NanoBrain/NanoBrain-unitypackage
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Single smell works

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This commit is contained in:
Pascal Serrarens 2026-05-06 12:10:26 +02:00
parent 67beb5e486
commit b1121eed87
19 changed files with 4608 additions and 427 deletions
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10
CreatureControl/Editor/Scripts/Insect/Insect_Editor.cs
View File

@ -10,7 +10,9 @@ namespace CreatureControl {
protected Insect insect;
public override void OnEnable() {
if (target == null)
return;
insect = target as Insect;
bool anythingChanged = false;
@ -153,10 +155,14 @@ namespace CreatureControl {
SerializedProperty rightHindLegProp = serializedObject.FindProperty(nameof(Insect.rightHindLeg));
somethingChanged |= Leg_Editor.Inspector(rightHindLegProp, insect.insectRig.rightBackLeg, insect.rightHindLeg);
EditorGUILayout.Space();
EditorGUILayout.PropertyField(serializedObject.FindProperty(nameof(Ant.touchLeft)));
EditorGUILayout.PropertyField(serializedObject.FindProperty(nameof(Ant.touchRight)));
EditorGUI.indentLevel--;
if (somethingChanged) {
Debug.Log("seomthin has changed");
// don't know if this apply/update is really needed....
serializedObject.Update();
// serializedObject.ApplyModifiedProperties();

18
CreatureControl/Runtime/Scripts/Creature.cs
View File

@ -34,7 +34,7 @@ namespace CreatureControl {
/// <summary>
/// If there is not static object below the feet of the avatar the avatar will fall down until it reaches solid ground
/// </summary>
public bool useGravity = true;
public bool useGravity = false;
[Range(0f, 1f)]
public float slopeAlignment = 0.3f;
@ -137,11 +137,13 @@ namespace CreatureControl {
UpdatePose();
// copy animator root motion to the creature
//this.transform.SetPositionAndRotation(targetRig.transform.position, targetRig.transform.rotation);
// As target rig is probably a child of this.transform,
// We need to restore the position/rotation of the targetsRig.
//targetRig.transform.SetPositionAndRotation(this.transform.position, this.transform.rotation);
if (this.model != this.transform) {
// copy animator root motion to the creature
this.transform.SetPositionAndRotation(targetRig.transform.position, targetRig.transform.rotation);
// As target rig is probably a child of this.transform,
// We need to restore the position/rotation of the targetsRig.
targetRig.transform.SetPositionAndRotation(this.transform.position, this.transform.rotation);
}
}
/// <summary>
@ -161,9 +163,9 @@ namespace CreatureControl {
public virtual void UpdateModel() {
if (this.model == null)
return;
this.targetRig.transform.GetPositionAndRotation(out Vector3 targetRigPosition, out Quaternion targetRigOrientation);
Vector3 newPosition = targetRigPosition + this.targetToModelTranslation;
Quaternion newOrientation = targetRigOrientation * this.targetToModelRotation;
this.model.SetPositionAndRotation(newPosition, newOrientation);

8
Editor/Scripts/Ant_Editor.cs
View File

@ -1,15 +1,16 @@
using UnityEditor;
using UnityEngine;
using NanoBrain;
namespace CreatureControl {
[CustomEditor(typeof(Ant))]
public class Ant_Editor : Insect_Editor {
protected Ant ant;
//protected Ant ant;
public override void OnEnable() {
this.ant = target as Ant;
//this.ant = target as Ant;
base.OnEnable();
}
@ -24,6 +25,7 @@ namespace CreatureControl {
EditorGUILayout.PropertyField(serializedObject.FindProperty(nameof(Ant.foodReceptor)));
EditorGUILayout.PropertyField(serializedObject.FindProperty(nameof(Ant.homeReceptor)));
EditorGUILayout.PropertyField(serializedObject.FindProperty(nameof(Ant.hasFood)));
serializedObject.ApplyModifiedProperties();
}
private void HomePheromonePrefabInspector() {
@ -37,4 +39,4 @@ namespace CreatureControl {
}
}
}
}

6
NanoBrain/Editor/Neuron_Drawer.cs
View File

@ -7,7 +7,11 @@ using System.Collections;
namespace NanoBrain {
[CustomPropertyDrawer(typeof(Neuron))]
class NeuronDrawer : PropertyDrawer {
class Neuron_Drawer : PropertyDrawer {
public static void Insepctor(SerializedObject serializedObject, string propertyName ) {
EditorGUILayout.PropertyField(serializedObject.FindProperty(propertyName));
}
public override void OnGUI(Rect position, SerializedProperty property, GUIContent label) {
// Draw foldout + properties
label = EditorGUI.BeginProperty(position, label, property);

5
NanoBrain/Runtime/Scripts/Core/Neuron.cs
View File

@ -284,8 +284,8 @@ namespace NanoBrain {
}
public Action WhenFiring;
public virtual bool isSleeping => false;// Time.time - this.lastUpdate > this.timeToSleep; //this.outputMagnitude == 0;
public bool persistOutput = false;
public virtual bool isSleeping => persistOutput ? false : (Time.time - this.lastUpdate > this.timeToSleep);
public void SleepCheck() {
if (this.isSleeping) {
#if UNITY_MATHEMATICS
@ -330,6 +330,7 @@ namespace NanoBrain {
protected virtual void CloneFields(Neuron clone) {
clone.bias = this.bias;
clone.persistOutput = this.persistOutput;
clone.combinator = this.combinator;
clone.curve = this.curve;
clone.curvePreset = this.curvePreset;

56
Runtime/Scripts/Ant.cs
View File

@ -45,6 +45,7 @@ namespace CreatureControl {
public Neuron pheromoneSteering;
public Neuron foodReceptor;
public Neuron homeReceptor;
public Neuron foodSmell;
// brain output
public Neuron targetDirection;
@ -64,8 +65,10 @@ namespace CreatureControl {
if (brain != null) {
//--- brain inputs
this.beat = brain.GetNeuron("Beat");
touchLeft.receptor = brain.GetNucleus("Hit Left") as Neuron;
touchRight.receptor = brain.GetNucleus("Hit Right") as Neuron;
if (touchLeft != null)
touchLeft.receptor = brain.GetNucleus("Hit Left") as Neuron;
if (touchRight != null)
touchRight.receptor = brain.GetNucleus("Hit Right") as Neuron;
this.foodReceptor = brain.GetNucleus("Food Receptor") as Neuron;
this.homeReceptor = brain.GetNucleus("Home Receptor") as Neuron;
this.pheromoneSteering = brain.GetNucleus("Pheromone Steering") as Neuron;
@ -104,10 +107,16 @@ namespace CreatureControl {
#region Update
void PlaceFoodPheromone() {
if (foodPheromonePrefab == null)
return;
GameObject pheromoneObj = Instantiate(foodPheromonePrefab);
pheromoneObj.transform.position = this.model.position;
}
void PlaceHomePheromone() {
if (homePheromonePrefab == null)
return;
GameObject pheromoneObj = Instantiate(homePheromonePrefab);
pheromoneObj.transform.position = this.model.position;
}
@ -127,22 +136,22 @@ namespace CreatureControl {
if (this.targetDirection == null || this.animator == null)
return;
Vector3 movementDir = Quaternion.Euler(0, 180, 0) * this.targetDirection.outputValue;
Vector3 movementDir = this.targetDirection.outputValue;
this.linearVelocity =
(1 - this.inertia) * (Time.deltaTime * movementDir.normalized) +
this.inertia * this.linearVelocity;
this.linearVelocity = this.linearVelocity.normalized;
float forwardParam = this.linearVelocity.z;
this.forwardSpeed = this.linearVelocity.z;
float angleRad = this.linearVelocity.sqrMagnitude > 1e-10f ?
Mathf.Atan2(this.linearVelocity.x, this.linearVelocity.z) :
0;
// map -20..20 degrees to -1..1
float rotateParam = Mathf.Clamp(angleRad * 3, -1f, 1f);
this.rotationSpeed = Mathf.Clamp(angleRad * 3, -1f, 1f);
this.animator.SetFloat("Forward", forwardParam);
this.animator.SetFloat("Rotation", rotateParam);
this.animator.SetFloat("Forward", this.forwardSpeed);
this.animator.SetFloat("Rotation", this.rotationSpeed);
}
private static readonly WaitForSeconds _waitForSeconds3 = new(3);
@ -154,9 +163,9 @@ namespace CreatureControl {
// Set random direction to simulate noisy smells perception
// which will result in a bit of random walking when no clear
// smells are received
float randomAngle = Random.Range(-smellAngle, smellAngle);
float randomAngle = Random.Range(-smellAngle/4, smellAngle/4);
Vector3 randomDirection = Quaternion.AngleAxis(randomAngle, Vector3.up) * Vector3.forward;
pheromoneSteering?.SetBias(randomDirection);
foodReceptor?.SetBias(randomDirection);
yield return _waitForSeconds3;
}
}
@ -168,8 +177,6 @@ namespace CreatureControl {
SmellFood(collider);
SmellHome(collider);
}
// if (nanoBrain != null && nanoBrain.brain != null)
// nanoBrain.brain.UpdateNuclei();
}
void SmellPheromones(Collider thing) {
@ -185,52 +192,43 @@ 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(smell);
break;
case Pheromone.Type.Home:
homeReceptor?.ProcessStimulus(smellDirection.normalized * intensity); //, pheromone.GetInstanceID(), "home pheromone");
homeReceptor?.ProcessStimulus(smell);
break;
}
//Debug.DrawLine(this.transform.position, pheromone.transform.position, Color.magenta);
// Debug.DrawLine(this.transform.position, pheromone.transform.position, Color.magenta);
}
}
void SmellFood(Collider thing) {
if (hasFood != null && hasFood.outputValue.x > 0)
// if it has food...
return;
Food food = thing.GetComponentInParent<Food>();
if (food == null)
return;
Vector3 smellDirection = this.transform.InverseTransformPoint(food.transform.position);
float distance = smellDirection.magnitude;
float angle = Vector3.Angle(Vector3.back, smellDirection);
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");
Debug.DrawLine(this.transform.position, food.transform.position, Color.red);
foodReceptor?.ProcessStimulus(smellDirection.normalized * intensity);
//Debug.DrawLine(this.transform.position, food.transform.position, Color.red);
}
}
void SmellHome(Collider thing) {
if (hasFood != null && hasFood.outputValue.x < 0)
// if it does not have food....
return;
AntsNest nest = thing.GetComponentInParent<AntsNest>();
if (nest == null)
return;
Vector3 smellDirection = this.transform.InverseTransformPoint(nest.transform.position);
float distance = smellDirection.magnitude;
float angle = Vector3.Angle(Vector3.back, smellDirection);
float angle = Vector3.Angle(Vector3.forward, smellDirection);
if (angle < smellAngle && distance > 0.01) {
float intensity = nest.StrengthAt(distance);
Vector3 value = smellDirection.normalized * intensity;
homeReceptor?.ProcessStimulus(value); //, nest.GetInstanceID(), "nest");
Debug.DrawLine(this.transform.position, nest.transform.position, Color.red);
homeReceptor?.ProcessStimulus(smellDirection.normalized * intensity);
//Debug.DrawLine(this.transform.position, nest.transform.position, Color.red);
}
}

7
Runtime/Scripts/AntennaTouch.cs
View File

@ -6,16 +6,23 @@ public class AntennaTouch : MonoBehaviour {
public Neuron receptor;
public Insect insect;
public GameObject hitObject;
protected virtual void Awake() {
this.insect = GetComponentInParent<Insect>();
}
void OnTriggerStay(Collider other) {
this.hitObject = other.gameObject;
Vector3 touchDirection = this.insect.transform.InverseTransformVector(this.transform.forward);
receptor?.SetBias(touchDirection);
}
// Perhaps I can leave this out and use the sleep state?
// Sleep is currently only for clusters..
void OnTriggerExit(Collider other) {
this.hitObject = null;
Vector3 touchDirection = Vector3.zero;
receptor?.SetBias(touchDirection);
}

2
Runtime/Scripts/AntsNest.cs
View File

@ -19,7 +19,7 @@ namespace CreatureControl {
while (numberOfAnts > 0) {
Ant ant = Instantiate(antPrefab);
ant.transform.eulerAngles = 360 * Random.value * Vector3.up;
ant.transform.position = this.transform.position + ant.transform.forward * 0.1F;
ant.transform.position = this.transform.position + ant.transform.forward * 0.01F;
ant.name = "Ant " + (++antCount);
numberOfAnts--;
yield return _waitForSeconds0_2;

6
Runtime/Scripts/Mouth.cs
View File

@ -22,7 +22,7 @@ namespace CreatureControl {
}
void Start() {
havingFood?.SetBias(-Vector3.one);
havingFood?.SetBias(Vector3.zero);
}
protected void CheckGrab() {
@ -62,8 +62,8 @@ namespace CreatureControl {
toDelete.Add(transform.GetChild(i).gameObject);
foreach (GameObject go in toDelete)
Destroy(go);
havingFood?.SetBias(-Vector3.one);
havingFood?.SetBias(Vector3.zero);
}
}

14
Samples/Animation/AntAnimator3.controller
View File

@ -12,7 +12,7 @@ BlendTree:
m_Motion: {fileID: 7400000, guid: ab82ff68e62ea3b1c8e6523f8d46c142, type: 2}
m_Threshold: -1
m_Position: {x: 0, y: 1}
m_TimeScale: 0.5
m_TimeScale: 1
m_CycleOffset: 0
m_DirectBlendParameter: Forward
m_Mirror: 0
@ -28,7 +28,7 @@ BlendTree:
m_Motion: {fileID: 7400000, guid: 91229db5e929c379bbfd5bf417848488, type: 2}
m_Threshold: 1
m_Position: {x: 1, y: 0}
m_TimeScale: 0.5
m_TimeScale: 1
m_CycleOffset: 0
m_DirectBlendParameter: Forward
m_Mirror: 0
@ -51,7 +51,7 @@ BlendTree:
m_Motion: {fileID: 7400000, guid: 138594cdb62397137913b39c26d3de5a, type: 2}
m_Threshold: 0
m_Position: {x: 0, y: 0}
m_TimeScale: 0.5
m_TimeScale: 1
m_CycleOffset: 0
m_DirectBlendParameter: Forward
m_Mirror: 0
@ -59,7 +59,7 @@ BlendTree:
m_Motion: {fileID: 7400000, guid: b8a731a1533b8c960b3f3688d4922a24, type: 2}
m_Threshold: 0.25
m_Position: {x: 0, y: 1}
m_TimeScale: 0.5
m_TimeScale: 1
m_CycleOffset: 0
m_DirectBlendParameter: Forward
m_Mirror: 0
@ -67,7 +67,7 @@ BlendTree:
m_Motion: {fileID: 7400000, guid: 240c3a3c6c28272059bf7b591ff818b1, type: 2}
m_Threshold: 0.5
m_Position: {x: -1, y: 0}
m_TimeScale: 0.5
m_TimeScale: 1
m_CycleOffset: 0
m_DirectBlendParameter: Forward
m_Mirror: 0
@ -75,7 +75,7 @@ BlendTree:
m_Motion: {fileID: 7400000, guid: 501d5503172629df192bb4ad015fb4f7, type: 2}
m_Threshold: 0.75
m_Position: {x: 1, y: 0}
m_TimeScale: 0.5
m_TimeScale: 1
m_CycleOffset: 0
m_DirectBlendParameter: Forward
m_Mirror: 0
@ -83,7 +83,7 @@ BlendTree:
m_Motion: {fileID: 7400000, guid: b8a731a1533b8c960b3f3688d4922a24, type: 2}
m_Threshold: 1
m_Position: {x: 0, y: -1}
m_TimeScale: -0.5
m_TimeScale: -1
m_CycleOffset: 0
m_DirectBlendParameter: Forward
m_Mirror: 0

99
Samples/Brain/Foraging.asset
View File

@ -32,6 +32,7 @@ MonoBehaviour:
- rid: 4201949834634854856
- rid: 4201949834634854857
- rid: 4201949834634854858
- rid: 4201949854258954578
references:
version: 2
RefIds:
@ -42,8 +43,8 @@ MonoBehaviour:
data:
name: Output
parent:
rid: 4201949834634854873
bias: {x: 0, y: 0, z: -1}
rid: 4201949854258954746
bias: {x: 0, y: 0, z: 1}
_synapses:
- neuron:
rid: 4201949831649034327
@ -81,6 +82,7 @@ MonoBehaviour:
m_PostInfinity: 2
m_RotationOrder: 4
curveMax: 1
persistOutput: 0
trace: 0
_receivers: []
- rid: 4201949831649034327
@ -88,7 +90,7 @@ MonoBehaviour:
data:
name: Collision
parent:
rid: 4201949834634854873
rid: 4201949854258954746
bias: {x: 0, y: 0, z: 0}
_synapses:
- neuron:
@ -124,6 +126,7 @@ MonoBehaviour:
m_PostInfinity: 2
m_RotationOrder: 4
curveMax: 1
persistOutput: 0
trace: 0
_receivers:
- rid: 4201949831649034325
@ -133,7 +136,7 @@ MonoBehaviour:
data:
name: Hit Left
parent:
rid: 4201949834634854873
rid: 4201949854258954746
bias: {x: 0, y: 0, z: 0}
_synapses: []
combinator: 0
@ -163,6 +166,7 @@ MonoBehaviour:
m_PostInfinity: 2
m_RotationOrder: 4
curveMax: 1
persistOutput: 0
trace: 0
_receivers:
- rid: 4201949831649034327
@ -171,7 +175,7 @@ MonoBehaviour:
data:
name: Hit Right
parent:
rid: 4201949834634854873
rid: 4201949854258954746
bias: {x: 0, y: 0, z: 0}
_synapses: []
combinator: 0
@ -201,6 +205,7 @@ MonoBehaviour:
m_PostInfinity: 2
m_RotationOrder: 4
curveMax: 1
persistOutput: 0
trace: 0
_receivers:
- rid: 4201949831649034327
@ -209,7 +214,7 @@ MonoBehaviour:
data:
name: Beat
parent:
rid: 4201949834634854873
rid: 4201949854258954746
bias: {x: 0, y: 0, z: 0}
_synapses: []
combinator: 0
@ -239,21 +244,26 @@ MonoBehaviour:
m_PostInfinity: 2
m_RotationOrder: 4
curveMax: 1
persistOutput: 0
trace: 0
_receivers:
- rid: 4201949834634854704
- rid: 4201949854258954578
- rid: 4201949834634854704
type: {class: Neuron, ns: NanoBrain, asm: Assembly-CSharp}
data:
name: Home Pheromones
parent:
rid: 4201949834634854873
bias: {x: 0, y: 0, z: 0}
rid: 4201949854258954746
bias: {x: 1, y: 1, z: 1}
_synapses:
- neuron:
rid: 4201949834634854702
weight: 1
combinator: 0
- neuron:
rid: 4201949834634854858
weight: 1
combinator: 1
_curvePreset: 0
curve:
serializedVersion: 2
@ -280,6 +290,7 @@ MonoBehaviour:
m_PostInfinity: 2
m_RotationOrder: 4
curveMax: 1
persistOutput: 0
trace: 0
_receivers: []
- rid: 4201949834634854727
@ -287,7 +298,7 @@ MonoBehaviour:
data:
name: Food Receptor
parent:
rid: 4201949834634854873
rid: 4201949854258954746
bias: {x: 0, y: 0, z: 0}
_synapses: []
combinator: 0
@ -317,6 +328,7 @@ MonoBehaviour:
m_PostInfinity: 2
m_RotationOrder: 4
curveMax: 1
persistOutput: 0
trace: 0
_receivers:
- rid: 4201949834634854857
@ -325,7 +337,7 @@ MonoBehaviour:
data:
name: Mouth
parent:
rid: 4201949834634854873
rid: 4201949854258954746
bias: {x: 0, y: 0, z: 0}
_synapses:
- neuron:
@ -358,6 +370,7 @@ MonoBehaviour:
m_PostInfinity: 2
m_RotationOrder: 4
curveMax: 1
persistOutput: 0
trace: 0
_receivers: []
- rid: 4201949834634854833
@ -365,7 +378,7 @@ MonoBehaviour:
data:
name: Having Food
parent:
rid: 4201949834634854873
rid: 4201949854258954746
bias: {x: 0, y: 0, z: 0}
_synapses: []
combinator: 0
@ -395,16 +408,18 @@ MonoBehaviour:
m_PostInfinity: 2
m_RotationOrder: 4
curveMax: 1
persistOutput: 1
trace: 0
_receivers:
- rid: 4201949834634854855
- rid: 4201949834634854858
- rid: 4201949854258954578
- rid: 4201949834634854855
type: {class: Neuron, ns: NanoBrain, asm: Assembly-CSharp}
data:
name: Home Smell
parent:
rid: 4201949834634854873
rid: 4201949854258954746
bias: {x: 1, y: 1, z: 1}
_synapses:
- neuron:
@ -440,6 +455,7 @@ MonoBehaviour:
m_PostInfinity: 2
m_RotationOrder: 4
curveMax: 1
persistOutput: 0
trace: 0
_receivers:
- rid: 4201949831649034325
@ -448,7 +464,7 @@ MonoBehaviour:
data:
name: Home Receptor
parent:
rid: 4201949834634854873
rid: 4201949854258954746
bias: {x: 0, y: 0, z: 0}
_synapses: []
combinator: 0
@ -478,6 +494,7 @@ MonoBehaviour:
m_PostInfinity: 2
m_RotationOrder: 4
curveMax: 1
persistOutput: 0
trace: 0
_receivers:
- rid: 4201949834634854855
@ -486,7 +503,7 @@ MonoBehaviour:
data:
name: Food Smell
parent:
rid: 4201949834634854873
rid: 4201949854258954746
bias: {x: 1, y: 1, z: 1}
_synapses:
- neuron:
@ -522,6 +539,7 @@ MonoBehaviour:
m_PostInfinity: 2
m_RotationOrder: 4
curveMax: 1
persistOutput: 0
trace: 0
_receivers:
- rid: 4201949831649034325
@ -530,7 +548,7 @@ MonoBehaviour:
data:
name: Not having Food
parent:
rid: 4201949834634854873
rid: 4201949854258954746
bias: {x: 1, y: 1, z: 1}
_synapses:
- neuron:
@ -563,10 +581,56 @@ MonoBehaviour:
m_PostInfinity: 2
m_RotationOrder: 4
curveMax: 1
persistOutput: 1
trace: 0
_receivers:
- rid: 4201949834634854857
- rid: 4201949834634854873
- rid: 4201949834634854704
- rid: 4201949854258954578
type: {class: Neuron, ns: NanoBrain, asm: Assembly-CSharp}
data:
name: Food Pheromones
parent:
rid: 4201949854258954746
bias: {x: 1, y: 1, z: 1}
_synapses:
- neuron:
rid: 4201949834634854702
weight: 1
- neuron:
rid: 4201949834634854833
weight: 1
combinator: 1
_curvePreset: 0
curve:
serializedVersion: 2
m_Curve:
- serializedVersion: 3
time: 0
value: 0
inSlope: 0
outSlope: 1
tangentMode: 0
weightedMode: 0
inWeight: 0
outWeight: 0
- serializedVersion: 3
time: 1000
value: 1000
inSlope: 1
outSlope: 0
tangentMode: 0
weightedMode: 0
inWeight: 0
outWeight: 0
m_PreInfinity: 2
m_PostInfinity: 2
m_RotationOrder: 4
curveMax: 1
persistOutput: 0
trace: 0
_receivers: []
- rid: 4201949854258954746
type: {class: Cluster, ns: NanoBrain, asm: Assembly-CSharp}
data:
name: Foraging
@ -588,3 +652,4 @@ MonoBehaviour:
- rid: 4201949834634854856
- rid: 4201949834634854857
- rid: 4201949834634854858
- rid: 4201949854258954578

1406
Samples/Foraging.unity
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2885
Samples/Prefabs/LowPolyAnt Variant.prefab Normal file
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7
Samples/Prefabs/LowPolyAnt Variant.prefab.meta Normal file
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fileFormatVersion: 2
guid: 270edf85af80c05d4805cd7aabaf41ab
PrefabImporter:
externalObjects: {}
userData:
assetBundleName:
assetBundleVariant:

96
Samples/Prefabs/LowPolyAnt.prefab Normal file
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m_Layer: 0
m_Name: LowPolyAnt
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