WIP cluster redesign

Assets/NanoBrain/Cluster.cs

@@ -4,11 +4,11 @@ using UnityEngine;
 [CreateAssetMenu(menuName = "Passer/Cluster")]
 public class Cluster : ScriptableObject, INucleus {
 
-    private string _name;
+    // private string _name;
-    public string name {
+    // public new string name {
-        get { return _name; }
+    //     get { return _name; }
-        set { _name = value; }
+    //     set { _name = value; }
-    }
+    // }
 
     public Cluster cluster => this;
 
@@ -16,10 +16,14 @@ public class Cluster : ScriptableObject, INucleus {
 
     public Nucleus output => this.nuclei[0];
 
+    [SerializeField]
     private readonly List<Synapse> _synapses = new(); // = inputs, compare receptors in NanoBrain
     public List<Synapse> synapses => _synapses;
 
-    private void OnEnable() {
+    // Call this function to ensure that there is at least one nucleus
+    // This is an invariant and should be ensured before the nucleus is used
+    // because output requires it.
+    public void EnsureInitialization() {
         nuclei ??= new List<Nucleus>();
         if (nuclei.Count == 0)
             new Neuroid(this, "Output"); // Every cluster should have at least 1 neuroid       
@@ -36,6 +40,11 @@ public class Cluster : ScriptableObject, INucleus {
         get => output.receivers;
     }
 
+    public void AddSynapse(INucleus sender) {
+        Synapse synapse = new (sender, 1.0f);
+        synapses.Add(synapse);
+    }
+
     public void GarbageCollection() {
         HashSet<INucleus> visitedNuclei = new();
         MarkNuclei(visitedNuclei, this.output);
@@ -79,6 +88,7 @@ public class Cluster : ScriptableObject, INucleus {
     public void UpdateState() {
         // Don't know if this is right
         this.output.UpdateState();
+        // it is not, I should take inputs from the synapses and route them to the right internal nuclei
     }
 
     #endregion Dynamics

Assets/NanoBrain/INucleus.cs

@@ -17,6 +17,7 @@ public interface INucleus {
 
     // Senders
     public List<Synapse> synapses { get; }
+    public void AddSynapse(INucleus sender);
 
     #endregion static struct
 

Assets/NanoBrain/LinearAlgebra/src/Spherical.cs

@@ -148,6 +148,16 @@ namespace LinearAlgebra {
             return (v1.distance != v2.distance || v1.direction != v2.direction);
         }
 
+        public override readonly bool Equals(object o) {
+            if (o is Spherical s)
+                return this == s;            
+            return false;
+        }
+
+        public override readonly int GetHashCode() {
+            return HashCode.Combine(this.distance, this.direction);
+        }
+
         public static float Distance(Spherical v1, Spherical v2) {
             // Convert degrees to radians
             float thetaARadians = v1.direction.horizontal.inRadians;

Assets/NanoBrain/Nucleus.cs

@@ -95,9 +95,10 @@ public class Nucleus : INucleus {
         this.id = this.GetHashCode();
     }
 
-    public virtual void AddReceiver(INucleus receiver) {
+    public virtual void AddReceiver(INucleus receivingNucleus) {
-        this.receivers.Add(new Receiver(receiver));
+        this.receivers.Add(new Receiver(receivingNucleus));
-        //receiver.SetWeight(this, 1.0f);
+        //receivingNucleus.SetWeight(this, 1.0f);
+        receivingNucleus.AddSynapse(this);
     }
 
     public void RemoveReceiver(INucleus receiverNucleus) {
@@ -140,6 +141,10 @@ public class Nucleus : INucleus {
         return false;
     }
 
+    public void AddSynapse(INucleus sendingNucleus) {
+        Synapse synapse = new(sendingNucleus, 1.0f);
+        this.synapses.Add(synapse);
+    }
     public void SetWeight(Nucleus nucleus, float weight) {
         foreach (Synapse synapse in synapses) {
             if (synapse.nucleus == nucleus) {
@@ -167,11 +172,11 @@ public class Nucleus : INucleus {
     }
 }
 
-[System.Serializable]
+[Serializable]
 public class Synapse {
-    [System.NonSerialized]
+    [NonSerialized]
     public INucleus nucleus;
-    public NanoBrain cluster;
+    public Cluster cluster;
     public int nucleusId;
     public float weight;
 
@@ -186,9 +191,9 @@ public class Synapse {
     // public AnimationCurve curve;
     public float curveMax = 1.0f;
 
-    public Synapse(Nucleus nucleus, float weight) {
+    public Synapse(INucleus nucleus, float weight) {
         this.nucleus = nucleus;
-        this.nucleusId = nucleus.id;
+        //this.nucleusId = nucleus.id;
         this.weight = weight;
     }
 

Assets/NanoBrain/VisualEditor/Editor/ClusterInspector.cs

@@ -58,8 +58,10 @@ public class ClusterInspector : Editor {
             UpdateLayout(evt.newRect.width);
         });
 
-        if (cluster != null)
+        if (cluster != null) {
+            cluster.EnsureInitialization();
             graph.SetGraph(null, cluster, cluster.output, inspectorContainer);
+        }
         else
             Debug.LogWarning(" No brain!");
 
@@ -68,7 +70,7 @@ public class ClusterInspector : Editor {
     }
 
     public class GraphView : VisualElement {
-        Cluster brain;
+        Cluster cluster;
         SerializedObject serializedBrain;
         INucleus currentNucleus;
         GameObject gameObject;
@@ -101,7 +103,7 @@ public class ClusterInspector : Editor {
 
         public void SetGraph(GameObject gameObject, Cluster brain, Nucleus nucleus, VisualElement inspectorContainer) {
             this.gameObject = gameObject;
-            this.brain = brain;
+            this.cluster = brain;
             if (Application.isPlaying == false)
                 this.serializedBrain = new SerializedObject(brain);
             this.currentNucleus = nucleus;
@@ -118,7 +120,7 @@ public class ClusterInspector : Editor {
 
             if (currentWrapper != null)
                 DestroyImmediate(currentWrapper);
-            currentWrapper = CreateInstance<ClusterWrapper>().Init(this.currentNucleus, brain);
+            currentWrapper = CreateInstance<ClusterWrapper>().Init(this.currentNucleus, cluster);
             DrawInspector(inspectorContainer);
         }
 
@@ -479,7 +481,7 @@ public class ClusterInspector : Editor {
 
                 EditorGUILayout.Space();
 
-                ConnectNucleus(this.currentNucleus);
+                ConnectNucleus(cluster, this.currentNucleus);
                 if (GUILayout.Button("Add Input Neuron"))
                     AddInputNeuron(this.currentNucleus);
                 // if (GUILayout.Button("Add Input Perceptoid"))
@@ -504,7 +506,7 @@ public class ClusterInspector : Editor {
         }
 
         protected virtual void AddInputNeuron(INucleus nucleus) {
-            Neuroid newNeuroid = new(this.brain.cluster, "New neuron");
+            Neuroid newNeuroid = new(this.cluster.cluster, "New neuron");
             newNeuroid.AddReceiver(nucleus);
             this.currentNucleus = newNeuroid;
             BuildLayers();
@@ -541,13 +543,14 @@ public class ClusterInspector : Editor {
             brainInstance.AddReceiver(nucleus);
         }
 
-        protected virtual void ConnectNucleus(INucleus nucleus) {
+        // Connect to another nucleus in the same cluster
-            if (this.currentNucleus.cluster == null)
+        protected virtual void ConnectNucleus(Cluster cluster, INucleus nucleus) {
+            if (cluster == null)
                 return;
 
             IEnumerable<string> synapseNuclei = this.currentNucleus.synapses.Select(synapse => synapse.nucleus.name);
             //IEnumerable<string> perceptei = this.currentNucleus.brain.perceptei.Select(i => i.name).Except(synapseNuclei);
-            IEnumerable<string> nuclei = this.currentNucleus.cluster.nuclei.Select(i => i.name).Except(synapseNuclei);
+            IEnumerable<string> nuclei = cluster.nuclei.Select(i => i.name).Except(synapseNuclei);
             //string[] names = perceptei.Concat(nuclei).ToArray();
             string[] names = nuclei.ToArray();
             int selectedIndex = -1;
@@ -561,7 +564,7 @@ public class ClusterInspector : Editor {
                 //     Nucleus n = this.currentNucleus.brain.nuclei[selectedIndex - perceptei.Count()];
                 //     n.AddReceiver(this.currentNucleus);
                 // }
-                Nucleus n = this.currentNucleus.cluster.nuclei[selectedIndex];
+                Nucleus n = cluster.nuclei[selectedIndex];
                     n.AddReceiver(this.currentNucleus);
             }
         }

Assets/NanoBrain/VisualEditor/NanoBrain.cs

@@ -1,3 +1,4 @@
+using System;
 using System.Collections.Generic;
 using UnityEngine;
 
@@ -7,7 +8,6 @@ public class NanoBrain : ScriptableObject, ISerializationCallbackReceiver {
     public List<Perceptoid> perceptei = new();
     public List<Receptor> receptors = new();
 
-    public Cluster cluster;
 
     // This is probably always the first element in the nuclei list...
     [System.NonSerialized]
@@ -15,10 +15,12 @@ public class NanoBrain : ScriptableObject, ISerializationCallbackReceiver {
     public int rootId;
 
     public NanoBrain() {
-        this.output = new Neuroid(this.cluster, "Root");
+        //  this.cluster = new();
-        this.cluster = new();
+        //  this.output = new Neuroid(this.cluster, "Root");
      }
 
+    public Cluster cluster;
+
     public void AddReceiver(INucleus receiver) {
         output.AddReceiver(receiver);
     }
@@ -50,6 +52,7 @@ public class NanoBrain : ScriptableObject, ISerializationCallbackReceiver {
                 perceptoid.Rebuild(this);
         }
         catch (System.Exception) { }
+        if (this.cluster != null)
             this.cluster.GarbageCollection();
     }
 

Assets/Scenes/Boids/New Cluster 1.asset

@@ -1,20 +0,0 @@
-%YAML 1.1
-%TAG !u! tag:unity3d.com,2011:
---- !u!114 &11400000
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  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: 11500000, guid: 60a957541c24c57e78018c202ebb1d9b, type: 3}
-  m_Name: New Cluster 1
-  m_EditorClassIdentifier: Assembly-CSharp::Cluster
-  nuclei:
-  - id: 949579472
-    _name: Output
-    _synapses: []
-    _receivers: []
-    nucleusType: 

Assets/Scenes/Boids/New Cluster 1.asset.meta

@@ -1,8 +0,0 @@
-fileFormatVersion: 2
-guid: ad89de17be687dbc18a57252cadda0f3
-NativeFormatImporter:
-  externalObjects: {}
-  mainObjectFileID: 11400000
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 

Assets/Scenes/Boids/New Cluster.asset

@@ -12,4 +12,9 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 60a957541c24c57e78018c202ebb1d9b, type: 3}
   m_Name: New Cluster
   m_EditorClassIdentifier: Assembly-CSharp::Cluster
-  nuclei: []
+  nuclei:
+  - id: 764290112
+    _name: Output
+    _synapses: []
+    _receivers: []
+    nucleusType: 

Assets/Scenes/Boids/New Nano Brain.asset

@@ -1,59 +0,0 @@
-%YAML 1.1
-%TAG !u! tag:unity3d.com,2011:
---- !u!114 &11400000
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  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: 11500000, guid: 36081359186edfec998d891a1feeb17b, type: 3}
-  m_Name: New Nano Brain
-  m_EditorClassIdentifier: Assembly-CSharp::NanoBrain
-  title: 
-  count: 0
-  color: {r: 1, g: 1, b: 1, a: 1}
-  texture: {fileID: 0}
-  nuclei:
-  - id: 2025140912
-    _name: Root
-    synapses: []
-    receivers: []
-    nucleusType: 
-    isSleeping: 0
-    _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
-    average: 0
-    inverse: 0
-    exponent: 1
-  perceptei: []
-  rootId: 2025140912
-  references:
-    version: 2
-    RefIds: []

Assets/Scenes/Boids/New Nano Brain.asset.meta

@@ -1,8 +0,0 @@
-fileFormatVersion: 2
-guid: fab876d6bf7dc9b10a56541a7eeccdd2
-NativeFormatImporter:
-  externalObjects: {}
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Assets/Scenes/Boids/SwarmingBrain.asset

@@ -12,29 +12,12 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 36081359186edfec998d891a1feeb17b, type: 3}
   m_Name: SwarmingBrain
   m_EditorClassIdentifier: Assembly-CSharp::NanoBrainObj
-  title: 
-  count: 0
-  color: {r: 1, g: 1, b: 1, a: 1}
-  texture: {fileID: 0}
   nuclei:
   - id: -1707533328
     _name: Root
-    synapses:
+    _synapses: []
-    - nucleusId: -112538112
+    _receivers: []
-      weight: 1
-      curveMax: -10
-    - nucleusId: 1938577052
-      weight: 2.2
-      curveMax: 10
-    - nucleusId: 1641120128
-      weight: -5
-      curveMax: 1000
-    - nucleusId: -1857835930
-      weight: 0.5
-      curveMax: 1
-    receivers: []
     nucleusType: 
-    isSleeping: 0
     _curvePreset: 0
     curve:
       serializedVersion: 2
@@ -66,14 +49,9 @@ MonoBehaviour:
     exponent: 1
   - id: -112538112
     _name: Avoidance
-    synapses:
+    _synapses: []
-    - nucleusId: 407735232
+    _receivers: []
-      weight: -1
-      curveMax: 0
-    receivers:
-    - nucleusId: -1707533328
     nucleusType: 
-    isSleeping: 0
     _curvePreset: 0
     curve:
       serializedVersion: 2
@@ -105,29 +83,9 @@ MonoBehaviour:
     exponent: 1
   - id: 1938577052
     _name: Cohesion
-    synapses:
+    _synapses: []
-    - nucleusId: -1659429232
+    _receivers: []
-      weight: 1
-      curveMax: 1
-    - nucleusId: 839544896
-      weight: 1
-      curveMax: 1
-    - nucleusId: -348340288
-      weight: 1
-      curveMax: 1
-    - nucleusId: -1095934288
-      weight: 1
-      curveMax: 1
-    - nucleusId: -1413006832
-      weight: 1
-      curveMax: 1
-    - nucleusId: -61245040
-      weight: 1
-      curveMax: 1
-    receivers:
-    - nucleusId: -1707533328
     nucleusType: 
-    isSleeping: 0
     _curvePreset: 0
     curve:
       serializedVersion: 2
@@ -159,29 +117,9 @@ MonoBehaviour:
     exponent: 1
   - id: 1641120128
     _name: Separation
-    synapses:
+    _synapses: []
-    - nucleusId: 1710403072
+    _receivers: []
-      weight: 1
-      curveMax: 1
-    - nucleusId: -916054576
-      weight: 1
-      curveMax: 1
-    - nucleusId: -1391520368
-      weight: 1
-      curveMax: 1
-    - nucleusId: 763145504
-      weight: 1
-      curveMax: 1
-    - nucleusId: 1469392160
-      weight: 1
-      curveMax: 1
-    - nucleusId: -1828317248
-      weight: 1
-      curveMax: 1
-    receivers:
-    - nucleusId: -1707533328
     nucleusType: 
-    isSleeping: 0
     _curvePreset: 0
     curve:
       serializedVersion: 2
@@ -213,29 +151,9 @@ MonoBehaviour:
     exponent: 1
   - id: -1857835930
     _name: Alignment
-    synapses:
+    _synapses: []
-    - nucleusId: -1659687600
+    _receivers: []
-      weight: 1
-      curveMax: 1
-    - nucleusId: 1322333072
-      weight: 1
-      curveMax: 1
-    - nucleusId: -1563920864
-      weight: 1
-      curveMax: 1
-    - nucleusId: 182328688
-      weight: 1
-      curveMax: 1
-    - nucleusId: -1666561744
-      weight: 1
-      curveMax: 1
-    - nucleusId: -1884196224
-      weight: 1
-      curveMax: 1
-    receivers:
-    - nucleusId: -1707533328
     nucleusType: 
-    isSleeping: 0
     _curvePreset: 0
     curve:
       serializedVersion: 2
@@ -267,14 +185,9 @@ MonoBehaviour:
     exponent: 1
   - id: 1710403072
     _name: Inverse Boid A
-    synapses:
+    _synapses: []
-    - nucleusId: -1659429232
+    _receivers: []
-      weight: 1
-      curveMax: 1
-    receivers:
-    - nucleusId: 1641120128
     nucleusType: 
-    isSleeping: 0
     _curvePreset: 3
     curve:
       serializedVersion: 2
@@ -1440,14 +1353,9 @@ MonoBehaviour:
     exponent: 1
   - id: -916054576
     _name: Inverse Boid B
-    synapses:
+    _synapses: []
-    - nucleusId: 839544896
+    _receivers: []
-      weight: 1
-      curveMax: 1
-    receivers:
-    - nucleusId: 1641120128
     nucleusType: 
-    isSleeping: 0
     _curvePreset: 3
     curve:
       serializedVersion: 2
@@ -2613,14 +2521,9 @@ MonoBehaviour:
     exponent: 1
   - id: -1391520368
     _name: Inverse Boid C
-    synapses:
+    _synapses: []
-    - nucleusId: -348340288
+    _receivers: []
-      weight: 1
-      curveMax: 1
-    receivers:
-    - nucleusId: 1641120128
     nucleusType: 
-    isSleeping: 0
     _curvePreset: 3
     curve:
       serializedVersion: 2
@@ -3786,14 +3689,9 @@ MonoBehaviour:
     exponent: 1
   - id: 763145504
     _name: Inverse Boid D
-    synapses:
+    _synapses: []
-    - nucleusId: -1095934288
+    _receivers: []
-      weight: 1
-      curveMax: 1
-    receivers:
-    - nucleusId: 1641120128
     nucleusType: 
-    isSleeping: 0
     _curvePreset: 3
     curve:
       serializedVersion: 2
@@ -4959,14 +4857,9 @@ MonoBehaviour:
     exponent: 1
   - id: 1469392160
     _name: Inverse Boid E
-    synapses:
+    _synapses: []
-    - nucleusId: -1413006832
+    _receivers: []
-      weight: 1
-      curveMax: 1
-    receivers:
-    - nucleusId: 1641120128
     nucleusType: 
-    isSleeping: 0
     _curvePreset: 3
     curve:
       serializedVersion: 2
@@ -6132,14 +6025,9 @@ MonoBehaviour:
     exponent: 1
   - id: -1828317248
     _name: Inverse Bodi F
-    synapses:
+    _synapses: []
-    - nucleusId: -61245040
+    _receivers: []
-      weight: 1
-      curveMax: 1
-    receivers:
-    - nucleusId: 1641120128
     nucleusType: 
-    isSleeping: 0
     _curvePreset: 3
     curve:
       serializedVersion: 2
@@ -7306,11 +7194,9 @@ MonoBehaviour:
   perceptei:
   - id: 407735232
     _name: Boundary
-    synapses: []
+    _synapses: []
-    receivers:
+    _receivers: []
-    - nucleusId: -112538112
     nucleusType: Perceptoid
-    isSleeping: 0
     _curvePreset: 0
     curve:
       serializedVersion: 2
@@ -7322,17 +7208,17 @@ MonoBehaviour:
     average: 0
     inverse: 0
     exponent: 1
-    baseName: 
+    brain: {fileID: 0}
-    thingType: 1
+    baseName: Boundary
     thingId: 0
+    array:
+      rid: -2
+    thingType: 1
   - id: -1659429232
     _name: BoidA
-    synapses: []
+    _synapses: []
-    receivers:
+    _receivers: []
-    - nucleusId: 1938577052
-    - nucleusId: 1710403072
     nucleusType: Perceptoid
-    isSleeping: 0
     _curvePreset: 0
     curve:
       serializedVersion: 2
@@ -7344,17 +7230,17 @@ MonoBehaviour:
     average: 0
     inverse: 0
     exponent: 1
-    baseName: 
+    brain: {fileID: 0}
-    thingType: 2
+    baseName: BoidA
     thingId: 0
+    array:
+      rid: 2243600969536897085
+    thingType: 2
   - id: 839544896
     _name: BoidB
-    synapses: []
+    _synapses: []
-    receivers:
+    _receivers: []
-    - nucleusId: 1938577052
-    - nucleusId: -916054576
     nucleusType: Perceptoid
-    isSleeping: 0
     _curvePreset: 0
     curve:
       serializedVersion: 2
@@ -7366,17 +7252,17 @@ MonoBehaviour:
     average: 0
     inverse: 0
     exponent: 1
-    baseName: 
+    brain: {fileID: 0}
-    thingType: 2
+    baseName: BoidB
     thingId: 0
+    array:
+      rid: 2243600969536897086
+    thingType: 2
   - id: -348340288
     _name: BoidC
-    synapses: []
+    _synapses: []
-    receivers:
+    _receivers: []
-    - nucleusId: 1938577052
-    - nucleusId: -1391520368
     nucleusType: Perceptoid
-    isSleeping: 0
     _curvePreset: 0
     curve:
       serializedVersion: 2
@@ -7388,17 +7274,17 @@ MonoBehaviour:
     average: 0
     inverse: 0
     exponent: 1
-    baseName: 
+    brain: {fileID: 0}
-    thingType: 2
+    baseName: BoidC
     thingId: 0
+    array:
+      rid: 2243600969536897087
+    thingType: 2
   - id: -1095934288
     _name: BoidD
-    synapses: []
+    _synapses: []
-    receivers:
+    _receivers: []
-    - nucleusId: 1938577052
-    - nucleusId: 763145504
     nucleusType: Perceptoid
-    isSleeping: 0
     _curvePreset: 0
     curve:
       serializedVersion: 2
@@ -7410,17 +7296,17 @@ MonoBehaviour:
     average: 0
     inverse: 0
     exponent: 1
-    baseName: 
+    brain: {fileID: 0}
-    thingType: 2
+    baseName: BoidD
     thingId: 0
+    array:
+      rid: 2243600969536897088
+    thingType: 2
   - id: -1413006832
     _name: BoidE
-    synapses: []
+    _synapses: []
-    receivers:
+    _receivers: []
-    - nucleusId: 1938577052
-    - nucleusId: 1469392160
     nucleusType: Perceptoid
-    isSleeping: 0
     _curvePreset: 0
     curve:
       serializedVersion: 2
@@ -7432,17 +7318,17 @@ MonoBehaviour:
     average: 0
     inverse: 0
     exponent: 1
-    baseName: 
+    brain: {fileID: 0}
-    thingType: 2
+    baseName: BoidE
     thingId: 0
+    array:
+      rid: 2243600969536897089
+    thingType: 2
   - id: -61245040
     _name: BoidF
-    synapses: []
+    _synapses: []
-    receivers:
+    _receivers: []
-    - nucleusId: 1938577052
-    - nucleusId: -1828317248
     nucleusType: Perceptoid
-    isSleeping: 0
     _curvePreset: 0
     curve:
       serializedVersion: 2
@@ -7454,16 +7340,17 @@ MonoBehaviour:
     average: 0
     inverse: 0
     exponent: 1
-    baseName: 
+    brain: {fileID: 0}
-    thingType: 2
+    baseName: BoidF
     thingId: 0
+    array:
+      rid: 2243600969536897090
+    thingType: 2
   - id: -1659687600
     _name: BoidA Velocity
-    synapses: []
+    _synapses: []
-    receivers:
+    _receivers: []
-    - nucleusId: -1857835930
     nucleusType: Perceptoid
-    isSleeping: 0
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     curve:
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@@ -7475,16 +7362,17 @@ MonoBehaviour:
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     inverse: 0
     exponent: 1
-    baseName: 
+    brain: {fileID: 0}
-    thingType: 3
+    baseName: BoidA Velocity
     thingId: 0
+    array:
+      rid: -2
+    thingType: 3
   - id: 1322333072
     _name: BoidB Velocity
-    synapses: []
+    _synapses: []
-    receivers:
+    _receivers: []
-    - nucleusId: -1857835930
     nucleusType: Perceptoid
-    isSleeping: 0
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     curve:
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@@ -7496,16 +7384,17 @@ MonoBehaviour:
     average: 0
     inverse: 0
     exponent: 1
-    baseName: 
+    brain: {fileID: 0}
-    thingType: 3
+    baseName: BoidB Velocity
     thingId: 0
+    array:
+      rid: -2
+    thingType: 3
   - id: -1563920864
     _name: BoidC Velocity
-    synapses: []
+    _synapses: []
-    receivers:
+    _receivers: []
-    - nucleusId: -1857835930
     nucleusType: Perceptoid
-    isSleeping: 0
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     curve:
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@@ -7517,16 +7406,17 @@ MonoBehaviour:
     average: 0
     inverse: 0
     exponent: 1
-    baseName: 
+    brain: {fileID: 0}
-    thingType: 3
+    baseName: BoidC Velocity
     thingId: 0
+    array:
+      rid: -2
+    thingType: 3
   - id: 182328688
     _name: BoidD Velocity
-    synapses: []
+    _synapses: []
-    receivers:
+    _receivers: []
-    - nucleusId: -1857835930
     nucleusType: Perceptoid
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     curve:
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@@ -7538,16 +7428,17 @@ MonoBehaviour:
     average: 0
     inverse: 0
     exponent: 1
-    baseName: 
+    brain: {fileID: 0}
-    thingType: 3
+    baseName: BoidD Velocity
     thingId: 0
+    array:
+      rid: -2
+    thingType: 3
   - id: -1666561744
     _name: BoidE Velocity
-    synapses: []
+    _synapses: []
-    receivers:
+    _receivers: []
-    - nucleusId: -1857835930
     nucleusType: Perceptoid
-    isSleeping: 0
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     curve:
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@@ -7559,16 +7450,17 @@ MonoBehaviour:
     average: 0
     inverse: 0
     exponent: 1
-    baseName: 
+    brain: {fileID: 0}
-    thingType: 3
+    baseName: BoidE Velocity
     thingId: 0
+    array:
+      rid: -2
+    thingType: 3
   - id: -1884196224
     _name: BoidF Velocity
-    synapses: []
+    _synapses: []
-    receivers:
+    _receivers: []
-    - nucleusId: -1857835930
     nucleusType: Perceptoid
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     curve:
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@@ -7580,7 +7472,202 @@ MonoBehaviour:
     average: 0
     inverse: 0
     exponent: 1
-    baseName: 
+    brain: {fileID: 0}
-    thingType: 3
+    baseName: BoidF Velocity
     thingId: 0
+    array:
+      rid: -2
+    thingType: 3
+  cluster: {fileID: 0}
   rootId: -1707533328
+  references:
+    version: 2
+    RefIds:
+    - rid: -2
+      type: {class: , ns: , asm: }
+    - rid: 2243600969536897085
+      type: {class: PercepteiArray, ns: , asm: Assembly-CSharp}
+      data:
+        perceptei:
+        - rid: 2243600969536897091
+        name: BoidA
+    - rid: 2243600969536897086
+      type: {class: PercepteiArray, ns: , asm: Assembly-CSharp}
+      data:
+        perceptei:
+        - rid: 2243600969536897092
+        name: BoidB
+    - rid: 2243600969536897087
+      type: {class: PercepteiArray, ns: , asm: Assembly-CSharp}
+      data:
+        perceptei:
+        - rid: 2243600969536897093
+        name: BoidC
+    - rid: 2243600969536897088
+      type: {class: PercepteiArray, ns: , asm: Assembly-CSharp}
+      data:
+        perceptei:
+        - rid: 2243600969536897094
+        name: BoidD
+    - rid: 2243600969536897089
+      type: {class: PercepteiArray, ns: , asm: Assembly-CSharp}
+      data:
+        perceptei:
+        - rid: 2243600969536897095
+        name: BoidE
+    - rid: 2243600969536897090
+      type: {class: PercepteiArray, ns: , asm: Assembly-CSharp}
+      data:
+        perceptei:
+        - rid: 2243600969536897096
+        name: BoidF
+    - rid: 2243600969536897091
+      type: {class: Perceptoid, ns: , asm: Assembly-CSharp}
+      data:
+        id: -1659429232
+        _name: BoidA
+        _synapses: []
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+        nucleusType: Perceptoid
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+        curve:
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+          m_Curve: []
+          m_PreInfinity: 2
+          m_PostInfinity: 2
+          m_RotationOrder: 4
+        curveMax: 1
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+        brain: {fileID: 0}
+        baseName: BoidA
+        thingId: 0
+        array:
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+        thingType: 2
+    - rid: 2243600969536897092
+      type: {class: Perceptoid, ns: , asm: Assembly-CSharp}
+      data:
+        id: 839544896
+        _name: BoidB
+        _synapses: []
+        _receivers: []
+        nucleusType: Perceptoid
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+        curve:
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+          m_Curve: []
+          m_PreInfinity: 2
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+          m_RotationOrder: 4
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+        brain: {fileID: 0}
+        baseName: BoidB
+        thingId: 0
+        array:
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+        thingType: 2
+    - rid: 2243600969536897093
+      type: {class: Perceptoid, ns: , asm: Assembly-CSharp}
+      data:
+        id: -348340288
+        _name: BoidC
+        _synapses: []
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+        nucleusType: Perceptoid
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+        curve:
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+          m_RotationOrder: 4
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+        brain: {fileID: 0}
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+        thingType: 2
+    - rid: 2243600969536897094
+      type: {class: Perceptoid, ns: , asm: Assembly-CSharp}
+      data:
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+        _name: BoidD
+        _synapses: []
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+    - rid: 2243600969536897095
+      type: {class: Perceptoid, ns: , asm: Assembly-CSharp}
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