Trying to make an interesting scene

Editor/ClusterEditor.cs

@@ -49,6 +49,7 @@ namespace NanoBrain.Unity {
             EditorGUILayout.EndHorizontal(); // end split
 
             if (EditorGUI.EndChangeCheck()) {
+                serializedObject.Update();
                 Undo.RecordObject(target, "Edit ClusterPrefab");
                 SerializedProperty versionProp = serializedObject.FindProperty("version");
                 versionProp.intValue++;

Runtime/Scripts/Core/Neuron.cs

@@ -45,7 +45,7 @@ namespace NanoBrain {
         /// </summary>
         /// The bias which a value which is always added to the combined value of the neuron
         /// It does not have a synapse and therefore no weight of source nucleus
-        [HideInInspector]
+        //[HideInInspector]
         public Vector3 bias = Vector3.zero;
 
         #region Synapses

Runtime/Scripts/ScriptableObjects/ClusterPrefab.cs

@@ -16,43 +16,6 @@ namespace NanoBrain.Unity {
         //[HideInInspector]
         public int version;
 
-// #if UNITY_EDITOR
-//         private bool queuedIncrement = false;
-
-//         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
     }
 
 }

Samples/Braitenberg/Brains/Braitenberg 1.asset

@@ -23,7 +23,7 @@ MonoBehaviour:
     nuclei:
     - rid: 4201950332465446972
     - rid: 4201950332465446973
-  version: 506
+  version: 510
   references:
     version: 2
     RefIds:
@@ -39,8 +39,8 @@ MonoBehaviour:
         _synapses:
         - neuron:
             rid: 4201950332465446973
-          weight: 4
+          weight: 2
-        combinator: 1
+        combinator: 0
         _activator: 0
         persistOutput: 0
         lastUpdate: 35.320103

Samples/Braitenberg/Brains/Braitenberg 2a.asset

@@ -25,7 +25,7 @@ MonoBehaviour:
     - rid: 4201949899492425817
     - rid: 4201950127862317404
     - rid: 4201950127862317405
-  version: 21
+  version: 30
   references:
     version: 2
     RefIds:
@@ -41,7 +41,7 @@ MonoBehaviour:
         _synapses:
         - neuron:
             rid: 4201949899492425817
-          weight: 5
+          weight: 2
         combinator: 0
         _activator: 0
         persistOutput: 0
@@ -73,7 +73,7 @@ MonoBehaviour:
         _synapses:
         - neuron:
             rid: 4201950127862317405
-          weight: 5
+          weight: 2
         combinator: 0
         _activator: 0
         persistOutput: 0

Samples/Braitenberg/Brains/Braitenberg 2b.asset

@@ -25,7 +25,7 @@ MonoBehaviour:
     - rid: 4201949899492425817
     - rid: 4201950127862317404
     - rid: 4201950127862317405
-  version: 12
+  version: 28
   references:
     version: 2
     RefIds:
@@ -41,7 +41,7 @@ MonoBehaviour:
         _synapses:
         - neuron:
             rid: 4201950127862317405
-          weight: 5
+          weight: 2
         combinator: 0
         _activator: 0
         persistOutput: 0
@@ -73,7 +73,7 @@ MonoBehaviour:
         _synapses:
         - neuron:
             rid: 4201949899492425817
-          weight: 5
+          weight: 2
         combinator: 0
         _activator: 0
         persistOutput: 0

Samples/Braitenberg/Brains/Braitenberg 3a.asset

@@ -25,7 +25,7 @@ MonoBehaviour:
     - rid: 4201949899492425817
     - rid: 4201950127862317404
     - rid: 4201950127862317405
-  version: 44
+  version: 53
   references:
     version: 2
     RefIds:
@@ -41,7 +41,7 @@ MonoBehaviour:
         _synapses:
         - neuron:
             rid: 4201949899492425817
-          weight: -5
+          weight: -2
         combinator: 0
         _activator: 0
         persistOutput: 0
@@ -73,7 +73,7 @@ MonoBehaviour:
         _synapses:
         - neuron:
             rid: 4201950127862317405
-          weight: -5
+          weight: -2
         combinator: 0
         _activator: 0
         persistOutput: 0

Samples/Braitenberg/Brains/Braitenberg 3b.asset

@@ -25,7 +25,7 @@ MonoBehaviour:
     - rid: 4201949899492425817
     - rid: 4201950127862317404
     - rid: 4201950127862317405
-  version: 41
+  version: 54
   references:
     version: 2
     RefIds:
@@ -41,7 +41,7 @@ MonoBehaviour:
         _synapses:
         - neuron:
             rid: 4201950127862317405
-          weight: -5
+          weight: -2
         combinator: 0
         _activator: 0
         persistOutput: 0
@@ -73,7 +73,7 @@ MonoBehaviour:
         _synapses:
         - neuron:
             rid: 4201949899492425817
-          weight: -5
+          weight: -2
         combinator: 0
         _activator: 0
         persistOutput: 0

Samples/Braitenberg/Brains/Braitenberg 4a.asset

@@ -29,7 +29,7 @@ MonoBehaviour:
     - rid: 4201950130928877961
     - rid: 4201950130928878008
     - rid: 4201950130928878009
-  version: 11
+  version: 22
   references:
     version: 2
     RefIds:
@@ -45,7 +45,7 @@ MonoBehaviour:
         _synapses:
         - neuron:
             rid: 4201950130928878008
-          weight: 5
+          weight: 2
         combinator: 0
         _activator: 0
         persistOutput: 0
@@ -78,7 +78,7 @@ MonoBehaviour:
         _synapses:
         - neuron:
             rid: 4201950130928878009
-          weight: 5
+          weight: 2
         combinator: 0
         _activator: 0
         persistOutput: 0
@@ -147,10 +147,10 @@ MonoBehaviour:
         _synapses:
         - neuron:
             rid: 4201950127862317405
-          weight: 2
+          weight: 1
         - neuron:
             rid: 4201950130928877958
-          weight: 2
+          weight: 1
         combinator: 1
         _activator: 0
         persistOutput: 0
@@ -168,10 +168,10 @@ MonoBehaviour:
         _synapses:
         - neuron:
             rid: 4201949899492425817
-          weight: 2
+          weight: 1
         - neuron:
             rid: 4201950130928877961
-          weight: 2
+          weight: 1
         combinator: 1
         _activator: 0
         persistOutput: 0

Samples/Braitenberg/Prefabs/Vehicle 1.prefab

@@ -86,7 +86,7 @@ PrefabInstance:
       objectReference: {fileID: 11400000, guid: c2d142058a073d6fdba2c8fab05834e3, type: 2}
     - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
       propertyPath: brain.version
-      value: 44
+      value: 507
       objectReference: {fileID: 0}
     - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
       propertyPath: brain.instanceCount
@@ -98,11 +98,11 @@ PrefabInstance:
       objectReference: {fileID: 0}
     - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
       propertyPath: 'brain.nuclei.Array.data[0]'
-      value: 4201950330056344037
+      value: 4201950332465447015
       objectReference: {fileID: 0}
     - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
       propertyPath: 'brain.nuclei.Array.data[1]'
-      value: 4201950330056344038
+      value: 4201950332465447016
       objectReference: {fileID: 0}
     - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
       propertyPath: 'managedReferences[4201950310209421372]'
@@ -140,6 +140,18 @@ PrefabInstance:
       propertyPath: 'managedReferences[4201950330056344039]'
       value: Assembly-CSharp NanoBrain.Cluster
       objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: 'managedReferences[4201950332465447015]'
+      value: Assembly-CSharp NanoBrain.Neuron
+      objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: 'managedReferences[4201950332465447016]'
+      value: Assembly-CSharp NanoBrain.Neuron
+      objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: 'managedReferences[4201950332465447017]'
+      value: Assembly-CSharp NanoBrain.Cluster
+      objectReference: {fileID: 0}
     - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
       propertyPath: managedReferences[4201950310209421372].name
       value: Output
@@ -176,6 +188,18 @@ PrefabInstance:
       propertyPath: managedReferences[4201950330056344039].name
       value: Braitenberg 1
       objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: managedReferences[4201950332465447015].name
+      value: Output
+      objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: managedReferences[4201950332465447016].name
+      value: Sensor
+      objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: managedReferences[4201950332465447017].name
+      value: Braitenberg 1
+      objectReference: {fileID: 0}
     - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
       propertyPath: managedReferences[4201950310209421372].bias.x
       value: 0
@@ -296,6 +320,46 @@ PrefabInstance:
       propertyPath: managedReferences[4201950330056344039].prefab
       value: 
       objectReference: {fileID: 11400000, guid: c2d142058a073d6fdba2c8fab05834e3, type: 2}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: managedReferences[4201950332465447015].bias.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: managedReferences[4201950332465447015].bias.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: managedReferences[4201950332465447015].bias.z
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: managedReferences[4201950332465447015].parent
+      value: 4201950332465447017
+      objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: managedReferences[4201950332465447016].bias.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: managedReferences[4201950332465447016].bias.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: managedReferences[4201950332465447016].bias.z
+      value: 0
+      objectReference: {fileID: 0}
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+      propertyPath: managedReferences[4201950332465447016].parent
+      value: 4201950332465447017
+      objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: managedReferences[4201950332465447017].parent
+      value: -2
+      objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: managedReferences[4201950332465447017].prefab
+      value: 
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     - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
       propertyPath: managedReferences[4201950310209421374].version
       value: 1
@@ -308,6 +372,10 @@ PrefabInstance:
       propertyPath: managedReferences[4201950330056344039].version
       value: 44
       objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: managedReferences[4201950332465447017].version
+      value: 507
+      objectReference: {fileID: 0}
     - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
       propertyPath: managedReferences[4201950310209421372]._activator
       value: 0
@@ -380,6 +448,30 @@ PrefabInstance:
       propertyPath: managedReferences[4201950330056344038].lastUpdate
       value: 31.01318
       objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: managedReferences[4201950332465447015]._activator
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: managedReferences[4201950332465447015].combinator
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: managedReferences[4201950332465447015].lastUpdate
+      value: 1425.5898
+      objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: managedReferences[4201950332465447016]._activator
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: managedReferences[4201950332465447016].combinator
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: managedReferences[4201950332465447016].lastUpdate
+      value: 1425.5898
+      objectReference: {fileID: 0}
     - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
       propertyPath: managedReferences[4201950310209421372].breakOnUpdate
       value: 0
@@ -440,6 +532,26 @@ PrefabInstance:
       propertyPath: managedReferences[4201950330056344039].instanceCount
       value: 1
       objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: managedReferences[4201950332465447015].breakOnUpdate
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: managedReferences[4201950332465447015].persistOutput
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: managedReferences[4201950332465447016].breakOnUpdate
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: managedReferences[4201950332465447016].persistOutput
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
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+      value: 1
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     - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
       propertyPath: managedReferences[4201950310209421374].nuclei.Array.size
       value: 2
@@ -452,6 +564,10 @@ PrefabInstance:
       propertyPath: managedReferences[4201950330056344039].nuclei.Array.size
       value: 2
       objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: managedReferences[4201950332465447017].nuclei.Array.size
+      value: 2
+      objectReference: {fileID: 0}
     - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
       propertyPath: managedReferences[4201950310209421372]._synapses.Array.size
       value: 1
@@ -512,6 +628,26 @@ PrefabInstance:
       propertyPath: 'managedReferences[4201950330056344039].nuclei.Array.data[1]'
       value: 4201950330056344038
       objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: managedReferences[4201950332465447015]._synapses.Array.size
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: managedReferences[4201950332465447016]._synapses.Array.size
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+      objectReference: {fileID: 0}
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+      propertyPath: 'managedReferences[4201950332465447017].nuclei.Array.data[0]'
+      value: 4201950332465447015
+      objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: 'managedReferences[4201950332465447017].nuclei.Array.data[1]'
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@@ -536,6 +672,14 @@ PrefabInstance:
       propertyPath: managedReferences[4201950330056344038]._receivers.Array.size
       value: 1
       objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
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       propertyPath: 'managedReferences[4201950310209421373]._receivers.Array.data[0]'
       value: 4201950310209421372
@@ -548,6 +692,10 @@ PrefabInstance:
       propertyPath: 'managedReferences[4201950330056344038]._receivers.Array.data[0]'
       value: 4201950330056344037
       objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: 'managedReferences[4201950332465447016]._receivers.Array.data[0]'
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       propertyPath: managedReferences[4201950310209421372]._synapses.Array.data[0].neuron
       value: 4201950310209421373
@@ -572,6 +720,14 @@ PrefabInstance:
       propertyPath: managedReferences[4201950330056344037]._synapses.Array.data[0].weight
       value: 4
       objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: managedReferences[4201950332465447015]._synapses.Array.data[0].neuron
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+      objectReference: {fileID: 0}
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+      propertyPath: managedReferences[4201950332465447015]._synapses.Array.data[0].weight
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     m_RemovedComponents: []
     m_RemovedGameObjects:
     - {fileID: 449746320909641321, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}

Samples/Braitenberg/Prefabs/Vehicle 2a.prefab

@@ -114,7 +114,7 @@ PrefabInstance:
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     - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
       propertyPath: brain.version
-      value: 2
+      value: 21
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     - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
       propertyPath: brain.instanceCount
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     m_AddedGameObjects: []

Samples/Braitenberg/Prefabs/Vehicle Collision Variant.prefab.meta

@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: 9917986957fd0716ea05cbc5ad6a9b36
+PrefabImporter:
+  externalObjects: {}
+  userData: 
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Samples/Braitenberg/Scripts/LightSensor.cs

@@ -3,7 +3,6 @@ using UnityEngine;
 
 namespace NanoBrain.Braitenberg {
 
-    //[RequireComponent(typeof(Collider))] // optional
     public class LightSensor : Sensor {
         [Tooltip("If true, perform occlusion checks with raycasts.")]
         public bool useOcclusion = true;

Samples/Braitenberg/Scripts/Motor.cs

@@ -1,7 +1,6 @@
 using UnityEngine;
 
 namespace NanoBrain.Braitenberg {
-    using Unity;
 
     public class Motor : MonoBehaviour {
         public string outputNeuronName;
@@ -32,11 +31,9 @@ namespace NanoBrain.Braitenberg {
             float desiredRpm = speed * 60; // target wheel RPM
             float currentRpm = wheelCollider.rpm;
             float rpmError = desiredRpm - currentRpm;
-            float kp = 0.02f; // proportional gain — tune
+            float kP = 0.02f; // proportional gain
-            float torque = kp * rpmError;
+            float torque = wheelCollider.motorTorque + kP * rpmError;
             wheelCollider.motorTorque = Mathf.Clamp(torque, -maxTorque, maxTorque);
-            if (float.IsNaN(wheelCollider.rpm))
-                Debug.Log($"{speed} {currentRpm / 60} {torque}");
         }
     }
 

Samples/Braitenberg/Scripts/TouchSensor.cs

@@ -0,0 +1,24 @@
+using UnityEngine;
+
+namespace NanoBrain.Braitenberg {
+
+    public class TouchSensor : Sensor {
+
+        public bool touching = false;
+
+        protected override float SampleSensor() {
+            return touching ? 1 : 0;
+        }
+
+        void OnTriggerEnter(Collider other) {
+            Debug.Log($"{this.name} touch start");
+            touching = true;            
+        }
+        void OnTriggerExit(Collider other) {
+            Debug.Log($"{this.name} touch END");
+            touching = false;            
+        }
+
+    }
+
+}

Samples/Braitenberg/Scripts/TouchSensor.cs.meta

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