
-            result += direction * magnitude;
+        //     result += direction * magnitude;
-        }
+        // }
-        if (average && this.synapses.Count > 0)
+        // if (average && this.synapses.Count > 0)
-            result /= this.synapses.Count + 1;
+        //     result /= this.synapses.Count + 1;
 
         this.outputValue = result;
         foreach (Receiver receiver in this.receivers)

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);
     }
 }

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);
-
+                else if (this.currentNucleus is Neuroid neuroid) {
-                if (this.currentNucleus is Neuroid neuroid) {
                     EditorGUILayout.BeginHorizontal();
                     EditorGUILayout.LabelField("Activation Curve", GUILayout.Width(150));
                     if (neuroid.curveMax > 0)
@@ -467,10 +466,14 @@ 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) {
+            if (nucleus == null)
+                return;
+            if (nucleus.brain != null)
                 this.currentNucleus = nucleus.brain.root;
             foreach (Receiver receiver in nucleus.receivers) {
                 if (receiver.nucleus != null) {
@@ -485,19 +488,30 @@ 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<string> perceptei = this.currentNucleus.brain.perceptei.Select(i => i.name);
+            IEnumerable<string> 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) {
+            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);
+                }
+            }
         }
 
         protected virtual void DisconnectNucleus(Nucleus nucleus) {
@@ -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;

Assets/NanoBrain/VisualEditor/NanoBrainObj.cs

@@ -78,6 +78,9 @@ public class NanoBrainObj : ScriptableObject, ISerializationCallbackReceiver {
         if (nucleus is null)
             return;
 
+        if (nucleus.brain == null)
+            nucleus.brain = this;
+
         visitedNuclei.Add(nucleus);
         if (nucleus.synapses != null) {
             HashSet<Synapse> visitedSynapses = new();
@@ -89,5 +92,16 @@ public class NanoBrainObj : ScriptableObject, ISerializationCallbackReceiver {
             }
             nucleus.synapses.RemoveAll(synapse => visitedSynapses.Contains(synapse) == false);
         }
+        if (nucleus.receivers != null) {
+            HashSet<Receiver> 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);
+        }
     }
 }

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
+  speed: 1
-  inertia: 0.5
+  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

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

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();