Fixed null clusters

Editor/ClusterView.cs

@@ -767,7 +767,7 @@ namespace NanoBrain.Unity {
             if (nucleus is Neuron neuron) {
                 tooltip = new(
                     $"{nucleus.name}" +
-                    $"\nValue: {neuron.outputMagnitude}");
+                    $"\nValue: {neuron.outputValue}");
             }
             else
                 tooltip = new($"{nucleus.name}");

Editor/Cluster_Drawer.cs

@@ -1,5 +1,4 @@
 using System.Collections;
-using System.Collections.Generic;
 using System.Reflection;
 using UnityEngine;
 using UnityEditor;
@@ -15,33 +14,54 @@ namespace NanoBrain.Unity {
                 SceneView.duringSceneGui += OnSceneGUI;
 
             Selection.selectionChanged += OnSelectionChanged;
-            if (clusterView != null)
+            if (currentClusterView != null)
-                clusterView.initialized = false;
+                currentClusterView.initialized = false;
         }
 
         private const float padding = 0f;//4f;
         private const float graphHeight = 500f; // height reserved for the VisualElement
-        private static ClusterView clusterView;
+        private static ClusterView currentClusterView;
         private static UnityEngine.Object selectedTarget;
 
         public override float GetPropertyHeight(SerializedProperty property, GUIContent label) {
             float height = EditorGUIUtility.singleLineHeight + padding;
-            if (Cluster_Drawer.clusterView == null)
+            if (Cluster_Drawer.currentClusterView == null)
                 // When no cluster is viewed
                 return height;
 
             SerializedProperty prefabProp = property.FindPropertyRelative(nameof(Cluster.prefab));
-            if (prefabProp.objectReferenceValue != null && Cluster_Drawer.clusterView.isOpen) {
+            if (prefabProp.objectReferenceValue != null && Cluster_Drawer.currentClusterView.isOpen) {
                 height = graphHeight;
             }
             return height;
         }
 
+        private void InitializeCluster(SerializedProperty property, ClusterView clusterView) {
+            if (clusterView.initialized)
+                return;
+
+            SerializedProperty prefabProp = property.FindPropertyRelative(nameof(Cluster.prefab));
+            UnityEngine.Object targetObject = property.serializedObject.targetObject;
+
+            Debug.Log($"Instantiate new Cluster for {targetObject.name}");
+
+            // This does not work properly yet it seems
+            ClusterPrefab clusterPrefab = prefabProp.objectReferenceValue as ClusterPrefab;
+            Cluster cluster = new(clusterPrefab);
+            object parent = SerializedPropertyUtility.GetParentObjectAndMember(targetObject, property.propertyPath, out var memberInfo, out int outIndex);
+            if (parent != null && memberInfo is FieldInfo fieldInfo) {
+                fieldInfo.SetValue(parent, cluster);
+                EditorUtility.SetDirty(targetObject);
+            }
+            clusterView.initialized = true;
+
+        }
 
         public override void OnGUI(Rect position, SerializedProperty property, GUIContent label) {
+            //Debug.Log(Event.current.type);
             // Not sure if this works properly with multiple Clusters in a single gameObject
-            ClusterView clusterView = Cluster_Drawer.clusterView;
+            ClusterView clusterView = Cluster_Drawer.currentClusterView;
-            if (Cluster_Drawer.clusterView == null)
+            if (Cluster_Drawer.currentClusterView == null)
                 clusterView = ClusterView.GetClusterView(property);
 
             label = EditorGUI.BeginProperty(position, label, property);
@@ -58,24 +78,17 @@ namespace NanoBrain.Unity {
             EditorGUI.PropertyField(fieldRect, prefabProp, label);
             // If a new prefab has been selected
             if (EditorGUI.EndChangeCheck()) {
+                Debug.Log($"Cluster change, Event is {Event.current.type}");
                 // 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);
                     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);
+                    SetInstance(property, new());
                 }
             }
 
@@ -86,22 +99,12 @@ namespace NanoBrain.Unity {
                     UnityEngine.Object targetObject = property.serializedObject.targetObject;
                     Cluster_Drawer.selectedTarget = targetObject;
 
-                    Cluster cluster;
+                    Cluster cluster = null;
                     if (clusterView.initialized || Application.isPlaying) {
                         cluster = SerializedPropertyUtility.GetManagedObjectForProperty(targetObject, property.propertyPath) as Cluster;
                     }
-                    else {
+                    else 
-                        Debug.Log("New cluster instance");
+                        EditorApplication.delayCall += () => InitializeCluster(property, clusterView);
-                        // This does not work properly yet it seems
-                        ClusterPrefab clusterPrefab = prefabProp.objectReferenceValue as ClusterPrefab;
-                        cluster = new(clusterPrefab);
-                        object parent = SerializedPropertyUtility.GetParentObjectAndMember(targetObject, property.propertyPath, out var memberInfo, out int outIndex);
-                        if (parent != null && memberInfo is FieldInfo fieldInfo) {
-                            fieldInfo.SetValue(parent, cluster);
-                            EditorUtility.SetDirty(targetObject);
-                        }
-                        clusterView.initialized = true;
-                    }
 
                     // foldout header rect
                     Rect headerRect = new(fieldRect.x, fieldRect.yMax + 4f, fieldRect.width, EditorGUIUtility.singleLineHeight);
@@ -111,12 +114,12 @@ namespace NanoBrain.Unity {
                         // content rect below header
                         Rect drawRect = new(fieldRect.x, headerRect.yMax + 2f, fieldRect.width, 450f);
 
-                        if (clusterView.currentCluster == null || clusterView.currentCluster != cluster) {
+                        if (cluster is not null && (clusterView.currentCluster == null || clusterView.currentCluster != cluster)) {
                             clusterView.currentCluster = cluster;
                             clusterView.currentNucleus = cluster.defaultOutput;
                             clusterView.selectedOutput = clusterView.currentNucleus;
                         }
-                        Cluster_Drawer.clusterView = clusterView;
+                        Cluster_Drawer.currentClusterView = clusterView;
                         clusterView.Render(drawRect);
                         //Debug.Log(prefab.cluster.defaultOutput.outputMagnitude);
                     }
@@ -149,15 +152,15 @@ namespace NanoBrain.Unity {
                 gameObject = g;
 
             Handles.color = Color.yellow;
-            if (Cluster_Drawer.clusterView.selectedSynapseNeuron != null) {
+            if (Cluster_Drawer.currentClusterView.selectedSynapseNeuron != null) {
-                foreach (Cluster sibling in Cluster_Drawer.clusterView.selectedSynapseNeuron.parent.instances) {
+                foreach (Cluster sibling in Cluster_Drawer.currentClusterView.selectedSynapseNeuron.parent.instances) {
-                    Neuron siblingNeuron = sibling.GetNeuron(Cluster_Drawer.clusterView.selectedSynapseNeuron.name);
+                    Neuron siblingNeuron = sibling.GetNeuron(Cluster_Drawer.currentClusterView.selectedSynapseNeuron.name);
                     Vector3 worldVector = gameObject.transform.TransformVector(siblingNeuron.outputValue);
                     Handles.DrawLine(gameObject.transform.position, gameObject.transform.position + worldVector);
                 }
             }
             else {
-                if (Cluster_Drawer.clusterView.currentNucleus is Neuron currentNeuron) {
+                if (Cluster_Drawer.currentClusterView.currentNucleus is Neuron currentNeuron) {
                     Vector3 worldVector = gameObject.transform.TransformVector(currentNeuron.outputValue);
                     Handles.DrawLine(gameObject.transform.position, gameObject.transform.position + worldVector);
                 }

Runtime/Scripts/Core/Cluster.cs

@@ -71,6 +71,10 @@ namespace NanoBrain {
 
         #region Init
 
+        public Cluster() {
+            this.name = "Empty Cluster";
+        }
+
         /// <summary>
         /// Instantiate a new copy of a ClusterPrefab in the given parent
         /// </summary>

Runtime/Scripts/ScriptableObjects/ClusterPrefab.cs

@@ -22,14 +22,14 @@ namespace NanoBrain.Unity {
         /// </summary>
         /// his is an invariant and should be ensured before the nucleus is used
         /// because output requires it.
-        public void EnsureInitialization() {
+        // public void EnsureInitialization() {
-            this.cluster.prefab = this;
+        //     this.cluster.prefab = this;
-            this.cluster.name = this.name;
+        //     this.cluster.name = this.name;
-            this.cluster.nuclei ??= new List<Nucleus>();
+        //     this.cluster.nuclei ??= new List<Nucleus>();
-            if (this.cluster.nuclei.Count <= 0)
+        //     if (this.cluster.nuclei.Count <= 0)
-                new Neuron(this.cluster, "Output"); // Every cluster should have at least 1 neuron
+        //         new Neuron(this.cluster, "Output"); // Every cluster should have at least 1 neuron
-            this.cluster.instanceCount = 1;
+        //     this.cluster.instanceCount = 1;
-        }
+        // }
 
 #if UNITY_EDITOR
         private void OnValidate() {

Samples/Braitenberg/Brains/Braitenberg 2a.asset

@@ -17,12 +17,15 @@ MonoBehaviour:
     parent:
       rid: -2
     prefab: {fileID: 11400000}
+    version: 0
+    instances: []
     instanceCount: 1
     nuclei:
     - rid: 4201949899492425781
     - rid: 4201949899492425817
     - rid: 4201950127862317404
     - rid: 4201950127862317405
+  version: 12
   references:
     version: 2
     RefIds:
@@ -38,36 +41,12 @@ MonoBehaviour:
         _synapses:
         - neuron:
             rid: 4201949899492425817
-          weight: 1
+          weight: 5
         combinator: 0
         _activator: 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
         lastUpdate: 4.0097623
+        breakOnUpdate: 0
         _receivers: []
     - rid: 4201949899492425817
       type: {class: Neuron, ns: NanoBrain, asm: Assembly-CSharp}
@@ -79,33 +58,9 @@ MonoBehaviour:
         _synapses: []
         combinator: 0
         _activator: 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
         lastUpdate: 4.0097623
+        breakOnUpdate: 0
         _receivers:
         - rid: 4201949899492425781
     - rid: 4201950127862317404
@@ -118,36 +73,12 @@ MonoBehaviour:
         _synapses:
         - neuron:
             rid: 4201950127862317405
-          weight: 1
+          weight: 5
         combinator: 0
         _activator: 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
         lastUpdate: 4.0097623
+        breakOnUpdate: 0
         _receivers: []
     - rid: 4201950127862317405
       type: {class: Neuron, ns: NanoBrain, asm: Assembly-CSharp}
@@ -159,33 +90,9 @@ MonoBehaviour:
         _synapses: []
         combinator: 0
         _activator: 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
         lastUpdate: 4.0097623
+        breakOnUpdate: 0
         _receivers:
         - rid: 4201950127862317404
     - rid: 4201950130928877722
@@ -195,6 +102,8 @@ MonoBehaviour:
         parent:
           rid: -2
         prefab: {fileID: 11400000}
+        version: 0
+        instances: []
         instanceCount: 1
         nuclei:
         - rid: 4201949899492425781

Samples/Braitenberg/Brains/Braitenberg 2b.asset

@@ -17,12 +17,15 @@ MonoBehaviour:
     parent:
       rid: -2
     prefab: {fileID: 11400000}
+    version: 1
+    instances: []
     instanceCount: 1
     nuclei:
     - rid: 4201949899492425781
     - rid: 4201949899492425817
     - rid: 4201950127862317404
     - rid: 4201950127862317405
+  version: 3
   references:
     version: 2
     RefIds:
@@ -38,36 +41,12 @@ MonoBehaviour:
         _synapses:
         - neuron:
             rid: 4201950127862317405
-          weight: 1
+          weight: 5
         combinator: 0
         _activator: 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
         lastUpdate: 4.0097623
+        breakOnUpdate: 0
         _receivers: []
     - rid: 4201949899492425817
       type: {class: Neuron, ns: NanoBrain, asm: Assembly-CSharp}
@@ -79,33 +58,9 @@ MonoBehaviour:
         _synapses: []
         combinator: 0
         _activator: 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
         lastUpdate: 4.0097623
+        breakOnUpdate: 0
         _receivers:
         - rid: 4201950127862317404
     - rid: 4201950127862317404
@@ -118,36 +73,12 @@ MonoBehaviour:
         _synapses:
         - neuron:
             rid: 4201949899492425817
-          weight: 1
+          weight: 5
         combinator: 0
         _activator: 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
         lastUpdate: 4.0097623
+        breakOnUpdate: 0
         _receivers: []
     - rid: 4201950127862317405
       type: {class: Neuron, ns: NanoBrain, asm: Assembly-CSharp}
@@ -159,33 +90,9 @@ MonoBehaviour:
         _synapses: []
         combinator: 0
         _activator: 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
         lastUpdate: 4.0097623
+        breakOnUpdate: 0
         _receivers:
         - rid: 4201949899492425781
     - rid: 4201950130928877721
@@ -195,6 +102,8 @@ MonoBehaviour:
         parent:
           rid: -2
         prefab: {fileID: 11400000}
+        version: 0
+        instances: []
         instanceCount: 1
         nuclei:
         - rid: 4201949899492425781

Samples/Braitenberg/Brains/Braitenberg 3a.asset

@@ -17,12 +17,15 @@ MonoBehaviour:
     parent:
       rid: -2
     prefab: {fileID: 11400000}
+    version: 1
+    instances: []
     instanceCount: 1
     nuclei:
     - rid: 4201949899492425781
     - rid: 4201949899492425817
     - rid: 4201950127862317404
     - rid: 4201950127862317405
+  version: 35
   references:
     version: 2
     RefIds:
@@ -38,36 +41,12 @@ MonoBehaviour:
         _synapses:
         - neuron:
             rid: 4201949899492425817
-          weight: -1
+          weight: -5
         combinator: 0
         _activator: 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
         lastUpdate: 4.0097623
+        breakOnUpdate: 0
         _receivers: []
     - rid: 4201949899492425817
       type: {class: Neuron, ns: NanoBrain, asm: Assembly-CSharp}
@@ -79,33 +58,9 @@ MonoBehaviour:
         _synapses: []
         combinator: 0
         _activator: 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
         lastUpdate: 4.0097623
+        breakOnUpdate: 0
         _receivers:
         - rid: 4201949899492425781
     - rid: 4201950127862317404
@@ -118,36 +73,12 @@ MonoBehaviour:
         _synapses:
         - neuron:
             rid: 4201950127862317405
-          weight: -1
+          weight: -5
         combinator: 0
         _activator: 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
         lastUpdate: 4.0097623
+        breakOnUpdate: 0
         _receivers: []
     - rid: 4201950127862317405
       type: {class: Neuron, ns: NanoBrain, asm: Assembly-CSharp}
@@ -159,33 +90,9 @@ MonoBehaviour:
         _synapses: []
         combinator: 0
         _activator: 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
         lastUpdate: 4.0097623
+        breakOnUpdate: 0
         _receivers:
         - rid: 4201950127862317404
     - rid: 4201950130928877727
@@ -195,6 +102,8 @@ MonoBehaviour:
         parent:
           rid: -2
         prefab: {fileID: 11400000}
+        version: 0
+        instances: []
         instanceCount: 1
         nuclei:
         - rid: 4201949899492425781

Samples/Braitenberg/Brains/Braitenberg 3b.asset

@@ -17,12 +17,15 @@ MonoBehaviour:
     parent:
       rid: -2
     prefab: {fileID: 11400000}
+    version: 1
+    instances: []
     instanceCount: 1
     nuclei:
     - rid: 4201949899492425781
     - rid: 4201949899492425817
     - rid: 4201950127862317404
     - rid: 4201950127862317405
+  version: 32
   references:
     version: 2
     RefIds:
@@ -38,36 +41,12 @@ MonoBehaviour:
         _synapses:
         - neuron:
             rid: 4201950127862317405
-          weight: -1
+          weight: -5
         combinator: 0
         _activator: 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
         lastUpdate: 4.0097623
+        breakOnUpdate: 0
         _receivers: []
     - rid: 4201949899492425817
       type: {class: Neuron, ns: NanoBrain, asm: Assembly-CSharp}
@@ -79,33 +58,9 @@ MonoBehaviour:
         _synapses: []
         combinator: 0
         _activator: 0
-        curve:
-          serializedVersion: 2
-          m_Curve:
-          - serializedVersion: 3
-            time: 0
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     _receivers: []
   references:
     version: 2
@@ -540,15 +522,9 @@ MonoBehaviour:
     _synapses: []
     combinator: 0
     _activator: 0
-    curve:
-      serializedVersion: 2
-      m_Curve: []
-      m_PreInfinity: 2
-      m_PostInfinity: 2
-      m_RotationOrder: 4
-    curveMax: 0
     persistOutput: 0
     lastUpdate: 0
+    breakOnUpdate: 0
     _receivers: []
   useOcclusion: 1
   sensitivityAngle: 90
@@ -749,11 +725,24 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: a8d53357b6673864d91bbc5c595d48b9, type: 3}
   m_Name: 
   m_EditorClassIdentifier: Assembly-CSharp::Breitenberg.Vehicle
-  brain: {fileID: 11400000, guid: c2d142058a073d6fdba2c8fab05834e3, type: 2}
+  brain:
+    name: 
+    parent:
+      rid: -2
+    prefab: {fileID: 0}
+    version: 0
+    instances: []
+    instanceCount: 0
+    nuclei: []
   motorLeft: {fileID: 2164057505425015568}
   motorRight: {fileID: 7548586118443431667}
   sensorLeft: {fileID: 93666564301131443}
   sensorRight: {fileID: 6470252300495393990}
+  references:
+    version: 2
+    RefIds:
+    - rid: -2
+      type: {class: , ns: , asm: }
 --- !u!1 &6750002523281406744
 GameObject:
   m_ObjectHideFlags: 0

Samples/Braitenberg/Scripts/Motor.cs

@@ -27,7 +27,7 @@ namespace NanoBrain.Braitenberg {
                 return;
                 
             this.speed = motorNeuron.outputValue.z;
-            //Debug.DrawRay(this.transform.position, this.transform.forward * this.speed, Color.magenta);
+            Debug.DrawRay(this.transform.position, this.transform.forward * this.speed, Color.magenta);
 
             float desiredRpm = speed * 60; // target wheel RPM
             float currentRpm = wheelCollider.rpm;

Samples/Braitenberg/Scripts/Vehicle.cs

@@ -15,8 +15,8 @@ namespace NanoBrain.Braitenberg {
         public Sensor sensorRight;
 
         void FixedUpdate() {
-            //     //Debug.Log($"L: {sensorLeft.output} R: {sensorRight.output}");
+            // Debug.Log($"L: {sensorLeft.output} R: {sensorRight.output}");
-            //     //Debug.Log($"L: {motorLeft.speed} R: {motorRight.speed}");
+            // Debug.Log($"L: {motorLeft.speed} R: {motorRight.speed}");
             //     Debug.Log($"L: {motorLeft.wheelCollider.rpm} R: {motorRight.wheelCollider.rpm}");
         }
     }