It works again (without nucleus array)

Assembly-CSharp.csproj

@@ -79,6 +79,7 @@
     <Compile Include="Assets/NanoBrain/LinearAlgebra/src/SwingTwist.cs" />
     <Compile Include="Assets/NanoBrain/LinearAlgebra/test/SphericalTest.cs" />
     <Compile Include="Assets/NanoBrain/Cluster.cs" />
+    <Compile Include="Assets/NanoBrain/Synapse.cs" />
     <Compile Include="Assets/NanoBrain/LinearAlgebra/test/Vector3IntTest.cs" />
     <Compile Include="Assets/NanoBrain/Neuroid.cs" />
     <Compile Include="Assets/NanoBrain/LinearAlgebra/src/Angle.cs" />

Assets/NanoBrain/Cluster.cs

@@ -4,27 +4,29 @@ using UnityEngine;
 [CreateAssetMenu(menuName = "Passer/Cluster")]
 public class Cluster : ScriptableObject, INucleus {
  
-    // private string _name;
-    // public new string name {
-    //     get { return _name; }
-    //     set { _name = value; }
-    // }
-
     public Cluster cluster => this;
 
-    public List<Nucleus> nuclei = new();
+    [SerializeReference]
+    public List<INucleus> nuclei = new();
 
-    public Nucleus output => this.nuclei[0];
+    public INucleus output => this.nuclei[0];
 
-    [SerializeField]
+    //private readonly List<INucleus> _inputs = new();
-    private readonly List<Synapse> _synapses = new(); // = inputs, compare receptors in NanoBrain
+    public List<INucleus> inputs { // = compare receptors in NanoBrain
+        // for now all nuclei are inputs
+        get { return this.nuclei; }
+    }
+
+    // The synapses of all inputs
+    private readonly List<Synapse> _synapses = new();
     public List<Synapse> synapses => _synapses;
 
+
     // 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>();
+        nuclei ??= new List<INucleus>();
         if (nuclei.Count == 0)
             new Neuroid(this, "Output"); // Every cluster should have at least 1 neuroid       
     }
@@ -36,12 +38,12 @@ public class Cluster : ScriptableObject, INucleus {
     public void RemoveReceiver(INucleus receiver) {
         output.RemoveReceiver(receiver);
     }
-    public List<Receiver> receivers {
+    public List<INucleus> receivers {
         get => output.receivers;
     }
 
-    public void AddSynapse(INucleus sender) {
+    public void AddSynapse(IReceptor sender) {
-        Synapse synapse = new (sender, 1.0f);
+        Synapse synapse = new(sender, 1.0f);
         synapses.Add(synapse);
     }
 
@@ -63,17 +65,18 @@ public class Cluster : ScriptableObject, INucleus {
             foreach (Synapse synapse in nucleus.synapses) {
                 if (synapse != null && synapse.nucleus != null) {
                     visitedSynapses.Add(synapse);
-                    MarkNuclei(visitedNuclei, synapse.nucleus);
+                    if (synapse.nucleus is INucleus synapse_nucleus)
+                        MarkNuclei(visitedNuclei, synapse_nucleus);
                 }
             }
             nucleus.synapses.RemoveAll(synapse => visitedSynapses.Contains(synapse) == false);
         }
         if (nucleus.receivers != null) {
-            HashSet<Receiver> visitedReceivers = new();
+            HashSet<INucleus> visitedReceivers = new();
-            foreach (Receiver receiver in nucleus.receivers) {
+            foreach (INucleus receiver in nucleus.receivers) {
-                if (receiver != null && receiver.nucleus != null) {
+                if (receiver != null && receiver != null) {
                     visitedReceivers.Add(receiver);
-                    visitedNuclei.Add(receiver.nucleus);
+                    visitedNuclei.Add(receiver);
                 }
             }
             nucleus.receivers.RemoveAll(receiver => visitedReceivers.Contains(receiver) == false);
@@ -91,5 +94,17 @@ public class Cluster : ScriptableObject, INucleus {
         // it is not, I should take inputs from the synapses and route them to the right internal nuclei
     }
 
+    public void UpdateNuclei() {
+        foreach (INucleus nucleus in nuclei)
+            nucleus.IncreaseAge();
+
+    }
+
+    public void IncreaseAge() {
+        foreach (INucleus nucleus in nuclei)
+            nucleus.IncreaseAge();        
+    }
+    // ha ha ha
+
     #endregion Dynamics
 }

Assets/NanoBrain/INucleus.cs

@@ -1,33 +1,45 @@
 using System.Collections.Generic;
 using UnityEngine;
 
-public interface INucleus {
+public interface INucleus : IReceptor {
 
     #region static struct
 
-    public string name { get; set; }
-
     // Cluster
     public Cluster cluster { get; }
 
-    // Receivers
-    public List<Receiver> receivers { get; }
-    public void AddReceiver(INucleus receiver);
-    public void RemoveReceiver(INucleus receiverNucleus);
-
     // Senders
     public List<Synapse> synapses { get; }
-    public void AddSynapse(INucleus sender);
+    public void AddSynapse(IReceptor sender);
 
     #endregion static struct
 
     #region dynamic state
 
-    public bool isSleeping { get; }
-
-    public Vector3 outputValue { get; }
-
     public void UpdateState();
 
+    public void IncreaseAge();
+
     #endregion dynamic state
 }
+
+public interface IReceptor {
+    #region static
+
+    public string name { get; set; }
+
+    // Receivers
+    public List<INucleus> receivers { get; }
+    public void AddReceiver(INucleus receiver);
+    public void RemoveReceiver(INucleus receiverNucleus);
+
+    #endregion static
+
+    #region dynamic
+
+    public Vector3 outputValue { get; }
+
+    public bool isSleeping { get; }
+
+    #endregion dynamic
+}

Assets/NanoBrain/Neuroid.cs

@@ -2,49 +2,8 @@ using UnityEngine;
 
 [System.Serializable]
 public class Neuroid : Nucleus {
-    public enum CurvePresets {
-        Linear,
-        Power,
-        Sqrt,
-        Reciprocal,
-        Custom
-    }
-    [SerializeField]
-    private CurvePresets _curvePreset;
-    public CurvePresets curvePreset {
-        get { return _curvePreset; }
-        set {
-            _curvePreset = value;
-            this.curve = GenerateCurve();
-        }
-    }
-    public AnimationCurve curve;
-    public float curveMax = 1.0f;
-
-    public AnimationCurve GenerateCurve() {
-        switch (this.curvePreset) {
-            case CurvePresets.Linear:
-                this.curveMax = 1;
-                return Synapse.Presets.Linear(1);
-            case CurvePresets.Power:
-                this.curveMax = 1;
-                return Synapse.Presets.Power(2.0f, 1);
-            case CurvePresets.Sqrt:
-                this.curveMax = 1;
-                return Synapse.Presets.Power(0.5f, 1);
-            case CurvePresets.Reciprocal:
-                this.curveMax = 1 / 0.01f * 1;
-                return Synapse.Presets.Reciprocal(1);
-            default:
-                this.curveMax = 1;
-                return this.curve;
-        }
-    }
 
     public bool average = false;
-    public bool inverse = false;
-    public float exponent = 1.0f;
-
 
     public Neuroid(Cluster brain, string name) : base(name) {
         this.cluster = brain;

Assets/NanoBrain/Nucleus.cs

@@ -19,26 +19,65 @@ public class Nucleus : INucleus {
     private List<Synapse> _synapses = new();
     public List<Synapse> synapses => _synapses;
 
-    [SerializeField]
+    [SerializeReference]
-    private List<Receiver> _receivers = new();
+    private List<INucleus> _receivers = new();
-    public List<Receiver> receivers => _receivers;
+    public List<INucleus> receivers => _receivers;
 
     #region Serialization
 
     [SerializeField]
     protected string nucleusType;
 
+    public enum CurvePresets {
+        Linear,
+        Power,
+        Sqrt,
+        Reciprocal,
+        Custom
+    }
+    [SerializeField]
+    private CurvePresets _curvePreset;
+    public CurvePresets curvePreset {
+        get { return _curvePreset; }
+        set {
+            _curvePreset = value;
+            this.curve = GenerateCurve();
+        }
+    }
+    public AnimationCurve curve;
+    public float curveMax = 1.0f;
+
+    public AnimationCurve GenerateCurve() {
+        switch (this.curvePreset) {
+            case CurvePresets.Linear:
+                this.curveMax = 1;
+                return Synapse.Presets.Linear(1);
+            case CurvePresets.Power:
+                this.curveMax = 1;
+                return Synapse.Presets.Power(2.0f, 1);
+            case CurvePresets.Sqrt:
+                this.curveMax = 1;
+                return Synapse.Presets.Power(0.5f, 1);
+            case CurvePresets.Reciprocal:
+                this.curveMax = 1 / 0.01f * 1;
+                return Synapse.Presets.Reciprocal(1);
+            default:
+                this.curveMax = 1;
+                return this.curve;
+        }
+    }
+
     public virtual void Rebuild(NanoBrain brain) {
         if (this.synapses != null) {
             foreach (Synapse synapse in synapses)
                 synapse.Rebuild(brain);
         }
-        foreach (Receiver receiver in receivers.ToArray()) {
+        // foreach (INucleus receiver in receivers.ToArray()) {
-            if (receiver.Rebuild(brain) == false) {
+        //     if (receiver.Rebuild(brain) == false) {
-                Debug.Log("Rebuilding failed, removing receiver.");
+        //         Debug.Log("Rebuilding failed, removing receiver.");
-                receivers.Remove(receiver);
+        //         receivers.Remove(receiver);
-            }
+        //     }
-        }
+        // }
     }
 
     public static Nucleus RebuildType(NanoBrain brain, Nucleus nucleus) {
@@ -63,8 +102,7 @@ public class Nucleus : INucleus {
     public Cluster cluster { get; set; }
 
     private Vector3 _outputValue;
-    public Vector3 outputValue
+    public Vector3 outputValue {
-    {
         get { return _outputValue; }
         set {
             this.stale = 0;
@@ -96,30 +134,33 @@ public class Nucleus : INucleus {
     }
 
     public virtual void AddReceiver(INucleus receivingNucleus) {
-        this.receivers.Add(new Receiver(receivingNucleus));
+        // this.receivers.Add(new Receiver(receivingNucleus));
+        this.receivers.Add(receivingNucleus);
         //receivingNucleus.SetWeight(this, 1.0f);
         receivingNucleus.AddSynapse(this);
     }
 
     public void RemoveReceiver(INucleus receiverNucleus) {
-        this.receivers.RemoveAll(receiver => receiver.nucleus == receiverNucleus);
+        this.receivers.RemoveAll(receiver => receiver == receiverNucleus);
         receiverNucleus.synapses.RemoveAll(synapse => synapse.nucleus == this);
     }
 
     public static void Delete(INucleus nucleus) {
         foreach (Synapse synapse in nucleus.synapses) {
-            if (synapse.nucleus.receivers.Count > 1) {
+            if (synapse.nucleus is Nucleus synapse_nucleus) {
-                // there is another nucleus feeding into this input nucleus
+                if (synapse_nucleus.receivers.Count > 1) {
-                synapse.nucleus.receivers.RemoveAll(r => r.nucleus == nucleus);
+                    // there is another nucleus feeding into this input nucleus
-            }
+                    synapse_nucleus.receivers.RemoveAll(r => r == nucleus);
-            else {
+                }
-                // No other links, delete it.
+                else {
-                Nucleus.Delete(synapse.nucleus);
+                    // No other links, delete it.
+                    Nucleus.Delete(synapse_nucleus);
+                }
             }
         }
-        foreach (Receiver receiver in nucleus.receivers) {
+        foreach (INucleus receiver in nucleus.receivers) {
-            if (receiver.nucleus != null && receiver.nucleus.synapses != null)
+            if (receiver != null && receiver.synapses != null)
-                receiver.nucleus.synapses.RemoveAll(s => s.nucleus == nucleus);
+                receiver.synapses.RemoveAll(s => s.nucleus == nucleus);
         }
 
         if (nucleus.cluster != null) {
@@ -141,7 +182,7 @@ public class Nucleus : INucleus {
         return false;
     }
 
-    public void AddSynapse(INucleus sendingNucleus) {
+    public void AddSynapse(IReceptor sendingNucleus) {
         Synapse synapse = new(sendingNucleus, 1.0f);
         this.synapses.Add(synapse);
     }
@@ -166,146 +207,36 @@ public class Nucleus : INucleus {
         // }
 
         this.outputValue = result;
-        foreach (Receiver receiver in this.receivers)
+        foreach (INucleus receiver in this.receivers)
-            receiver.nucleus.UpdateState();
+            receiver.UpdateState();
 
     }
 }
 
-[Serializable]
+// [Serializable]
-public class Synapse {
+// public class Receiver {
-    [NonSerialized]
+//     [NonSerialized]
-    public INucleus nucleus;
+//     public INucleus nucleus;
-    public Cluster cluster;
+//     //public int nucleusId;
-    public int nucleusId;
-    public float weight;
 
-    public enum CurvePresets {
+//     public Receiver(INucleus nucleus) {
-        Linear,
+//         this.nucleus = nucleus;
-        Power,
+//         //this.nucleusId = nucleus.id;
-        Sqrt,
+//     }
-        Reciprocal,
-        Custom
-    }
-    // public CurvePresets curvePreset;
-    // public AnimationCurve curve;
-    public float curveMax = 1.0f;
 
-    public Synapse(INucleus nucleus, float weight) {
+//     public bool Rebuild(NanoBrain brain) {
-        this.nucleus = nucleus;
+//         if (brain == null) {
-        //this.nucleusId = nucleus.id;
+//             return false;
-        this.weight = weight;
+//         }
-    }
 
-    public void Rebuild(NanoBrain brain) {
+//         // Use SerializedReference instead?
-        if (brain == null) {
+//         // foreach (Nucleus nucleus in brain.nuclei) {
-            return;
+//         //     if (nucleus.id == this.nucleusId) {
-        }
+//         //         this.nucleus = nucleus;
-
+//         //         return true;
-        foreach (Nucleus nucleus in brain.nuclei) {
+//         //     }
-            if (nucleus.id == this.nucleusId) {
+//         // }
-                this.nucleus = nucleus;
+//         //Debug.LogWarning($"Receiver deserialization error: could not find nucleus with id {this.nucleusId}");
-                return;
+//         return false;
-            }
+//     }
-        }
+// }
-        foreach (Perceptoid perceptoid in brain.perceptei) {
-            if (perceptoid.id == this.nucleusId) {
-                this.nucleus = perceptoid;
-                return;
-            }
-        }
-        Debug.LogError($"Synapse deserialization error: could not find nucleus with id {this.nucleusId}");
-    }
-
-    // public AnimationCurve GenerateCurve() {
-    //     switch (this.curvePreset) {
-    //         case CurvePresets.Linear:
-    //             this.curveMax = this.weight;
-    //             return Presets.Linear(this.weight);
-    //         case CurvePresets.Power:
-    //             this.curveMax = this.weight;
-    //             return Presets.Power(2.0f, this.weight);
-    //         case CurvePresets.Sqrt:
-    //             this.curveMax = this.weight;
-    //             return Presets.Power(0.5f, this.weight);
-    //         case CurvePresets.Reciprocal:
-    //             this.curveMax = 1 / 0.01f * this.weight;
-    //             return Presets.Reciprocal(this.weight);
-    //         default:
-    //             this.curveMax = weight;
-    //             return AnimationCurve.Constant(0, 1, weight);
-    //     }
-    // }
-
-    public static class Presets {
-        private const int samples = 32;
-        public static AnimationCurve Linear(float weight) {
-            return AnimationCurve.Linear(0f, 0f, 1000f, weight * 1000);
-        }
-        public static AnimationCurve Power(float exponent, float weight) {
-            // build keyframes
-            Keyframe[] keys = new Keyframe[samples];
-            for (int i = 0; i < samples; i++) {
-                float t = i / (float)(samples - 1);
-                float v = Mathf.Pow(t, exponent) * weight;
-                keys[i] = new Keyframe(t, v);
-            }
-
-            AnimationCurve curve = new(keys);
-
-            // set tangent modes for each key to Auto (smooth). Use Linear if you prefer straight segments.
-            for (int i = 0; i < curve.length; i++) {
-                AnimationUtility.SetKeyLeftTangentMode(curve, i, AnimationUtility.TangentMode.Auto);
-                AnimationUtility.SetKeyRightTangentMode(curve, i, AnimationUtility.TangentMode.Auto);
-            }
-
-            return curve;
-        }
-        public static AnimationCurve Reciprocal(float weight) {
-            int samples = 128;
-            float xMin = 0.001f;
-            float xMax = 1;
-            var keys = new Keyframe[samples];
-            for (int i = 0; i < samples; i++) {
-                float t = i / (float)(samples - 1);
-                float x = Mathf.Lerp(xMin, xMax, t);
-                float y = 1f / x * weight;
-                keys[i] = new Keyframe(x, y);
-            }
-            var curve = new AnimationCurve(keys);
-            for (int i = 0; i < curve.length; i++) {
-                AnimationUtility.SetKeyLeftTangentMode(curve, i, AnimationUtility.TangentMode.Linear);
-                AnimationUtility.SetKeyRightTangentMode(curve, i, AnimationUtility.TangentMode.Linear);
-            }
-            return curve;
-        }
-    }
-}
-
-[Serializable]
-public class Receiver {
-    [NonSerialized]
-    public INucleus nucleus;
-    //public int nucleusId;
-
-    public Receiver(INucleus nucleus) {
-        this.nucleus = nucleus;
-        //this.nucleusId = nucleus.id;
-    }
-
-    public bool Rebuild(NanoBrain brain) {
-        if (brain == null) {
-            return false;
-        }
-
-        // Use SerializedReference instead?
-        // foreach (Nucleus nucleus in brain.nuclei) {
-        //     if (nucleus.id == this.nucleusId) {
-        //         this.nucleus = nucleus;
-        //         return true;
-        //     }
-        // }
-        //Debug.LogWarning($"Receiver deserialization error: could not find nucleus with id {this.nucleusId}");
-        return false;
-    }
-}

Assets/NanoBrain/Perceptoid.cs

@@ -36,19 +36,19 @@ public class Perceptoid : Neuroid {
             this.receptor.thingType = perceptoid.thingType;
 
         // Point all receivers to this perceptoid instead of the default nucleus
-        foreach (Receiver receiver in nucleus.receivers) {
+        foreach (INucleus receiver in nucleus.receivers) {
-            foreach (Synapse synapse in receiver.nucleus.synapses) {
+            foreach (Synapse synapse in receiver.synapses) {
                 if (synapse.nucleus == nucleus)
                     synapse.nucleus = this;
             }
         }
         // Point all synapses to this perceptoid instead of the default nucleus
-        foreach (Synapse synapse in nucleus.synapses) {
+        // foreach (Synapse synapse in nucleus.synapses) {
-            foreach (Receiver receiver in synapse.nucleus.receivers) {
+        //     foreach (INucleus r in synapse.nucleus.receivers) {
-                if (receiver.nucleus == nucleus)
+        //         if (r == nucleus)
-                    receiver.nucleus = this;
+        //             this.receiver = this;
-            }
+        //     }
-        }
+        // }
         // Copying disabled for now        
         // // Copy all the synapses
         // this.synapses = nucleus.synapses;

Assets/NanoBrain/Receptor.cs

@@ -2,7 +2,36 @@ using System.Collections.Generic;
 using UnityEngine;
 using LinearAlgebra;
 
-public class Receptor {
+public class Receptor : IReceptor {
+    [SerializeField]
+    protected string _name;
+    public virtual string name {
+        get => _name;
+        set => _name = value;
+    }
+
+    public Cluster cluster;
+    //public INucleus nucleus;
+
+    //[SerializeField]
+    [SerializeReference]
+    private List<INucleus> _receivers = new();
+    public List<INucleus> receivers => _receivers;
+
+    public virtual void AddReceiver(INucleus receivingNucleus) {
+        //this.receivers.Add(new Receiver(receivingNucleus));
+        this.receivers.Add(receivingNucleus);
+        //receivingNucleus.SetWeight(this, 1.0f);
+        receivingNucleus.AddSynapse(this);
+    }
+
+    public void RemoveReceiver(INucleus receiverNucleus) {
+        this.receivers.RemoveAll(receiver => receiver == receiverNucleus);
+        receiverNucleus.synapses.RemoveAll(synapse => synapse.nucleus == this);
+    }
+
+    public bool isSleeping => false;
+
     /// <summary>
     /// The list of perceptoid which can process stimuli from this receptor
     /// </summary>
@@ -22,12 +51,26 @@ public class Receptor {
     public float distanceResolution = 0.1f;
     public float directionResolution = 5;
 
+    public Vector3 outputValue {
+        get { return localPosition; }
+        set {
+            localPosition = value;
+        }
+    }
+
+
     public Receptor(NanoBrain brain, int thingType) {
         this.thingType = thingType;
         //this.perceptei.Add(perceptoid);
         brain.receptors.Add(this);
     }
 
+    public Receptor(Cluster cluster, INucleus nucleus) {
+        this.cluster = cluster;
+        //nucleus.AddSynapse(this);
+        this.AddReceiver(nucleus);
+    }
+
     public static Receptor GetReceptor(NanoBrain brain, int thingType) {
         foreach (Receptor receptor in brain.receptors) {
             if (thingType == 0 || receptor.thingType == thingType)
@@ -37,46 +80,68 @@ public class Receptor {
         return newReceptor;
     }
 
+    public static Receptor CreateReceptor(Cluster cluster, string nucleusName) {
+        if (cluster == null)
+            return null;
+
+        foreach (INucleus nucleus in cluster.inputs) {
+            if (nucleus != null && nucleus.name == nucleusName) {
+                Receptor receptor = new(cluster, nucleus);
+                return receptor;
+            }
+        }
+        return null;
+    }
+
     public virtual void ProcessStimulus(int thingId, Vector3 newLocalPositionVector, string thingName = null) {
         this.localPosition = newLocalPositionVector;
 
-        Perceptoid selectedPerceptoid = null;
+        INucleus selectedReceiver = null;
-        foreach (Perceptoid perceptoid in this.perceptei) {
+        foreach (INucleus receiver in this.receivers) {
-            if (perceptoid.thingId == thingId) {
+            selectedReceiver = receiver;
-                // We found an existing perceptoid for this thing
-                selectedPerceptoid = perceptoid;
-                // Do not look any further
-
-                break;
-            }
-            else if (perceptoid.isSleeping) {
-                // A sleeping perceptoid is not active and can therefore always be reused
-                selectedPerceptoid = perceptoid;
-                // Look further because we could find a existing perceptoid for this thing
-            }
-
-            else if (selectedPerceptoid == null) {
-                // If we haven't found a perceptoid yet, just start by taking the first
-                selectedPerceptoid = perceptoid;
-            }
-
-            else if (selectedPerceptoid.isSleeping == false) {
-                // If no existing or sleeping perceptoid is found, we look for the perceptoid
-                // we the furthest (least interesting) stimulus
-                if (perceptoid.receptor.localPosition.magnitude < selectedPerceptoid.receptor.localPosition.magnitude) {
-                    Debug.Log($"{selectedPerceptoid.name} {selectedPerceptoid.receptor.localPosition.magnitude} {perceptoid.receptor.localPosition.magnitude} ");
-                    selectedPerceptoid = perceptoid;
-                }
-            }
         }
-        if (selectedPerceptoid == null) {
+        // selectedReceiver.thingId = thingId;
-            Debug.Log("No perceptoid selected, stimulus is ignored");
+        // if (thingName != null)
-            return;
+        //     selectedReceiver.nucleus.name = selectedReceiver.nucleus.baseName + " " + thingName;
-        }
+        selectedReceiver.UpdateState();
-        // Debug.Log($"Stimulus {thingType} {thingId} {selectedPerceptoid.name}");
+
-        selectedPerceptoid.thingId = thingId;
+        // Perceptoid selectedPerceptoid = null;
-        if (thingName != null)
+        // foreach (Perceptoid perceptoid in this.perceptei) {
-            selectedPerceptoid.name = selectedPerceptoid.baseName + " " + thingName;
+        //     if (perceptoid.thingId == thingId) {
-        selectedPerceptoid.UpdateState();
+        //         // We found an existing perceptoid for this thing
+        //         selectedPerceptoid = perceptoid;
+        //         // Do not look any further
+
+        //         break;
+        //     }
+        //     else if (perceptoid.isSleeping) {
+        //         // A sleeping perceptoid is not active and can therefore always be reused
+        //         selectedPerceptoid = perceptoid;
+        //         // Look further because we could find a existing perceptoid for this thing
+        //     }
+
+        //     else if (selectedPerceptoid == null) {
+        //         // If we haven't found a perceptoid yet, just start by taking the first
+        //         selectedPerceptoid = perceptoid;
+        //     }
+
+        //     else if (selectedPerceptoid.isSleeping == false) {
+        //         // If no existing or sleeping perceptoid is found, we look for the perceptoid
+        //         // we the furthest (least interesting) stimulus
+        //         if (perceptoid.receptor.localPosition.magnitude < selectedPerceptoid.receptor.localPosition.magnitude) {
+        //             Debug.Log($"{selectedPerceptoid.name} {selectedPerceptoid.receptor.localPosition.magnitude} {perceptoid.receptor.localPosition.magnitude} ");
+        //             selectedPerceptoid = perceptoid;
+        //         }
+        //     }
+        // }
+        // if (selectedPerceptoid == null) {
+        //     Debug.Log("No perceptoid selected, stimulus is ignored");
+        //     return;
+        // }
+        // // Debug.Log($"Stimulus {thingType} {thingId} {selectedPerceptoid.name}");
+        // selectedPerceptoid.thingId = thingId;
+        // if (thingName != null)
+        //     selectedPerceptoid.name = selectedPerceptoid.baseName + " " + thingName;
+        // selectedPerceptoid.UpdateState();
     }
 }

Assets/NanoBrain/Synapse.cs

@@ -0,0 +1,115 @@
+using System;
+using UnityEngine;
+using UnityEditor;
+
+[Serializable]
+public class Synapse {
+    //[NonSerialized]
+    [SerializeReference]
+    public IReceptor nucleus;
+    [SerializeReference]
+    public Cluster cluster;
+    //public int nucleusId;
+    public float weight;
+
+    public enum CurvePresets {
+        Linear,
+        Power,
+        Sqrt,
+        Reciprocal,
+        Custom
+    }
+    // public CurvePresets curvePreset;
+    // public AnimationCurve curve;
+    public float curveMax = 1.0f;
+
+    public Synapse(IReceptor nucleus, float weight) {
+        this.nucleus = nucleus;
+        //this.nucleusId = nucleus.id;
+        this.weight = weight;
+    }
+
+    public void Rebuild(NanoBrain brain) {
+        // if (brain == null) {
+        //     return;
+        // }
+
+        // foreach (Nucleus nucleus in brain.nuclei) {
+        //     if (nucleus.id == this.nucleusId) {
+        //         this.nucleus = nucleus;
+        //         return;
+        //     }
+        // }
+        // foreach (Perceptoid perceptoid in brain.perceptei) {
+        //     if (perceptoid.id == this.nucleusId) {
+        //         this.nucleus = perceptoid;
+        //         return;
+        //     }
+        // }
+        // Debug.LogError($"Synapse deserialization error: could not find nucleus with id {this.nucleusId}");
+    }
+
+    // public AnimationCurve GenerateCurve() {
+    //     switch (this.curvePreset) {
+    //         case CurvePresets.Linear:
+    //             this.curveMax = this.weight;
+    //             return Presets.Linear(this.weight);
+    //         case CurvePresets.Power:
+    //             this.curveMax = this.weight;
+    //             return Presets.Power(2.0f, this.weight);
+    //         case CurvePresets.Sqrt:
+    //             this.curveMax = this.weight;
+    //             return Presets.Power(0.5f, this.weight);
+    //         case CurvePresets.Reciprocal:
+    //             this.curveMax = 1 / 0.01f * this.weight;
+    //             return Presets.Reciprocal(this.weight);
+    //         default:
+    //             this.curveMax = weight;
+    //             return AnimationCurve.Constant(0, 1, weight);
+    //     }
+    // }
+
+    public static class Presets {
+        private const int samples = 32;
+        public static AnimationCurve Linear(float weight) {
+            return AnimationCurve.Linear(0f, 0f, 1000f, weight * 1000);
+        }
+        public static AnimationCurve Power(float exponent, float weight) {
+            // build keyframes
+            Keyframe[] keys = new Keyframe[samples];
+            for (int i = 0; i < samples; i++) {
+                float t = i / (float)(samples - 1);
+                float v = Mathf.Pow(t, exponent) * weight;
+                keys[i] = new Keyframe(t, v);
+            }
+
+            AnimationCurve curve = new(keys);
+
+            // set tangent modes for each key to Auto (smooth). Use Linear if you prefer straight segments.
+            for (int i = 0; i < curve.length; i++) {
+                AnimationUtility.SetKeyLeftTangentMode(curve, i, AnimationUtility.TangentMode.Auto);
+                AnimationUtility.SetKeyRightTangentMode(curve, i, AnimationUtility.TangentMode.Auto);
+            }
+
+            return curve;
+        }
+        public static AnimationCurve Reciprocal(float weight) {
+            int samples = 128;
+            float xMin = 0.001f;
+            float xMax = 1;
+            var keys = new Keyframe[samples];
+            for (int i = 0; i < samples; i++) {
+                float t = i / (float)(samples - 1);
+                float x = Mathf.Lerp(xMin, xMax, t);
+                float y = 1f / x * weight;
+                keys[i] = new Keyframe(x, y);
+            }
+            var curve = new AnimationCurve(keys);
+            for (int i = 0; i < curve.length; i++) {
+                AnimationUtility.SetKeyLeftTangentMode(curve, i, AnimationUtility.TangentMode.Linear);
+                AnimationUtility.SetKeyRightTangentMode(curve, i, AnimationUtility.TangentMode.Linear);
+            }
+            return curve;
+        }
+    }
+}

Assets/NanoBrain/Synapse.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 334a58eafccd60cbdb32f719e9e861c6

Assets/NanoBrain/VisualEditor/Editor/ClusterInspector.cs

@@ -75,7 +75,7 @@ public class ClusterInspector : Editor {
         INucleus currentNucleus;
         GameObject gameObject;
         private List<NeuroidLayer> layers = new();
-        private readonly Dictionary<INucleus, Vector2Int> neuroidPositions = new();
+        private readonly Dictionary<IReceptor, Vector2Int> neuroidPositions = new();
 
         Vector2 pan = Vector2.zero;
         //float zoom = 1f;
@@ -101,7 +101,7 @@ public class ClusterInspector : Editor {
             RegisterCallback<MouseUpEvent>(OnMouseUp);
         }
 
-        public void SetGraph(GameObject gameObject, Cluster brain, Nucleus nucleus, VisualElement inspectorContainer) {
+        public void SetGraph(GameObject gameObject, Cluster brain, INucleus nucleus, VisualElement inspectorContainer) {
             this.gameObject = gameObject;
             this.cluster = brain;
             if (Application.isPlaying == false)
@@ -135,8 +135,8 @@ public class ClusterInspector : Editor {
             NeuroidLayer currentLayer = new() { ix = layerIx };
 
             if (selectedNucleus.receivers != null) {
-                foreach (Receiver receiver in selectedNucleus.receivers) {
+                foreach (INucleus receiver in selectedNucleus.receivers) {
-                    INucleus outputNeuroid = receiver.nucleus;
+                    INucleus outputNeuroid = receiver;
                     if (outputNeuroid != null) {
                         AddToLayer(currentLayer, outputNeuroid);
                         // Debug.Log($"layer {layerIx} nucleus {outputNeuroid.name}");
@@ -158,7 +158,7 @@ public class ClusterInspector : Editor {
 
             if (selectedNucleus.synapses != null) {
                 foreach (Synapse synapse in selectedNucleus.synapses) {
-                    INucleus input = synapse.nucleus;
+                    IReceptor input = synapse.nucleus;
                     AddToLayer(currentLayer, input);
                     // Debug.Log($"layer {layerIx} nucleus {input.name}");
                 }
@@ -168,7 +168,7 @@ public class ClusterInspector : Editor {
             }
         }
 
-        private void AddToLayer(NeuroidLayer layer, INucleus nucleus) {
+        private void AddToLayer(NeuroidLayer layer, IReceptor nucleus) {
             if (nucleus == null)
                 return;
             layer.neuroids.Add(nucleus);
@@ -225,8 +225,8 @@ public class ClusterInspector : Editor {
             // Determine the maximum value in this layer
             // This is used to 'scale' the output value colors of the nuclei
             float maxValue = 0;
-            foreach (Receiver receiver in nucleus.receivers) {
+            foreach (INucleus receiver in nucleus.receivers) {
-                if (receiver.nucleus is Neuroid neuroid) {
+                if (receiver is Neuroid neuroid) {
                     float value = neuroid.outputValue.magnitude;
                     if (value > maxValue)
                         maxValue = value;
@@ -238,8 +238,8 @@ public class ClusterInspector : Editor {
             float margin = 10 + spacing / 2;
 
             int row = 0;
-            foreach (Receiver receiver in nucleus.receivers) {
+            foreach (INucleus receiver in nucleus.receivers) {
-                INucleus receiverNucleus = receiver.nucleus;
+                INucleus receiverNucleus = receiver;
                 if (receiverNucleus == null)
                     continue;
 
@@ -286,13 +286,14 @@ public class ClusterInspector : Editor {
                 // }
                 // else {
 
-                DrawNucleus(synapse.nucleus, pos, maxValue, size);
+                if (synapse.nucleus != null)
+                    DrawNucleus(synapse.nucleus, pos, maxValue, size);
                 row++;
                 // }
             }
         }
 
-        private void DrawNucleus(INucleus nucleus, Vector3 position, float maxValue, float size) {
+        private void DrawNucleus(IReceptor nucleus, Vector3 position, float maxValue, float size) {
             if (nucleus.isSleeping)
                 Handles.color = Color.darkRed;
             else {
@@ -360,7 +361,7 @@ public class ClusterInspector : Editor {
             // To do: add HandleClick (see above) to expand the array
         }
 
-        private void HandleMouseHover(INucleus nucleus, Rect rect) {
+        private void HandleMouseHover(IReceptor nucleus, Rect rect) {
             GUIContent tooltip;
             if (nucleus is Perceptoid perceptoid) {
                 if (perceptoid.receptor != null) {
@@ -377,10 +378,14 @@ public class ClusterInspector : Editor {
                         $"\nValue: {nucleus.outputValue}");
                 }
             }
-            else {
+            else if (nucleus is INucleus n) {
+                tooltip = new(
+                    $"{nucleus.name}" +
+                    $"\nsynapse count {n.synapses.Count}" +
+                    $"\nValue: {nucleus.outputValue}");
+            } else {                
                 tooltip = new(
                     $"{nucleus.name}" +
-                    $"\nsynapse count {nucleus.synapses.Count}" +
                     $"\nValue: {nucleus.outputValue}");
             }
 
@@ -393,9 +398,11 @@ public class ClusterInspector : Editor {
             GUI.Box(tooltipRect, tooltip);
         }
 
-        private void HandleClicked(INucleus nucleus) {
+        private void HandleClicked(IReceptor nucleus) {
-            this.currentNucleus = nucleus;
+            if (nucleus is INucleus n) {
+            this.currentNucleus = n;
             BuildLayers();
+            }
         }
 
         void DrawInspector(VisualElement inspectorContainer) {
@@ -430,7 +437,7 @@ public class ClusterInspector : Editor {
                         perceptoid.array.RemovePerceptoid();
                     EditorGUILayout.EndHorizontal();
                 }
-                else if (this.currentNucleus is Neuroid neuroid) {
+                else if (this.currentNucleus is Nucleus neuroid) {
                     EditorGUILayout.BeginHorizontal();
                     EditorGUILayout.LabelField("Activation Curve", GUILayout.Width(150));
                     if (neuroid.curveMax > 0)
@@ -517,9 +524,9 @@ public class ClusterInspector : Editor {
                 return;
             if (nucleus.cluster != null)
                 this.currentNucleus = nucleus.cluster.output;
-            foreach (Receiver receiver in nucleus.receivers) {
+            foreach (INucleus receiver in nucleus.receivers) {
-                if (receiver.nucleus != null) {
+                if (receiver != null) {
-                    this.currentNucleus = receiver.nucleus;
+                    this.currentNucleus = receiver;
                     break;
                 }
             }
@@ -548,7 +555,7 @@ public class ClusterInspector : Editor {
             if (cluster == null)
                 return;
 
-            IEnumerable<string> synapseNuclei = this.currentNucleus.synapses.Select(synapse => synapse.nucleus.name);
+            IEnumerable<string> synapseNuclei = this.currentNucleus.synapses.Select(synapse => synapse.nucleus != null ? synapse.nucleus.name: "");
             //IEnumerable<string> perceptei = this.currentNucleus.brain.perceptei.Select(i => i.name).Except(synapseNuclei);
             IEnumerable<string> nuclei = cluster.nuclei.Select(i => i.name).Except(synapseNuclei);
             //string[] names = perceptei.Concat(nuclei).ToArray();
@@ -564,7 +571,7 @@ public class ClusterInspector : Editor {
                 //     Nucleus n = this.currentNucleus.brain.nuclei[selectedIndex - perceptei.Count()];
                 //     n.AddReceiver(this.currentNucleus);
                 // }
-                Nucleus n = cluster.nuclei[selectedIndex];
+                INucleus n = cluster.nuclei[selectedIndex];
                     n.AddReceiver(this.currentNucleus);
             }
         }
@@ -606,7 +613,7 @@ public class ClusterInspector : Editor {
 
 public class NeuroidLayer {
     public int ix = 0;
-    public List<INucleus> neuroids = new();
+    public List<IReceptor> neuroids = new();
 }
 
 public class ClusterWrapper : ScriptableObject {

Assets/NanoBrain/VisualEditor/Editor/NanoBrainComponent_Editor.cs

@@ -20,7 +20,7 @@ public class NanoBrainComponent_Editor : Editor {
 
     public override VisualElement CreateInspectorGUI() {
         //NanoBrainComponent component = target as NanoBrainComponent;
-        NanoBrain brain = Application.isPlaying ? component.brain : component.defaultBrain;
+        Cluster brain = Application.isPlaying ? component.brain : component.defaultBrain;
 
         if (Application.isPlaying == false)
             serializedObject.Update();
@@ -52,8 +52,8 @@ public class NanoBrainComponent_Editor : Editor {
                 minHeight = 500,
                 }
         };
-        NanoBrainInspector.GraphView board;
+        ClusterInspector.GraphView board;
-        board = new NanoBrainInspector.GraphView();
+        board = new ClusterInspector.GraphView();
         board.style.flexGrow = 1;
 
         inspectorContainer = new VisualElement {

Assets/NanoBrain/VisualEditor/Editor/NanoBrainInspector.cs

@@ -73,7 +73,7 @@ public class NanoBrainInspector : Editor {
         INucleus currentNucleus;
         GameObject gameObject;
         private List<NeuroidLayer> layers = new();
-        private readonly Dictionary<INucleus, Vector2Int> neuroidPositions = new();
+        private readonly Dictionary<IReceptor, Vector2Int> neuroidPositions = new();
 
         Vector2 pan = Vector2.zero;
         //float zoom = 1f;
@@ -133,8 +133,8 @@ public class NanoBrainInspector : Editor {
             NeuroidLayer currentLayer = new() { ix = layerIx };
 
             if (selectedNucleus.receivers != null) {
-                foreach (Receiver receiver in selectedNucleus.receivers) {
+                foreach (INucleus receiver in selectedNucleus.receivers) {
-                    INucleus outputNeuroid = receiver.nucleus;
+                    INucleus outputNeuroid = receiver;
                     if (outputNeuroid != null) {
                         AddToLayer(currentLayer, outputNeuroid);
                         // Debug.Log($"layer {layerIx} nucleus {outputNeuroid.name}");
@@ -156,7 +156,7 @@ public class NanoBrainInspector : Editor {
 
             if (selectedNucleus.synapses != null) {
                 foreach (Synapse synapse in selectedNucleus.synapses) {
-                    INucleus input = synapse.nucleus;
+                    IReceptor input = synapse.nucleus;
                     AddToLayer(currentLayer, input);
                     // Debug.Log($"layer {layerIx} nucleus {input.name}");
                 }
@@ -166,7 +166,7 @@ public class NanoBrainInspector : Editor {
             }
         }
 
-        private void AddToLayer(NeuroidLayer layer, INucleus nucleus) {
+        private void AddToLayer(NeuroidLayer layer, IReceptor nucleus) {
             if (nucleus == null)
                 return;
             layer.neuroids.Add(nucleus);
@@ -223,8 +223,8 @@ public class NanoBrainInspector : Editor {
             // Determine the maximum value in this layer
             // This is used to 'scale' the output value colors of the nuclei
             float maxValue = 0;
-            foreach (Receiver receiver in nucleus.receivers) {
+            foreach (INucleus receiver in nucleus.receivers) {
-                if (receiver.nucleus is Neuroid neuroid) {
+                if (receiver is Neuroid neuroid) {
                     float value = neuroid.outputValue.magnitude;
                     if (value > maxValue)
                         maxValue = value;
@@ -236,8 +236,8 @@ public class NanoBrainInspector : Editor {
             float margin = 10 + spacing / 2;
 
             int row = 0;
-            foreach (Receiver receiver in nucleus.receivers) {
+            foreach (INucleus receiver in nucleus.receivers) {
-                INucleus receiverNucleus = receiver.nucleus;
+                INucleus receiverNucleus = receiver;
                 if (receiverNucleus == null)
                     continue;
 
@@ -290,7 +290,7 @@ public class NanoBrainInspector : Editor {
             }
         }
 
-        private void DrawNucleus(INucleus nucleus, Vector3 position, float maxValue, float size) {
+        private void DrawNucleus(IReceptor nucleus, Vector3 position, float maxValue, float size) {
             if (nucleus.isSleeping)
                 Handles.color = Color.darkRed;
             else {
@@ -358,7 +358,7 @@ public class NanoBrainInspector : Editor {
             // To do: add HandleClick (see above) to expand the array
         }
 
-        private void HandleMouseHover(INucleus nucleus, Rect rect) {
+        private void HandleMouseHover(IReceptor nucleus, Rect rect) {
             GUIContent tooltip;
             if (nucleus is Perceptoid perceptoid) {
                 if (perceptoid.receptor != null) {
@@ -375,10 +375,15 @@ public class NanoBrainInspector : Editor {
                         $"\nValue: {nucleus.outputValue}");
                 }
             }
+            else if (nucleus is INucleus n) {
+                tooltip = new(
+                    $"{nucleus.name}" +
+                    $"\nsynapse count {n.synapses.Count}" +
+                    $"\nValue: {nucleus.outputValue}");
+            }
             else {
                 tooltip = new(
                     $"{nucleus.name}" +
-                    $"\nsynapse count {nucleus.synapses.Count}" +
                     $"\nValue: {nucleus.outputValue}");
             }
 
@@ -391,9 +396,11 @@ public class NanoBrainInspector : Editor {
             GUI.Box(tooltipRect, tooltip);
         }
 
-        private void HandleClicked(INucleus nucleus) {
+        private void HandleClicked(IReceptor nucleus) {
-            this.currentNucleus = nucleus;
+            if (nucleus is INucleus n) {
-            BuildLayers();
+                this.currentNucleus = n;
+                BuildLayers();
+            }
         }
 
         void DrawInspector(VisualElement inspectorContainer) {
@@ -515,9 +522,9 @@ public class NanoBrainInspector : Editor {
                 return;
             if (nucleus.cluster != null)
                 this.currentNucleus = nucleus.cluster.output;
-            foreach (Receiver receiver in nucleus.receivers) {
+            foreach (INucleus receiver in nucleus.receivers) {
-                if (receiver.nucleus != null) {
+                if (receiver != null) {
-                    this.currentNucleus = receiver.nucleus;
+                    this.currentNucleus = receiver;
                     break;
                 }
             }
@@ -561,8 +568,8 @@ public class NanoBrainInspector : Editor {
                 //     Nucleus n = this.currentNucleus.brain.nuclei[selectedIndex - perceptei.Count()];
                 //     n.AddReceiver(this.currentNucleus);
                 // }
-                Nucleus n = this.currentNucleus.cluster.nuclei[selectedIndex];
+                INucleus n = this.currentNucleus.cluster.nuclei[selectedIndex];
-                    n.AddReceiver(this.currentNucleus);
+                n.AddReceiver(this.currentNucleus);
             }
         }
 

Assets/NanoBrain/VisualEditor/NanoBrain.cs

@@ -17,7 +17,7 @@ public class NanoBrain : ScriptableObject, ISerializationCallbackReceiver {
     public NanoBrain() {
         //  this.cluster = new();
         //  this.output = new Neuroid(this.cluster, "Root");
-     }
+    }
 
     public Cluster cluster;
 
@@ -38,7 +38,9 @@ public class NanoBrain : ScriptableObject, ISerializationCallbackReceiver {
     }
 
     public void OnBeforeSerialize() {
-        this.rootId = output.id;
+        if (output != null) {
+            this.rootId = output.id;
+        }
     }
     public void OnAfterDeserialize() {
         try {

Assets/NanoBrain/VisualEditor/NanoBrainComponent.cs

@@ -1,11 +1,11 @@
 using UnityEngine;
 
 public class NanoBrainComponent : MonoBehaviour {
-    public NanoBrain defaultBrain;
+    public Cluster defaultBrain;
-    private NanoBrain brainInstance;
+    private Cluster brainInstance;
 
-    public Nucleus root => brainInstance.output;
+    public INucleus root => brainInstance.output;
-    public NanoBrain brain {
+    public Cluster brain {
         get {
             if (brainInstance == null && defaultBrain != null) {
                 brainInstance = Instantiate(defaultBrain);
@@ -21,8 +21,8 @@ public class NanoBrainComponent : MonoBehaviour {
         }
     }
 
-    public static void UpdateWeight(NanoBrain brain, string name, float weight) {
+    public static void UpdateWeight(Cluster brain, string name, float weight) {
-        Nucleus root = brain.output;
+        INucleus root = brain.output;
         foreach (Synapse synapse in root.synapses) {
             if (synapse.nucleus.name == name) {
                 synapse.weight = weight;

Assets/Scenes/Boids/New Cluster.asset

@@ -1,20 +0,0 @@
-%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: New Cluster
-  m_EditorClassIdentifier: Assembly-CSharp::Cluster
-  nuclei:
-  - id: 764290112
-    _name: Output
-    _synapses: []
-    _receivers: []
-    nucleusType: 

Assets/Scenes/Boids/NewSwarm.asset

@@ -0,0 +1,100 @@
+%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: NewSwarm
+  m_EditorClassIdentifier: Assembly-CSharp::Cluster
+  nuclei:
+  - rid: 2243601034565648442
+  - rid: 2243601034565648443
+  references:
+    version: 2
+    RefIds:
+    - rid: 2243601034565648442
+      type: {class: Neuroid, ns: , asm: Assembly-CSharp}
+      data:
+        id: 322343360
+        _name: Output
+        _synapses:
+        - nucleus:
+            rid: 2243601034565648443
+          cluster: {fileID: 0}
+          weight: 1
+          curveMax: 1
+        _receivers: []
+        nucleusType: 
+        _curvePreset: 0
+        curve:
+          serializedVersion: 2
+          m_Curve:
+          - serializedVersion: 3
+            time: 0
+            value: 0
+            inSlope: 0
+            outSlope: 1
+            tangentMode: 0
+            weightedMode: 0
+            inWeight: 0
+            outWeight: 0
+          - serializedVersion: 3
+            time: 1000
+            value: 1000
+            inSlope: 1
+            outSlope: 0
+            tangentMode: 0
+            weightedMode: 0
+            inWeight: 0
+            outWeight: 0
+          m_PreInfinity: 2
+          m_PostInfinity: 2
+          m_RotationOrder: 4
+        curveMax: 1
+        average: 0
+        inverse: 0
+        exponent: 1
+    - rid: 2243601034565648443
+      type: {class: Neuroid, ns: , asm: Assembly-CSharp}
+      data:
+        id: -1924138416
+        _name: Avoidance
+        _synapses: []
+        _receivers:
+        - rid: 2243601034565648442
+        nucleusType: 
+        _curvePreset: 0
+        curve:
+          serializedVersion: 2
+          m_Curve:
+          - serializedVersion: 3
+            time: 0
+            value: 0
+            inSlope: 0
+            outSlope: 1
+            tangentMode: 0
+            weightedMode: 0
+            inWeight: 0
+            outWeight: 0
+          - serializedVersion: 3
+            time: 1000
+            value: 1000
+            inSlope: 1
+            outSlope: 0
+            tangentMode: 0
+            weightedMode: 0
+            inWeight: 0
+            outWeight: 0
+          m_PreInfinity: 2
+          m_PostInfinity: 2
+          m_RotationOrder: 4
+        curveMax: 1
+        average: 0
+        inverse: 0
+        exponent: 1

Assets/Scenes/Boids/Prefabs/Boid.prefab

@@ -179,4 +179,4 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 92f34a5e4027a1dc39efd8ce63cf6aba, type: 3}
   m_Name: 
   m_EditorClassIdentifier: Assembly-CSharp::NanoBrainComponent
-  defaultBrain: {fileID: 11400000, guid: fc1a4800a8c531eb4855b436bc9084ae, type: 2}
+  defaultBrain: {fileID: 11400000, guid: eddc759ede59e66cd936ad6ae2c55c46, type: 2}

Assets/Scenes/Boids/Scripts/Boid.cs

@@ -27,9 +27,14 @@ public class Boid : MonoBehaviour {
         this.id = this.GetInstanceID();
 
         nanoBrain = GetComponent<NanoBrainComponent>();
-        boundaryReceptor = Receptor.GetReceptor(nanoBrain.brain, BoundaryType);
+        // boundaryReceptor = Receptor.GetReceptor(nanoBrain.brain, BoundaryType);
-        boidReceptor = Receptor.GetReceptor(nanoBrain.brain, BoidType);
+        // boidReceptor = Receptor.GetReceptor(nanoBrain.brain, BoidType);
-        boidVelocityReceptor = Receptor.GetReceptor(nanoBrain.brain, BoidVelocityType);
+        // boidVelocityReceptor = Receptor.GetReceptor(nanoBrain.brain, BoidVelocityType);
+        boundaryReceptor = Receptor.CreateReceptor(nanoBrain.brain, "Avoidance");
+        boundaryReceptor.name = "Boundary";
+        boundaryReceptor.receivers[0].synapses[0].weight = -1;
+        boidReceptor = Receptor.CreateReceptor(nanoBrain.brain, "Boid");
+        boidVelocityReceptor = Receptor.CreateReceptor(nanoBrain.brain, "Alignment");
 
         sc = FindFirstObjectByType<SwarmControl>();
 

Assets/Scenes/Boids/Scripts/Editor/SwarmControl_Editor.cs

@@ -10,9 +10,9 @@ public class SwarmControl_Editor : Editor {
 
         if (EditorGUI.EndChangeCheck()) {
             SwarmControl swarmControl = (SwarmControl)target;
-            NanoBrain[] nanoBrains = FindObjectsByType<NanoBrain>(FindObjectsSortMode.None);
+            Cluster[] nanoBrains = FindObjectsByType<Cluster>(FindObjectsSortMode.None);
 
-            foreach (NanoBrain brain in nanoBrains) {
+            foreach (Cluster brain in nanoBrains) {
                 NanoBrainComponent.UpdateWeight(brain, "Avoidance", swarmControl.avoidanceForce);
                 NanoBrainComponent.UpdateWeight(brain, "Cohesion", swarmControl.cohesionForce);
                 NanoBrainComponent.UpdateWeight(brain, "Separation", swarmControl.separationForce);

Assets/Scenes/Boids/SwarmingBrain.asset

@@ -7478,8 +7478,8 @@ MonoBehaviour:
     array:
       rid: -2
     thingType: 3
-  cluster: {fileID: 0}
   rootId: -1707533328
+  cluster: {fileID: 0}
   references:
     version: 2
     RefIds: