NanoBrain/NanoBrain-unitypackage
NanoBrain/NanoBrain-unitypackage
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Fix velocity not updating

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This commit is contained in:
Pascal Serrarens 2026-03-03 15:52:35 +01:00
parent f8b487cef7
commit cbc8296e55
3 changed files with 38 additions and 59 deletions
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57
Cluster.cs
View File

@ -202,9 +202,6 @@ public class Cluster : Nucleus {
name = this.name,
clusterPrefab = this.clusterPrefab,
};
// This cloned the prefab with the clusternuclei,
// but did not clone the receivers outside the cluster
RestoreExternalReceivers(clone, this.clusterPrefab, parent);
return clone;
}
@ -219,8 +216,7 @@ public class Cluster : Nucleus {
if (sourceNucleus is not Neuron sourceNeuron)
continue;
Nucleus clonedNucleus = clonedCluster.clusterNuclei[nucleusIx];
if (clonedNucleus is not Neuron clonedNeuron)
if (clonedCluster.clusterNuclei[nucleusIx] is not Neuron clonedNeuron)
continue;
// copy the receivers (and thus synapses) from the source to the clone
@ -242,46 +238,10 @@ public class Cluster : Nucleus {
}
clonedNeuron.AddReceiver(clonedReceiver, weight);
// Debug.Log($"external: {clonedReceiver.name} receives from {clonedNeuron.name} {clonedNeuron.GetHashCode()}");
}
}
}
protected void RestoreExternalReceivers(Cluster clone, ClusterPrefab prefabParent, Cluster clonedParent) {
// Loop over all nuclei of this (the prefab of the clone?)
for (int nucleusIx = 0; nucleusIx < this.clusterNuclei.Count; nucleusIx++) {
Nucleus prefabNucleus = this.clusterNuclei[nucleusIx];
if (prefabNucleus is not Neuron prefabNeuron)
continue;
Nucleus clonedNucleus = clone.clusterNuclei[nucleusIx];
if (clonedNucleus == null || clonedNucleus is not Neuron clonedNeuron)
continue;
// Copy the receivers, which will also create the synapses
foreach (Nucleus receiver in prefabNeuron.receivers) {
int ix = GetNucleusIndex(prefabParent.nuclei, receiver);
if (ix < 0 || ix >= clonedParent.clusterNuclei.Count)
continue;
//if (clone.clusterNuclei[ix] is not Nucleus clonedReceiver)
if (clonedParent.clusterNuclei[ix] is not Nucleus clonedReceiver)
continue;
// Find the synapse for the weight
float weight = 1;
foreach (Synapse synapse in receiver.synapses) {
// Find the weight for this synapse
if (synapse.nucleus == prefabNucleus) {
weight = synapse.weight;
break;
}
}
clonedNeuron.AddReceiver(clonedReceiver, weight);
}
}
}
protected int GetNucleusIndex(Nucleus[] nuclei, Nucleus nucleus) {
for (int i = 0; i < nuclei.Length; i++) {
@ -505,21 +465,14 @@ public class Cluster : Nucleus {
foreach (Nucleus nucleus in computeOrder) {
nucleus.UpdateStateIsolated();
if (startNucleus.trace)
Debug.Log($" {nucleus.name} = {nucleus.outputValue}");
Debug.Log($" {nucleus.name}[{nucleus.GetHashCode()}] = {nucleus.outputValue}");
}
this.outputValue = this.defaultOutput.outputValue;
this.stale = 0;
if (this.parent != null) {
// continue in parent
this.parent.UpdateFromNucleus(this);
// continue in parent with the receivers of the last nucleus in the compute order
// if (computeOrder.Last() is Neuron lastNeuron) {
// foreach (Nucleus receiver in lastNeuron.receivers)
// this.parent?.UpdateFromNucleus(this);
// }
}
// continue in parent
this.parent?.UpdateFromNucleus(this);
UpdateNuclei();
}

38
ClusterReceptor.cs
View File

@ -113,15 +113,19 @@ public class ClusterReceptor : Cluster, IReceptor {
}
public override void UpdateStateIsolated() {
float3 sum = this.bias;
// Clusters don't do anything,
// The nuclei in them do the work
// and should be called directly, not from the cluster
// float3 sum = this.bias;
foreach (Nucleus nucleus in this.sortedNuclei)
nucleus.UpdateStateIsolated();
// foreach (Nucleus nucleus in this.sortedNuclei)
// nucleus.UpdateStateIsolated();
this.outputValue = this.defaultOutput.outputValue;
this.stale = 0;
// this.outputValue = this.defaultOutput.outputValue;
// this.stale = 0;
UpdateNuclei();
// UpdateNuclei();
}
public override void UpdateNuclei() {
@ -143,6 +147,8 @@ public class ClusterReceptor : Cluster, IReceptor {
private Dictionary<int, ClusterReceptor> thingReceivers = new();
public virtual void ProcessStimulus(Neuron input, Vector3 inputValue, int thingId = 0, string thingName = null) {
CleanupReceivers();
inputValue = input.Activator(inputValue);
if (!thingReceivers.TryGetValue(thingId, out ClusterReceptor selectedReceiver))
@ -208,4 +214,24 @@ public class ClusterReceptor : Cluster, IReceptor {
}
return selectedReceiver;
}
private void CleanupReceivers() {
// Remove a thing-receiver connection when the nucleus is inactive
List<int> receiversToRemove = new();
foreach (KeyValuePair<int, ClusterReceptor> item in thingReceivers) {
if (item.Value != null && item.Value.isSleeping)
receiversToRemove.Add(item.Key);
}
foreach (int thingId in receiversToRemove) {
Nucleus selectedReceiver = thingReceivers[thingId];
thingReceivers.Remove(thingId);
int colonPos = selectedReceiver.name.IndexOf(":");
if (colonPos > 0)
selectedReceiver.name = selectedReceiver.name[..colonPos];
}
}
}

2
Editor/ClusterInspector.cs
View File

@ -507,7 +507,7 @@ public class ClusterInspector : Editor {
// Draw Cluster ring
if (nucleus is Cluster) {
Handles.color = Color.white;
Handles.DrawWireDisc(position, Vector3.forward, size + 10);
Handles.DrawWireDisc(position, Vector3.forward, size + 5);
}
// Tooltip