NanoBrain/NanoBrain-unitypackage
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Pheromones WIP

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This commit is contained in:
Pascal Serrarens 2026-05-05 17:37:59 +02:00
parent 10d99bce87
commit 7fb23e9b89
13 changed files with 1994 additions and 1902 deletions
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25
NanoBrain/Editor/ClusterEditor.cs
View File

@ -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;

18
NanoBrain/Runtime/Scripts/Core/Cluster.cs
View File

@ -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<Nucleus> 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();
}

11
NanoBrain/Runtime/Scripts/Core/Neuron.cs
View File

@ -104,6 +104,7 @@ namespace NanoBrain {
/// <param name="inputValue"></param>
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;
// }
}
}

50
Runtime/Scripts/Ant.cs
View File

@ -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
}

23
Runtime/Scripts/AntennaTouch.cs
View File

@ -1,17 +1,22 @@
using System;
using UnityEngine;
using NanoBrain;
using CreatureControl;
public class AntennaTouch : MonoBehaviour
{
public Action<Collider, bool> touched;
public class AntennaTouch : MonoBehaviour {
public Neuron receptor;
public Insect insect;
protected virtual void Awake() {
this.insect = GetComponentInParent<Insect>();
}
// void OnTriggerEnter(Collider other) {
// touched?.Invoke(other, true);
// }
void OnTriggerStay(Collider other) {
touched?.Invoke(other, true);
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);
}
}

3
Runtime/Scripts/Mouth.cs
View File

@ -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) {

590
Samples/Brain/Foraging.asset Normal file
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@ -0,0 +1,590 @@
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