NanoBrain/NanoBrain-unitypackage
NanoBrain/NanoBrain-unitypackage
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Ant is walking again

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This commit is contained in:
Pascal Serrarens 2026-05-05 12:39:04 +02:00
parent c78722abce
commit 7187f61b4e
3 changed files with 20 additions and 26 deletions
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5
Editor/ClusterEditor.cs
View File

@ -180,12 +180,7 @@ namespace NanoBrain {
else {
string newName = EditorGUILayout.TextField(this.currentNucleus.name, boldTextFieldStyle);
if (newName != this.currentNucleus.name) {
Nucleus prefabNucleus = this.prefab.GetNucleus(this.currentNucleus.name);
prefabNucleus.name = newName;
// This changes it in the temporary cluster instance
this.currentNucleus.name = newName;
this.prefab.cluster.RefreshOutputs();
// outputsPopup.choices = this.prefab.outputs.Select(output => output.name).ToList();
anythingChanged = true;
}
}

39
Runtime/Scripts/Core/Cluster.cs
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@ -188,6 +188,11 @@ namespace NanoBrain {
foreach (Cluster sibling in siblings)
sibling.siblingClusters = siblingClusters;
}
// Ensure that all neurons are computed to initialize bias
foreach (Nucleus clonedNucleus in clonedNuclei) {
clonedNucleus.UpdateStateIsolated();
}
}
/*
for (int nucleusIx = 0; nucleusIx < clonedNuclei.Length; nucleusIx++) {
@ -613,31 +618,26 @@ namespace NanoBrain {
if (neuron.synapses.Count == 0)
this._inputs.Add(nucleus);
}
ComputeOrders();
RefreshComputeOrders();
}
return this._inputs;
}
}
public Dictionary<Nucleus, List<Nucleus>> computeOrders = new();
private void ComputeOrders() {
foreach (Nucleus nucleus in this.nuclei) {
// if (nucleus is Cluster cluster) {
// List<Synapse> synapses = this.CollectSynapsesTo(cluster);
// foreach (Synapse synapse in synapses) {
// computeOrders[synapse.neuron] = TopologicalSort2(synapse.neuron);
// Debug.Log($"{this.baseName}: Order for {cluster.baseName}.{synapse.neuron.name}");
// }
// // List<Nucleus> receivers = cluster.CollectReceivers();
// // foreach (Nucleus receiver in receivers)
// // computeOrders[receiver] = TopologicalSort2(receiver);
// }
// else {
computeOrders[nucleus] = TopologicalSort2(nucleus);
//Debug.Log($"{this.baseName} Order for {nucleus.name}");
// }
private Dictionary<Nucleus, List<Nucleus>> _computeOrders;
public Dictionary<Nucleus, List<Nucleus>> computeOrders {
get {
if (_computeOrders == null || _computeOrders.Count == 0) {
_computeOrders = new();
foreach (Nucleus nucleus in this.nuclei)
_computeOrders[nucleus] = TopologicalSort2(nucleus);
}
return _computeOrders;
}
}
public void RefreshComputeOrders() {
this._computeOrders = null;
}
private List<Nucleus> TopologicalSort2(Nucleus startNode) {
Dictionary<Nucleus, int> inDegree = new();
@ -711,7 +711,7 @@ namespace NanoBrain {
protected List<Neuron> _outputs = null;
public List<Neuron> outputs {
get {
if (this._outputs == null) {
if (this._outputs == null || this._outputs.Count == 0) {
this._outputs = new();
foreach (Nucleus nucleus in this.nuclei) {
if (nucleus is Neuron neuron && neuron.receivers.Count == 0)
@ -911,6 +911,7 @@ namespace NanoBrain {
public void Refresh() {
RefreshOutputs();
RefreshComputeOrders();
}
}

2
Runtime/Scripts/Core/Neuron.cs
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@ -50,7 +50,6 @@ namespace NanoBrain {
/// It does not have a synapse and therefore no weight of source nucleus
public Vector3 bias = Vector3.zero;
#region Synapses
[SerializeField]
@ -329,7 +328,6 @@ namespace NanoBrain {
}
protected virtual void CloneFields(Neuron clone) {
clone.parent = this.parent;
clone.bias = this.bias;
clone.combinator = this.combinator;
clone.curve = this.curve;