From 7fb23e9b8927ed157514073c56da3b25c0cbec49 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Tue, 5 May 2026 17:37:59 +0200 Subject: [PATCH] Pheromones WIP --- NanoBrain/Editor/ClusterEditor.cs | 25 +- NanoBrain/Runtime/Scripts/Core/Cluster.cs | 20 +- NanoBrain/Runtime/Scripts/Core/Neuron.cs | 11 +- Runtime/Scripts/Ant.cs | 50 +- Runtime/Scripts/AntennaTouch.cs | 25 +- Runtime/Scripts/Mouth.cs | 3 +- Samples/Brain/Foraging.asset | 590 +++++++++ ... Prefab.asset.meta => Foraging.asset.meta} | 0 Samples/Brain/Foraging_old.asset | 1179 ----------------- Samples/Brain/Foraging_old.asset.meta | 8 - Samples/Brain/New Cluster Prefab.asset | 255 ---- Samples/Foraging.unity | 1162 +++++++++++++--- .../Prefabs/LowPolyAntRigged Variant.prefab | 568 +++++--- 13 files changed, 1994 insertions(+), 1902 deletions(-) create mode 100644 Samples/Brain/Foraging.asset rename Samples/Brain/{New Cluster Prefab.asset.meta => Foraging.asset.meta} (100%) delete mode 100644 Samples/Brain/Foraging_old.asset delete mode 100644 Samples/Brain/Foraging_old.asset.meta delete mode 100644 Samples/Brain/New Cluster Prefab.asset diff --git a/NanoBrain/Editor/ClusterEditor.cs b/NanoBrain/Editor/ClusterEditor.cs index 3086b0a..b67650c 100644 --- a/NanoBrain/Editor/ClusterEditor.cs +++ b/NanoBrain/Editor/ClusterEditor.cs @@ -81,6 +81,7 @@ namespace NanoBrain { // So we create a temporary instance //this.currentCluster = new(prefab); this.currentCluster = prefab.cluster; + this.currentCluster.Refresh(); } public void SetGraph(GameObject gameObject, VisualElement inspectorContainer) { @@ -227,10 +228,8 @@ namespace NanoBrain { bool connecting = GUILayout.Button("Add Output Neuron"); if (connecting) { - Nucleus newOutput = new Neuron(this.prefab.cluster, "New Output"); - // Regenerate the temporary clsuter instance - // See also the constructor - this.currentCluster = new(this.prefab); + Nucleus newOutput = new Neuron(this.currentCluster, "New Output"); + this.currentCluster.Refresh(); this.currentNucleus = newOutput; this.selectedOutput = this.currentNucleus; } @@ -358,8 +357,6 @@ namespace NanoBrain { 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.parent.prefab.cluster.nuclei[newIndex] as Neuron; ChangeSynapse(synapse, newNeuron); } @@ -523,22 +520,6 @@ namespace NanoBrain { return connecting; } - // protected virtual void DisconnectNucleus(Neuron nucleus) { - // if (this.currentNucleus.parent.prefab == 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.parent.prefab.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; diff --git a/NanoBrain/Runtime/Scripts/Core/Cluster.cs b/NanoBrain/Runtime/Scripts/Core/Cluster.cs index 9106984..8077e04 100644 --- a/NanoBrain/Runtime/Scripts/Core/Cluster.cs +++ b/NanoBrain/Runtime/Scripts/Core/Cluster.cs @@ -618,7 +618,7 @@ namespace NanoBrain { if (neuron.synapses.Count == 0) this._inputs.Add(nucleus); } - RefreshComputeOrders(); + RefreshComputeOrders(); } return this._inputs; } @@ -766,6 +766,14 @@ namespace NanoBrain { } } + public Neuron GetNeuron(string neuronName) { + foreach (Nucleus nucleus in this.nuclei) { + if (nucleus is Neuron neuron && neuron.name == neuronName) + return neuron; + } + return null; + } + public bool DeleteNucleus(Nucleus nucleus) { if (this.nuclei.Contains(nucleus) == false) { // Try to find the nucleus by name @@ -875,12 +883,12 @@ namespace NanoBrain { List computeOrder = this.computeOrders[startNucleus]; //if (startNucleus.trace) - Debug.Log($"Update from {startNucleus.name}"); + // Debug.Log($"Update from {startNucleus.name}"); foreach (Nucleus nucleus in computeOrder) { if (nucleus is not Cluster) { nucleus.UpdateStateIsolated(); //if (startNucleus.trace && nucleus is Neuron neuron) - Debug.Log($" {nucleus.name}"); + // Debug.Log($" {nucleus.name}"); if (nucleus is Neuron neuron) { foreach (Nucleus receiver in neuron.receivers) { if (receiver.parent != this) { @@ -910,6 +918,12 @@ namespace NanoBrain { #endregion Update public void Refresh() { + // This should not be needed, but somehow somewhere the parent is changed... + foreach (Nucleus nucleus in this.nuclei) { + if (nucleus is not Neuron neuron) + continue; + neuron.parent = this; + } RefreshOutputs(); RefreshComputeOrders(); } diff --git a/NanoBrain/Runtime/Scripts/Core/Neuron.cs b/NanoBrain/Runtime/Scripts/Core/Neuron.cs index 02fa2df..b5dcc66 100644 --- a/NanoBrain/Runtime/Scripts/Core/Neuron.cs +++ b/NanoBrain/Runtime/Scripts/Core/Neuron.cs @@ -104,6 +104,7 @@ namespace NanoBrain { /// public virtual void SetBias(Vector3 inputValue) { this.bias = inputValue; + this.lastUpdate = Time.time; this.parent?.UpdateFromNucleus(this); } @@ -277,7 +278,7 @@ namespace NanoBrain { #endif public bool isFiring { get { - SleepCheck(); + //SleepCheck(); return this.outputMagnitude > 0.5f; } } @@ -384,13 +385,15 @@ namespace NanoBrain { var result = Combinator(); this.outputValue = Activator(result); this.lastUpdate = Time.time; + // Debug.Log($"Update Neuron {this.name}"); } protected void CheckSleepingSynapses() { foreach (Synapse synapse in this.synapses) { - if (synapse.isSleeping) { - synapse.neuron.outputValue = Vector3.zero; - } + synapse.neuron.SleepCheck(); + // if (synapse.isSleeping) { + // synapse.neuron.outputValue = Vector3.zero; + // } } } diff --git a/Runtime/Scripts/Ant.cs b/Runtime/Scripts/Ant.cs index 219d5c8..99f272b 100644 --- a/Runtime/Scripts/Ant.cs +++ b/Runtime/Scripts/Ant.cs @@ -32,9 +32,6 @@ namespace CreatureControl { public AntennaTouch touchRight; public Brain nanoBrain; - // brain output - public Neuron targetDirection; - public Neuron hasFood; // brain input @@ -46,11 +43,13 @@ namespace CreatureControl { public Neuron beat; public Neuron pheromoneSteering; - public Neuron hitLeft; - public Neuron hitRight; public Neuron foodReceptor; public Neuron homeReceptor; + // brain output + public Neuron targetDirection; + public Neuron hasFood; + public Vector3 linearVelocity; // = Vector3.forward; public Vector3 angularVelocity; @@ -64,10 +63,9 @@ namespace CreatureControl { 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.beat = brain.GetNeuron("Beat"); + touchLeft.receptor = brain.GetNucleus("Hit Left") as Neuron; + touchRight.receptor = 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; @@ -87,24 +85,17 @@ namespace CreatureControl { Cluster brain = this.nanoBrain.brain; if (brain != null) { - // Try to find the Home Pheromones Neuron if (brain.GetNucleus("Home Pheromones") is Neuron homePheromones) // and call PlaceHomePheromone when it is firing homePheromones.WhenFiring += PlaceHomePheromone; // Try to find the Food Pheromones Neuron - if (brain.GetNucleus("Food Pheromones") is Neuron foodPheromones) + Neuron foodPheromones = brain.GetNeuron("Food Pheromones"); + if (foodPheromones != null) // and call PlaceFoodPheromone when it is firing foodPheromones.WhenFiring += PlaceFoodPheromone; - } - // Initialize the callbacks for the antenna colliders - if (touchLeft != null) - touchLeft.touched += OnAntennaTouchLeft; - if (touchRight != null) - touchRight.touched += OnAntennaTouchRight; - StartCoroutine(Beat()); } @@ -124,7 +115,7 @@ namespace CreatureControl { public override void Update() { base.Update(); - //UpdateSmell(); + UpdateSmell(); UpdateMovement(); } @@ -136,7 +127,7 @@ namespace CreatureControl { if (this.targetDirection == null || this.animator == null) return; - Vector3 movementDir = this.targetDirection.outputValue; + Vector3 movementDir = Quaternion.Euler(0, 180, 0) * this.targetDirection.outputValue; this.linearVelocity = (1 - this.inertia) * (Time.deltaTime * movementDir.normalized) + this.inertia * this.linearVelocity; @@ -177,8 +168,8 @@ namespace CreatureControl { SmellFood(collider); SmellHome(collider); } - if (nanoBrain != null && nanoBrain.brain != null) - nanoBrain.brain.UpdateNuclei(); + // if (nanoBrain != null && nanoBrain.brain != null) + // nanoBrain.brain.UpdateNuclei(); } void SmellPheromones(Collider thing) { @@ -215,7 +206,7 @@ namespace CreatureControl { Vector3 smellDirection = this.transform.InverseTransformPoint(food.transform.position); float distance = smellDirection.magnitude; - float angle = Vector3.Angle(Vector3.forward, smellDirection); + float angle = Vector3.Angle(Vector3.back, smellDirection); if (angle < smellAngle && distance > 0.01) { float intensity = food.StrengthAt(distance); foodReceptor?.ProcessStimulus(smellDirection.normalized * intensity); //, food.GetInstanceID(), "food"); @@ -243,19 +234,6 @@ namespace CreatureControl { } } - void OnAntennaTouchLeft(Collider other, bool isTouching) { - Vector3 touchDirection = Vector3.zero; - if (isTouching) - touchDirection = this.transform.InverseTransformVector(touchLeft.transform.forward); - hitLeft?.SetBias(touchDirection); - } - void OnAntennaTouchRight(Collider other, bool isTouching) { - Vector3 touchDirection = Vector3.zero; - if (isTouching) - touchDirection = this.transform.InverseTransformVector(touchRight.transform.forward); - hitRight?.SetBias(touchDirection); - } - #endregion Update } diff --git a/Runtime/Scripts/AntennaTouch.cs b/Runtime/Scripts/AntennaTouch.cs index d9e99aa..e928d3b 100644 --- a/Runtime/Scripts/AntennaTouch.cs +++ b/Runtime/Scripts/AntennaTouch.cs @@ -1,17 +1,22 @@ -using System; using UnityEngine; +using NanoBrain; +using CreatureControl; -public class AntennaTouch : MonoBehaviour -{ - public Action touched; +public class AntennaTouch : MonoBehaviour { + public Neuron receptor; + public Insect insect; - // void OnTriggerEnter(Collider other) { - // touched?.Invoke(other, true); - // } - void OnTriggerStay(Collider other) { - touched?.Invoke(other, true); + protected virtual void Awake() { + this.insect = GetComponentInParent(); } + + void OnTriggerStay(Collider other) { + Vector3 touchDirection = this.insect.transform.InverseTransformVector(this.transform.forward); + receptor?.SetBias(touchDirection); + } + // Perhaps I can leave this out and use the sleep state? void OnTriggerExit(Collider other) { - touched?.Invoke(other, false); + Vector3 touchDirection = Vector3.zero; + receptor?.SetBias(touchDirection); } } diff --git a/Runtime/Scripts/Mouth.cs b/Runtime/Scripts/Mouth.cs index 80e6ac9..89c48e0 100644 --- a/Runtime/Scripts/Mouth.cs +++ b/Runtime/Scripts/Mouth.cs @@ -18,7 +18,7 @@ namespace CreatureControl { if (nanoBrain.brain.GetNucleus("Mouth") is Neuron mouthNeuron) mouthNeuron.WhenFiring += CheckGrab; - this.havingFood = nanoBrain.brain.GetNucleus("Having Food") as Neuron; + this.havingFood = nanoBrain.brain.GetNeuron("Having Food"); } void Start() { @@ -28,6 +28,7 @@ namespace CreatureControl { protected void CheckGrab() { if (havingFood == null) return; + Collider[] colliders = Physics.OverlapSphere(this.transform.position, 0.04f); foreach (Collider c in colliders) { if (havingFood.outputValue.x > 0) { diff --git a/Samples/Brain/Foraging.asset b/Samples/Brain/Foraging.asset new file mode 100644 index 0000000..2509e82 --- /dev/null +++ b/Samples/Brain/Foraging.asset @@ -0,0 +1,590 @@ +%YAML 1.1 +%TAG !u! tag:unity3d.com,2011: +--- !u!114 &11400000 +MonoBehaviour: + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + m_GameObject: {fileID: 0} + m_Enabled: 1 + m_EditorHideFlags: 0 + m_Script: {fileID: 11500000, guid: 60a957541c24c57e78018c202ebb1d9b, type: 3} + m_Name: Foraging + m_EditorClassIdentifier: + cluster: + name: Foraging + parent: + rid: -2 + prefab: {fileID: 11400000} + instanceCount: 1 + nuclei: + - 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