NanoBrain/NanoBrain-unitypackage
NanoBrain/NanoBrain-unitypackage
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Improved foraging

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This commit is contained in:
Pascal Serrarens 2026-02-09 16:04:07 +01:00
parent 1e2726ecd4
commit c2dc2720b0
3 changed files with 54 additions and 20 deletions
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4
ClusterPrefab.cs
View File

@ -63,7 +63,9 @@ public class ClusterPrefab : ScriptableObject {
public void GarbageCollection() { public void GarbageCollection() {
HashSet<Nucleus> visitedNuclei = new(); HashSet<Nucleus> visitedNuclei = new();
MarkNuclei(visitedNuclei, this.output); foreach (Nucleus output in this.outputs)
MarkNuclei(visitedNuclei, output);
//MarkNuclei(visitedNuclei, this.output);
//Debug.Log($"Garbage collection found {visitedNuclei.Count} Nuclei"); //Debug.Log($"Garbage collection found {visitedNuclei.Count} Nuclei");
this.nuclei.RemoveAll(nucleus => nucleus is Nucleus n && visitedNuclei.Contains(n) == false); this.nuclei.RemoveAll(nucleus => nucleus is Nucleus n && visitedNuclei.Contains(n) == false);
} }

2
Editor/ClusterInspector.cs
View File

@ -130,7 +130,7 @@ public class ClusterInspector : Editor {
void OnAddClusterOutput() { void OnAddClusterOutput() {
Nucleus newOutput = new Neuron(this.prefab, "New Output"); Nucleus newOutput = new Neuron(this.prefab, "New Output");
this.prefab.RefreshOutputs();
outputsField.choices = this.prefab.outputs.Select(output => output.name).ToList(); outputsField.choices = this.prefab.outputs.Select(output => output.name).ToList();
outputsField.value = newOutput.name; outputsField.value = newOutput.name;

68
NucleusArray.cs
View File

@ -1,6 +1,8 @@
using System.Linq; using System.Linq;
using System.Collections.Generic; using System.Collections.Generic;
using UnityEngine; using UnityEngine;
using Unity.Mathematics;
using static Unity.Mathematics.math;
[System.Serializable] [System.Serializable]
public class NucleusArray { public class NucleusArray {
@ -63,25 +65,57 @@ public class NucleusArray {
public Dictionary<int, Nucleus> thingReceivers = new(); public Dictionary<int, Nucleus> thingReceivers = new();
public virtual void ProcessStimulus(int thingId, Vector3 inputValue, string thingName = null) { private Nucleus FindReceiver(int thingId, float3 inputValue) {
CleanupReceivers(); // No existing nucleus for this thing
if (!thingReceivers.TryGetValue(thingId, out Nucleus selectedReceiver)) { float inputMagnitude = length(inputValue);
// Debug.Log($"No receiver found for {thingId}"); Nucleus selectedReceiver = null;
foreach (Nucleus receptor in this.nuclei) { float selectedMagnitude = 0;
if (receptor is not Nucleus receiver) foreach (Nucleus receiver in this.nuclei) {
continue; if (thingReceivers.ContainsValue(receiver) == false) {
// We found an unusued receiver
if (thingReceivers.ContainsValue(receiver) == false) { thingReceivers.Add(thingId, receiver);
// receiver is not used yet return receiver;
// Debug.Log($"{thingId} -> {receiver.name}"); }
thingReceivers.Add(thingId, receiver); else if (receiver.isSleeping) {
// A sleeping receiver is not active and can therefore always be used
thingReceivers.Add(thingId, receiver);
return receiver;
}
else if (selectedReceiver == null) {
// If we haven't found a receiver yet, just start by taking the first
selectedReceiver = receiver;
selectedMagnitude = length(selectedReceiver.outputValue);
}
// Look for the receiver with the lowest magnitude
else {
float magnitude = length(receiver.outputValue);
if (magnitude < inputMagnitude && length(receiver.outputValue) < selectedMagnitude) {
selectedReceiver = receiver; selectedReceiver = receiver;
break; selectedMagnitude = length(selectedReceiver.outputValue);
} }
} }
} }
if (selectedReceiver != null) {
// Replace the receiver
// Find the thingId current associated with the receiver
int keyToRemove = thingReceivers.FirstOrDefault(r => r.Value.Equals(selectedReceiver)).Key;
if (keyToRemove != 0 || thingReceivers.ContainsKey(keyToRemove))
thingReceivers.Remove(keyToRemove);
// And add the new association
thingReceivers.Add(thingId, selectedReceiver);
}
return selectedReceiver;
}
public virtual void ProcessStimulus(int thingId, Vector3 inputValue, string thingName = null) {
CleanupReceivers();
if (!thingReceivers.TryGetValue(thingId, out Nucleus selectedReceiver)) {
// No existing nucleus for this thing
selectedReceiver = FindReceiver(thingId, inputValue);
}
if (selectedReceiver == null) if (selectedReceiver == null)
return; return;
if (thingName != null) { if (thingName != null) {
string baseName = selectedReceiver.name; string baseName = selectedReceiver.name;
@ -100,10 +134,8 @@ public class NucleusArray {
// Remove a thing-receiver connection when the nucleus is inactive // Remove a thing-receiver connection when the nucleus is inactive
List<int> receiversToRemove = new(); List<int> receiversToRemove = new();
foreach (KeyValuePair<int, Nucleus> item in thingReceivers) { foreach (KeyValuePair<int, Nucleus> item in thingReceivers) {
if (item.Value.isSleeping) { if (item.Value.isSleeping)
//Nucleus n = item.Value as Nucleus; receiversToRemove.Add(item.Key);
receiversToRemove.Add(item.Key);
}
} }
foreach (int thingId in receiversToRemove) { foreach (int thingId in receiversToRemove) {
Nucleus selectedReceiver = thingReceivers[thingId]; Nucleus selectedReceiver = thingReceivers[thingId];