NanoBrain/NanoBrain-unitypackage
NanoBrain/NanoBrain-unitypackage
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Cleanup

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This commit is contained in:
Pascal Serrarens 2026-01-06 15:44:31 +01:00
parent 2134495045
commit a22e4b149a
22 changed files with 54 additions and 748 deletions
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1
Assembly-CSharp-Editor.csproj
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@ -51,7 +51,6 @@
<ItemGroup>
<Compile Include="Assets/NanoBrain/VisualEditor/Editor/NanoBrainEditor.cs" />
<Compile Include="Assets/NanoBrain/VisualEditor/Editor/NanoBrainInspector.cs" />
<Compile Include="Assets/NanoBrain/Editor/NanoBrain_Editor.cs" />
<Compile Include="Assets/Scenes/Boids/Scripts/Editor/SwarmControl_Editor.cs" />
<Compile Include="Assets/NanoBrain/Editor/NeuroidWindow.cs" />
<Compile Include="Assets/NanoBrain/VisualEditor/Editor/NanoBrainComponent_Editor.cs" />

6
Assembly-CSharp.csproj
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@ -58,23 +58,19 @@
<Compile Include="Assets/NanoBrain/LinearAlgebra/test/Vector2FloatTest.cs" />
<Compile Include="Assets/Scenes/Boids/Scripts/SwarmSpawner.cs" />
<Compile Include="Assets/NanoBrain/Perceptoid.cs" />
<Compile Include="Assets/NanoBrain/NeuroidBehaviour.cs" />
<Compile Include="Assets/NanoBrain/LinearAlgebra/src/Direction.cs" />
<Compile Include="Assets/NanoBrain/LinearAlgebra/src/Vector2Float.cs" />
<Compile Include="Assets/NanoBrain/LinearAlgebra/test/SwingTwistTest.cs" />
<Compile Include="Assets/NanoBrain/LinearAlgebra/src/Vector3Int.cs" />
<Compile Include="Assets/NanoBrain/LinearAlgebra/src/Vector3Float.cs" />
<Compile Include="Assets/NanoBrain/Receptor.cs" />
<Compile Include="Assets/NanoBrain/NanoBrain.cs" />
<Compile Include="Assets/NanoBrain/LinearAlgebra/src/Matrix.cs" />
<Compile Include="Assets/NanoBrain/LinearAlgebra/src/Decomposition.cs" />
<Compile Include="Assets/NanoBrain/LinearAlgebra/src/Quat32.cs" />
<Compile Include="Assets/NanoBrain/SensoryNeuroid.cs" />
<Compile Include="Assets/NanoBrain/VisualEditor/NanoBrainComponent.cs" />
<Compile Include="Assets/NanoBrain/LinearAlgebra/src/Vector2Int.cs" />
<Compile Include="Assets/Scenes/Boids/Scripts/SwarmControl.cs" />
<Compile Include="Assets/Scenes/Boids/Scripts/RoamingNucleus.cs" />
<Compile Include="Assets/NanoBrain/Perception.cs" />
<Compile Include="Assets/NanoBrain/LinearAlgebra/src/Spherical.cs" />
<Compile Include="Assets/NanoBrain/LinearAlgebra/test/Vector3FloatTest.cs" />
<Compile Include="Assets/Scenes/Boids/Scripts/SwarmingNucleus.cs" />
@ -83,11 +79,9 @@
<Compile Include="Assets/NanoBrain/LinearAlgebra/src/SwingTwist.cs" />
<Compile Include="Assets/NanoBrain/LinearAlgebra/test/SphericalTest.cs" />
<Compile Include="Assets/NanoBrain/LinearAlgebra/test/Vector3IntTest.cs" />
<Compile Include="Assets/NanoBrain/VisualEditor/NucleusObject.cs" />
<Compile Include="Assets/NanoBrain/Neuroid.cs" />
<Compile Include="Assets/NanoBrain/LinearAlgebra/src/Angle.cs" />
<Compile Include="Assets/NanoBrain/LinearAlgebra/src/Float.cs" />
<Compile Include="Assets/NanoBrain/VisualEditor/NeuroidObject.cs" />
<Compile Include="Assets/NanoBrain/Nucleus.cs" />
</ItemGroup>
<ItemGroup>

272
Assets/NanoBrain/Editor/NanoBrain_Editor.cs
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@ -1,272 +0,0 @@
using System.Collections.Generic;
using UnityEngine;
using UnityEditor;
[CustomEditor(typeof(NanoBrain))]
public class NanoBrain_Editor : Editor {
private Nucleus currentNucleus;
private List<NeuroidLayer> layers = new();
private Dictionary<Nucleus, Vector2Int> neuroidPositions = new();
protected bool breakOnWake = false;
#region Start
private void OnEnable() {
// NanoBrain brain = target as NanoBrain;
// if (brain == null)
// return;
// if (brain.rootNucleus == null) {
// brain.rootNucleus = CreateInstance<NucleusObj>();
// EditorUtility.SetDirty(brain.rootNucleus);
// }
SelectNeuron();
}
private void SelectNeuron() {
// GameObject selectedObject = ((NanoBrain)target).gameObject;
// if (!selectedObject.TryGetComponent(out Boid boid))
// return;
// Nucleus neuroid = boid.totalForce;
// this.currentNucleus = neuroid;
// BuildLayers();
// Debug.Log($"Layercount = {this.layers.Count}");
}
#endregion Start
#region Update
public override void OnInspectorGUI() {
if (this.currentNucleus == null)
return;
breakOnWake = EditorGUILayout.Toggle("Break on wake", breakOnWake);
if (breakOnWake && currentNucleus is Neuroid currentNeuroid) {
if (!currentNeuroid.isSleeping)
Debug.Break();
}
DrawGraph();
EditorGUILayout.TextField("Name", currentNucleus.name);
EditorGUILayout.Vector3Field("Output Value", currentNucleus.outputValue.ToVector3());
if (currentNucleus.synapses.Count > 0) {
EditorGUI.indentLevel++;
//foreach ((Nucleus nucleus, float weight) in currentNucleus.synapses) {
foreach (Synapse synapse in currentNucleus.synapses) {
Nucleus nucleus = synapse.nucleus;
float weight = synapse.weight;
EditorGUI.BeginDisabledGroup(nucleus.isSleeping);
EditorGUILayout.BeginHorizontal();
EditorGUILayout.Vector3Field(nucleus.name, nucleus.outputValue.ToVector3());
EditorGUILayout.FloatField(weight, GUILayout.Width(50));
EditorGUILayout.EndHorizontal();
EditorGUI.EndDisabledGroup();
}
EditorGUI.indentLevel--;
}
DrawDefaultInspector();
}
private void BuildLayers() {
// A temporary list to track what's been added to layers
this.layers = new();
int layerIx = 0;
Nucleus selectedNucleus = this.currentNucleus;
if (selectedNucleus == null)
return;
NeuroidLayer currentLayer = new() { ix = layerIx };
//foreach (Neuroid outputNeuroid in selectedNucleus.receivers) {
foreach (Receiver receiver in selectedNucleus.receivers) {
Nucleus outputNeuroid = receiver.nucleus;
if (outputNeuroid != null) {
AddToLayer(currentLayer, outputNeuroid);
// Debug.Log($"layer {layerIx} nucleus {outputNeuroid.name}");
}
}
if (currentLayer.neuroids.Count > 0) {
this.layers.Add(currentLayer);
layerIx++;
currentLayer = new() { ix = layerIx };
}
AddToLayer(currentLayer, selectedNucleus);
this.layers.Add(currentLayer);
// Debug.Log($"layer {layerIx} nucleus {selectedNucleus.name}");
layerIx++;
currentLayer = new() { ix = layerIx };
//foreach (Nucleus input in selectedNucleus.synapses.Keys) {
foreach (Synapse synapse in selectedNucleus.synapses) {
Nucleus input = synapse.nucleus;
AddToLayer(currentLayer, input);
// Debug.Log($"layer {layerIx} nucleus {input.name}");
}
if (currentLayer.neuroids.Count > 0) {
this.layers.Add(currentLayer);
}
}
private void AddToLayer(NeuroidLayer layer, Nucleus nucleus) {
layer.neuroids.Add(nucleus);
nucleus.layerIx = layer.ix;
// Store its position
Vector2Int neuroidPosition = new(layer.ix, layer.neuroids.Count - 1);
neuroidPositions[nucleus] = neuroidPosition;
}
private void DrawGraph() {
if (currentNucleus == null)
return;
Rect outer = EditorGUILayout.GetControlRect(false, 420);
GUI.BeginGroup(outer);
foreach (NeuroidLayer layer in layers)
DrawLayer(layer);
GUI.EndGroup();
}
private void DrawLayer(NeuroidLayer layer) {
int nodeCount = layer.neuroids.Count;
float maxValue = 0;
foreach (Nucleus nucleus in layer.neuroids) {
if (nucleus is Neuroid neuroid) {
float value = neuroid.outputValue.magnitude;
if (value > maxValue)
maxValue = value;
}
}
float spacing = 400f / nodeCount;
float margin = 10 + spacing / 2;
foreach (Nucleus layerNucleus in layer.neuroids) {
if (layerNucleus is Neuroid layerNeuroid) {
Vector2Int layerNeuroidPos = this.neuroidPositions[layerNeuroid];
Vector3 parentPos = new(100 + layerNeuroidPos.x * 100, margin + layerNeuroidPos.y * spacing, 0.1f);
//int i = 0;
float inputSpacing = 400f / layerNeuroid.synapses.Count;
float inputMargin = 10 + inputSpacing / 2;
// int minStale = 10000;
//foreach ((Nucleus nucleus, float weight) in layerNeuroid.synapses) {
foreach (Synapse synapse in layerNeuroid.synapses) {
Nucleus nucleus = synapse.nucleus;
float weight = synapse.weight;
if (this.neuroidPositions.ContainsKey(nucleus)) {
Vector2Int inputNeuroidPos = this.neuroidPositions[nucleus];
if (inputNeuroidPos.x == layerNeuroidPos.x + 1) {
Vector3 pos = new(100 + inputNeuroidPos.x * 100, inputMargin + inputNeuroidPos.y * inputSpacing, 0.0f);
float brightness = weight / 10.0f;
Handles.color = new Color(brightness, brightness, brightness);
Handles.DrawLine(parentPos, pos);
}
}
// if (nucleus is Neuroid neuroid && neuroid.stale < minStale)
// minStale = neuroid.stale;
}
// if (layerNeuroid.synapses.Count > 0 && minStale > 2 && layerNeuroid.stale < 3)
// Debug.LogWarning($"Strange {minStale} is big duing update");
float size = 20;
if (layerNeuroid.isSleeping)
Handles.color = Color.darkRed;
else {
float brightness = layerNeuroid.outputValue.magnitude / maxValue;
Handles.color = new Color(brightness, brightness, brightness);
}
Handles.DrawSolidDisc(parentPos, Vector3.forward, size);
Vector3 labelPos = parentPos - Vector3.down * (size + 0.2f); // below disc along up axis
GUIStyle style = new GUIStyle(EditorStyles.label) {
alignment = TextAnchor.UpperCenter,
normal = { textColor = Color.white },
fontStyle = FontStyle.Bold
};
Handles.Label(labelPos, layerNeuroid.name, style);
Rect neuronRect = new(parentPos.x - size, parentPos.y - size, size * 2, size * 2);
int id = GUIUtility.GetControlID(FocusType.Passive);
Event e = Event.current;
EventType et = e.GetTypeForControl(id);
if (e != null && neuronRect.Contains(e.mousePosition)) {
// Process Hover
HandleMouseHover(layerNeuroid, neuronRect);
// Process click
if (et == EventType.MouseDown && e.button == 0) {
// Consume the event so the scene doesn't also handle it
e.Use();
HandleDiscClicked(layerNeuroid);
}
}
//i++;
}
}
}
private void HandleMouseHover(Neuroid neuroid, Rect rect) {
GUIContent tooltip;
if (neuroid is SensoryNeuroid sensoryNeuroid) {
tooltip = new(
$"{sensoryNeuroid.name}" +
$"\nThing {sensoryNeuroid.receptor.thingType}" +
$"\nValue: {neuroid.outputValue}");
}
else {
tooltip = new(
$"{neuroid.name}" +
$"\nsynapse count {neuroid.synapses.Count}" +
$"\nValue: {neuroid.outputValue}");
}
Vector2 mousePosition = Event.current.mousePosition;
// Display tooltip with some offset
Vector2 tooltipSize = GUI.skin.box.CalcSize(tooltip);
Rect tooltipRect = new Rect(mousePosition.x + 10, mousePosition.y + 10, tooltipSize.x, tooltipSize.y);
GUI.Box(tooltipRect, tooltip);
}
private void HandleDiscClicked(Nucleus nucleus) {
this.currentNucleus = nucleus;
BuildLayers();
}
protected virtual void OnSceneGUI() {
NanoBrain brain = target as NanoBrain;
if (brain == null)
return;
Vector3 position = brain.transform.position;
float radius = 1;
Handles.DrawWireDisc(position, Vector3.up, radius); // horizontal circle
Handles.DrawWireDisc(position, Vector3.right, radius); // X-plane
Handles.DrawWireDisc(position, Vector3.forward, radius); // Z-plane
// Debug.DrawRay(brain.transform.position, Vector3.forward, Color.magenta);
// Handles.color = Color.green;
// Handles.DrawLine(brain.transform.position, brain.transform.position + Vector3.up);
Handles.color = Color.yellow;
Vector3 worldForce = brain.transform.TransformDirection(this.currentNucleus.outputValue.ToVector3());
//Debug.DrawRay(position, worldForce * 10, Color.yellow);
Handles.DrawLine(position, position + worldForce * 10);
}
#endregion Update
}

2
Assets/NanoBrain/Editor/NanoBrain_Editor.cs.meta
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@ -1,2 +0,0 @@
fileFormatVersion: 2
guid: 2299b68d073cc5c31915f591deb79ddc

16
Assets/NanoBrain/Editor/NeuroidWindow.cs
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@ -241,18 +241,18 @@ public class GraphEditorWindow : EditorWindow {
private void HandleMouseHover(Neuroid neuroid, Rect rect) {
GUIContent tooltip;
if (neuroid is SensoryNeuroid sensoryNeuroid) {
tooltip = new(
$"{sensoryNeuroid.name}" +
$"\nThing {sensoryNeuroid.receptor.thingType}" +
$"\nValue: {neuroid.outputValue}");
}
else {
// if (neuroid is SensoryNeuroid sensoryNeuroid) {
// tooltip = new(
// $"{sensoryNeuroid.name}" +
// $"\nThing {sensoryNeuroid.receptor.thingType}" +
// $"\nValue: {neuroid.outputValue}");
// }
// else {
tooltip = new(
$"{neuroid.name}" +
$"\nsynapse count {neuroid.synapses.Count}" +
$"\nValue: {neuroid.outputValue}");
}
// }
Vector2 mousePosition = Event.current.mousePosition;

22
Assets/NanoBrain/NanoBrain.cs
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@ -1,22 +0,0 @@
using System.Collections.Generic;
using UnityEngine;
public class NanoBrain : MonoBehaviour {
// public NucleusObj rootNucleus;
// public List<Neuroid> neuroids = new();
// public Neuroid AddNeuron(string name) {
// Neuroid neuroid = new(this, name);
// return neuroid;
// }
// public void UpdateNeurons() {
// foreach (Neuroid neuroid in neuroids) {
// neuroid.stale++;
// if (neuroid.isSleeping)
// neuroid.outputValue = Vector3.zero;
// }
// }
}

2
Assets/NanoBrain/NanoBrain.cs.meta
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@ -1,2 +0,0 @@
fileFormatVersion: 2
guid: 74e1478743ac3bc078cbe8501c287e98

4
Assets/NanoBrain/Neuroid.cs
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@ -99,9 +99,7 @@ public class Neuroid : Nucleus {
return;
}
this.outputValue = result; //Spherical.FromVector3(resultVector);
//this.stale = 0;
//this.Refresh();
this.outputValue = result;
foreach (Receiver receiver in this.receivers) {
if (receiver.nucleus is Neuroid neuroid)

14
Assets/NanoBrain/NeuroidBehaviour.cs
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@ -1,14 +0,0 @@
using UnityEngine;
public class NeuroidBehaviour : MonoBehaviour
{
public Neuroid neuroid;
public GameObject thing;
public void Start() {
Debug.Log("Neuroid start");
}
public void Update() {
Debug.Log("Neuroid update");
}
}

2
Assets/NanoBrain/NeuroidBehaviour.cs.meta
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@ -1,2 +0,0 @@
fileFormatVersion: 2
guid: dded3a10fb4fd894383b44483dd47382

110
Assets/NanoBrain/Perception.cs
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@ -1,110 +0,0 @@
using System.Collections.Generic;
using UnityEngine;
[System.Serializable]
public class Perception : Nucleus {
public SensoryNeuroid[] sensoryNeuroids = new SensoryNeuroid[7];
[System.Serializable]
public class Receiver {
public int thingType = 0;
public Nucleus neuroid;
}
//public HashSet<Receiver> positionReceivers { get; protected set; }
public List<Receiver> positionReceivers;
//public HashSet<Receiver> velocityReceivers { get; protected set; }
public List<Receiver> velocityReceivers;
public Perception(NanoBrainObj brain) : base("Perception") {
this.positionReceivers = new();
this.velocityReceivers = new();
}
public Perceptoid GetPerception(int thingType = 0) {
foreach (Nucleus nucleus in this.brain.nuclei) {
if (nucleus is Perceptoid perceptoid && (thingType == 0 || perceptoid.receptor.thingType == thingType))
return perceptoid;
}
return null;
}
// public void SendPositions(Nucleus receivingNeuroid, int thingType = 0, float weight = 1.0f) {
// Receiver receiver = new() {
// thingType = thingType,
// neuroid = receivingNeuroid
// };
// positionReceivers.Add(receiver);
// foreach (SensoryNeuroid neuroid in sensoryNeuroids) {
// if (neuroid != null) {
// neuroid.AddReceiver(receivingNeuroid);
// receivingNeuroid.SetWeight(neuroid, weight);
// }
// }
// }
// public void SendVelocities(Nucleus receivingNeuroid, int thingType = 0, float weight = 1.0f) {
// Receiver receiver = new() {
// thingType = thingType,
// neuroid = receivingNeuroid
// };
// velocityReceivers.Add(receiver);
// foreach (SensoryNeuroid neuroid in sensoryNeuroids) {
// if (neuroid != null && neuroid.velocityNeuroid != null) {
// neuroid.velocityNeuroid.AddReceiver(receivingNeuroid);
// receivingNeuroid.SetWeight(neuroid, weight);
// }
// }
// }
public void ProcessStimulus(int thingId, int thingType, Vector3 localPosition, string name = "Sensing") {
int availableIx = -1;
int leastInterestingIx = -1;
for (int i = 0; i < sensoryNeuroids.Length; i++) {
if (sensoryNeuroids[i] == null)
availableIx = i;
else if (sensoryNeuroids[i].receptor.thingType == thingId) {
//sensoryNeuroids[i].receptor.position = localPosition;
sensoryNeuroids[i].receptor.ProcessStimulus(999, localPosition);
return;
}
if (availableIx == -1) {
if (sensoryNeuroids[i].isSleeping)
leastInterestingIx = i;
else if (sensoryNeuroids[i] != null) {
if (leastInterestingIx == -1 || sensoryNeuroids[leastInterestingIx].receptor.localPosition.magnitude > sensoryNeuroids[i].receptor.localPosition.magnitude)
leastInterestingIx = i;
}
}
}
if (availableIx == -1)
availableIx = leastInterestingIx;
if (availableIx != -1) {
SensoryNeuroid neuroid;
if (sensoryNeuroids[availableIx] != null) {
Debug.Log($"replace receptor for {thingId} at {availableIx}");
neuroid = sensoryNeuroids[availableIx];
neuroid.Replace(thingId, name);
}
else {
Debug.Log($"new receptor for {thingId} at {availableIx}");
neuroid = new(brain, thingId, name);
sensoryNeuroids[availableIx] = neuroid;
}
foreach (Receiver receiver in positionReceivers) {
if (receiver.thingType == 0 || receiver.thingType == thingType) {
Debug.Log("Add position receiver");
receiver.neuroid.GetInputFrom(neuroid);
}
}
// foreach (Receiver receiver in velocityReceivers) {
// if (receiver.thingType == 0 || receiver.thingType == thingType)
// receiver.neuroid.GetInputFrom(neuroid.velocityNeuroid);
// }
//neuroid.receptor.position = localPosition;
neuroid.receptor.ProcessStimulus(333, localPosition);
}
}
}

2
Assets/NanoBrain/Perception.cs.meta
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@ -1,2 +0,0 @@
fileFormatVersion: 2
guid: 37d94d399d30e6eb996236adabad87ee

92
Assets/NanoBrain/Perceptoid.cs
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@ -48,19 +48,6 @@ public class Perceptoid : Neuroid {
#endregion Serialization
// public Perceptoid(NanoBrainObj brain, string name) : base(name) {
// this.brain = brain;
// if (this.brain != null) {
// this.brain.perceptei.Add(this);
// }
// else
// Debug.LogError("No neuroid network");
// this.nucleusType = nameof(Perceptoid);
// this.name = name;
// this.receptor = new Receptor(this);
// }
public Perceptoid(NanoBrainObj brain, int thingType, string name = "sensor") : base(name) {
this.brain = brain;
if (this.brain != null) {
@ -74,65 +61,22 @@ public class Perceptoid : Neuroid {
this.thingType = thingType;
this.receptor = Receptor.GetReceptor(brain, thingType);
this.receptor.perceptei.Add(this);
// this.velocityNeuroid = new(brain, name + ": velocity");
// // The velocity neuroid received position data from this
// this.AddReceiver(velocityNeuroid);
}
public void Replace(int thingType, string name = "sensor") {
this.name = name;
//this.thingType = thingType;
this.thingType = thingType;
this.receptor.thingType = thingType;
this.receptor.localPosition = Spherical.zero;
this.outputValue = Spherical.zero;
this.receivers = new();
// this.AddReceiver(velocityNeuroid);
// this.velocityNeuroid.Replace(name + ": velocity");
}
public override void UpdateState() {
Vector3 result = receptor.localPosition.ToVector3();
foreach (Synapse synapse in this.synapses) {
Nucleus nucleus = synapse.nucleus;
float weight = synapse.weight;
Vector3 direction = nucleus.outputValue.normalized.ToVector3();
float magnitude = nucleus.outputValue.magnitude;
magnitude = weight * Mathf.Pow(magnitude, exponent);
if (inverse)
magnitude = 1 / magnitude;
result += direction * magnitude;
}
if (average && this.synapses.Count > 0)
result /= this.synapses.Count + 1;
this.outputValue = Spherical.FromVector3(result);
foreach (Receiver receiver in this.receivers)
if (receiver.nucleus is Neuroid neuroid)
neuroid.SetInput(this);
//this.stale = 0;
//this.Refresh();
}
public void UpdateState(int thingId, Spherical receptorValue) {
this.thingId = thingId;
Spherical result = receptorValue;
// foreach (Synapse synapse in this.synapses) {
// Nucleus nucleus = synapse.nucleus;
// float weight = synapse.weight;
// Vector3 direction = nucleus.outputValue.normalized;
// float magnitude = nucleus.outputValue.magnitude;
// magnitude = weight * Mathf.Pow(magnitude, exponent);
// if (inverse)
// magnitude = 1 / magnitude;
// result += direction * magnitude;
// }
// if (average && this.synapses.Count > 0)
// result /= this.synapses.Count + 1;
float d = Spherical.Distance(result, this.outputValue);
if (d < 0.1f) {
@ -143,8 +87,6 @@ public class Perceptoid : Neuroid {
foreach (Receiver receiver in this.receivers)
if (receiver.nucleus is Neuroid neuroid)
neuroid.SetInput(this);
//this.stale = 0;
//this.Refresh();
}
@ -155,36 +97,4 @@ public class Perceptoid : Neuroid {
}
return null;
}
public static void ProcessStimulus(NanoBrainObj brain, int thingType, Vector3 localPosition) {
Perceptoid selectedPerceptoid = null;
foreach (Perceptoid nucleus in brain.perceptei) {
if (nucleus is Perceptoid perceptoid && (thingType == 0 || perceptoid.receptor.thingType == thingType))
if (selectedPerceptoid == null) {
selectedPerceptoid = perceptoid;
if (perceptoid.isSleeping) {
break;
}
}
else if (perceptoid.receptor.localPosition.magnitude < selectedPerceptoid.receptor.localPosition.magnitude)
selectedPerceptoid = perceptoid;
}
if (selectedPerceptoid == null) {
Debug.Log("No perceptoid selected, stimulus is ignored");
return;
}
//selectedPerceptoid.receptor.position = localPosition;
selectedPerceptoid.receptor.ProcessStimulus(888, localPosition);
}
// public static Receptor GetReceptor(NanoBrainObj brain, int thingType) {
// foreach (Perceptoid perceptoid in brain.perceptei) {
// if (perceptoid.receptor != null) {
// if (thingType == 0 || perceptoid.receptor.thingType == thingType)
// return perceptoid.receptor;
// }
// }
// Receptor receptor = new(thingType);
// return receptor;
// }
}

20
Assets/NanoBrain/Receptor.cs
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@ -8,7 +8,6 @@ public class Receptor {
/// </summary>
public List<Perceptoid> perceptei = new();
//public int thingId;
private int _thingType = 0;
public int thingType {
get { return _thingType; }
@ -51,15 +50,16 @@ public class Receptor {
selectedPerceptoid = perceptoid;
// Do not look any further
// This does not do a lot....
float deltaDistance = newLocalPosition.distance - previousLocalPosition.distance;
// See if the change is significant
AngleFloat deltaDirection = Direction.UnsignedAngle(newLocalPosition.direction, previousLocalPosition.direction);
if (deltaDistance < this.distanceResolution && deltaDirection.inDegrees < directionResolution) {
// The difference is not significant we don't process this data.
this.localPosition = previousLocalPosition;
return;
}
// // This does not do a lot....
// float deltaDistance = newLocalPosition.distance - previousLocalPosition.distance;
// // See if the change is significant
// AngleFloat deltaDirection = Direction.UnsignedAngle(newLocalPosition.direction, previousLocalPosition.direction);
// if (deltaDistance < this.distanceResolution && deltaDirection.inDegrees < directionResolution) {
// // The difference is not significant we don't process this data.
// this.localPosition = previousLocalPosition;
// return;
// }
// This is now also handled by the UpdateState Spherical.Distance
break;
}
else if (perceptoid.isSleeping) {

136
Assets/NanoBrain/SensoryNeuroid.cs
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@ -1,136 +0,0 @@
using System.Collections.Generic;
using System.Linq;
using UnityEngine;
using LinearAlgebra;
// public class Receptor {
// public Neuroid neuroid;
// public List<Perceptoid> perceptoids;
// public int thingId;
// public int thingType;
// public Vector3 localPosition;
// /// <summary>
// /// Local position of the thing
// /// </summary>
// public virtual Vector3 position {
// get {
// return this.localPosition;
// }
// set {
// this.localPosition = value;
// neuroid.UpdateState();
// }
// }
// public virtual void ProcessStimulus(int thingId, Vector3 localPosition) {
// this.thingId = thingId;
// this.localPosition = localPosition;
// neuroid.UpdateState();
// }
// }
public class SensoryNeuroid : Neuroid {
// A neuroid which has no neurons as input
// But receives value from a receptor
public Receptor receptor;
//public VelocityNeuroid velocityNeuroid;
public SensoryNeuroid(NanoBrainObj brain, int thingId, string name = "sensor") : base(brain, name) {
this.name = name + ": position";
// this.receptor = new Receptor(this) {
// thingType = thingId
// };
// this.velocityNeuroid = new(brain, name + ": velocity");
// // The velocity neuroid received position data from this
// this.AddReceiver(velocityNeuroid);
}
public void Replace(int thingId, string name = "sensor") {
this.name = name + ": position";
this.receptor.thingType = thingId;
this.receptor.localPosition = Spherical.zero;
this.outputValue = Spherical.zero;
this.receivers = new();
// this.AddReceiver(velocityNeuroid);
// // this.velocityNeuroid.name = name + ": velocity";
// // this.velocityNeuroid.receivers = new();
// this.velocityNeuroid.Replace(name + ": velocity");
}
public override void UpdateState() {
Vector3 result = receptor.localPosition.ToVector3();
//foreach ((Nucleus nucleus, float weight) in this.synapses) {
foreach (Synapse synapse in this.synapses) {
Nucleus nucleus = synapse.nucleus;
float weight = synapse.weight;
Vector3 outputV3 = nucleus.outputValue.ToVector3();
Vector3 direction = outputV3.normalized;
float magnitude = outputV3.magnitude;
magnitude = weight * Mathf.Pow(magnitude, exponent);
if (inverse)
magnitude = 1 / magnitude;
result += direction * magnitude;
}
if (average && this.synapses.Count > 0)
result /= this.synapses.Count + 1;
this.outputValue = Spherical.FromVector3(result);
//foreach (Neuroid neuroid in this.receivers)
foreach (Receiver receiver in this.receivers)
if (receiver.nucleus is Neuroid neuroid)
neuroid.SetInput(this);
//this.stale = 0;
//this.Refresh();
}
}
// public class VelocityNeuroid : Neuroid {
// // Would be best if this was received through a synapse via a loop....
// private Vector3 lastPosition = Vector3.zero;
// private float lastValueTime = 0;
// public VelocityNeuroid(NanoBrainObj net, string name = "velocity") : base(net, name) {
// }
// public void Replace(string name = "velocity") {
// this.name = name;
// this.receivers = new();
// this.lastPosition = Vector3.zero;
// this.lastValueTime = 0;
// }
// public override void UpdateState() {
// // Assuming only one synapse for now....
// //Vector3 currentPosition = this.synapses.First().Key.outputValue;
// Spherical currentPosition = this.synapses.First().nucleus.outputValue;
// Vector3 currentPositionV3 = currentPosition.ToVector3();
// float currentValueTime = Time.time;
// if (lastValueTime != 0) {
// float deltaTime = currentValueTime - lastValueTime;
// Vector3 translation = currentPositionV3 - lastPosition;
// Vector3 velocity = translation / deltaTime;
// // No activation function...
// this.outputValue = Spherical.FromVector3(velocity);
// //this.stale = 0;
// //this.Refresh();
// foreach (Receiver receiver in receivers) {
// if (receiver.nucleus is Neuroid neuroid)
// neuroid.SetInput(this);
// }
// }
// this.lastValueTime = currentValueTime;
// this.lastPosition = currentPositionV3;
// }
// }

2
Assets/NanoBrain/SensoryNeuroid.cs.meta
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@ -1,2 +0,0 @@
fileFormatVersion: 2
guid: 9e34db6b23aa12477a2f98b9eb0cbbe2

16
Assets/NanoBrain/VisualEditor/Editor/NanoBrainEditor.cs
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@ -296,18 +296,18 @@ public class GraphBoardView : VisualElement {
private void HandleMouseHover(Nucleus neuroid, Rect rect) {
GUIContent tooltip;
if (neuroid is SensoryNeuroid sensoryNeuroid) {
tooltip = new(
$"{sensoryNeuroid.name}" +
$"\nThing {sensoryNeuroid.receptor.thingType}" +
$"\nValue: {neuroid.outputValue}");
}
else {
// if (neuroid is SensoryNeuroid sensoryNeuroid) {
// tooltip = new(
// $"{sensoryNeuroid.name}" +
// $"\nThing {sensoryNeuroid.receptor.thingType}" +
// $"\nValue: {neuroid.outputValue}");
// }
// else {
tooltip = new(
$"{neuroid.name}" +
$"\nsynapse count {neuroid.synapses.Count}" +
$"\nValue: {neuroid.outputValue}");
}
// }
Vector2 mousePosition = Event.current.mousePosition;

51
Assets/NanoBrain/VisualEditor/Editor/NanoBrainInspector.cs
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@ -337,13 +337,14 @@ public class NanoBrainInspector : Editor {
private void HandleMouseHover(Nucleus nucleus, Rect rect) {
GUIContent tooltip;
if (nucleus is SensoryNeuroid sensoryNeuroid) {
tooltip = new(
$"{sensoryNeuroid.name}" +
$"\nThing {sensoryNeuroid.receptor.thingType}" +
$"\nValue: {nucleus.outputValue}");
}
else if (nucleus is Perceptoid perceptoid) {
// if (nucleus is SensoryNeuroid sensoryNeuroid) {
// tooltip = new(
// $"{sensoryNeuroid.name}" +
// $"\nThing {sensoryNeuroid.receptor.thingType}" +
// $"\nValue: {nucleus.outputValue}");
// }
//else
if (nucleus is Perceptoid perceptoid) {
if (perceptoid.receptor != null) {
tooltip = new(
$"{perceptoid.name}" +
@ -396,7 +397,7 @@ public class NanoBrainInspector : Editor {
if (this.currentNucleus == null)
return;
this.currentNucleus.name = EditorGUILayout.TextField(this.currentNucleus.name);
if (this.currentNucleus is Perceptoid currentPerceptoid) {
currentPerceptoid.receptor.thingType = EditorGUILayout.IntField("Thing Type", currentPerceptoid.receptor.thingType);
@ -572,29 +573,29 @@ public class NanoBrainInspector : Editor {
}
}
protected virtual void OnSceneGUI() {
NanoBrain brain = target as NanoBrain;
if (brain == null)
return;
// protected virtual void OnSceneGUI() {
// NanoBrain brain = target as NanoBrain;
// if (brain == null)
// return;
Vector3 position = brain.transform.position;
float radius = 1;
// Vector3 position = brain.transform.position;
// float radius = 1;
Handles.DrawWireDisc(position, Vector3.up, radius); // horizontal circle
Handles.DrawWireDisc(position, Vector3.right, radius); // X-plane
Handles.DrawWireDisc(position, Vector3.forward, radius); // Z-plane
// Handles.DrawWireDisc(position, Vector3.up, radius); // horizontal circle
// Handles.DrawWireDisc(position, Vector3.right, radius); // X-plane
// Handles.DrawWireDisc(position, Vector3.forward, radius); // Z-plane
// Debug.DrawRay(brain.transform.position, Vector3.forward, Color.magenta);
// Handles.color = Color.green;
// Handles.DrawLine(brain.transform.position, brain.transform.position + Vector3.up);
// // Debug.DrawRay(brain.transform.position, Vector3.forward, Color.magenta);
// // Handles.color = Color.green;
// // Handles.DrawLine(brain.transform.position, brain.transform.position + Vector3.up);
// Handles.color = Color.yellow;
// Vector3 worldForce = brain.transform.TransformDirection(this.currentNucleus.outputValue);
// //Debug.DrawRay(position, worldForce * 10, Color.yellow);
// Handles.DrawLine(position, position + worldForce * 10);
}
// // Handles.color = Color.yellow;
// // Vector3 worldForce = brain.transform.TransformDirection(this.currentNucleus.outputValue);
// // //Debug.DrawRay(position, worldForce * 10, Color.yellow);
// // Handles.DrawLine(position, position + worldForce * 10);
// }
#endregion Update
}

0
Assets/NanoBrain/VisualEditor/NeuroidObject.cs
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2
Assets/NanoBrain/VisualEditor/NeuroidObject.cs.meta
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@ -1,2 +0,0 @@
fileFormatVersion: 2
guid: d14e756f390f41a1c9923a0015329389

28
Assets/NanoBrain/VisualEditor/NucleusObject.cs
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@ -1,28 +0,0 @@
// using System.Collections.Generic;
// using UnityEngine;
// public class NucleusObj : ScriptableObject {
// public virtual string objName { get; set; }
// public readonly Dictionary<NucleusObj, float> synapses = new();
// public HashSet<NucleusObj> receivers = new();
// public virtual Vector3 outputValue { get; set; }
// public int stale = 0;
// public NucleusObj(string name) {
// this.objName = name;
// }
// public virtual void AddReceiver(NucleusObj receiver) {
// this.receivers.Add(receiver);
// receiver.synapses[this] = 1.0f;
// }
// public bool isSleeping {
// get {
// return this.stale > 2;
// }
// }
// }

2
Assets/NanoBrain/VisualEditor/NucleusObject.cs.meta
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@ -1,2 +0,0 @@
fileFormatVersion: 2
guid: ca2a41cdae50b5005b5cf10cebb28de6