NanoBrain/NanoBrain-unitypackage
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Added Braitenberg samples (up to 4a)

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This commit is contained in:
Pascal Serrarens 2026-05-18 16:51:54 +02:00
parent daf93691c1
commit 7cbd6bafb7
53 changed files with 5587 additions and 896 deletions
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2
Documentation/Doxyfile
View File

@ -61,7 +61,7 @@ PROJECT_BRIEF =
# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
# the logo to the output directory.
PROJECT_LOGO = images/PasserLifeLogoRight1_300.png
PROJECT_LOGO = /home/pascal/huisstijl/Logos/PasserLifeLogoLeft_300.png
# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path
# into which the generated documentation will be written. If a relative path is

2
Documentation/html/search/all_3.js
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@ -1,7 +1,7 @@
var searchData=
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['clusterprefab_2',['ClusterPrefab',['../class_nano_brain_1_1_unity_1_1_cluster_prefab.html',1,'NanoBrain::Unity']]],
['collectreceivers_3',['CollectReceivers',['../class_nano_brain_1_1_cluster.html#aafd42e24f34b91e3c441943e405f14ed',1,'NanoBrain::Cluster']]],
['collectsynapsesto_4',['CollectSynapsesTo',['../class_nano_brain_1_1_cluster.html#a4bcbf4162dcb5d5722f1bcb842194780',1,'NanoBrain::Cluster']]],

2
Documentation/html/search/all_b.js
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['nanobrain_3a_3abreitenberg_3',['Breitenberg',['../namespace_nano_brain_1_1_breitenberg.html',1,'NanoBrain']]],
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6
Editor/ClusterPrefab_Drawer.cs
View File

@ -19,9 +19,11 @@ namespace NanoBrain.Unity {
public override float GetPropertyHeight(SerializedProperty property, GUIContent label) {
float height = EditorGUIUtility.singleLineHeight;
if (property.objectReferenceValue != null)
if (property.objectReferenceValue != null) {
height += padding + elementHeight;
return 600; //height;
height = 500;
}
return height;
}
static Dictionary<string, bool> s_foldouts = new Dictionary<string, bool>();

0
Samples/Breitenberg.meta → Samples/Braitenberg.meta
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8
Samples/Braitenberg/Brains.meta Normal file
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40
Samples/Breitenberg/Breitenberg.asset → Samples/Braitenberg/Brains/Braitenberg 1.asset
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m_Name: Braitenberg 1
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name: Braitenberg 1
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0
Samples/Breitenberg/Prefabs/Vehicle.prefab.meta → Samples/Braitenberg/Prefabs/Vehicle.prefab.meta
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0
Samples/Breitenberg/Scripts.meta → Samples/Braitenberg/Scripts.meta
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79
Samples/Braitenberg/Scripts/LightSensor.cs Normal file
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@ -0,0 +1,79 @@
using System.Collections;
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;
[Tooltip("Angle (degrees) for directional sensitivity; 180 = omnidirectional.")]
public float sensitivityAngle = 180f;
[Tooltip("Multiplier to scale final output.")]
public float multiplier = 1f;
protected override float SampleSensor() {
float sum = 0f;
// Get all active lights in scene (Point lights only)
Light[] lights = FindObjectsByType<Light>();
Vector3 pos = transform.position;
Vector3 forward = transform.forward;
float halfAngleCos = Mathf.Cos(sensitivityAngle * 0.5f * Mathf.Deg2Rad);
int lightCount = 0;
foreach (Light light in lights) {
if (!light.enabled || light.type != LightType.Point)
continue;
// quick distance check
float dist = Vector3.Distance(light.transform.position, pos);
if (dist > this.sensorRange + light.range)
continue; // outside both sensor and light ranges
// angular sensitivity
Vector3 toLight = (light.transform.position - pos).normalized;
if (sensitivityAngle < 180f) {
if (Vector3.Dot(forward, toLight) < halfAngleCos)
continue;
}
// compute light falloff: Unity point lights use inverse squared (physically plausible)
// you can approximate using L.intensity and L.range
float attenuation = 0f;
if (dist < light.range) {
// inverse-square like falloff (avoid divide-by-zero)
attenuation = light.intensity / Mathf.Max(0.01f, dist * dist);
// optionally scale by (1 - dist/range) for a linear blend:
attenuation *= 1f - dist / light.range;
}
else
continue;
// occlusion check
if (useOcclusion) {
Vector3 dir = (light.transform.position - pos).normalized;
float rayDist = Mathf.Min(dist, light.range);
if (Physics.Raycast(pos, dir, out RaycastHit hit, rayDist, senseLayer))
attenuation *= 0f; // completely blocked; or reduce by factor
}
//Debug.DrawRay(this.transform.position, toLight * sensorRange);
// color consideration: convert light color to luminance if needed
float luminance = RGBToLuminance(light.color) * attenuation;
//Debug.Log(luminance);
sum += luminance;
lightCount++;
}
return (sum / lightCount) * multiplier;
}
static float RGBToLuminance(Color c) {
// simple Rec.709 luminance
return 0.2126f * c.r + 0.7152f * c.g + 0.0722f * c.b;
}
}
}

2
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42
Samples/Braitenberg/Scripts/Motor.cs Normal file
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@ -0,0 +1,42 @@
using UnityEngine;
namespace NanoBrain.Braitenberg {
using Unity;
public class Motor : MonoBehaviour {
public string outputNeuronName;
public float speed;
public float maxTorque = 1;
public WheelCollider wheelCollider;
protected ClusterPrefab brain;
public Neuron motorNeuron;
protected virtual void Awake() {
Vehicle vehicle = GetComponentInParent<Vehicle>();
if (vehicle != null)
brain = vehicle.brain;
if (brain != null)
motorNeuron = brain.GetNucleus(outputNeuronName) as Neuron;
wheelCollider = GetComponent<WheelCollider>();
}
void FixedUpdate() {
if (motorNeuron == null)
return;
this.speed = motorNeuron.outputValue.z;
//Debug.DrawRay(this.transform.position, this.transform.forward * this.speed, Color.magenta);
float desiredRpm = speed * 60; // target wheel RPM
float currentRpm = wheelCollider.rpm;
float rpmError = desiredRpm - currentRpm;
float kp = 0.02f; // proportional gain — tune
float torque = kp * rpmError;
wheelCollider.motorTorque = Mathf.Clamp(torque, -maxTorque, maxTorque);
// Debug.Log($"{speed} {currentRpm / 60} {torque}");
}
}
}

2
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74
Samples/Braitenberg/Scripts/Sensor.cs Normal file
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@ -0,0 +1,74 @@
using System.Collections;
using UnityEngine;
namespace NanoBrain.Braitenberg {
using Unity;
public class Sensor : MonoBehaviour {
[Tooltip("Max distance sensor detects anything")]
public float sensorRange = 10f;
[Tooltip("Time between samples (s).")]
public float sampleInterval = 0.1f;
/// <summary>
/// Unity Layer for the light objects
/// </summary>
/// This is used to improve performance
[Tooltip("Unity Layer for the light objects")]
public LayerMask senseLayer;
/// <summary>
/// Output value of the sensor
/// </summary>
[Tooltip("Output value of the sensor")]
public float output => _output; //{ get; protected set; }
public float _output;
protected Vehicle vehicle;
protected ClusterPrefab brain;
public Neuron sensoryNeuron;
protected virtual void Awake() {
if (vehicle == null)
vehicle = GetComponentInParent<Vehicle>();
if (vehicle != null)
brain = vehicle.brain;
if (brain != null)
sensoryNeuron = brain.GetNucleus(this.name) as Neuron;
}
void OnEnable() => StartCoroutine(SampleRoutine());
void OnDisable() => StopAllCoroutines();
IEnumerator SampleRoutine() {
WaitForSeconds wait = new(sampleInterval);
while (true) {
_output = SampleSensor();
sensoryNeuron?.ProcessStimulus(Vector3.one * (_output+0.00001f));
yield return wait;
}
}
protected virtual float SampleSensor() {
// Cast a short set of rays in a cone and accumulate "brightness" from hits.
int rays = 7;
float halfAngle = 30f;
float total = 0f;
for (int i = 0; i < rays; i++) {
float t = rays == 1 ? 0.5f : (float)i / (rays - 1);
float angle = Mathf.Lerp(-halfAngle, halfAngle, t);
Vector3 dir = Quaternion.AngleAxis(angle, this.transform.up) * this.transform.forward;
Debug.DrawRay(this.transform.position, dir * sensorRange);
if (Physics.Raycast(this.transform.position, dir, out RaycastHit hit, sensorRange, senseLayer)) {
// Strength inversely proportional to distance, clamped to [0,1]
float str = 1f - (hit.distance / sensorRange);
// You can also sample material emission or color here if desired
total += Mathf.Clamp01(str);
}
}
return Mathf.Clamp01(total / rays);
}
}
}

0
Samples/Breitenberg/Scripts/Sensor.cs.meta → Samples/Braitenberg/Scripts/Sensor.cs.meta
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25
Samples/Braitenberg/Scripts/Vehicle.cs Normal file
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@ -0,0 +1,25 @@
using UnityEngine;
namespace NanoBrain.Braitenberg {
[RequireComponent(typeof(Rigidbody))]
public class Vehicle : MonoBehaviour {
public Unity.ClusterPrefab brain;
[Header("Motors")]
public Motor motorLeft;
public Motor motorRight;
[Header("Sensors")]
public Sensor sensorLeft;
public Sensor sensorRight;
// void FixedUpdate() {
// //Debug.Log($"L: {sensorLeft.output} R: {sensorRight.output}");
// //Debug.Log($"L: {motorLeft.speed} R: {motorRight.speed}");
// Debug.Log($"L: {motorLeft.wheelCollider.rpm} R: {motorRight.wheelCollider.rpm}");
// }
}
}

0
Samples/Breitenberg/Scripts/Vehicle.cs.meta → Samples/Braitenberg/Scripts/Vehicle.cs.meta
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37
Samples/Breitenberg/Scripts/Sensor.cs
View File

@ -1,37 +0,0 @@
using UnityEngine;
namespace NanoBrain.Breitenberg {
public class Sensor : MonoBehaviour {
public float sensorRange = 10f;
public LayerMask senseLayer; // layer for "light" objects
public float output {get; protected set; }
protected virtual void FixedUpdate() {
output = SampleSensor(this.transform);
}
protected virtual float SampleSensor(Transform sensor) {
// Cast a short set of rays in a cone and accumulate "brightness" from hits.
int rays = 7;
float halfAngle = 30f;
float total = 0f;
for (int i = 0; i < rays; i++) {
float t = rays == 1 ? 0.5f : (float)i / (rays - 1);
float angle = Mathf.Lerp(-halfAngle, halfAngle, t);
Vector3 dir = Quaternion.AngleAxis(angle, sensor.up) * sensor.forward;
Debug.DrawRay(sensor.position, dir * sensorRange);
if (Physics.Raycast(sensor.position, dir, out RaycastHit hit, sensorRange, senseLayer)) {
// Strength inversely proportional to distance, clamped to [0,1]
float str = 1f - (hit.distance / sensorRange);
// You can also sample material emission or color here if desired
total += Mathf.Clamp01(str);
}
}
return Mathf.Clamp01(total / rays);
}
}
}

55
Samples/Breitenberg/Scripts/Vehicle.cs
View File

@ -1,55 +0,0 @@
using UnityEngine;
namespace NanoBrain.Breitenberg {
public class Vehicle : MonoBehaviour {
[Header("Sensors")]
public Sensor sensorLeft;
public Sensor sensorRight;
[Header("Motors")]
public float baseSpeed = 0f; // optional forward bias
public float gain = 5f; // motor response strength
public bool crossWiring = false; // false = same-side wiring (excitatory); true = cross
public float leftSpeed;
public float rightSpeed;
[Header("Wheels")]
public Transform wheelLeft;
public Transform wheelRight;
[Header("Physics")]
public Rigidbody rb;
public float turnTorque = 5f; // rotational influence
public Unity.ClusterPrefab brain;
void FixedUpdate() {
float sL = sensorLeft.output;
float sR = sensorRight.output;
// Wiring: same-side (default) maps sL->left motor, sR->right motor.
// crossWiring = true maps sL->right motor (crossed).
float leftInput = crossWiring ? sR : sL;
float rightInput = crossWiring ? sL : sR;
leftSpeed = baseSpeed + gain * leftInput;
Debug.DrawRay(wheelLeft.position, wheelLeft.forward * leftSpeed, Color.magenta);
rightSpeed = baseSpeed + gain * rightInput;
Debug.DrawRay(wheelRight.position, wheelRight.forward * rightSpeed, Color.magenta);
// Convert differential wheel speeds into forward force and torque.
float forward = (leftSpeed + rightSpeed) * 0.5f;
float rotation = (rightSpeed - leftSpeed) * 0.5f;
// Apply forward force at center
Vector3 force = transform.forward * forward;
rb.AddForce(force, ForceMode.Acceleration);
// Apply torque around Y axis
rb.AddTorque(Vector3.down * rotation * turnTorque, ForceMode.Acceleration);
}
}
}