drawer graph collapse fix

Editor/ClusterPrefab_Drawer.cs

@@ -18,11 +18,15 @@ namespace NanoBrain.Unity {
         const float elementHeight = 64f; // height reserved for the VisualElement
 
         public override float GetPropertyHeight(SerializedProperty property, GUIContent label) {
-            float height = EditorGUIUtility.singleLineHeight;
+            float height = EditorGUIUtility.singleLineHeight + padding;
-            if (property.objectReferenceValue != null) {
+            string key = property.propertyPath + "_" + property.serializedObject.targetObject.GetEntityId();
+            s_foldouts.TryGetValue(key, out bool isOpen);
+            if (property.objectReferenceValue != null && isOpen) {
                 height += padding + elementHeight;
                 height = 500;
             }
+            else
+                height = 36;
             return height;
         }
 
@@ -42,16 +46,17 @@ namespace NanoBrain.Unity {
             if (property.objectReferenceValue is ClusterPrefab prefab) {
                 // key per field instance
                 string key = property.propertyPath + "_" + property.serializedObject.targetObject.GetEntityId();
-                if (!s_foldouts.TryGetValue(key, out bool isOpen)) isOpen = true;
+                if (!s_foldouts.TryGetValue(key, out bool isOpen))
+                    isOpen = true;
 
                 // foldout header rect
-                Rect headerRect = new Rect(fieldRect.x, fieldRect.yMax + 4f, fieldRect.width, EditorGUIUtility.singleLineHeight);
+                Rect headerRect = new(fieldRect.x, fieldRect.yMax + 4f, fieldRect.width, EditorGUIUtility.singleLineHeight);
                 isOpen = EditorGUI.Foldout(headerRect, isOpen, "Graph", true);
                 s_foldouts[key] = isOpen;
 
                 if (isOpen) {
                     // content rect below header
-                    Rect drawRect = new Rect(fieldRect.x, headerRect.yMax + 2f, fieldRect.width, 450f);
+                    Rect drawRect = new(fieldRect.x, headerRect.yMax + 2f, fieldRect.width, 450f);
 
                     // IMGUIContainer should be inserted here
                     ClusterView.Render(drawRect, prefab.cluster, property);

Runtime/Scripts/Core/Neuron.cs

@@ -462,9 +462,12 @@ namespace NanoBrain {
         /// <returns></returns>
         protected float3 Combinator(float3 bias, List<Synapse> synapses) {
             switch (combinator) {
-                case CombinatorType.Sum: return CombinatorSum(bias, synapses);
+                case CombinatorType.Sum:
-                case CombinatorType.Product: return CombinatorProduct(bias, synapses);
+                    return CombinatorSum(bias, synapses);
-                default: return CombinatorSum(bias, synapses);
+                case CombinatorType.Product:
+                    return CombinatorProduct(bias, synapses);
+                default:
+                    return CombinatorSum(bias, synapses);
             }
         }
 
@@ -559,14 +562,22 @@ namespace NanoBrain {
         // This does not allocate memory and seems faster than a switch expression
         protected float3 Activator(float3 inputValue) {
             switch (activator) {
-                case ActivationType.Linear: return ActivatorLinear(inputValue);
+                case ActivationType.Linear:
-                case ActivationType.Sqrt: return ActivatorSqrt(inputValue);
+                    return ActivatorLinear(inputValue);
-                case ActivationType.Power: return ActivatorPower(inputValue);
+                case ActivationType.Sqrt:
-                case ActivationType.Reciprocal: return ActivatorReciprocal(inputValue);
+                    return ActivatorSqrt(inputValue);
-                case ActivationType.Tanh: return ActivatorTanh(inputValue);
+                case ActivationType.Power:
-                case ActivationType.Binary: return ActivatorBinary(inputValue);
+                    return ActivatorPower(inputValue);
-                case ActivationType.Normalized: return ActivatorNormalized(inputValue);
+                case ActivationType.Reciprocal:
-                default: return ActivatorLinear(inputValue);
+                    return ActivatorReciprocal(inputValue);
+                case ActivationType.Tanh:
+                    return ActivatorTanh(inputValue);
+                case ActivationType.Binary:
+                    return ActivatorBinary(inputValue);
+                case ActivationType.Normalized:
+                    return ActivatorNormalized(inputValue);
+                default:
+                    return ActivatorLinear(inputValue);
             }
         }
 

Samples/Braitenberg/Brains/Braitenberg 1.asset

@@ -31,12 +31,12 @@ MonoBehaviour:
       data:
         name: Output
         parent:
-          rid: 4201950130928877723
+          rid: 4201950130928878123
         bias: {x: 0, y: 0, z: 1}
         _synapses:
         - neuron:
             rid: 4201949899492425817
-          weight: 2
+          weight: 5
         combinator: 0
         _activator: 0
         curve:
@@ -65,15 +65,15 @@ MonoBehaviour:
           m_RotationOrder: 4
         curveMax: 1
         persistOutput: 0
-        lastUpdate: 8.396028
+        lastUpdate: 16.366629
         _receivers: []
     - rid: 4201949899492425817
       type: {class: Neuron, ns: NanoBrain, asm: Assembly-CSharp}
       data:
         name: Sensor
         parent:
-          rid: 4201950130928877723
+          rid: 4201950130928878123
-        bias: {x: 0.00001, y: 0.00001, z: 0.00001}
+        bias: {x: 0.061416026, y: 0.061416026, z: 0.061416026}
         _synapses: []
         combinator: 0
         _activator: 0
@@ -103,10 +103,10 @@ MonoBehaviour:
           m_RotationOrder: 4
         curveMax: 1
         persistOutput: 0
-        lastUpdate: 8.396028
+        lastUpdate: 16.366629
         _receivers:
         - rid: 4201949899492425781
-    - rid: 4201950130928877723
+    - rid: 4201950130928878123
       type: {class: Cluster, ns: NanoBrain, asm: Assembly-CSharp}
       data:
         name: Braitenberg 1

Samples/Braitenberg/Braitenberg.unity

@@ -462,6 +462,10 @@ PrefabInstance:
       propertyPath: m_Name
       value: Vehicle 4a
       objectReference: {fileID: 0}
+    - target: {fileID: 1939863784866365225, guid: 7a7a20927b765988f8e0725d41f5022c, type: 3}
+      propertyPath: m_IsActive
+      value: 0
+      objectReference: {fileID: 0}
     - target: {fileID: 4961030105565435617, guid: 7a7a20927b765988f8e0725d41f5022c, type: 3}
       propertyPath: m_LocalPosition.x
       value: -2
@@ -863,6 +867,63 @@ MeshFilter:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 600786778}
   m_Mesh: {fileID: 10207, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!1001 &605735531
+PrefabInstance:
+  m_ObjectHideFlags: 0
+  serializedVersion: 2
+  m_Modification:
+    serializedVersion: 3
+    m_TransformParent: {fileID: 0}
+    m_Modifications:
+    - target: {fileID: 1939863784866365225, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3}
+      propertyPath: m_Name
+      value: Vehicle 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 4961030105565435617, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3}
+      propertyPath: m_LocalPosition.x
+      value: -3
+      objectReference: {fileID: 0}
+    - target: {fileID: 4961030105565435617, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3}
+      propertyPath: m_LocalPosition.y
+      value: -0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4961030105565435617, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3}
+      propertyPath: m_LocalPosition.z
+      value: -3
+      objectReference: {fileID: 0}
+    - target: {fileID: 4961030105565435617, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3}
+      propertyPath: m_LocalRotation.w
+      value: 0.92387956
+      objectReference: {fileID: 0}
+    - target: {fileID: 4961030105565435617, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3}
+      propertyPath: m_LocalRotation.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4961030105565435617, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3}
+      propertyPath: m_LocalRotation.y
+      value: 0.38268343
+      objectReference: {fileID: 0}
+    - target: {fileID: 4961030105565435617, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3}
+      propertyPath: m_LocalRotation.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4961030105565435617, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4961030105565435617, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.y
+      value: 45
+      objectReference: {fileID: 0}
+    - target: {fileID: 4961030105565435617, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.z
+      value: 0
+      objectReference: {fileID: 0}
+    m_RemovedComponents: []
+    m_RemovedGameObjects: []
+    m_AddedGameObjects: []
+    m_AddedComponents: []
+  m_SourcePrefab: {fileID: 100100000, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3}
 --- !u!1 &655360912
 GameObject:
   m_ObjectHideFlags: 0
@@ -2877,6 +2938,7 @@ SceneRoots:
   - {fileID: 36325788}
   - {fileID: 1849732293}
   - {fileID: 1604976778}
+  - {fileID: 605735531}
   - {fileID: 1687205049}
   - {fileID: 2006553073}
   - {fileID: 128572670}

Samples/Braitenberg/Prefabs/Vehicle 1.prefab

@@ -48,12 +48,37 @@ PrefabInstance:
       propertyPath: m_LocalEulerAnglesHint.z
       value: 0
       objectReference: {fileID: 0}
+    - target: {fileID: 3243811853767288093, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: m_LocalPosition.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 3243811853767288093, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: m_LocalRotation.w
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 3243811853767288093, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: m_LocalRotation.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 3243811853767288093, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 5526084556521277228, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: m_Name
+      value: Sensor
+      objectReference: {fileID: 0}
     - target: {fileID: 6509051042471214143, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
       propertyPath: m_Name
       value: Vehicle 1
       objectReference: {fileID: 0}
+    - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
+      propertyPath: sensorRight
+      value: 
+      objectReference: {fileID: 0}
     m_RemovedComponents: []
-    m_RemovedGameObjects: []
+    m_RemovedGameObjects:
+    - {fileID: 449746320909641321, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
     m_AddedGameObjects: []
     m_AddedComponents: []
   m_SourcePrefab: {fileID: 100100000, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}

Samples/Braitenberg/Prefabs/Vehicle 2a.prefab

@@ -72,10 +72,6 @@ PrefabInstance:
       propertyPath: m_LocalEulerAnglesHint.y
       value: 0
       objectReference: {fileID: 0}
-    - target: {fileID: 4375230766388568734, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
-      propertyPath: m_Constraints
-      value: 64
-      objectReference: {fileID: 0}
     - target: {fileID: 6470252300495393990, guid: c0398fc7a48853d47acb42e4e3498383, type: 3}
       propertyPath: sensitivityAngle
       value: 180

Samples/Braitenberg/Prefabs/Vehicle.prefab

@@ -51,9 +51,32 @@ MonoBehaviour:
     serializedVersion: 2
     m_Bits: 4294967295
   _output: 0
+  sensoryNeuron:
+    name: 
+    parent:
+      rid: -2
+    bias: {x: 0, y: 0, z: 0}
+    _synapses: []
+    combinator: 0
+    _activator: 0
+    curve:
+      serializedVersion: 2
+      m_Curve: []
+      m_PreInfinity: 2
+      m_PostInfinity: 2
+      m_RotationOrder: 4
+    curveMax: 0
+    persistOutput: 0
+    lastUpdate: 0
+    _receivers: []
   useOcclusion: 1
   sensitivityAngle: 90
   multiplier: 1
+  references:
+    version: 2
+    RefIds:
+    - rid: -2
+      type: {class: , ns: , asm: }
 --- !u!1 &1960572894750316796
 GameObject:
   m_ObjectHideFlags: 0
@@ -192,7 +215,8 @@ MonoBehaviour:
   m_EditorClassIdentifier: Assembly-CSharp::Motor
   outputNeuronName: Output
   speed: 0
-  maxTorque: 1
+  maxTorque: 10
+  wheelCollider: {fileID: 0}
   motorNeuron:
     name: 
     parent:
@@ -393,7 +417,8 @@ MonoBehaviour:
   m_EditorClassIdentifier: Assembly-CSharp::Motor
   outputNeuronName: Output
   speed: 0
-  maxTorque: 1
+  maxTorque: 10
+  wheelCollider: {fileID: 0}
   motorNeuron:
     name: 
     parent:
@@ -507,9 +532,32 @@ MonoBehaviour:
     serializedVersion: 2
     m_Bits: 4294967295
   _output: 0
+  sensoryNeuron:
+    name: 
+    parent:
+      rid: -2
+    bias: {x: 0, y: 0, z: 0}
+    _synapses: []
+    combinator: 0
+    _activator: 0
+    curve:
+      serializedVersion: 2
+      m_Curve: []
+      m_PreInfinity: 2
+      m_PostInfinity: 2
+      m_RotationOrder: 4
+    curveMax: 0
+    persistOutput: 0
+    lastUpdate: 0
+    _receivers: []
   useOcclusion: 1
   sensitivityAngle: 90
   multiplier: 1
+  references:
+    version: 2
+    RefIds:
+    - rid: -2
+      type: {class: , ns: , asm: }
 --- !u!1 &6345114338044386603
 GameObject:
   m_ObjectHideFlags: 0
@@ -687,7 +735,7 @@ Rigidbody:
   m_UseGravity: 1
   m_IsKinematic: 0
   m_Interpolate: 0
-  m_Constraints: 0
+  m_Constraints: 64
   m_CollisionDetection: 0
 --- !u!114 &8280937452374640854
 MonoBehaviour:

Samples/Braitenberg/Scripts/LightSensor.cs

@@ -67,7 +67,10 @@ namespace NanoBrain.Braitenberg {
                 lightCount++;
             }
 
-            return (sum / lightCount) * multiplier;
+            if (lightCount == 0)
+                return 0;
+            else
+                return (sum / lightCount) * multiplier;
         }
 
         static float RGBToLuminance(Color c) {

Samples/Braitenberg/Scripts/Motor.cs

@@ -35,7 +35,8 @@ namespace NanoBrain.Braitenberg {
             float kp = 0.02f; // proportional gain — tune
             float torque = kp * rpmError;
             wheelCollider.motorTorque = Mathf.Clamp(torque, -maxTorque, maxTorque);
-            // Debug.Log($"{speed} {currentRpm / 60} {torque}");
+            if (float.IsNaN(wheelCollider.rpm))
+                Debug.Log($"{speed} {currentRpm / 60} {torque}");
         }
     }
 

Samples/Braitenberg/Scripts/Vehicle.cs

@@ -14,12 +14,12 @@ namespace NanoBrain.Braitenberg {
         public Sensor sensorLeft;
         public Sensor sensorRight;
 
-        // void FixedUpdate() {
+        void FixedUpdate() {
-        //     //Debug.Log($"L: {sensorLeft.output} R: {sensorRight.output}");
+            //Debug.Log($"L: {sensorLeft.output} R: {sensorRight.output}");
-        //     //Debug.Log($"L: {motorLeft.speed} R: {motorRight.speed}");
+            //Debug.Log($"L: {motorLeft.speed} R: {motorRight.speed}");
-        //     Debug.Log($"L: {motorLeft.wheelCollider.rpm} R: {motorRight.wheelCollider.rpm}");
+            Debug.Log($"L: {motorLeft.wheelCollider.rpm} R: {motorRight.wheelCollider.rpm}");
 
-        // }
+        }
     }
 
 }