Initial commit

.editorconfig

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+root = true
+
+[*.cs]
+# Use tabs for indentation
+indent_style = space  # To use spaces, you could set this to 'space'
+indent_size = 2       # Standard C# indent size
+
+# Alignment and Style Rules
+csharp_indent_case_contents = true
+csharp_new_line_after_open_brace = all
+csharp_new_line_before_open_brace = none
+csharp_new_line_before_else = true
+csharp_new_line_before_catch = true
+csharp_new_line_before_finally = true
+csharp_new_line_before_members_in_object_initializers = true
+csharp_new_line_before_members_in_anonymous_types = true
+csharp_new_line_between_query_expression_clauses = true
+
+# Limit the number of characters in a line
+max_line_length = 100  # This setting does not enforce it; it's a guideline.

.gitignore

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+.vscode
+Library
+Assets/Settings
+Logs
+Temp
+UserSettings

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Assets/NanoBrain/Editor/GraphEditorWindow.cs

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+using UnityEditor;
+using UnityEngine;
+using System.Linq;
+using System.Collections.Generic;
+
+public class Layer {
+    public int ix = 0;
+    public List<Neuroid> neuroids = new();
+}
+
+public class GraphEditorWindow : EditorWindow {
+    private Neuroid currentNeuroid;
+    private List<Neuroid> allNeuroids;
+    private Dictionary<Neuroid, Vector2Int> neuroidPositions = new();
+
+    private List<Layer> layers = new();
+
+    private void OnEnable() {
+        EditorApplication.update += EditorUpdate;
+        Selection.selectionChanged += OnSelectionChange;
+        SelectNeuron();
+    }
+
+    private void BuildLayers(List<Neuroid> neuroids) {
+        if (neuroids == null)
+            return;
+
+        // A temporary list to track what's been added to layers
+        this.layers = new();
+        HashSet<Neuroid> neuronVisited = new();
+        int layerIx = 0;
+
+        // While there are unvisited neuroid
+        while (neuroids.Any(neuroid => !neuronVisited.Contains(neuroid))) {
+            // Create the next layer
+            Layer currentLayer = new() { ix = layerIx };
+            int neuroidIx = 0;
+
+            foreach (Neuroid neuroid in neuroids) {
+                // If this neuroid is not visited while its output neuroid is visited
+                if (!neuronVisited.Contains(neuroid) && (neuronVisited.Contains(neuroid.outputNeuroid) || neuroid.outputNeuroid == null)) {
+                    // Add it to the next layer
+                    currentLayer.neuroids.Add(neuroid);
+                    // Register it as visited
+                    neuronVisited.Add(neuroid);
+                    // Store its position
+                    Vector2Int neuroidPosition = new(layerIx, neuroidIx);
+                    neuroidPositions[neuroid] = neuroidPosition;
+                    neuroidIx++;
+                }
+            }
+
+            if (currentLayer.neuroids.Count > 0) {
+                this.layers.Add(currentLayer);
+                layerIx++;
+            }
+        }
+    }
+
+    private void OnDisable() {
+        EditorApplication.update -= EditorUpdate;
+        Selection.selectionChanged -= OnSelectionChange;
+    }
+
+    private void OnSelectionChange() {
+        SelectNeuron();
+        Repaint();
+    }
+
+    private void EditorUpdate() {
+        if (EditorApplication.isPlaying)
+            Repaint();
+    }
+
+    private void OnGUI() {
+        GUILayout.Label("Graph Visualizer", EditorStyles.boldLabel);
+
+        DrawGraph();
+    }
+
+    private void DrawGraph() {
+        if (currentNeuroid == null)
+            return;
+
+        foreach (Layer layer in layers)
+            DrawLayer(layer);
+        // int column = 100;
+        // int row = 200;
+        // Vector3 parentPos = new(column, row, 0.1f);
+        // Handles.DrawSolidDisc(parentPos, Vector3.forward, 15);
+
+        // DrawLayer(2, parentPos);
+    }
+
+    // private void DrawLayer(int layerIx, Vector3 parentPos) {
+    //     int column = layerIx * 100;
+    //     int nodeCount = currentNeuroid.synapses.Count;
+    //     float maxValue = 0;
+    //     foreach (Synapse synapse in currentNeuroid.synapses.Values) {
+    //         float value = synapse.value.magnitude;
+    //         if (value > maxValue)
+    //             maxValue = value;
+    //     }
+
+    //     float spacing = 200f / nodeCount; // Calculate spacing
+    //     float margin = 100 + spacing / 3;
+    //     int i = 0;
+    //     foreach (Synapse synapse in currentNeuroid.synapses.Values) {
+    //         Vector3 pos = new(column, margin + i * spacing);
+
+    //         float brightness = synapse.weight / 10.0f;
+    //         Handles.color = new Color(brightness, brightness, brightness);
+    //         Handles.DrawLine(parentPos - Vector3.forward, pos);
+
+    //         float size = synapse.value.magnitude / maxValue * 20;
+    //         Handles.color = Color.white;
+    //         Handles.DrawSolidDisc(pos, Vector3.forward, size);
+    //         i++;
+    //     }
+    // }
+
+    private void DrawLayer(Layer layer) {
+        int column = layer.ix * 100;
+        int nodeCount = layer.neuroids.Count;
+        float maxValue = 0;
+        foreach (Neuroid neuroid in layer.neuroids) {
+            float value = neuroid.outputValue.magnitude;
+            if (value > maxValue)
+                maxValue = value;
+        }
+        float spacing = 200f / nodeCount;
+        float margin = 100 + spacing / 2;
+        foreach (Neuroid layerNeuroid in layer.neuroids) {
+            Vector2Int layerNeuroidPos = this.neuroidPositions[layerNeuroid];
+            Vector3 parentPos = new(100 + layerNeuroidPos.x * 100, margin + layerNeuroidPos.y * spacing, 0.1f);
+
+            int i = 0;
+            float inputSpacing = 200f / layerNeuroid.synapses.Count;
+            float inputMargin = 100 + inputSpacing / 2;
+            foreach (Synapse synapse in layerNeuroid.synapses.Values) {
+                if (synapse.neuroid != null) {
+                    Vector2Int inputNeuroidPos = this.neuroidPositions[synapse.neuroid];
+                    Vector3 pos = new(100 + inputNeuroidPos.x * 100, inputMargin + inputNeuroidPos.y * inputSpacing, 0.0f);
+
+                    float brightness = synapse.weight / 10.0f;
+                    Handles.color = new Color(brightness, brightness, brightness);
+                    Handles.DrawLine(parentPos, pos);
+                }
+            }
+
+            float size = layerNeuroid.outputValue.magnitude / maxValue * 20;
+            Handles.color = Color.white;
+            Handles.DrawSolidDisc(parentPos, Vector3.forward, size);
+            Rect neuronRect = new(parentPos.x-size, parentPos.y-size, size*2, size*2);
+            if (neuronRect.Contains(Event.current.mousePosition))
+                HandleMouseHover(layerNeuroid, neuronRect);
+            i++;
+
+        }
+    }
+
+    private void HandleMouseHover(Neuroid neuroid, Rect rect) {
+        // Draw the tooltip
+        GUIContent tooltip = new($"{neuroid.name}\n Value: {neuroid.outputValue}");
+        Vector2 mousePosition = Event.current.mousePosition;
+
+        // Display tooltip with some offset
+        Vector2 tooltipSize = GUI.skin.box.CalcSize(tooltip);
+        Rect tooltipRect = new Rect(mousePosition.x + 10, mousePosition.y + 10, tooltipSize.x, tooltipSize.y);
+        
+        GUI.Box(tooltipRect, tooltip);
+    }
+
+
+    // Update node colors based on selected GameObjects
+    private void SelectNeuron() {
+        GameObject[] selectedObjects = Selection.gameObjects;
+        if (selectedObjects.Length == 0)
+            return;
+
+        GameObject selectedObject = selectedObjects[0];
+        Boid boid = selectedObject.GetComponent<Boid>();
+        if (boid == null)
+            return;
+
+        Neuroid neuroid = boid.totalForce;
+        this.currentNeuroid = neuroid;
+        if (neuroid == null)
+            this.allNeuroids = new();
+        else
+            this.allNeuroids = neuroid.net.neuroids;
+
+
+        //Debug.Log($"Neuroncount = {this.allNeuroids.Count}");
+        BuildLayers(this.allNeuroids);
+        Debug.Log($"Layercount = {this.layers.Count}");
+
+    }
+
+    [MenuItem("Window/Graph Visualizer")]
+    public static void ShowWindow() {
+        GetWindow<GraphEditorWindow>("Graph Visualizer");
+    }
+}

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Assets/NanoBrain/Neuroid.cs

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+using System.Collections.Generic;
+using UnityEngine;
+using System.Linq;
+
+public class Synapse {
+    public Synapse(Neuroid neuroid, Vector3 value, float weight) {
+        this.neuroid = neuroid;
+        this.value = value;
+        this.weight = weight;
+    }
+    public Neuroid neuroid;
+    public Vector3 value;
+    public float weight;
+}
+
+public class NeuroidNetwork {
+    public List<Neuroid> neuroids = new();
+
+    public Neuroid AddNeuron() {
+        Neuroid neuroid = new(this);
+        return neuroid;
+    }
+}
+
+public class Neuroid {
+    public int id;
+    public string name;
+
+    public readonly Dictionary<int, Synapse> synapses = new();
+
+    public Vector3 outputValue;
+    public Neuroid outputNeuroid;
+    public int outputNeurix;
+
+    public enum Mode {
+        Sum,
+        Average,
+    }
+    public Mode mode = Mode.Sum;
+
+
+    public NeuroidNetwork net;
+
+    public Neuroid(NeuroidNetwork net) {
+        this.net = net;
+        this.net.neuroids.Add(this);
+    }
+
+    public void SetOutputTo(Neuroid neuroid) {
+        this.outputNeuroid = neuroid;
+        // neuroid.inputNeuroids.Add(this);
+        this.outputNeurix = this.id;
+    }
+
+    public void ResetWeights() {
+        foreach (Synapse synapse in synapses.Values)
+            synapse.weight = 1.0f;
+    }
+
+    public void SetWeight(Neuroid input, float weight) {
+        if (synapses.ContainsKey(input.id))
+            synapses[input.id] = new(input, synapses[input.id].value, weight);
+        else
+            synapses[input.id] = new(input, Vector3.zero, weight);
+    }
+
+    public void GetInputFrom(Neuroid input, float weight = 1.0f) {
+        input.id = this.synapses.Count;
+        input.SetOutputTo(this);
+        synapses[input.id] = new(input, Vector3.zero, weight);
+    }
+
+    public void SetInput(int inputId, Vector3 value) {
+        if (synapses.ContainsKey(inputId))
+            synapses[inputId].value = value;
+        else
+            synapses[inputId] = new(null, value, 1.0f);
+        UpdateState();
+    }
+    public void SetInput(int inputIx, Vector3 value, float weight) {
+        if (synapses.ContainsKey(inputIx)) {
+            Synapse synapse = synapses[inputIx];
+            synapse.value = value;
+            synapse.weight = weight;
+        }
+        else
+            synapses[inputIx] = new(null, value, weight);
+        UpdateState();
+    }
+
+    void UpdateState() {
+        Vector3 sum = Vector3.zero;
+        foreach (Synapse synapse in synapses.Values)
+            sum += synapse.value * synapse.weight;
+
+        this.outputValue = Activation(sum);
+        this.outputNeuroid?.SetInput(this.outputNeurix, this.outputValue);
+    }
+
+    Vector3 Activation(Vector3 sum) {
+        return mode switch {
+            Mode.Sum => sum,
+            Mode.Average => sum / synapses.Count,
+            _ => sum,
+        };
+        //return sum;  //(sum.magnitude > 0.5f) ? sum : Vector3.zero;
+    }
+}
+

Assets/NanoBrain/Neuroid.cs.meta

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Assets/NanoBrain/NeuroidBehaviour.cs

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+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");
+    }
+}

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+using UnityEngine;
+
+
+public class Boid : MonoBehaviour {
+    public float speed = 0.2f;
+    public int neighbourCount = 0;
+    public float inertia = 0.2f;
+    public float alignmentForce = 1.0f;
+    public float cohesionForce = 1.0f;
+    public float separationForce = 1.0f;
+    public float separationDistance = 0.5f;
+    public float bodyForce = 1;
+
+    public SwarmControl sc;
+    public Vector3 velocity = Vector3.zero;
+    public Vector3 acceleration = Vector3.zero;
+
+    readonly Collider[] results = new Collider[10];
+
+    public NeuroidNetwork neuroidNet = new();
+    public Neuroid bodyVector;
+    public Neuroid cohesion;
+    public Neuroid alignment;
+    public Neuroid separation;
+    public Neuroid target;
+
+    public Neuroid totalForce;
+
+    public int id;
+
+    void Awake() {
+        this.id = this.GetInstanceID();
+
+        sc = FindFirstObjectByType<SwarmControl>();
+
+        cohesion = new(neuroidNet) { name = "Cohesion", mode = Neuroid.Mode.Sum };
+        alignment = new(neuroidNet) { name = "Alignment", mode = Neuroid.Mode.Average };
+        separation = new(neuroidNet) { name = "Separation", mode = Neuroid.Mode.Sum };
+        target = new(neuroidNet) { name = "Target", mode = Neuroid.Mode.Sum };
+
+
+        totalForce = new(neuroidNet) { name = "Total force", mode = Neuroid.Mode.Sum };
+        totalForce.GetInputFrom(alignment, sc.alignmentForce);
+        totalForce.GetInputFrom(cohesion, sc.cohesionForce);
+        totalForce.GetInputFrom(separation, sc.separationForce);
+        totalForce.GetInputFrom(target, sc.bodyForce);
+    }
+
+    void Update() {
+        Physics.OverlapSphereNonAlloc(this.transform.position, 10, results);
+        neighbourCount = 0;
+
+        cohesion.ResetWeights();
+        alignment.ResetWeights();
+        separation.ResetWeights();
+
+        foreach (Collider c in results) {
+            if (c == null || c as CapsuleCollider == null)
+                continue;
+
+            Boid neighbour = c.GetComponentInParent<Boid>();
+            if (neighbour == null || neighbour == this)
+                continue;
+
+            Vector3 localPosition = neighbour.transform.position - this.transform.position;
+            Vector3 relativeVelocity = neighbour.velocity - this.velocity;
+
+            int id = neighbour.GetInstanceID();
+
+            Vector3 separationForce = -localPosition / localPosition.sqrMagnitude;
+            // which is equivalent to -(localPosition.normalized / localPosition.magnitude)
+
+            separation.SetInput(id, separationForce, sc.separationDistance);
+            cohesion.SetInput(id, localPosition);
+            alignment.SetInput(id, relativeVelocity);
+
+            neighbourCount++;
+        }
+
+        Vector3 totalForceVector = totalForce.outputValue;
+        //Debug.DrawRay(this.transform.position, totalForceVector, Color.magenta);
+
+        this.velocity = (1 - sc.inertia) * (totalForceVector * Time.deltaTime) + sc.inertia * velocity + (sc.speed * transform.forward);
+        //this.velocity = Vector3.ClampMagnitude(this.velocity, sc.speed);
+
+        this.transform.position += this.velocity * Time.deltaTime;
+
+        if (this.velocity != Vector3.zero) {
+            Quaternion targetRotation = Quaternion.LookRotation(this.velocity);
+            transform.rotation = Quaternion.Slerp(transform.rotation, targetRotation, Time.deltaTime * 2f); // Adjust the speed of rotation        
+        }
+    }
+
+}

Assets/Scenes/Boids/Scripts/Boid.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: fe92e8a3728a1e444a25b79acf6b1d00

Assets/Scenes/Boids/Scripts/SwarmControl.cs

@@ -0,0 +1,14 @@
+using UnityEngine;
+
+public class SwarmControl : MonoBehaviour
+{
+
+    public float speed = 0.5f;
+    //public int neighbourCount = 0;
+    public float inertia = 0.1f;
+    public float alignmentForce = 0.0f;
+    public float cohesionForce = 10.0f;
+    public float separationForce = 5.0f;
+    public float separationDistance = 0.5f;
+    public float bodyForce = 20;
+}

Assets/Scenes/Boids/Scripts/SwarmControl.cs.meta

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+fileFormatVersion: 2
+guid: 0464906885ae3494f8fd0314719fb2db

Assets/Scenes/Boids/Scripts/SwarmSpawner.cs

@@ -0,0 +1,32 @@
+using System.Collections;
+using UnityEngine;
+
+public class SwarmSpawn : MonoBehaviour {
+    public int count = 1;
+    public GameObject boidPrefab;
+
+    public Vector3 spawnAreaSize = new(0.5f, 0.5f, 0.5f); // Size of the area to spawn the prefab
+    public float minDelay = 1f; // Minimum delay between spawns
+    public float maxDelay = 5f; // Maximum delay between spawns
+
+    void Start() {
+        StartCoroutine(SpawnPrefab());
+    }
+
+    IEnumerator SpawnPrefab() {
+        for (int i = 0; i < count; i++) {
+            float delay = Random.Range(minDelay, maxDelay);
+            yield return new WaitForSeconds(delay);
+
+            // Generate a random local position within the specified area
+            Vector3 randomPosition = new Vector3(
+                Random.Range(-spawnAreaSize.x / 2, spawnAreaSize.x / 2),
+                Random.Range(-spawnAreaSize.y / 2, spawnAreaSize.y / 2),
+                Random.Range(-spawnAreaSize.z / 2, spawnAreaSize.z / 2)
+            );
+
+            // Instantiate the prefab at the random position relative to the spawner
+            Instantiate(boidPrefab, transform.position + randomPosition, Random.rotation);
+        }
+    }
+}

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