Fix clearing cluster property

Editor/Cluster_Drawer.cs

@@ -19,24 +19,21 @@ namespace NanoBrain.Unity {
                 clusterView.initialized = false;
         }
 
-        private const float padding = 4f;
-        private const float elementHeight = 64f; // height reserved for the VisualElement
+        private const float padding = 0f;//4f;
+        private const float graphHeight = 500f; // height reserved for the VisualElement
         private static ClusterView clusterView;
         private static UnityEngine.Object selectedTarget;
 
         public override float GetPropertyHeight(SerializedProperty property, GUIContent label) {
-            if (Cluster_Drawer.clusterView == null)
-                return 0;
-
             float height = EditorGUIUtility.singleLineHeight + padding;
+            if (Cluster_Drawer.clusterView == null)
+                // When no cluster is viewed
+                return height;
 
             SerializedProperty prefabProp = property.FindPropertyRelative(nameof(Cluster.prefab));
             if (prefabProp.objectReferenceValue != null && Cluster_Drawer.clusterView.isOpen) {
-                height += padding + elementHeight;
-                height = 500;
+                height = graphHeight;
             }
-            else
-                height = 18;
             return height;
         }
 
@@ -56,26 +53,33 @@ namespace NanoBrain.Unity {
             SerializedProperty prefabProp = property.FindPropertyRelative(nameof(Cluster.prefab));
 
             // Draw the object field on the top line
-            Rect fieldRect = new(position.x, position.y, position.width, EditorGUIUtility.singleLineHeight);
+            Rect fieldRect = new(position.x, position.y, position.width, EditorGUIUtility.singleLineHeight + padding);
             EditorGUI.BeginChangeCheck();
             EditorGUI.PropertyField(fieldRect, prefabProp, label);
+            // If a new prefab has been selected
             if (EditorGUI.EndChangeCheck()) {
+                // Ensure the changed prefab is changed in the object
                 prefabProp.serializedObject.ApplyModifiedProperties();
                 ClusterPrefab clusterPrefab = prefabProp.objectReferenceValue as ClusterPrefab;
                 if (clusterPrefab != null) {
                     Cluster newCluster = new(clusterPrefab);
-
-                    SerializedObject serializedObject = property.serializedObject;
-                    foreach (UnityEngine.Object targetObject in serializedObject.targetObjects) {
-                        var parent = SerializedPropertyUtility.GetParentObjectAndMember(targetObject, property.propertyPath, out var memberInfo, out int outIndex);
-                        if (parent != null && memberInfo is FieldInfo fieldInfo) {
-                            fieldInfo.SetValue(parent, newCluster);
-                            EditorUtility.SetDirty(targetObject);
-                        }
+                    SetInstance(property, newCluster);
+                    // SerializedObject serializedObject = property.serializedObject;
+                    // foreach (UnityEngine.Object targetObject in serializedObject.targetObjects) {
+                    //     object parent = SerializedPropertyUtility.GetParentObjectAndMember(targetObject, property.propertyPath, out var memberInfo, out int outIndex);
+                    //     if (parent != null && memberInfo is FieldInfo fieldInfo) {
+                    //         fieldInfo.SetValue(parent, newCluster);
+                    //         EditorUtility.SetDirty(targetObject);
+                    //     }
+                    // }
                 }
+                else {
+                    // No prefab selected -> no cluster instance
+                    SetInstance(property, null);
                 }
             }
 
+            // If a brain has been selected
             if (prefabProp.objectReferenceValue != null) {
                 // Graph is not shown when multi-editing
                 if (property.serializedObject.targetObjects.Length == 1) {
@@ -123,6 +127,17 @@ namespace NanoBrain.Unity {
             EditorGUI.EndProperty();
         }
 
+        private static void SetInstance(SerializedProperty property, Cluster newCluster) {
+            SerializedObject serializedObject = property.serializedObject;
+            foreach (UnityEngine.Object targetObject in serializedObject.targetObjects) {
+                object parent = SerializedPropertyUtility.GetParentObjectAndMember(targetObject, property.propertyPath, out var memberInfo, out int outIndex);
+                if (parent != null && memberInfo is FieldInfo fieldInfo) {
+                    fieldInfo.SetValue(parent, newCluster);
+                    EditorUtility.SetDirty(targetObject);
+                }
+            }
+        }
+
         private static void OnSceneGUI(SceneView sceneView) {
             if (Application.isPlaying == false || selectedTarget == null)
                 return;

Runtime/Scripts/Core/Cluster.cs

@@ -67,7 +67,6 @@ namespace NanoBrain {
         /// All nuclei in this cluster
         /// </summary>
         [SerializeReference]
-        [HideInInspector]
         public List<Nucleus> nuclei = new();
 
         #region Init
@@ -451,7 +450,7 @@ namespace NanoBrain {
         /// </summary>
         public virtual Neuron defaultOutput {//=> this.nuclei[0] as Nucleus;
             get {
-                if (this.nuclei.Count > 0)
+                if (this.nuclei != null && this.nuclei.Count > 0)
                     return this.nuclei[0] as Neuron;
                 return null;
             }
@@ -471,6 +470,9 @@ namespace NanoBrain {
             get {
                 if (this._outputs == null || this._outputs.Count == 0) {
                     this._outputs = new();
+                    if (this.nuclei == null)
+                        return this._outputs;
+
                     foreach (Nucleus nucleus in this.nuclei) {
                         if (nucleus is Neuron neuron && neuron.receivers.Count == 0)
                             this._outputs.Add(neuron);

Runtime/Scripts/Core/Neuron.cs

@@ -32,7 +32,10 @@ namespace NanoBrain {
         public Neuron(Cluster parent, string name) {
             this.parent = parent;
             this.name = name;
-            this.parent?.nuclei.Add(this);
+            if (this.parent != null) {
+                this.parent.nuclei ??= new();
+                this.parent.nuclei.Add(this);
+            }
         }
 
         #region Serialization

Samples/Braitenberg/Prefabs/Vehicle 1.prefab

@@ -72,10 +72,350 @@ PrefabInstance:
       propertyPath: m_Name
       value: Vehicle 1
       objectReference: {fileID: 0}
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Samples/Braitenberg/Scripts/Sensor.cs

@@ -2,8 +2,11 @@ using System.Collections;
 using UnityEngine;
 
 namespace NanoBrain.Braitenberg {
-    using Unity;
 
+    /// <summary>
+    /// A non-directional sensor
+    /// </summary>
+    /// The sensor has a field of view, but the signal returned does not include a direction
     public class Sensor : MonoBehaviour {
         [Tooltip("Max distance sensor detects anything")]
         public float sensorRange = 10f;
@@ -60,7 +63,7 @@ namespace NanoBrain.Braitenberg {
                 float angle = Mathf.Lerp(-halfAngle, halfAngle, t);
                 Vector3 dir = Quaternion.AngleAxis(angle, this.transform.up) * this.transform.forward;
 
-                Debug.DrawRay(this.transform.position, dir * sensorRange);
+                //Debug.DrawRay(this.transform.position, dir * sensorRange);
                 if (Physics.Raycast(this.transform.position, dir, out RaycastHit hit, sensorRange, senseLayer)) {
                     // Strength inversely proportional to distance, clamped to [0,1]
                     float str = 1f - (hit.distance / sensorRange);