NanoBrain/NanoBrain-unitypackage
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Fixed Spherical.ToVector3

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This commit is contained in:
Pascal Serrarens 2026-01-07 12:21:12 +01:00
parent f8fc9dabe6
commit ccf0b16136
2 changed files with 54 additions and 37 deletions
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59
Assets/NanoBrain/LinearAlgebra/src/Spherical.cs
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@ -72,18 +72,22 @@ namespace LinearAlgebra {
} }
public readonly Vector3 ToVector3() { public readonly Vector3 ToVector3() {
float verticalRad = (AngleFloat.deg90 - this.direction.vertical).inRadians; // float verticalRad = (AngleFloat.deg90 - this.direction.vertical).inRadians;
float horizontalRad = this.direction.horizontal.inRadians; // float horizontalRad = this.direction.horizontal.inRadians;
float cosVertical = (float)Math.Cos(verticalRad); // float cosVertical = (float)Math.Cos(verticalRad);
float sinVertical = (float)Math.Sin(verticalRad); // float sinVertical = (float)Math.Sin(verticalRad);
float cosHorizontal = (float)Math.Cos(horizontalRad); // float cosHorizontal = (float)Math.Cos(horizontalRad);
float sinHorizontal = (float)Math.Sin(horizontalRad); // float sinHorizontal = (float)Math.Sin(horizontalRad);
float x = this.distance * sinVertical * sinHorizontal; // float x = this.distance * sinVertical * sinHorizontal;
float y = this.distance * cosVertical; // float y = this.distance * cosVertical;
float z = this.distance * sinVertical * cosHorizontal; // float z = this.distance * sinVertical * cosHorizontal;
Vector3 v = new(x, y, z); // Vector3 v = new(x, y, z);
// return v;
Vector3 v = this.direction.ToVector3();
v *= this.distance;
return v; return v;
} }
#else #else
@ -99,22 +103,29 @@ namespace LinearAlgebra {
} }
public readonly Vector3Float ToVector3() { public readonly Vector3Float ToVector3() {
float verticalRad = (AngleFloat.deg90 - this.direction.vertical).inRadians; // float verticalRad = (AngleFloat.deg90 - this.direction.vertical).inRadians;
float horizontalRad = this.direction.horizontal.inRadians; // float horizontalRad = this.direction.horizontal.inRadians;
float cosVertical = (float)Math.Cos(verticalRad); // float cosVertical = (float)Math.Cos(verticalRad);
float sinVertical = (float)Math.Sin(verticalRad); // float sinVertical = (float)Math.Sin(verticalRad);
float cosHorizontal = (float)Math.Cos(horizontalRad); // float cosHorizontal = (float)Math.Cos(horizontalRad);
float sinHorizontal = (float)Math.Sin(horizontalRad); // float sinHorizontal = (float)Math.Sin(horizontalRad);
float x = this.distance * sinVertical * sinHorizontal; // float x = this.distance * sinVertical * sinHorizontal;
float y = this.distance * cosVertical; // float y = this.distance * cosVertical;
float z = this.distance * sinVertical * cosHorizontal; // float z = this.distance * sinVertical * cosHorizontal;
Vector3Float v = new(x, y, z); // Vector3Float v = new(x, y, z);
Vector3Float v = this.direction.ToVector3();
v *= this.distance;
return v; return v;
} }
#endif #endif
public override readonly string ToString() {
return $"Spherical(h: {this.direction.horizontal}, v: {this.direction.vertical}, distance: {this.distance})";
}
public readonly float magnitude => this.distance; public readonly float magnitude => this.distance;
public Spherical normalized { public Spherical normalized {
@ -228,7 +239,7 @@ namespace LinearAlgebra {
return Spherical.Radians(rAvg, azAvgRad, elAvgRad); return Spherical.Radians(rAvg, azAvgRad, elAvgRad);
} }
/*
public static Spherical Average(List<Spherical> vectors) { public static Spherical Average(List<Spherical> vectors) {
// float sumSinPhiCosTheta = 0.0f; // float sumSinPhiCosTheta = 0.0f;
// float sumSinPhiSinTheta = 0.0f; // float sumSinPhiSinTheta = 0.0f;
@ -302,9 +313,9 @@ namespace LinearAlgebra {
return new Spherical(rAvg, new Direction(horizontalAvg, verticalAvg)); return new Spherical(rAvg, new Direction(horizontalAvg, verticalAvg));
} }
*/
/*
public static Spherical Average(IEnumerable<Spherical> vectors) { public static Spherical Average(IEnumerable<Spherical> vectors) {
const float EPS = 1e-6f; const float EPS = 1e-6f;
if (vectors == null) throw new ArgumentNullException(nameof(vectors)); if (vectors == null) throw new ArgumentNullException(nameof(vectors));
@ -371,7 +382,7 @@ namespace LinearAlgebra {
return Spherical.Radians(rAvgFinal, azAvg, elAvg); return Spherical.Radians(rAvgFinal, azAvg, elAvg);
} }
*/
} }
} }

32
Assets/NanoBrain/Neuroid.cs
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@ -87,27 +87,33 @@ public class Neuroid : Nucleus {
float activatedValue = curve.Evaluate(synapseNucleus.outputValue.magnitude); float activatedValue = curve.Evaluate(synapseNucleus.outputValue.magnitude);
float magnitude = weight * activatedValue; float magnitude = weight * activatedValue;
//Debug.Log($"{this.name} {synapseNucleus.outputValue.direction} {synapseNucleus.outputValue.direction.horizontal}{synapseNucleus.outputValue.direction.vertical} {direction}"); //Debug.Log($"{this.name} {synapseNucleus.outputValue.direction} {synapseNucleus.outputValue.direction.horizontal}{synapseNucleus.outputValue.direction.vertical} {direction}");
Vector3 a = direction * magnitude;
resultVector += direction * magnitude; //Debug.Log($"A {direction} {magnitude} {a}");
resultVector += a;
} }
if (average && this.synapses.Count > 0) if (average && this.synapses.Count > 0)
resultVector /= this.synapses.Count; resultVector /= this.synapses.Count;
Spherical result = Spherical.FromVector3(resultVector); Spherical result = Spherical.FromVector3(resultVector);
// List<Spherical> vectors = new(); List<Spherical> vectors = new();
// foreach (Synapse synapse in this.synapses) { foreach (Synapse synapse in this.synapses) {
// if (synapse.nucleus.isSleeping) if (synapse.nucleus.isSleeping)
// continue; continue;
// vectors.Add(synapse.nucleus.outputValue); float weight = synapse.weight;
// } float activatedValue = curve.Evaluate(synapse.nucleus.outputValue.magnitude);
// Spherical result2 = Spherical.Average(vectors); float magnitude = weight * activatedValue;
// if (average == false) Spherical vector = new(magnitude, synapse.nucleus.outputValue.direction);
// result2 *= vectors.Count; //Debug.Log($"B {synapse.nucleus.outputValue.direction.ToVector3()} {magnitude} {vector.ToVector3()}");
vectors.Add(vector); //synapse.nucleus.outputValue);
}
Spherical result2 = Spherical.Average(vectors);
if (average == false)
result2 *= vectors.Count;
// if (result2 != result) if (result2 != result)
// Debug.Log($"update error {result2} != {result}"); Debug.Log($"update error {result2} != {result}");
UpdateResult(result); UpdateResult(result);