Almost flocking

Assets/NanoBrain/Editor/NanoBrain_Editor.cs

@@ -8,6 +8,8 @@ public class NanoBrain_Editor : Editor {
     private List<NeuroidLayer> layers = new();
     private Dictionary<Nucleus, Vector2Int> neuroidPositions = new();
 
+    protected bool breakOnWake = false;
+
     #region Start
 
     private void OnEnable() {
@@ -19,7 +21,7 @@ public class NanoBrain_Editor : Editor {
         if (!selectedObject.TryGetComponent(out Boid boid))
             return;
 
-        Neuroid neuroid = boid.totalForce;
+        Nucleus neuroid = boid.totalForce;
         this.currentNucleus = neuroid;
 
         BuildLayers();
@@ -34,12 +36,32 @@ public class NanoBrain_Editor : Editor {
         if (this.currentNucleus == null)
             return;
 
+        breakOnWake = EditorGUILayout.Toggle("Break on wake", breakOnWake);
+        if (breakOnWake && currentNucleus is Neuroid currentNeuroid) {
+            if (!currentNeuroid.isSleeping)
+                Debug.Break();
+        }
+
         DrawGraph();
 
         //DrawDefaultInspector();
         EditorGUILayout.TextField("Name", currentNucleus.name);
-        EditorGUILayout.FloatField("Output Value", currentNucleus.outputValue.magnitude);
+        EditorGUILayout.Vector3Field("Output Value", currentNucleus.outputValue);
-        EditorGUILayout.IntField("# synapses", currentNucleus.synapses.Count);
+        if (currentNucleus.synapses.Count > 0) {
+            EditorGUI.indentLevel++;
+            foreach ((Nucleus nucleus, float weight) in currentNucleus.synapses) {
+                EditorGUI.BeginDisabledGroup(nucleus.isSleeping);
+
+                EditorGUILayout.BeginHorizontal();
+                EditorGUILayout.Vector3Field(nucleus.name, nucleus.outputValue);
+                EditorGUILayout.FloatField(weight, GUILayout.Width(50));
+                EditorGUILayout.EndHorizontal();
+
+                EditorGUI.EndDisabledGroup();
+
+            }
+            EditorGUI.indentLevel--;
+        }
     }
 
     private void BuildLayers() {
@@ -140,8 +162,8 @@ public class NanoBrain_Editor : Editor {
 
 
                 float size = 20;
-                if (layerNeuroid.IsStale())
+                if (layerNeuroid.isSleeping)
-                    Handles.color = Color.darkCyan;
+                    Handles.color = Color.darkRed;
                 else {
                     float brightness = layerNeuroid.outputValue.magnitude / maxValue;
                     Handles.color = new Color(brightness, brightness, brightness);
@@ -224,7 +246,8 @@ public class NanoBrain_Editor : Editor {
         // Handles.DrawLine(brain.transform.position, brain.transform.position + Vector3.up);
         Handles.color = Color.yellow;
         Vector3 worldForce = brain.transform.TransformDirection(this.currentNucleus.outputValue);
-        Debug.DrawRay(position, worldForce * 10, Color.yellow);
+        //Debug.DrawRay(position, worldForce * 10, Color.yellow);
+        Handles.DrawLine(position, position + worldForce * 10);
     }
 
     #endregion Update

Assets/NanoBrain/Editor/NeuroidWindow.cs

@@ -199,7 +199,7 @@ public class GraphEditorWindow : EditorWindow {
                 }
 
                 float size = 20;
-                if (layerNeuroid.IsStale())
+                if (layerNeuroid.isSleeping)
                     Handles.color = Color.black;
                 else {
                     float brightness = layerNeuroid.outputValue.magnitude / maxValue;
@@ -272,7 +272,7 @@ public class GraphEditorWindow : EditorWindow {
         if (boid == null)
             return;
 
-        Neuroid neuroid = boid.totalForce;
+        Nucleus neuroid = boid.behaviour;
         this.currentNucleus = neuroid;
         if (neuroid == null)
             this.allNeuroids = new();

Assets/NanoBrain/NanoBrain.cs

@@ -12,7 +12,7 @@ public class NanoBrain : MonoBehaviour {
     public void UpdateNeurons() {
         foreach (Neuroid neuroid in neuroids) {
             neuroid.stale++;
-            if (neuroid.IsStale())
+            if (neuroid.isSleeping)
                 neuroid.outputValue = Vector3.zero;
         }
     }

Assets/NanoBrain/Neuroid.cs

@@ -1,8 +1,6 @@
 using UnityEngine;
 
 public class Neuroid : Nucleus {
-    public int stale = 0;
-
     public bool average = false;
     public bool inverse = false;
     public float exponent = 1.0f;
@@ -15,11 +13,6 @@ public class Neuroid : Nucleus {
             Debug.LogError("No neuroid network");
     }
 
-    // public void AddSynapse(Neuroid input) {
-    //     input.AddReceiver(this);
-    //     this.synapses[input] = 1.0f;
-    // }
-
     public void SetWeight(Neuroid input, float weight) {
         this.synapses[input] = weight;
     }
@@ -43,7 +36,7 @@ public class Neuroid : Nucleus {
     public virtual void UpdateState() {
         Vector3 result = Vector3.zero;
         foreach ((Nucleus nucleus, float weight) in this.synapses) {
-            if (nucleus is Neuroid neuroid && neuroid.IsStale())
+            if (nucleus is Neuroid neuroid && neuroid.isSleeping)
                 continue;
                 
             Vector3 direction = nucleus.outputValue.normalized;
@@ -65,8 +58,8 @@ public class Neuroid : Nucleus {
             receiver.SetInput(this);
     }
 
-    public bool IsStale() {
+    // public bool IsStale() {
-        return this.stale > 2;
+    //     return this.stale > 2;
-    }
+    // }
 }
 

Assets/NanoBrain/Nucleus.cs

@@ -2,9 +2,11 @@ using System.Collections.Generic;
 using UnityEngine;
 
 public class Nucleus {
+    public int stale = 0;
+
     public NanoBrain brain { get; protected set; }
 
-    public string name;
+    public virtual string name { get; set; }
 
     public readonly Dictionary<Nucleus, float> synapses = new();
     public HashSet<Neuroid> receivers = new();
@@ -22,4 +24,11 @@ public class Nucleus {
         receiver.synapses[this] = 1.0f; // new(this);
         //Debug.Log($"receiver # {this.receivers.Count} synapse count {receiver.synapses.Count}");
     }
+
+    public bool isSleeping {
+        get {
+            return this.stale > 2;
+        }
+    }
+
 }

Assets/NanoBrain/Perception.cs

@@ -19,7 +19,7 @@ public class Perception : Nucleus {
         this.velocityReceivers = new();
     }
 
-    public void SendPositions(Neuroid receivingNeuroid, float weight = 1.0f, int thingType = 0) {
+    public void SendPositions(Neuroid receivingNeuroid, int thingType = 0, float weight = 1.0f) {
         Receiver receiver = new() {
             thingType = thingType,
             neuroid = receivingNeuroid
@@ -32,7 +32,7 @@ public class Perception : Nucleus {
             }
         }
     }
-    public void SendVelocities(Neuroid receivingNeuroid, float weight = 1.0f, int thingType = 0) {
+    public void SendVelocities(Neuroid receivingNeuroid, int thingType = 0, float weight = 1.0f) {
         Receiver receiver = new() {
             thingType = thingType,
             neuroid = receivingNeuroid
@@ -57,7 +57,7 @@ public class Perception : Nucleus {
                 return;
             }
             if (availableIx == -1) {
-                if (sensoryNeuroids[i].IsStale())
+                if (sensoryNeuroids[i].isSleeping)
                     leastInterestingIx = i;
                 else if (sensoryNeuroids[i] != null) {
                     if (leastInterestingIx == -1 || sensoryNeuroids[leastInterestingIx].receptor.position.magnitude > sensoryNeuroids[i].receptor.position.magnitude)
@@ -77,7 +77,7 @@ public class Perception : Nucleus {
             }
             else {
                 // Debug.Log($"new receptor for {thingId} at {availableIx}");
-                neuroid = new(brain, thingId) { name = name };
+                neuroid = new(brain, thingId, name);
                 sensoryNeuroids[availableIx] = neuroid;
             }
             foreach (Receiver receiver in positionReceivers) {

Assets/NanoBrain/SensoryNeuroid.cs

@@ -30,33 +30,38 @@ public class SensoryNeuroid : Neuroid {
     public VelocityNeuroid velocityNeuroid;
 
     // public SensoryNeuroid(NeuroidNetwork net, int thingId) : base(net, "sensory neuroid") {
-    public SensoryNeuroid(NanoBrain net, int thingId) : base(net, "sensory neuroid") {
+    public SensoryNeuroid(NanoBrain net, int thingId, string name = "sensor") : base(net, name) {
+        this.name = name + ": position";
         this.receptor = new Receptor {
             neuroid = this,
             thingId = thingId
         };
-        this.velocityNeuroid = new(net);
+        this.velocityNeuroid = new(net, name + ": velocity");
         // The velocity neuroid received position data from this
         this.AddReceiver(velocityNeuroid);
     }
 
-    public void Replace(int thingId, string name = "sensory neuroid") {
+    public void Replace(int thingId, string name = "sensor") {
-        this.name = name;
+        this.name = name + ": position";
+
         this.receptor.thingId = thingId;
         this.receptor.localPosition = Vector3.zero;
+
         this.outputValue = Vector3.zero;
         this.receivers = new();
         this.AddReceiver(velocityNeuroid);
-        this.velocityNeuroid.receivers = new();
+
+        // this.velocityNeuroid.name = name + ": velocity";
+        // this.velocityNeuroid.receivers = new();
+        this.velocityNeuroid.Replace(name + ": velocity");
     }
 
     public override void UpdateState() {
         Vector3 result = receptor.localPosition;
-        //foreach ((Nucleus nucleus, Synapse synapse) in this.synapses) {
         foreach ((Nucleus nucleus, float weight) in this.synapses) {
             Vector3 direction = nucleus.outputValue.normalized;
             float magnitude = nucleus.outputValue.magnitude;
-            //magnitude = synapse.weight * Mathf.Pow(magnitude, exponent);
+
             magnitude = weight * Mathf.Pow(magnitude, exponent);
             if (inverse)
                 magnitude = 1 / magnitude;
@@ -77,8 +82,14 @@ public class VelocityNeuroid : Neuroid {
     private Vector3 lastPosition = Vector3.zero;
     private float lastValueTime = 0;
 
-    // public VelocityNeuroid(NeuroidNetwork net) : base(net, "Velocity") {
+    public VelocityNeuroid(NanoBrain net, string name = "velocity") : base(net, name) {
-    public VelocityNeuroid(NanoBrain net) : base(net, "Velocity") {
+    }
+
+    public void Replace(string name = "velocity") {
+        this.name = name;
+        this.receivers = new();        
+        this.lastPosition = Vector3.zero;
+        this.lastValueTime = 0;
     }
 
     public override void UpdateState() {
@@ -86,17 +97,20 @@ public class VelocityNeuroid : Neuroid {
         Vector3 currentPosition = this.synapses.First().Key.outputValue;
         float currentValueTime = Time.time;
 
-        float deltaTime = currentValueTime - lastValueTime;
+        if (lastValueTime != 0) {
-        Vector3 translation = currentPosition - lastPosition;
+            float deltaTime = currentValueTime - lastValueTime;
-        Vector3 velocity = translation / deltaTime;
+            Vector3 translation = currentPosition - lastPosition;
+            Vector3 velocity = translation / deltaTime;
 
-        // No activation function...
+            // No activation function...
-        this.outputValue = velocity;
+            this.outputValue = velocity;
-        foreach (Neuroid receiver in receivers)
+            this.stale = 0;
-            receiver?.SetInput(this);
-        this.stale = 0;
 
-        this.lastValueTime = Time.time;
+            foreach (Neuroid receiver in receivers)
+                receiver?.SetInput(this);
+        }
+
+        this.lastValueTime = currentValueTime;
         this.lastPosition = currentPosition;
     }
 }

Assets/Scenes/Boids/Boids.unity

@@ -372,10 +372,10 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: Assembly-CSharp::SwarmControl
   speed: 2
-  inertia: 0.1
+  inertia: 0.5
-  alignmentForce: 3
+  alignmentForce: 2
-  cohesionForce: 3
+  cohesionForce: 2
-  avoidanceForce: 5
+  avoidanceForce: 1
   separationDistance: 0.3
   perceptionDistance: 1
   boundaryForce: 5
@@ -393,7 +393,7 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: ec888ca5333d45a438f9f417fa5ce135, type: 3}
   m_Name: 
   m_EditorClassIdentifier: Assembly-CSharp::SwarmSpawn
-  count: 5
+  count: 20
   boidPrefab: {fileID: 8702527964058765413, guid: f9c706268554ce449a8773675b2864b8, type: 3}
   spawnAreaSize: {x: 0.5, y: 0.5, z: 0.5}
   minDelay: 0.05

Assets/Scenes/Boids/Scripts/Boid.cs

@@ -2,17 +2,15 @@ using UnityEngine;
 
 [RequireComponent(typeof(NanoBrain))]
 public class Boid : MonoBehaviour {
-    public const int BoundaryType = 1;
+    public static int BoundaryType = 1;
-    public const int BoidType = 2;
+    public static int BoidType = 2;
 
     public SwarmControl sc;
     public Vector3 velocity = Vector3.zero;
     public Vector3 acceleration = Vector3.zero;
 
     private Bounds innerBounds;
-    private Bounds outerBounds;
 
-    //public NeuroidNetwork neuroidNet = new();
     public NanoBrain neuroidNet;
     public Perception perception;
 
@@ -30,7 +28,6 @@ public class Boid : MonoBehaviour {
         sc = FindFirstObjectByType<SwarmControl>();
 
         innerBounds = new(sc.transform.position, sc.spaceSize - 2 * sc.boundaryWidth);
-        outerBounds = new(sc.transform.position, sc.spaceSize);
 
         perception = new Perception(neuroidNet);
 
@@ -49,7 +46,8 @@ public class Boid : MonoBehaviour {
                 if (neighbour == null || neighbour == this)
                     continue;
 
-                Vector3 localPosition = neighbour.transform.position - this.transform.position;
+                Vector3 localPosition = this.transform.InverseTransformPoint(neighbour.transform.position);
+                //Debug.DrawRay(this.transform.position, this.transform.TransformDirection(localPosition), Color.magenta);
 
                 int thingId = neighbour.GetInstanceID();
                 perception.ProcessStimulus(thingId, BoidType, localPosition, neighbour.gameObject.name);
@@ -64,13 +62,14 @@ public class Boid : MonoBehaviour {
             perception.ProcessStimulus(777, BoundaryType, desiredLocalSpace, "Boundary");
         }
 
-        Vector3 worldForce = this.transform.TransformDirection(totalForce.outputValue);
+        Vector3 worldForce = this.transform.TransformDirection(behaviour.outputValue);
 
         this.velocity = (1 - sc.inertia) * (worldForce * Time.deltaTime) + sc.inertia * velocity;
         if (this.velocity.magnitude > 0)
             this.velocity = this.velocity.normalized * sc.speed;
         else
             this.velocity = this.transform.forward * sc.speed;
+        Debug.DrawRay(this.transform.position, this.velocity, Color.blue);
 
         this.transform.position += this.velocity * Time.deltaTime;
 
@@ -82,14 +81,4 @@ public class Boid : MonoBehaviour {
         neuroidNet.UpdateNeurons();
     }
 
-    Vector3 ClosestPointOnBoundsSurface(Bounds b, Vector3 p) {
-        if (!b.Contains(p)) return b.ClosestPoint(p);
-        Vector3 d = p - b.center;
-        Vector3 ext = b.extents;
-        float sx = ext.x / Mathf.Abs(d.x);
-        float sy = ext.y / Mathf.Abs(d.y);
-        float sz = ext.z / Mathf.Abs(d.z);
-        float m = Mathf.Min(sx, Mathf.Min(sy, sz));
-        return b.center + d * m;
-    }
 }

Assets/Scenes/Boids/Scripts/RoamingNucleus.cs

@@ -5,7 +5,7 @@ public class Roaming : Nucleus {
 
     public Roaming(NanoBrain neuroidNet, Perception perception, SwarmControl sc) : base("Roaming nucleus") {
         avoidance = new(neuroidNet, "Avoidance") { inverse = true };
-        perception.SendPositions(avoidance, 1.0f, 1);
+        perception.SendPositions(avoidance, Boid.BoundaryType);
 
         this.output = new(neuroidNet, "Roaming");
         output.GetInputFrom(avoidance, -sc.avoidanceForce);

Assets/Scenes/Boids/Scripts/SwarmingNucleus.cs

@@ -4,28 +4,30 @@ public class Swarming : Nucleus {
     public Neuroid cohesion;
     public Neuroid alignment;
     public Neuroid avoidance;
+    public Neuroid boundary;
 
     public Neuroid output;
 
     public override Vector3 outputValue { get => output.outputValue; set => output.outputValue = value; }
 
-    public const int BoundaryType = 1;
-    public const int BoidType = 2;
-
     public Swarming(NanoBrain neuroidNet, Perception perception, SwarmControl sc) : base("Swarming Nucleus") {
-        this.cohesion = new(neuroidNet, "Cohesion");
+        this.cohesion = new(neuroidNet, "Cohesion") { inverse = false };
-        perception.SendPositions(this.cohesion, 1.0f, BoidType);
+        perception.SendPositions(this.cohesion, Boid.BoidType);
 
         this.alignment = new(neuroidNet, "Alignment") { average = true };
-        perception.SendVelocities(this.alignment, 1.0f, BoidType);
+        perception.SendVelocities(this.alignment, Boid.BoidType);
 
         this.avoidance = new(neuroidNet, "Avoidance") { inverse = true };
         perception.SendPositions(this.avoidance);
 
+        this.boundary = new(neuroidNet, "Boundary");
+        perception.SendPositions(this.boundary, Boid.BoundaryType);
+
         this.output = new(neuroidNet, "Swarming");
         this.output.GetInputFrom(alignment, sc.alignmentForce);
         this.output.GetInputFrom(cohesion, sc.cohesionForce);
         this.output.GetInputFrom(avoidance, -sc.avoidanceForce);
+        this.output.GetInputFrom(boundary, -sc.avoidanceForce);
     }
 
     public override void AddReceiver(Neuroid receiver) {