Added Braitenberg samples (up to 4a)
This commit is contained in:
parent
daf93691c1
commit
7cbd6bafb7
@ -61,7 +61,7 @@ PROJECT_BRIEF =
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# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
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# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
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# the logo to the output directory.
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# the logo to the output directory.
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||||||
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PROJECT_LOGO = images/PasserLifeLogoRight1_300.png
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PROJECT_LOGO = /home/pascal/huisstijl/Logos/PasserLifeLogoLeft_300.png
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||||||
# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path
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# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path
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||||||
# into which the generated documentation will be written. If a relative path is
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# into which the generated documentation will be written. If a relative path is
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@ -1,7 +1,7 @@
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var searchData=
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var searchData=
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[
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[
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['clonefields_0',['CloneFields',['../class_nano_brain_1_1_neuron.html#a61ebfee9f73116bd87d641af0fd3ef57',1,'NanoBrain::Neuron']]],
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||||||
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['clusterprefab_2',['ClusterPrefab',['../class_nano_brain_1_1_unity_1_1_cluster_prefab.html',1,'NanoBrain::Unity']]],
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@ -5,7 +5,7 @@ var searchData=
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['nanobrain_3a_3abreitenberg_3',['Breitenberg',['../namespace_nano_brain_1_1_breitenberg.html',1,'NanoBrain']]],
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['nanobrain_3a_3abreitenberg_3',['Breitenberg',['../namespace_nano_brain_1_1_breitenberg.html',1,'NanoBrain']]],
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];
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];
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@ -19,9 +19,11 @@ namespace NanoBrain.Unity {
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public override float GetPropertyHeight(SerializedProperty property, GUIContent label) {
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public override float GetPropertyHeight(SerializedProperty property, GUIContent label) {
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float height = EditorGUIUtility.singleLineHeight;
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float height = EditorGUIUtility.singleLineHeight;
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if (property.objectReferenceValue != null)
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if (property.objectReferenceValue != null) {
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height += padding + elementHeight;
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height += padding + elementHeight;
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return 600; //height;
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height = 500;
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}
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return height;
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}
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}
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static Dictionary<string, bool> s_foldouts = new Dictionary<string, bool>();
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static Dictionary<string, bool> s_foldouts = new Dictionary<string, bool>();
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8
Samples/Braitenberg/Brains.meta
Normal file
8
Samples/Braitenberg/Brains.meta
Normal file
@ -0,0 +1,8 @@
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folderAsset: yes
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DefaultImporter:
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externalObjects: {}
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userData:
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assetBundleName:
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assetBundleVariant:
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@ -10,10 +10,10 @@ MonoBehaviour:
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m_Script: {fileID: 11500000, guid: 60a957541c24c57e78018c202ebb1d9b, type: 3}
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m_Script: {fileID: 11500000, guid: 60a957541c24c57e78018c202ebb1d9b, type: 3}
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m_Name: Breitenberg
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m_Name: Braitenberg 1
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m_EditorClassIdentifier: Assembly-CSharp::NanoBrain.Unity.ClusterPrefab
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m_EditorClassIdentifier: Assembly-CSharp::NanoBrain.Unity.ClusterPrefab
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cluster:
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cluster:
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name: Breitenberg
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name: Braitenberg 1
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parent:
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parent:
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rid: -2
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rid: -2
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prefab: {fileID: 11400000}
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prefab: {fileID: 11400000}
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@ -31,12 +31,12 @@ MonoBehaviour:
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data:
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data:
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name: Output
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name: Output
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parent:
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parent:
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bias: {x: 0, y: 0, z: 0}
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bias: {x: 0, y: 0, z: 1}
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- neuron:
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rid: 4201949899492425817
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@ -65,26 +65,15 @@ MonoBehaviour:
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- rid: 4201949899492425816
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type: {class: Cluster, ns: NanoBrain, asm: Assembly-CSharp}
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data:
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name: Breitenberg
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parent:
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rid: -2
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prefab: {fileID: 11400000}
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instanceCount: 1
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nuclei:
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- rid: 4201949899492425781
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- rid: 4201949899492425817
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- rid: 4201949899492425817
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- rid: 4201949899492425817
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type: {class: Neuron, ns: NanoBrain, asm: Assembly-CSharp}
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type: {class: Neuron, ns: NanoBrain, asm: Assembly-CSharp}
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data:
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data:
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name: Sensor
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name: Sensor
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parent:
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parent:
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@ -114,6 +103,17 @@ MonoBehaviour:
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- rid: 4201950130928877723
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type: {class: Cluster, ns: NanoBrain, asm: Assembly-CSharp}
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data:
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name: Braitenberg 1
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parent:
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rid: -2
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prefab: {fileID: 11400000}
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instanceCount: 1
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nuclei:
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- rid: 4201949899492425781
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@ -1,5 +1,5 @@
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mainObjectFileID: 11400000
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203
Samples/Braitenberg/Brains/Braitenberg 2a.asset
Normal file
203
Samples/Braitenberg/Brains/Braitenberg 2a.asset
Normal file
@ -0,0 +1,203 @@
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%YAML 1.1
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--- !u!114 &11400000
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m_Enabled: 1
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m_EditorHideFlags: 0
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m_Script: {fileID: 11500000, guid: 60a957541c24c57e78018c202ebb1d9b, type: 3}
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m_Name: Braitenberg 2a
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m_EditorClassIdentifier: Assembly-CSharp::NanoBrain.Unity.ClusterPrefab
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cluster:
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name: Braitenberg 2a
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parent:
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rid: -2
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prefab: {fileID: 11400000}
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instanceCount: 1
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nuclei:
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references:
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version: 2
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type: {class: , ns: , asm: }
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type: {class: Neuron, ns: NanoBrain, asm: Assembly-CSharp}
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data:
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name: LeftOutput
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parent:
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type: {class: Neuron, ns: NanoBrain, asm: Assembly-CSharp}
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79
Samples/Braitenberg/Scripts/LightSensor.cs
Normal file
79
Samples/Braitenberg/Scripts/LightSensor.cs
Normal file
@ -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
Samples/Braitenberg/Scripts/LightSensor.cs.meta
Normal file
2
Samples/Braitenberg/Scripts/LightSensor.cs.meta
Normal file
@ -0,0 +1,2 @@
|
|||||||
|
fileFormatVersion: 2
|
||||||
|
guid: fbdba2c00e2271d7eae755fa49a7958c
|
||||||
42
Samples/Braitenberg/Scripts/Motor.cs
Normal file
42
Samples/Braitenberg/Scripts/Motor.cs
Normal file
@ -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
Samples/Braitenberg/Scripts/Motor.cs.meta
Normal file
2
Samples/Braitenberg/Scripts/Motor.cs.meta
Normal file
@ -0,0 +1,2 @@
|
|||||||
|
fileFormatVersion: 2
|
||||||
|
guid: 07c6bf9674b9f9f0bbbf4a37f570ef4d
|
||||||
74
Samples/Braitenberg/Scripts/Sensor.cs
Normal file
74
Samples/Braitenberg/Scripts/Sensor.cs
Normal file
@ -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);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
25
Samples/Braitenberg/Scripts/Vehicle.cs
Normal file
25
Samples/Braitenberg/Scripts/Vehicle.cs
Normal file
@ -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}");
|
||||||
|
|
||||||
|
// }
|
||||||
|
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@ -1,37 +0,0 @@
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|||||||
using UnityEngine;
|
|
||||||
|
|
||||||
namespace NanoBrain.Breitenberg {
|
|
||||||
|
|
||||||
public class Sensor : MonoBehaviour {
|
|
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public float sensorRange = 10f;
|
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public LayerMask senseLayer; // layer for "light" objects
|
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||||||
|
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public float output {get; protected set; }
|
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|
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protected virtual void FixedUpdate() {
|
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output = SampleSensor(this.transform);
|
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}
|
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|
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||||||
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);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@ -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);
|
|
||||||
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
Loading…
x
Reference in New Issue
Block a user