NanoBrain/NanoBrain-unitypackage
NanoBrain/NanoBrain-unitypackage
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Cleanup and fix connect neuron

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This commit is contained in:
Pascal Serrarens 2026-05-05 10:59:24 +02:00
parent ec2a6b7ae9
commit 79376c30ea
11 changed files with 514 additions and 516 deletions
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102
NanoBrain/Editor/ClusterEditor.cs
View File

@ -64,22 +64,23 @@ namespace NanoBrain {
public class GraphEditor : GraphView {
protected ClusterPrefab prefab;
protected Nucleus currentPrefabNucleus;
//protected Nucleus currentPrefabNucleus;
protected override Nucleus currentNucleus {
get => base.currentNucleus;
set {
base.currentNucleus = value;
this.currentPrefabNucleus = value != null ? this.prefab.GetNucleus(value.name) : null;
// this.currentPrefabNucleus = value != null ? this.prefab.GetNucleus(value.name) : null;
}
}
public GraphEditor(ClusterPrefab prefab) : base(prefab.output.parent) {
public GraphEditor(ClusterPrefab prefab) : base(prefab.cluster.defaultOutput.parent) {
this.prefab = prefab;
// In a Prefab editor, no instance exists but we need it for the ClusterViewer.
// So we create a temporary instance
this.currentCluster = new(prefab);
//this.currentCluster = new(prefab);
this.currentCluster = prefab.cluster;
}
public void SetGraph(GameObject gameObject, VisualElement inspectorContainer) {
@ -120,7 +121,7 @@ namespace NanoBrain {
// create a SerializedObject wrapper so Unity inspector controls work (and Undo)
SerializedObject so = new(prefabAsset);
foreach (Nucleus nucleus in this.prefab.nuclei) {
foreach (Nucleus nucleus in this.prefab.cluster.nuclei) {
nucleus.Initialize();
}
@ -163,7 +164,8 @@ namespace NanoBrain {
GUILayout.Label(nucleusType, headerStyle);
// Nucleus name
Cluster cluster = this.currentPrefabNucleus as Cluster;
//Cluster cluster = this.currentPrefabNucleus as Cluster;
Cluster cluster = this.currentNucleus as Cluster;
if (cluster != null) {
EditorGUILayout.BeginHorizontal();
if (GUILayout.Button(this.currentNucleus.parent.name))
@ -182,7 +184,7 @@ namespace NanoBrain {
prefabNucleus.name = newName;
// This changes it in the temporary cluster instance
this.currentNucleus.name = newName;
this.prefab.RefreshOutputs();
this.prefab.cluster.RefreshOutputs();
// outputsPopup.choices = this.prefab.outputs.Select(output => output.name).ToList();
anythingChanged = true;
}
@ -281,9 +283,9 @@ namespace NanoBrain {
if (breakOnWake && this.currentNucleus is Neuron currentNeuron) {
if (currentNeuron.isSleeping == false)
Debug.Break();
}
trace = EditorGUILayout.Toggle("Trace", trace);
this.currentNucleus.trace = trace;
currentNeuron.trace = trace;
}
}
protected void SynapsesInspector(ref bool anythingChanged) {
@ -293,31 +295,32 @@ namespace NanoBrain {
Neuron.CombinatorType newCombinator = (Neuron.CombinatorType)EditorGUILayout.EnumPopup("Combinator", neuron2.combinator);
anythingChanged |= newCombinator != neuron2.combinator;
neuron2.combinator = newCombinator;
}
EditorGUIUtility.wideMode = true;
float previousLabelWidth = EditorGUIUtility.labelWidth;
EditorGUIUtility.labelWidth = 100;
Vector3 newBias = EditorGUILayout.Vector3Field("Bias", this.currentNucleus.bias);
if (newBias != this.currentPrefabNucleus.bias) {
anythingChanged |= newBias != this.currentNucleus.bias;
this.currentPrefabNucleus.bias = newBias;
this.currentNucleus.bias = newBias;
Vector3 newBias = EditorGUILayout.Vector3Field("Bias", neuron2.bias);
if (newBias != neuron2.bias) {
anythingChanged |= newBias != neuron2.bias;
neuron2.bias = newBias;
}
EditorGUIUtility.labelWidth = previousLabelWidth;
}
Nucleus[] array = null;
int elementIx = -1;
if (this.currentPrefabNucleus.synapses.Count > 0) {
Synapse[] synapses = this.currentPrefabNucleus.synapses.ToArray();
//if (this.currentPrefabNucleus is Neuron prefabNeuron && prefabNeuron.synapses.Count > 0) {
// Synapse[] synapses = prefabNeuron.synapses.ToArray();
if (this.currentNucleus is Neuron currentNeuron && currentNeuron.synapses.Count > 0) {
Synapse[] synapses = currentNeuron.synapses.ToArray();
foreach (Synapse synapse in synapses) {
if (synapse.neuron == null)
continue;
if (array != null) {
if (synapse.neuron.parent is Cluster iCluster && elementIx > 0) {
int thisElementIx = Cluster.GetNucleusIndex(iCluster.clusterNuclei, synapse.neuron);
int thisElementIx = Cluster.GetNucleusIndex(iCluster.nuclei, synapse.neuron);
if (thisElementIx == elementIx)
continue;
else
@ -332,7 +335,7 @@ namespace NanoBrain {
if (synapse.neuron.parent is Cluster iReceptor) {
array = iReceptor.siblingClusters;
if (iReceptor is Cluster iCluster)
elementIx = Cluster.GetNucleusIndex(iCluster.clusterNuclei, synapse.neuron);
elementIx = Cluster.GetNucleusIndex(iCluster.nuclei, synapse.neuron);
}
}
@ -356,13 +359,13 @@ namespace NanoBrain {
labelWidth = labelStyle.CalcSize(new GUIContent($"{synapse.neuron.clusterPrefab.name}.")).x;
GUILayout.Label($"{synapse.neuron.clusterPrefab.name}", GUILayout.Width(labelWidth));
}
string[] options = synapse.neuron.clusterPrefab.nuclei.Select(n => n.name).ToArray();
string[] options = synapse.neuron.clusterPrefab.cluster.nuclei.Select(n => n.name).ToArray();
int selectedIndex = System.Array.IndexOf(options, synapse.neuron.name);
int newIndex = EditorGUILayout.Popup(selectedIndex, options);
if (newIndex != selectedIndex) {
// Nucleus selectedNucleus = synapse.neuron.parent.clusterNuclei[newIndex];
// Neuron newNeuron = selectedNucleus as Neuron;
Neuron newNeuron = synapse.neuron.clusterPrefab.nuclei[newIndex] as Neuron;
Neuron newNeuron = synapse.neuron.clusterPrefab.cluster.nuclei[newIndex] as Neuron;
ChangeSynapse(synapse, newNeuron);
}
}
@ -370,13 +373,12 @@ namespace NanoBrain {
GUILayout.Label(synapse.neuron.name);
bool disconnecting = GUILayout.Button("Disconnect", GUILayout.Width(80));
if (disconnecting && synapse.neuron is Neuron synapseNeuron) {
synapseNeuron.RemoveReceiver(this.currentNucleus);
if (disconnecting) {
synapse.neuron.RemoveReceiver(this.currentNucleus);
this.prefab.GarbageCollection();
anythingChanged = true;
}
EditorGUILayout.EndHorizontal();
}
EditorGUI.indentLevel++;
@ -493,11 +495,12 @@ namespace NanoBrain {
if (cluster == null)
return false;
IEnumerable<Nucleus> synapseNuclei = this.currentNucleus.synapses
Neuron currentNeuron = this.currentNucleus as Neuron;
IEnumerable<Nucleus> synapseNuclei = currentNeuron.synapses
.Where(synapse => synapse.neuron != null)
.Select(synapse => synapse.neuron);
IEnumerable<Nucleus> nuclei = cluster.nuclei
IEnumerable<Nucleus> nuclei = cluster.cluster.nuclei
.Except(synapseNuclei);
IEnumerable<string> nucleiNames = nuclei
.Select(n => {
@ -513,14 +516,36 @@ namespace NanoBrain {
EditorGUILayout.EndHorizontal();
if (connecting) {
Nucleus nucleus = nuclei.ElementAt(selectedConnectNucleus);
if (nucleus is Cluster subCluster)
// Nucleus prefabNucleus = this.prefab.cluster.nuclei.ElementAt(selectedConnectNucleus);
if (nucleus is Cluster subCluster) {
subCluster.AddArrayReceiver(this.currentNucleus);
else if (nucleus is Neuron neuron)
// Cluster prefabSubCluster = prefabNucleus as Cluster;
}
else if (nucleus is Neuron neuron) {
neuron.AddReceiver(this.currentNucleus);
// if (prefabNucleus is Neuron prefabNeuron)
// prefabNeuron.AddReceiver(this.currentPrefabNucleus);
}
}
return connecting;
}
protected virtual void DisconnectNucleus(Neuron nucleus) {
if (this.currentNucleus.clusterPrefab == null)
return;
Neuron currentNeuron = this.currentNucleus as Neuron;
string[] names = currentNeuron.synapses.Select(synapse => synapse.neuron.name).ToArray();
int selectedIndex = -1;
selectedIndex = EditorGUILayout.Popup("Disconnect from", selectedIndex, names);
if (selectedIndex >= 0 && selectedIndex < this.currentNucleus.clusterPrefab.cluster.nuclei.Count) {
Synapse synapse = currentNeuron.synapses[selectedIndex];
synapse.neuron.RemoveReceiver(this.currentNucleus);
// synapse = currentNeuron.synapses[selectedIndex];
// synapse.neuron.RemoveReceiver(this.currentPrefabNucleus);
}
}
protected virtual void DeleteNucleus(Nucleus nucleus) {
if (nucleus == null)
return;
@ -537,10 +562,10 @@ namespace NanoBrain {
// this.prefab.nuclei.Remove(nucleus);
// Neuron.Delete(nucleus);
this.prefab.RefreshOutputs();
this.prefab.cluster.RefreshOutputs();
this.currentNucleus = this.prefab.output;
this.currentNucleus = this.prefab.cluster.defaultOutput;
this.selectedOutput = this.currentNucleus;
}
@ -596,8 +621,8 @@ namespace NanoBrain {
// }
// else {
// it is a neuron in a subcluster
synapseNeuron.RemoveReceiver(this.currentPrefabNucleus);
newNucleus.AddReceiver(this.currentPrefabNucleus);
synapseNeuron.RemoveReceiver(this.currentNucleus);
newNucleus.AddReceiver(this.currentNucleus);
// }
}
else {
@ -606,19 +631,6 @@ namespace NanoBrain {
}
}
protected virtual void DisconnectNucleus(Neuron nucleus) {
if (this.currentNucleus.clusterPrefab == null)
return;
string[] names = this.currentNucleus.synapses.Select(synapse => synapse.neuron.name).ToArray();
int selectedIndex = -1;
selectedIndex = EditorGUILayout.Popup("Disconnect from", selectedIndex, names);
if (selectedIndex >= 0 && selectedIndex < this.currentNucleus.clusterPrefab.nuclei.Count) {
Synapse synapse = this.currentNucleus.synapses[selectedIndex];
Neuron synapseNeuron = synapse.neuron as Neuron;
synapseNeuron.RemoveReceiver(this.currentNucleus);
}
}
#endregion Synapses
#endregion Inspector

10
NanoBrain/Editor/ClusterViewer.cs
View File

@ -213,7 +213,8 @@ namespace NanoBrain {
}
private void DescendGraph(Dag.Node receiver, ref int ix, Dag dag) {
foreach (Synapse synapse in receiver.nucleus.synapses) {
Neuron receiverNeuron = receiver.nucleus as Neuron;
foreach (Synapse synapse in receiverNeuron.synapses) {
Nucleus nucleus = synapse.neuron;
if (nucleus.parent != null && nucleus.parent != currentNucleus.parent) {
nucleus = nucleus.parent;
@ -386,6 +387,9 @@ namespace NanoBrain {
}
protected void DrawSynapses(Nucleus nucleus, Vector3 parentPos, float size) {
if (nucleus is not Neuron neuron)
return;
if (this.selectedSynapseNeuron != null) {
DrawClusterSynapses(this.selectedSynapseNeuron, parentPos, size);
return;
@ -398,7 +402,7 @@ namespace NanoBrain {
float maxValue = 0;
int neuronCount = 0;
List<string> drawnNeuronNames = new();
foreach (Synapse synapse in nucleus.synapses) {
foreach (Synapse synapse in neuron.synapses) {
if (synapse.neuron == null)
continue;
@ -425,7 +429,7 @@ namespace NanoBrain {
int row = 0;
//List<Neuron> drawnNeurons = new();
drawnNeuronNames = new();
foreach (Synapse synapse in nucleus.synapses) {
foreach (Synapse synapse in neuron.synapses) {
if (synapse.neuron is null)
continue;

2
NanoBrain/Runtime/Scripts/Brain.cs
View File

@ -45,7 +45,7 @@ namespace NanoBrain {
/// <param name="name">The name of the Neuron for which the weights are updated</param>
/// <param name="weight">The new Synapse weight</param>
public static void UpdateWeight(Cluster brain, string name, float weight) {
Nucleus root = brain.defaultOutput;
Neuron root = brain.defaultOutput;
foreach (Synapse synapse in root.synapses) {
if (synapse.neuron.name == name) {
if (synapse.weight != weight) {

106
NanoBrain/Runtime/Scripts/Core/Cluster.cs
View File

@ -41,7 +41,7 @@ namespace NanoBrain {
public Dictionary<int, Cluster> thingClusters = new();
[SerializeReference]
public List<Nucleus> clusterNuclei = new();
public List<Nucleus> nuclei = new();
// the nuclei sorted using topological sorting
// to ensure that the cluster is computer in the right order
public List<Nucleus> sortedNuclei;
@ -58,10 +58,10 @@ namespace NanoBrain {
this.name = prefab.name;
this.parent = parent;
this.parent?.clusterNuclei.Add(this);
this.parent?.nuclei.Add(this);
ClonePrefab();
_ = this.inputs;
this.sortedNuclei = TopologicalSort(this.clusterNuclei);
this.sortedNuclei = TopologicalSort(this.nuclei);
}
/// <summary>
@ -75,11 +75,11 @@ namespace NanoBrain {
this.clusterPrefab = parent;
if (this.clusterPrefab != null)
this.clusterPrefab.nuclei.Add(this);
this.clusterPrefab.cluster.nuclei.Add(this);
ClonePrefab();
_ = this.inputs;
this.sortedNuclei = TopologicalSort(this.clusterNuclei);
this.sortedNuclei = TopologicalSort(this.nuclei);
}
/// <summary>
@ -88,15 +88,13 @@ namespace NanoBrain {
/// Strange that this does not take any parameters or return values.
/// Where which the clone be found???
private void ClonePrefab() {
Nucleus[] prefabNuclei = this.prefab.nuclei.ToArray();
Nucleus[] prefabNuclei = this.prefab.cluster.nuclei.ToArray();
// first clone the nuclei without their connections
foreach (Nucleus nucleus in prefabNuclei) {
nucleus.ShallowCloneTo(this);
}
Nucleus[] clonedNuclei = this.clusterNuclei.ToArray();
// foreach (Nucleus n in clonedNuclei)
// n.name += "(c)";
Nucleus[] clonedNuclei = this.nuclei.ToArray();
// Now clone the connections
for (int nucleusIx = 0; nucleusIx < prefabNuclei.Length; nucleusIx++) {
@ -113,16 +111,16 @@ namespace NanoBrain {
if (synapseNeuron.clusterPrefab != null && synapseNeuron.clusterPrefab != this.prefab) {
// Neuron is in another cluster, find the cloned cluster first
ClusterPrefab prefabCluster = synapseNeuron.clusterPrefab;
Cluster clonedCluster = this.clusterNuclei.Find(n => n.name == prefabCluster.name) as Cluster;
Cluster clonedCluster = this.nuclei.Find(n => n.name == prefabCluster.name) as Cluster;
if (clonedCluster == null)
continue;
// Now find the neuron in that cloned cluster
int neuronIx = GetNucleusIndex(prefabCluster.nuclei, prefabSynapse.neuron.name);
int neuronIx = GetNucleusIndex(prefabCluster.cluster.nuclei, prefabSynapse.neuron.name);
if (neuronIx < 0)
// Could not find the neuron in the prefab cluster
continue;
if (clonedCluster.clusterNuclei[neuronIx] is not Neuron clonedSender)
if (clonedCluster.nuclei[neuronIx] is not Neuron clonedSender)
// Could not find the neuron in the cloned cluster
continue;
@ -291,16 +289,16 @@ namespace NanoBrain {
if (synapseNeuron.clusterPrefab != null && synapseNeuron.clusterPrefab != this.prefab) {
// Neuron is in another cluster, find the cloned cluster first
ClusterPrefab prefabCluster = synapseNeuron.clusterPrefab;
Cluster clonedCluster = this.clusterNuclei.Find(n => n.name == prefabCluster.name) as Cluster;
Cluster clonedCluster = this.nuclei.Find(n => n.name == prefabCluster.name) as Cluster;
if (clonedCluster == null)
continue;
// Now find the neuron in that cloned cluster
int neuronIx = GetNucleusIndex(prefabCluster.nuclei, prefabSynapse.neuron.name);
int neuronIx = GetNucleusIndex(prefabCluster.cluster.nuclei, prefabSynapse.neuron.name);
if (neuronIx < 0)
// Could not find the neuron in the prefab cluster
continue;
if (clonedCluster.clusterNuclei[neuronIx] is not Neuron clonedSender)
if (clonedCluster.nuclei[neuronIx] is not Neuron clonedSender)
// Could not find the neuron in the cloned cluster
continue;
@ -308,7 +306,7 @@ namespace NanoBrain {
//Debug.Log($"Add synapse {clonedCluster.name}.{clonedSender.name} -> {clonedNeuron.name} [{clonedSender.receivers.Count}]");
}
else {
Neuron clonedSender = this.clusterNuclei.Find(n => n.name == prefabSynapse.neuron.name) as Neuron;
Neuron clonedSender = this.nuclei.Find(n => n.name == prefabSynapse.neuron.name) as Neuron;
// Copy the receivers which will also create the synapse
clonedSender.AddReceiver(clonedNeuron, prefabSynapse.weight);
// Debug.Log($"Add synapse {clonedSender.name} -> {clonedNeuron.name}");
@ -378,20 +376,20 @@ namespace NanoBrain {
public override Nucleus Clone(ClusterPrefab parent) {
Cluster clone = new(this.prefab, parent);
foreach (Synapse synapse in this.synapses) {
Synapse clonedSynapse = clone.AddSynapse(synapse.neuron);
clonedSynapse.weight = synapse.weight;
}
// foreach (Synapse synapse in this.synapses) {
// Synapse clonedSynapse = clone.AddSynapse(synapse.neuron);
// clonedSynapse.weight = synapse.weight;
// }
foreach (Nucleus nucleus in this.clusterNuclei) {
foreach (Nucleus nucleus in this.nuclei) {
if (nucleus is Neuron output) {
foreach (Nucleus receiver in output.receivers) {
int ix = GetNucleusIndex(this.clusterNuclei, output);
int ix = GetNucleusIndex(this.nuclei, output);
Debug.Log($"{output.name} -> {receiver.name}: {ix}");
if (ix < 0)
continue;
if (clone.clusterNuclei[ix] is not Neuron clonedOutput)
if (clone.nuclei[ix] is not Neuron clonedOutput)
continue;
clonedOutput.AddReceiver(receiver);
@ -416,23 +414,26 @@ namespace NanoBrain {
private static void CopyAllExternalReceivers(Cluster sourceCluster, Cluster sibling, ClusterPrefab prefabParent, Cluster clonedParent) {
for (int nucleusIx = 0; nucleusIx < sourceCluster.clusterNuclei.Count; nucleusIx++) {
Nucleus sourceNucleus = sourceCluster.clusterNuclei[nucleusIx];
for (int nucleusIx = 0; nucleusIx < sourceCluster.nuclei.Count; nucleusIx++) {
Nucleus sourceNucleus = sourceCluster.nuclei[nucleusIx];
if (sourceNucleus is not Neuron sourceNeuron)
continue;
if (sibling.clusterNuclei[nucleusIx] is not Neuron clonedNeuron)
if (sibling.nuclei[nucleusIx] is not Neuron clonedNeuron)
continue;
// copy the receivers (and thus synapses) from the source to the sibling
foreach (Nucleus receiver in sourceNeuron.receivers) {
int ix = GetNucleusIndex(clonedParent.clusterNuclei, receiver);
if (ix < 0 || ix >= clonedParent.clusterNuclei.Count)
if (receiver is not Neuron receiverNeuron)
continue;
int ix = GetNucleusIndex(clonedParent.nuclei, receiver);
if (ix < 0 || ix >= clonedParent.nuclei.Count)
continue;
// Find the synapse for the weight
float weight = 1;
foreach (Synapse synapse in receiver.synapses) {
foreach (Synapse synapse in receiverNeuron.synapses) {
// Find the weight for this synapse
if (synapse.neuron == sourceNucleus) {
weight = synapse.weight;
@ -603,9 +604,12 @@ namespace NanoBrain {
get {
if (this._inputs == null) {
this._inputs = new();
foreach (Nucleus nucleus in this.clusterNuclei) {
foreach (Nucleus nucleus in this.nuclei) {
if (nucleus is not Neuron neuron)
continue;
// inputs have no synapses
if (nucleus.synapses.Count == 0)
if (neuron.synapses.Count == 0)
this._inputs.Add(nucleus);
}
ComputeOrders();
@ -616,7 +620,7 @@ namespace NanoBrain {
public Dictionary<Nucleus, List<Nucleus>> computeOrders = new();
private void ComputeOrders() {
foreach (Nucleus nucleus in this.clusterNuclei) {
foreach (Nucleus nucleus in this.nuclei) {
// if (nucleus is Cluster cluster) {
// List<Synapse> synapses = this.CollectSynapsesTo(cluster);
// foreach (Synapse synapse in synapses) {
@ -629,7 +633,7 @@ namespace NanoBrain {
// }
// else {
computeOrders[nucleus] = TopologicalSort2(nucleus);
Debug.Log($"{this.baseName} Order for {nucleus.name}");
//Debug.Log($"{this.baseName} Order for {nucleus.name}");
// }
}
}
@ -698,8 +702,8 @@ namespace NanoBrain {
public virtual Neuron defaultOutput {//=> this.nuclei[0] as Nucleus;
get {
if (this.clusterNuclei.Count > 0)
return this.clusterNuclei[0] as Neuron;
if (this.nuclei.Count > 0)
return this.nuclei[0] as Neuron;
return null;
}
}
@ -708,7 +712,7 @@ namespace NanoBrain {
get {
if (this._outputs == null) {
this._outputs = new();
foreach (Nucleus nucleus in this.clusterNuclei) {
foreach (Nucleus nucleus in this.nuclei) {
if (nucleus is Neuron neuron && neuron.receivers.Count == 0)
this._outputs.Add(neuron);
}
@ -721,7 +725,7 @@ namespace NanoBrain {
}
public bool TryGetNucleus(string nucleusName, out Nucleus foundNucleus) {
foreach (Nucleus receptor in this.clusterNuclei) {
foreach (Nucleus receptor in this.nuclei) {
if (receptor is Nucleus nucleus)
if (nucleus.name == nucleusName) {
foundNucleus = nucleus;
@ -737,7 +741,7 @@ namespace NanoBrain {
if (dotPosition >= 0) {
string clusterName = nucleusName[..dotPosition];
string clusterName0 = clusterName + ": 0";
foreach (Nucleus nucleus in this.clusterNuclei) {
foreach (Nucleus nucleus in this.nuclei) {
if (nucleus is Cluster cluster) {
if (cluster.name == clusterName || cluster.name == clusterName0) {
string subNucleusName = nucleusName[(dotPosition + 1)..];
@ -749,7 +753,7 @@ namespace NanoBrain {
}
else {
string nucleusName0 = nucleusName + ": 0";
foreach (Nucleus nucleus in this.clusterNuclei) {
foreach (Nucleus nucleus in this.nuclei) {
if (nucleus is Cluster) { //IReceptor receptor) {
if (nucleus.name == nucleusName | nucleus.name == nucleusName0)
return nucleus;
@ -762,16 +766,16 @@ namespace NanoBrain {
}
public bool DeleteNucleus(Nucleus nucleus) {
if (this.clusterNuclei.Contains(nucleus) == false) {
if (this.nuclei.Contains(nucleus) == false) {
// Try to find the nucleus by name
if (TryGetNucleus(nucleus.name, out nucleus) == false)
return false;
}
Neuron.Delete(nucleus);
int nucleusIx = this.clusterNuclei.IndexOf(nucleus);
this.clusterNuclei.Remove(nucleus);
this.prefab.nuclei.RemoveAt(nucleusIx);
int nucleusIx = this.nuclei.IndexOf(nucleus);
this.nuclei.Remove(nucleus);
this.prefab.cluster.nuclei.RemoveAt(nucleusIx);
RefreshOutputs();
return true;
@ -781,7 +785,7 @@ namespace NanoBrain {
public virtual List<Nucleus> CollectReceivers(bool removeDuplicates = false) {
List<Nucleus> receivers = new();
foreach (Nucleus outputNucleus in this.clusterNuclei) {
foreach (Nucleus outputNucleus in this.nuclei) {
if (outputNucleus is not Neuron output)
continue;
@ -802,7 +806,7 @@ namespace NanoBrain {
public List<(Neuron, Nucleus)> CollectConnections() {
List<(Neuron, Nucleus)> connections = new();
foreach (Nucleus outputNucleus in this.clusterNuclei) {
foreach (Nucleus outputNucleus in this.nuclei) {
if (outputNucleus is not Neuron output)
continue;
@ -817,10 +821,10 @@ namespace NanoBrain {
public List<Synapse> CollectSynapsesTo(Cluster otherCluster) {
List<Synapse> collectedSynapses = new();
foreach (Nucleus nucleus in this.clusterNuclei) {
foreach (Nucleus nucleus in this.nuclei) {
if (nucleus is not Neuron neuron)
continue;
foreach (Synapse synapse in nucleus.synapses) {
foreach (Synapse synapse in neuron.synapses) {
if (synapse.neuron.parent == otherCluster)
collectedSynapses.Add(synapse);
}
@ -830,7 +834,7 @@ namespace NanoBrain {
public void MoveReceivers(Cluster newCluster) {
Debug.Log($"Move receivers for {this.name} to {newCluster.name}");
foreach (Nucleus outputNucleus in this.clusterNuclei) {
foreach (Nucleus outputNucleus in this.nuclei) {
if (outputNucleus is not Neuron output)
continue;
@ -846,7 +850,9 @@ namespace NanoBrain {
// Replace synapse with new synapse
// to the new cluster
Debug.Log($"move {receiver.name} from {this.name}.{output.name} to {newCluster.name}.{newOutput.name}");
Synapse synapse = receiver.GetSynapse(output);
if (receiver is not Neuron receiverNeuron)
continue;
Synapse synapse = receiverNeuron.GetSynapse(output);
newOutput.AddReceiver(receiver, synapse.weight);
output.RemoveReceiver(receiver);
}
@ -896,7 +902,7 @@ namespace NanoBrain {
}
public override void UpdateNuclei() {
foreach (Nucleus nucleus in this.clusterNuclei)
foreach (Nucleus nucleus in this.nuclei)
nucleus.UpdateNuclei();
}

120
NanoBrain/Runtime/Scripts/Core/Neuron.cs
View File

@ -23,7 +23,7 @@ namespace NanoBrain {
public Neuron(Cluster parent, string name) {
this.parent = parent;
this.name = name;
this.parent?.clusterNuclei.Add(this);
this.parent?.nuclei.Add(this);
}
/// <summary>
/// Create a new Neuron in a Cluster Prefab
@ -34,8 +34,8 @@ namespace NanoBrain {
this.clusterPrefab = prefab;
this.name = name;
if (this.clusterPrefab != null) {
this.clusterPrefab.nuclei.Add(this);
this.clusterPrefab.RefreshOutputs();
this.clusterPrefab.cluster.nuclei.Add(this);
this.clusterPrefab.cluster.RefreshOutputs();
}
else
Debug.LogError("No prefab when adding neuron to prefab");
@ -43,6 +43,71 @@ namespace NanoBrain {
#region Serialization
/// <summary>
/// The bias
/// </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
public Vector3 bias = Vector3.zero;
#region Synapses
[SerializeField]
private List<Synapse> _synapses = new();
/// <summary>
/// The synapses of the nucleus
/// </summary>
public List<Synapse> synapses => _synapses;
/// <summary>
/// Add a new synapse to this nuclues
/// </summary>
/// <param name="sendingNucleus">The nucleus from which the signals may originate</param>
/// <param name="weight">The weight applied to the input. Default value = 1</param>
/// <returns>The created Synapse</returns>
/// This will add a new input to this nucleus with the given weight.
public Synapse AddSynapse(Neuron sendingNucleus, float weight = 1) {
Synapse synapse = new(sendingNucleus, weight);
this.synapses.Add(synapse);
return synapse;
}
// public Synapse AddSynapse(ClusterPrefab clusterPrefab, string neuronName, float weight = 1) {
// }
/// <summary>
/// Find a synapse
/// </summary>
/// <param name="sender">The sender of the input to the Synapse</param>
/// <returns>The found Synapse or null when the sender has no synapse to this nucleus.</returns>
public Synapse GetSynapse(Nucleus sender) {
foreach (Synapse synapse in this.synapses)
if (synapse.neuron == sender)
return synapse;
return null;
}
/// <summary>
/// Remove a synapse from a Nucleus
/// </summary>
/// <param name="sendingNucleus">Remote the synapse connecting to this Nucleus</param>
public void RemoveSynapse(Nucleus sendingNucleus) {
this.synapses.RemoveAll(synapse => synapse.neuron == sendingNucleus);
}
#endregion Synapses
/// <summary>
/// Set the bias, recalculate the output and update all Nuclei receiving from this Nucleus
/// </summary>
/// <param name="inputValue"></param>
public virtual void SetBias(Vector3 inputValue) {
this.bias = inputValue;
this.parent.UpdateFromNucleus(this);
}
/// <summary>
/// The type of combinators
/// </summary>
@ -231,13 +296,20 @@ namespace NanoBrain {
}
}
/// <summary>
/// Toggle for printing debugging trace data
/// </summary>
public bool trace = false;
[NonSerialized]
public float lastUpdate = 0;
public readonly float timeToSleep = 1f;
/// \copydoc NanoBrain::Nucleus::ShallowCloneTo
public override Nucleus ShallowCloneTo(Cluster newParent) {
Neuron clone = new(newParent, this.name);
Neuron clone = new(newParent, this.name) {
// prefabNucleus = this
};
CloneFields(clone);
return clone;
}
@ -268,8 +340,8 @@ namespace NanoBrain {
public static void Delete(Nucleus nucleus) {
if (nucleus == null)
return;
if (nucleus.synapses != null) {
foreach (Synapse synapse in nucleus.synapses) {
if (nucleus is Neuron neuron) {
foreach (Synapse synapse in neuron.synapses) {
if (synapse.neuron is Neuron synapse_nucleus) {
if (synapse_nucleus.receivers.Count > 1) {
// there is another nucleus feeding into this input nucleus
@ -281,19 +353,21 @@ namespace NanoBrain {
}
}
}
}
if (nucleus is Neuron neuron) {
foreach (Nucleus receiver in neuron.receivers) {
if (receiver != null && receiver.synapses != null)
receiver.synapses.RemoveAll(s => s.neuron == nucleus);
if (receiver is not Neuron receiverNeuron)
continue;
if (receiver != null && receiverNeuron.synapses != null)
receiverNeuron.synapses.RemoveAll(s => s.neuron == nucleus);
}
}
else if (nucleus is Cluster cluster) {
// remove all receivers for this cluster
foreach (Nucleus clusterNucleus in cluster.clusterNuclei) {
foreach (Nucleus clusterNucleus in cluster.nuclei) {
if (clusterNucleus is Neuron output) {
foreach (Nucleus receiver in output.receivers) {
receiver.synapses.RemoveAll(s => s.neuron == output);
if (receiver is not Neuron receiverNeuron)
continue;
receiverNeuron.synapses.RemoveAll(s => s.neuron == output);
}
}
}
@ -301,8 +375,8 @@ namespace NanoBrain {
if (nucleus.clusterPrefab != null) {
nucleus.clusterPrefab.nuclei.RemoveAll(n => n == nucleus);
nucleus.clusterPrefab.RefreshOutputs();
nucleus.clusterPrefab.cluster.nuclei.RemoveAll(n => n == nucleus);
nucleus.clusterPrefab.cluster.RefreshOutputs();
nucleus.clusterPrefab.GarbageCollection();
}
}
@ -524,15 +598,25 @@ namespace NanoBrain {
}
public virtual void AddReceiver(Nucleus receiverToAdd, float weight = 1) {
this._receivers.Add(receiverToAdd);
receiverToAdd.AddSynapse(this, weight);
if (receiverToAdd is not Neuron receiverNeuron)
return;
this._receivers.Add(receiverNeuron);
receiverNeuron.AddSynapse(this, weight);
//Debug.Log($"Add synapse {this.clusterPrefab.name}.{this.name} -> {receiverToAdd.name} --- [{this.receivers.Count}]");
}
public virtual void RemoveReceiver(Nucleus receiverToRemove) {
this._receivers.RemoveAll(receiver => receiver == receiverToRemove);
receiverToRemove.synapses.RemoveAll(synapse => synapse.neuron == this);
if (receiverToRemove is not Neuron receiverNeuron)
return;
this._receivers.RemoveAll(receiver => receiver == receiverNeuron);
receiverNeuron.synapses.RemoveAll(synapse => synapse.neuron == this);
// Nucleus prefabReceiver = receiverToRemove.prefabNucleus;
// if (this.prefabNucleus is Neuron prefabNeuron && prefabReceiver != null) {
// prefabNeuron.receivers.RemoveAll(receiver => receiver == prefabReceiver);
// prefabReceiver.synapses.RemoveAll(synapse => synapse.neuron == prefabNeuron);
// }
}

115
NanoBrain/Runtime/Scripts/Core/Nucleus.cs
View File

@ -17,6 +17,9 @@ public abstract class Nucleus {
/// </summary>
public string name;
// [NonSerialized]
// public Nucleus prefabNucleus;
/// <summary>
/// The cluster prefab in which the nucleus is located
/// </summary>
@ -31,7 +34,7 @@ public abstract class Nucleus {
/// <summary>
/// Toggle for printing debugging trace data
/// </summary>
public bool trace = false;
//public bool trace = false;
/// <summary>
/// Function to make a partial clone of this nucleus
@ -61,60 +64,60 @@ public abstract class Nucleus {
public virtual void Initialize() {}
#region Synapses
// #region Synapses
/// <summary>
/// The bias of the nucleus
/// </summary>
/// The bias which a value which is always added to the combined value of the nucleus
/// It does not have a synapse and therefore no weight of source nucleus
public Vector3 bias = Vector3.zero;
// /// <summary>
// /// The bias of the nucleus
// /// </summary>
// /// The bias which a value which is always added to the combined value of the nucleus
// /// It does not have a synapse and therefore no weight of source nucleus
// //public Vector3 bias = Vector3.zero;
[SerializeField]
private List<Synapse> _synapses = new();
/// <summary>
/// The synapses of the nucleus
/// </summary>
public List<Synapse> synapses => _synapses;
/// <summary>
/// Add a new synapse to this nuclues
/// </summary>
/// <param name="sendingNucleus">The nucleus from which the signals may originate</param>
/// <param name="weight">The weight applied to the input. Default value = 1</param>
/// <returns>The created Synapse</returns>
/// This will add a new input to this nucleus with the given weight.
public Synapse AddSynapse(Neuron sendingNucleus, float weight = 1) {
Synapse synapse = new(sendingNucleus, weight);
this.synapses.Add(synapse);
return synapse;
}
// public Synapse AddSynapse(ClusterPrefab clusterPrefab, string neuronName, float weight = 1) {
// [SerializeField]
// private List<Synapse> _synapses = new();
// /// <summary>
// /// The synapses of the nucleus
// /// </summary>
// public List<Synapse> synapses => _synapses;
// /// <summary>
// /// Add a new synapse to this nuclues
// /// </summary>
// /// <param name="sendingNucleus">The nucleus from which the signals may originate</param>
// /// <param name="weight">The weight applied to the input. Default value = 1</param>
// /// <returns>The created Synapse</returns>
// /// This will add a new input to this nucleus with the given weight.
// public Synapse AddSynapse(Neuron sendingNucleus, float weight = 1) {
// Synapse synapse = new(sendingNucleus, weight);
// this.synapses.Add(synapse);
// return synapse;
// }
/// <summary>
/// Find a synapse
/// </summary>
/// <param name="sender">The sender of the input to the Synapse</param>
/// <returns>The found Synapse or null when the sender has no synapse to this nucleus.</returns>
public Synapse GetSynapse(Nucleus sender) {
foreach (Synapse synapse in this.synapses)
if (synapse.neuron == sender)
return synapse;
return null;
}
// // public Synapse AddSynapse(ClusterPrefab clusterPrefab, string neuronName, float weight = 1) {
/// <summary>
/// Remove a synapse from a Nucleus
/// </summary>
/// <param name="sendingNucleus">Remote the synapse connecting to this Nucleus</param>
public void RemoveSynapse(Nucleus sendingNucleus) {
this.synapses.RemoveAll(synapse => synapse.neuron == sendingNucleus);
}
// // }
#endregion Synapses
// /// <summary>
// /// Find a synapse
// /// </summary>
// /// <param name="sender">The sender of the input to the Synapse</param>
// /// <returns>The found Synapse or null when the sender has no synapse to this nucleus.</returns>
// public Synapse GetSynapse(Nucleus sender) {
// foreach (Synapse synapse in this.synapses)
// if (synapse.neuron == sender)
// return synapse;
// return null;
// }
// /// <summary>
// /// Remove a synapse from a Nucleus
// /// </summary>
// /// <param name="sendingNucleus">Remote the synapse connecting to this Nucleus</param>
// public void RemoveSynapse(Nucleus sendingNucleus) {
// this.synapses.RemoveAll(synapse => synapse.neuron == sendingNucleus);
// }
// #endregion Synapses
#region Update
@ -129,14 +132,14 @@ public abstract class Nucleus {
public virtual void UpdateNuclei() {
}
/// <summary>
/// Set the bias, recalculate the output and update all Nuclei receiving from this Nucleus
/// </summary>
/// <param name="inputValue"></param>
public virtual void SetBias(Vector3 inputValue) {
this.bias = inputValue;
this.parent.UpdateFromNucleus(this);
}
// /// <summary>
// /// Set the bias, recalculate the output and update all Nuclei receiving from this Nucleus
// /// </summary>
// /// <param name="inputValue"></param>
// public virtual void SetBias(Vector3 inputValue) {
// this.bias = inputValue;
// this.parent.UpdateFromNucleus(this);
// }
/// <summary>
/// Process an external stimulus

69
NanoBrain/Runtime/Scripts/ScriptableObjects/ClusterPrefab.cs
View File

@ -8,6 +8,9 @@ namespace NanoBrain {
/// </summary>
[CreateAssetMenu(menuName = "Passer/Cluster")]
public class ClusterPrefab : ScriptableObject {
public Cluster cluster;
/*
/// The nuclei in this cluster
[SerializeReference]
// This list should not include any clusters...
@ -60,35 +63,39 @@ namespace NanoBrain {
this._outputs.Add(nucleus);
}
}
*/
/// <summary>
/// Retrieve a nucleus in this cluster
/// </summary>
/// <param name="nucleusName">The name of the nucleus</param>
/// <returns>The Nucleus with the given name or null if no such Nucleus could be found</returns>
public Nucleus GetNucleus(string nucleusName) {
foreach (Nucleus nucleus in this.nuclei) {
if (nucleus.name == nucleusName)
return nucleus;
}
return null;
return cluster.GetNucleus(nucleusName);
// foreach (Nucleus nucleus in this.nuclei) {
// if (nucleus.name == nucleusName)
// return nucleus;
// }
// return null;
}
// Call this function to ensure that there is at least one nucleus
// This is an invariant and should be ensured before the nucleus is used
// because output requires it.
public void EnsureInitialization() {
nuclei ??= new List<Nucleus>();
if (nuclei.Count == 0)
this.cluster.nuclei ??= new List<Nucleus>();
if (this.cluster.nuclei.Count <= 0)
new Neuron(this, "Output"); // Every cluster should have at least 1 neuron
// nuclei ??= new List<Nucleus>();
// if (nuclei.Count == 0)
// new Neuron(this, "Output"); // Every cluster should have at least 1 neuron
}
public void GarbageCollection() {
HashSet<Nucleus> visitedNuclei = new();
foreach (Nucleus output in this.outputs)
MarkNuclei(visitedNuclei, output);
//Debug.Log($"Garbage collection found {visitedNuclei.Count} Nuclei");
this.nuclei.RemoveAll(nucleus => visitedNuclei.Contains(nucleus) == false);
// HashSet<Nucleus> visitedNuclei = new();
// foreach (Nucleus output in this.outputs)
// MarkNuclei(visitedNuclei, output);
// //Debug.Log($"Garbage collection found {visitedNuclei.Count} Nuclei");
// this.nuclei.RemoveAll(nucleus => visitedNuclei.Contains(nucleus) == false);
}
public void MarkNuclei(HashSet<Nucleus> visitedNuclei, Nucleus nucleus) {
@ -99,18 +106,19 @@ namespace NanoBrain {
visitedNuclei.Add(nucleus.parent);
else
visitedNuclei.Add(nucleus);
if (nucleus.synapses != null) {
if (nucleus is Neuron neuron) {
if (neuron.synapses != null) {
HashSet<Synapse> visitedSynapses = new();
foreach (Synapse synapse in nucleus.synapses) {
foreach (Synapse synapse in neuron.synapses) {
if (synapse != null && synapse.neuron != null) {
visitedSynapses.Add(synapse);
if (synapse.neuron is Nucleus synapse_nucleus)
MarkNuclei(visitedNuclei, synapse_nucleus);
}
}
nucleus.synapses.RemoveAll(synapse => visitedSynapses.Contains(synapse) == false);
neuron.synapses.RemoveAll(synapse => visitedSynapses.Contains(synapse) == false);
}
if (nucleus is Neuron neuron && neuron.receivers != null) {
if (neuron.receivers != null) {
HashSet<Nucleus> visitedReceivers = new();
foreach (Nucleus receiver in neuron.receivers) {
if (receiver != null && receiver != null) {
@ -121,21 +129,22 @@ namespace NanoBrain {
neuron.receivers.RemoveAll(receiver => visitedReceivers.Contains(receiver) == false);
}
}
public virtual void UpdateNuclei() {
foreach (Nucleus nucleus in this.nuclei)
nucleus.UpdateNuclei();
}
public int GetNucleusIndex(Nucleus receiver) {
int ix = 0;
foreach (Nucleus nucleus in this.nuclei) {
if (receiver == nucleus)
return ix;
ix++;
}
return -1;
}
// public virtual void UpdateNuclei() {
// foreach (Nucleus nucleus in this.nuclei)
// nucleus.UpdateNuclei();
// }
// public int GetNucleusIndex(Nucleus receiver) {
// int ix = 0;
// foreach (Nucleus nucleus in this.nuclei) {
// if (receiver == nucleus)
// return ix;
// ix++;
// }
// return -1;
// }
}
}

36
Runtime/Scripts/Ant.cs
View File

@ -43,11 +43,11 @@ namespace CreatureControl {
/// </summary>
/// It is used by the brain to do things periodically
/// like placing pheromones
public Nucleus beat;
public Neuron beat;
public Nucleus pheromoneSteering;
public Nucleus hitLeft;
public Nucleus hitRight;
public Neuron pheromoneSteering;
public Neuron hitLeft;
public Neuron hitRight;
public Neuron foodReceptor;
public Neuron homeReceptor;
@ -60,6 +60,22 @@ namespace CreatureControl {
base.Awake();
this.nanoBrain = GetComponentInChildren<Brain>();
Cluster brain = this.nanoBrain.brain;
if (brain != null) {
//--- brain inputs
this.beat = brain.GetNucleus("Beat") as Neuron;
this.hitLeft = brain.GetNucleus("Hit Left") as Neuron;
this.hitRight = brain.GetNucleus("Hit Right") as Neuron;
this.foodReceptor = brain.GetNucleus("Food Receptor") as Neuron;
this.homeReceptor = brain.GetNucleus("Home Receptor") as Neuron;
this.pheromoneSteering = brain.GetNucleus("Pheromone Steering") as Neuron;
//--- brain outputs
this.targetDirection = brain.GetNucleus("Output") as Neuron;
this.hasFood = brain.GetNucleus("Having Food") as Neuron;
}
}
#endregion Init
@ -71,17 +87,6 @@ namespace CreatureControl {
Cluster brain = this.nanoBrain.brain;
if (brain != null) {
//--- brain inputs
this.beat = brain.GetNucleus("Beat");
this.hitLeft = brain.GetNucleus("Hit Left");
this.hitRight = brain.GetNucleus("Hit Right");
this.foodReceptor = brain.GetNucleus("Food Receptor") as Neuron;
this.homeReceptor = brain.GetNucleus("Home Receptor") as Neuron;
this.pheromoneSteering = brain.GetNucleus("Pheromone Steering");
//--- brain outputs
this.targetDirection = brain.defaultOutput;
// Try to find the Home Pheromones Neuron
if (brain.GetNucleus("Home Pheromones") is Neuron homePheromones)
@ -92,7 +97,6 @@ namespace CreatureControl {
// and call PlaceFoodPheromone when it is firing
foodPheromones.WhenFiring += PlaceFoodPheromone;
this.hasFood = brain.GetNucleus("Having Food") as Neuron;
}
// Initialize the callbacks for the antenna colliders

233
Samples/Brain/Foraging.asset
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2
Samples/Brain/Foraging.asset.meta → Samples/Brain/New Cluster Prefab.asset.meta
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