NanoBrain/NanoBrain-unitypackage
NanoBrain/NanoBrain-unitypackage
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Move to Spherical outputvalue

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This commit is contained in:
Pascal Serrarens 2025-12-23 09:19:05 +01:00
parent 65359ecbfa
commit a500a9e16e
21 changed files with 805 additions and 626 deletions
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614
Assembly-CSharp-Editor.csproj
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609
Assembly-CSharp.csproj
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6
Assets/NanoBrain/Editor/NanoBrain_Editor.cs
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@ -54,7 +54,7 @@ public class NanoBrain_Editor : Editor {
DrawGraph();
EditorGUILayout.TextField("Name", currentNucleus.name);
EditorGUILayout.Vector3Field("Output Value", currentNucleus.outputValue);
EditorGUILayout.Vector3Field("Output Value", currentNucleus.outputValue.ToVector3());
if (currentNucleus.synapses.Count > 0) {
EditorGUI.indentLevel++;
//foreach ((Nucleus nucleus, float weight) in currentNucleus.synapses) {
@ -65,7 +65,7 @@ public class NanoBrain_Editor : Editor {
EditorGUI.BeginDisabledGroup(nucleus.isSleeping);
EditorGUILayout.BeginHorizontal();
EditorGUILayout.Vector3Field(nucleus.name, nucleus.outputValue);
EditorGUILayout.Vector3Field(nucleus.name, nucleus.outputValue.ToVector3());
EditorGUILayout.FloatField(weight, GUILayout.Width(50));
EditorGUILayout.EndHorizontal();
@ -265,7 +265,7 @@ public class NanoBrain_Editor : Editor {
// 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);
Vector3 worldForce = brain.transform.TransformDirection(this.currentNucleus.outputValue.ToVector3());
//Debug.DrawRay(position, worldForce * 10, Color.yellow);
Handles.DrawLine(position, position + worldForce * 10);
}

8
Assets/NanoBrain/LinearAlgebra-csharp.meta Normal file
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@ -0,0 +1,8 @@
fileFormatVersion: 2
guid: b011ef22eaa3add3591b513363fbbd0a
folderAsset: yes
DefaultImporter:
externalObjects: {}
userData:
assetBundleName:
assetBundleVariant:

12
Assets/NanoBrain/NanoBrain-Unity.code-workspace Normal file
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@ -0,0 +1,12 @@
{
"folders": [
{
"path": "../.."
},
{
"name": "LinearAlgebra-csharp",
"path": "LinearAlgebra-csharp"
}
],
"settings": {}
}

7
Assets/NanoBrain/NanoBrain-Unity.code-workspace.meta Normal file
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@ -0,0 +1,7 @@
fileFormatVersion: 2
guid: cfec45da5945b94d684a763d86b0dcf8
DefaultImporter:
externalObjects: {}
userData:
assetBundleName:
assetBundleVariant:

21
Assets/NanoBrain/Neuroid.cs
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@ -1,4 +1,5 @@
using UnityEngine;
using LinearAlgebra;
[System.Serializable]
public class Neuroid : Nucleus {
@ -37,7 +38,6 @@ public class Neuroid : Nucleus {
return Synapse.Presets.Reciprocal(1);
default:
this.curveMax = 1;
//return AnimationCurve.Constant(0, 1, 1);
return this.curve;
}
}
@ -63,42 +63,34 @@ public class Neuroid : Nucleus {
}
public void SetInput(Neuroid input) {
// if (this.synapses.ContainsKey(input) == false)
// this.synapses[input] = 1.0f;
if (this.SynapseExists(input) == false)
this.SetWeight(input, 1.0f);
UpdateState();
}
public void SetInput(Neuroid input, float weight) {
//this.synapses[input] = weight;
this.SetWeight(input, weight);
UpdateState();
}
public virtual void UpdateState() {
Vector3 result = Vector3.zero;
//foreach ((Nucleus nucleus, float weight) in this.synapses) {
foreach (Synapse synapse in this.synapses) {
Nucleus synapseNucleus = synapse.nucleus;
if (synapseNucleus is Neuroid neuroid && neuroid.isSleeping)
continue;
Vector3 direction = synapseNucleus.outputValue.normalized;
float magnitude = synapseNucleus.outputValue.magnitude;
Vector3 direction = synapseNucleus.outputValue.direction.ToVector3();
float weight = synapse.weight;
magnitude = weight * curve.Evaluate(synapseNucleus.outputValue.magnitude);
// magnitude = weight * Mathf.Pow(magnitude, exponent);
// if (inverse && magnitude > 0)
// magnitude = 1 / magnitude;
result += direction * magnitude;
float magnitude = weight * curve.Evaluate(synapseNucleus.outputValue.magnitude);
result += direction * magnitude;
}
if (average && this.synapses.Count > 0)
result /= this.synapses.Count;
this.outputValue = result;
this.outputValue = Spherical.FromVector3(result);
this.stale = 0;
foreach (Receiver receiver in this.receivers) {
@ -107,8 +99,5 @@ public class Neuroid : Nucleus {
}
}
// public bool IsStale() {
// return this.stale > 2;
// }
}

3
Assets/NanoBrain/Nucleus.cs
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@ -2,6 +2,7 @@ using System;
using System.Collections.Generic;
using UnityEngine;
using UnityEditor;
using LinearAlgebra;
[System.Serializable]
public class Nucleus {
@ -63,7 +64,7 @@ public class Nucleus {
public NanoBrainObj brain { get; set; }
public virtual Vector3 outputValue { get; set; }
public virtual Spherical outputValue { get; set; }
[System.NonSerialized]
public int stale = 0;

15
Assets/NanoBrain/Perceptoid.cs
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@ -1,4 +1,5 @@
using UnityEngine;
using LinearAlgebra;
[System.Serializable]
public class Perceptoid : Neuroid {
@ -88,9 +89,9 @@ public class Perceptoid : Neuroid {
this.thingType = thingType;
this.receptor.thingType = thingType;
this.receptor.localPosition = Vector3.zero;
this.receptor.localPosition = Spherical.zero;
this.outputValue = Vector3.zero;
this.outputValue = Spherical.zero;
this.receivers = new();
this.AddReceiver(velocityNeuroid);
@ -98,11 +99,11 @@ public class Perceptoid : Neuroid {
}
public override void UpdateState() {
Vector3 result = receptor.localPosition;
Vector3 result = receptor.localPosition.ToVector3();
foreach (Synapse synapse in this.synapses) {
Nucleus nucleus = synapse.nucleus;
float weight = synapse.weight;
Vector3 direction = nucleus.outputValue.normalized;
Vector3 direction = nucleus.outputValue.normalized.ToVector3();
float magnitude = nucleus.outputValue.magnitude;
magnitude = weight * Mathf.Pow(magnitude, exponent);
@ -113,16 +114,16 @@ public class Perceptoid : Neuroid {
if (average && this.synapses.Count > 0)
result /= this.synapses.Count + 1;
this.outputValue = result;
this.outputValue = Spherical.FromVector3(result);
foreach (Receiver receiver in this.receivers)
if (receiver.nucleus is Neuroid neuroid)
neuroid.SetInput(this);
this.stale = 0;
}
public void UpdateState(int thingId, Vector3 receptorValue) {
public void UpdateState(int thingId, Spherical receptorValue) {
this.thingId = thingId;
Vector3 result = receptorValue;
Spherical result = receptorValue;
// foreach (Synapse synapse in this.synapses) {
// Nucleus nucleus = synapse.nucleus;
// float weight = synapse.weight;

5
Assets/NanoBrain/Receptor.cs
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@ -1,6 +1,7 @@
using System.Collections.Generic;
using System.Linq;
using UnityEngine;
using LinearAlgebra;
public class Receptor {
@ -9,7 +10,7 @@ public class Receptor {
public int thingId;
public int thingType;
public Vector3 localPosition;
public Spherical localPosition;
public Receptor(Perceptoid perceptoid) {
this.perceptei.Add(perceptoid);
@ -18,7 +19,7 @@ public class Receptor {
public virtual void ProcessStimulus(int thingId, Vector3 localPosition) {
this.thingId = thingId;
this.localPosition = localPosition;
this.localPosition = Spherical.FromVector3(localPosition);
Perceptoid selectedPerceptoid = null;
foreach (Perceptoid perceptoid in this.perceptei) {

23
Assets/NanoBrain/SensoryNeuroid.cs
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@ -1,6 +1,7 @@
using System.Collections.Generic;
using System.Linq;
using UnityEngine;
using LinearAlgebra;
// public class Receptor {
@ -52,9 +53,9 @@ public class SensoryNeuroid : Neuroid {
this.name = name + ": position";
this.receptor.thingType = thingId;
this.receptor.localPosition = Vector3.zero;
this.receptor.localPosition = Spherical.zero;
this.outputValue = Vector3.zero;
this.outputValue = Spherical.zero;
this.receivers = new();
this.AddReceiver(velocityNeuroid);
@ -64,13 +65,14 @@ public class SensoryNeuroid : Neuroid {
}
public override void UpdateState() {
Vector3 result = receptor.localPosition;
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 direction = nucleus.outputValue.normalized;
float magnitude = nucleus.outputValue.magnitude;
Vector3 outputV3 = nucleus.outputValue.ToVector3();
Vector3 direction = outputV3.normalized;
float magnitude = outputV3.magnitude;
magnitude = weight * Mathf.Pow(magnitude, exponent);
if (inverse)
@ -80,7 +82,7 @@ public class SensoryNeuroid : Neuroid {
if (average && this.synapses.Count > 0)
result /= this.synapses.Count + 1;
this.outputValue = result;
this.outputValue = Spherical.FromVector3(result);
//foreach (Neuroid neuroid in this.receivers)
foreach (Receiver receiver in this.receivers)
if (receiver.nucleus is Neuroid neuroid)
@ -107,16 +109,17 @@ public class VelocityNeuroid : Neuroid {
public override void UpdateState() {
// Assuming only one synapse for now....
//Vector3 currentPosition = this.synapses.First().Key.outputValue;
Vector3 currentPosition = this.synapses.First().nucleus.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 = currentPosition - lastPosition;
Vector3 translation = currentPositionV3 - lastPosition;
Vector3 velocity = translation / deltaTime;
// No activation function...
this.outputValue = velocity;
this.outputValue = Spherical.FromVector3(velocity);
this.stale = 0;
//foreach (Neuroid receiver in receivers)
@ -127,6 +130,6 @@ public class VelocityNeuroid : Neuroid {
}
this.lastValueTime = currentValueTime;
this.lastPosition = currentPosition;
this.lastPosition = currentPositionV3;
}
}

4
Assets/NanoBrain/VisualEditor/Editor/NanoBrainEditor.cs
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@ -341,7 +341,7 @@ public class GraphBoardView : VisualElement {
currentNucleus.name = EditorGUILayout.TextField(currentNucleus.name);
EditorGUILayout.BeginHorizontal();
EditorGUILayout.LabelField("Output Value", GUILayout.Width(100));
EditorGUILayout.Vector3Field(GUIContent.none, currentNucleus.outputValue);
EditorGUILayout.Vector3Field(GUIContent.none, currentNucleus.outputValue.ToVector3());
EditorGUILayout.EndHorizontal();
if (currentNucleus.synapses.Count > 0) {
EditorGUILayout.LabelField("Synapses");
@ -360,7 +360,7 @@ public class GraphBoardView : VisualElement {
// currentNucleus.synapses[nucleus] = EditorGUILayout.FloatField(weight, GUILayout.Width(40));
synapse.weight = EditorGUILayout.FloatField(synapse.weight, GUILayout.Width(40));
EditorGUI.indentLevel++;
EditorGUILayout.Vector3Field(GUIContent.none, synapse.nucleus.outputValue, GUILayout.Width(180));
EditorGUILayout.Vector3Field(GUIContent.none, synapse.nucleus.outputValue.ToVector3(), GUILayout.Width(180));
EditorGUILayout.EndHorizontal();
EditorGUI.EndDisabledGroup();

2
Assets/NanoBrain/VisualEditor/Editor/NanoBrainInspector.cs
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@ -455,7 +455,7 @@ public class NanoBrainInspector : Editor {
DisconnectNucleus(this.currentNucleus);
if (this.gameObject != null) {
Vector3 worldVector = this.gameObject.transform.TransformVector(this.currentNucleus.outputValue);
Vector3 worldVector = this.gameObject.transform.TransformVector(this.currentNucleus.outputValue.ToVector3());
Debug.DrawRay(this.gameObject.transform.position, worldVector, Color.yellow);
}
});

5
Assets/NanoBrain/VisualEditor/NanoBrainObj.cs
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@ -1,5 +1,6 @@
using System.Collections.Generic;
using UnityEngine;
using LinearAlgebra;
[CreateAssetMenu(menuName = "Passer/NanoBrain")]
public class NanoBrainObj : ScriptableObject, ISerializationCallbackReceiver {
@ -33,12 +34,12 @@ public class NanoBrainObj : ScriptableObject, ISerializationCallbackReceiver {
foreach (Nucleus nucleus in nuclei) {
nucleus.stale++;
if (nucleus.isSleeping)
nucleus.outputValue = Vector3.zero;
nucleus.outputValue = Spherical.zero;
}
foreach (Perceptoid perception in perceptei) {
perception.stale++;
if (perception.isSleeping)
perception.outputValue = Vector3.zero;
perception.outputValue = Spherical.zero;
}
}

2
Assets/Scenes/Boids/Scripts/Boid.cs
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@ -55,7 +55,7 @@ public class Boid : MonoBehaviour {
boundaryReceptor.ProcessStimulus(777, desiredLocalSpace);
}
Vector3 worldForce = this.transform.TransformDirection(nanoBrain.root.outputValue);
Vector3 worldForce = this.transform.TransformDirection(nanoBrain.root.outputValue.ToVector3());
this.velocity = (1 - sc.inertia) * (worldForce * Time.deltaTime) + sc.inertia * velocity;
if (this.velocity.magnitude > 0)

3
Assets/Scenes/Boids/Scripts/SwarmingNucleus.cs
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@ -1,4 +1,5 @@
using UnityEngine;
using LinearAlgebra;
public class Swarming : Nucleus {
public Neuroid cohesion;
@ -8,7 +9,7 @@ public class Swarming : Nucleus {
public Neuroid output;
public override Vector3 outputValue { get => output.outputValue; set => output.outputValue = value; }
public override Spherical outputValue { get => output.outputValue; set => output.outputValue = value; }
public Swarming(NanoBrainObj brain, Perception perception, SwarmControl sc) : base("Swarming Nucleus") {
this.cohesion = new(brain, "Cohesion") { inverse = false };

8
Packages/manifest.json
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@ -4,13 +4,14 @@
"com.unity.collab-proxy": "2.10.2",
"com.unity.ide.rider": "3.0.38",
"com.unity.ide.visualstudio": "2.0.25",
"com.unity.inputsystem": "1.14.2",
"com.unity.multiplayer.center": "1.0.0",
"com.unity.render-pipelines.universal": "17.2.0",
"com.unity.inputsystem": "1.17.0",
"com.unity.multiplayer.center": "1.0.1",
"com.unity.render-pipelines.universal": "17.3.0",
"com.unity.test-framework": "1.6.0",
"com.unity.timeline": "1.8.9",
"com.unity.ugui": "2.0.0",
"com.unity.modules.accessibility": "1.0.0",
"com.unity.modules.adaptiveperformance": "1.0.0",
"com.unity.modules.ai": "1.0.0",
"com.unity.modules.androidjni": "1.0.0",
"com.unity.modules.animation": "1.0.0",
@ -37,6 +38,7 @@
"com.unity.modules.unitywebrequestaudio": "1.0.0",
"com.unity.modules.unitywebrequesttexture": "1.0.0",
"com.unity.modules.unitywebrequestwww": "1.0.0",
"com.unity.modules.vectorgraphics": "1.0.0",
"com.unity.modules.vehicles": "1.0.0",
"com.unity.modules.video": "1.0.0",
"com.unity.modules.vr": "1.0.0",

59
Packages/packages-lock.json
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@ -10,7 +10,7 @@
"url": "https://packages.unity.com"
},
"com.unity.burst": {
"version": "1.8.25",
"version": "1.8.26",
"depth": 2,
"source": "registry",
"dependencies": {
@ -33,8 +33,8 @@
"dependencies": {
"com.unity.burst": "1.8.23",
"com.unity.mathematics": "1.3.2",
"com.unity.nuget.mono-cecil": "1.11.5",
"com.unity.test-framework": "1.4.6",
"com.unity.nuget.mono-cecil": "1.11.5",
"com.unity.test-framework.performance": "3.0.3"
},
"url": "https://packages.unity.com"
@ -64,7 +64,7 @@
"url": "https://packages.unity.com"
},
"com.unity.inputsystem": {
"version": "1.14.2",
"version": "1.17.0",
"depth": 0,
"source": "registry",
"dependencies": {
@ -73,14 +73,14 @@
"url": "https://packages.unity.com"
},
"com.unity.mathematics": {
"version": "1.3.2",
"version": "1.3.3",
"depth": 2,
"source": "registry",
"dependencies": {},
"url": "https://packages.unity.com"
},
"com.unity.multiplayer.center": {
"version": "1.0.0",
"version": "1.0.1",
"depth": 0,
"source": "builtin",
"dependencies": {
@ -88,14 +88,14 @@
}
},
"com.unity.nuget.mono-cecil": {
"version": "1.11.5",
"version": "1.11.6",
"depth": 3,
"source": "registry",
"dependencies": {},
"url": "https://packages.unity.com"
},
"com.unity.render-pipelines.core": {
"version": "17.2.0",
"version": "17.3.0",
"depth": 1,
"source": "builtin",
"dependencies": {
@ -105,17 +105,16 @@
"com.unity.collections": "2.4.3",
"com.unity.modules.physics": "1.0.0",
"com.unity.modules.terrain": "1.0.0",
"com.unity.modules.jsonserialize": "1.0.0",
"com.unity.rendering.light-transport": "1.0.1"
"com.unity.modules.jsonserialize": "1.0.0"
}
},
"com.unity.render-pipelines.universal": {
"version": "17.2.0",
"version": "17.3.0",
"depth": 0,
"source": "builtin",
"dependencies": {
"com.unity.render-pipelines.core": "17.2.0",
"com.unity.shadergraph": "17.2.0",
"com.unity.render-pipelines.core": "17.3.0",
"com.unity.shadergraph": "17.3.0",
"com.unity.render-pipelines.universal-config": "17.0.3"
}
},
@ -127,29 +126,19 @@
"com.unity.render-pipelines.core": "17.0.3"
}
},
"com.unity.rendering.light-transport": {
"version": "1.0.1",
"depth": 2,
"source": "builtin",
"dependencies": {
"com.unity.collections": "2.2.0",
"com.unity.mathematics": "1.2.4",
"com.unity.modules.terrain": "1.0.0"
}
},
"com.unity.searcher": {
"version": "4.9.3",
"version": "4.9.4",
"depth": 2,
"source": "registry",
"dependencies": {},
"url": "https://packages.unity.com"
},
"com.unity.shadergraph": {
"version": "17.2.0",
"version": "17.3.0",
"depth": 1,
"source": "builtin",
"dependencies": {
"com.unity.render-pipelines.core": "17.2.0",
"com.unity.render-pipelines.core": "17.3.0",
"com.unity.searcher": "4.9.3"
}
},
@ -178,9 +167,9 @@
"depth": 0,
"source": "registry",
"dependencies": {
"com.unity.modules.audio": "1.0.0",
"com.unity.modules.director": "1.0.0",
"com.unity.modules.animation": "1.0.0",
"com.unity.modules.audio": "1.0.0",
"com.unity.modules.particlesystem": "1.0.0"
},
"url": "https://packages.unity.com"
@ -200,6 +189,14 @@
"source": "builtin",
"dependencies": {}
},
"com.unity.modules.adaptiveperformance": {
"version": "1.0.0",
"depth": 0,
"source": "builtin",
"dependencies": {
"com.unity.modules.subsystems": "1.0.0"
}
},
"com.unity.modules.ai": {
"version": "1.0.0",
"depth": 0,
@ -407,6 +404,16 @@
"com.unity.modules.imageconversion": "1.0.0"
}
},
"com.unity.modules.vectorgraphics": {
"version": "1.0.0",
"depth": 0,
"source": "builtin",
"dependencies": {
"com.unity.modules.uielements": "1.0.0",
"com.unity.modules.imageconversion": "1.0.0",
"com.unity.modules.imgui": "1.0.0"
}
},
"com.unity.modules.vehicles": {
"version": "1.0.0",
"depth": 0,

4
ProjectSettings/GraphicsSettings.asset
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@ -58,7 +58,9 @@ GraphicsSettings:
m_FogKeepExp2: 1
m_AlbedoSwatchInfos: []
m_RenderPipelineGlobalSettingsMap:
UnityEngine.Rendering.Universal.UniversalRenderPipeline: {fileID: 11400000, guid: 370d27fa5af5291e18529fa336759ac9, type: 2}
UnityEngine.Rendering.Universal.UniversalRenderPipeline: {fileID: 11400000, guid: 2acc6984d25d4a508a6d7042927d3083, type: 2}
m_ShaderBuildSettings:
keywordDeclarationOverrides: []
m_LightsUseLinearIntensity: 1
m_LightsUseColorTemperature: 1
m_LogWhenShaderIsCompiled: 0

17
ProjectSettings/Packages/com.unity.dedicated-server/MultiplayerRolesSettings.asset Normal file
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@ -0,0 +1,17 @@
%YAML 1.1
%TAG !u! tag:unity3d.com,2011:
--- !u!114 &1
MonoBehaviour:
m_ObjectHideFlags: 53
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: 15023, guid: 0000000000000000e000000000000000, type: 0}
m_Name:
m_EditorClassIdentifier: UnityEditor.MultiplayerModule.dll::UnityEditor.Multiplayer.Internal.MultiplayerRolesSettings
m_MultiplayerRoleForClassicProfile:
m_Keys: []
m_Values:

4
ProjectSettings/ProjectVersion.txt
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@ -1,2 +1,2 @@
m_EditorVersion: 6000.2.13f1
m_EditorVersionWithRevision: 6000.2.13f1 (abdb44fca7f7)
m_EditorVersion: 6000.3.2f1
m_EditorVersionWithRevision: 6000.3.2f1 (a9779f353c9b)