Added insect body parts

CreatureControl/Editor/Scripts/Leg_Editor.cs

@@ -17,23 +17,13 @@ namespace CreatureControl {
             EditorGUILayout.BeginHorizontal();
             string legName = ConvertCamelCase(legProp.name);
             showfield = EditorGUILayout.Foldout(showfield, legName, true, foldoutStyle);
-            SerializedProperty femurProp = legProp.FindPropertyRelative(nameof(Leg.femur));
+            SerializedProperty femurProp = legProp.FindPropertyRelative("_femur");//nameof(Leg._femur));
-            SerializedProperty tibiaProp = legProp.FindPropertyRelative(nameof(Leg.tibia));
+            SerializedProperty tibiaProp = legProp.FindPropertyRelative("_tibia"); //nameof(Leg._tibia));
-            SerializedProperty tarsusProp = legProp.FindPropertyRelative(nameof(Leg.tarsus));
+            SerializedProperty tarsusProp = legProp.FindPropertyRelative("_tarsus"); //nameof(Leg._tarsus));
 
             Transform newFemur = (Transform)EditorGUILayout.ObjectField(femurProp.objectReferenceValue, typeof(Transform), true);
             if (newFemur != femurProp.objectReferenceValue) {
-                // Try to determine further bones when the femur has been updated
+                leg.DetectBones(newFemur);
-                femurProp.objectReferenceValue = newFemur;
-                if (newFemur != null) {
-                    if (tibiaProp.objectReferenceValue == null && newFemur.childCount == 1)
-                        tibiaProp.objectReferenceValue = newFemur.GetChild(0);
-                    Transform tibia = (Transform)tibiaProp.objectReferenceValue;
-                    if (tibia != null) {
-                        if (tarsusProp.objectReferenceValue == null && tibia.childCount == 1)
-                            tarsusProp.objectReferenceValue = tibia.GetChild(0);
-                    }
-                }
                 anythingChanged = true;
             }
             EditorGUILayout.EndHorizontal();

CreatureControl/Runtime/Scripts/Bone.cs

@@ -0,0 +1,9 @@
+namespace CreatureControl {
+    
+    public enum Side {
+        Unknown,
+        Left,
+        Right
+    };
+    
+}

CreatureControl/Runtime/Scripts/Bone.cs.meta

@@ -0,0 +1,11 @@
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+guid: f0c445c1f36ba4b819cc479fe343eaa5
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

CreatureControl/Runtime/Scripts/Insect/Antenna.cs

@@ -0,0 +1,53 @@
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace CreatureControl {
+
+    [System.Serializable]
+    public class Antenna {
+        private Transform _scape;
+        public Transform scape {
+            get => this._scape;
+            set {
+                this._scape = value;
+                this._scapeLength = 0;
+            }
+        }
+        private Transform _funiculus;
+        public Transform funiculus {
+            get => this._funiculus;
+            set {
+                this._funiculus = value;
+                this._scapeLength = 0;
+                this._funiculusLength = 0;
+            }
+        }
+
+        private Transform _end;
+
+        private float _scapeLength = 0;
+        public float scapeLength {
+            get {
+                if (_scapeLength <= 0 && this.scape != null && this._funiculus != null)
+                    _scapeLength = Vector3.Distance(this._scape.position, this._funiculus.position);
+                return _scapeLength;
+            }
+        }
+        private float _funiculusLength = 0;
+        public float funuculusLength {
+            get {
+                if (_funiculusLength <= 0 && this._funiculus != null && this._end != null)
+                    _funiculusLength = Vector3.Distance(this._funiculus.position, this._end.position);
+                return _funiculusLength;
+            }
+        }
+
+        public Side side;
+        public bool isLeft => side == Side.Left;
+        public bool isRight => side == Side.Right;
+        
+        // Movement it seems:
+        // head-scape joint: mainly 2 degrees of freedom: pitch and yaw. Limited roll is possible
+        // scape-funiculus joint: mainly 1 degree of freedom: pitch. Limited yaw is possible
+    }
+}

CreatureControl/Runtime/Scripts/Insect/Antenna.cs.meta

@@ -0,0 +1,11 @@
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+  defaultReferences: []
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CreatureControl/Runtime/Scripts/Insect/Insect.cs

@@ -1,3 +1,5 @@
+using UnityEngine;
+
 namespace CreatureControl {
 
     /// <summary>
@@ -10,6 +12,10 @@ namespace CreatureControl {
         public float forwardSpeed = 1;
         public float rotationSpeed = 1;
 
+        public InsectHead head;
+        public Transform thorax;
+        public Transform abdomen;
+
         public Leg leftFrontLeg;
         public Leg leftMiddleLeg;
         public Leg leftHindLeg;

CreatureControl/Runtime/Scripts/Insect/InsectHead.cs

@@ -0,0 +1,9 @@
+namespace CreatureControl {
+    public class InsectHead {
+        public Antenna leftAntenna;
+        public Antenna rightAntenna;
+
+        public Mandible leftMandible;
+        public Mandible rightMandible;
+    }
+}

CreatureControl/Runtime/Scripts/Insect/InsectHead.cs.meta

@@ -0,0 +1,11 @@
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+guid: c81d225e1c5078b5aba909ac5c4876e1
+MonoImporter:
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+  defaultReferences: []
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CreatureControl/Runtime/Scripts/Insect/Mandible.cs

@@ -0,0 +1,12 @@
+using UnityEngine;
+
+namespace CreatureControl {
+    
+    public class Mandible {
+        public Transform bone;
+        
+        public Side side;
+        public bool isLeft => side == Side.Left;
+        public bool isRight => side == Side.Right;
+    }
+}

CreatureControl/Runtime/Scripts/Insect/Mandible.cs.meta

@@ -0,0 +1,11 @@
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CreatureControl/Runtime/Scripts/Leg.cs

@@ -1,3 +1,4 @@
+using System.Collections.Generic;
 using UnityEngine;
 
 namespace CreatureControl {
@@ -7,21 +8,94 @@ namespace CreatureControl {
     /// </summary>
     [System.Serializable]
     public class Leg {
+        [SerializeField]
+        private Transform _coxa;
+        /// <summary>
+        /// The hip bone
+        /// </summary>
+        public Transform coxa {
+            get => this._coxa;
+            set {
+                this._coxa = value;
+                this._femurLength = 0;
+            }
+        }
+
+        [SerializeField]
+        private Transform _femur;
         /// <summary>
         /// The upper leg or thigh bone
         /// </summary>
-        public Transform femur;
+        public Transform femur {
+            get => this._femur;
+            set {
+                this._femur = value;
+                this._femurLength = 0;
+            }
+        }
+
+        [SerializeField]
+        private Transform _tibia;
         /// <summary>
         /// The lower leg or shank bone
         /// </summary>
-        public Transform tibia;
+        public Transform tibia {
+            get => this._tibia;
+            set {
+                this._tibia = value;
+                this._femurLength = 0;
+                this._tibiaLength = 0;
+            }
+        }
+
+        [SerializeField]
+        private Transform _tarsus;
         /// <summary>
         /// The foot bone
         /// </summary>
-        public Transform tarsus;
+        public Transform tarsus {
+            get => this._tarsus;
+            set {
+                this._tarsus = value;
+                this._tibiaLength = 0;
+                this._tarsusLength = 0;
+            }
+        }
+
+        [SerializeField]
+        private Transform _phalanges;
+        /// <summary>
+        /// The toes
+        /// </summary>
+        public Transform phalanges {
+            get => this._phalanges;
+            set {
+                this._phalanges = value;
+                this._tarsusLength = 0;
+                this._phalangesLength = 0;
+            }
+        }
+
+        [SerializeField]
+        private Transform _end;
+        /// <summary>
+        /// The end of the leg
+        /// </summary>
+        public Transform end {
+            get => this._end;
+            set {
+                this._end = value;
+                this._phalangesLength = 0;
+            }
+        }
+
+        #region Bones
 
         [SerializeField]
         private float _femurLength;
+        /// <summary>
+        /// The length of the femur bone
+        /// </summary>
         public float femurLength {
             get {
                 if (_femurLength <= 0 && this.femur != null && this.tibia != null)
@@ -29,9 +103,12 @@ namespace CreatureControl {
                 return _femurLength;
             }
         }
-        // A bit inefficient is this is used a lot...
+
-        //public float tibiaLength => Vector3.Distance(this.tibia.position, this.tarsus.position);
+        [SerializeField]
         private float _tibiaLength;
+        /// <summary>
+        /// The length of the tibia bone
+        /// </summary>
         public float tibiaLength {
             get {
                 if (_tibiaLength <= 0 && this.tibia != null && this.tarsus != null)
@@ -39,18 +116,137 @@ namespace CreatureControl {
                 return _tibiaLength;
             }
         }
+
+        [SerializeField]
+        private float _tarsusLength;
+        /// <summary>
+        /// The length of the tarsus bone
+        /// </summary>
+        public float tarsusLength {
+            get {
+                if (_tarsusLength <= 0 && this.tarsus != null && this.phalanges != null)
+                    _tarsusLength = Vector3.Distance(this.tarsus.position, this.phalanges.position);
+                return _tarsusLength;
+            }
+        }
+
+        [SerializeField]
+        private float _phalangesLength;
+        /// <summary>
+        /// The length of the phalanges
+        /// </summary>
+        public float phalangesLength {
+            get {
+                if (_phalangesLength <= 0 && this.phalanges != null && this.end != null)
+                    _phalangesLength = Vector3.Distance(this.phalanges.position, this.end.position);
+                return _phalangesLength;
+            }
+        }
+
+        /// <summary>
+        /// The length of the leg from hip to foot
+        /// </summary>
+        /// This consists of the femur and tibia
         public float length => femurLength + tibiaLength;
 
+        /// <summary>
+        /// The size of the foot
+        /// </summary>
+        /// This consists of the tarsus and phalanges
+        public float footLength => tarsusLength + phalangesLength;
+
         public void ResetLengths() {
             _femurLength = 0;
             _tibiaLength = 0;
+            _tarsusLength = 0;
+            _phalangesLength = 0;
         }
 
+        /// <summary>
+        /// Try to determine the leg bones
+        /// </summary>
+        /// <param name="firstLegBone">the first bone of the leg (could be coxa or femur depending on chain length)</param>        
+        public void DetectBones(Transform root) {
+            if (root == null)
+                return;
+            coxa = femur = tibia = tarsus = phalanges = end = null;
+
+            // gather a straight chain following single-child links
+            List<Transform> chain = new();
+            Transform current = root;
+            chain.Add(current);
+            while (current.childCount == 1) {
+                current = current.GetChild(0);
+                chain.Add(current);
+            }
+
+            // the detected end bone is the last element in the collected chain
+            end = chain[^1];
+
+            // map chain length to bone roles according to rules:
+            // 1 => femur
+            // 2 => femur, tibia
+            // 3 => femur, tibia, tarsus
+            // 4 => femur, tibia, tarsus, phalanges
+            // 5+ => coxa, femur, tibia, tarsus, phalanges (first 5)
+            int count = chain.Count;
+            if (count == 1)
+                femur = chain[0];
+            else if (count == 2) {
+                femur = chain[0];
+                tibia = chain[1];
+            }
+            else if (count == 3) {
+                femur = chain[0];
+                tibia = chain[1];
+                tarsus = chain[2];
+            }
+            else if (count == 4) {
+                femur = chain[0];
+                tibia = chain[1];
+                tarsus = chain[2];
+                phalanges = chain[3];
+            }
+            else // count >= 5
+            {
+                coxa = chain[0];
+                femur = chain[1];
+                tibia = chain[2];
+                tarsus = chain[3];
+                phalanges = chain[4];
+            }
+        }
+
+        #endregion Bones
+
         /// <summary>
         /// Check if all bones of the legs have been configured
         /// </summary>
         /// <returns>True when all bones are configured</returns>
-        public bool isConfigured => femur != null && tibia != null && tarsus != null;
+        public bool isConfigured =>
+            this.femur != null &&
+            this.tibia != null &&
+            this.tarsus != null &&
+            this.phalanges != null &&
+            this.end != null;
+
+        public Side side;
+        public bool isLeft => side == Side.Left;
+        public bool isRight => side == Side.Right;
+
+        private Vector3 _kneeAxis = Vector3.zero;
+        public Vector3 kneeAxis {
+            get {
+                if (this._kneeAxis.sqrMagnitude == 0) {
+                    Vector3 femurWorldDirection = (this.tibia.position - this.femur.position).normalized;
+                    Vector3 tibiaWorldDirection = (this.tarsus.position - this.tibia.position).normalized;
+                    Vector3 kneeWorldAxis = Vector3.Cross(femurWorldDirection, tibiaWorldDirection);
+                    Vector3 kneeLocalAxis = this.femur.InverseTransformDirection(kneeWorldAxis);
+                    this._kneeAxis = kneeLocalAxis;
+                }
+                return this._kneeAxis;
+            }
+        }
     }
 
 }

NanoBrain/Editor/ClusterEditor.cs

@@ -84,8 +84,8 @@ namespace NanoBrain {
             void OnAddClusterOutput() {
                 Nucleus newOutput = new Neuron(this.prefab, "New Output");
                 this.prefab.RefreshOutputs();
-                outputsPopup.choices = this.prefab.outputs.Select(output => output.name).ToList();
+                // outputsPopup.choices = this.prefab.outputs.Select(output => output.name).ToList();
-                outputsPopup.value = newOutput.name;
+                // outputsPopup.value = newOutput.name;
 
                 this.currentNucleus = newOutput;
             }
@@ -185,7 +185,7 @@ namespace NanoBrain {
                     if (newName != this.currentNucleus.name) {
                         this.currentNucleus.name = newName;
                         this.prefab.RefreshOutputs();
-                        outputsPopup.choices = this.prefab.outputs.Select(output => output.name).ToList();
+                        // outputsPopup.choices = this.prefab.outputs.Select(output => output.name).ToList();
                         anythingChanged = true;
                     }
                 }
@@ -537,11 +537,11 @@ namespace NanoBrain {
                 }
                 this.prefab.nuclei.Remove(nucleus);
 
-                if (outputsPopup.value == nucleus.name) {
+                // if (outputsPopup.value == nucleus.name) {
-                    this.prefab.RefreshOutputs();
+                //     this.prefab.RefreshOutputs();
-                    outputsPopup.choices = this.prefab.outputs.Select(output => output.name).ToList();
+                //     outputsPopup.choices = this.prefab.outputs.Select(output => output.name).ToList();
-                    outputsPopup.index = 0;
+                //     outputsPopup.index = 0;
-                }
+                // }
 
                 Neuron.Delete(nucleus);
 

NanoBrain/Editor/ClusterViewer.cs

@@ -25,7 +25,7 @@ namespace NanoBrain {
             protected VisualElement topMenuContainer;
             protected ScrollView scrollView;
             protected IMGUIContainer graphContainer;
-            protected readonly PopupField<string> outputsPopup;
+            //protected readonly PopupField<string> outputsPopup;
 
             public enum Mode {
                 Focus,

NanoBrain/Editor/ClusterViewer.cs.meta

@@ -1,2 +1,11 @@
 fileFormatVersion: 2
 guid: 4fe58945c76d153edacc220597474ad2
+MonoImporter:
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+  icon: {instanceID: 0}
+  userData: 
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+  assetBundleVariant: 

Runtime/Scripts/Ant.cs

@@ -48,8 +48,8 @@ namespace CreatureControl {
         public Nucleus pheromoneSteering;
         public Nucleus hitLeft;
         public Nucleus hitRight;
-        public Receptor foodReceptor;
+        public Neuron foodReceptor;
-        public Receptor homeReceptor;
+        public Neuron homeReceptor;
 
         public Vector3 linearVelocity = Vector3.forward;
         public Vector3 angularVelocity;
@@ -76,8 +76,8 @@ namespace CreatureControl {
                 this.beat = brain.GetNucleus("Beat");
                 this.hitLeft = brain.GetNucleus("Hit Left");
                 this.hitRight = brain.GetNucleus("Hit Right");
-                this.foodReceptor = brain.GetNucleus("Food Receptor") as Receptor;
+                this.foodReceptor = brain.GetNucleus("Food Receptor") as Neuron;
-                this.homeReceptor = brain.GetNucleus("Home Receptor") as Receptor;
+                this.homeReceptor = brain.GetNucleus("Home Receptor") as Neuron;
                 this.pheromoneSteering = brain.GetNucleus("Pheromone Steering");
 
                 //--- brain outputs
@@ -190,10 +190,10 @@ namespace CreatureControl {
                 Vector3 smell = smellDirection.normalized * intensity;
                 switch (pheromone.type) {
                     case Pheromone.Type.Food:
-                        foodReceptor?.ProcessStimulus(smellDirection.normalized * intensity, pheromone.GetInstanceID(), "food pheromone");
+                        foodReceptor?.ProcessStimulus(smellDirection.normalized * intensity); //, pheromone.GetInstanceID(), "food pheromone");
                         break;
                     case Pheromone.Type.Home:
-                        homeReceptor?.ProcessStimulus(smellDirection.normalized * intensity, pheromone.GetInstanceID(), "home pheromone");
+                        homeReceptor?.ProcessStimulus(smellDirection.normalized * intensity); //, pheromone.GetInstanceID(), "home pheromone");
                         break;
                 }
                 //Debug.DrawLine(this.transform.position, pheromone.transform.position, Color.magenta);
@@ -214,7 +214,7 @@ namespace CreatureControl {
             float angle = Vector3.Angle(Vector3.forward, smellDirection);
             if (angle < smellAngle && distance > 0.01) {
                 float intensity = food.StrengthAt(distance);
-                foodReceptor?.ProcessStimulus(smellDirection.normalized * intensity, food.GetInstanceID(), "food");
+                foodReceptor?.ProcessStimulus(smellDirection.normalized * intensity); //, food.GetInstanceID(), "food");
                 Debug.DrawLine(this.transform.position, food.transform.position, Color.red);
             }
         }
@@ -234,7 +234,7 @@ namespace CreatureControl {
             if (angle < smellAngle && distance > 0.01) {
                 float intensity = nest.StrengthAt(distance);
                 Vector3 value = smellDirection.normalized * intensity;
-                homeReceptor?.ProcessStimulus(value, nest.GetInstanceID(), "nest");
+                homeReceptor?.ProcessStimulus(value); //, nest.GetInstanceID(), "nest");
                 Debug.DrawLine(this.transform.position, nest.transform.position, Color.red);
             }
         }

Samples/Brain/Foraging.asset.meta

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Samples/Brain/Foraging_old.asset.meta

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