Add perception array UI

Assets/NanoBrain/PercepteiArray.cs

@@ -1,22 +1,61 @@
+using UnityEngine;
+
+[System.Serializable]
 public class PercepteiArray {
-    public ArrayPerceptoid[] perceptei;
+    [SerializeReference]
+    public Perceptoid[] perceptei;
     public string name;
 
-    public PercepteiArray(NanoBrain brain, int thingType, string baseName, uint count) {
+    // public PercepteiArray(NanoBrain brain, int thingType, string baseName, uint count) {
-        this.name = baseName;
+    //     this.name = baseName;
-        this.perceptei = new ArrayPerceptoid[count];
+    //     this.perceptei = new Perceptoid[count];
-        for (uint i = 0; i < count; i++) {
+    //     for (uint i = 0; i < count; i++) {
-            this.perceptei[i] = new ArrayPerceptoid(brain, thingType, $"{baseName}[{i}]") {
+    //         this.perceptei[i] = new Perceptoid(brain, thingType, $"{baseName}[{i}]") {
-                array = this
+    //             array = this
-            };
+    //         };
+    //     }
+    // }
+    public PercepteiArray(Perceptoid perceptoid) {
+        this.name = perceptoid.baseName;
+        this.perceptei = new Perceptoid[1];
+        this.perceptei[0] = perceptoid;
+    }
+
+    public void AddPerceptoid() {
+        if (this.perceptei.Length == 0) {
+            Debug.LogError("Empty perceptoid array, cannot add");
+            return;
         }
+        int newLength = this.perceptei.Length + 1;
+        Perceptoid[] newPerceptei = new Perceptoid[newLength];
+
+        for (int i = 0; i < this.perceptei.Length; i++)
+            newPerceptei[i] = this.perceptei[i];
+        newPerceptei[newLength - 1] = new Perceptoid(this);
+
+        this.perceptei = newPerceptei;
+    }
+
+    public void RemovePerceptoid() {
+        int newLength = this.perceptei.Length - 1;
+        if (newLength == 0) {
+            Debug.LogWarning("Perceptoid array cannot be empty");
+            return;
+        }
+        Perceptoid[] newPerceptei = new Perceptoid[newLength];
+        for (int i = 0; i < newLength; i++)
+            newPerceptei[i++] = this.perceptei[i];
+        // Delete the last perception
+        Nucleus.Delete(this.perceptei[newLength]);
+        
+        this.perceptei = newPerceptei;
     }
 }
 
-public class ArrayPerceptoid : Perceptoid {
+// public class ArrayPerceptoid : Perceptoid {
-    public PercepteiArray array;
+//     public PercepteiArray array;
 
-    public ArrayPerceptoid(NanoBrain brain, int thingType, string name = "sensor") : base(brain, thingType, name) {
+//     public ArrayPerceptoid(NanoBrain brain, int thingType, string name = "sensor") : base(brain, thingType, name) {
-    }
+//     }
 
-}
+// }

Assets/NanoBrain/Perceptoid.cs

@@ -1,5 +1,4 @@
 using UnityEngine;
-using LinearAlgebra;
 
 [System.Serializable]
 public class Perceptoid : Neuroid {
@@ -8,16 +7,24 @@ public class Perceptoid : Neuroid {
     public Receptor receptor;
     public string baseName;
 
+    public int thingId;
+
+    //[SerializeField]
+    // Needs serialization!!!!
+    [SerializeReference]
+    public PercepteiArray array;
+
     #region Serialization
 
     [SerializeField]
     public int thingType;
-    public int thingId;
 
     public override void Rebuild(NanoBrain brain) {
         base.Rebuild(brain);
         this.receptor = Receptor.GetReceptor(brain, thingType);
         this.receptor.perceptei.Add(this);
+        if (string.IsNullOrEmpty(this.baseName))
+            this.baseName = this.name;
     }
 
     public override void Deserialize(Nucleus nucleus) {
@@ -62,30 +69,30 @@ public class Perceptoid : Neuroid {
         this.thingType = thingType;
         this.receptor = Receptor.GetReceptor(brain, thingType);
         this.receptor.perceptei.Add(this);
+        this.array = new PercepteiArray(this);
     }
 
-    // public void Replace(int thingType, string name = "sensor") {
+    public Perceptoid(PercepteiArray array) : base(array.name) {
-    //     this.name = name;
+        this.array = array;
+        Perceptoid source = array.perceptei[0];
+        this.brain = source.brain;
+        if (this.brain != null) {
+            this.brain.perceptei.Add(this);
+        }
+        else
+            Debug.LogError("No neuroid network");
 
-    //     this.thingType = thingType;
+        this.nucleusType = nameof(Perceptoid);
-    //     this.receptor.thingType = thingType;
+        this.name = source.baseName;
-    //     this.receptor.localPosition = Vector3.zero;
+        this.baseName = source.baseName;
-
+        this.thingType = source.thingType;
-    //     this.outputValue = Vector3.zero;
+        this.receptor = Receptor.GetReceptor(this.brain, this.thingType);
-    //     this.receivers = new();
+        this.receptor.perceptei.Add(this);
-    // }
+    }
 
     public override void UpdateState() {
         Vector3 result = this.receptor.localPosition;
         UpdateResult(result);
     }
 
-
-    // public static Perceptoid GetPerception(NanoBrain brain, int thingType = 0) {
-    //     foreach (Nucleus nucleus in brain.nuclei) {
-    //         if (nucleus is Perceptoid perceptoid && (thingType == 0 || perceptoid.receptor.thingType == thingType))
-    //             return perceptoid;
-    //     }
-    //     return null;
-    // }
 }

Assets/NanoBrain/VisualEditor/Editor/NanoBrainInspector.cs

@@ -278,19 +278,19 @@ public class NanoBrainInspector : Editor {
                 Vector3 pos = new(250, margin + row * spacing, 0.0f);
                 Handles.color = Color.white;
                 Handles.DrawLine(parentPos, pos);
-                if (synapse.nucleus is ArrayPerceptoid perceptoid) {
+                // if (synapse.nucleus is Perceptoid perceptoid && perceptoid.array != null) {
-                    if (drawnArrays.Contains(perceptoid.array))
+                //     // if (drawnArrays.Contains(perceptoid.array))
-                        // We already drawn this array
+                //     //     // We already drawn this array
-                        continue;
+                //     //     continue;
 
-                    drawnArrays.Add(perceptoid.array);
+                //     drawnArrays.Add(perceptoid.array);
-                    DrawArray(perceptoid.array, pos, size);
+                //     DrawArray(perceptoid.array, pos, size);
-                }
+                // }
-                else {
+                // else {
 
-                    DrawNucleus(synapse.nucleus, pos, maxValue, size);
+                DrawNucleus(synapse.nucleus, pos, maxValue, size);
-                    row++;
+                row++;
-                }
+                // }
             }
         }
 
@@ -298,16 +298,35 @@ public class NanoBrainInspector : Editor {
             if (nucleus.isSleeping)
                 Handles.color = Color.darkRed;
             else {
-                float brightness = nucleus.outputValue.magnitude / maxValue;
+                if (Application.isPlaying) {
-                Handles.color = new Color(brightness, brightness, brightness);
+                    float brightness = nucleus.outputValue.magnitude / maxValue;
+                    Handles.color = new Color(brightness, brightness, brightness, 1f);
+                }
+                else
+                    Handles.color = Color.black;
             }
             Handles.DrawSolidDisc(position, Vector3.forward, size);
-            Vector3 labelPos = position - Vector3.down * (size + 0.2f); // below disc along up axis
+
+            Handles.color = Color.white;
+            // Position the label in front of the disc
+            Vector3 labelPosition = position + (Vector3.forward * 0.1f);
+
             GUIStyle style = new(EditorStyles.label) {
-                alignment = TextAnchor.UpperCenter,
+                alignment = TextAnchor.MiddleCenter,
                 normal = { textColor = Color.white },
-                fontStyle = FontStyle.Bold
+                fontStyle = FontStyle.Bold,
             };
+            if (nucleus is Perceptoid perceptoid) {
+                if (perceptoid.array == null || perceptoid.array.perceptei == null || perceptoid.array.perceptei.Length == 0)
+                    perceptoid.array = new PercepteiArray(perceptoid);
+
+                if (perceptoid.array.perceptei.Length > 1) {
+                    Handles.Label(labelPosition, perceptoid.array.perceptei.Length.ToString(), style);
+                }
+            }
+
+            style.alignment = TextAnchor.UpperCenter;
+            Vector3 labelPos = position - Vector3.down * (size + 0.2f); // below disc along up axis
             Handles.Label(labelPos, nucleus.name, style);
 
             Rect neuronRect = new(position.x - size, position.y - size, size * 2, size * 2);
@@ -326,21 +345,18 @@ public class NanoBrainInspector : Editor {
             }
         }
 
-        private void DrawArray(PercepteiArray array,  Vector3 position, float size) {
+        private void DrawArray(PercepteiArray array, Vector3 position, float size) {
-            Vector3 offset = new(size/4, size/4, 0);
+            Vector3 offset = new(size / 4, size / 4, 0);
-            Handles.color = Color.darkGray;
+            Handles.color = Color.black;
-            Handles.DrawSolidDisc(position + offset * 2, Vector3.forward, size);
-            Handles.color = Color.lightGray;
-            Handles.DrawSolidDisc(position + offset, Vector3.forward, size);
-            Handles.color = Color.white;
             Handles.DrawSolidDisc(position, Vector3.forward, size);
 
-            Vector3 labelPos = position - Vector3.down * (size + 0.2f); // below disc along up axis
+            GUIStyle style = new(EditorStyles.label) {
-            GUIStyle style = new GUIStyle(EditorStyles.label) {
                 alignment = TextAnchor.UpperCenter,
                 normal = { textColor = Color.white },
                 fontStyle = FontStyle.Bold
             };
+            Handles.Label(position, array.perceptei.Length.ToString(), style);
+            Vector3 labelPos = position - Vector3.down * (size + 0.2f); // below disc along up axis
             Handles.Label(labelPos, array.name, style);
 
             // To do: add HandleClick (see above) to expand the array
@@ -403,8 +419,18 @@ public class NanoBrainInspector : Editor {
                     return;
 
                 this.currentNucleus.name = EditorGUILayout.TextField(this.currentNucleus.name);
-                if (this.currentNucleus is Perceptoid currentPerceptoid) {
+                if (this.currentNucleus is Perceptoid perceptoid) {
-                    currentPerceptoid.receptor.thingType = EditorGUILayout.IntField("Thing Type", currentPerceptoid.receptor.thingType);
+                    perceptoid.receptor.thingType = EditorGUILayout.IntField("Thing Type", perceptoid.receptor.thingType);
+
+                    if (perceptoid.array == null || perceptoid.array.perceptei == null || perceptoid.array.perceptei.Length == 0)
+                        perceptoid.array = new PercepteiArray(perceptoid);
+                    EditorGUILayout.BeginHorizontal();
+                    EditorGUILayout.IntField("Array size", perceptoid.array.perceptei.Length);
+                    if (GUILayout.Button("Add"))
+                        perceptoid.array.AddPerceptoid();
+                    if (GUILayout.Button("Del"))
+                        perceptoid.array.RemovePerceptoid();
+                    EditorGUILayout.EndHorizontal();
                 }
                 else if (this.currentNucleus is Neuroid neuroid) {
                     EditorGUILayout.BeginHorizontal();
@@ -427,12 +453,21 @@ public class NanoBrainInspector : Editor {
                     foreach (Synapse synapse in synapses) {
                         if (synapse.nucleus != null) {
                             EditorGUILayout.Space();
+
                             EditorGUI.BeginDisabledGroup(synapse.nucleus.isSleeping);
                             if (Application.isPlaying)
                                 EditorGUILayout.FloatField(synapse.nucleus.name, synapse.nucleus.outputValue.magnitude * synapse.weight);
                             else {
                                 EditorGUILayout.BeginHorizontal();
                                 EditorGUILayout.LabelField(synapse.nucleus.name);
+                                // if (synapse.nucleus is Perceptoid perceptoid) {
+                                //     if (perceptoid.array == null || perceptoid.array.perceptei == null || perceptoid.array.perceptei.Length == 0) {
+                                //         perceptoid.array = new PercepteiArray(perceptoid);
+                                //     }
+                                //     EditorGUILayout.IntField(perceptoid.array.perceptei.Length);
+                                //     if (GUILayout.Button("Add"))
+                                //         perceptoid.array.AddPerceptoid();
+                                // }
                                 if (GUILayout.Button("Disconnect"))
                                     synapse.nucleus.RemoveReceiver(this.currentNucleus);
                                 EditorGUILayout.EndHorizontal();

Assets/Scenes/Boids/Boids.unity

@@ -375,7 +375,7 @@ MonoBehaviour:
   m_EditorClassIdentifier: Assembly-CSharp::SwarmControl
   speed: 1
   inertia: 0.7
-  alignmentForce: 0.5
+  alignmentForce: 0.4
   cohesionForce: 0.1
   separationForce: -0.1
   avoidanceForce: 1

Assets/Scenes/Boids/SwarmingBrain.asset

@@ -142,8 +142,8 @@ MonoBehaviour:
         inWeight: 0
         outWeight: 0
       - serializedVersion: 3
-        time: 1
+        time: 1000
-        value: 1
+        value: 1000
         inSlope: 1
         outSlope: 0
         tangentMode: 0
@@ -250,8 +250,8 @@ MonoBehaviour:
         inWeight: 0
         outWeight: 0
       - serializedVersion: 3
-        time: 1
+        time: 1000
-        value: 1
+        value: 1000
         inSlope: 1
         outSlope: 0
         tangentMode: 0
@@ -3786,7 +3786,10 @@ MonoBehaviour:
     exponent: 1
   - id: 763145504
     _name: Inverse Boid D
-    synapses: []
+    synapses:
+    - nucleusId: -1095934288
+      weight: 1
+      curveMax: 1
     receivers:
     - nucleusId: 1641120128
     nucleusType: 
@@ -4956,7 +4959,10 @@ MonoBehaviour:
     exponent: 1
   - id: 1469392160
     _name: Inverse Boid E
-    synapses: []
+    synapses:
+    - nucleusId: -1413006832
+      weight: 1
+      curveMax: 1
     receivers:
     - nucleusId: 1641120128
     nucleusType: 
@@ -6126,7 +6132,10 @@ MonoBehaviour:
     exponent: 1
   - id: -1828317248
     _name: Inverse Bodi F
-    synapses: []
+    synapses:
+    - nucleusId: -61245040
+      weight: 1
+      curveMax: 1
     receivers:
     - nucleusId: 1641120128
     nucleusType: 
@@ -7387,6 +7396,7 @@ MonoBehaviour:
     synapses: []
     receivers:
     - nucleusId: 1938577052
+    - nucleusId: 763145504
     nucleusType: Perceptoid
     isSleeping: 0
     _curvePreset: 0
@@ -7408,6 +7418,7 @@ MonoBehaviour:
     synapses: []
     receivers:
     - nucleusId: 1938577052
+    - nucleusId: 1469392160
     nucleusType: Perceptoid
     isSleeping: 0
     _curvePreset: 0
@@ -7429,6 +7440,7 @@ MonoBehaviour:
     synapses: []
     receivers:
     - nucleusId: 1938577052
+    - nucleusId: -1828317248
     nucleusType: Perceptoid
     isSleeping: 0
     _curvePreset: 0