improved synapse coloring

Assembly-CSharp.csproj

@@ -69,6 +69,7 @@
     <Compile Include="Assets/NanoBrain/LinearAlgebra/src/Quat32.cs" />
     <Compile Include="Assets/NanoBrain/Neuron.cs" />
     <Compile Include="Assets/NanoBrain/VisualEditor/NanoBrainComponent.cs" />
+    <Compile Include="Assets/Scenes/Boids/Scripts/StationaryBoid.cs" />
     <Compile Include="Assets/NanoBrain/LinearAlgebra/src/Vector2Int.cs" />
     <Compile Include="Assets/Scenes/Boids/Scripts/SwarmControl.cs" />
     <Compile Include="Assets/NanoBrain/INucleus.cs" />

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Assets/NanoBrain/Scene/TestScene.unity.meta

@@ -0,0 +1,7 @@
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Assets/NanoBrain/VisualEditor/Editor/ClusterInspector.cs

@@ -196,7 +196,7 @@ public class ClusterInspector : Editor {
         // }
         // void OnMouseUp(MouseUpEvent e) { if (e.button == 2) draggingCanvas = false; }
 
-        void OnIMGUI() {
+        public void OnIMGUI() {
             if (currentNucleus == null)
                 return;
 
@@ -313,7 +313,8 @@ public class ClusterInspector : Editor {
                     drawnArrays.Add(neuroid.array);
 
                 }
-                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)
+                if (synapse.nucleus != null) {
-                    DrawNucleus(synapse.nucleus, pos, maxValue, size);
+                    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;

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;

Assets/NanoBrain/VisualEditor/NanoBrainComponent.cs

@@ -12,10 +12,12 @@ public class NanoBrainComponent : MonoBehaviour {
                 brainInstance.name = defaultBrain.name + " (Instance)";
 
                 SwarmControl sc = FindFirstObjectByType<SwarmControl>();
-                UpdateWeight(brainInstance, "Avoidance", sc.avoidanceForce);
+                if (sc != null) {
-                UpdateWeight(brainInstance, "Cohesion", sc.cohesionForce);
+                    UpdateWeight(brainInstance, "Avoidance", sc.avoidanceForce);
-                UpdateWeight(brainInstance, "Separation", sc.separationForce);
+                    UpdateWeight(brainInstance, "Cohesion", sc.cohesionForce);
-                UpdateWeight(brainInstance, "Alignment", sc.alignmentForce);
+                    UpdateWeight(brainInstance, "Separation", sc.separationForce);
+                    UpdateWeight(brainInstance, "Alignment", sc.alignmentForce);
+                }
             }
             return brainInstance;
         }

Assets/Scenes/Boids/Prefabs/Stationary Boid.prefab

@@ -0,0 +1,87 @@
+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!1001 &1401715754342779814
+PrefabInstance:
+  m_ObjectHideFlags: 0
+  serializedVersion: 2
+  m_Modification:
+    serializedVersion: 3
+    m_TransformParent: {fileID: 0}
+    m_Modifications:
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+      propertyPath: m_LocalPosition.x
+      value: -1.00054
+      objectReference: {fileID: 0}
+    - target: {fileID: 8702527964058765412, guid: f9c706268554ce449a8773675b2864b8, type: 3}
+      propertyPath: m_LocalPosition.y
+      value: -1.02912
+      objectReference: {fileID: 0}
+    - target: {fileID: 8702527964058765412, guid: f9c706268554ce449a8773675b2864b8, type: 3}
+      propertyPath: m_LocalPosition.z
+      value: 0.82188
+      objectReference: {fileID: 0}
+    - target: {fileID: 8702527964058765412, guid: f9c706268554ce449a8773675b2864b8, type: 3}
+      propertyPath: m_LocalRotation.w
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 8702527964058765412, guid: f9c706268554ce449a8773675b2864b8, type: 3}
+      propertyPath: m_LocalRotation.x
+      value: 0
+      objectReference: {fileID: 0}
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+      propertyPath: m_LocalRotation.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 8702527964058765412, guid: f9c706268554ce449a8773675b2864b8, type: 3}
+      propertyPath: m_LocalRotation.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 8702527964058765412, guid: f9c706268554ce449a8773675b2864b8, type: 3}
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+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 8702527964058765412, guid: f9c706268554ce449a8773675b2864b8, type: 3}
+      propertyPath: m_LocalEulerAnglesHint.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 8702527964058765412, guid: f9c706268554ce449a8773675b2864b8, type: 3}
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+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 8702527964058765413, guid: f9c706268554ce449a8773675b2864b8, type: 3}
+      propertyPath: m_Name
+      value: Boid1 Variant
+      objectReference: {fileID: 0}
+    m_RemovedComponents:
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+    m_RemovedGameObjects: []
+    m_AddedGameObjects: []
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+      addedObject: {fileID: 8788086714463777302}
+  m_SourcePrefab: {fileID: 100100000, guid: f9c706268554ce449a8773675b2864b8, type: 3}
+--- !u!1 &7761516481062093763 stripped
+GameObject:
+  m_CorrespondingSourceObject: {fileID: 8702527964058765413, guid: f9c706268554ce449a8773675b2864b8, type: 3}
+  m_PrefabInstance: {fileID: 1401715754342779814}
+  m_PrefabAsset: {fileID: 0}
+--- !u!114 &8788086714463777302
+MonoBehaviour:
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+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 7761516481062093763}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: c156ab45bfd15d213b1be7451d0c0151, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: Assembly-CSharp::StationaryBoid
+  sc: {fileID: 0}
+  velocity: {x: 0, y: 0, z: 0}
+  acceleration: {x: 0, y: 0, z: 0}
+  nanoBrain: {fileID: 0}
+  id: 0
+  red: {fileID: 2100000, guid: 2a7557e54580b6a8b976f12aa6cc761c, type: 2}
+  gray: {fileID: 2100000, guid: a79ccc131cb43254cb8575d1cedb537e, type: 2}

Assets/Scenes/Boids/Prefabs/Stationary Boid.prefab.meta

@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: 6860355b30724b5ddb35781dcaf3b57e
+PrefabImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Scenes/Boids/Scripts/Boid.cs

@@ -11,7 +11,7 @@ public class Boid : MonoBehaviour {
     public Vector3 velocity = Vector3.zero;
     public Vector3 acceleration = Vector3.zero;
 
-    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) {

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<Boid>();
+                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<Renderer>();
+        // 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;
+        // }
+    }
+
+}

Assets/Scenes/Boids/Scripts/StationaryBoid.cs.meta

@@ -0,0 +1,7 @@
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+guid: c156ab45bfd15d213b1be7451d0c0151
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