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float value = length(synapse.nucleus.outputValue); + float value = length(synapse.nucleus.outputValue) * synapse.weight; + // Debug.Log($"{synapse.nucleus.name}: {value} {length(synapse.nucleus.outputValue)} {synapse.weight}"); if (value > maxValue) maxValue = value; neuronCount++; @@ -334,23 +335,37 @@ public class ClusterInspector : Editor { Vector3 pos = new(250, margin + row * spacing, 0.0f); Handles.color = Color.white; Handles.DrawLine(parentPos, pos); - if (synapse.nucleus != null) - DrawNucleus(synapse.nucleus, pos, maxValue, size); + if (synapse.nucleus != null) { + Color color = Color.black; + if (synapse.nucleus.isSleeping) + color = Color.darkRed; + else if (Application.isPlaying) { + float brightness = length(synapse.nucleus.outputValue) * synapse.weight / maxValue; + color = new Color(brightness, brightness, brightness, 1f); + } + DrawNucleus(synapse.nucleus, pos, maxValue, size, color); + } row++; } } private void DrawNucleus(IReceptor nucleus, Vector3 position, float maxValue, float size) { + Color color; if (nucleus.isSleeping) - Handles.color = Color.darkRed; + color = Color.darkRed; else { if (Application.isPlaying) { float brightness = length(nucleus.outputValue) / maxValue; - Handles.color = new Color(brightness, brightness, brightness, 1f); + color = new Color(brightness, brightness, brightness, 1f); } else - Handles.color = Color.black; + color = Color.black; } + DrawNucleus(nucleus, position, maxValue, size, color); + } + + private void DrawNucleus(IReceptor nucleus, Vector3 position, float maxValue, float size, Color color) { + Handles.color = color; Handles.DrawSolidDisc(position, Vector3.forward, size); Handles.color = Color.white; diff --git a/Assets/NanoBrain/VisualEditor/Editor/NanoBrainComponent_Editor.cs b/Assets/NanoBrain/VisualEditor/Editor/NanoBrainComponent_Editor.cs index 6da496b..c9ad194 100644 --- a/Assets/NanoBrain/VisualEditor/Editor/NanoBrainComponent_Editor.cs +++ b/Assets/NanoBrain/VisualEditor/Editor/NanoBrainComponent_Editor.cs @@ -11,11 +11,14 @@ public class NanoBrainComponent_Editor : Editor { protected NanoBrainComponent component; private SerializedProperty brainProp; + ClusterInspector.GraphView board; + public void OnEnable() { component = target as NanoBrainComponent; if (Application.isPlaying == false) brainProp = serializedObject.FindProperty(nameof(NanoBrainComponent.defaultBrain)); + } public override VisualElement CreateInspectorGUI() { @@ -52,9 +55,9 @@ public class NanoBrainComponent_Editor : Editor { minHeight = 500, } }; - ClusterInspector.GraphView board; board = new ClusterInspector.GraphView(); board.style.flexGrow = 1; + mainContainer.Add(board); inspectorContainer = new VisualElement { name = "inspector", @@ -63,7 +66,6 @@ public class NanoBrainComponent_Editor : Editor { } }; - mainContainer.Add(board); mainContainer.Add(inspectorContainer); root.Add(mainContainer); @@ -76,7 +78,7 @@ public class NanoBrainComponent_Editor : Editor { UpdateLayout(evt.newRect.width); }); - if (brain != null) + if (brain != null && board != null) board.SetGraph(component.gameObject, brain, brain.output, inspectorContainer); // else // Debug.LogWarning(" No brain!"); @@ -86,6 +88,30 @@ public class NanoBrainComponent_Editor : Editor { return root; } + // void OnSceneGUI() { + // if (Application.isPlaying && board != null) + // board.OnIMGUI(); + // } + + void OnSceneGui(SceneView sv) { + if (Application.isPlaying == false) + return; + // May need some throttling here... + if (board != null) { + Debug.Log("."); + board.OnIMGUI(); + } + + // EditorApplication.delayCall = UpdateInspectorUI; + } + + void UpdateInspectorUI() { + if (board != null) { + Debug.Log("."); + board.OnIMGUI(); + } + } + private void UpdateLayout(float containerWidth) { if (containerWidth > 800f) { mainContainer.style.flexDirection = FlexDirection.Row; diff --git a/Assets/NanoBrain/VisualEditor/NanoBrainComponent.cs b/Assets/NanoBrain/VisualEditor/NanoBrainComponent.cs index 475e1a0..09fbfaa 100644 --- a/Assets/NanoBrain/VisualEditor/NanoBrainComponent.cs +++ b/Assets/NanoBrain/VisualEditor/NanoBrainComponent.cs @@ -12,10 +12,12 @@ public class NanoBrainComponent : MonoBehaviour { brainInstance.name = defaultBrain.name + " (Instance)"; SwarmControl sc = FindFirstObjectByType(); - 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private Bounds innerBounds; + protected Bounds innerBounds; public NanoBrainComponent nanoBrain; public Receptor boundaryReceptor; @@ -41,7 +41,7 @@ public class Boid : MonoBehaviour { innerBounds = new(sc.transform.position, sc.spaceSize - 2 * sc.boundaryWidth); } - void Update() { + protected virtual void Update() { Collider[] results = Physics.OverlapSphere(this.transform.position, sc.perceptionDistance); foreach (Collider c in results) { if (c as CapsuleCollider != null) { diff --git a/Assets/Scenes/Boids/Scripts/StationaryBoid.cs b/Assets/Scenes/Boids/Scripts/StationaryBoid.cs new file mode 100644 index 0000000..a8e3031 --- /dev/null +++ b/Assets/Scenes/Boids/Scripts/StationaryBoid.cs @@ -0,0 +1,75 @@ +using UnityEngine; + +public class StationaryBoid : Boid +{ + protected override void Update() + { + Collider[] results = Physics.OverlapSphere(this.transform.position, sc.perceptionDistance); + foreach (Collider c in results) + { + if (c as CapsuleCollider != null) + { + Boid neighbour = c.GetComponentInParent(); + if (neighbour == null || neighbour == this) + continue; + + int thingId = neighbour.GetInstanceID(); + + Vector3 localPosition = this.transform.InverseTransformPoint(neighbour.transform.position); + float d = localPosition.magnitude; + if (d <= sc.separationDistance) + localPosition = localPosition.normalized * 0.01f; + else + localPosition = localPosition.normalized * (localPosition.magnitude - sc.separationDistance); + if (localPosition.sqrMagnitude > 0) + boidReceptor?.ProcessStimulus(thingId, localPosition, neighbour.name); + + Vector3 localVelocity = this.transform.InverseTransformVector(neighbour.velocity); + if (localVelocity.sqrMagnitude > 0) + boidVelocityReceptor?.ProcessStimulus(thingId, localVelocity); + } + } + + if (!innerBounds.Contains(this.transform.position)) + { + Vector3 point = this.transform.position; + Vector3 pointOnBounds = innerBounds.ClosestPoint(point); + Vector3 desiredWorldSpace = (pointOnBounds - point).normalized * sc.speed; + Vector3 desiredLocalSpace = -this.transform.InverseTransformPoint(desiredWorldSpace); + boundaryReceptor.ProcessStimulus(777, desiredLocalSpace); + } + + Vector3 worldForce = this.transform.TransformDirection(nanoBrain.root.outputValue); + + this.velocity = (1 - sc.inertia) * (worldForce * Time.deltaTime) + sc.inertia * velocity; + if (this.velocity.magnitude > 0) + this.velocity = this.velocity.normalized * sc.speed; + else + this.velocity = this.transform.forward * sc.speed; + //Debug.DrawRay(this.transform.position, this.velocity, Color.blue); + + // this.transform.position += this.velocity * Time.deltaTime; + + // if (this.velocity != Vector3.zero) + // { + // Quaternion targetRotation = Quaternion.LookRotation(this.velocity); + // transform.rotation = Quaternion.Slerp(transform.rotation, targetRotation, Time.deltaTime * 5f); // Adjust the speed of rotation + // } + + nanoBrain.brain.UpdateNuclei(); + + // Renderer renderer = GetComponentInChildren(); + // results = Physics.OverlapSphere(this.transform.position, 0.1f); + // if (results.Length > 1) { + // // string s= this.name; + // // foreach (Collider c in results) + // // s += " " + c.transform.parent.gameObject.name; + // // Debug.Log(s); + // renderer.sharedMaterial = red; + // } + // else { + // renderer.sharedMaterial = gray; + // } + } + +} \ No newline at end of file diff --git a/Assets/Scenes/Boids/Scripts/StationaryBoid.cs.meta b/Assets/Scenes/Boids/Scripts/StationaryBoid.cs.meta new file mode 100644 index 0000000..b06bf2e --- /dev/null +++ b/Assets/Scenes/Boids/Scripts/StationaryBoid.cs.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: c156ab45bfd15d213b1be7451d0c0151 +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: