From 7499e9d6c7c22146317bab6e69621f80a0240e3f Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Wed, 27 May 2026 15:09:12 +0200 Subject: [PATCH 01/45] Trying to make an interesting scene --- Editor/ClusterEditor.cs | 1 + Runtime/Scripts/Core/Neuron.cs | 2 +- .../ScriptableObjects/ClusterPrefab.cs | 37 - .../Braitenberg/Brains/Braitenberg 1.asset | 6 +- .../Braitenberg/Brains/Braitenberg 2a.asset | 6 +- .../Braitenberg/Brains/Braitenberg 2b.asset | 6 +- .../Braitenberg/Brains/Braitenberg 3a.asset | 6 +- .../Braitenberg/Brains/Braitenberg 3b.asset | 6 +- .../Braitenberg/Brains/Braitenberg 4a.asset | 14 +- Samples/Braitenberg/Braitenberg.unity | 5084 ++++++++++++++++- Samples/Braitenberg/Prefabs/Vehicle 1.prefab | 162 +- Samples/Braitenberg/Prefabs/Vehicle 2a.prefab | 290 +- .../Prefabs/Vehicle Collision Variant.prefab | 1374 +++++ .../Vehicle Collision Variant.prefab.meta | 7 + Samples/Braitenberg/Scripts/LightSensor.cs | 1 - Samples/Braitenberg/Scripts/Motor.cs | 7 +- Samples/Braitenberg/Scripts/TouchSensor.cs | 24 + .../Braitenberg/Scripts/TouchSensor.cs.meta | 11 + 18 files changed, 6929 insertions(+), 115 deletions(-) create mode 100644 Samples/Braitenberg/Prefabs/Vehicle Collision Variant.prefab create mode 100644 Samples/Braitenberg/Prefabs/Vehicle Collision Variant.prefab.meta create mode 100644 Samples/Braitenberg/Scripts/TouchSensor.cs create mode 100644 Samples/Braitenberg/Scripts/TouchSensor.cs.meta diff --git a/Editor/ClusterEditor.cs b/Editor/ClusterEditor.cs index aa8584c..a6e8ee5 100644 --- a/Editor/ClusterEditor.cs +++ b/Editor/ClusterEditor.cs @@ -49,6 +49,7 @@ namespace NanoBrain.Unity { EditorGUILayout.EndHorizontal(); // end split if (EditorGUI.EndChangeCheck()) { + serializedObject.Update(); Undo.RecordObject(target, "Edit ClusterPrefab"); SerializedProperty versionProp = serializedObject.FindProperty("version"); versionProp.intValue++; diff --git a/Runtime/Scripts/Core/Neuron.cs b/Runtime/Scripts/Core/Neuron.cs index df680bc..aec4468 100644 --- a/Runtime/Scripts/Core/Neuron.cs +++ b/Runtime/Scripts/Core/Neuron.cs @@ -45,7 +45,7 @@ namespace NanoBrain { /// /// The bias which a value which is always added to the combined value of the neuron /// It does not have a synapse and therefore no weight of source nucleus - [HideInInspector] + //[HideInInspector] public Vector3 bias = Vector3.zero; #region Synapses diff --git a/Runtime/Scripts/ScriptableObjects/ClusterPrefab.cs b/Runtime/Scripts/ScriptableObjects/ClusterPrefab.cs index c1f4ae5..962b3d4 100644 --- a/Runtime/Scripts/ScriptableObjects/ClusterPrefab.cs +++ b/Runtime/Scripts/ScriptableObjects/ClusterPrefab.cs @@ -16,43 +16,6 @@ namespace NanoBrain.Unity { //[HideInInspector] public int version; -// #if UNITY_EDITOR -// private bool queuedIncrement = false; - -// private void OnValidate() { -// Debug.Log("Validating..."); -// if (queuedIncrement) { -// Debug.Log("Re-entry"); -// return; // avoid re-entrancy -// } - -// queuedIncrement = true; - -// // Defer so Unity finishes its internal serialization/validate cycle first -// UnityEditor.EditorApplication.update += IncrementVersion; -// } -// private void IncrementVersion() { -// UnityEditor.EditorApplication.update -= IncrementVersion; -// Debug.Log("updating version..."); -// // Ensure object still exists and hasn't been destroyed -// if (this == null) { -// queuedIncrement = false; -// return; -// } - -// // Record for Undo and mark dirty so change persists -// UnityEditor.Undo.RecordObject(this, $"Increment {name} version"); -// version++; -// UnityEditor.EditorUtility.SetDirty(this); -// Debug.Log($"{name} Prefab changed, version {version}"); - -// // Optional: force Inspector repaint -// //UnityEditor.EditorUtility.SetDirty(this); -// // clear the flag -// queuedIncrement = false; - -// } -// #endif } } diff --git a/Samples/Braitenberg/Brains/Braitenberg 1.asset b/Samples/Braitenberg/Brains/Braitenberg 1.asset index 14291ce..9d77d76 100644 --- a/Samples/Braitenberg/Brains/Braitenberg 1.asset +++ b/Samples/Braitenberg/Brains/Braitenberg 1.asset @@ -23,7 +23,7 @@ MonoBehaviour: nuclei: - rid: 4201950332465446972 - rid: 4201950332465446973 - version: 506 + version: 510 references: version: 2 RefIds: @@ -39,8 +39,8 @@ MonoBehaviour: _synapses: - neuron: rid: 4201950332465446973 - weight: 4 - combinator: 1 + weight: 2 + combinator: 0 _activator: 0 persistOutput: 0 lastUpdate: 35.320103 diff --git a/Samples/Braitenberg/Brains/Braitenberg 2a.asset b/Samples/Braitenberg/Brains/Braitenberg 2a.asset index dc88321..9181cac 100644 --- a/Samples/Braitenberg/Brains/Braitenberg 2a.asset +++ b/Samples/Braitenberg/Brains/Braitenberg 2a.asset @@ -25,7 +25,7 @@ MonoBehaviour: - rid: 4201949899492425817 - rid: 4201950127862317404 - rid: 4201950127862317405 - version: 21 + version: 30 references: version: 2 RefIds: @@ -41,7 +41,7 @@ MonoBehaviour: _synapses: - neuron: rid: 4201949899492425817 - weight: 5 + weight: 2 combinator: 0 _activator: 0 persistOutput: 0 @@ -73,7 +73,7 @@ MonoBehaviour: _synapses: - neuron: rid: 4201950127862317405 - weight: 5 + weight: 2 combinator: 0 _activator: 0 persistOutput: 0 diff --git a/Samples/Braitenberg/Brains/Braitenberg 2b.asset b/Samples/Braitenberg/Brains/Braitenberg 2b.asset index 5014df8..f9f340d 100644 --- a/Samples/Braitenberg/Brains/Braitenberg 2b.asset +++ b/Samples/Braitenberg/Brains/Braitenberg 2b.asset @@ -25,7 +25,7 @@ MonoBehaviour: - rid: 4201949899492425817 - rid: 4201950127862317404 - rid: 4201950127862317405 - version: 12 + version: 28 references: version: 2 RefIds: @@ -41,7 +41,7 @@ MonoBehaviour: _synapses: - neuron: rid: 4201950127862317405 - weight: 5 + weight: 2 combinator: 0 _activator: 0 persistOutput: 0 @@ -73,7 +73,7 @@ MonoBehaviour: _synapses: - neuron: rid: 4201949899492425817 - weight: 5 + weight: 2 combinator: 0 _activator: 0 persistOutput: 0 diff --git a/Samples/Braitenberg/Brains/Braitenberg 3a.asset b/Samples/Braitenberg/Brains/Braitenberg 3a.asset index eba6472..d1b7a6c 100644 --- a/Samples/Braitenberg/Brains/Braitenberg 3a.asset +++ b/Samples/Braitenberg/Brains/Braitenberg 3a.asset @@ -25,7 +25,7 @@ MonoBehaviour: - rid: 4201949899492425817 - rid: 4201950127862317404 - rid: 4201950127862317405 - version: 44 + version: 53 references: version: 2 RefIds: @@ -41,7 +41,7 @@ MonoBehaviour: _synapses: - neuron: rid: 4201949899492425817 - weight: -5 + weight: -2 combinator: 0 _activator: 0 persistOutput: 0 @@ -73,7 +73,7 @@ MonoBehaviour: _synapses: - neuron: rid: 4201950127862317405 - weight: -5 + weight: -2 combinator: 0 _activator: 0 persistOutput: 0 diff --git a/Samples/Braitenberg/Brains/Braitenberg 3b.asset b/Samples/Braitenberg/Brains/Braitenberg 3b.asset index e7ecc49..985897a 100644 --- a/Samples/Braitenberg/Brains/Braitenberg 3b.asset +++ b/Samples/Braitenberg/Brains/Braitenberg 3b.asset @@ -25,7 +25,7 @@ MonoBehaviour: - rid: 4201949899492425817 - rid: 4201950127862317404 - rid: 4201950127862317405 - version: 41 + version: 54 references: version: 2 RefIds: @@ -41,7 +41,7 @@ MonoBehaviour: _synapses: - neuron: rid: 4201950127862317405 - weight: -5 + weight: -2 combinator: 0 _activator: 0 persistOutput: 0 @@ -73,7 +73,7 @@ MonoBehaviour: _synapses: - neuron: rid: 4201949899492425817 - weight: -5 + weight: -2 combinator: 0 _activator: 0 persistOutput: 0 diff --git a/Samples/Braitenberg/Brains/Braitenberg 4a.asset b/Samples/Braitenberg/Brains/Braitenberg 4a.asset index 8f3f28b..abe8fe9 100644 --- a/Samples/Braitenberg/Brains/Braitenberg 4a.asset +++ b/Samples/Braitenberg/Brains/Braitenberg 4a.asset @@ -29,7 +29,7 @@ MonoBehaviour: - rid: 4201950130928877961 - rid: 4201950130928878008 - rid: 4201950130928878009 - version: 11 + version: 22 references: version: 2 RefIds: @@ -45,7 +45,7 @@ MonoBehaviour: _synapses: - neuron: rid: 4201950130928878008 - weight: 5 + weight: 2 combinator: 0 _activator: 0 persistOutput: 0 @@ -78,7 +78,7 @@ MonoBehaviour: _synapses: - neuron: rid: 4201950130928878009 - weight: 5 + 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+fileFormatVersion: 2 +guid: 9917986957fd0716ea05cbc5ad6a9b36 +PrefabImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Samples/Braitenberg/Scripts/LightSensor.cs b/Samples/Braitenberg/Scripts/LightSensor.cs index e6c620f..28fdd6d 100644 --- a/Samples/Braitenberg/Scripts/LightSensor.cs +++ b/Samples/Braitenberg/Scripts/LightSensor.cs @@ -3,7 +3,6 @@ using UnityEngine; namespace NanoBrain.Braitenberg { - //[RequireComponent(typeof(Collider))] // optional public class LightSensor : Sensor { [Tooltip("If true, perform occlusion checks with raycasts.")] public bool useOcclusion = true; diff --git a/Samples/Braitenberg/Scripts/Motor.cs b/Samples/Braitenberg/Scripts/Motor.cs index ecb12d9..924cb31 100644 --- a/Samples/Braitenberg/Scripts/Motor.cs +++ b/Samples/Braitenberg/Scripts/Motor.cs @@ -1,7 +1,6 @@ using UnityEngine; namespace NanoBrain.Braitenberg { - using Unity; public class Motor : MonoBehaviour { public string outputNeuronName; @@ -32,11 +31,9 @@ namespace NanoBrain.Braitenberg { float desiredRpm = speed * 60; // target wheel RPM float currentRpm = wheelCollider.rpm; float rpmError = desiredRpm - currentRpm; - float kp = 0.02f; // proportional gain — tune - float torque = kp * rpmError; + float kP = 0.02f; // proportional gain + float torque = wheelCollider.motorTorque + kP * rpmError; wheelCollider.motorTorque = Mathf.Clamp(torque, -maxTorque, maxTorque); - if (float.IsNaN(wheelCollider.rpm)) - Debug.Log($"{speed} {currentRpm / 60} {torque}"); } } diff --git a/Samples/Braitenberg/Scripts/TouchSensor.cs b/Samples/Braitenberg/Scripts/TouchSensor.cs new file mode 100644 index 0000000..850446b --- /dev/null +++ b/Samples/Braitenberg/Scripts/TouchSensor.cs @@ -0,0 +1,24 @@ +using UnityEngine; + +namespace NanoBrain.Braitenberg { + + public class TouchSensor : Sensor { + + public bool touching = false; + + protected override float SampleSensor() { + return touching ? 1 : 0; + } + + void OnTriggerEnter(Collider other) { + Debug.Log($"{this.name} touch start"); + touching = true; + } + void OnTriggerExit(Collider other) { + Debug.Log($"{this.name} touch END"); + touching = false; + } + + } + +} \ No newline at end of file diff --git a/Samples/Braitenberg/Scripts/TouchSensor.cs.meta b/Samples/Braitenberg/Scripts/TouchSensor.cs.meta new file mode 100644 index 0000000..e3938d4 --- /dev/null +++ b/Samples/Braitenberg/Scripts/TouchSensor.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: bd34d51a8218ea4f190c708b130e24f9 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: From 9771d3e9da77fe9a31f3ca559687a486016d8b91 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Fri, 29 May 2026 12:14:17 +0200 Subject: [PATCH 02/45] Updated documentation --- Documentation/html/annotated.html | 18 +- ..._braitenberg_1_1_light_sensor-members.html | 103 + 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Here are the classes, structs, unions and interfaces with brief descriptions:
-
[detail level 123]
+
[detail level 1234]
- - - - - - + + + + + + + + + +
 ▼NNanoBrainThe Nanobrain namespace
 ▼NUnity
 CBrainA NanoBrain which can be used to control a gameobject
 CClusterPrefabThe Unity ScriptableObject to implement re-usable Cluster Prefabs
 CClusterA Cluster combines a collection of Nuclei to implement reusable behaviour
 CMemoryCellA MemoryCell stored its value for one update
 ▼CNeuronA neuron is a basic Nucleus
 CPresetsThe curve presets for the activation functions
 ▼NBraitenberg
 CLightSensorA light sensor
 CMotorA powered wheel collider, controlled by a NanoBrain::Neuron
 CSensorA non-directional sensor
 CTouchSensorA sensor which can detect contacts with static GameObjects or Rigidbodies
 CVehicleA Braitenberg style vehicle with two sensors and two motors, powered by a Nanobrain
 CClusterPrefabThe Unity ScriptableObject to implement re-usable Cluster Prefabs
 CClusterA Cluster combines a collection of Nuclei to implement reusable behaviour
 CMemoryCellA MemoryCell stored its value for one update
 CNeuronA neuron is a basic Nucleus
 CNucleusA Nucleus is a basic element in a brain cluster
 CSynapseA Synapse connects the ouput of a Neuron to another Neuron
diff --git a/Documentation/html/class_nano_brain_1_1_braitenberg_1_1_light_sensor-members.html b/Documentation/html/class_nano_brain_1_1_braitenberg_1_1_light_sensor-members.html new file mode 100644 index 0000000..ddde3ad --- /dev/null +++ b/Documentation/html/class_nano_brain_1_1_braitenberg_1_1_light_sensor-members.html @@ -0,0 +1,103 @@ + + + + + + + +Nano Brain for Unity: Member List + + + + + + + + + + +
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Nano Brain for Unity v0.1 +
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LightSensor Member List
+
+
+ +

This is the complete list of members for LightSensor, including all inherited members.

+ + + + + + + + + + + + + + +
_output (defined in Sensor)Sensor
Awake() (defined in Sensor)Sensorprotectedvirtual
brain (defined in Sensor)Sensorprotected
multiplier (defined in LightSensor)LightSensor
outputSensor
sampleInterval (defined in Sensor)Sensor
SampleSensor() (defined in LightSensor)LightSensorprotectedvirtual
senseLayerSensor
sensitivityAngle (defined in LightSensor)LightSensor
sensorRangeSensor
sensoryNeuron (defined in Sensor)Sensor
useOcclusion (defined in LightSensor)LightSensor
vehicle (defined in Sensor)Sensorprotected
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/Documentation/html/class_nano_brain_1_1_braitenberg_1_1_light_sensor-members.html.meta b/Documentation/html/class_nano_brain_1_1_braitenberg_1_1_light_sensor-members.html.meta new file mode 100644 index 0000000..82b55d9 --- /dev/null +++ b/Documentation/html/class_nano_brain_1_1_braitenberg_1_1_light_sensor-members.html.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: cfad91a8e096a9c928ce2e7215d18178 +TextScriptImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Documentation/html/class_nano_brain_1_1_braitenberg_1_1_light_sensor.html b/Documentation/html/class_nano_brain_1_1_braitenberg_1_1_light_sensor.html new file mode 100644 index 0000000..2fc5343 --- /dev/null +++ b/Documentation/html/class_nano_brain_1_1_braitenberg_1_1_light_sensor.html @@ -0,0 +1,211 @@ + + + + + + + +Nano Brain for Unity: LightSensor Class Reference + + + + + + + + + + +
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Nano Brain for Unity v0.1 +
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+Public Attributes | +Protected Member Functions | +Protected Attributes | +Properties | +List of all members
+
LightSensor Class Reference
+
+
+

Description

+

A light sensor.

+
+Inheritance diagram for LightSensor:
+
+
+ + +Sensor + +
+ + + + + + + + + + + + + + + + + + + + +

+Public Attributes

+bool useOcclusion = true
 
+float sensitivityAngle = 180f
 
+float multiplier = 1f
 
+float sensorRange = 10f
 Maximum distance the sensor detects anything.
 
+float sampleInterval = 0.1f
 
LayerMask senseLayer
 Unity Layer for the light objects.
 
+float _output
 
+Neuron sensoryNeuron
 
+ + + + + +

+Protected Member Functions

override float SampleSensor ()
 
+virtual void Awake ()
 
+ + + + + +

+Protected Attributes

+Vehicle vehicle
 
+Cluster brain
 
+ + + + +

+Properties

+float output [get]
 Output value of the sensor.
 
+

Member Function Documentation

+ +

◆ SampleSensor()

+ +
+
+ + + + + +
+ + + + + + + +
override float SampleSensor ()
+ 		+protectedvirtual
+
+ +

Reimplemented from Sensor.

+ +
+
+

Member Data Documentation

+ +

◆ senseLayer

+ +
+
+ + + + + +
+ + + + +
LayerMask senseLayer
+ 		+inherited
+
+ +

Unity Layer for the light objects.

+

This is used to improve performance

+ +
+
+
+ +
+Generated by doxygen 1.9.8 +
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Sensor Member List
+
+
+ +

This is the complete list of members for Sensor, including all inherited members.

+ + + + + + + + + + + +
_output (defined in Sensor)Sensor
Awake() (defined in Sensor)Sensorprotectedvirtual
brain (defined in Sensor)Sensorprotected
outputSensor
sampleInterval (defined in Sensor)Sensor
SampleSensor() (defined in Sensor)Sensorprotectedvirtual
senseLayerSensor
sensorRangeSensor
sensoryNeuron (defined in Sensor)Sensor
vehicle (defined in Sensor)Sensorprotected
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/Documentation/html/class_nano_brain_1_1_braitenberg_1_1_sensor-members.html.meta b/Documentation/html/class_nano_brain_1_1_braitenberg_1_1_sensor-members.html.meta new file mode 100644 index 0000000..ca3f790 --- /dev/null +++ b/Documentation/html/class_nano_brain_1_1_braitenberg_1_1_sensor-members.html.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: c55f4a038bf9e341999a77369247fa57 +TextScriptImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Documentation/html/class_nano_brain_1_1_braitenberg_1_1_sensor.html b/Documentation/html/class_nano_brain_1_1_braitenberg_1_1_sensor.html new file mode 100644 index 0000000..c9985be --- /dev/null +++ b/Documentation/html/class_nano_brain_1_1_braitenberg_1_1_sensor.html @@ -0,0 +1,168 @@ + + + + + + + +Nano Brain for Unity: Sensor Class Reference + + + + + + + + + + +
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Sensor Class Reference
+
+
+

Description

+

A non-directional sensor.

+

The sensor has a field of view, but the signal returned does not include a direction

+
+Inheritance diagram for Sensor:
+
+
+ + +LightSensor + +
+ + + + + + + + + + + + + + +

+Public Attributes

+float sensorRange = 10f
 Maximum distance the sensor detects anything.
 
+float sampleInterval = 0.1f
 
LayerMask senseLayer
 Unity Layer for the light objects.
 
+float _output
 
+Neuron sensoryNeuron
 
+ + + + + +

+Protected Member Functions

+virtual void Awake ()
 
+virtual float SampleSensor ()
 
+ + + + + +

+Protected Attributes

+Vehicle vehicle
 
+Cluster brain
 
+ + + + +

+Properties

+float output [get]
 Output value of the sensor.
 
+

Member Data Documentation

+ +

◆ senseLayer

+ +
+
+ + + + +
LayerMask senseLayer
+
+ +

Unity Layer for the light objects.

+

This is used to improve performance

+ +
+
+
+ +
+Generated by doxygen 1.9.8 +
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Cluster(ClusterPrefab prefab, Cluster parent)Cluster - Cluster(ClusterPrefab prefab, ClusterPrefab parent=null)Cluster - CollectReceivers(bool removeDuplicates=false)Clustervirtual - CollectSynapsesTo(Cluster otherCluster)Cluster - computeOrdersCluster - defaultOutputCluster - DeleteNucleus(Nucleus nucleus)Cluster + Cluster() (defined in Cluster)Cluster + Cluster(ClusterPrefab prefab, Cluster parent)Cluster + Cluster(ClusterPrefab prefab, ClusterPrefab parent=null)Cluster + CollectReceivers(bool removeDuplicates=false)Clustervirtual + CollectSynapsesTo(Cluster otherCluster)Cluster + computeOrdersCluster + defaultOutputCluster + DeleteNucleus(Nucleus nucleus)Cluster + GetCluster(string clusterName)Cluster GetNeuron(string neuronName)Cluster GetNeuron(int thingId, string neuronName, string thingName=null)Cluster - GetNucleus(string nucleusName)Cluster - GetNucleusIndex(List< Nucleus > nuclei, Nucleus nucleus)Clusterstatic - GetNucleusIndex(List< Nucleus > nuclei, string nucleusName)Clusterstatic - instanceCountCluster - instancesCluster - nameNucleus - nucleiCluster - outputsCluster - parentNucleus - prefabCluster - Refresh()Cluster - RefreshComputeOrders()Cluster - RefreshOutputs()Cluster - RemoveInstance()Cluster - ShallowCloneTo(Cluster parent)Cluster - thingClustersCluster - TryGetNucleus(string nucleusName, out Nucleus foundNucleus)Cluster - Type enum nameNucleus - UpdateFromNucleus(Nucleus startNucleus)Cluster - UpdateStateIsolated()Cluster + GetNucleusIndex(List< Nucleus > nuclei, Nucleus nucleus)Clusterstatic + GetNucleusIndex(List< Nucleus > nuclei, string nucleusName)Clusterstatic + instanceCountCluster + instancesCluster + nameNucleus + nucleiCluster + outputsCluster + parentNucleus + prefabCluster + Refresh()Cluster + RefreshComputeOrders()Cluster + RefreshOutputs()Cluster + RemoveInstance()Cluster + ShallowCloneTo(Cluster parent)Cluster + thingClustersCluster + TryGetNucleus(string nucleusName, out Nucleus foundNucleus)Cluster + Type enum nameNucleus + UpdateFromNucleus(Nucleus startNucleus)Cluster + UpdateStateIsolated()Cluster + versionCluster
diff --git a/Documentation/html/class_nano_brain_1_1_cluster.html b/Documentation/html/class_nano_brain_1_1_cluster.html index 714479f..af70096 100644 --- a/Documentation/html/class_nano_brain_1_1_cluster.html +++ b/Documentation/html/class_nano_brain_1_1_cluster.html @@ -141,12 +141,12 @@ void RefreshOutputs () bool TryGetNucleus (string nucleusName, out Nucleus foundNucleus)  Try to find a nucleus in this cluster.
  -Nucleus GetNucleus (string nucleusName) - Get a nucleus in this cluster.
-  Neuron GetNeuron (string neuronName)  Get a neuron in this cluster.
  +Cluster GetCluster (string clusterName) + Get a subcluster in this cluster.
+  Neuron GetNeuron (int thingId, string neuronName, string thingName=null)  Get a neuron in an instance of a multi-cluster.
  @@ -183,6 +183,9 @@ Public Attributes ClusterPrefab prefab  The prefab used to create this cluster.
  +int version + The version number of this cluster instance.
+  Cluster[] instances  All cluster instance of a multi-cluster.
  @@ -507,33 +510,6 @@ virtual Neuron 
Returns
True when the nucleus is found, false otherwise
-
- - -

◆ GetNucleus()

- -
-
- - - - - - - - -
Nucleus GetNucleus (string nucleusName)
-
- -

Get a nucleus in this cluster.

-
Parameters
- - -
nucleusNameThe name of the nucleus to find
-
-
-
Returns
The found nucleus or null when it is not found
-
@@ -561,6 +537,33 @@ virtual Neuron 
Returns
The found neuron or null when it is not found
+ + + +

◆ GetCluster()

+ +
+
+ + + + + + + + +
Cluster GetCluster (string clusterName)
+
+ +

Get a subcluster in this cluster.

+
Parameters
+ + +
clusterNameThe name of the cluster to find
+
+
+
Returns
The found cluster or null when it is not found
+
@@ -779,6 +782,23 @@ virtual Neuron The prefab used to create this cluster.

Cluster should always be created from prefabs

+ + + +

◆ version

+ +
+
+ + + + +
int version
+
+ +

The version number of this cluster instance.

+

This is used to detect changes in the prefab which require this Cluster instance to be updated

+
diff --git a/Documentation/html/class_nano_brain_1_1_memory_cell-members.html b/Documentation/html/class_nano_brain_1_1_memory_cell-members.html index eceba19..67c406d 100644 --- a/Documentation/html/class_nano_brain_1_1_memory_cell-members.html +++ b/Documentation/html/class_nano_brain_1_1_memory_cell-members.html @@ -102,19 +102,17 @@ $(function() { AddReceiver(Nucleus receiverToAdd, float weight=1)Neuronvirtual AddSynapse(Neuron sendingNucleus, float weight=1)Neuron biasNeuron - CloneFields(Neuron clone)Neuronprotectedvirtual - Combinator(float3 bias, List< Synapse > synapses)Neuronprotected - Combinator(Vector3 bias, List< Synapse > synapses)Neuronprotected - combinatorNeuron - CombinatorProduct(float3 bias, List< Synapse > synapses)Neuronstatic - CombinatorProduct(Vector3 bias, List< Synapse > synapses)Neuronstatic - CombinatorSum(float3 bias, List< Synapse > synapses)Neuronstatic - CombinatorSum(Vector3 bias, List< Synapse > synapses)Neuronstatic - CombinatorType enum nameNeuron - curveNeuron - curveMaxNeuron - Delete(Nucleus nucleus)Neuronstatic - GenerateCurve()Neuron + breakOnUpdateNeuron + CloneFields(Neuron clone)Neuronprotectedvirtual + Combinator(float3 bias, List< Synapse > synapses)Neuronprotected + Combinator(Vector3 bias, List< Synapse > synapses)Neuronprotected + combinatorNeuron + CombinatorProduct(float3 bias, List< Synapse > synapses)Neuronstatic + CombinatorProduct(Vector3 bias, List< Synapse > synapses)Neuronstatic + CombinatorSum(float3 bias, List< Synapse > synapses)Neuronstatic + CombinatorSum(Vector3 bias, List< Synapse > synapses)Neuronstatic + CombinatorType enum nameNeuron + Delete(Nucleus nucleus)Neuronstatic GetSynapse(Nucleus sender)Neuron isFiringNeuron isSleepingNeuron @@ -136,7 +134,7 @@ $(function() { ShallowCloneTo(Cluster parent)MemoryCell SleepCheck()Neuron synapsesNeuron - timeToSleepNeuron + timeToSleepNeuronstatic Type enum nameNucleus UpdateStateIsolated()MemoryCell WhenFiringNeuron diff --git a/Documentation/html/class_nano_brain_1_1_memory_cell.html b/Documentation/html/class_nano_brain_1_1_memory_cell.html index 4069a31..d894ff5 100644 --- a/Documentation/html/class_nano_brain_1_1_memory_cell.html +++ b/Documentation/html/class_nano_brain_1_1_memory_cell.html @@ -80,6 +80,7 @@ $(function() { Public Member Functions | Static Public Member Functions | Public Attributes | +Static Public Attributes | Protected Member Functions | Protected Attributes | Properties | @@ -154,9 +155,6 @@ Public Member Functions virtual void SetBias (Vector3 inputValue)  Set the bias, recalculate the output and update all Nuclei receiving from this Nucleus.
  -AnimationCurve GenerateCurve () - Generate the curve for the current activation function.
-  void SleepCheck ()  Check if the neuron is sleeping.
  @@ -201,14 +199,6 @@ Public Attributes ActivationType _activator  The activation function.
  - -AnimationCurve curve - The curve representing the activation function.
-  - -float curveMax = 1.0f - The maximum value of the curve.
-  Action WhenFiring  An action which is called every time the neuron is updated and is firing.
@@ -221,10 +211,9 @@ bool persistOutput = f float lastUpdate = 0  The time at which the last update has been done.
  - -readonly float timeToSleep = 1f - Time in seconds after the last update the neuron can go to sleep.
-  +bool breakOnUpdate = false + When true, Unity will pause exection when this neuron is updated.
+  string name  The name of the Nucleus.
@@ -234,6 +223,13 @@ string name  The cluster instance in which the nucleus is located.
  + + + + +

+Static Public Attributes

+static readonly float timeToSleep = 0.5f
 Time in seconds after the last update the neuron can go to sleep.
 
@@ -600,34 +596,6 @@ virtual List< Nucleus< - - - -

◆ GenerateCurve()

- -
-
-

Protected Member Functions

virtual void CloneFields (Neuron clone)
- - - - -
- - - - - - - -
AnimationCurve GenerateCurve ()
- 		-inherited
-
- -

Generate the curve for the current activation function.

-
Returns
The curve
-
@@ -1594,6 +1562,31 @@ virtual List< Nucleus<

The bias.

The bias which a value which is always added to the combined value of the neuron It does not have a synapse and therefore no weight of source nucleus

+ + + +

◆ breakOnUpdate

+ +
+
+ + + + + +
+ + + + +
bool breakOnUpdate = false
+ 		+inherited
+
+ +

When true, Unity will pause exection when this neuron is updated.

+

Pausing is implemented using Debug.Break()

+
diff --git a/Documentation/html/class_nano_brain_1_1_neuron-members.html b/Documentation/html/class_nano_brain_1_1_neuron-members.html index 701cbcb..2890ba2 100644 --- a/Documentation/html/class_nano_brain_1_1_neuron-members.html +++ b/Documentation/html/class_nano_brain_1_1_neuron-members.html @@ -102,19 +102,17 @@ $(function() { AddReceiver(Nucleus receiverToAdd, float weight=1)Neuronvirtual AddSynapse(Neuron sendingNucleus, float weight=1)Neuron biasNeuron - CloneFields(Neuron clone)Neuronprotectedvirtual - combinatorNeuron - Combinator(float3 bias, List< Synapse > synapses)Neuronprotected - Combinator(Vector3 bias, List< Synapse > synapses)Neuronprotected - CombinatorProduct(float3 bias, List< Synapse > synapses)Neuronstatic - CombinatorProduct(Vector3 bias, List< Synapse > synapses)Neuronstatic - CombinatorSum(float3 bias, List< Synapse > synapses)Neuronstatic - CombinatorSum(Vector3 bias, List< Synapse > synapses)Neuronstatic - CombinatorType enum nameNeuron - curveNeuron - curveMaxNeuron - Delete(Nucleus nucleus)Neuronstatic - GenerateCurve()Neuron + breakOnUpdateNeuron + CloneFields(Neuron clone)Neuronprotectedvirtual + combinatorNeuron + Combinator(float3 bias, List< Synapse > synapses)Neuronprotected + Combinator(Vector3 bias, List< Synapse > synapses)Neuronprotected + CombinatorProduct(float3 bias, List< Synapse > synapses)Neuronstatic + CombinatorProduct(Vector3 bias, List< Synapse > synapses)Neuronstatic + CombinatorSum(float3 bias, List< Synapse > synapses)Neuronstatic + CombinatorSum(Vector3 bias, List< Synapse > synapses)Neuronstatic + CombinatorType enum nameNeuron + Delete(Nucleus nucleus)Neuronstatic GetSynapse(Nucleus sender)Neuron isFiringNeuron isSleepingNeuron @@ -135,7 +133,7 @@ $(function() { ShallowCloneTo(Cluster parent)Neuron SleepCheck()Neuron synapsesNeuron - timeToSleepNeuron + timeToSleepNeuronstatic Type enum nameNucleus UpdateStateIsolated()Neuron WhenFiringNeuron diff --git a/Documentation/html/class_nano_brain_1_1_neuron.html b/Documentation/html/class_nano_brain_1_1_neuron.html index 6af007b..0f64588 100644 --- a/Documentation/html/class_nano_brain_1_1_neuron.html +++ b/Documentation/html/class_nano_brain_1_1_neuron.html @@ -76,11 +76,11 @@ $(function() {
-Classes | Public Types | Public Member Functions | Static Public Member Functions | Public Attributes | +Static Public Attributes | Protected Member Functions | Protected Attributes | Properties | @@ -92,8 +92,8 @@ $(function() {

A neuron is a basic Nucleus.

A neuron combines the weighted input from other neurons and applies an activation function to it to compute the output value:

Vector3 combination = NanoBrain::Neuron::Combinator(bias, synapses);
Vector3 output = NanoBrain::Neuron::Activator(combination);
-
NanoBrain.Neuron.Combinator
float3 Combinator(float3 bias, List< Synapse > synapses)
The combinator which combines the bias with the values from all synapses.
Definition Neuron.cs:463
-
NanoBrain.Neuron.Activator
float3 Activator(float3 inputValue)
Apply the activation function to the input.
Definition Neuron.cs:560
+
NanoBrain.Neuron.Combinator
float3 Combinator(float3 bias, List< Synapse > synapses)
The combinator which combines the bias with the values from all synapses.
Definition Neuron.cs:341
+
NanoBrain.Neuron.Activator
float3 Activator(float3 inputValue)
Apply the activation function to the input.
Definition Neuron.cs:441

The synapses are connections to other neurons. Each connection has a weight which is used to multiply the output of that other neuron before it is used by the combinator.

Inheritance diagram for Neuron:
@@ -106,12 +106,6 @@ Inheritance diagram for Neuron:
- - - - -

-Classes

class  Presets
 The curve presets for the activation functions. More...
 
- - - @@ -211,14 +202,6 @@ Public AttributesActivationType  - - - - - - @@ -231,10 +214,9 @@ bool  - - - + + + @@ -244,6 +226,13 @@ string 

Public Types

enum  CombinatorType { Sum @@ -158,9 +152,6 @@ Public Member Functions
virtual void SetBias (Vector3 inputValue)
 Set the bias, recalculate the output and update all Nuclei receiving from this Nucleus.
 
AnimationCurve GenerateCurve ()
 Generate the curve for the current activation function.
 
void SleepCheck ()
 Check if the neuron is sleeping.
 
_activator
 The activation function.
 
-AnimationCurve curve
 The curve representing the activation function.
 
-float curveMax = 1.0f
 The maximum value of the curve.
 
Action WhenFiring
 An action which is called every time the neuron is updated and is firing.
persistOutput = f float lastUpdate = 0
 The time at which the last update has been done.
 
-readonly float timeToSleep = 1f
 Time in seconds after the last update the neuron can go to sleep.
 
bool breakOnUpdate = false
 When true, Unity will pause exection when this neuron is updated.
 
string name
 The name of the Nucleus.
name
 The cluster instance in which the nucleus is located.
 
+ + + + +

+Static Public Attributes

+static readonly float timeToSleep = 0.5f
 Time in seconds after the last update the neuron can go to sleep.
 
@@ -532,26 +521,6 @@ virtual List< Nucleus< - - - -

◆ GenerateCurve()

- -
-
-

Protected Member Functions

virtual void CloneFields (Neuron clone)
- - - - - - -
AnimationCurve GenerateCurve ()
-
- -

Generate the curve for the current activation function.

-
Returns
The curve
-
@@ -1548,6 +1517,23 @@ virtual List< Nucleus<

The bias.

The bias which a value which is always added to the combined value of the neuron It does not have a synapse and therefore no weight of source nucleus

+ + + +

◆ breakOnUpdate

+ +
+
+ + + + +
bool breakOnUpdate = false
+
+ +

When true, Unity will pause exection when this neuron is updated.

+

Pausing is implemented using Debug.Break()

+
diff --git a/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_light_sensor-members.html b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_light_sensor-members.html new file mode 100644 index 0000000..3bda7a5 --- /dev/null +++ b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_light_sensor-members.html @@ -0,0 +1,99 @@ + + + + + + + +Nano Brain for Unity: Member List + + + + + + + + + + +
+
+ + + + + + + +
+
Nano Brain for Unity v0.1 +
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+
LightSensor Member List
+
+
+ +

This is the complete list of members for LightSensor, including all inherited members.

+ + + + + + + + + + +
Awake()Sensorprotectedvirtual
outputSensor
sampleIntervalSensor
SampleSensor()LightSensorprotectedvirtual
senseLayerSensor
sensitivityAngleLightSensor
sensorRangeSensor
sensoryNeuronSensor
useOcclusionLightSensor
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_light_sensor-members.html.meta b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_light_sensor-members.html.meta new file mode 100644 index 0000000..1ce48fc --- /dev/null +++ b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_light_sensor-members.html.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: a70307dcf2fb39216ba86ee875ec2474 +TextScriptImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_light_sensor.html b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_light_sensor.html new file mode 100644 index 0000000..f3b8e02 --- /dev/null +++ b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_light_sensor.html @@ -0,0 +1,204 @@ + + + + + + + +Nano Brain for Unity: LightSensor Class Reference + + + + + + + + + + +
+
+ + + + + + + +
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+Public Attributes | +Protected Member Functions | +Properties | +List of all members
+
LightSensor Class Reference
+
+
+

Description

+

A light sensor.

+
+Inheritance diagram for LightSensor:
+
+
+ + +Sensor + +
+ + + + + + + + + + + + + + + + + + + + +

+Public Attributes

+bool useOcclusion = true
 If true, perform occlusion checks with raycasts.
 
+float sensitivityAngle = 180f
 Angle in degrees for directional sensitivity; >= 180: omnidirectional.
 
+float sensorRange = 10f
 Maximum distance the sensor detects anything.
 
+float sampleInterval = 0.1f
 Time between samples in seconds.
 
LayerMask senseLayer
 Unity Layer for the light objects.
 
+Neuron sensoryNeuron
 The NanoBrain::Neuron which is stimulated by this sensor.
 
+ + + + + + + +

+Protected Member Functions

override float SampleSensor ()
 Performs a sampling function to retrieve a new sensor output value.
 
+virtual void Awake ()
 Unity calls Awake when loading an instance of a script component.
 
+ + + + +

+Properties

+float output [get, protected set]
 Output value of the sensor.
 
+

Member Function Documentation

+ +

◆ SampleSensor()

+ +
+
+ + + + + +
+ + + + + + + +
override float SampleSensor ()
+ 		+protectedvirtual
+
+ +

Performs a sampling function to retrieve a new sensor output value.

+
Returns
Sensor output value
+ +

Reimplemented from Sensor.

+ +
+
+

Member Data Documentation

+ +

◆ senseLayer

+ +
+
+ + + + + +
+ + + + +
LayerMask senseLayer
+ 		+inherited
+
+ +

Unity Layer for the light objects.

+

This is used to improve performance

+ +
+
+
+ +
+Generated by doxygen 1.9.8 +
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Motor Member List
+
+
+ +

This is the complete list of members for Motor, including all inherited members.

+ + + + + + + +
Awake()Motorprotectedvirtual
maxTorqueMotor
motorNeuronMotor
outputNeuronNameMotor
speedMotor
wheelColliderMotor
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_motor-members.html.meta b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_motor-members.html.meta new file mode 100644 index 0000000..e425577 --- /dev/null +++ b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_motor-members.html.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: 850377fe98d6e89989894d97e5e3f0a7 +TextScriptImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_motor.html b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_motor.html new file mode 100644 index 0000000..6083f7b --- /dev/null +++ b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_motor.html @@ -0,0 +1,163 @@ + + + + + + + +Nano Brain for Unity: Motor Class Reference + + + + + + + + + + +
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Motor Class Reference
+
+
+

Description

+

A powered wheel collider, controlled by a NanoBrain::Neuron.

+
+

Inherits MonoBehaviour.

+ + + + + + + + + + + + + + +

+Public Attributes

string outputNeuronName
 The name of the NanoBrain::Neuron to control this wheel.
 
+float maxTorque = 1
 The maximum torque used to drive the wheel collider.
 
WheelCollider wheelCollider
 The wheel collider used to drive the car.
 
+Neuron motorNeuron
 The NanoBrain::Neuron to control this wheel.
 
+ + + + +

+Protected Member Functions

+virtual void Awake ()
 Unity calls Awake when loading an instance of a script component.
 
+ + + + +

+Properties

+float speed [get, protected set]
 The speed of the motor in rotations per second.
 
+

Member Data Documentation

+ +

◆ outputNeuronName

+ +
+
+ + + + +
string outputNeuronName
+
+ +

The name of the NanoBrain::Neuron to control this wheel.

+

This is used to connect the motor to the right output neuron of the Vehicle::brain

+ +
+
+ +

◆ wheelCollider

+ +
+
+ + + + +
WheelCollider wheelCollider
+
+ +

The wheel collider used to drive the car.

+
See also
Unity WheelCollider
+ +
+
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_motor.html.meta b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_motor.html.meta new file mode 100644 index 0000000..ede8294 --- /dev/null +++ b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_motor.html.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: 7b43cac2e86f4a6ca92ad6b17e293981 +TextScriptImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_sensor-members.html b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_sensor-members.html new file mode 100644 index 0000000..02316a4 --- /dev/null +++ b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_sensor-members.html @@ -0,0 +1,97 @@ + + + + + + + +Nano Brain for Unity: Member List + + + + + + + + + + +
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Sensor Member List
+
+
+ +

This is the complete list of members for Sensor, including all inherited members.

+ + + + + + + + +
Awake()Sensorprotectedvirtual
outputSensor
sampleIntervalSensor
SampleSensor()Sensorprotectedvirtual
senseLayerSensor
sensorRangeSensor
sensoryNeuronSensor
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_sensor-members.html.meta b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_sensor-members.html.meta new file mode 100644 index 0000000..91aa3f0 --- /dev/null +++ b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_sensor-members.html.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: 404be041e96da404eaeca1d8907d59b2 +TextScriptImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_sensor.html b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_sensor.html new file mode 100644 index 0000000..ba8e5e3 --- /dev/null +++ b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_sensor.html @@ -0,0 +1,190 @@ + + + + + + + +Nano Brain for Unity: Sensor Class Reference + + + + + + + + + + +
+
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+
Sensor Class Reference
+
+
+

Description

+

A non-directional sensor.

+

The sensor has a field of view, but the signal returned does not include a direction

+
+Inheritance diagram for Sensor:
+
+
+ + +LightSensor +TouchSensor + +
+ + + + + + + + + + + + + + +

+Public Attributes

+float sensorRange = 10f
 Maximum distance the sensor detects anything.
 
+float sampleInterval = 0.1f
 Time between samples in seconds.
 
LayerMask senseLayer
 Unity Layer for the light objects.
 
+Neuron sensoryNeuron
 The NanoBrain::Neuron which is stimulated by this sensor.
 
+ + + + + + + +

+Protected Member Functions

+virtual void Awake ()
 Unity calls Awake when loading an instance of a script component.
 
virtual float SampleSensor ()
 Performs a sampling function to retrieve a new sensor output value.
 
+ + + + +

+Properties

+float output [get, protected set]
 Output value of the sensor.
 
+

Member Function Documentation

+ +

◆ SampleSensor()

+ +
+
+ + + + + +
+ + + + + + + +
virtual float SampleSensor ()
+ 		+protectedvirtual
+
+ +

Performs a sampling function to retrieve a new sensor output value.

+
Returns
Sensor output value
+ +

Reimplemented in LightSensor, and TouchSensor.

+ +
+
+

Member Data Documentation

+ +

◆ senseLayer

+ +
+
+ + + + +
LayerMask senseLayer
+
+ +

Unity Layer for the light objects.

+

This is used to improve performance

+ +
+
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_sensor.html.meta b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_sensor.html.meta new file mode 100644 index 0000000..0ca40d7 --- /dev/null +++ b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_sensor.html.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: be8ea5a481932bc5e95e087083758228 +TextScriptImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_sensor.png b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_sensor.png new file mode 100644 index 0000000000000000000000000000000000000000..8d0af325ff2db84739c06915663873f8f325773b GIT binary patch literal 650 zcmV;50(Jd~P)W7Dir#LVva2S`&=)l0h|NsB9NT2)w000SeQchC<|NsC0|NsC0Hv*f~0006N zNklrq@IQ(~N+B0lEkwgcATbmtbag zI4%xQ$HmQT3l|5dvnxKG4Q6I!K*~SBtNkb7|i^^I4dgRrwO};_~g{=^S5A zm3%*@Q^m}zhQB!h>bSU>ZQS%Mt+D-{db30Z+9fAiPvT_f9f!=ReZmDUa`g`dlesNKI={un97ibd(`C7F#jyw zn{GCUuLGn9xeeEoWJi3~T}U%Ylgb;`=Itl1#n%DKOMjAm@u$nurP`43hIrAtIZ223 zQib`E74tt*yg5m$_?q-*i4GL+N%G4YuZll6yeVEL=uJ|JXOCz(RkD4WZ|-udqz&J4 z9Hw!KQ>A=aG$eWP=InXjNK(O7ul(mHFG*coCB8lwNqURR#3ku3xVR+MaB)d_xVR+M k7{z0Z@pv-v7-Kx1f7NPTfy-kIV*mgE07*qoM6N<$f;Htc?EnA( literal 0 HcmV?d00001 diff --git a/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_sensor.png.meta b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_sensor.png.meta new file mode 100644 index 0000000..de60532 --- /dev/null +++ b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_sensor.png.meta @@ -0,0 +1,117 @@ +fileFormatVersion: 2 +guid: 62ae8af123a6f12dabfc5b2d3c3d4e21 +TextureImporter: + internalIDToNameTable: [] + externalObjects: {} + serializedVersion: 13 + mipmaps: + mipMapMode: 0 + enableMipMap: 1 + sRGBTexture: 1 + linearTexture: 0 + fadeOut: 0 + borderMipMap: 0 + mipMapsPreserveCoverage: 0 + alphaTestReferenceValue: 0.5 + mipMapFadeDistanceStart: 1 + mipMapFadeDistanceEnd: 3 + bumpmap: + convertToNormalMap: 0 + externalNormalMap: 0 + heightScale: 0.25 + normalMapFilter: 0 + flipGreenChannel: 0 + isReadable: 0 + streamingMipmaps: 0 + streamingMipmapsPriority: 0 + vTOnly: 0 + ignoreMipmapLimit: 0 + grayScaleToAlpha: 0 + generateCubemap: 6 + cubemapConvolution: 0 + seamlessCubemap: 0 + textureFormat: 1 + maxTextureSize: 2048 + textureSettings: + serializedVersion: 2 + filterMode: 1 + aniso: 1 + mipBias: 0 + wrapU: 0 + wrapV: 0 + wrapW: 0 + nPOTScale: 1 + lightmap: 0 + compressionQuality: 50 + spriteMode: 0 + spriteExtrude: 1 + spriteMeshType: 1 + alignment: 0 + spritePivot: {x: 0.5, y: 0.5} + spritePixelsToUnits: 100 + spriteBorder: {x: 0, y: 0, z: 0, w: 0} + spriteGenerateFallbackPhysicsShape: 1 + alphaUsage: 1 + alphaIsTransparency: 0 + spriteTessellationDetail: -1 + textureType: 0 + textureShape: 1 + singleChannelComponent: 0 + flipbookRows: 1 + flipbookColumns: 1 + maxTextureSizeSet: 0 + compressionQualitySet: 0 + textureFormatSet: 0 + ignorePngGamma: 0 + applyGammaDecoding: 0 + swizzle: 50462976 + cookieLightType: 0 + platformSettings: + - serializedVersion: 4 + buildTarget: DefaultTexturePlatform + maxTextureSize: 2048 + resizeAlgorithm: 0 + textureFormat: -1 + textureCompression: 1 + compressionQuality: 50 + crunchedCompression: 0 + allowsAlphaSplitting: 0 + overridden: 0 + ignorePlatformSupport: 0 + androidETC2FallbackOverride: 0 + forceMaximumCompressionQuality_BC6H_BC7: 0 + - serializedVersion: 4 + buildTarget: Standalone + maxTextureSize: 2048 + resizeAlgorithm: 0 + textureFormat: -1 + textureCompression: 1 + compressionQuality: 50 + crunchedCompression: 0 + allowsAlphaSplitting: 0 + overridden: 0 + ignorePlatformSupport: 0 + androidETC2FallbackOverride: 0 + forceMaximumCompressionQuality_BC6H_BC7: 0 + spriteSheet: + serializedVersion: 2 + sprites: [] + outline: [] + customData: + physicsShape: [] + bones: [] + spriteID: + internalID: 0 + vertices: [] + indices: + edges: [] + weights: [] + secondaryTextures: [] + spriteCustomMetadata: + entries: [] + nameFileIdTable: {} + mipmapLimitGroupName: + pSDRemoveMatte: 0 + userData: + assetBundleName: + assetBundleVariant: diff --git a/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_touch_sensor-members.html b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_touch_sensor-members.html new file mode 100644 index 0000000..4f7b7a6 --- /dev/null +++ b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_touch_sensor-members.html @@ -0,0 +1,98 @@ + + + + + + + +Nano Brain for Unity: Member List + + + + + + + + + + +
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TouchSensor Member List
+
+
+ +

This is the complete list of members for TouchSensor, including all inherited members.

+ + + + + + + + + +
Awake()Sensorprotectedvirtual
outputSensor
sampleIntervalSensor
SampleSensor()TouchSensorprotectedvirtual
senseLayerSensor
sensorRangeSensor
sensoryNeuronSensor
touchingTouchSensor
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_touch_sensor.html b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_touch_sensor.html new file mode 100644 index 0000000..533e916 --- /dev/null +++ b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_touch_sensor.html @@ -0,0 +1,200 @@ + + + + + + + +Nano Brain for Unity: TouchSensor Class Reference + + + + + + + + + + +
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TouchSensor Class Reference
+
+
+

Description

+

A sensor which can detect contacts with static GameObjects or Rigidbodies.

+
+Inheritance diagram for TouchSensor:
+
+
+ + +Sensor + +
+ + + + + + + + + + + + + + +

+Public Attributes

+float sensorRange = 10f
 Maximum distance the sensor detects anything.
 
+float sampleInterval = 0.1f
 Time between samples in seconds.
 
LayerMask senseLayer
 Unity Layer for the light objects.
 
+Neuron sensoryNeuron
 The NanoBrain::Neuron which is stimulated by this sensor.
 
+ + + + + + + +

+Protected Member Functions

override float SampleSensor ()
 Returns the current touching state.
 
+virtual void Awake ()
 Unity calls Awake when loading an instance of a script component.
 
+ + + + + + + +

+Properties

+bool touching [get, protected set]
 Is the sensor touching something?
 
+float output [get, protected set]
 Output value of the sensor.
 
+

Member Function Documentation

+ +

◆ SampleSensor()

+ +
+
+ + + + + +
+ + + + + + + +
override float SampleSensor ()
+ 		+protectedvirtual
+
+ +

Returns the current touching state.

+
Returns
1.0 when touching something, 0.0 otherwise
+ +

Reimplemented from Sensor.

+ +
+
+

Member Data Documentation

+ +

◆ senseLayer

+ +
+
+ + + + + +
+ + + + +
LayerMask senseLayer
+ 		+inherited
+
+ +

Unity Layer for the light objects.

+

This is used to improve performance

+ +
+
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_touch_sensor.png b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_touch_sensor.png new file mode 100644 index 0000000000000000000000000000000000000000..9143ac78f2a63b2f1964a03d0b9cfe02363789d8 GIT binary patch literal 420 zcmV;V0bBlwP)W7Dir#LVva2S`&=)l0h|NsB9NT2)w000SeQchC<|NsC0|NsC0Hv*f~0003m zNkl;!8ZIxN-0ec5;ODd3htkA zY5g%XpHiQjnWw=YxavC(i~IW2ZF?IZeuu_i^*yq!sC%Bnys1%(a(f+orVsUyjpjo; zi&wZcZyNi;*iD$3cQwX!-9>Jz-&zkgRjnSFnfDa;LvSC?O(~`O1puR30APY9ahGKd zcoKKTP65y2KCT{u8(aXd7Tn+l7XZA18{B`xB_f(2kci0b3hwW4HH#u5Th;0Q3K0<} zg**h8M+s?mIC zXYmTRF4&&pCtPD`hwHilZp&*)?4~+Q?tQ9SJ;ePGToDnk2Xcvs?$;MoPe_9*Tw3@5 O0000 + + + + + + +Nano Brain for Unity: Member List + + + + + + + + + + +
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Vehicle Member List
+
+
+ +

This is the complete list of members for Vehicle, including all inherited members.

+ + + + + + +
brainVehicle
motorLeftVehicle
motorRightVehicle
sensorLeftVehicle
sensorRightVehicle
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_vehicle-members.html.meta b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_vehicle-members.html.meta new file mode 100644 index 0000000..ef75f23 --- /dev/null +++ b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_vehicle-members.html.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: 3dc9df1f01744523aa1383337875c299 +TextScriptImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_vehicle.html b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_vehicle.html new file mode 100644 index 0000000..5a40c74 --- /dev/null +++ b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_vehicle.html @@ -0,0 +1,151 @@ + + + + + + + +Nano Brain for Unity: Vehicle Class Reference + + + + + + + + + + +
+
+ + + + + + + +
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+
Vehicle Class Reference
+
+
+

Description

+

A Braitenberg style vehicle with two sensors and two motors, powered by a Nanobrain.

+
+

Inherits MonoBehaviour.

+ + + + + + + + + + + + + + + + + +

+Public Attributes

+Cluster brain
 The NanoBrain::Cluster controlling the vehicle.
 
+Motor motorLeft
 The left motor.
 
+Motor motorRight
 The right motor.
 
Sensor sensorLeft
 The front-left sensor.
 
Sensor sensorRight
 The front-right sensor.
 
+

Member Data Documentation

+ +

◆ sensorLeft

+ +
+
+ + + + +
Sensor sensorLeft
+
+ +

The front-left sensor.

+

When the vehicle has only one sensor, this can be used as the single sensor

+ +
+
+ +

◆ sensorRight

+ +
+
+ + + + +
Sensor sensorRight
+
+ +

The front-right sensor.

+

When the vehicle has only one sensor, this can be set to null

+ +
+
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_vehicle.html.meta b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_vehicle.html.meta new file mode 100644 index 0000000..f31fe2f --- /dev/null +++ b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_vehicle.html.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: 57b5a248720e6d416b03796ec83dcfd1 +TextScriptImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Documentation/html/class_nano_brain_1_1_unity_1_1_cluster_prefab-members.html b/Documentation/html/class_nano_brain_1_1_unity_1_1_cluster_prefab-members.html index 9766221..1aeb596 100644 --- a/Documentation/html/class_nano_brain_1_1_unity_1_1_cluster_prefab-members.html +++ b/Documentation/html/class_nano_brain_1_1_unity_1_1_cluster_prefab-members.html @@ -82,8 +82,7 @@ $(function() {

This is the complete list of members for ClusterPrefab, including all inherited members.

- - +
clusterClusterPrefab
EnsureInitialization()ClusterPrefab
GetNucleus(string nucleusName)ClusterPrefab
versionClusterPrefab
diff --git a/Documentation/html/class_nano_brain_1_1_unity_1_1_cluster_prefab.html b/Documentation/html/class_nano_brain_1_1_unity_1_1_cluster_prefab.html index f67c77c..055d51d 100644 --- a/Documentation/html/class_nano_brain_1_1_unity_1_1_cluster_prefab.html +++ b/Documentation/html/class_nano_brain_1_1_unity_1_1_cluster_prefab.html @@ -76,7 +76,6 @@ $(function() {
-Public Member Functions | Public Attributes | List of all members
ClusterPrefab Class Reference
@@ -87,67 +86,31 @@ $(function() {

Inherits ScriptableObject.

- - - - - - - -

-Public Member Functions

Nucleus GetNucleus (string nucleusName)
 Retrieve a nucleus in this cluster.
 
void EnsureInitialization ()
 Call this function to ensure that there is at least one nucleus.
 
+ + +

Public Attributes

Cluster cluster
 The cluster data.
 
int version
 The version number of this Prefab.
 
-

Member Function Documentation

- -

◆ GetNucleus()

+

Member Data Documentation

+ +

◆ version

- - - - - +
Nucleus GetNucleus (string nucleusName)int version
-

Retrieve a nucleus in this cluster.

-
Parameters
- - -
nucleusNameThe name of the nucleus
-
-
-
Returns
The Nucleus with the given name or null if no such Nucleus could be found
- -
-
- -

◆ EnsureInitialization()

- -
-
- - - - - - - -
void EnsureInitialization ()
-
- -

Call this function to ensure that there is at least one nucleus.

-

his is an invariant and should be ensured before the nucleus is used because output requires it.

+

The version number of this Prefab.

+

This is used to detect changes in the prefab which require Cluster instances to be updated

diff --git a/Documentation/html/classes.html b/Documentation/html/classes.html index ec764af..7c4f175 100644 --- a/Documentation/html/classes.html +++ b/Documentation/html/classes.html @@ -74,26 +74,29 @@ $(function() {
Class Index
-
B | C | M | N | P | S
+
C | L | M | N | S | T | V
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B
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Brain (NanoBrain.Unity)
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Cluster (NanoBrain)
ClusterPrefab (NanoBrain.Unity)
+
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LightSensor (NanoBrain.Unity.Braitenberg)
M
-
MemoryCell (NanoBrain)
+
MemoryCell (NanoBrain)
Motor (NanoBrain.Unity.Braitenberg)
N
Neuron (NanoBrain)
Nucleus (NanoBrain)
-
P
-
Neuron.Presets (NanoBrain)
-
S
-
Synapse (NanoBrain)
+
Sensor (NanoBrain.Unity.Braitenberg)
Synapse (NanoBrain)
+
+
T
+
TouchSensor (NanoBrain.Unity.Braitenberg)
+
+
V
+
Vehicle (NanoBrain.Unity.Braitenberg)
diff --git a/Documentation/html/dir_4f6666a8f2ab10bc970eb7559668f031.html b/Documentation/html/dir_4f6666a8f2ab10bc970eb7559668f031.html index e52a92d..62bfda7 100644 --- a/Documentation/html/dir_4f6666a8f2ab10bc970eb7559668f031.html +++ b/Documentation/html/dir_4f6666a8f2ab10bc970eb7559668f031.html @@ -78,12 +78,6 @@ $(function() {
Runtime Directory Reference
- - - - -

-Directories

 Scripts
 
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+
+ + + + + + + +
+
Nano Brain for Unity v0.1 +
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+Directories

 Scripts
 
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/Documentation/html/dir_6902d065a4bcc42dfdaacd21d5856271.html.meta b/Documentation/html/dir_6902d065a4bcc42dfdaacd21d5856271.html.meta new file mode 100644 index 0000000..c3e740c --- /dev/null +++ b/Documentation/html/dir_6902d065a4bcc42dfdaacd21d5856271.html.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: 362f54a43ef422362a0929f18522cdb2 +TextScriptImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Documentation/html/dir_808dff6625150393f03ff62cbe95dc03.html b/Documentation/html/dir_808dff6625150393f03ff62cbe95dc03.html new file mode 100644 index 0000000..241250d --- /dev/null +++ b/Documentation/html/dir_808dff6625150393f03ff62cbe95dc03.html @@ -0,0 +1,87 @@ + + + + + + + +Nano Brain for Unity: Scripts Directory Reference + + + + + + + + + + +
+
+ + + + + + + +
+
Nano Brain for Unity v0.1 +
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+Generated by doxygen 1.9.8 +
+ + diff --git a/Documentation/html/dir_808dff6625150393f03ff62cbe95dc03.html.meta b/Documentation/html/dir_808dff6625150393f03ff62cbe95dc03.html.meta new file mode 100644 index 0000000..99a0537 --- /dev/null +++ b/Documentation/html/dir_808dff6625150393f03ff62cbe95dc03.html.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: aab1f6e43d8134f39988fd4b832bbde7 +TextScriptImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Documentation/html/functions.html b/Documentation/html/functions.html index 748da03..a9f61e5 100644 --- a/Documentation/html/functions.html +++ b/Documentation/html/functions.html @@ -82,27 +82,27 @@ $(function() {

- a -

- b -

@@ -112,14 +112,12 @@ $(function() {
  • cluster : ClusterPrefab
  • CollectReceivers() : Cluster
  • CollectSynapsesTo() : Cluster
    • +
  • Combinator() : Neuron
  • combinator : Neuron
    • -
  • Combinator() : Neuron
  • CombinatorProduct() : Neuron
  • CombinatorSum() : Neuron
  • CombinatorType : Neuron
  • computeOrders : Cluster
    • -
  • curve : Neuron
    • -
  • curveMax : Neuron
    • @@ -130,15 +128,9 @@ $(function() { -

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    @@ -140,13 +125,11 @@ $(function() {

    - p -

    - r -

      -
    • Reciprocal() : Neuron.Presets
    • Refresh() : Cluster
    • RefreshComputeOrders() : Cluster
    • RefreshOutputs() : Cluster
      • @@ -157,6 +140,7 @@ $(function() {

      - s -

        +
      • SampleSensor() : LightSensor, Sensor, TouchSensor
      • SetBias() : Neuron
      • ShallowCloneTo() : Cluster, MemoryCell, Neuron, Nucleus
      • SleepCheck() : Neuron
        • @@ -165,7 +149,6 @@ $(function() {

        - t -

        @@ -173,7 +156,6 @@ $(function() {

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        diff --git a/Documentation/html/functions_prop.html b/Documentation/html/functions_prop.html index 026e66a..e061a9b 100644 --- a/Documentation/html/functions_prop.html +++ b/Documentation/html/functions_prop.html @@ -74,17 +74,19 @@ $(function() {
        Here is a list of all documented properties with links to the class documentation for each member:
        diff --git a/Documentation/html/functions_vars.html b/Documentation/html/functions_vars.html index 937d789..b744cb9 100644 --- a/Documentation/html/functions_vars.html +++ b/Documentation/html/functions_vars.html @@ -71,28 +71,96 @@ $(function() {
        -
        Here is a list of all documented variables with links to the class documentation for each member:
        diff --git a/Documentation/html/hierarchy.html b/Documentation/html/hierarchy.html index 67d1b12..95d8798 100644 --- a/Documentation/html/hierarchy.html +++ b/Documentation/html/hierarchy.html @@ -76,14 +76,17 @@ $(function() {
        This inheritance list is sorted roughly, but not completely, alphabetically:
        [detail level 123]
        - - + + - + + + +
         CBrainA NanoBrain which can be used to control a gameobject
         CClusterPrefabThe Unity ScriptableObject to implement re-usable Cluster Prefabs
         CClusterPrefabThe Unity ScriptableObject to implement re-usable Cluster Prefabs
         CMotorA powered wheel collider, controlled by a NanoBrain::Neuron
         ▼CNucleusA Nucleus is a basic element in a brain cluster
         CClusterA Cluster combines a collection of Nuclei to implement reusable behaviour
         ▼CNeuronA neuron is a basic Nucleus
         CMemoryCellA MemoryCell stored its value for one update
         CNeuron.PresetsThe curve presets for the activation functions
         ▼CSensorA non-directional sensor
         CLightSensorA light sensor
         CTouchSensorA sensor which can detect contacts with static GameObjects or Rigidbodies
         CSynapseA Synapse connects the ouput of a Neuron to another Neuron
         CVehicleA Braitenberg style vehicle with two sensors and two motors, powered by a Nanobrain
        diff --git a/Documentation/html/menudata.js b/Documentation/html/menudata.js index c5cbc31..4344454 100644 --- a/Documentation/html/menudata.js +++ b/Documentation/html/menudata.js @@ -36,7 +36,6 @@ var menudata={children:[ {text:"b",url:"functions.html#index_b"}, {text:"c",url:"functions.html#index_c"}, {text:"d",url:"functions.html#index_d"}, -{text:"e",url:"functions.html#index_e"}, {text:"g",url:"functions.html#index_g"}, {text:"i",url:"functions.html#index_i"}, {text:"l",url:"functions.html#index_l"}, @@ -48,15 +47,13 @@ var menudata={children:[ {text:"s",url:"functions.html#index_s"}, {text:"t",url:"functions.html#index_t"}, {text:"u",url:"functions.html#index_u"}, +{text:"v",url:"functions.html#index_v"}, {text:"w",url:"functions.html#index_w"}]}, {text:"Functions",url:"functions_func.html",children:[ {text:"a",url:"functions_func.html#index_a"}, -{text:"b",url:"functions_func.html#index_b"}, {text:"c",url:"functions_func.html#index_c"}, {text:"d",url:"functions_func.html#index_d"}, -{text:"e",url:"functions_func.html#index_e"}, {text:"g",url:"functions_func.html#index_g"}, -{text:"l",url:"functions_func.html#index_l"}, {text:"m",url:"functions_func.html#index_m"}, {text:"n",url:"functions_func.html#index_n"}, {text:"p",url:"functions_func.html#index_p"}, @@ -64,6 +61,20 @@ var menudata={children:[ {text:"s",url:"functions_func.html#index_s"}, {text:"t",url:"functions_func.html#index_t"}, {text:"u",url:"functions_func.html#index_u"}]}, -{text:"Variables",url:"functions_vars.html"}, +{text:"Variables",url:"functions_vars.html",children:[ +{text:"_",url:"functions_vars.html#index__5F"}, +{text:"b",url:"functions_vars.html#index_b"}, +{text:"c",url:"functions_vars.html#index_c"}, +{text:"i",url:"functions_vars.html#index_i"}, +{text:"l",url:"functions_vars.html#index_l"}, +{text:"m",url:"functions_vars.html#index_m"}, +{text:"n",url:"functions_vars.html#index_n"}, +{text:"o",url:"functions_vars.html#index_o"}, +{text:"p",url:"functions_vars.html#index_p"}, +{text:"s",url:"functions_vars.html#index_s"}, +{text:"t",url:"functions_vars.html#index_t"}, +{text:"u",url:"functions_vars.html#index_u"}, +{text:"v",url:"functions_vars.html#index_v"}, +{text:"w",url:"functions_vars.html#index_w"}]}, {text:"Enumerations",url:"functions_enum.html"}, {text:"Properties",url:"functions_prop.html"}]}]}]} diff --git a/Documentation/html/namespace_nano_brain_1_1_braitenberg.html b/Documentation/html/namespace_nano_brain_1_1_braitenberg.html new file mode 100644 index 0000000..e12fa80 --- /dev/null +++ b/Documentation/html/namespace_nano_brain_1_1_braitenberg.html @@ -0,0 +1,99 @@ + + + + + + + +Nano Brain for Unity: NanoBrain.Braitenberg Namespace Reference + + + + + + + + + + +
        +
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        + + +
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        +Classes
        +
        NanoBrain.Braitenberg Namespace Reference
        +
        +
        + + + + + + + + +

        +Classes

        class  LightSensor
         A light sensor. More...
         
        class  Sensor
         A non-directional sensor. More...
         
        +
        + +
        +Generated by doxygen 1.9.8 +
        + + diff --git a/Documentation/html/namespace_nano_brain_1_1_braitenberg.html.meta b/Documentation/html/namespace_nano_brain_1_1_braitenberg.html.meta new file mode 100644 index 0000000..910a37c --- /dev/null +++ b/Documentation/html/namespace_nano_brain_1_1_braitenberg.html.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: 2044f584a584dff6cba9a272356a3c48 +TextScriptImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Documentation/html/namespace_nano_brain_1_1_unity.html b/Documentation/html/namespace_nano_brain_1_1_unity.html index ae3f30e..5badffe 100644 --- a/Documentation/html/namespace_nano_brain_1_1_unity.html +++ b/Documentation/html/namespace_nano_brain_1_1_unity.html @@ -83,9 +83,6 @@ $(function() { - - - diff --git a/Documentation/html/namespace_nano_brain_1_1_unity_1_1_braitenberg.html b/Documentation/html/namespace_nano_brain_1_1_unity_1_1_braitenberg.html new file mode 100644 index 0000000..6ff9e65 --- /dev/null +++ b/Documentation/html/namespace_nano_brain_1_1_unity_1_1_braitenberg.html @@ -0,0 +1,108 @@ + + + + + + + +Nano Brain for Unity: NanoBrain.Unity.Braitenberg Namespace Reference + + + + + + + + + + +
        +
        +

        Classes

        class  Brain
         A NanoBrain which can be used to control a gameobject. More...
         
        class  ClusterPrefab
         The Unity ScriptableObject to implement re-usable Cluster Prefabs. More...
         
        + + + + + + +
        +
        Nano Brain for Unity v0.1 +
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        class  LightSensor
         A light sensor. More...
         
        class  Motor
         A powered wheel collider, controlled by a NanoBrain::Neuron. More...
         
        class  Sensor
         A non-directional sensor. More...
         
        class  TouchSensor
         A sensor which can detect contacts with static GameObjects or Rigidbodies. More...
         
        class  Vehicle
         A Braitenberg style vehicle with two sensors and two motors, powered by a Nanobrain. More...
         
        +
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> {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABN" }{}}{\fldrslt {\cs37\ul\cf2 _outputs}}} + > {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABO" }{}}{\fldrslt {\cs37\ul\cf2 _outputs}}} = null\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -843,8 +771,8 @@ Properties\par { \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -string {\b baseName}{\f2 [get]}{\bkmkstart AAAAAAAABO} -{\bkmkend AAAAAAAABO} +string {\b baseName}{\f2 [get]}{\bkmkstart AAAAAAAABP} +{\bkmkend AAAAAAAABP} \par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -855,8 +783,8 @@ The base name of the cluster. I don't think this is actively used at this moment Dictionary< {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAI" }{}}{\fldrslt {\cs37\ul\cf2 Nucleus}}} , List< {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAI" }{}}{\fldrslt {\cs37\ul\cf2 Nucleus}}} - > > {\b computeOrders}{\f2 [get]}{\bkmkstart AAAAAAAABP} -{\bkmkend AAAAAAAABP} + > > {\b computeOrders}{\f2 [get]}{\bkmkstart AAAAAAAABQ} +{\bkmkend AAAAAAAABQ} \par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -866,8 +794,8 @@ This gives the order in which nuclei should be computed when a nucleus is update \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid virtual {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAH" }{}}{\fldrslt {\cs37\ul\cf2 Neuron}}} - {\b defaultOutput}{\f2 [get]}{\bkmkstart AAAAAAAABQ} -{\bkmkend AAAAAAAABQ} + {\b defaultOutput}{\f2 [get]}{\bkmkstart AAAAAAAABR} +{\bkmkend AAAAAAAABR} \par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -876,7 +804,7 @@ The first nucleus in a cluster is the default output. }{ }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid List< {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAH" }{}}{\fldrslt {\cs37\ul\cf2 Neuron}}} - > {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABR" }{}}{\fldrslt {\cs37\ul\cf2 outputs}}} + > {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABS" }{}}{\fldrslt {\cs37\ul\cf2 outputs}}} {\f2 [get]}\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -1147,36 +1075,6 @@ Parameters\par} Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 True when the nucleus is found, false otherwise\par }}}} -{\xe \v GetNucleus\:Cluster} -{\xe \v Cluster\:GetNucleus} -\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { -{\b -{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAI" }{}}{\fldrslt {\cs37\ul\cf2 Nucleus}}} - GetNucleus (string {\i nucleusName})}} -\par -{\bkmkstart AAAAAAAAAX} -{\bkmkend AAAAAAAAAX} -{ -\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid -\par -{ -{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -Get a nucleus in this cluster. }}\par -{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -{\par -{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid -Parameters\par} -\pard\plain \s81\li360\widctlpar\ql\adjustright \fs20\cgrid \trowd \trgaph108\trleft426\tblind426\trbrdrt\brdrs\brdrw10\brdrcf15 \trbrdrl\brdrs\brdrw10\brdrcf15 \trbrdrb\brdrs\brdrw10\brdrcf15 \trbrdrr\brdrs\brdrw10\brdrcf15 \trbrdrh\brdrs\brdrw10\brdrcf15 \trbrdrv\brdrs\brdrw10\brdrcf15 -\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx2187 -\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx8748 -\pard \widctlpar\intbl\adjustright -{{\i nucleusName} \cell }{The name of the nucleus to find\cell } -{\row } -} -{{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid -Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 -The found nucleus or null when it is not found\par -}}}} {\xe \v GetNeuron\:Cluster} {\xe \v Cluster\:GetNeuron} \pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { @@ -1184,8 +1082,8 @@ The found nucleus or null when it is not found\par {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAH" }{}}{\fldrslt {\cs37\ul\cf2 Neuron}}} GetNeuron (string {\i neuronName})}} \par -{\bkmkstart AAAAAAAAAY} -{\bkmkend AAAAAAAAAY} +{\bkmkstart AAAAAAAAAX} +{\bkmkend AAAAAAAAAX} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -1207,6 +1105,36 @@ Parameters\par} Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 The found neuron or null when it is not found\par }}}} +{\xe \v GetCluster\:Cluster} +{\xe \v Cluster\:GetCluster} +\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { +{\b +{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAF" }{}}{\fldrslt {\cs37\ul\cf2 Cluster}}} + GetCluster (string {\i clusterName})}} +\par +{\bkmkstart AAAAAAAAAY} +{\bkmkend AAAAAAAAAY} +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid +\par +{ +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Get a subcluster in this cluster. }}\par +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +{\par +{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid +Parameters\par} +\pard\plain \s81\li360\widctlpar\ql\adjustright \fs20\cgrid \trowd \trgaph108\trleft426\tblind426\trbrdrt\brdrs\brdrw10\brdrcf15 \trbrdrl\brdrs\brdrw10\brdrcf15 \trbrdrb\brdrs\brdrw10\brdrcf15 \trbrdrr\brdrs\brdrw10\brdrcf15 \trbrdrh\brdrs\brdrw10\brdrcf15 \trbrdrv\brdrs\brdrw10\brdrcf15 +\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx2187 +\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx8748 +\pard \widctlpar\intbl\adjustright +{{\i clusterName} \cell }{The name of the cluster to find\cell } +{\row } +} +{{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid +Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 +The found cluster or null when it is not found\par +}}}} {\xe \v GetNeuron\:Cluster} {\xe \v Cluster\:GetNeuron} \pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { @@ -1424,6 +1352,23 @@ The prefab used to create this cluster. }}\par {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid Cluster should always be created from prefabs \par }} +{\xe \v version\:Cluster} +{\xe \v Cluster\:version} +\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { +{\b +int version}} +\par +{\bkmkstart AAAAAAAABJ} +{\bkmkend AAAAAAAABJ} +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid +\par +{ +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +The version number of this cluster instance. }}\par +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +This is used to detect changes in the prefab which require this Cluster instance to be updated \par +}} {\xe \v instances\:Cluster} {\xe \v Cluster\:instances} \pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { @@ -1431,8 +1376,8 @@ Cluster should always be created from prefabs \par {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAF" }{}}{\fldrslt {\cs37\ul\cf2 Cluster}}} [] instances}} \par -{\bkmkstart AAAAAAAABJ} -{\bkmkend AAAAAAAABJ} +{\bkmkstart AAAAAAAABK} +{\bkmkend AAAAAAAABK} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -1448,8 +1393,8 @@ A cluster is a multi-cluster when there is more than one instance. The actual in {\b int instanceCount = 1}} \par -{\bkmkstart AAAAAAAABK} -{\bkmkend AAAAAAAABK} +{\bkmkstart AAAAAAAABL} +{\bkmkend AAAAAAAABL} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -1466,8 +1411,8 @@ A cluster is a multi-clsuter when there is more than one instance. \par Dictionary thingClusters = new()}} \par -{\bkmkstart AAAAAAAABL} -{\bkmkend AAAAAAAABL} +{\bkmkstart AAAAAAAABM} +{\bkmkend AAAAAAAABM} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -1484,8 +1429,8 @@ In a multi-cluster each instance can be used for a thing. Cluster instance may a List<{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAH" }{}}{\fldrslt {\cs37\ul\cf2 Neuron}}} > _outputs = null{\f2 [protected]}}} \par -{\bkmkstart AAAAAAAABN} -{\bkmkend AAAAAAAABN} +{\bkmkstart AAAAAAAABO} +{\bkmkend AAAAAAAABO} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -1506,8 +1451,8 @@ Property Documentation\par List<{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAH" }{}}{\fldrslt {\cs37\ul\cf2 Neuron}}} > outputs{\f2 [get]}}} \par -{\bkmkstart AAAAAAAABR} -{\bkmkend AAAAAAAABR} +{\bkmkstart AAAAAAAABS} +{\bkmkend AAAAAAAABS} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -1539,28 +1484,73 @@ The Unity ScriptableObject to implement re-usable Cluster Prefabs. \par { Inherits ScriptableObject.}\par \pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid -Public Member Functions\par +Public Attributes\par \pard\plain { \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAI" }{}}{\fldrslt {\cs37\ul\cf2 Nucleus}}} - {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAER" }{}}{\fldrslt {\cs37\ul\cf2 GetNucleus}}} - (string nucleusName)\par + +{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAF" }{}}{\fldrslt {\cs37\ul\cf2 Cluster}}} + {\b cluster}{\bkmkstart AAAAAAAAEF} +{\bkmkend AAAAAAAAEF} +\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -Retrieve a nucleus in this cluster. }{ +The cluster data. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -void {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAES" }{}}{\fldrslt {\cs37\ul\cf2 EnsureInitialization}}} - ()\par +int {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAEG" }{}}{\fldrslt {\cs37\ul\cf2 version}}} +\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -Call this function to ensure that there is at least one nucleus. }{ +The version number of this Prefab. }{ }\par }\par} } +{\pard\widctlpar\brdrb\brdrs\brdrw5\brsp20 \adjustright \par} +\pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid +Member Data Documentation\par +\pard\plain +{\xe \v version\:ClusterPrefab} +{\xe \v ClusterPrefab\:version} +\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { +{\b +int version}} +\par +{\bkmkstart AAAAAAAAEG} +{\bkmkend AAAAAAAAEG} +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid +\par +{ +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +The version number of this Prefab. }}\par +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +This is used to detect changes in the prefab which require Cluster instances to be updated \par +}} +\par \pard\plain + +\pard\plain \sect\sbkpage +\s2\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs28\kerning28\cgrid +\pard\plain \s2\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs28\kerning28\cgrid +LightSensor Class Reference\par \pard\plain +{\tc\tcl2 \v LightSensor} +{\xe \v LightSensor} +{\bkmkstart AAAAAAAAEI} +{\bkmkend AAAAAAAAEI} +{\pard\widctlpar\brdrb\brdrs\brdrw5\brsp20 \adjustright \par} +\pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid +Description\par +\pard\plain +{ +\pard\plain \s17\sa60\sb30\widctlpar\qj \fs22\cgrid {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +A light sensor. \par +}} +Inheritance diagram for LightSensor:{ +\pard\plain +\par\pard \qc {\field\flddirty {\*\fldinst INCLUDEPICTURE "class_nano_brain_1_1_unity_1_1_braitenberg_1_1_light_sensor.png" \\d \\*MERGEFORMAT}{\fldrslt IMAGE}}\par +} \pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid Public Attributes\par \pard\plain @@ -1568,13 +1558,101 @@ Public Attributes\par { \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAF" }{}}{\fldrslt {\cs37\ul\cf2 Cluster}}} - {\b cluster}{\bkmkstart AAAAAAAAET} -{\bkmkend AAAAAAAAET} +bool {\b useOcclusion} = true{\bkmkstart AAAAAAAAEN} +{\bkmkend AAAAAAAAEN} \par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -The cluster data. }{ +If true, perform occlusion checks with raycasts. }{ +}\par +}\par} +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid + +float {\b sensitivityAngle} = 180f{\bkmkstart AAAAAAAAEO} +{\bkmkend AAAAAAAAEO} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Angle in degrees for directional sensitivity; >= 180: omnidirectional. }{ +}\par +}\par} +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid + +float {\b sensorRange} = 10f{\bkmkstart AAAAAAAAEP} +{\bkmkend AAAAAAAAEP} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Maximum distance the sensor detects anything. }{ +}\par +}\par} +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid + +float {\b sampleInterval} = 0.1f{\bkmkstart AAAAAAAAEQ} +{\bkmkend AAAAAAAAEQ} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Time between samples in seconds. }{ +}\par +}\par} +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid +LayerMask {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAER" }{}}{\fldrslt {\cs37\ul\cf2 senseLayer}}} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Unity Layer for the light objects. }{ +}\par +}\par} +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid + +{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAH" }{}}{\fldrslt {\cs37\ul\cf2 Neuron}}} + {\b sensoryNeuron}{\bkmkstart AAAAAAAAES} +{\bkmkend AAAAAAAAES} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +The {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAH" }{}}{\fldrslt {\cs37\ul\cf2 NanoBrain::Neuron}}} which is stimulated by this sensor. }{ +}\par +}\par} +} +\pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid +Protected Member Functions\par +\pard\plain + +{ +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid +override float {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAET" }{}}{\fldrslt {\cs37\ul\cf2 SampleSensor}}} + ()\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Performs a sampling function to retrieve a new sensor output value. }{ +}\par +}\par} +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid + +virtual void {\b Awake} (){\bkmkstart AAAAAAAAEU} +{\bkmkend AAAAAAAAEU} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Unity calls Awake when loading an instance of a script component. }{ +}\par +}\par} +} +\pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid +Properties\par +\pard\plain + +{ +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid + +float {\b output}{\f2 [get, protected set]}{\bkmkstart AAAAAAAAEV} +{\bkmkend AAAAAAAAEV} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Output value of the sensor. }{ }\par }\par} } @@ -1582,12 +1660,38 @@ The cluster data. }{ \pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid Member Function Documentation\par \pard\plain -{\xe \v GetNucleus\:ClusterPrefab} -{\xe \v ClusterPrefab\:GetNucleus} +{\xe \v SampleSensor\:LightSensor} +{\xe \v LightSensor\:SampleSensor} \pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { {\b -{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAI" }{}}{\fldrslt {\cs37\ul\cf2 Nucleus}}} - GetNucleus (string {\i nucleusName})}} +override float SampleSensor (){\f2 [protected]}, {\f2 [virtual]}}} +\par +{\bkmkstart AAAAAAAAET} +{\bkmkend AAAAAAAAET} +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid +\par +{ +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Performs a sampling function to retrieve a new sensor output value. }}\par +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +\par +{{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid +Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 +Sensor output value\par +}}}{ +Reimplemented from {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAEW" }{}}{\fldrslt {\cs37\ul\cf2 Sensor}}} +.}\par +} +{\pard\widctlpar\brdrb\brdrs\brdrw5\brsp20 \adjustright \par} +\pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid +Member Data Documentation\par +\pard\plain +{\xe \v senseLayer\:LightSensor} +{\xe \v LightSensor\:senseLayer} +\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { +{\b +LayerMask senseLayer{\f2 [inherited]}}} \par {\bkmkstart AAAAAAAAER} {\bkmkend AAAAAAAAER} @@ -1596,38 +1700,9 @@ Member Function Documentation\par \par { {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -Retrieve a nucleus in this cluster. }}\par +Unity Layer for the light objects. }}\par {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -{\par -{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid -Parameters\par} -\pard\plain \s81\li360\widctlpar\ql\adjustright \fs20\cgrid \trowd \trgaph108\trleft426\tblind426\trbrdrt\brdrs\brdrw10\brdrcf15 \trbrdrl\brdrs\brdrw10\brdrcf15 \trbrdrb\brdrs\brdrw10\brdrcf15 \trbrdrr\brdrs\brdrw10\brdrcf15 \trbrdrh\brdrs\brdrw10\brdrcf15 \trbrdrv\brdrs\brdrw10\brdrcf15 -\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx2187 -\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx8748 -\pard \widctlpar\intbl\adjustright -{{\i nucleusName} \cell }{The name of the nucleus\cell } -{\row } -} -{{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid -Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 -The Nucleus with the given name or null if no such Nucleus could be found\par -}}}} -{\xe \v EnsureInitialization\:ClusterPrefab} -{\xe \v ClusterPrefab\:EnsureInitialization} -\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { -{\b -void EnsureInitialization ()}} -\par -{\bkmkstart AAAAAAAAES} -{\bkmkend AAAAAAAAES} -{ -\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid -\par -{ -{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -Call this function to ensure that there is at least one nucleus. }}\par -{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -his is an invariant and should be ensured before the nucleus is used because output requires it. \par +This is used to improve performance \par }} \par \pard\plain @@ -1662,17 +1737,17 @@ Public Types\par { \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -enum {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABS" }{}}{\fldrslt {\cs37\ul\cf2 CombinatorType}}} - \{ {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABT" }{}}{\fldrslt {\cs37\ul\cf2 Sum}}} +enum {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABT" }{}}{\fldrslt {\cs37\ul\cf2 CombinatorType}}} + \{ {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABU" }{}}{\fldrslt {\cs37\ul\cf2 Sum}}} -, {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABU" }{}}{\fldrslt {\cs37\ul\cf2 Product}}} +, {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABV" }{}}{\fldrslt {\cs37\ul\cf2 Product}}} \}\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid The type of combinators. }}\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -enum {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABV" }{}}{\fldrslt {\cs37\ul\cf2 ActivationType}}} +enum {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABW" }{}}{\fldrslt {\cs37\ul\cf2 ActivationType}}} \{ {\b Linear} , {\b Power} , {\b Sqrt} @@ -1681,8 +1756,8 @@ enum {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABV" }{}}{\fldrslt {\cs37\ul\c , {\b Binary} , {\b Normalized} , {\b Custom} - \}{\bkmkstart AAAAAAAABV} -{\bkmkend AAAAAAAABV} + \}{\bkmkstart AAAAAAAABW} +{\bkmkend AAAAAAAABW} \par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -1706,10 +1781,10 @@ Public Member Functions\par { \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABW" }{}}{\fldrslt {\cs37\ul\cf2 MemoryCell}}} +{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABX" }{}}{\fldrslt {\cs37\ul\cf2 MemoryCell}}} ({\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAF" }{}}{\fldrslt {\cs37\ul\cf2 Cluster}}} {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAO" }{}}{\fldrslt {\cs37\ul\cf2 parent}}} -, string {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABM" }{}}{\fldrslt {\cs37\ul\cf2 name}}} +, string {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABN" }{}}{\fldrslt {\cs37\ul\cf2 name}}} )\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -1718,7 +1793,7 @@ Create a new memory cell. }{ }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid override {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAI" }{}}{\fldrslt {\cs37\ul\cf2 Nucleus}}} - {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABX" }{}}{\fldrslt {\cs37\ul\cf2 ShallowCloneTo}}} + {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABY" }{}}{\fldrslt {\cs37\ul\cf2 ShallowCloneTo}}} ({\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAF" }{}}{\fldrslt {\cs37\ul\cf2 Cluster}}} {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAO" }{}}{\fldrslt {\cs37\ul\cf2 parent}}} )\par @@ -1728,7 +1803,7 @@ Function to make a partial clone of this nucleus. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -override void {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABY" }{}}{\fldrslt {\cs37\ul\cf2 UpdateStateIsolated}}} +override void {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABZ" }{}}{\fldrslt {\cs37\ul\cf2 UpdateStateIsolated}}} ()\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -1737,7 +1812,7 @@ Update the state without updating other Nuclei. }{ }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAJ" }{}}{\fldrslt {\cs37\ul\cf2 Synapse}}} - {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABZ" }{}}{\fldrslt {\cs37\ul\cf2 AddSynapse}}} + {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACA" }{}}{\fldrslt {\cs37\ul\cf2 AddSynapse}}} ({\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAH" }{}}{\fldrslt {\cs37\ul\cf2 Neuron}}} sendingNucleus, float weight=1)\par { @@ -1747,7 +1822,7 @@ Add a new synapse to this nuclues. }{ }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAJ" }{}}{\fldrslt {\cs37\ul\cf2 Synapse}}} - {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACA" }{}}{\fldrslt {\cs37\ul\cf2 GetSynapse}}} + {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACB" }{}}{\fldrslt {\cs37\ul\cf2 GetSynapse}}} ({\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAI" }{}}{\fldrslt {\cs37\ul\cf2 Nucleus}}} sender)\par { @@ -1756,7 +1831,7 @@ Find a synapse. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -void {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACB" }{}}{\fldrslt {\cs37\ul\cf2 RemoveSynapse}}} +void {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACC" }{}}{\fldrslt {\cs37\ul\cf2 RemoveSynapse}}} ({\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAI" }{}}{\fldrslt {\cs37\ul\cf2 Nucleus}}} sendingNucleus)\par { @@ -1765,7 +1840,7 @@ Remove a synapse from a Nucleus. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -virtual void {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACC" }{}}{\fldrslt {\cs37\ul\cf2 SetBias}}} +virtual void {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACD" }{}}{\fldrslt {\cs37\ul\cf2 SetBias}}} (Vector3 inputValue)\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -1773,14 +1848,6 @@ Set the bias, recalculate the output and update all Nuclei receiving from this N }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -AnimationCurve {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACD" }{}}{\fldrslt {\cs37\ul\cf2 GenerateCurve}}} - ()\par -{ -\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -Generate the curve for the current activation function. }{ -}\par -}\par} -\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid void {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACE" }{}}{\fldrslt {\cs37\ul\cf2 SleepCheck}}} ()\par { @@ -1889,8 +1956,8 @@ The bias. }{ }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABS" }{}}{\fldrslt {\cs37\ul\cf2 CombinatorType}}} - {\b combinator} = {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABT" }{}}{\fldrslt {\cs37\ul\cf2 CombinatorType.Sum}}} +{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABT" }{}}{\fldrslt {\cs37\ul\cf2 CombinatorType}}} + {\b combinator} = {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABU" }{}}{\fldrslt {\cs37\ul\cf2 CombinatorType.Sum}}} {\bkmkstart AAAAAAAACP} {\bkmkend AAAAAAAACP} \par @@ -1901,7 +1968,7 @@ The type of combinator used for this Neuron. }{ }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABV" }{}}{\fldrslt {\cs37\ul\cf2 ActivationType}}} +{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABW" }{}}{\fldrslt {\cs37\ul\cf2 ActivationType}}} {\b _activator}{\bkmkstart AAAAAAAACQ} {\bkmkend AAAAAAAACQ} \par @@ -1912,38 +1979,18 @@ The activation function. }{ }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -AnimationCurve {\b curve}{\bkmkstart AAAAAAAACR} +Action {\b WhenFiring}{\bkmkstart AAAAAAAACR} {\bkmkend AAAAAAAACR} \par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -The curve representing the activation function. }{ -}\par -}\par} -\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid - -float {\b curveMax} = 1.0f{\bkmkstart AAAAAAAACS} -{\bkmkend AAAAAAAACS} -\par -{ -\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -The maximum value of the curve. }{ -}\par -}\par} -\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid - -Action {\b WhenFiring}{\bkmkstart AAAAAAAACT} -{\bkmkend AAAAAAAACT} -\par -{ -\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid An action which is called every time the neuron is updated and is firing. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -bool {\b persistOutput} = false{\bkmkstart AAAAAAAACU} -{\bkmkend AAAAAAAACU} +bool {\b persistOutput} = false{\bkmkstart AAAAAAAACS} +{\bkmkend AAAAAAAACS} \par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -1952,8 +1999,8 @@ When true, the value will not be reset after timeToSleep. }{ }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -float {\b lastUpdate} = 0{\bkmkstart AAAAAAAACV} -{\bkmkend AAAAAAAACV} +float {\b lastUpdate} = 0{\bkmkstart AAAAAAAACT} +{\bkmkend AAAAAAAACT} \par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -1961,19 +2008,17 @@ The time at which the last update has been done. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid - -readonly float {\b timeToSleep} = 1f{\bkmkstart AAAAAAAACW} -{\bkmkend AAAAAAAACW} -\par +bool {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACU" }{}}{\fldrslt {\cs37\ul\cf2 breakOnUpdate}}} + = false\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -Time in seconds after the last update the neuron can go to sleep. }{ +When true, Unity will pause exection when this neuron is updated. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -string {\b name}{\bkmkstart AAAAAAAABM} -{\bkmkend AAAAAAAABM} +string {\b name}{\bkmkstart AAAAAAAABN} +{\bkmkend AAAAAAAABN} \par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -1993,12 +2038,28 @@ The cluster instance in which the nucleus is located. }{ }\par} } \pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid +Static Public Attributes\par +\pard\plain + +{ +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid + +static readonly float {\b timeToSleep} = 0.5f{\bkmkstart AAAAAAAACV} +{\bkmkend AAAAAAAACV} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Time in seconds after the last update the neuron can go to sleep. }{ +}\par +}\par} +} +\pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid Protected Member Functions\par \pard\plain { \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -virtual void {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACX" }{}}{\fldrslt {\cs37\ul\cf2 CloneFields}}} +virtual void {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACW" }{}}{\fldrslt {\cs37\ul\cf2 CloneFields}}} ({\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAH" }{}}{\fldrslt {\cs37\ul\cf2 Neuron}}} clone)\par { @@ -2007,7 +2068,7 @@ Copy relevant fields of this neuron to the given neuron. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACY" }{}}{\fldrslt {\cs37\ul\cf2 Combinator}}} +float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACX" }{}}{\fldrslt {\cs37\ul\cf2 Combinator}}} (float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACK" }{}}{\fldrslt {\cs37\ul\cf2 bias}}} , List< {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAJ" }{}}{\fldrslt {\cs37\ul\cf2 Synapse}}} > {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACL" }{}}{\fldrslt {\cs37\ul\cf2 synapses}}} @@ -2018,7 +2079,7 @@ The combinator which combines the bias with the values from all synapses. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -Vector3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACZ" }{}}{\fldrslt {\cs37\ul\cf2 Combinator}}} +Vector3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACY" }{}}{\fldrslt {\cs37\ul\cf2 Combinator}}} (Vector3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACK" }{}}{\fldrslt {\cs37\ul\cf2 bias}}} , List< {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAJ" }{}}{\fldrslt {\cs37\ul\cf2 Synapse}}} > {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACL" }{}}{\fldrslt {\cs37\ul\cf2 synapses}}} @@ -2029,7 +2090,7 @@ The combinator which combines the bias with the values from all synapses. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADA" }{}}{\fldrslt {\cs37\ul\cf2 Activator}}} +float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACZ" }{}}{\fldrslt {\cs37\ul\cf2 Activator}}} (float3 inputValue)\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -2037,7 +2098,7 @@ Apply the activation function to the input. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -Vector3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADB" }{}}{\fldrslt {\cs37\ul\cf2 Activator}}} +Vector3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADA" }{}}{\fldrslt {\cs37\ul\cf2 Activator}}} (Vector3 inputValue)\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -2045,7 +2106,7 @@ Apply the activation function to the input. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADC" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorLinear}}} +float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADB" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorLinear}}} (float3 input)\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -2053,7 +2114,7 @@ Linear activation function. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -Vector3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADD" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorLinear}}} +Vector3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADC" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorLinear}}} (Vector3 input)\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -2061,7 +2122,7 @@ Linear activation function. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADE" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorSqrt}}} +float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADD" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorSqrt}}} (float3 input)\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -2069,7 +2130,7 @@ Square root activation function. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -Vector3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADF" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorSqrt}}} +Vector3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADE" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorSqrt}}} (Vector3 input)\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -2077,7 +2138,7 @@ Square root activation function. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADG" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorPower}}} +float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADF" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorPower}}} (float3 input)\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -2085,7 +2146,7 @@ Power activation function. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -Vector3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADH" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorPower}}} +Vector3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADG" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorPower}}} (Vector3 input)\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -2093,7 +2154,7 @@ Power activation function. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADI" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorReciprocal}}} +float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADH" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorReciprocal}}} (float3 input)\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -2101,7 +2162,7 @@ Reciprocal activation function. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -Vector3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADJ" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorReciprocal}}} +Vector3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADI" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorReciprocal}}} (Vector3 input)\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -2109,7 +2170,7 @@ Reciprocal activation function. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADK" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorTanh}}} +float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADJ" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorTanh}}} (float3 input)\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -2117,7 +2178,7 @@ Tanh activation function. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADL" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorBinary}}} +float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADK" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorBinary}}} (float3 input)\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -2125,7 +2186,7 @@ Binary activation function. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADM" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorNormalized}}} +float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADL" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorNormalized}}} (float3 input)\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -2140,8 +2201,8 @@ Protected Attributes\par { \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -float3 {\b _outputValue}{\bkmkstart AAAAAAAADN} -{\bkmkend AAAAAAAADN} +float3 {\b _outputValue}{\bkmkstart AAAAAAAADM} +{\bkmkend AAAAAAAADM} \par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -2150,8 +2211,8 @@ The output value of the neuron. }{ }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -Vector3 {\b _outputValue}{\bkmkstart AAAAAAAADO} -{\bkmkend AAAAAAAADO} +Vector3 {\b _outputValue}{\bkmkstart AAAAAAAADN} +{\bkmkend AAAAAAAADN} \par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -2177,9 +2238,9 @@ The synapses of the nucleus. }{ }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABV" }{}}{\fldrslt {\cs37\ul\cf2 ActivationType}}} - {\b activator}{\f2 [get, set]}{\bkmkstart AAAAAAAADP} -{\bkmkend AAAAAAAADP} +{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABW" }{}}{\fldrslt {\cs37\ul\cf2 ActivationType}}} + {\b activator}{\f2 [get, set]}{\bkmkstart AAAAAAAADO} +{\bkmkend AAAAAAAADO} \par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -2188,7 +2249,17 @@ The activation funtion. }{ }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -virtual float3 {\b outputValue}{\f2 [get, set]}{\bkmkstart AAAAAAAADQ} +virtual float3 {\b outputValue}{\f2 [get, set]}{\bkmkstart AAAAAAAADP} +{\bkmkend AAAAAAAADP} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +The output value of the neuron. }{ +}\par +}\par} +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid + +virtual Vector3 {\b outputValue}{\f2 [get, set]}{\bkmkstart AAAAAAAADQ} {\bkmkend AAAAAAAADQ} \par { @@ -2198,28 +2269,18 @@ The output value of the neuron. }{ }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -virtual Vector3 {\b outputValue}{\f2 [get, set]}{\bkmkstart AAAAAAAADR} +float {\b outputMagnitude}{\f2 [get]}{\bkmkstart AAAAAAAADR} {\bkmkend AAAAAAAADR} \par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -The output value of the neuron. }{ -}\par -}\par} -\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid - -float {\b outputMagnitude}{\f2 [get]}{\bkmkstart AAAAAAAADS} -{\bkmkend AAAAAAAADS} -\par -{ -\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid The magnitude of the neuron output. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -float {\b outputSqrMagnitude}{\f2 [get]}{\bkmkstart AAAAAAAADT} -{\bkmkend AAAAAAAADT} +float {\b outputSqrMagnitude}{\f2 [get]}{\bkmkstart AAAAAAAADS} +{\bkmkend AAAAAAAADS} \par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -2228,8 +2289,8 @@ The squared magnitude of the neuron output. }{ }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -bool {\b isFiring}{\f2 [get]}{\bkmkstart AAAAAAAADU} -{\bkmkend AAAAAAAADU} +bool {\b isFiring}{\f2 [get]}{\bkmkstart AAAAAAAADT} +{\bkmkend AAAAAAAADT} \par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -2238,8 +2299,8 @@ True if the neuron have a positive value with magnitude > 0.5. }{ }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -virtual bool {\b isSleeping}{\f2 [get]}{\bkmkstart AAAAAAAADV} -{\bkmkend AAAAAAAADV} +virtual bool {\b isSleeping}{\f2 [get]}{\bkmkstart AAAAAAAADU} +{\bkmkend AAAAAAAADU} \par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -2249,8 +2310,8 @@ True when the neuron is not persisting and has not be updated for timeToSleep se \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid virtual List< {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAI" }{}}{\fldrslt {\cs37\ul\cf2 Nucleus}}} - > {\b receivers}{\f2 [get, set]}{\bkmkstart AAAAAAAADW} -{\bkmkend AAAAAAAADW} + > {\b receivers}{\f2 [get, set]}{\bkmkstart AAAAAAAADV} +{\bkmkend AAAAAAAADV} \par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -2266,11 +2327,11 @@ Member Enumeration Documentation\par {\xe \v MemoryCell\:CombinatorType} \pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { {\b -enum {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABS" }{}}{\fldrslt {\cs37\ul\cf2 CombinatorType}}} +enum {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABT" }{}}{\fldrslt {\cs37\ul\cf2 CombinatorType}}} {\f2 [inherited]}}} \par -{\bkmkstart AAAAAAAABS} -{\bkmkend AAAAAAAABS} +{\bkmkstart AAAAAAAABT} +{\bkmkend AAAAAAAABT} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -2288,15 +2349,15 @@ Enumerator:\par} \pard \widctlpar\intbl\adjustright {\xe \v Sum\:MemoryCell} {\xe \v MemoryCell\:Sum} -{\qr Sum{\bkmkstart AAAAAAAABT} -{\bkmkend AAAAAAAABT} +{\qr Sum{\bkmkstart AAAAAAAABU} +{\bkmkend AAAAAAAABU} \cell }{{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid Add the weighted values together. \par }\cell }{\row } {\xe \v Product\:MemoryCell} {\xe \v MemoryCell\:Product} -{\qr Product{\bkmkstart AAAAAAAABU} -{\bkmkend AAAAAAAABU} +{\qr Product{\bkmkstart AAAAAAAABV} +{\bkmkend AAAAAAAABV} \cell }{{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid Multiply the weighted values. \par }\cell }{\row } @@ -2314,8 +2375,8 @@ Constructor & Destructor Documentation\par ({\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAF" }{}}{\fldrslt {\cs37\ul\cf2 Cluster}}} {\i parent}, string {\i name})}} \par -{\bkmkstart AAAAAAAABW} -{\bkmkend AAAAAAAABW} +{\bkmkstart AAAAAAAABX} +{\bkmkend AAAAAAAABX} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -2352,8 +2413,8 @@ override {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAI" }{}}{\fldrslt {\cs37\ ShallowCloneTo ({\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAF" }{}}{\fldrslt {\cs37\ul\cf2 Cluster}}} {\i parent})}} \par -{\bkmkstart AAAAAAAABX} -{\bkmkend AAAAAAAABX} +{\bkmkstart AAAAAAAABY} +{\bkmkend AAAAAAAABY} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -2381,8 +2442,8 @@ Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \s {\b override void UpdateStateIsolated ()}} \par -{\bkmkstart AAAAAAAABY} -{\bkmkend AAAAAAAABY} +{\bkmkstart AAAAAAAABZ} +{\bkmkend AAAAAAAABZ} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -2400,8 +2461,8 @@ Update the state without updating other Nuclei. }}\par AddSynapse ({\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAH" }{}}{\fldrslt {\cs37\ul\cf2 Neuron}}} {\i sendingNucleus}, float {\i weight} = {\f2 1}){\f2 [inherited]}}} \par -{\bkmkstart AAAAAAAABZ} -{\bkmkend AAAAAAAABZ} +{\bkmkstart AAAAAAAACA} +{\bkmkend AAAAAAAACA} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -2438,8 +2499,8 @@ The created Synapse\par GetSynapse ({\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAI" }{}}{\fldrslt {\cs37\ul\cf2 Nucleus}}} {\i sender}){\f2 [inherited]}}} \par -{\bkmkstart AAAAAAAACA} -{\bkmkend AAAAAAAACA} +{\bkmkstart AAAAAAAACB} +{\bkmkend AAAAAAAACB} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -2468,8 +2529,8 @@ The found Synapse or null when the sender has no synapse to this nucleus.\par void RemoveSynapse ({\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAI" }{}}{\fldrslt {\cs37\ul\cf2 Nucleus}}} {\i sendingNucleus}){\f2 [inherited]}}} \par -{\bkmkstart AAAAAAAACB} -{\bkmkend AAAAAAAACB} +{\bkmkstart AAAAAAAACC} +{\bkmkend AAAAAAAACC} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -2494,8 +2555,8 @@ Parameters\par} {\b virtual void SetBias (Vector3 {\i inputValue}){\f2 [virtual]}, {\f2 [inherited]}}} \par -{\bkmkstart AAAAAAAACC} -{\bkmkend AAAAAAAACC} +{\bkmkstart AAAAAAAACD} +{\bkmkend AAAAAAAACD} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -2514,26 +2575,6 @@ Parameters\par} {\row } } }} -{\xe \v GenerateCurve\:MemoryCell} -{\xe \v MemoryCell\:GenerateCurve} -\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { -{\b -AnimationCurve GenerateCurve (){\f2 [inherited]}}} -\par -{\bkmkstart AAAAAAAACD} -{\bkmkend AAAAAAAACD} -{ -\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid -\par -{ -{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -Generate the curve for the current activation function. }}\par -{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -\par -{{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid -Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 -The curve \par -}}}} {\xe \v SleepCheck\:MemoryCell} {\xe \v MemoryCell\:SleepCheck} \pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { @@ -2558,8 +2599,8 @@ This will reset the output value if it is sleeping \par virtual void CloneFields ({\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAH" }{}}{\fldrslt {\cs37\ul\cf2 Neuron}}} {\i clone}){\f2 [protected]}, {\f2 [virtual]}, {\f2 [inherited]}}} \par -{\bkmkstart AAAAAAAACX} -{\bkmkend AAAAAAAACX} +{\bkmkstart AAAAAAAACW} +{\bkmkend AAAAAAAACW} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -2612,8 +2653,8 @@ Parameters\par} float3 Combinator (float3 {\i bias}, List< {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAJ" }{}}{\fldrslt {\cs37\ul\cf2 Synapse}}} > {\i synapses}){\f2 [protected]}, {\f2 [inherited]}}} \par -{\bkmkstart AAAAAAAACY} -{\bkmkend AAAAAAAACY} +{\bkmkstart AAAAAAAACX} +{\bkmkend AAAAAAAACX} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -2648,8 +2689,8 @@ Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \s Vector3 Combinator (Vector3 {\i bias}, List< {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAJ" }{}}{\fldrslt {\cs37\ul\cf2 Synapse}}} > {\i synapses}){\f2 [protected]}, {\f2 [inherited]}}} \par -{\bkmkstart AAAAAAAACZ} -{\bkmkend AAAAAAAACZ} +{\bkmkstart AAAAAAAACY} +{\bkmkend AAAAAAAACY} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -2827,8 +2868,8 @@ The result of the multiplication\par {\b float3 Activator (float3 {\i inputValue}){\f2 [protected]}, {\f2 [inherited]}}} \par -{\bkmkstart AAAAAAAADA} -{\bkmkend AAAAAAAADA} +{\bkmkstart AAAAAAAACZ} +{\bkmkend AAAAAAAACZ} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -2856,8 +2897,8 @@ The result of applying the activation function\par {\b Vector3 Activator (Vector3 {\i inputValue}){\f2 [protected]}, {\f2 [inherited]}}} \par -{\bkmkstart AAAAAAAADB} -{\bkmkend AAAAAAAADB} +{\bkmkstart AAAAAAAADA} +{\bkmkend AAAAAAAADA} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -2885,8 +2926,8 @@ The result of applying the activation function\par {\b float3 ActivatorLinear (float3 {\i input}){\f2 [protected]}, {\f2 [inherited]}}} \par -{\bkmkstart AAAAAAAADC} -{\bkmkend AAAAAAAADC} +{\bkmkstart AAAAAAAADB} +{\bkmkend AAAAAAAADB} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -2914,8 +2955,8 @@ The unchanged value\par {\b Vector3 ActivatorLinear (Vector3 {\i input}){\f2 [protected]}, {\f2 [inherited]}}} \par -{\bkmkstart AAAAAAAADD} -{\bkmkend AAAAAAAADD} +{\bkmkstart AAAAAAAADC} +{\bkmkend AAAAAAAADC} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -2943,8 +2984,8 @@ The unchanged value\par {\b float3 ActivatorSqrt (float3 {\i input}){\f2 [protected]}, {\f2 [inherited]}}} \par -{\bkmkstart AAAAAAAADE} -{\bkmkend AAAAAAAADE} +{\bkmkstart AAAAAAAADD} +{\bkmkend AAAAAAAADD} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -2972,8 +3013,8 @@ The square root of the input\par {\b Vector3 ActivatorSqrt (Vector3 {\i input}){\f2 [protected]}, {\f2 [inherited]}}} \par -{\bkmkstart AAAAAAAADF} -{\bkmkend AAAAAAAADF} +{\bkmkstart AAAAAAAADE} +{\bkmkend AAAAAAAADE} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -3001,8 +3042,8 @@ The square root of the input\par {\b float3 ActivatorPower (float3 {\i input}){\f2 [protected]}, {\f2 [inherited]}}} \par -{\bkmkstart AAAAAAAADG} -{\bkmkend AAAAAAAADG} +{\bkmkstart AAAAAAAADF} +{\bkmkend AAAAAAAADF} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -3030,8 +3071,8 @@ The input to the power of 2\par {\b Vector3 ActivatorPower (Vector3 {\i input}){\f2 [protected]}, {\f2 [inherited]}}} \par -{\bkmkstart AAAAAAAADH} -{\bkmkend AAAAAAAADH} +{\bkmkstart AAAAAAAADG} +{\bkmkend AAAAAAAADG} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -3059,8 +3100,8 @@ The input to the power of 2\par {\b float3 ActivatorReciprocal (float3 {\i input}){\f2 [protected]}, {\f2 [inherited]}}} \par -{\bkmkstart AAAAAAAADI} -{\bkmkend AAAAAAAADI} +{\bkmkstart AAAAAAAADH} +{\bkmkend AAAAAAAADH} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -3088,8 +3129,8 @@ Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \s {\b Vector3 ActivatorReciprocal (Vector3 {\i input}){\f2 [protected]}, {\f2 [inherited]}}} \par -{\bkmkstart AAAAAAAADJ} -{\bkmkend AAAAAAAADJ} +{\bkmkstart AAAAAAAADI} +{\bkmkend AAAAAAAADI} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -3117,8 +3158,8 @@ Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \s {\b float3 ActivatorTanh (float3 {\i input}){\f2 [protected]}, {\f2 [inherited]}}} \par -{\bkmkstart AAAAAAAADK} -{\bkmkend AAAAAAAADK} +{\bkmkstart AAAAAAAADJ} +{\bkmkend AAAAAAAADJ} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -3146,8 +3187,8 @@ Tanh(input value)\par {\b float3 ActivatorBinary (float3 {\i input}){\f2 [protected]}, {\f2 [inherited]}}} \par -{\bkmkstart AAAAAAAADL} -{\bkmkend AAAAAAAADL} +{\bkmkstart AAAAAAAADK} +{\bkmkend AAAAAAAADK} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -3175,8 +3216,8 @@ An uniform vector with magnitude between 0 and 1\par {\b float3 ActivatorNormalized (float3 {\i input}){\f2 [protected]}, {\f2 [inherited]}}} \par -{\bkmkstart AAAAAAAADM} -{\bkmkend AAAAAAAADM} +{\bkmkstart AAAAAAAADL} +{\bkmkend AAAAAAAADL} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -3305,6 +3346,160 @@ The bias. }}\par {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid The bias which a value which is always added to the combined value of the neuron It does not have a synapse and therefore no weight of source nucleus \par }} +{\xe \v breakOnUpdate\:MemoryCell} +{\xe \v MemoryCell\:breakOnUpdate} +\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { +{\b +bool breakOnUpdate = false{\f2 [inherited]}}} +\par +{\bkmkstart AAAAAAAACU} +{\bkmkend AAAAAAAACU} +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid +\par +{ +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +When true, Unity will pause exection when this neuron is updated. }}\par +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Pausing is implemented using {\field {\*\fldinst { HYPERLINK "https://docs.unity3d.com/ScriptReference/Debug.Break.html" }{}}{\fldrslt {\cs37\ul\cf2 Debug.Break()}}} \par +}} +\par \pard\plain + +\pard\plain \sect\sbkpage +\s2\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs28\kerning28\cgrid +\pard\plain \s2\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs28\kerning28\cgrid +Motor Class Reference\par \pard\plain +{\tc\tcl2 \v Motor} +{\xe \v Motor} +{\bkmkstart AAAAAAAAEJ} +{\bkmkend AAAAAAAAEJ} +{\pard\widctlpar\brdrb\brdrs\brdrw5\brsp20 \adjustright \par} +\pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid +Description\par +\pard\plain +{ +\pard\plain \s17\sa60\sb30\widctlpar\qj \fs22\cgrid {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +A powered wheel collider, controlled by a {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAH" }{}}{\fldrslt {\cs37\ul\cf2 NanoBrain::Neuron}}}. \par +}} +\par +{ +Inherits MonoBehaviour.}\par +\pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid +Public Attributes\par +\pard\plain + +{ +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid +string {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAEX" }{}}{\fldrslt {\cs37\ul\cf2 outputNeuronName}}} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +The name of the {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAH" }{}}{\fldrslt {\cs37\ul\cf2 NanoBrain::Neuron}}} to control this wheel. }{ +}\par +}\par} +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid + +float {\b maxTorque} = 1{\bkmkstart AAAAAAAAEY} +{\bkmkend AAAAAAAAEY} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +The maximum torque used to drive the wheel collider. }{ +}\par +}\par} +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid +WheelCollider {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAEZ" }{}}{\fldrslt {\cs37\ul\cf2 wheelCollider}}} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +The wheel collider used to drive the car. }{ +}\par +}\par} +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid + +{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAH" }{}}{\fldrslt {\cs37\ul\cf2 Neuron}}} + {\b motorNeuron}{\bkmkstart AAAAAAAAFA} +{\bkmkend AAAAAAAAFA} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +The {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAH" }{}}{\fldrslt {\cs37\ul\cf2 NanoBrain::Neuron}}} to control this wheel. }{ +}\par +}\par} +} +\pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid +Protected Member Functions\par +\pard\plain + +{ +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid + +virtual void {\b Awake} (){\bkmkstart AAAAAAAAFB} +{\bkmkend AAAAAAAAFB} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Unity calls Awake when loading an instance of a script component. }{ +}\par +}\par} +} +\pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid +Properties\par +\pard\plain + +{ +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid + +float {\b speed}{\f2 [get, protected set]}{\bkmkstart AAAAAAAAFC} +{\bkmkend AAAAAAAAFC} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +The speed of the motor in rotations per second. }{ +}\par +}\par} +} +{\pard\widctlpar\brdrb\brdrs\brdrw5\brsp20 \adjustright \par} +\pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid +Member Data Documentation\par +\pard\plain +{\xe \v outputNeuronName\:Motor} +{\xe \v Motor\:outputNeuronName} +\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { +{\b +string outputNeuronName}} +\par +{\bkmkstart AAAAAAAAEX} +{\bkmkend AAAAAAAAEX} +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid +\par +{ +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +The name of the {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAH" }{}}{\fldrslt {\cs37\ul\cf2 NanoBrain::Neuron}}} to control this wheel. }}\par +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +This is used to connect the motor to the right output neuron of the Vehicle::brain \par +}} +{\xe \v wheelCollider\:Motor} +{\xe \v Motor\:wheelCollider} +\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { +{\b +WheelCollider wheelCollider}} +\par +{\bkmkstart AAAAAAAAEZ} +{\bkmkend AAAAAAAAEZ} +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid +\par +{ +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +The wheel collider used to drive the car. }}\par +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +\par +{{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid +See also\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 +{\field {\*\fldinst { HYPERLINK "https://docs.unity3d.com/ScriptReference/WheelCollider.html" }{}}{\fldrslt {\cs37\ul\cf2 Unity WheelCollider}}} \par +}}}} \par \pard\plain \pard\plain \sect\sbkpage @@ -3327,9 +3522,9 @@ A neuron is a basic Nucleus. \par {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid A neuron combines the weighted input from other neurons and applies an activation function to it to compute the output value: { \par -\pard\plain \s40\li0\widctlpar\adjustright \shading1000\cbpat8 \f2\fs16\cgrid Vector3 combination = {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACY" }{}}{\fldrslt {\cs37\ul\cf2 NanoBrain::Neuron::Combinator}}} +\pard\plain \s40\li0\widctlpar\adjustright \shading1000\cbpat8 \f2\fs16\cgrid Vector3 combination = {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACX" }{}}{\fldrslt {\cs37\ul\cf2 NanoBrain::Neuron::Combinator}}} (bias, synapses);\par -Vector3 output = {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADA" }{}}{\fldrslt {\cs37\ul\cf2 NanoBrain::Neuron::Activator}}} +Vector3 output = {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACZ" }{}}{\fldrslt {\cs37\ul\cf2 NanoBrain::Neuron::Activator}}} (combination);\par } The synapses are connections to other neurons. Each connection has a weight which is used to multiply the output of that other neuron before it is used by the combinator. \par @@ -3339,33 +3534,22 @@ Inheritance diagram for Neuron:{ \par\pard \qc {\field\flddirty {\*\fldinst INCLUDEPICTURE "class_nano_brain_1_1_neuron.png" \\d \\*MERGEFORMAT}{\fldrslt IMAGE}}\par } \pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid -Classes\par -\pard\plain - -{ -\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -class {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADX" }{}}{\fldrslt {\cs37\ul\cf2 Presets}}} -{ -\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -The curve presets for the activation functions. }}\par} -} -\pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid Public Types\par \pard\plain { \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -enum {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABS" }{}}{\fldrslt {\cs37\ul\cf2 CombinatorType}}} - \{ {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABT" }{}}{\fldrslt {\cs37\ul\cf2 Sum}}} +enum {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABT" }{}}{\fldrslt {\cs37\ul\cf2 CombinatorType}}} + \{ {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABU" }{}}{\fldrslt {\cs37\ul\cf2 Sum}}} -, {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABU" }{}}{\fldrslt {\cs37\ul\cf2 Product}}} +, {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABV" }{}}{\fldrslt {\cs37\ul\cf2 Product}}} \}\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid The type of combinators. }}\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -enum {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABV" }{}}{\fldrslt {\cs37\ul\cf2 ActivationType}}} +enum {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABW" }{}}{\fldrslt {\cs37\ul\cf2 ActivationType}}} \{ {\b Linear} , {\b Power} , {\b Sqrt} @@ -3374,8 +3558,8 @@ enum {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABV" }{}}{\fldrslt {\cs37\ul\c , {\b Binary} , {\b Normalized} , {\b Custom} - \}{\bkmkstart AAAAAAAABV} -{\bkmkend AAAAAAAABV} + \}{\bkmkstart AAAAAAAABW} +{\bkmkend AAAAAAAABW} \par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -3399,10 +3583,10 @@ Public Member Functions\par { \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADY" }{}}{\fldrslt {\cs37\ul\cf2 Neuron}}} +{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADW" }{}}{\fldrslt {\cs37\ul\cf2 Neuron}}} ({\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAF" }{}}{\fldrslt {\cs37\ul\cf2 Cluster}}} {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAO" }{}}{\fldrslt {\cs37\ul\cf2 parent}}} -, string {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABM" }{}}{\fldrslt {\cs37\ul\cf2 name}}} +, string {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABN" }{}}{\fldrslt {\cs37\ul\cf2 name}}} )\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -3411,7 +3595,7 @@ Create a new Neuron in a Cluster instance. }{ }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAJ" }{}}{\fldrslt {\cs37\ul\cf2 Synapse}}} - {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABZ" }{}}{\fldrslt {\cs37\ul\cf2 AddSynapse}}} + {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACA" }{}}{\fldrslt {\cs37\ul\cf2 AddSynapse}}} ({\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAH" }{}}{\fldrslt {\cs37\ul\cf2 Neuron}}} sendingNucleus, float weight=1)\par { @@ -3421,7 +3605,7 @@ Add a new synapse to this nuclues. }{ }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAJ" }{}}{\fldrslt {\cs37\ul\cf2 Synapse}}} - {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACA" }{}}{\fldrslt {\cs37\ul\cf2 GetSynapse}}} + {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACB" }{}}{\fldrslt {\cs37\ul\cf2 GetSynapse}}} ({\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAI" }{}}{\fldrslt {\cs37\ul\cf2 Nucleus}}} sender)\par { @@ -3430,7 +3614,7 @@ Find a synapse. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -void {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACB" }{}}{\fldrslt {\cs37\ul\cf2 RemoveSynapse}}} +void {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACC" }{}}{\fldrslt {\cs37\ul\cf2 RemoveSynapse}}} ({\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAI" }{}}{\fldrslt {\cs37\ul\cf2 Nucleus}}} sendingNucleus)\par { @@ -3439,7 +3623,7 @@ Remove a synapse from a Nucleus. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -virtual void {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACC" }{}}{\fldrslt {\cs37\ul\cf2 SetBias}}} +virtual void {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACD" }{}}{\fldrslt {\cs37\ul\cf2 SetBias}}} (Vector3 inputValue)\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -3447,14 +3631,6 @@ Set the bias, recalculate the output and update all Nuclei receiving from this N }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -AnimationCurve {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACD" }{}}{\fldrslt {\cs37\ul\cf2 GenerateCurve}}} - ()\par -{ -\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -Generate the curve for the current activation function. }{ -}\par -}\par} -\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid void {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACE" }{}}{\fldrslt {\cs37\ul\cf2 SleepCheck}}} ()\par { @@ -3464,7 +3640,7 @@ Check if the neuron is sleeping. }{ }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid override {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAI" }{}}{\fldrslt {\cs37\ul\cf2 Nucleus}}} - {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADZ" }{}}{\fldrslt {\cs37\ul\cf2 ShallowCloneTo}}} + {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADX" }{}}{\fldrslt {\cs37\ul\cf2 ShallowCloneTo}}} ({\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAF" }{}}{\fldrslt {\cs37\ul\cf2 Cluster}}} {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAO" }{}}{\fldrslt {\cs37\ul\cf2 parent}}} )\par @@ -3474,7 +3650,7 @@ Function to make a partial clone of this nucleus. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -override void {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAEA" }{}}{\fldrslt {\cs37\ul\cf2 UpdateStateIsolated}}} +override void {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADY" }{}}{\fldrslt {\cs37\ul\cf2 UpdateStateIsolated}}} ()\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -3582,8 +3758,8 @@ The bias. }{ }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABS" }{}}{\fldrslt {\cs37\ul\cf2 CombinatorType}}} - {\b combinator} = {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABT" }{}}{\fldrslt {\cs37\ul\cf2 CombinatorType.Sum}}} +{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABT" }{}}{\fldrslt {\cs37\ul\cf2 CombinatorType}}} + {\b combinator} = {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABU" }{}}{\fldrslt {\cs37\ul\cf2 CombinatorType.Sum}}} {\bkmkstart AAAAAAAACP} {\bkmkend AAAAAAAACP} \par @@ -3594,7 +3770,7 @@ The type of combinator used for this Neuron. }{ }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABV" }{}}{\fldrslt {\cs37\ul\cf2 ActivationType}}} +{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABW" }{}}{\fldrslt {\cs37\ul\cf2 ActivationType}}} {\b _activator}{\bkmkstart AAAAAAAACQ} {\bkmkend AAAAAAAACQ} \par @@ -3605,38 +3781,18 @@ The activation function. }{ }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -AnimationCurve {\b curve}{\bkmkstart AAAAAAAACR} +Action {\b WhenFiring}{\bkmkstart AAAAAAAACR} {\bkmkend AAAAAAAACR} \par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -The curve representing the activation function. }{ -}\par -}\par} -\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid - -float {\b curveMax} = 1.0f{\bkmkstart AAAAAAAACS} -{\bkmkend AAAAAAAACS} -\par -{ -\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -The maximum value of the curve. }{ -}\par -}\par} -\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid - -Action {\b WhenFiring}{\bkmkstart AAAAAAAACT} -{\bkmkend AAAAAAAACT} -\par -{ -\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid An action which is called every time the neuron is updated and is firing. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -bool {\b persistOutput} = false{\bkmkstart AAAAAAAACU} -{\bkmkend AAAAAAAACU} +bool {\b persistOutput} = false{\bkmkstart AAAAAAAACS} +{\bkmkend AAAAAAAACS} \par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -3645,8 +3801,8 @@ When true, the value will not be reset after timeToSleep. }{ }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -float {\b lastUpdate} = 0{\bkmkstart AAAAAAAACV} -{\bkmkend AAAAAAAACV} +float {\b lastUpdate} = 0{\bkmkstart AAAAAAAACT} +{\bkmkend AAAAAAAACT} \par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -3654,19 +3810,17 @@ The time at which the last update has been done. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid - -readonly float {\b timeToSleep} = 1f{\bkmkstart AAAAAAAACW} -{\bkmkend AAAAAAAACW} -\par +bool {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACU" }{}}{\fldrslt {\cs37\ul\cf2 breakOnUpdate}}} + = false\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -Time in seconds after the last update the neuron can go to sleep. }{ +When true, Unity will pause exection when this neuron is updated. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -string {\b name}{\bkmkstart AAAAAAAABM} -{\bkmkend AAAAAAAABM} +string {\b name}{\bkmkstart AAAAAAAABN} +{\bkmkend AAAAAAAABN} \par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -3686,12 +3840,28 @@ The cluster instance in which the nucleus is located. }{ }\par} } \pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid +Static Public Attributes\par +\pard\plain + +{ +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid + +static readonly float {\b timeToSleep} = 0.5f{\bkmkstart AAAAAAAACV} +{\bkmkend AAAAAAAACV} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Time in seconds after the last update the neuron can go to sleep. }{ +}\par +}\par} +} +\pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid Protected Member Functions\par \pard\plain { \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -virtual void {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACX" }{}}{\fldrslt {\cs37\ul\cf2 CloneFields}}} +virtual void {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACW" }{}}{\fldrslt {\cs37\ul\cf2 CloneFields}}} ({\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAH" }{}}{\fldrslt {\cs37\ul\cf2 Neuron}}} clone)\par { @@ -3700,7 +3870,7 @@ Copy relevant fields of this neuron to the given neuron. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACY" }{}}{\fldrslt {\cs37\ul\cf2 Combinator}}} +float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACX" }{}}{\fldrslt {\cs37\ul\cf2 Combinator}}} (float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACK" }{}}{\fldrslt {\cs37\ul\cf2 bias}}} , List< {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAJ" }{}}{\fldrslt {\cs37\ul\cf2 Synapse}}} > {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACL" }{}}{\fldrslt {\cs37\ul\cf2 synapses}}} @@ -3711,7 +3881,7 @@ The combinator which combines the bias with the values from all synapses. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -Vector3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACZ" }{}}{\fldrslt {\cs37\ul\cf2 Combinator}}} +Vector3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACY" }{}}{\fldrslt {\cs37\ul\cf2 Combinator}}} (Vector3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACK" }{}}{\fldrslt {\cs37\ul\cf2 bias}}} , List< {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAJ" }{}}{\fldrslt {\cs37\ul\cf2 Synapse}}} > {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACL" }{}}{\fldrslt {\cs37\ul\cf2 synapses}}} @@ -3722,7 +3892,7 @@ The combinator which combines the bias with the values from all synapses. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADA" }{}}{\fldrslt {\cs37\ul\cf2 Activator}}} +float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAACZ" }{}}{\fldrslt {\cs37\ul\cf2 Activator}}} (float3 inputValue)\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -3730,7 +3900,7 @@ Apply the activation function to the input. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADC" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorLinear}}} +float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADB" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorLinear}}} (float3 input)\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -3738,7 +3908,7 @@ Linear activation function. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADE" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorSqrt}}} +float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADD" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorSqrt}}} (float3 input)\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -3746,7 +3916,7 @@ Square root activation function. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADG" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorPower}}} +float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADF" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorPower}}} (float3 input)\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -3754,7 +3924,7 @@ Power activation function. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADI" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorReciprocal}}} +float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADH" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorReciprocal}}} (float3 input)\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -3762,7 +3932,7 @@ Reciprocal activation function. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADK" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorTanh}}} +float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADJ" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorTanh}}} (float3 input)\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -3770,7 +3940,7 @@ Tanh activation function. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADL" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorBinary}}} +float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADK" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorBinary}}} (float3 input)\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -3778,7 +3948,7 @@ Binary activation function. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADM" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorNormalized}}} +float3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADL" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorNormalized}}} (float3 input)\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -3786,7 +3956,7 @@ Normalize activation function. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -Vector3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADB" }{}}{\fldrslt {\cs37\ul\cf2 Activator}}} +Vector3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADA" }{}}{\fldrslt {\cs37\ul\cf2 Activator}}} (Vector3 inputValue)\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -3794,7 +3964,7 @@ Apply the activation function to the input. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -Vector3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADD" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorLinear}}} +Vector3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADC" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorLinear}}} (Vector3 input)\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -3802,7 +3972,7 @@ Linear activation function. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -Vector3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADF" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorSqrt}}} +Vector3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADE" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorSqrt}}} (Vector3 input)\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -3810,7 +3980,7 @@ Square root activation function. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -Vector3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADH" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorPower}}} +Vector3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADG" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorPower}}} (Vector3 input)\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -3818,7 +3988,7 @@ Power activation function. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -Vector3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADJ" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorReciprocal}}} +Vector3 {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADI" }{}}{\fldrslt {\cs37\ul\cf2 ActivatorReciprocal}}} (Vector3 input)\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -3833,8 +4003,8 @@ Protected Attributes\par { \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -float3 {\b _outputValue}{\bkmkstart AAAAAAAADN} -{\bkmkend AAAAAAAADN} +float3 {\b _outputValue}{\bkmkstart AAAAAAAADM} +{\bkmkend AAAAAAAADM} \par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -3843,8 +4013,8 @@ The output value of the neuron. }{ }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -Vector3 {\b _outputValue}{\bkmkstart AAAAAAAADO} -{\bkmkend AAAAAAAADO} +Vector3 {\b _outputValue}{\bkmkstart AAAAAAAADN} +{\bkmkend AAAAAAAADN} \par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -3870,9 +4040,9 @@ The synapses of the nucleus. }{ }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABV" }{}}{\fldrslt {\cs37\ul\cf2 ActivationType}}} - {\b activator}{\f2 [get, set]}{\bkmkstart AAAAAAAADP} -{\bkmkend AAAAAAAADP} +{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABW" }{}}{\fldrslt {\cs37\ul\cf2 ActivationType}}} + {\b activator}{\f2 [get, set]}{\bkmkstart AAAAAAAADO} +{\bkmkend AAAAAAAADO} \par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -3881,7 +4051,37 @@ The activation funtion. }{ }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -virtual float3 {\b outputValue}{\f2 [get, set]}{\bkmkstart AAAAAAAADQ} +virtual float3 {\b outputValue}{\f2 [get, set]}{\bkmkstart AAAAAAAADP} +{\bkmkend AAAAAAAADP} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +The output value of the neuron. }{ +}\par +}\par} +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid + +float {\b outputMagnitude}{\f2 [get]}{\bkmkstart AAAAAAAADR} +{\bkmkend AAAAAAAADR} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +The magnitude of the neuron output. }{ +}\par +}\par} +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid + +float {\b outputSqrMagnitude}{\f2 [get]}{\bkmkstart AAAAAAAADS} +{\bkmkend AAAAAAAADS} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +The squared magnitude of the neuron output. }{ +}\par +}\par} +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid + +virtual Vector3 {\b outputValue}{\f2 [get, set]}{\bkmkstart AAAAAAAADQ} {\bkmkend AAAAAAAADQ} \par { @@ -3891,48 +4091,18 @@ The output value of the neuron. }{ }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -float {\b outputMagnitude}{\f2 [get]}{\bkmkstart AAAAAAAADS} -{\bkmkend AAAAAAAADS} -\par -{ -\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -The magnitude of the neuron output. }{ -}\par -}\par} -\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid - -float {\b outputSqrMagnitude}{\f2 [get]}{\bkmkstart AAAAAAAADT} +bool {\b isFiring}{\f2 [get]}{\bkmkstart AAAAAAAADT} {\bkmkend AAAAAAAADT} \par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -The squared magnitude of the neuron output. }{ -}\par -}\par} -\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid - -virtual Vector3 {\b outputValue}{\f2 [get, set]}{\bkmkstart AAAAAAAADR} -{\bkmkend AAAAAAAADR} -\par -{ -\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -The output value of the neuron. }{ -}\par -}\par} -\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid - -bool {\b isFiring}{\f2 [get]}{\bkmkstart AAAAAAAADU} -{\bkmkend AAAAAAAADU} -\par -{ -\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid True if the neuron have a positive value with magnitude > 0.5. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -virtual bool {\b isSleeping}{\f2 [get]}{\bkmkstart AAAAAAAADV} -{\bkmkend AAAAAAAADV} +virtual bool {\b isSleeping}{\f2 [get]}{\bkmkstart AAAAAAAADU} +{\bkmkend AAAAAAAADU} \par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -3942,8 +4112,8 @@ True when the neuron is not persisting and has not be updated for timeToSleep se \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid virtual List< {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAI" }{}}{\fldrslt {\cs37\ul\cf2 Nucleus}}} - > {\b receivers}{\f2 [get, set]}{\bkmkstart AAAAAAAADW} -{\bkmkend AAAAAAAADW} + > {\b receivers}{\f2 [get, set]}{\bkmkstart AAAAAAAADV} +{\bkmkend AAAAAAAADV} \par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -3959,11 +4129,11 @@ Member Enumeration Documentation\par {\xe \v Neuron\:CombinatorType} \pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { {\b -enum {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABS" }{}}{\fldrslt {\cs37\ul\cf2 CombinatorType}}} +enum {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAABT" }{}}{\fldrslt {\cs37\ul\cf2 CombinatorType}}} }} \par -{\bkmkstart AAAAAAAABS} -{\bkmkend AAAAAAAABS} +{\bkmkstart AAAAAAAABT} +{\bkmkend AAAAAAAABT} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -3981,15 +4151,15 @@ Enumerator:\par} \pard \widctlpar\intbl\adjustright {\xe \v Sum\:Neuron} {\xe \v Neuron\:Sum} -{\qr Sum{\bkmkstart AAAAAAAABT} -{\bkmkend AAAAAAAABT} +{\qr Sum{\bkmkstart AAAAAAAABU} +{\bkmkend AAAAAAAABU} \cell }{{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid Add the weighted values together. \par }\cell }{\row } {\xe \v Product\:Neuron} {\xe \v Neuron\:Product} -{\qr Product{\bkmkstart AAAAAAAABU} -{\bkmkend AAAAAAAABU} +{\qr Product{\bkmkstart AAAAAAAABV} +{\bkmkend AAAAAAAABV} \cell }{{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid Multiply the weighted values. \par }\cell }{\row } @@ -4007,8 +4177,8 @@ Constructor & Destructor Documentation\par ({\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAF" }{}}{\fldrslt {\cs37\ul\cf2 Cluster}}} {\i parent}, string {\i name})}} \par -{\bkmkstart AAAAAAAADY} -{\bkmkend AAAAAAAADY} +{\bkmkstart AAAAAAAADW} +{\bkmkend AAAAAAAADW} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -4045,8 +4215,8 @@ Member Function Documentation\par AddSynapse ({\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAH" }{}}{\fldrslt {\cs37\ul\cf2 Neuron}}} {\i sendingNucleus}, float {\i weight} = {\f2 1})}} \par -{\bkmkstart AAAAAAAABZ} -{\bkmkend AAAAAAAABZ} +{\bkmkstart AAAAAAAACA} +{\bkmkend AAAAAAAACA} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -4083,8 +4253,8 @@ The created Synapse\par GetSynapse ({\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAI" }{}}{\fldrslt {\cs37\ul\cf2 Nucleus}}} {\i sender})}} \par -{\bkmkstart AAAAAAAACA} -{\bkmkend AAAAAAAACA} +{\bkmkstart AAAAAAAACB} +{\bkmkend AAAAAAAACB} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -4113,8 +4283,8 @@ The found Synapse or null when the sender has no synapse to this nucleus.\par void RemoveSynapse ({\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAI" }{}}{\fldrslt {\cs37\ul\cf2 Nucleus}}} {\i sendingNucleus})}} \par -{\bkmkstart AAAAAAAACB} -{\bkmkend AAAAAAAACB} +{\bkmkstart AAAAAAAACC} +{\bkmkend AAAAAAAACC} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -4139,8 +4309,8 @@ Parameters\par} {\b virtual void SetBias (Vector3 {\i inputValue}){\f2 [virtual]}}} \par -{\bkmkstart AAAAAAAACC} -{\bkmkend AAAAAAAACC} +{\bkmkstart AAAAAAAACD} +{\bkmkend AAAAAAAACD} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -4159,26 +4329,6 @@ Parameters\par} {\row } } }} -{\xe \v GenerateCurve\:Neuron} -{\xe \v Neuron\:GenerateCurve} -\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { -{\b -AnimationCurve GenerateCurve ()}} -\par -{\bkmkstart AAAAAAAACD} -{\bkmkend AAAAAAAACD} -{ -\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid -\par -{ -{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -Generate the curve for the current activation function. }}\par -{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -\par -{{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid -Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 -The curve \par -}}}} {\xe \v SleepCheck\:Neuron} {\xe \v Neuron\:SleepCheck} \pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { @@ -4204,8 +4354,8 @@ override {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAI" }{}}{\fldrslt {\cs37\ ShallowCloneTo ({\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAF" }{}}{\fldrslt {\cs37\ul\cf2 Cluster}}} {\i parent})}} \par -{\bkmkstart AAAAAAAADZ} -{\bkmkend AAAAAAAADZ} +{\bkmkstart AAAAAAAADX} +{\bkmkend AAAAAAAADX} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -4234,8 +4384,8 @@ Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \s virtual void CloneFields ({\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAH" }{}}{\fldrslt {\cs37\ul\cf2 Neuron}}} {\i clone}){\f2 [protected]}, {\f2 [virtual]}}} \par -{\bkmkstart AAAAAAAACX} -{\bkmkend AAAAAAAACX} +{\bkmkstart AAAAAAAACW} +{\bkmkend AAAAAAAACW} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -4287,8 +4437,8 @@ Parameters\par} {\b override void UpdateStateIsolated ()}} \par -{\bkmkstart AAAAAAAAEA} -{\bkmkend AAAAAAAAEA} +{\bkmkstart AAAAAAAADY} +{\bkmkend AAAAAAAADY} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -4305,8 +4455,8 @@ Update the state without updating other Nuclei. }}\par float3 Combinator (float3 {\i bias}, List< {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAJ" }{}}{\fldrslt {\cs37\ul\cf2 Synapse}}} > {\i synapses}){\f2 [protected]}}} \par -{\bkmkstart AAAAAAAACY} -{\bkmkend AAAAAAAACY} +{\bkmkstart AAAAAAAACX} +{\bkmkend AAAAAAAACX} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -4413,8 +4563,8 @@ The result of the multiplication\par Vector3 Combinator (Vector3 {\i bias}, List< {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAJ" }{}}{\fldrslt {\cs37\ul\cf2 Synapse}}} > {\i synapses}){\f2 [protected]}}} \par -{\bkmkstart AAAAAAAACZ} -{\bkmkend AAAAAAAACZ} +{\bkmkstart AAAAAAAACY} +{\bkmkend AAAAAAAACY} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -4520,6 +4670,238 @@ The result of the multiplication\par {\b float3 Activator (float3 {\i inputValue}){\f2 [protected]}}} \par +{\bkmkstart AAAAAAAACZ} +{\bkmkend AAAAAAAACZ} +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid +\par +{ +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Apply the activation function to the input. }}\par +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +{\par +{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid +Parameters\par} +\pard\plain \s81\li360\widctlpar\ql\adjustright \fs20\cgrid \trowd \trgaph108\trleft426\tblind426\trbrdrt\brdrs\brdrw10\brdrcf15 \trbrdrl\brdrs\brdrw10\brdrcf15 \trbrdrb\brdrs\brdrw10\brdrcf15 \trbrdrr\brdrs\brdrw10\brdrcf15 \trbrdrh\brdrs\brdrw10\brdrcf15 \trbrdrv\brdrs\brdrw10\brdrcf15 +\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx2187 +\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx8748 +\pard \widctlpar\intbl\adjustright +{{\i inputValue} \cell }{\cell } +{\row } +} +{{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid +Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 +The result of applying the activation function\par +}}}} +{\xe \v ActivatorLinear\:Neuron} +{\xe \v Neuron\:ActivatorLinear} +\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { +{\b +float3 ActivatorLinear (float3 {\i input}){\f2 [protected]}}} +\par +{\bkmkstart AAAAAAAADB} +{\bkmkend AAAAAAAADB} +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid +\par +{ +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Linear activation function. }}\par +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +{\par +{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid +Parameters\par} +\pard\plain \s81\li360\widctlpar\ql\adjustright \fs20\cgrid \trowd \trgaph108\trleft426\tblind426\trbrdrt\brdrs\brdrw10\brdrcf15 \trbrdrl\brdrs\brdrw10\brdrcf15 \trbrdrb\brdrs\brdrw10\brdrcf15 \trbrdrr\brdrs\brdrw10\brdrcf15 \trbrdrh\brdrs\brdrw10\brdrcf15 \trbrdrv\brdrs\brdrw10\brdrcf15 +\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx2187 +\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx8748 +\pard \widctlpar\intbl\adjustright +{{\i input} \cell }{Input value\cell } +{\row } +} +{{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid +Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 +The unchanged value\par +}}}} +{\xe \v ActivatorSqrt\:Neuron} +{\xe \v Neuron\:ActivatorSqrt} +\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { +{\b +float3 ActivatorSqrt (float3 {\i input}){\f2 [protected]}}} +\par +{\bkmkstart AAAAAAAADD} +{\bkmkend AAAAAAAADD} +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid +\par +{ +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Square root activation function. }}\par +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +{\par +{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid +Parameters\par} +\pard\plain \s81\li360\widctlpar\ql\adjustright \fs20\cgrid \trowd \trgaph108\trleft426\tblind426\trbrdrt\brdrs\brdrw10\brdrcf15 \trbrdrl\brdrs\brdrw10\brdrcf15 \trbrdrb\brdrs\brdrw10\brdrcf15 \trbrdrr\brdrs\brdrw10\brdrcf15 \trbrdrh\brdrs\brdrw10\brdrcf15 \trbrdrv\brdrs\brdrw10\brdrcf15 +\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx2187 +\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx8748 +\pard \widctlpar\intbl\adjustright +{{\i input} \cell }{Input value\cell } +{\row } +} +{{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid +Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 +The square root of the input\par +}}}} +{\xe \v ActivatorPower\:Neuron} +{\xe \v Neuron\:ActivatorPower} +\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { +{\b +float3 ActivatorPower (float3 {\i input}){\f2 [protected]}}} +\par +{\bkmkstart AAAAAAAADF} +{\bkmkend AAAAAAAADF} +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid +\par +{ +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Power activation function. }}\par +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +{\par +{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid +Parameters\par} +\pard\plain \s81\li360\widctlpar\ql\adjustright \fs20\cgrid \trowd \trgaph108\trleft426\tblind426\trbrdrt\brdrs\brdrw10\brdrcf15 \trbrdrl\brdrs\brdrw10\brdrcf15 \trbrdrb\brdrs\brdrw10\brdrcf15 \trbrdrr\brdrs\brdrw10\brdrcf15 \trbrdrh\brdrs\brdrw10\brdrcf15 \trbrdrv\brdrs\brdrw10\brdrcf15 +\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx2187 +\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx8748 +\pard \widctlpar\intbl\adjustright +{{\i input} \cell }{Input value\cell } +{\row } +} +{{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid +Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 +The input to the power of 2\par +}}}} +{\xe \v ActivatorReciprocal\:Neuron} +{\xe \v Neuron\:ActivatorReciprocal} +\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { +{\b +float3 ActivatorReciprocal (float3 {\i input}){\f2 [protected]}}} +\par +{\bkmkstart AAAAAAAADH} +{\bkmkend AAAAAAAADH} +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid +\par +{ +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Reciprocal activation function. }}\par +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +{\par +{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid +Parameters\par} +\pard\plain \s81\li360\widctlpar\ql\adjustright \fs20\cgrid \trowd \trgaph108\trleft426\tblind426\trbrdrt\brdrs\brdrw10\brdrcf15 \trbrdrl\brdrs\brdrw10\brdrcf15 \trbrdrb\brdrs\brdrw10\brdrcf15 \trbrdrr\brdrs\brdrw10\brdrcf15 \trbrdrh\brdrs\brdrw10\brdrcf15 \trbrdrv\brdrs\brdrw10\brdrcf15 +\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx2187 +\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx8748 +\pard \widctlpar\intbl\adjustright +{{\i input} \cell }{Input value\cell } +{\row } +} +{{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid +Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 +1/input value\par +}}}} +{\xe \v ActivatorTanh\:Neuron} +{\xe \v Neuron\:ActivatorTanh} +\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { +{\b +float3 ActivatorTanh (float3 {\i input}){\f2 [protected]}}} +\par +{\bkmkstart AAAAAAAADJ} +{\bkmkend AAAAAAAADJ} +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid +\par +{ +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Tanh activation function. }}\par +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +{\par +{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid +Parameters\par} +\pard\plain \s81\li360\widctlpar\ql\adjustright \fs20\cgrid \trowd \trgaph108\trleft426\tblind426\trbrdrt\brdrs\brdrw10\brdrcf15 \trbrdrl\brdrs\brdrw10\brdrcf15 \trbrdrb\brdrs\brdrw10\brdrcf15 \trbrdrr\brdrs\brdrw10\brdrcf15 \trbrdrh\brdrs\brdrw10\brdrcf15 \trbrdrv\brdrs\brdrw10\brdrcf15 +\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx2187 +\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx8748 +\pard \widctlpar\intbl\adjustright +{{\i input} \cell }{Input value\cell } +{\row } +} +{{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid +Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 +Tanh(input value)\par +}}}} +{\xe \v ActivatorBinary\:Neuron} +{\xe \v Neuron\:ActivatorBinary} +\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { +{\b +float3 ActivatorBinary (float3 {\i input}){\f2 [protected]}}} +\par +{\bkmkstart AAAAAAAADK} +{\bkmkend AAAAAAAADK} +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid +\par +{ +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Binary activation function. }}\par +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +{\par +{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid +Parameters\par} +\pard\plain \s81\li360\widctlpar\ql\adjustright \fs20\cgrid \trowd \trgaph108\trleft426\tblind426\trbrdrt\brdrs\brdrw10\brdrcf15 \trbrdrl\brdrs\brdrw10\brdrcf15 \trbrdrb\brdrs\brdrw10\brdrcf15 \trbrdrr\brdrs\brdrw10\brdrcf15 \trbrdrh\brdrs\brdrw10\brdrcf15 \trbrdrv\brdrs\brdrw10\brdrcf15 +\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx2187 +\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx8748 +\pard \widctlpar\intbl\adjustright +{{\i input} \cell }{Input value\cell } +{\row } +} +{{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid +Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 +An uniform vector with magnitude between 0 and 1\par +}}}} +{\xe \v ActivatorNormalized\:Neuron} +{\xe \v Neuron\:ActivatorNormalized} +\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { +{\b +float3 ActivatorNormalized (float3 {\i input}){\f2 [protected]}}} +\par +{\bkmkstart AAAAAAAADL} +{\bkmkend AAAAAAAADL} +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid +\par +{ +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Normalize activation function. }}\par +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +{\par +{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid +Parameters\par} +\pard\plain \s81\li360\widctlpar\ql\adjustright \fs20\cgrid \trowd \trgaph108\trleft426\tblind426\trbrdrt\brdrs\brdrw10\brdrcf15 \trbrdrl\brdrs\brdrw10\brdrcf15 \trbrdrb\brdrs\brdrw10\brdrcf15 \trbrdrr\brdrs\brdrw10\brdrcf15 \trbrdrh\brdrs\brdrw10\brdrcf15 \trbrdrv\brdrs\brdrw10\brdrcf15 +\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx2187 +\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx8748 +\pard \widctlpar\intbl\adjustright +{{\i input} \cell }{Input value\cell } +{\row } +} +{{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid +Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 +The normalized vector\par +}}}} +{\xe \v Activator\:Neuron} +{\xe \v Neuron\:Activator} +\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { +{\b +Vector3 Activator (Vector3 {\i inputValue}){\f2 [protected]}}} +\par {\bkmkstart AAAAAAAADA} {\bkmkend AAAAAAAADA} { @@ -4547,7 +4929,7 @@ The result of applying the activation function\par {\xe \v Neuron\:ActivatorLinear} \pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { {\b -float3 ActivatorLinear (float3 {\i input}){\f2 [protected]}}} +Vector3 ActivatorLinear (Vector3 {\i input}){\f2 [protected]}}} \par {\bkmkstart AAAAAAAADC} {\bkmkend AAAAAAAADC} @@ -4576,7 +4958,7 @@ The unchanged value\par {\xe \v Neuron\:ActivatorSqrt} \pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { {\b -float3 ActivatorSqrt (float3 {\i input}){\f2 [protected]}}} +Vector3 ActivatorSqrt (Vector3 {\i input}){\f2 [protected]}}} \par {\bkmkstart AAAAAAAADE} {\bkmkend AAAAAAAADE} @@ -4605,7 +4987,7 @@ The square root of the input\par {\xe \v Neuron\:ActivatorPower} \pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { {\b -float3 ActivatorPower (float3 {\i input}){\f2 [protected]}}} +Vector3 ActivatorPower (Vector3 {\i input}){\f2 [protected]}}} \par {\bkmkstart AAAAAAAADG} {\bkmkend AAAAAAAADG} @@ -4634,7 +5016,7 @@ The input to the power of 2\par {\xe \v Neuron\:ActivatorReciprocal} \pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { {\b -float3 ActivatorReciprocal (float3 {\i input}){\f2 [protected]}}} +Vector3 ActivatorReciprocal (Vector3 {\i input}){\f2 [protected]}}} \par {\bkmkstart AAAAAAAADI} {\bkmkend AAAAAAAADI} @@ -4659,238 +5041,6 @@ Parameters\par} Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 1/input value\par }}}} -{\xe \v ActivatorTanh\:Neuron} -{\xe \v Neuron\:ActivatorTanh} -\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { -{\b -float3 ActivatorTanh (float3 {\i input}){\f2 [protected]}}} -\par -{\bkmkstart AAAAAAAADK} -{\bkmkend AAAAAAAADK} -{ -\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid -\par -{ -{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -Tanh activation function. }}\par -{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -{\par -{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid -Parameters\par} -\pard\plain \s81\li360\widctlpar\ql\adjustright \fs20\cgrid \trowd \trgaph108\trleft426\tblind426\trbrdrt\brdrs\brdrw10\brdrcf15 \trbrdrl\brdrs\brdrw10\brdrcf15 \trbrdrb\brdrs\brdrw10\brdrcf15 \trbrdrr\brdrs\brdrw10\brdrcf15 \trbrdrh\brdrs\brdrw10\brdrcf15 \trbrdrv\brdrs\brdrw10\brdrcf15 -\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx2187 -\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx8748 -\pard \widctlpar\intbl\adjustright -{{\i input} \cell }{Input value\cell } -{\row } -} -{{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid -Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 -Tanh(input value)\par -}}}} -{\xe \v ActivatorBinary\:Neuron} -{\xe \v Neuron\:ActivatorBinary} -\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { -{\b -float3 ActivatorBinary (float3 {\i input}){\f2 [protected]}}} -\par -{\bkmkstart AAAAAAAADL} -{\bkmkend AAAAAAAADL} -{ -\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid -\par -{ -{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -Binary activation function. }}\par -{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -{\par -{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid -Parameters\par} -\pard\plain \s81\li360\widctlpar\ql\adjustright \fs20\cgrid \trowd \trgaph108\trleft426\tblind426\trbrdrt\brdrs\brdrw10\brdrcf15 \trbrdrl\brdrs\brdrw10\brdrcf15 \trbrdrb\brdrs\brdrw10\brdrcf15 \trbrdrr\brdrs\brdrw10\brdrcf15 \trbrdrh\brdrs\brdrw10\brdrcf15 \trbrdrv\brdrs\brdrw10\brdrcf15 -\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx2187 -\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx8748 -\pard \widctlpar\intbl\adjustright -{{\i input} \cell }{Input value\cell } -{\row } -} -{{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid -Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 -An uniform vector with magnitude between 0 and 1\par -}}}} -{\xe \v ActivatorNormalized\:Neuron} -{\xe \v Neuron\:ActivatorNormalized} -\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { -{\b -float3 ActivatorNormalized (float3 {\i input}){\f2 [protected]}}} -\par -{\bkmkstart AAAAAAAADM} -{\bkmkend AAAAAAAADM} -{ -\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid -\par -{ -{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -Normalize activation function. }}\par -{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -{\par -{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid -Parameters\par} -\pard\plain \s81\li360\widctlpar\ql\adjustright \fs20\cgrid \trowd \trgaph108\trleft426\tblind426\trbrdrt\brdrs\brdrw10\brdrcf15 \trbrdrl\brdrs\brdrw10\brdrcf15 \trbrdrb\brdrs\brdrw10\brdrcf15 \trbrdrr\brdrs\brdrw10\brdrcf15 \trbrdrh\brdrs\brdrw10\brdrcf15 \trbrdrv\brdrs\brdrw10\brdrcf15 -\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx2187 -\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx8748 -\pard \widctlpar\intbl\adjustright -{{\i input} \cell }{Input value\cell } -{\row } -} -{{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid -Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 -The normalized vector\par -}}}} -{\xe \v Activator\:Neuron} -{\xe \v Neuron\:Activator} -\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { -{\b -Vector3 Activator (Vector3 {\i inputValue}){\f2 [protected]}}} -\par -{\bkmkstart AAAAAAAADB} -{\bkmkend AAAAAAAADB} -{ -\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid -\par -{ -{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -Apply the activation function to the input. }}\par -{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -{\par -{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid -Parameters\par} -\pard\plain \s81\li360\widctlpar\ql\adjustright \fs20\cgrid \trowd \trgaph108\trleft426\tblind426\trbrdrt\brdrs\brdrw10\brdrcf15 \trbrdrl\brdrs\brdrw10\brdrcf15 \trbrdrb\brdrs\brdrw10\brdrcf15 \trbrdrr\brdrs\brdrw10\brdrcf15 \trbrdrh\brdrs\brdrw10\brdrcf15 \trbrdrv\brdrs\brdrw10\brdrcf15 -\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx2187 -\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx8748 -\pard \widctlpar\intbl\adjustright -{{\i inputValue} \cell }{\cell } -{\row } -} -{{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid -Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 -The result of applying the activation function\par -}}}} -{\xe \v ActivatorLinear\:Neuron} -{\xe \v Neuron\:ActivatorLinear} -\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { -{\b -Vector3 ActivatorLinear (Vector3 {\i input}){\f2 [protected]}}} -\par -{\bkmkstart AAAAAAAADD} -{\bkmkend AAAAAAAADD} -{ -\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid -\par -{ -{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -Linear activation function. }}\par -{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -{\par -{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid -Parameters\par} -\pard\plain \s81\li360\widctlpar\ql\adjustright \fs20\cgrid \trowd \trgaph108\trleft426\tblind426\trbrdrt\brdrs\brdrw10\brdrcf15 \trbrdrl\brdrs\brdrw10\brdrcf15 \trbrdrb\brdrs\brdrw10\brdrcf15 \trbrdrr\brdrs\brdrw10\brdrcf15 \trbrdrh\brdrs\brdrw10\brdrcf15 \trbrdrv\brdrs\brdrw10\brdrcf15 -\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx2187 -\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx8748 -\pard \widctlpar\intbl\adjustright -{{\i input} \cell }{Input value\cell } -{\row } -} -{{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid -Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 -The unchanged value\par -}}}} -{\xe \v ActivatorSqrt\:Neuron} -{\xe \v Neuron\:ActivatorSqrt} -\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { -{\b -Vector3 ActivatorSqrt (Vector3 {\i input}){\f2 [protected]}}} -\par -{\bkmkstart AAAAAAAADF} -{\bkmkend AAAAAAAADF} -{ -\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid -\par -{ -{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -Square root activation function. }}\par -{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -{\par -{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid -Parameters\par} -\pard\plain \s81\li360\widctlpar\ql\adjustright \fs20\cgrid \trowd \trgaph108\trleft426\tblind426\trbrdrt\brdrs\brdrw10\brdrcf15 \trbrdrl\brdrs\brdrw10\brdrcf15 \trbrdrb\brdrs\brdrw10\brdrcf15 \trbrdrr\brdrs\brdrw10\brdrcf15 \trbrdrh\brdrs\brdrw10\brdrcf15 \trbrdrv\brdrs\brdrw10\brdrcf15 -\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx2187 -\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx8748 -\pard \widctlpar\intbl\adjustright -{{\i input} \cell }{Input value\cell } -{\row } -} -{{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid -Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 -The square root of the input\par -}}}} -{\xe \v ActivatorPower\:Neuron} -{\xe \v Neuron\:ActivatorPower} -\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { -{\b -Vector3 ActivatorPower (Vector3 {\i input}){\f2 [protected]}}} -\par -{\bkmkstart AAAAAAAADH} -{\bkmkend AAAAAAAADH} -{ -\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid -\par -{ -{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -Power activation function. }}\par -{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -{\par -{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid -Parameters\par} -\pard\plain \s81\li360\widctlpar\ql\adjustright \fs20\cgrid \trowd \trgaph108\trleft426\tblind426\trbrdrt\brdrs\brdrw10\brdrcf15 \trbrdrl\brdrs\brdrw10\brdrcf15 \trbrdrb\brdrs\brdrw10\brdrcf15 \trbrdrr\brdrs\brdrw10\brdrcf15 \trbrdrh\brdrs\brdrw10\brdrcf15 \trbrdrv\brdrs\brdrw10\brdrcf15 -\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx2187 -\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx8748 -\pard \widctlpar\intbl\adjustright -{{\i input} \cell }{Input value\cell } -{\row } -} -{{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid -Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 -The input to the power of 2\par -}}}} -{\xe \v ActivatorReciprocal\:Neuron} -{\xe \v Neuron\:ActivatorReciprocal} -\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { -{\b -Vector3 ActivatorReciprocal (Vector3 {\i input}){\f2 [protected]}}} -\par -{\bkmkstart AAAAAAAADJ} -{\bkmkend AAAAAAAADJ} -{ -\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid -\par -{ -{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -Reciprocal activation function. }}\par -{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -{\par -{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid -Parameters\par} -\pard\plain \s81\li360\widctlpar\ql\adjustright \fs20\cgrid \trowd \trgaph108\trleft426\tblind426\trbrdrt\brdrs\brdrw10\brdrcf15 \trbrdrl\brdrs\brdrw10\brdrcf15 \trbrdrb\brdrs\brdrw10\brdrcf15 \trbrdrr\brdrs\brdrw10\brdrcf15 \trbrdrh\brdrs\brdrw10\brdrcf15 \trbrdrv\brdrs\brdrw10\brdrcf15 -\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx2187 -\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx8748 -\pard \widctlpar\intbl\adjustright -{{\i input} \cell }{Input value\cell } -{\row } -} -{{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid -Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 -1/input value\par -}}}} {\xe \v AddReceiver\:Neuron} {\xe \v Neuron\:AddReceiver} \pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { @@ -4998,6 +5148,23 @@ The bias. }}\par {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid The bias which a value which is always added to the combined value of the neuron It does not have a synapse and therefore no weight of source nucleus \par }} +{\xe \v breakOnUpdate\:Neuron} +{\xe \v Neuron\:breakOnUpdate} +\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { +{\b +bool breakOnUpdate = false}} +\par +{\bkmkstart AAAAAAAACU} +{\bkmkend AAAAAAAACU} +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid +\par +{ +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +When true, Unity will pause exection when this neuron is updated. }}\par +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Pausing is implemented using {\field {\*\fldinst { HYPERLINK "https://docs.unity3d.com/ScriptReference/Debug.Break.html" }{}}{\fldrslt {\cs37\ul\cf2 Debug.Break()}}} \par +}} \par \pard\plain \pard\plain \sect\sbkpage @@ -5045,7 +5212,7 @@ Public Member Functions\par { \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAI" }{}}{\fldrslt {\cs37\ul\cf2 Nucleus}}} - {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAEG" }{}}{\fldrslt {\cs37\ul\cf2 ShallowCloneTo}}} + {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAADZ" }{}}{\fldrslt {\cs37\ul\cf2 ShallowCloneTo}}} ({\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAF" }{}}{\fldrslt {\cs37\ul\cf2 Cluster}}} {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAO" }{}}{\fldrslt {\cs37\ul\cf2 parent}}} )\par @@ -5056,8 +5223,8 @@ Function to make a partial clone of this nucleus. }{ }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -void {\b UpdateStateIsolated} (){\bkmkstart AAAAAAAAEH} -{\bkmkend AAAAAAAAEH} +void {\b UpdateStateIsolated} (){\bkmkstart AAAAAAAAEA} +{\bkmkend AAAAAAAAEA} \par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -5072,8 +5239,8 @@ Public Attributes\par { \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -string {\b name}{\bkmkstart AAAAAAAABM} -{\bkmkend AAAAAAAABM} +string {\b name}{\bkmkstart AAAAAAAABN} +{\bkmkend AAAAAAAABN} \par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -5104,8 +5271,8 @@ Member Function Documentation\par ShallowCloneTo ({\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAF" }{}}{\fldrslt {\cs37\ul\cf2 Cluster}}} {\i parent}){\f2 [abstract]}}} \par -{\bkmkstart AAAAAAAAEG} -{\bkmkend AAAAAAAAEG} +{\bkmkstart AAAAAAAADZ} +{\bkmkend AAAAAAAADZ} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -5132,62 +5299,109 @@ Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \s \pard\plain \sect\sbkpage \s2\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs28\kerning28\cgrid \pard\plain \s2\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs28\kerning28\cgrid -Neuron.Presets Class Reference\par \pard\plain -{\tc\tcl2 \v Neuron.Presets} -{\xe \v Neuron.Presets} -{\bkmkstart AAAAAAAADX} -{\bkmkend AAAAAAAADX} +Sensor Class Reference\par \pard\plain +{\tc\tcl2 \v Sensor} +{\xe \v Sensor} +{\bkmkstart AAAAAAAAEK} +{\bkmkend AAAAAAAAEK} {\pard\widctlpar\brdrb\brdrs\brdrw5\brsp20 \adjustright \par} \pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid Description\par \pard\plain { \pard\plain \s17\sa60\sb30\widctlpar\qj \fs22\cgrid {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -The curve presets for the activation functions. \par +A non-directional sensor. \par +} + +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +The sensor has a field of view, but the signal returned does not include a direction \par }} +Inheritance diagram for Sensor:{ +\pard\plain +\par\pard \qc {\field\flddirty {\*\fldinst INCLUDEPICTURE "class_nano_brain_1_1_unity_1_1_braitenberg_1_1_sensor.png" \\d \\*MERGEFORMAT}{\fldrslt IMAGE}}\par +} \pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid -Static Public Member Functions\par +Public Attributes\par \pard\plain { \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -static AnimationCurve {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAEB" }{}}{\fldrslt {\cs37\ul\cf2 Linear}}} - (float weight)\par + +float {\b sensorRange} = 10f{\bkmkstart AAAAAAAAEP} +{\bkmkend AAAAAAAAEP} +\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -Generate a curve for the linear activation function. }{ +Maximum distance the sensor detects anything. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -static AnimationCurve {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAEC" }{}}{\fldrslt {\cs37\ul\cf2 Power}}} - (float exponent, float weight)\par + +float {\b sampleInterval} = 0.1f{\bkmkstart AAAAAAAAEQ} +{\bkmkend AAAAAAAAEQ} +\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -Generate a curve for the power activation function. }{ +Time between samples in seconds. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -static AnimationCurve {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAED" }{}}{\fldrslt {\cs37\ul\cf2 Reciprocal}}} - (float weight)\par +LayerMask {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAER" }{}}{\fldrslt {\cs37\ul\cf2 senseLayer}}} +\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -Generate a curve for the reciprocal activation function. }{ +Unity Layer for the light objects. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -static AnimationCurve {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAEE" }{}}{\fldrslt {\cs37\ul\cf2 Tanh}}} - (float weight)\par + +{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAH" }{}}{\fldrslt {\cs37\ul\cf2 Neuron}}} + {\b sensoryNeuron}{\bkmkstart AAAAAAAAES} +{\bkmkend AAAAAAAAES} +\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -Generate a curve for the tanh activation function. }{ +The {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAH" }{}}{\fldrslt {\cs37\ul\cf2 NanoBrain::Neuron}}} which is stimulated by this sensor. }{ +}\par +}\par} +} +\pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid +Protected Member Functions\par +\pard\plain + +{ +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid + +virtual void {\b Awake} (){\bkmkstart AAAAAAAAEU} +{\bkmkend AAAAAAAAEU} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Unity calls Awake when loading an instance of a script component. }{ }\par }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -static AnimationCurve {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAEF" }{}}{\fldrslt {\cs37\ul\cf2 Binary}}} +virtual float {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAEW" }{}}{\fldrslt {\cs37\ul\cf2 SampleSensor}}} ()\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -Generate a curve for the binary activation function. }{ +Performs a sampling function to retrieve a new sensor output value. }{ +}\par +}\par} +} +\pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid +Properties\par +\pard\plain + +{ +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid + +float {\b output}{\f2 [get, protected set]}{\bkmkstart AAAAAAAAEV} +{\bkmkend AAAAAAAAEV} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Output value of the sensor. }{ }\par }\par} } @@ -5195,148 +5409,51 @@ Generate a curve for the binary activation function. }{ \pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid Member Function Documentation\par \pard\plain -{\xe \v Linear\:Neuron.Presets} -{\xe \v Neuron.Presets\:Linear} +{\xe \v SampleSensor\:Sensor} +{\xe \v Sensor\:SampleSensor} \pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { {\b -static AnimationCurve Linear (float {\i weight}){\f2 [static]}}} +virtual float SampleSensor (){\f2 [protected]}, {\f2 [virtual]}}} \par -{\bkmkstart AAAAAAAAEB} -{\bkmkend AAAAAAAAEB} +{\bkmkstart AAAAAAAAEW} +{\bkmkend AAAAAAAAEW} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par { {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -Generate a curve for the linear activation function. }}\par +Performs a sampling function to retrieve a new sensor output value. }}\par {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -{\par -{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid -Parameters\par} -\pard\plain \s81\li360\widctlpar\ql\adjustright \fs20\cgrid \trowd \trgaph108\trleft426\tblind426\trbrdrt\brdrs\brdrw10\brdrcf15 \trbrdrl\brdrs\brdrw10\brdrcf15 \trbrdrb\brdrs\brdrw10\brdrcf15 \trbrdrr\brdrs\brdrw10\brdrcf15 \trbrdrh\brdrs\brdrw10\brdrcf15 \trbrdrv\brdrs\brdrw10\brdrcf15 -\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx2187 -\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx8748 -\pard \widctlpar\intbl\adjustright -{{\i weight} \cell }{The maximum value for the function\cell } -{\row } +\par +{{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid +Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 +Sensor output value\par +}}}{ +Reimplemented in {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAET" }{}}{\fldrslt {\cs37\ul\cf2 LightSensor}}} +, and {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAFD" }{}}{\fldrslt {\cs37\ul\cf2 TouchSensor}}} +.}\par } -{{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid -Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 -The curve preset\par -}}}} -{\xe \v Power\:Neuron.Presets} -{\xe \v Neuron.Presets\:Power} +{\pard\widctlpar\brdrb\brdrs\brdrw5\brsp20 \adjustright \par} +\pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid +Member Data Documentation\par +\pard\plain +{\xe \v senseLayer\:Sensor} +{\xe \v Sensor\:senseLayer} \pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { {\b -static AnimationCurve Power (float {\i exponent}, float {\i weight}){\f2 [static]}}} +LayerMask senseLayer}} \par -{\bkmkstart AAAAAAAAEC} -{\bkmkend AAAAAAAAEC} +{\bkmkstart AAAAAAAAER} +{\bkmkend AAAAAAAAER} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par { {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -Generate a curve for the power activation function. }}\par +Unity Layer for the light objects. }}\par {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -{\par -{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid -Parameters\par} -\pard\plain \s81\li360\widctlpar\ql\adjustright \fs20\cgrid \trowd \trgaph108\trleft426\tblind426\trbrdrt\brdrs\brdrw10\brdrcf15 \trbrdrl\brdrs\brdrw10\brdrcf15 \trbrdrb\brdrs\brdrw10\brdrcf15 \trbrdrr\brdrs\brdrw10\brdrcf15 \trbrdrh\brdrs\brdrw10\brdrcf15 \trbrdrv\brdrs\brdrw10\brdrcf15 -\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx2187 -\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx8748 -\pard \widctlpar\intbl\adjustright -{{\i exponent} \cell }{The exponent of the power function\cell } -{\row } -\trowd \trgaph108\trleft426\tblind426\trbrdrt\brdrs\brdrw10\brdrcf15 \trbrdrl\brdrs\brdrw10\brdrcf15 \trbrdrb\brdrs\brdrw10\brdrcf15 \trbrdrr\brdrs\brdrw10\brdrcf15 \trbrdrh\brdrs\brdrw10\brdrcf15 \trbrdrv\brdrs\brdrw10\brdrcf15 -\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx2187 -\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx8748 -\pard \widctlpar\intbl\adjustright -{{\i weight} \cell }{The maximum value for the function\cell } -{\row } -} -{{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid -Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 -The curve preset\par -}}}} -{\xe \v Reciprocal\:Neuron.Presets} -{\xe \v Neuron.Presets\:Reciprocal} -\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { -{\b -static AnimationCurve Reciprocal (float {\i weight}){\f2 [static]}}} -\par -{\bkmkstart AAAAAAAAED} -{\bkmkend AAAAAAAAED} -{ -\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid -\par -{ -{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -Generate a curve for the reciprocal activation function. }}\par -{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -{\par -{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid -Parameters\par} -\pard\plain \s81\li360\widctlpar\ql\adjustright \fs20\cgrid \trowd \trgaph108\trleft426\tblind426\trbrdrt\brdrs\brdrw10\brdrcf15 \trbrdrl\brdrs\brdrw10\brdrcf15 \trbrdrb\brdrs\brdrw10\brdrcf15 \trbrdrr\brdrs\brdrw10\brdrcf15 \trbrdrh\brdrs\brdrw10\brdrcf15 \trbrdrv\brdrs\brdrw10\brdrcf15 -\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx2187 -\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx8748 -\pard \widctlpar\intbl\adjustright -{{\i weight} \cell }{The maximum value for the function\cell } -{\row } -} -{{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid -Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 -The curve preset\par -}}}} -{\xe \v Tanh\:Neuron.Presets} -{\xe \v Neuron.Presets\:Tanh} -\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { -{\b -static AnimationCurve Tanh (float {\i weight}){\f2 [static]}}} -\par -{\bkmkstart AAAAAAAAEE} -{\bkmkend AAAAAAAAEE} -{ -\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid -\par -{ -{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -Generate a curve for the tanh activation function. }}\par -{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -{\par -{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid -Parameters\par} -\pard\plain \s81\li360\widctlpar\ql\adjustright \fs20\cgrid \trowd \trgaph108\trleft426\tblind426\trbrdrt\brdrs\brdrw10\brdrcf15 \trbrdrl\brdrs\brdrw10\brdrcf15 \trbrdrb\brdrs\brdrw10\brdrcf15 \trbrdrr\brdrs\brdrw10\brdrcf15 \trbrdrh\brdrs\brdrw10\brdrcf15 \trbrdrv\brdrs\brdrw10\brdrcf15 -\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx2187 -\clvertalt\clbrdrt\brdrs\brdrw10\brdrcf15 \clbrdrl\brdrs\brdrw10\brdrcf15 \clbrdrb\brdrs\brdrw10\brdrcf15 \clbrdrr \brdrs\brdrw10\brdrcf15 \cltxlrtb \cellx8748 -\pard \widctlpar\intbl\adjustright -{{\i weight} \cell }{The maximum value for the function\cell } -{\row } -} -{{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid -Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 -The curve preset\par -}}}} -{\xe \v Binary\:Neuron.Presets} -{\xe \v Neuron.Presets\:Binary} -\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { -{\b -static AnimationCurve Binary (){\f2 [static]}}} -\par -{\bkmkstart AAAAAAAAEF} -{\bkmkend AAAAAAAAEF} -{ -\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid -\par -{ -{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -Generate a curve for the binary activation function. }}\par -{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid -\par -{{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid -Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 -The curve preset\par -}}}} +This is used to improve performance \par +}} \par \pard\plain \pard\plain \sect\sbkpage @@ -5361,9 +5478,9 @@ Public Member Functions\par { \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAEI" }{}}{\fldrslt {\cs37\ul\cf2 Synapse}}} +{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAEB" }{}}{\fldrslt {\cs37\ul\cf2 Synapse}}} ({\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAH" }{}}{\fldrslt {\cs37\ul\cf2 Neuron}}} - nucleus, float {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAEJ" }{}}{\fldrslt {\cs37\ul\cf2 weight}}} + nucleus, float {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAEC" }{}}{\fldrslt {\cs37\ul\cf2 weight}}} =1.0f)\par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -5379,8 +5496,8 @@ Public Attributes\par \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAH" }{}}{\fldrslt {\cs37\ul\cf2 Neuron}}} - {\b neuron}{\bkmkstart AAAAAAAAEK} -{\bkmkend AAAAAAAAEK} + {\b neuron}{\bkmkstart AAAAAAAAED} +{\bkmkend AAAAAAAAED} \par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -5389,8 +5506,8 @@ The neuron from which input is received. }{ }\par} \pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid -float {\b weight}{\bkmkstart AAAAAAAAEJ} -{\bkmkend AAAAAAAAEJ} +float {\b weight}{\bkmkstart AAAAAAAAEC} +{\bkmkend AAAAAAAAEC} \par { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid @@ -5410,8 +5527,8 @@ Constructor & Destructor Documentation\par ({\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAH" }{}}{\fldrslt {\cs37\ul\cf2 Neuron}}} {\i nucleus}, float {\i weight} = {\f2 1::0f})}} \par -{\bkmkstart AAAAAAAAEI} -{\bkmkend AAAAAAAAEI} +{\bkmkstart AAAAAAAAEB} +{\bkmkend AAAAAAAAEB} { \pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid \par @@ -5436,6 +5553,289 @@ Parameters\par} {\row } } }} +\par \pard\plain + +\pard\plain \sect\sbkpage +\s2\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs28\kerning28\cgrid +\pard\plain \s2\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs28\kerning28\cgrid +TouchSensor Class Reference\par \pard\plain +{\tc\tcl2 \v TouchSensor} +{\xe \v TouchSensor} +{\bkmkstart AAAAAAAAEL} +{\bkmkend AAAAAAAAEL} +{\pard\widctlpar\brdrb\brdrs\brdrw5\brsp20 \adjustright \par} +\pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid +Description\par +\pard\plain +{ +\pard\plain \s17\sa60\sb30\widctlpar\qj \fs22\cgrid {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +A sensor which can detect contacts with static GameObjects or Rigidbodies. \par +}} +Inheritance diagram for TouchSensor:{ +\pard\plain +\par\pard \qc {\field\flddirty {\*\fldinst INCLUDEPICTURE "class_nano_brain_1_1_unity_1_1_braitenberg_1_1_touch_sensor.png" \\d \\*MERGEFORMAT}{\fldrslt IMAGE}}\par +} +\pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid +Public Attributes\par +\pard\plain + +{ +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid + +float {\b sensorRange} = 10f{\bkmkstart AAAAAAAAEP} +{\bkmkend AAAAAAAAEP} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Maximum distance the sensor detects anything. }{ +}\par +}\par} +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid + +float {\b sampleInterval} = 0.1f{\bkmkstart AAAAAAAAEQ} +{\bkmkend AAAAAAAAEQ} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Time between samples in seconds. }{ +}\par +}\par} +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid +LayerMask {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAER" }{}}{\fldrslt {\cs37\ul\cf2 senseLayer}}} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Unity Layer for the light objects. }{ +}\par +}\par} +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid + +{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAH" }{}}{\fldrslt {\cs37\ul\cf2 Neuron}}} + {\b sensoryNeuron}{\bkmkstart AAAAAAAAES} +{\bkmkend AAAAAAAAES} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +The {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAH" }{}}{\fldrslt {\cs37\ul\cf2 NanoBrain::Neuron}}} which is stimulated by this sensor. }{ +}\par +}\par} +} +\pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid +Protected Member Functions\par +\pard\plain + +{ +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid +override float {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAFD" }{}}{\fldrslt {\cs37\ul\cf2 SampleSensor}}} + ()\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Returns the current touching state. }{ +}\par +}\par} +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid + +virtual void {\b Awake} (){\bkmkstart AAAAAAAAEU} +{\bkmkend AAAAAAAAEU} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Unity calls Awake when loading an instance of a script component. }{ +}\par +}\par} +} +\pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid +Properties\par +\pard\plain + +{ +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid + +bool {\b touching}{\f2 [get, protected set]}{\bkmkstart AAAAAAAAFE} +{\bkmkend AAAAAAAAFE} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Is the sensor touching something? }{ +}\par +}\par} +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid + +float {\b output}{\f2 [get, protected set]}{\bkmkstart AAAAAAAAEV} +{\bkmkend AAAAAAAAEV} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Output value of the sensor. }{ +}\par +}\par} +} +{\pard\widctlpar\brdrb\brdrs\brdrw5\brsp20 \adjustright \par} +\pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid +Member Function Documentation\par +\pard\plain +{\xe \v SampleSensor\:TouchSensor} +{\xe \v TouchSensor\:SampleSensor} +\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { +{\b +override float SampleSensor (){\f2 [protected]}, {\f2 [virtual]}}} +\par +{\bkmkstart AAAAAAAAFD} +{\bkmkend AAAAAAAAFD} +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid +\par +{ +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Returns the current touching state. }}\par +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +\par +{{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid +Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 +1.0 when touching something, 0.0 otherwise\par +}}}{ +Reimplemented from {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAEW" }{}}{\fldrslt {\cs37\ul\cf2 Sensor}}} +.}\par +} +{\pard\widctlpar\brdrb\brdrs\brdrw5\brsp20 \adjustright \par} +\pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid +Member Data Documentation\par +\pard\plain +{\xe \v senseLayer\:TouchSensor} +{\xe \v TouchSensor\:senseLayer} +\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { +{\b +LayerMask senseLayer{\f2 [inherited]}}} +\par +{\bkmkstart AAAAAAAAER} +{\bkmkend AAAAAAAAER} +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid +\par +{ +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +Unity Layer for the light objects. }}\par +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +This is used to improve performance \par +}} +\par \pard\plain + +\pard\plain \sect\sbkpage +\s2\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs28\kerning28\cgrid +\pard\plain \s2\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs28\kerning28\cgrid +Vehicle Class Reference\par \pard\plain +{\tc\tcl2 \v Vehicle} +{\xe \v Vehicle} +{\bkmkstart AAAAAAAAEM} +{\bkmkend AAAAAAAAEM} +{\pard\widctlpar\brdrb\brdrs\brdrw5\brsp20 \adjustright \par} +\pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid +Description\par +\pard\plain +{ +\pard\plain \s17\sa60\sb30\widctlpar\qj \fs22\cgrid {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +A Braitenberg style vehicle with two sensors and two motors, powered by a Nanobrain. \par +}} +\par +{ +Inherits MonoBehaviour.}\par +\pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid +Public Attributes\par +\pard\plain + +{ +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid + +{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAF" }{}}{\fldrslt {\cs37\ul\cf2 Cluster}}} + {\b brain}{\bkmkstart AAAAAAAAFF} +{\bkmkend AAAAAAAAFF} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +The {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAAF" }{}}{\fldrslt {\cs37\ul\cf2 NanoBrain::Cluster}}} controlling the vehicle. }{ +}\par +}\par} +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid + +{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAEJ" }{}}{\fldrslt {\cs37\ul\cf2 Motor}}} + {\b motorLeft}{\bkmkstart AAAAAAAAFG} +{\bkmkend AAAAAAAAFG} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +The left motor. }{ +}\par +}\par} +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid + +{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAEJ" }{}}{\fldrslt {\cs37\ul\cf2 Motor}}} + {\b motorRight}{\bkmkstart AAAAAAAAFH} +{\bkmkend AAAAAAAAFH} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +The right motor. }{ +}\par +}\par} +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid +{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAEK" }{}}{\fldrslt {\cs37\ul\cf2 Sensor}}} + {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAFI" }{}}{\fldrslt {\cs37\ul\cf2 sensorLeft}}} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +The front-left sensor. }{ +}\par +}\par} +\pard\plain \s120\fi-360\li360\widctlpar\jclisttab\tx360{\*\pn \pnlvlbody\ilvl0\ls1\pnrnot0\pndec }\ls1\adjustright \fs20\cgrid +{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAEK" }{}}{\fldrslt {\cs37\ul\cf2 Sensor}}} + {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAFJ" }{}}{\fldrslt {\cs37\ul\cf2 sensorRight}}} +\par +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid {\i {\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +The front-right sensor. }{ +}\par +}\par} +} +{\pard\widctlpar\brdrb\brdrs\brdrw5\brsp20 \adjustright \par} +\pard\plain \s3\sb240\sa60\keepn\widctlpar\adjustright \b\f1\cgrid +Member Data Documentation\par +\pard\plain +{\xe \v sensorLeft\:Vehicle} +{\xe \v Vehicle\:sensorLeft} +\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { +{\b +{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAEK" }{}}{\fldrslt {\cs37\ul\cf2 Sensor}}} + sensorLeft}} +\par +{\bkmkstart AAAAAAAAFI} +{\bkmkend AAAAAAAAFI} +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid +\par +{ +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +The front-left sensor. }}\par +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +When the vehicle has only one sensor, this can be used as the single sensor \par +}} +{\xe \v sensorRight\:Vehicle} +{\xe \v Vehicle\:sensorRight} +\pard\plain \s4\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs20\cgrid { +{\b +{\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAEK" }{}}{\fldrslt {\cs37\ul\cf2 Sensor}}} + sensorRight}} +\par +{\bkmkstart AAAAAAAAFJ} +{\bkmkend AAAAAAAAFJ} +{ +\pard\plain \s61\li360\sa60\sb30\qj\widctlpar\qj\adjustright \fs20\cgrid +\par +{ +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +The front-right sensor. }}\par +{\s17\sa60\sb30\widctlpar\qj \fs22\cgrid +When the vehicle has only one sensor, this can be set to null \par +}} \pard\plain \sect\sbkpage \s1\sb240\sa60\keepn\widctlpar\adjustright \b\f1\fs36\kerning36\cgrid diff --git a/Documentation/html/search/all_1.js b/Documentation/html/search/all_1.js index a876156..1b88357 100644 --- a/Documentation/html/search/all_1.js +++ b/Documentation/html/search/all_1.js @@ -1,15 +1,16 @@ var searchData= [ ['activationtype_0',['ActivationType',['../class_nano_brain_1_1_neuron.html#abda2c109ffc1dc92ebde0f4802c37b1f',1,'NanoBrain::Neuron']]], - ['activator_1',['activator',['../class_nano_brain_1_1_neuron.html#a89bb3565b62b372f9a9baad1b4657fc5',1,'NanoBrain.Neuron.Activator(float3 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b/DoxyWarnLogfile.txt new file mode 100644 index 0000000..127d7c3 --- /dev/null +++ b/DoxyWarnLogfile.txt @@ -0,0 +1,25 @@ +warning: failed to open layout file 'DoxygenLayout.xml' for reading! Using default settings. +warning: source 'images' is not a readable file or directory... skipping. +error: Style sheet 'custom_doxygen.css' specified by HTML_EXTRA_STYLESHEET does not exist! +/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Runtime/Scripts/Core/Cluster.cs:28: warning: Member version (variable) of class NanoBrain.Cluster is not documented. +/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Runtime/Scripts/Core/Neuron.cs:248: warning: Member breakOnUpdate (variable) of class NanoBrain.Neuron is not documented. +/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Runtime/Scripts/Core/Neuron.cs:248: warning: Member breakOnUpdate (variable) of class NanoBrain.Neuron is not documented. +/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/LightSensor.cs:11: warning: Member useOcclusion (variable) of class NanoBrain.Braitenberg.LightSensor is not documented. +/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/LightSensor.cs:13: warning: Member sensitivityAngle (variable) of class NanoBrain.Braitenberg.LightSensor is not documented. +/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/LightSensor.cs:15: warning: Member multiplier (variable) of class NanoBrain.Braitenberg.LightSensor is not documented. +/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/Sensor.cs:17: warning: Member sampleInterval (variable) of class NanoBrain.Braitenberg.Sensor is not documented. +/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/Sensor.cs:31: warning: Member _output (variable) of class NanoBrain.Braitenberg.Sensor is not documented. +/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/Sensor.cs:35: warning: Member sensoryNeuron (variable) of class NanoBrain.Braitenberg.Sensor is not documented. +/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/LightSensor.cs:17: warning: Member SampleSensor() (function) of class NanoBrain.Braitenberg.LightSensor is not documented. +/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/Sensor.cs:37: warning: Member Awake() (function) of class NanoBrain.Braitenberg.Sensor is not documented. +/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/Sensor.cs:33: warning: Member vehicle (variable) of class NanoBrain.Braitenberg.Sensor is not documented. +/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/Sensor.cs:34: warning: Member brain (variable) of class NanoBrain.Braitenberg.Sensor is not documented. +:1: warning: parameters of member NanoBrain.Braitenberg.LightSensor.SampleSensor are not documented +/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/Sensor.cs:17: warning: Member sampleInterval (variable) of class NanoBrain.Braitenberg.Sensor is not documented. +/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/Sensor.cs:31: warning: Member _output (variable) of class NanoBrain.Braitenberg.Sensor is not documented. +/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/Sensor.cs:35: warning: Member sensoryNeuron (variable) of class NanoBrain.Braitenberg.Sensor is not documented. +/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/Sensor.cs:37: warning: Member Awake() (function) of class NanoBrain.Braitenberg.Sensor is not documented. +/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/Sensor.cs:58: warning: Member SampleSensor() (function) of class NanoBrain.Braitenberg.Sensor is not documented. +/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/Sensor.cs:33: warning: Member vehicle (variable) of class NanoBrain.Braitenberg.Sensor is not documented. +/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/Sensor.cs:34: warning: Member brain (variable) of class NanoBrain.Braitenberg.Sensor is not documented. +/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Runtime/Scripts/ScriptableObjects/ClusterPrefab.cs:17: warning: Member version (variable) of class NanoBrain.Unity.ClusterPrefab is not documented. diff --git a/DoxyWarnLogfile.txt.meta b/DoxyWarnLogfile.txt.meta new file mode 100644 index 0000000..757cd11 --- /dev/null +++ b/DoxyWarnLogfile.txt.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: 547e28e321b631de39f657e68f2db4cf +TextScriptImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/Runtime/Scripts/Core/Cluster.cs b/Runtime/Scripts/Core/Cluster.cs index 8ea7c78..b105e5b 100644 --- a/Runtime/Scripts/Core/Cluster.cs +++ b/Runtime/Scripts/Core/Cluster.cs @@ -25,6 +25,11 @@ namespace NanoBrain { public ClusterPrefab prefab; //[HideInInspector] + + /// + /// The version number of this cluster instance + /// + /// This is used to detect changes in the prefab which require this Cluster instance to be updated public int version; /// diff --git a/Runtime/Scripts/Core/Neuron.cs b/Runtime/Scripts/Core/Neuron.cs index aec4468..7b3864f 100644 --- a/Runtime/Scripts/Core/Neuron.cs +++ b/Runtime/Scripts/Core/Neuron.cs @@ -1,7 +1,6 @@ using System; using System.Collections.Generic; using UnityEngine; -using UnityEditor; #if UNITY_MATHEMATICS using Unity.Mathematics; using static Unity.Mathematics.math; @@ -245,6 +244,10 @@ namespace NanoBrain { /// public static readonly float timeToSleep = 0.5f; + /// + /// When true, Unity will pause exection when this neuron is updated + /// + /// Pausing is implemented using [Debug.Break()](https://docs.unity3d.com/ScriptReference/Debug.Break.html) public bool breakOnUpdate = false; /// \copydoc NanoBrain::Nucleus::ShallowCloneTo diff --git a/Runtime/Scripts/ScriptableObjects/ClusterPrefab.cs b/Runtime/Scripts/ScriptableObjects/ClusterPrefab.cs index 962b3d4..e51b266 100644 --- a/Runtime/Scripts/ScriptableObjects/ClusterPrefab.cs +++ b/Runtime/Scripts/ScriptableObjects/ClusterPrefab.cs @@ -13,7 +13,10 @@ namespace NanoBrain.Unity { /// public Cluster cluster; - //[HideInInspector] + /// + /// The version number of this Prefab + /// + /// This is used to detect changes in the prefab which require Cluster instances to be updated public int version; } diff --git a/Samples/Braitenberg/Brains/Braitenberg 4a.asset b/Samples/Braitenberg/Brains/Braitenberg 4a.asset index abe8fe9..b3b82e2 100644 --- a/Samples/Braitenberg/Brains/Braitenberg 4a.asset +++ b/Samples/Braitenberg/Brains/Braitenberg 4a.asset @@ -29,7 +29,7 @@ MonoBehaviour: - rid: 4201950130928877961 - rid: 4201950130928878008 - rid: 4201950130928878009 - version: 22 + version: 23 references: version: 2 RefIds: diff --git a/Samples/Braitenberg/Braitenberg.unity b/Samples/Braitenberg/Braitenberg.unity index 5973bd7..61e55b3 100644 --- a/Samples/Braitenberg/Braitenberg.unity +++ b/Samples/Braitenberg/Braitenberg.unity @@ -273,7 +273,7 @@ PrefabInstance: 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@@ -55654,11 +58362,11 @@ SceneRoots: m_Roots: - {fileID: 36325788} - {fileID: 1849732293} + - {fileID: 94074960} - {fileID: 605735531} - {fileID: 1687205049} - {fileID: 2006553073} - {fileID: 128572670} - {fileID: 1617431583} - {fileID: 279063422} - - {fileID: 94074960} - {fileID: 5544643222114420774} diff --git a/Samples/Braitenberg/Scripts/LightSensor.cs b/Samples/Braitenberg/Scripts/LightSensor.cs index 28fdd6d..1b81483 100644 --- a/Samples/Braitenberg/Scripts/LightSensor.cs +++ b/Samples/Braitenberg/Scripts/LightSensor.cs @@ -1,15 +1,21 @@ -using System.Collections; using UnityEngine; -namespace NanoBrain.Braitenberg { +namespace NanoBrain.Unity.Braitenberg { + /// + /// A light sensor + /// public class LightSensor : Sensor { + /// + /// If true, perform occlusion checks with raycasts + /// [Tooltip("If true, perform occlusion checks with raycasts.")] public bool useOcclusion = true; - [Tooltip("Angle (degrees) for directional sensitivity; 180 = omnidirectional.")] + /// + /// Angle in degrees for directional sensitivity; >= 180: omnidirectional. + /// + [Tooltip("Angle (degrees) for directional sensitivity; >=180: omnidirectional.")] public float sensitivityAngle = 180f; - [Tooltip("Multiplier to scale final output.")] - public float multiplier = 1f; protected override float SampleSensor() { float sum = 0f; @@ -73,7 +79,7 @@ namespace NanoBrain.Braitenberg { if (lightCount == 0) return 0; else - return (sum / lightCount) * multiplier; + return sum / lightCount; } static float RGBToLuminance(Color c) { diff --git a/Samples/Braitenberg/Scripts/Motor.cs b/Samples/Braitenberg/Scripts/Motor.cs index 924cb31..40736da 100644 --- a/Samples/Braitenberg/Scripts/Motor.cs +++ b/Samples/Braitenberg/Scripts/Motor.cs @@ -1,26 +1,68 @@ using UnityEngine; -namespace NanoBrain.Braitenberg { +namespace NanoBrain.Unity.Braitenberg { + /// + /// A powered wheel collider, controlled by a NanoBrain::Neuron + /// + [RequireComponent(typeof(WheelCollider))] public class Motor : MonoBehaviour { + /// + /// The name of the NanoBrain::Neuron to control this wheel + /// + /// This is used to connect the motor to the right output neuron of the Vehicle::brain + [Tooltip("The name of the Nanobrain Neuron to control this wheel")] public string outputNeuronName; - public float speed; + /// + /// The speed of the motor in rotations per second + /// + [Tooltip("The speed of the motor in rotations per second")] + public float speed { get; protected set; } + /// + /// The maximum torque used to drive the wheel collider + /// + [Tooltip("The maximum torque used to drive the wheel collider")] public float maxTorque = 1; + /// + /// The wheel collider used to drive the car + /// + /// \see [Unity WheelCollider](https://docs.unity3d.com/ScriptReference/WheelCollider.html) + [Tooltip("The wheel collider used to drive the car")] public WheelCollider wheelCollider; - - protected Cluster brain; + /// + /// The NanoBrain::Neuron to control this wheel + /// + [Tooltip("The NanoBrain Neuron to control this wheel")] public Neuron motorNeuron; + /// + /// Unity calls Awake when loading an instance of a script component. + /// protected virtual void Awake() { - Vehicle vehicle = GetComponentInParent(); - if (vehicle != null) - brain = vehicle.brain; - if (brain != null) - motorNeuron = brain.GetNeuron(outputNeuronName); wheelCollider = GetComponent(); + GetMotorNeuron(); } + /// + /// Retrieve the motor neuron from the outputNeuronName; + /// + private void GetMotorNeuron() { + if (motorNeuron != null) + return; + + Vehicle vehicle = GetComponentInParent(); + if (vehicle == null) + return; + + Cluster brain = vehicle.brain; + if (brain != null) + motorNeuron = brain.GetNeuron(outputNeuronName); + } + + /// + /// Update called at regular, fixed intervals as part of Unity's physics update loop. + /// void FixedUpdate() { if (motorNeuron == null) return; diff --git a/Samples/Braitenberg/Scripts/NewMonoBehaviourScript.cs b/Samples/Braitenberg/Scripts/NewMonoBehaviourScript.cs new file mode 100644 index 0000000..a7ff5c6 --- /dev/null +++ b/Samples/Braitenberg/Scripts/NewMonoBehaviourScript.cs @@ -0,0 +1,16 @@ +using UnityEngine; + +public class NewMonoBehaviourScript : MonoBehaviour +{ + // Start is called once before the first execution of Update after the MonoBehaviour is created + void Start() + { + + } + + // Update is called once per frame + void Update() + { + + } +} diff --git a/Samples/Braitenberg/Scripts/NewMonoBehaviourScript.cs.meta b/Samples/Braitenberg/Scripts/NewMonoBehaviourScript.cs.meta new file mode 100644 index 0000000..eab7d5c --- /dev/null +++ b/Samples/Braitenberg/Scripts/NewMonoBehaviourScript.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 6c291e2b7b8f6712da19287285b9bc48 \ No newline at end of file diff --git a/Samples/Braitenberg/Scripts/Sensor.cs b/Samples/Braitenberg/Scripts/Sensor.cs index 8f4c852..54d7980 100644 --- a/Samples/Braitenberg/Scripts/Sensor.cs +++ b/Samples/Braitenberg/Scripts/Sensor.cs @@ -1,16 +1,22 @@ using System.Collections; using UnityEngine; -namespace NanoBrain.Braitenberg { +namespace NanoBrain.Unity.Braitenberg { /// /// A non-directional sensor /// /// The sensor has a field of view, but the signal returned does not include a direction public class Sensor : MonoBehaviour { + /// + /// Maximum distance the sensor detects anything + /// [Tooltip("Max distance sensor detects anything")] public float sensorRange = 10f; - [Tooltip("Time between samples (s).")] + /// + /// Time between samples in seconds + /// + [Tooltip("Time between samples (sec.)")] public float sampleInterval = 0.1f; /// @@ -24,36 +30,58 @@ namespace NanoBrain.Braitenberg { /// Output value of the sensor /// [Tooltip("Output value of the sensor")] - public float output => _output; //{ get; protected set; } - public float _output; + public float output { get; protected set; } - protected Vehicle vehicle; - protected Cluster brain; + /// + /// The NanoBrain::Neuron which is stimulated by this sensor + /// public Neuron sensoryNeuron; + /// + /// Unity calls Awake when loading an instance of a script component. + /// protected virtual void Awake() { + Vehicle vehicle = GetComponentInParent(); if (vehicle == null) - vehicle = GetComponentInParent(); - if (vehicle != null) - brain = vehicle.brain; - if (brain != null) - sensoryNeuron = brain.GetNeuron(this.name); + return; + + Cluster brain = vehicle.brain; + if (brain == null) + return; + + sensoryNeuron = brain.GetNeuron(this.name); } + /// + /// Called when a component of an active GameObject is first enabled. + /// void OnEnable() => StartCoroutine(SampleRoutine()); + /// + /// Called when a component itself is disabled or its parent GameObject is deactivated. + /// void OnDisable() => StopAllCoroutines(); - IEnumerator SampleRoutine() { + /// + /// The sensor samping routine. + /// + /// IEnumerator such that it can run as a Unity Coroutine + /// The sample rate is defined by sampleInterval + /// This also stimulates the sensoryNeuron if is has been found. + private IEnumerator SampleRoutine() { WaitForSeconds wait = new(sampleInterval); while (true) { - _output = SampleSensor(); - sensoryNeuron?.ProcessStimulus(Vector3.one * (_output+0.00001f)); + output = SampleSensor(); + sensoryNeuron?.ProcessStimulus(Vector3.one * (output + 0.00001f)); yield return wait; } } - protected virtual float SampleSensor() { + /// + /// Performs a sampling function to retrieve a new sensor output value + /// + /// Sensor output value // Cast a short set of rays in a cone and accumulate "brightness" from hits. + protected virtual float SampleSensor() { int rays = 7; float halfAngle = 30f; float total = 0f; diff --git a/Samples/Braitenberg/Scripts/TouchSensor.cs b/Samples/Braitenberg/Scripts/TouchSensor.cs index 850446b..fdf8c8a 100644 --- a/Samples/Braitenberg/Scripts/TouchSensor.cs +++ b/Samples/Braitenberg/Scripts/TouchSensor.cs @@ -1,22 +1,32 @@ using UnityEngine; -namespace NanoBrain.Braitenberg { +namespace NanoBrain.Unity.Braitenberg { + /// + /// A sensor which can detect contacts with static GameObjects or Rigidbodies + /// public class TouchSensor : Sensor { - public bool touching = false; + /// + /// Is the sensor touching something? + /// + public bool touching { get; protected set; } + /// + /// Returns the current touching state + /// + /// 1.0 when touching something, 0.0 otherwise protected override float SampleSensor() { return touching ? 1 : 0; } - void OnTriggerEnter(Collider other) { - Debug.Log($"{this.name} touch start"); - touching = true; + private void OnTriggerEnter(Collider other) { + //Debug.Log($"{this.name} touch start"); + touching = true; } - void OnTriggerExit(Collider other) { - Debug.Log($"{this.name} touch END"); - touching = false; + private void OnTriggerExit(Collider other) { + //Debug.Log($"{this.name} touch END"); + touching = false; } } diff --git a/Samples/Braitenberg/Scripts/Vehicle.cs b/Samples/Braitenberg/Scripts/Vehicle.cs index dda55c5..61094f1 100644 --- a/Samples/Braitenberg/Scripts/Vehicle.cs +++ b/Samples/Braitenberg/Scripts/Vehicle.cs @@ -1,24 +1,43 @@ using UnityEngine; -namespace NanoBrain.Braitenberg { +namespace NanoBrain.Unity.Braitenberg { + /// + /// A Braitenberg style vehicle with two sensors and two motors, powered by a Nanobrain + /// [RequireComponent(typeof(Rigidbody))] public class Vehicle : MonoBehaviour { + /// + /// The NanoBrain::Cluster controlling the vehicle + /// + [Tooltip("The NanoBrain Cluster controlling the vehicle")] public Cluster brain; [Header("Motors")] + /// + /// The left motor + /// + [Tooltip("The left motor")] public Motor motorLeft; + /// + /// The right motor + /// + [Tooltip("The right motor")] public Motor motorRight; [Header("Sensors")] + /// + /// The front-left sensor + /// + /// When the vehicle has only one sensor, this can be used as the single sensor + [Tooltip("The front-left sensor")] public Sensor sensorLeft; + /// + /// The front-right sensor + /// + /// When the vehicle has only one sensor, this can be set to null + [Tooltip("The front-right sensor")] public Sensor sensorRight; - - void FixedUpdate() { - // Debug.Log($"L: {sensorLeft.output} R: {sensorRight.output}"); - // Debug.Log($"L: {motorLeft.speed} R: {motorRight.speed}"); - // Debug.Log($"L: {motorLeft.wheelCollider.rpm} R: {motorRight.wheelCollider.rpm}"); - } } } \ No newline at end of file diff --git a/html.meta b/html.meta new file mode 100644 index 0000000..0712c4b --- /dev/null +++ b/html.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: bfabad5d9a017e3a1beff266e1c3154c +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/html/rtf.meta b/html/rtf.meta new file mode 100644 index 0000000..97601cb --- /dev/null +++ b/html/rtf.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: d0b4c54c77965af548ac2664adfbe9b0 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/html/search.meta b/html/search.meta new file mode 100644 index 0000000..221ce89 --- /dev/null +++ b/html/search.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 7899cbd2693a6295c96724901087cd7f +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: From 6e75fff4405fa0ef4840833d5b2ab56d4ae122c4 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Fri, 29 May 2026 12:18:29 +0200 Subject: [PATCH 03/45] Added HelpURLs --- .../html/class_nano_brain_1_1_neuron.html | 4 +- ...nity_1_1_braitenberg_1_1_light_sensor.html | 3 +- ..._1_1_unity_1_1_braitenberg_1_1_sensor.html | 3 +- ...tenberg_1_1_touch_sensor-members.html.meta | 7 ++ ...1_1_braitenberg_1_1_touch_sensor.html.meta | 7 ++ ..._1_1_braitenberg_1_1_touch_sensor.png.meta | 117 ++++++++++++++++++ ..._1_1_braitenberg_1_1_touch_sensor.png.meta | 117 ++++++++++++++++++ Documentation/html/rtf/refman.rtf | 10 +- Documentation/html/search/classes_6.js.meta | 7 ++ Documentation/html/search/classes_7.js.meta | 7 ++ .../html/search/properties_8.js.meta | 7 ++ Documentation/html/search/variables_d.js.meta | 7 ++ .../ScriptableObjects/ClusterPrefab.cs | 1 + Samples/Braitenberg/Scripts/LightSensor.cs | 1 + Samples/Braitenberg/Scripts/Motor.cs | 1 + Samples/Braitenberg/Scripts/Sensor.cs | 25 +--- Samples/Braitenberg/Scripts/TouchSensor.cs | 1 + Samples/Braitenberg/Scripts/Vehicle.cs | 1 + 18 files changed, 298 insertions(+), 28 deletions(-) create mode 100644 Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_touch_sensor-members.html.meta create mode 100644 Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_touch_sensor.html.meta create mode 100644 Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_touch_sensor.png.meta create mode 100644 Documentation/html/rtf/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_touch_sensor.png.meta create mode 100644 Documentation/html/search/classes_6.js.meta create mode 100644 Documentation/html/search/classes_7.js.meta create mode 100644 Documentation/html/search/properties_8.js.meta create mode 100644 Documentation/html/search/variables_d.js.meta diff --git a/Documentation/html/class_nano_brain_1_1_neuron.html b/Documentation/html/class_nano_brain_1_1_neuron.html index 0f64588..e0275ca 100644 --- a/Documentation/html/class_nano_brain_1_1_neuron.html +++ b/Documentation/html/class_nano_brain_1_1_neuron.html @@ -92,8 +92,8 @@ $(function() {

        A neuron is a basic Nucleus.

        A neuron combines the weighted input from other neurons and applies an activation function to it to compute the output value:

        Vector3 combination = NanoBrain::Neuron::Combinator(bias, synapses);
        Vector3 output = NanoBrain::Neuron::Activator(combination);
        -
        NanoBrain.Neuron.Combinator
        float3 Combinator(float3 bias, List< Synapse > synapses)
        The combinator which combines the bias with the values from all synapses.
        Definition Neuron.cs:341
        -
        NanoBrain.Neuron.Activator
        float3 Activator(float3 inputValue)
        Apply the activation function to the input.
        Definition Neuron.cs:441
        +
        NanoBrain.Neuron.Combinator
        float3 Combinator(float3 bias, List< Synapse > synapses)
        The combinator which combines the bias with the values from all synapses.
        Definition Neuron.cs:340
        +
        NanoBrain.Neuron.Activator
        float3 Activator(float3 inputValue)
        Apply the activation function to the input.
        Definition Neuron.cs:440

        The synapses are connections to other neurons. Each connection has a weight which is used to multiply the output of that other neuron before it is used by the combinator.

        Inheritance diagram for Neuron:
        diff --git a/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_light_sensor.html b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_light_sensor.html index f3b8e02..7241daa 100644 --- a/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_light_sensor.html +++ b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_light_sensor.html @@ -163,7 +163,8 @@ float output [ge

        Performs a sampling function to retrieve a new sensor output value.

        -
        Returns
        Sensor output value
        +
        Returns
        0.0
        +

        This is a dummy implementation which always returns 0.0 because this component is an abstract sensor

        Reimplemented from Sensor.

        diff --git a/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_sensor.html b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_sensor.html index ba8e5e3..b03afcf 100644 --- a/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_sensor.html +++ b/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_sensor.html @@ -157,7 +157,8 @@ float output [ge

        Performs a sampling function to retrieve a new sensor output value.

        -
        Returns
        Sensor output value
        +
        Returns
        0.0
        +

        This is a dummy implementation which always returns 0.0 because this component is an abstract sensor

        Reimplemented in LightSensor, and TouchSensor.

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3fc1b18..8063bb2 100644 --- a/Documentation/html/rtf/refman.rtf +++ b/Documentation/html/rtf/refman.rtf @@ -1678,8 +1678,9 @@ Performs a sampling function to retrieve a new sensor output value. }}\par \par {{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 -Sensor output value\par -}}}{ +0.0\par +}}This is a dummy implementation which always returns 0.0 because this component is an abstract sensor \par +}{ Reimplemented from {\field {\*\fldinst { HYPERLINK \\l "AAAAAAAAEW" }{}}{\fldrslt {\cs37\ul\cf2 Sensor}}} .}\par } @@ -5427,8 +5428,9 @@ Performs a sampling function to retrieve a new sensor output value. }}\par \par {{\s5\sb90\sa30\keepn\widctlpar\adjustright \b\f1\fs20\cgrid Returns\par}\pard\plain \s82\li720\widctlpar\ql\adjustright \fs20\cgrid {\s17 \sa60 \sb30 -Sensor output value\par -}}}{ +0.0\par +}}This is a dummy implementation which always returns 0.0 because this component 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a/Runtime/Scripts/ScriptableObjects/ClusterPrefab.cs +++ b/Runtime/Scripts/ScriptableObjects/ClusterPrefab.cs @@ -6,6 +6,7 @@ namespace NanoBrain.Unity { /// The Unity ScriptableObject to implement re-usable Cluster Prefabs /// [CreateAssetMenu(menuName = "Passer/Cluster")] + [HelpURL("https://passer.life/documentation/nanobrain/Documentation/html/class_nano_brain_1_1_unity_1_1_cluster_prefab.html")] public class ClusterPrefab : ScriptableObject { /// diff --git a/Samples/Braitenberg/Scripts/LightSensor.cs b/Samples/Braitenberg/Scripts/LightSensor.cs index 1b81483..cf2a2f5 100644 --- a/Samples/Braitenberg/Scripts/LightSensor.cs +++ b/Samples/Braitenberg/Scripts/LightSensor.cs @@ -5,6 +5,7 @@ namespace NanoBrain.Unity.Braitenberg { /// /// A light sensor /// + [HelpURL("https://passer.life/documentation/nanobrain/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_light_sensor.html")] public class LightSensor : Sensor { /// /// If true, perform occlusion checks with raycasts diff --git a/Samples/Braitenberg/Scripts/Motor.cs b/Samples/Braitenberg/Scripts/Motor.cs index 40736da..c70c4bd 100644 --- a/Samples/Braitenberg/Scripts/Motor.cs +++ b/Samples/Braitenberg/Scripts/Motor.cs @@ -6,6 +6,7 @@ namespace NanoBrain.Unity.Braitenberg { /// A powered wheel collider, controlled by a NanoBrain::Neuron /// [RequireComponent(typeof(WheelCollider))] + [HelpURL("https://passer.life/documentation/nanobrain/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_motor.html")] public class Motor : MonoBehaviour { /// /// The name of the NanoBrain::Neuron to control this wheel diff --git a/Samples/Braitenberg/Scripts/Sensor.cs b/Samples/Braitenberg/Scripts/Sensor.cs index 54d7980..8ce13d9 100644 --- a/Samples/Braitenberg/Scripts/Sensor.cs +++ b/Samples/Braitenberg/Scripts/Sensor.cs @@ -7,6 +7,7 @@ namespace NanoBrain.Unity.Braitenberg { /// A non-directional sensor /// /// The sensor has a field of view, but the signal returned does not include a direction + [HelpURL("https://passer.life/documentation/nanobrain/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_sensor.html")] public class Sensor : MonoBehaviour { /// /// Maximum distance the sensor detects anything @@ -79,27 +80,11 @@ namespace NanoBrain.Unity.Braitenberg { /// /// Performs a sampling function to retrieve a new sensor output value /// - /// Sensor output value - // Cast a short set of rays in a cone and accumulate "brightness" from hits. + /// 0.0 + /// This is a dummy implementation which always returns 0.0 + /// because this component is an abstract sensor protected virtual float SampleSensor() { - int rays = 7; - float halfAngle = 30f; - float total = 0f; - - for (int i = 0; i < rays; i++) { - float t = rays == 1 ? 0.5f : (float)i / (rays - 1); - float angle = Mathf.Lerp(-halfAngle, halfAngle, t); - Vector3 dir = Quaternion.AngleAxis(angle, this.transform.up) * this.transform.forward; - - //Debug.DrawRay(this.transform.position, dir * sensorRange); - if (Physics.Raycast(this.transform.position, dir, out RaycastHit hit, sensorRange, senseLayer)) { - // Strength inversely proportional to distance, clamped to [0,1] - float str = 1f - (hit.distance / sensorRange); - // You can also sample material emission or color here if desired - total += Mathf.Clamp01(str); - } - } - return Mathf.Clamp01(total / rays); + return 0.0f; } } } \ No newline at end of file diff --git a/Samples/Braitenberg/Scripts/TouchSensor.cs b/Samples/Braitenberg/Scripts/TouchSensor.cs index fdf8c8a..3b118f3 100644 --- a/Samples/Braitenberg/Scripts/TouchSensor.cs +++ b/Samples/Braitenberg/Scripts/TouchSensor.cs @@ -5,6 +5,7 @@ namespace NanoBrain.Unity.Braitenberg { /// /// A sensor which can detect contacts with static GameObjects or Rigidbodies /// + [HelpURL("https://passer.life/documentation/nanobrain/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_touch_sensor.html")] public class TouchSensor : Sensor { /// diff --git a/Samples/Braitenberg/Scripts/Vehicle.cs b/Samples/Braitenberg/Scripts/Vehicle.cs index 61094f1..cef2dcf 100644 --- a/Samples/Braitenberg/Scripts/Vehicle.cs +++ b/Samples/Braitenberg/Scripts/Vehicle.cs @@ -6,6 +6,7 @@ namespace NanoBrain.Unity.Braitenberg { /// A Braitenberg style vehicle with two sensors and two motors, powered by a Nanobrain /// [RequireComponent(typeof(Rigidbody))] + [HelpURL("https://passer.life/documentation/nanobrain/Documentation/html/class_nano_brain_1_1_unity_1_1_braitenberg_1_1_vehicle.html")] public class Vehicle : MonoBehaviour { /// /// The NanoBrain::Cluster controlling the vehicle From bcf3d302125c1d5445344a30252fd9ee7b92bd2a Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Fri, 29 May 2026 12:22:50 +0200 Subject: [PATCH 04/45] Extended the ToC --- Documentation/ToC.md | 8 ++++++- Documentation/html/index.html | 13 +++++++--- ...nano_brain-unitypackage_2_r_e_a_d_m_e.html | 2 +- Documentation/html/rtf/refman.rtf | 22 ++++++++++++++--- Documentation/html/search/all_3.js | 24 ++++++++++--------- 5 files changed, 50 insertions(+), 19 deletions(-) diff --git a/Documentation/ToC.md b/Documentation/ToC.md index 527bac5..ac7b7b4 100644 --- a/Documentation/ToC.md +++ b/Documentation/ToC.md @@ -1,5 +1,11 @@ \mainpage Table of Contents ------------------ +================= - [Installation](Installation.md) + +Core classes +------------ +- NanoBrain::Neuron +- NanoBrain::Cluster +- NanoBrain::MemoryCell diff --git a/Documentation/html/index.html b/Documentation/html/index.html index 6f882d6..60bc0cf 100644 --- a/Documentation/html/index.html +++ b/Documentation/html/index.html @@ -74,10 +74,17 @@ $(function() {
        Nano Brain for Unity
        -

        -Table of Contents

        +

        +Table of Contents

        +

        +Core classes

        +
        diff --git a/Documentation/html/md__2home_2pascal_2_development_2_projects_2_passer_2_nano_brain_2_nano_brain_2_assets_2_nano_brain-unitypackage_2_r_e_a_d_m_e.html b/Documentation/html/md__2home_2pascal_2_development_2_projects_2_passer_2_nano_brain_2_nano_brain_2_assets_2_nano_brain-unitypackage_2_r_e_a_d_m_e.html index df545a5..e73cb54 100644 --- a/Documentation/html/md__2home_2pascal_2_development_2_projects_2_passer_2_nano_brain_2_nano_brain_2_assets_2_nano_brain-unitypackage_2_r_e_a_d_m_e.html +++ b/Documentation/html/md__2home_2pascal_2_development_2_projects_2_passer_2_nano_brain_2_nano_brain_2_assets_2_nano_brain-unitypackage_2_r_e_a_d_m_e.html @@ -74,7 +74,7 @@ $(function() {
        NanoBrain
        -

        Documentation is found in the Documentation folder

        +

        Documentation is found in the Documentation folder

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See Unity: [Installing from a Git URL](https://docs.unity3d.com/Manual/upm-ui-giturl.html) -Use the link from 'Clone with HTTP' (for example: https://git.passer.life/CreatureControl/Ant.git) In this way you can always retrieve the latest version by pressing the Update button in the Package Manager. +Import the package in the Package Manager by clicking on the `+` button and then `Install package from git URL...` -Optionally, you can use a tag to retrieve a specific version. For example: https://git.passer.life/CreatureControl/Ant.git#0.1.0. This will give you a stable version which does not change. Updating can be done by retrieving the package with a link to a new release. +Use the link from 'Clone with HTTP' (for example: https://git.passer.life/NanoBrain/NanoBrain-unitypackage.git) In this way you can always retrieve the latest version by pressing the Update button in the Package Manager. + +Optionally, you can use a tag to retrieve a specific version. For example: https://git.passer.life/NanoBrain/NanoBrain-unitypackage.git#0.1.0. This will give you a stable version which does not change. Updating can be done by retrieving the package with a link to a new release. Samples Installation -------------------- -In the Unity Package manager, select the NanoBrain Ant package and look for the `Samples` tab in the details pane on the right. There you can import the `Models`. \ No newline at end of file +In the Unity Package manager, select the NanoBrain package and look for the `Samples` tab in the details pane on the right. \ No newline at end of file diff --git a/README.md b/README.md index 017fe3f..f0af6c3 100644 --- a/README.md +++ b/README.md @@ -1,3 +1,3 @@ # %NanoBrain -Documentation is found in the [Documentation folder](Documentation/html/index.html) +Documentation is found in the [Documentation folder](Documentation/ToC.md) From 1578da9107e11ffde695c8079f767aa7ad74f689 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Fri, 29 May 2026 12:42:43 +0200 Subject: [PATCH 06/45] Added Unity package manifest --- DoxyWarnLogfile.txt | 25 ------------------------- DoxyWarnLogfile.txt.meta | 7 ------- package.json | 28 ++++++++++++++++++++++++++++ 3 files changed, 28 insertions(+), 32 deletions(-) delete mode 100644 DoxyWarnLogfile.txt delete mode 100644 DoxyWarnLogfile.txt.meta create mode 100644 package.json diff --git a/DoxyWarnLogfile.txt b/DoxyWarnLogfile.txt deleted file mode 100644 index 127d7c3..0000000 --- a/DoxyWarnLogfile.txt +++ /dev/null @@ -1,25 +0,0 @@ -warning: failed to open layout file 'DoxygenLayout.xml' for reading! Using default settings. -warning: source 'images' is not a readable file or directory... skipping. -error: Style sheet 'custom_doxygen.css' specified by HTML_EXTRA_STYLESHEET does not exist! -/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Runtime/Scripts/Core/Cluster.cs:28: warning: Member version (variable) of class NanoBrain.Cluster is not documented. -/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Runtime/Scripts/Core/Neuron.cs:248: warning: Member breakOnUpdate (variable) of class NanoBrain.Neuron is not documented. -/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Runtime/Scripts/Core/Neuron.cs:248: warning: Member breakOnUpdate (variable) of class NanoBrain.Neuron is not documented. -/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/LightSensor.cs:11: warning: Member useOcclusion (variable) of class NanoBrain.Braitenberg.LightSensor is not documented. -/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/LightSensor.cs:13: warning: Member sensitivityAngle (variable) of class NanoBrain.Braitenberg.LightSensor is not documented. -/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/LightSensor.cs:15: warning: Member multiplier (variable) of class NanoBrain.Braitenberg.LightSensor is not documented. -/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/Sensor.cs:17: warning: Member sampleInterval (variable) of class NanoBrain.Braitenberg.Sensor is not documented. -/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/Sensor.cs:31: warning: Member _output (variable) of class NanoBrain.Braitenberg.Sensor is not documented. -/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/Sensor.cs:35: warning: Member sensoryNeuron (variable) of class NanoBrain.Braitenberg.Sensor is not documented. -/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/LightSensor.cs:17: warning: Member SampleSensor() (function) of class NanoBrain.Braitenberg.LightSensor is not documented. -/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/Sensor.cs:37: warning: Member Awake() (function) of class NanoBrain.Braitenberg.Sensor is not documented. -/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/Sensor.cs:33: warning: Member vehicle (variable) of class NanoBrain.Braitenberg.Sensor is not documented. -/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/Sensor.cs:34: warning: Member brain (variable) of class NanoBrain.Braitenberg.Sensor is not documented. -:1: warning: parameters of member NanoBrain.Braitenberg.LightSensor.SampleSensor are not documented -/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/Sensor.cs:17: warning: Member sampleInterval (variable) of class NanoBrain.Braitenberg.Sensor is not documented. -/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/Sensor.cs:31: warning: Member _output (variable) of class NanoBrain.Braitenberg.Sensor is not documented. -/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/Sensor.cs:35: warning: Member sensoryNeuron (variable) of class NanoBrain.Braitenberg.Sensor is not documented. -/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/Sensor.cs:37: warning: Member Awake() (function) of class NanoBrain.Braitenberg.Sensor is not documented. -/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/Sensor.cs:58: warning: Member SampleSensor() (function) of class NanoBrain.Braitenberg.Sensor is not documented. -/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/Sensor.cs:33: warning: Member vehicle (variable) of class NanoBrain.Braitenberg.Sensor is not documented. -/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Samples/Braitenberg/Scripts/Sensor.cs:34: warning: Member brain (variable) of class NanoBrain.Braitenberg.Sensor is not documented. -/home/pascal/Development/Projects/Passer/NanoBrain/NanoBrain/Assets/NanoBrain-unitypackage/Runtime/Scripts/ScriptableObjects/ClusterPrefab.cs:17: warning: Member version (variable) of class NanoBrain.Unity.ClusterPrefab is not documented. diff --git a/DoxyWarnLogfile.txt.meta b/DoxyWarnLogfile.txt.meta deleted file mode 100644 index 757cd11..0000000 --- a/DoxyWarnLogfile.txt.meta +++ /dev/null @@ -1,7 +0,0 @@ -fileFormatVersion: 2 -guid: 547e28e321b631de39f657e68f2db4cf -TextScriptImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: diff --git a/package.json b/package.json new file mode 100644 index 0000000..6129046 --- /dev/null +++ b/package.json @@ -0,0 +1,28 @@ +{ + "name": "life.passer.nanobrain", + "version": "0.0.1", + "displayName": "NanoBrain", + "description": "Simple neural networks to control your creatures", + "unity": "6000.0", + "author": { + "name": "Passer Life", + "email": "support@passer.life", + "url": "https://passer.life" + }, + "documentationUrl": "https://passer.life/documentation/nanobrain/Documentation/html/index.html", + "changelogUrl": "https://git.passer.life/NanoBrain/NanoBrain-unitypackage/releases", + "license": "MPL-2.0", + "licensesUrl": "http://gitlab.passervr.com/passer/unity/humanoidcontrol4_free/-/blob/main/LICENSE", + "keywords": [ + "AI", + "neural network", + "artificial life" + ], + "samples": [ + { + "displayName": "Braitenberg vehicles", + "description": "Vehicles types 1-4, controlled with NanoBrains", + "path": "Samples/BraitenBerg" + } + ] +} \ No newline at end of file From 1f54b8104868f3514001faa865871df4aff43d6d Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Fri, 29 May 2026 14:59:22 +0200 Subject: [PATCH 07/45] Added assembly definitions --- Editor/Cluster_Drawer.cs | 2 +- Editor/Neuron_Drawer.cs | 85 + Editor/Neuron_Drawer.cs.meta | 2 + Editor/Passer.NanoBrain.Editor.asmdef | 17 + .../Passer.NanoBrain.Editor.asmdef.meta | 5 +- Runtime/Passer.NanoBrain.asmdef | 16 + .../Passer.NanoBrain.asmdef.meta | 5 +- Runtime/Scripts/Core/Neuron.cs | 6 +- Samples/Braitenberg/Brains.meta | 2 +- .../Braitenberg/Brains/Braitenberg 1.asset | 64 +- .../Brains/Braitenberg 1.asset.meta | 2 +- .../Braitenberg/Brains/Braitenberg 2a.asset | 142 +- .../Brains/Braitenberg 2a.asset.meta | 2 +- .../Braitenberg/Brains/Braitenberg 2b.asset | 144 +- .../Brains/Braitenberg 2b.asset.meta | 2 +- .../Braitenberg/Brains/Braitenberg 3a.asset | 144 +- .../Brains/Braitenberg 3a.asset.meta | 2 +- .../Braitenberg/Brains/Braitenberg 3b.asset | 144 +- .../Brains/Braitenberg 3b.asset.meta | 2 +- .../Braitenberg/Brains/Braitenberg 4a.asset | 266 +- .../Brains/Braitenberg 4a.asset.meta | 2 +- Samples/Braitenberg/Braitenberg.unity | 55830 +--------------- Samples/Braitenberg/Passer.NanoBrain.asmref | 3 + .../Braitenberg/Passer.NanoBrain.asmref.meta | 5 +- Samples/Braitenberg/Prefabs/Vehicle 1.prefab | 902 +- Samples/Braitenberg/Prefabs/Vehicle 2a.prefab | 608 +- Samples/Braitenberg/Prefabs/Vehicle 2b.prefab | 328 +- Samples/Braitenberg/Prefabs/Vehicle 3a.prefab | 328 +- Samples/Braitenberg/Prefabs/Vehicle 3b.prefab | 328 +- Samples/Braitenberg/Prefabs/Vehicle 4a.prefab | 1216 +- .../Prefabs/Vehicle Collision Variant.prefab | 22 +- Samples/Braitenberg/Prefabs/Vehicle.prefab | 16 +- Samples/Braitenberg/Scripts/Motor.cs | 3 - Samples/Clusters/Identity.asset | 802 - Samples/Clusters/Identity.asset.meta | 8 - Samples/Clusters/Velocity.asset | 132 - Samples/Clusters/Velocity.asset.meta | 8 - html/search.meta => package.json.meta | 5 +- 38 files changed, 4289 insertions(+), 57311 deletions(-) create mode 100644 Editor/Neuron_Drawer.cs create mode 100644 Editor/Neuron_Drawer.cs.meta create mode 100644 Editor/Passer.NanoBrain.Editor.asmdef rename Samples/Clusters.meta => Editor/Passer.NanoBrain.Editor.asmdef.meta (57%) create mode 100644 Runtime/Passer.NanoBrain.asmdef rename html/rtf.meta => Runtime/Passer.NanoBrain.asmdef.meta (57%) create mode 100644 Samples/Braitenberg/Passer.NanoBrain.asmref rename html.meta => Samples/Braitenberg/Passer.NanoBrain.asmref.meta (56%) delete mode 100644 Samples/Clusters/Identity.asset delete mode 100644 Samples/Clusters/Identity.asset.meta delete mode 100644 Samples/Clusters/Velocity.asset delete mode 100644 Samples/Clusters/Velocity.asset.meta rename html/search.meta => package.json.meta (57%) diff --git a/Editor/Cluster_Drawer.cs b/Editor/Cluster_Drawer.cs index 2a15872..acc8eb3 100644 --- a/Editor/Cluster_Drawer.cs +++ b/Editor/Cluster_Drawer.cs @@ -314,4 +314,4 @@ namespace NanoBrain.Unity { return null; } } -} \ No newline at end of file +} diff --git a/Editor/Neuron_Drawer.cs b/Editor/Neuron_Drawer.cs new file mode 100644 index 0000000..d03c4da --- /dev/null +++ b/Editor/Neuron_Drawer.cs @@ -0,0 +1,85 @@ +using UnityEngine; +using UnityEditor; +using Unity.Mathematics; +using System; +using System.Reflection; +using System.Collections; + +namespace NanoBrain.Unity { + + [CustomPropertyDrawer(typeof(Neuron))] + class Neuron_Drawer : PropertyDrawer { + public static void Insepctor(SerializedObject serializedObject, string propertyName ) { + EditorGUILayout.PropertyField(serializedObject.FindProperty(propertyName)); + } + + public override void OnGUI(Rect position, SerializedProperty property, GUIContent label) { + // Draw foldout + properties + label = EditorGUI.BeginProperty(position, label, property); + + // Begin indent block + int indent = EditorGUI.indentLevel; + EditorGUI.indentLevel = 0; + + object instance = GetTargetObjectOfProperty(property); + + float lineHeight = EditorGUIUtility.singleLineHeight; + Rect r = new(position.x, position.y, position.width, lineHeight); + if (instance != null) { + FieldInfo field = typeof(Neuron).GetField("_outputValue", BindingFlags.NonPublic | BindingFlags.Instance); + if (field != null) { + float3 val = (float3)field.GetValue(instance); + EditorGUI.Vector3Field(r, $"Neuron: {label}", val); + } + } + + EditorGUI.indentLevel = indent; + EditorGUI.EndProperty(); + } + + public override float GetPropertyHeight(SerializedProperty property, GUIContent label) { + // height for 1 line + return (EditorGUIUtility.singleLineHeight * 1) + (EditorGUIUtility.standardVerticalSpacing * 0); + } + + public static object GetTargetObjectOfProperty(SerializedProperty prop) { + var path = prop.propertyPath.Replace(".Array.data[", "["); + object obj = prop.serializedObject.targetObject; + var elements = path.Split('.'); + foreach (var element in elements) { + if (element.Contains("[")) { + var elementName = element.Substring(0, element.IndexOf("[")); + var index = Convert.ToInt32(element.Substring(element.IndexOf("[")).Replace("[", "").Replace("]", "")); + obj = GetValue_Imp(obj, elementName, index); + } + else { + obj = GetValue_Imp(obj, element); + } + } + return obj; + } + + static object GetValue_Imp(object source, string name) { + if (source == null) + return null; + + Type t = source.GetType(); + FieldInfo f = t.GetField(name, BindingFlags.NonPublic | BindingFlags.Public | BindingFlags.Instance); + if (f != null) + return f.GetValue(source); + PropertyInfo p = t.GetProperty(name, BindingFlags.NonPublic | BindingFlags.Public | BindingFlags.Instance); + return p?.GetValue(source, null); + } + static object GetValue_Imp(object source, string name, int index) { + if (GetValue_Imp(source, name) is not IEnumerable enumerable) + return null; + IEnumerator en = enumerable.GetEnumerator(); + for (int i = 0; i <= index; i++) { + if (!en.MoveNext()) + return null; + } + return en.Current; + } + } + +} \ No newline at end of file diff --git a/Editor/Neuron_Drawer.cs.meta b/Editor/Neuron_Drawer.cs.meta new file mode 100644 index 0000000..5bb1e72 --- /dev/null +++ b/Editor/Neuron_Drawer.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: ecce20d60829feced84788f7f9dcfe08 \ No newline at end of file diff --git a/Editor/Passer.NanoBrain.Editor.asmdef b/Editor/Passer.NanoBrain.Editor.asmdef new file mode 100644 index 0000000..029d8c9 --- /dev/null +++ b/Editor/Passer.NanoBrain.Editor.asmdef @@ -0,0 +1,17 @@ +{ + "name": "Passer.NanoBrain.Editor", + "rootNamespace": "", + "references": [ + "NanoBrain", + "Unity.Mathematics" + ], + "includePlatforms": [], + "excludePlatforms": [], + "allowUnsafeCode": false, + "overrideReferences": false, + "precompiledReferences": [], + "autoReferenced": true, + "defineConstraints": [], + "versionDefines": [], + "noEngineReferences": false +} \ No newline at end of file diff --git a/Samples/Clusters.meta b/Editor/Passer.NanoBrain.Editor.asmdef.meta similarity index 57% rename from Samples/Clusters.meta rename to Editor/Passer.NanoBrain.Editor.asmdef.meta index 78d2b3c..2d67d88 100644 --- a/Samples/Clusters.meta +++ b/Editor/Passer.NanoBrain.Editor.asmdef.meta @@ -1,7 +1,6 @@ fileFormatVersion: 2 -guid: c95a1d65d635791c3b05c8fa281b4b94 -folderAsset: yes -DefaultImporter: +guid: 5c053c505a4127e4cb0a042c1fc1f1dd +AssemblyDefinitionImporter: externalObjects: {} userData: assetBundleName: diff --git a/Runtime/Passer.NanoBrain.asmdef b/Runtime/Passer.NanoBrain.asmdef new file mode 100644 index 0000000..5e027e6 --- /dev/null +++ b/Runtime/Passer.NanoBrain.asmdef @@ -0,0 +1,16 @@ +{ + "name": "NanoBrain", + "rootNamespace": "", + "references": [ + "Unity.Mathematics" + ], + "includePlatforms": [], + "excludePlatforms": [], + "allowUnsafeCode": false, + "overrideReferences": false, + "precompiledReferences": [], + "autoReferenced": true, + "defineConstraints": [], + "versionDefines": [], + "noEngineReferences": false +} \ No newline at end of file diff --git a/html/rtf.meta b/Runtime/Passer.NanoBrain.asmdef.meta similarity index 57% rename from html/rtf.meta rename to Runtime/Passer.NanoBrain.asmdef.meta index 97601cb..0c94c08 100644 --- a/html/rtf.meta +++ b/Runtime/Passer.NanoBrain.asmdef.meta @@ -1,7 +1,6 @@ fileFormatVersion: 2 -guid: d0b4c54c77965af548ac2664adfbe9b0 -folderAsset: yes -DefaultImporter: +guid: 5e22d5139c60b8f8f86da023bf9a1166 +AssemblyDefinitionImporter: externalObjects: {} userData: assetBundleName: diff --git a/Runtime/Scripts/Core/Neuron.cs b/Runtime/Scripts/Core/Neuron.cs index 7b3864f..82b3141 100644 --- a/Runtime/Scripts/Core/Neuron.cs +++ b/Runtime/Scripts/Core/Neuron.cs @@ -401,7 +401,7 @@ namespace NanoBrain { /// The synapses of the neuron /// public static Vector3 CombinatorSum(Vector3 bias, List synapses) { - float3 sum = bias; + Vector3 sum = bias; foreach (Synapse synapse in synapses) { synapse.neuron.SleepCheck(); sum += synapse.weight * synapse.neuron.outputValue; @@ -416,10 +416,10 @@ namespace NanoBrain { /// The synapses of the neuron /// The result of the multiplication public static Vector3 CombinatorProduct(Vector3 bias, List synapses) { - float3 product = bias; + Vector3 product = bias; foreach (Synapse synapse in synapses) { synapse.neuron.SleepCheck(); - product *= synapse.weight * synapse.neuron.outputValue; + product = Vector3.Scale(product, synapse.weight * synapse.neuron.outputValue); } return product; } diff --git a/Samples/Braitenberg/Brains.meta b/Samples/Braitenberg/Brains.meta index 2efe55d..ebcf0c5 100644 --- a/Samples/Braitenberg/Brains.meta +++ b/Samples/Braitenberg/Brains.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: a33b116a64615b40b876a83d58dadf5f +guid: 72f51e4e6a771de1b9456c031670f9f1 folderAsset: yes DefaultImporter: externalObjects: {} diff --git a/Samples/Braitenberg/Brains/Braitenberg 1.asset b/Samples/Braitenberg/Brains/Braitenberg 1.asset index 9d77d76..b5c291d 100644 --- a/Samples/Braitenberg/Brains/Braitenberg 1.asset +++ b/Samples/Braitenberg/Brains/Braitenberg 1.asset @@ -11,66 +11,66 @@ MonoBehaviour: m_EditorHideFlags: 0 m_Script: {fileID: 11500000, guid: 60a957541c24c57e78018c202ebb1d9b, type: 3} m_Name: Braitenberg 1 - m_EditorClassIdentifier: Assembly-CSharp::NanoBrain.Unity.ClusterPrefab + m_EditorClassIdentifier: NanoBrain::NanoBrain.Unity.ClusterPrefab cluster: - name: Braitenberg 1 + name: Empty Cluster parent: rid: -2 - prefab: {fileID: 11400000} - version: 65 + prefab: {fileID: 0} + version: 0 instances: [] instanceCount: 1 nuclei: - - rid: 4201950332465446972 - - rid: 4201950332465446973 - version: 510 + - rid: 4201950379912462336 + - rid: 4201950379912462338 + version: 19 references: version: 2 RefIds: - rid: -2 type: {class: , ns: , asm: } - - rid: 4201950332465446972 - type: {class: Neuron, ns: NanoBrain, asm: Assembly-CSharp} + - rid: 4201950379912462336 + type: {class: Neuron, ns: NanoBrain, asm: NanoBrain} data: name: Output parent: - rid: 4201950332465446974 - bias: {x: 0, y: 0, z: 1} + rid: 4201950379912462337 + bias: {x: 0, y: 0, z: 2} _synapses: - neuron: - rid: 4201950332465446973 - weight: 2 + rid: 4201950379912462338 + weight: 4 combinator: 0 _activator: 0 persistOutput: 0 - lastUpdate: 35.320103 + lastUpdate: 0 breakOnUpdate: 0 _receivers: [] - - rid: 4201950332465446973 - type: {class: Neuron, ns: NanoBrain, asm: Assembly-CSharp} + - rid: 4201950379912462337 + type: {class: Cluster, ns: NanoBrain, asm: NanoBrain} + data: + name: Empty Cluster + parent: + rid: -2 + prefab: {fileID: 0} + version: 0 + instances: [] + instanceCount: 1 + nuclei: + - rid: 4201950379912462336 + - rid: 4201950379912462338 + - rid: 4201950379912462338 + type: {class: Neuron, ns: NanoBrain, asm: NanoBrain} data: name: Sensor parent: - rid: 4201950332465446974 + rid: 4201950379912462337 bias: {x: 0, y: 0, z: 0} _synapses: [] combinator: 0 _activator: 0 persistOutput: 0 - lastUpdate: 35.320103 + lastUpdate: 0 breakOnUpdate: 0 _receivers: - - rid: 4201950332465446972 - - rid: 4201950332465446974 - type: {class: Cluster, ns: NanoBrain, asm: Assembly-CSharp} - data: - name: Braitenberg 1 - parent: - rid: -2 - prefab: {fileID: 11400000} - version: 65 - instances: [] - instanceCount: 1 - nuclei: - - rid: 4201950332465446972 - - rid: 4201950332465446973 + - rid: 4201950379912462336 diff --git a/Samples/Braitenberg/Brains/Braitenberg 1.asset.meta b/Samples/Braitenberg/Brains/Braitenberg 1.asset.meta index 98a1758..9c7e8d2 100644 --- a/Samples/Braitenberg/Brains/Braitenberg 1.asset.meta +++ b/Samples/Braitenberg/Brains/Braitenberg 1.asset.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: c2d142058a073d6fdba2c8fab05834e3 +guid: 0d5887a562c639c539f2dda41452acb1 NativeFormatImporter: externalObjects: {} mainObjectFileID: 11400000 diff --git a/Samples/Braitenberg/Brains/Braitenberg 2a.asset b/Samples/Braitenberg/Brains/Braitenberg 2a.asset index 9181cac..c51e8b1 100644 --- a/Samples/Braitenberg/Brains/Braitenberg 2a.asset +++ b/Samples/Braitenberg/Brains/Braitenberg 2a.asset @@ -11,102 +11,102 @@ MonoBehaviour: m_EditorHideFlags: 0 m_Script: {fileID: 11500000, guid: 60a957541c24c57e78018c202ebb1d9b, type: 3} m_Name: Braitenberg 2a - m_EditorClassIdentifier: Assembly-CSharp::NanoBrain.Unity.ClusterPrefab + m_EditorClassIdentifier: NanoBrain::NanoBrain.Unity.ClusterPrefab cluster: - name: Braitenberg 2a + name: Empty Cluster parent: rid: -2 - prefab: {fileID: 11400000} + prefab: {fileID: 0} version: 0 instances: [] instanceCount: 1 nuclei: - - rid: 4201949899492425781 - - rid: 4201949899492425817 - - rid: 4201950127862317404 - - rid: 4201950127862317405 - version: 30 + - rid: 4201950380202393681 + - rid: 4201950380202393683 + - rid: 4201950380202393684 + - rid: 4201950380202393685 + version: 205 references: version: 2 RefIds: - rid: -2 type: {class: , ns: , asm: } - - rid: 4201949899492425781 - type: {class: Neuron, ns: NanoBrain, asm: Assembly-CSharp} + - rid: 4201950380202393681 + type: {class: Neuron, ns: NanoBrain, asm: NanoBrain} data: - name: LeftOutput + name: Left Output parent: - rid: 4201950130928877722 - bias: {x: 0, y: 0, z: 1} + rid: 4201950380202393682 + bias: {x: 0, y: 0, z: 2} _synapses: - neuron: - rid: 4201949899492425817 - weight: 2 + rid: 4201950380202393685 + weight: 4 combinator: 0 _activator: 0 persistOutput: 0 - lastUpdate: 4.0097623 + lastUpdate: 0 breakOnUpdate: 0 _receivers: [] - - rid: 4201949899492425817 - type: {class: Neuron, ns: NanoBrain, asm: Assembly-CSharp} + - rid: 4201950380202393682 + type: {class: Cluster, ns: NanoBrain, asm: NanoBrain} data: - name: LeftSensor - parent: - rid: 4201950130928877722 - bias: {x: 0.25581878, y: 0.25581878, z: 0.25581878} - _synapses: [] - combinator: 0 - _activator: 0 - persistOutput: 0 - lastUpdate: 4.0097623 - breakOnUpdate: 0 - _receivers: - - rid: 4201949899492425781 - - rid: 4201950127862317404 - type: {class: Neuron, ns: NanoBrain, asm: Assembly-CSharp} - data: - name: RightOutput - parent: - rid: 4201950130928877722 - bias: {x: 0, y: 0, z: 1} - _synapses: - - neuron: - rid: 4201950127862317405 - weight: 2 - combinator: 0 - _activator: 0 - persistOutput: 0 - lastUpdate: 4.0097623 - breakOnUpdate: 0 - _receivers: [] - - rid: 4201950127862317405 - type: {class: Neuron, ns: NanoBrain, asm: Assembly-CSharp} - data: - name: RightSensor - parent: - rid: 4201950130928877722 - bias: {x: 0.29787737, y: 0.29787737, z: 0.29787737} - _synapses: [] - combinator: 0 - _activator: 0 - persistOutput: 0 - lastUpdate: 4.0097623 - breakOnUpdate: 0 - _receivers: - - rid: 4201950127862317404 - - rid: 4201950130928877722 - type: {class: Cluster, ns: NanoBrain, asm: Assembly-CSharp} - data: - name: Braitenberg 2a + name: Empty Cluster parent: rid: -2 - prefab: {fileID: 11400000} + prefab: {fileID: 0} version: 0 instances: [] instanceCount: 1 nuclei: - - rid: 4201949899492425781 - - rid: 4201949899492425817 - - rid: 4201950127862317404 - - rid: 4201950127862317405 + - rid: 4201950380202393681 + - rid: 4201950380202393683 + - rid: 4201950380202393684 + - rid: 4201950380202393685 + - rid: 4201950380202393683 + type: {class: Neuron, ns: NanoBrain, asm: NanoBrain} + data: + name: Right Output + parent: + rid: 4201950380202393682 + bias: {x: 0, y: 0, z: 2} + _synapses: + - neuron: + rid: 4201950380202393684 + weight: 4 + combinator: 0 + _activator: 0 + persistOutput: 0 + lastUpdate: 0 + breakOnUpdate: 0 + _receivers: [] + - rid: 4201950380202393684 + type: {class: Neuron, ns: NanoBrain, asm: NanoBrain} + data: + name: Right Sensor + parent: + rid: 4201950380202393682 + bias: {x: 0, y: 0, z: 0} + _synapses: [] + combinator: 0 + _activator: 0 + persistOutput: 0 + lastUpdate: 0 + breakOnUpdate: 0 + _receivers: + - rid: 4201950380202393683 + - rid: 4201950380202393685 + type: {class: Neuron, ns: NanoBrain, asm: NanoBrain} + data: + name: Left Sensor + parent: + rid: 4201950380202393682 + bias: {x: 0, y: 0, z: 0} + _synapses: [] + combinator: 0 + _activator: 0 + persistOutput: 0 + lastUpdate: 0 + breakOnUpdate: 0 + _receivers: + - rid: 4201950380202393681 diff --git a/Samples/Braitenberg/Brains/Braitenberg 2a.asset.meta b/Samples/Braitenberg/Brains/Braitenberg 2a.asset.meta index 70e2a6c..5686fd2 100644 --- a/Samples/Braitenberg/Brains/Braitenberg 2a.asset.meta +++ b/Samples/Braitenberg/Brains/Braitenberg 2a.asset.meta @@ -1,5 +1,5 @@ fileFormatVersion: 2 -guid: 0eb04b52fd6d2ec0e96f259ad822aef3 +guid: 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- target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421390].name - value: Output - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421391].name - value: Sensor - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421392].name - value: Braitenberg 1 - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421394].name - value: Output - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421395].name - value: Sensor - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - 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value: Braitenberg 1 - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421669].name - value: Output - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421670].name - value: Sensor - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421671].name - value: Braitenberg 1 - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421694].name - value: Output - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421695].name - 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value: Output - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421748].name - value: Sensor - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421749].name - value: Braitenberg 1 - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421786].name - value: Output - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421787].name - value: Sensor - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421788].name - value: Braitenberg 1 - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421800].name - value: Output - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421801].name - value: Sensor - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421802].name - value: Braitenberg 1 - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421804].name - value: Output - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421805].name - value: Sensor - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421806].name - value: Braitenberg 1 - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421808].name - value: Output - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421809].name - value: Sensor - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421810].name - value: Braitenberg 1 - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421822].name - value: Output - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421823].name - value: Sensor - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421824].name - value: Braitenberg 1 - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421868].name - value: Output - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421869].name - value: Sensor - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421870].name - value: Braitenberg 1 - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421921].name - value: Output - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421922].name - value: Sensor - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421923].name - value: Braitenberg 1 - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421924].name - value: Output - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - propertyPath: managedReferences[4201950310209421925].name - value: Sensor - objectReference: {fileID: 0} - - target: {fileID: 3626734738166746048, guid: 83edc100c355dcd53bfb759dc07323c4, type: 3} - 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guid: c0398fc7a48853d47acb42e4e3498383, type: 3} + propertyPath: sensorLeft + value: + objectReference: {fileID: 0} + - target: {fileID: 8270881318108795354, guid: c0398fc7a48853d47acb42e4e3498383, type: 3} + propertyPath: sensorRight + value: + objectReference: {fileID: 0} - target: {fileID: 8280937452374640854, guid: c0398fc7a48853d47acb42e4e3498383, type: 3} propertyPath: brain.name value: Braitenberg 3b @@ -1265,7 +1273,6 @@ MonoBehaviour: senseLayer: serializedVersion: 2 m_Bits: 0 - _output: 0 sensoryNeuron: name: parent: @@ -1278,7 +1285,6 @@ MonoBehaviour: lastUpdate: 0 breakOnUpdate: 0 _receivers: [] - touching: 0 references: version: 2 RefIds: @@ -1353,7 +1359,6 @@ MonoBehaviour: senseLayer: serializedVersion: 2 m_Bits: 0 - _output: 0 sensoryNeuron: name: parent: @@ -1366,7 +1371,6 @@ MonoBehaviour: lastUpdate: 0 breakOnUpdate: 0 _receivers: [] - touching: 0 references: version: 2 RefIds: diff --git a/Samples/Braitenberg/Prefabs/Vehicle.prefab b/Samples/Braitenberg/Prefabs/Vehicle.prefab index 4a47c23..55b5c27 100644 --- a/Samples/Braitenberg/Prefabs/Vehicle.prefab +++ b/Samples/Braitenberg/Prefabs/Vehicle.prefab @@ -50,7 +50,6 @@ MonoBehaviour: senseLayer: serializedVersion: 2 m_Bits: 4294967295 - _output: 0 sensoryNeuron: name: parent: @@ -65,7 +64,6 @@ MonoBehaviour: _receivers: [] useOcclusion: 1 sensitivityAngle: 90 - multiplier: 1 references: version: 2 RefIds: @@ -208,7 +206,6 @@ MonoBehaviour: m_Name: m_EditorClassIdentifier: Assembly-CSharp::Motor outputNeuronName: Output - speed: 0 maxTorque: 10 wheelCollider: {fileID: 0} motorNeuron: @@ -404,7 +401,6 @@ MonoBehaviour: m_Name: m_EditorClassIdentifier: Assembly-CSharp::Motor outputNeuronName: Output - speed: 0 maxTorque: 10 wheelCollider: {fileID: 0} motorNeuron: @@ -513,7 +509,6 @@ MonoBehaviour: senseLayer: serializedVersion: 2 m_Bits: 4294967295 - _output: 0 sensoryNeuron: name: parent: @@ -528,7 +523,6 @@ MonoBehaviour: _receivers: [] useOcclusion: 1 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motorLeft: {fileID: 2164057505425015568} motorRight: {fileID: 7548586118443431667} diff --git a/Samples/Braitenberg/Scripts/Motor.cs b/Samples/Braitenberg/Scripts/Motor.cs index c70c4bd..6c83471 100644 --- a/Samples/Braitenberg/Scripts/Motor.cs +++ b/Samples/Braitenberg/Scripts/Motor.cs @@ -49,9 +49,6 @@ namespace NanoBrain.Unity.Braitenberg { /// Retrieve the motor neuron from the outputNeuronName; /// private void GetMotorNeuron() { - if (motorNeuron != null) - return; - Vehicle vehicle = GetComponentInParent(); if (vehicle == null) return; diff --git a/Samples/Clusters/Identity.asset b/Samples/Clusters/Identity.asset deleted file mode 100644 index e71c7c4..0000000 --- a/Samples/Clusters/Identity.asset +++ /dev/null @@ -1,802 +0,0 @@ -%YAML 1.1 -%TAG !u! tag:unity3d.com,2011: ---- !u!114 &11400000 -MonoBehaviour: - m_ObjectHideFlags: 0 - m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInstance: {fileID: 0} - m_PrefabAsset: {fileID: 0} - m_GameObject: {fileID: 0} - m_Enabled: 1 - 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package.json | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/package.json b/package.json index 6129046..6cd5472 100644 --- a/package.json +++ b/package.json @@ -22,7 +22,7 @@ { "displayName": "Braitenberg vehicles", "description": "Vehicles types 1-4, controlled with NanoBrains", - "path": "Samples/BraitenBerg" + "path": "Samples/Braitenberg" } ] } \ No newline at end of file From ec8343947b188243a3c86035c41c78cfffd00ab2 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Fri, 29 May 2026 15:22:33 +0200 Subject: [PATCH 09/45] Hide the Samples folder for Unity package --- Samples.meta => Samples~.meta | 0 {Samples => Samples~}/Braitenberg.meta | 0 {Samples => Samples~}/Braitenberg/Brains.meta | 0 {Samples => Samples~}/Braitenberg/Brains/Braitenberg 1.asset | 0 .../Braitenberg/Brains/Braitenberg 1.asset.meta | 0 {Samples => Samples~}/Braitenberg/Brains/Braitenberg 2a.asset | 0 .../Braitenberg/Brains/Braitenberg 2a.asset.meta | 0 {Samples => 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b/Samples~/Braitenberg/Brains/Braitenberg 3b.asset.meta similarity index 100% rename from Samples/Braitenberg/Brains/Braitenberg 3b.asset.meta rename to Samples~/Braitenberg/Brains/Braitenberg 3b.asset.meta diff --git a/Samples/Braitenberg/Brains/Braitenberg 4a.asset b/Samples~/Braitenberg/Brains/Braitenberg 4a.asset similarity index 100% rename from Samples/Braitenberg/Brains/Braitenberg 4a.asset rename to Samples~/Braitenberg/Brains/Braitenberg 4a.asset diff --git a/Samples/Braitenberg/Brains/Braitenberg 4a.asset.meta b/Samples~/Braitenberg/Brains/Braitenberg 4a.asset.meta similarity index 100% rename from Samples/Braitenberg/Brains/Braitenberg 4a.asset.meta rename to Samples~/Braitenberg/Brains/Braitenberg 4a.asset.meta diff --git a/Samples/Braitenberg/Braitenberg.unity b/Samples~/Braitenberg/Braitenberg.unity similarity index 100% rename from Samples/Braitenberg/Braitenberg.unity rename to Samples~/Braitenberg/Braitenberg.unity diff --git a/Samples/Braitenberg/Braitenberg.unity.meta b/Samples~/Braitenberg/Braitenberg.unity.meta similarity index 100% rename from Samples/Braitenberg/Braitenberg.unity.meta rename to Samples~/Braitenberg/Braitenberg.unity.meta diff --git a/Samples/Braitenberg/Materials.meta b/Samples~/Braitenberg/Materials.meta similarity index 100% rename from Samples/Braitenberg/Materials.meta rename to Samples~/Braitenberg/Materials.meta diff --git a/Samples/Braitenberg/Materials/Black.mat b/Samples~/Braitenberg/Materials/Black.mat similarity index 100% rename from Samples/Braitenberg/Materials/Black.mat rename to Samples~/Braitenberg/Materials/Black.mat diff --git a/Samples/Braitenberg/Materials/Black.mat.meta b/Samples~/Braitenberg/Materials/Black.mat.meta similarity index 100% rename from Samples/Braitenberg/Materials/Black.mat.meta rename to Samples~/Braitenberg/Materials/Black.mat.meta diff --git a/Samples/Braitenberg/Passer.NanoBrain.asmref b/Samples~/Braitenberg/Passer.NanoBrain.asmref similarity index 100% rename from Samples/Braitenberg/Passer.NanoBrain.asmref rename to Samples~/Braitenberg/Passer.NanoBrain.asmref diff --git a/Samples/Braitenberg/Passer.NanoBrain.asmref.meta b/Samples~/Braitenberg/Passer.NanoBrain.asmref.meta similarity index 100% rename from Samples/Braitenberg/Passer.NanoBrain.asmref.meta rename to Samples~/Braitenberg/Passer.NanoBrain.asmref.meta diff --git a/Samples/Braitenberg/PhysicMaterial.meta b/Samples~/Braitenberg/PhysicMaterial.meta similarity index 100% rename from Samples/Braitenberg/PhysicMaterial.meta rename to Samples~/Braitenberg/PhysicMaterial.meta diff --git a/Samples/Braitenberg/PhysicMaterial/Slippery.physicMaterial b/Samples~/Braitenberg/PhysicMaterial/Slippery.physicMaterial similarity index 100% rename from Samples/Braitenberg/PhysicMaterial/Slippery.physicMaterial rename to Samples~/Braitenberg/PhysicMaterial/Slippery.physicMaterial diff --git a/Samples/Braitenberg/PhysicMaterial/Slippery.physicMaterial.meta b/Samples~/Braitenberg/PhysicMaterial/Slippery.physicMaterial.meta similarity index 100% rename from Samples/Braitenberg/PhysicMaterial/Slippery.physicMaterial.meta rename to Samples~/Braitenberg/PhysicMaterial/Slippery.physicMaterial.meta diff --git a/Samples/Braitenberg/Prefabs.meta b/Samples~/Braitenberg/Prefabs.meta similarity index 100% rename from Samples/Braitenberg/Prefabs.meta rename to Samples~/Braitenberg/Prefabs.meta diff --git a/Samples/Braitenberg/Prefabs/Vehicle 1.prefab b/Samples~/Braitenberg/Prefabs/Vehicle 1.prefab similarity index 100% rename from Samples/Braitenberg/Prefabs/Vehicle 1.prefab rename to Samples~/Braitenberg/Prefabs/Vehicle 1.prefab diff --git a/Samples/Braitenberg/Prefabs/Vehicle 1.prefab.meta b/Samples~/Braitenberg/Prefabs/Vehicle 1.prefab.meta similarity index 100% rename from Samples/Braitenberg/Prefabs/Vehicle 1.prefab.meta rename to Samples~/Braitenberg/Prefabs/Vehicle 1.prefab.meta diff --git a/Samples/Braitenberg/Prefabs/Vehicle 2a.prefab b/Samples~/Braitenberg/Prefabs/Vehicle 2a.prefab similarity index 100% rename from Samples/Braitenberg/Prefabs/Vehicle 2a.prefab rename to Samples~/Braitenberg/Prefabs/Vehicle 2a.prefab diff --git a/Samples/Braitenberg/Prefabs/Vehicle 2a.prefab.meta b/Samples~/Braitenberg/Prefabs/Vehicle 2a.prefab.meta similarity index 100% rename from Samples/Braitenberg/Prefabs/Vehicle 2a.prefab.meta rename to Samples~/Braitenberg/Prefabs/Vehicle 2a.prefab.meta diff --git a/Samples/Braitenberg/Prefabs/Vehicle 2b.prefab b/Samples~/Braitenberg/Prefabs/Vehicle 2b.prefab similarity index 100% rename from Samples/Braitenberg/Prefabs/Vehicle 2b.prefab rename to Samples~/Braitenberg/Prefabs/Vehicle 2b.prefab diff --git a/Samples/Braitenberg/Prefabs/Vehicle 2b.prefab.meta b/Samples~/Braitenberg/Prefabs/Vehicle 2b.prefab.meta similarity index 100% rename from Samples/Braitenberg/Prefabs/Vehicle 2b.prefab.meta rename to Samples~/Braitenberg/Prefabs/Vehicle 2b.prefab.meta diff --git a/Samples/Braitenberg/Prefabs/Vehicle 3a.prefab b/Samples~/Braitenberg/Prefabs/Vehicle 3a.prefab similarity index 100% rename from Samples/Braitenberg/Prefabs/Vehicle 3a.prefab rename to Samples~/Braitenberg/Prefabs/Vehicle 3a.prefab diff --git a/Samples/Braitenberg/Prefabs/Vehicle 3a.prefab.meta b/Samples~/Braitenberg/Prefabs/Vehicle 3a.prefab.meta similarity index 100% rename from Samples/Braitenberg/Prefabs/Vehicle 3a.prefab.meta rename to Samples~/Braitenberg/Prefabs/Vehicle 3a.prefab.meta diff --git a/Samples/Braitenberg/Prefabs/Vehicle 3b.prefab b/Samples~/Braitenberg/Prefabs/Vehicle 3b.prefab similarity index 100% rename from Samples/Braitenberg/Prefabs/Vehicle 3b.prefab rename to Samples~/Braitenberg/Prefabs/Vehicle 3b.prefab diff --git a/Samples/Braitenberg/Prefabs/Vehicle 3b.prefab.meta b/Samples~/Braitenberg/Prefabs/Vehicle 3b.prefab.meta similarity index 100% rename from Samples/Braitenberg/Prefabs/Vehicle 3b.prefab.meta rename to Samples~/Braitenberg/Prefabs/Vehicle 3b.prefab.meta diff --git a/Samples/Braitenberg/Prefabs/Vehicle 4a.prefab b/Samples~/Braitenberg/Prefabs/Vehicle 4a.prefab similarity index 100% rename from Samples/Braitenberg/Prefabs/Vehicle 4a.prefab rename to Samples~/Braitenberg/Prefabs/Vehicle 4a.prefab diff --git a/Samples/Braitenberg/Prefabs/Vehicle 4a.prefab.meta b/Samples~/Braitenberg/Prefabs/Vehicle 4a.prefab.meta similarity index 100% rename from Samples/Braitenberg/Prefabs/Vehicle 4a.prefab.meta rename to Samples~/Braitenberg/Prefabs/Vehicle 4a.prefab.meta diff --git a/Samples/Braitenberg/Prefabs/Vehicle Collision Variant.prefab b/Samples~/Braitenberg/Prefabs/Vehicle Collision Variant.prefab similarity index 100% rename from Samples/Braitenberg/Prefabs/Vehicle Collision Variant.prefab rename to Samples~/Braitenberg/Prefabs/Vehicle Collision Variant.prefab diff --git a/Samples/Braitenberg/Prefabs/Vehicle Collision Variant.prefab.meta b/Samples~/Braitenberg/Prefabs/Vehicle Collision Variant.prefab.meta similarity index 100% rename from Samples/Braitenberg/Prefabs/Vehicle Collision Variant.prefab.meta rename to Samples~/Braitenberg/Prefabs/Vehicle Collision Variant.prefab.meta diff --git a/Samples/Braitenberg/Prefabs/Vehicle.prefab b/Samples~/Braitenberg/Prefabs/Vehicle.prefab similarity index 100% rename from Samples/Braitenberg/Prefabs/Vehicle.prefab rename to Samples~/Braitenberg/Prefabs/Vehicle.prefab diff --git a/Samples/Braitenberg/Prefabs/Vehicle.prefab.meta b/Samples~/Braitenberg/Prefabs/Vehicle.prefab.meta similarity index 100% rename from Samples/Braitenberg/Prefabs/Vehicle.prefab.meta rename to Samples~/Braitenberg/Prefabs/Vehicle.prefab.meta diff --git a/Samples/Braitenberg/Scripts.meta b/Samples~/Braitenberg/Scripts.meta similarity index 100% rename from Samples/Braitenberg/Scripts.meta rename to Samples~/Braitenberg/Scripts.meta diff --git a/Samples/Braitenberg/Scripts/LightSensor.cs b/Samples~/Braitenberg/Scripts/LightSensor.cs similarity index 100% rename from Samples/Braitenberg/Scripts/LightSensor.cs rename to Samples~/Braitenberg/Scripts/LightSensor.cs diff --git a/Samples/Braitenberg/Scripts/LightSensor.cs.meta b/Samples~/Braitenberg/Scripts/LightSensor.cs.meta similarity index 100% rename from Samples/Braitenberg/Scripts/LightSensor.cs.meta rename to Samples~/Braitenberg/Scripts/LightSensor.cs.meta diff --git a/Samples/Braitenberg/Scripts/Motor.cs b/Samples~/Braitenberg/Scripts/Motor.cs similarity index 100% rename from Samples/Braitenberg/Scripts/Motor.cs rename to Samples~/Braitenberg/Scripts/Motor.cs diff --git a/Samples/Braitenberg/Scripts/Motor.cs.meta b/Samples~/Braitenberg/Scripts/Motor.cs.meta similarity index 100% rename from Samples/Braitenberg/Scripts/Motor.cs.meta rename to Samples~/Braitenberg/Scripts/Motor.cs.meta diff --git a/Samples/Braitenberg/Scripts/NewMonoBehaviourScript.cs b/Samples~/Braitenberg/Scripts/NewMonoBehaviourScript.cs similarity index 100% rename from Samples/Braitenberg/Scripts/NewMonoBehaviourScript.cs rename to Samples~/Braitenberg/Scripts/NewMonoBehaviourScript.cs diff --git a/Samples/Braitenberg/Scripts/NewMonoBehaviourScript.cs.meta b/Samples~/Braitenberg/Scripts/NewMonoBehaviourScript.cs.meta similarity index 100% rename from Samples/Braitenberg/Scripts/NewMonoBehaviourScript.cs.meta rename to Samples~/Braitenberg/Scripts/NewMonoBehaviourScript.cs.meta diff --git a/Samples/Braitenberg/Scripts/Sensor.cs b/Samples~/Braitenberg/Scripts/Sensor.cs similarity index 100% rename from Samples/Braitenberg/Scripts/Sensor.cs rename to Samples~/Braitenberg/Scripts/Sensor.cs diff --git a/Samples/Braitenberg/Scripts/Sensor.cs.meta b/Samples~/Braitenberg/Scripts/Sensor.cs.meta similarity index 100% rename from Samples/Braitenberg/Scripts/Sensor.cs.meta rename to Samples~/Braitenberg/Scripts/Sensor.cs.meta diff --git a/Samples/Braitenberg/Scripts/TouchSensor.cs b/Samples~/Braitenberg/Scripts/TouchSensor.cs similarity index 100% rename from Samples/Braitenberg/Scripts/TouchSensor.cs rename to Samples~/Braitenberg/Scripts/TouchSensor.cs diff --git a/Samples/Braitenberg/Scripts/TouchSensor.cs.meta b/Samples~/Braitenberg/Scripts/TouchSensor.cs.meta similarity index 100% rename from Samples/Braitenberg/Scripts/TouchSensor.cs.meta rename to Samples~/Braitenberg/Scripts/TouchSensor.cs.meta diff --git a/Samples/Braitenberg/Scripts/Vehicle.cs b/Samples~/Braitenberg/Scripts/Vehicle.cs similarity index 100% rename from Samples/Braitenberg/Scripts/Vehicle.cs rename to Samples~/Braitenberg/Scripts/Vehicle.cs diff --git a/Samples/Braitenberg/Scripts/Vehicle.cs.meta b/Samples~/Braitenberg/Scripts/Vehicle.cs.meta similarity index 100% rename from Samples/Braitenberg/Scripts/Vehicle.cs.meta rename to Samples~/Braitenberg/Scripts/Vehicle.cs.meta diff --git a/package.json b/package.json index 6cd5472..84fb266 100644 --- a/package.json +++ b/package.json @@ -22,7 +22,7 @@ { "displayName": "Braitenberg vehicles", "description": "Vehicles types 1-4, controlled with NanoBrains", - "path": "Samples/Braitenberg" + "path": "Samples~/Braitenberg" } ] } \ No newline at end of file From a740f4601f3159f6cfc79109c2e510658e8d625c Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Fri, 29 May 2026 15:24:22 +0200 Subject: [PATCH 10/45] Delete Sample~.meta --- Samples~.meta | 8 -------- 1 file changed, 8 deletions(-) delete mode 100644 Samples~.meta diff --git a/Samples~.meta b/Samples~.meta deleted file mode 100644 index 43351c2..0000000 --- a/Samples~.meta +++ /dev/null @@ -1,8 +0,0 @@ -fileFormatVersion: 2 -guid: 9499e0c167c60f8eba614e29833d1bf3 -folderAsset: yes -DefaultImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: From 84b8aa611d601ebb9ed9ca48646b61a190142baa Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Fri, 29 May 2026 16:15:29 +0200 Subject: [PATCH 11/45] Changed Samples path --- package.json | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/package.json b/package.json index 84fb266..6cd5472 100644 --- a/package.json +++ b/package.json @@ -22,7 +22,7 @@ { "displayName": "Braitenberg vehicles", "description": "Vehicles types 1-4, controlled with NanoBrains", - "path": "Samples~/Braitenberg" + "path": "Samples/Braitenberg" } ] } \ No newline at end of file From c8147568e962ba058eccc1bb7a9072c9aeac3c47 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Fri, 29 May 2026 17:00:24 +0200 Subject: [PATCH 12/45] Added ~ in Samples path again --- package.json | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/package.json b/package.json index 6cd5472..84fb266 100644 --- a/package.json +++ b/package.json @@ -22,7 +22,7 @@ { "displayName": "Braitenberg vehicles", "description": "Vehicles types 1-4, controlled with NanoBrains", - "path": "Samples/Braitenberg" + "path": "Samples~/Braitenberg" } ] } \ No newline at end of file From f3f71fe2d01fe6a7ed116eab3378600d1abc2a57 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Fri, 29 May 2026 17:20:28 +0200 Subject: [PATCH 13/45] ignore DoxyWarnLogfile --- .gitignore | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.gitignore b/.gitignore index 433de33..59e85e3 100644 --- a/.gitignore +++ b/.gitignore @@ -1,2 +1,2 @@ -doxygen/html -doxygen/html.meta +Documentation/DoxyWarnLogfile.txt +Documentation/DoxyWarnLogfile.txt.meta From 751747ba379e0003db83263ce15716a7464e1885 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Fri, 29 May 2026 17:21:08 +0200 Subject: [PATCH 14/45] Delete Documentation/DoxyWarnLogfile.txt --- Documentation/DoxyWarnLogfile.txt | 0 1 file changed, 0 insertions(+), 0 deletions(-) delete mode 100644 Documentation/DoxyWarnLogfile.txt diff --git a/Documentation/DoxyWarnLogfile.txt b/Documentation/DoxyWarnLogfile.txt deleted file mode 100644 index e69de29..0000000 From 50fd42eeb086dc3fde4df320c31ef517a276c5b7 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Fri, 29 May 2026 17:21:18 +0200 Subject: [PATCH 15/45] Delete Documentation/DoxyWarnLogfile.txt.meta --- Documentation/DoxyWarnLogfile.txt.meta | 7 ------- 1 file changed, 7 deletions(-) delete mode 100644 Documentation/DoxyWarnLogfile.txt.meta diff --git a/Documentation/DoxyWarnLogfile.txt.meta b/Documentation/DoxyWarnLogfile.txt.meta deleted file mode 100644 index 353ba7c..0000000 --- a/Documentation/DoxyWarnLogfile.txt.meta +++ /dev/null @@ -1,7 +0,0 @@ -fileFormatVersion: 2 -guid: 7dc89c04dff68449ba4bedd238f53e26 -TextScriptImporter: - externalObjects: {} - userData: - assetBundleName: - assetBundleVariant: From 0dfc3bec974334e126fe5296285a0a4488296d69 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Mon, 29 Jun 2026 13:06:33 +0200 Subject: [PATCH 16/45] Added Outerbounds --- Runtime/Scripts/Core/Cluster.cs | 1 + 1 file changed, 1 insertion(+) diff --git a/Runtime/Scripts/Core/Cluster.cs b/Runtime/Scripts/Core/Cluster.cs index b105e5b..ef0cac0 100644 --- a/Runtime/Scripts/Core/Cluster.cs +++ b/Runtime/Scripts/Core/Cluster.cs @@ -66,6 +66,7 @@ namespace NanoBrain { /// /// In a multi-cluster each instance can be used for a thing. /// Cluster instance may also not (yet) be mapped to a thing. + [NonSerialized] public Dictionary thingClusters = new(); /// From 9258655c0b5b9eded2ec491502b060203dcc2318 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Mon, 29 Jun 2026 15:53:58 +0200 Subject: [PATCH 17/45] Moved back prop. to neuron --- Editor/Cluster_Drawer.cs | 28 ++--- Runtime/Scripts/Core/Neuron.cs | 181 +++++++++++++++++++++++---------- 2 files changed, 143 insertions(+), 66 deletions(-) diff --git a/Editor/Cluster_Drawer.cs b/Editor/Cluster_Drawer.cs index acc8eb3..d1e3778 100644 --- a/Editor/Cluster_Drawer.cs +++ b/Editor/Cluster_Drawer.cs @@ -150,20 +150,20 @@ namespace NanoBrain.Unity { else if (selectedTarget is GameObject g) gameObject = g; - Handles.color = Color.yellow; - if (Cluster_Drawer.currentClusterView.selectedSynapseNeuron != null) { - foreach (Cluster sibling in Cluster_Drawer.currentClusterView.selectedSynapseNeuron.parent.instances) { - Neuron siblingNeuron = sibling.GetNeuron(Cluster_Drawer.currentClusterView.selectedSynapseNeuron.name); - Vector3 worldVector = gameObject.transform.TransformVector(siblingNeuron.outputValue); - Handles.DrawLine(gameObject.transform.position, gameObject.transform.position + worldVector); - } - } - else { - if (Cluster_Drawer.currentClusterView.currentNucleus is Neuron currentNeuron) { - Vector3 worldVector = gameObject.transform.TransformVector(currentNeuron.outputValue); - Handles.DrawLine(gameObject.transform.position, gameObject.transform.position + worldVector); - } - } + // Handles.color = Color.yellow; + // if (Cluster_Drawer.currentClusterView.selectedSynapseNeuron != null) { + // foreach (Cluster sibling in Cluster_Drawer.currentClusterView.selectedSynapseNeuron.parent.instances) { + // Neuron siblingNeuron = sibling.GetNeuron(Cluster_Drawer.currentClusterView.selectedSynapseNeuron.name); + // Vector3 worldVector = gameObject.transform.TransformVector(siblingNeuron.outputValue); + // Handles.DrawLine(gameObject.transform.position, gameObject.transform.position + worldVector); + // } + // } + // else { + // if (Cluster_Drawer.currentClusterView.currentNucleus is Neuron currentNeuron) { + // Vector3 worldVector = gameObject.transform.TransformVector(currentNeuron.outputValue); + // Handles.DrawLine(gameObject.transform.position, gameObject.transform.position + worldVector); + // } + // } } } diff --git a/Runtime/Scripts/Core/Neuron.cs b/Runtime/Scripts/Core/Neuron.cs index 82b3141..c8a74e3 100644 --- a/Runtime/Scripts/Core/Neuron.cs +++ b/Runtime/Scripts/Core/Neuron.cs @@ -6,7 +6,8 @@ using Unity.Mathematics; using static Unity.Mathematics.math; #endif -namespace NanoBrain { +namespace NanoBrain +{ /// /// A neuron is a basic Nucleus @@ -21,17 +22,20 @@ namespace NanoBrain { /// Each connection has a weight which is used to multiply the output of that other neuron /// before it is used by the combinator. [Serializable] - public class Neuron : Nucleus { + public class Neuron : Nucleus + { /// /// Create a new Neuron in a Cluster instance /// /// The parent cluster in which the new Neuron should be created /// The name of the new Neuron - public Neuron(Cluster parent, string name) { + public Neuron(Cluster parent, string name) + { this.parent = parent; this.name = name; - if (this.parent != null) { + if (this.parent != null) + { this.parent.nuclei ??= new(); this.parent.nuclei.Add(this); } @@ -63,7 +67,8 @@ namespace NanoBrain { /// The weight applied to the input. Default value = 1 /// The created Synapse /// This will add a new input to this nucleus with the given weight. - public Synapse AddSynapse(Neuron sendingNucleus, float weight = 1) { + public Synapse AddSynapse(Neuron sendingNucleus, float weight = 1) + { Synapse synapse = new(sendingNucleus, weight); this.synapses.Add(synapse); return synapse; @@ -74,7 +79,8 @@ namespace NanoBrain { /// /// The sender of the input to the Synapse /// The found Synapse or null when the sender has no synapse to this nucleus. - public Synapse GetSynapse(Nucleus sender) { + public Synapse GetSynapse(Nucleus sender) + { foreach (Synapse synapse in this.synapses) if (synapse.neuron == sender) return synapse; @@ -85,7 +91,8 @@ namespace NanoBrain { /// Remove a synapse from a Nucleus /// /// Remote the synapse connecting to this Nucleus - public void RemoveSynapse(Nucleus sendingNucleus) { + public void RemoveSynapse(Nucleus sendingNucleus) + { this.synapses.RemoveAll(synapse => synapse.neuron == sendingNucleus); } @@ -95,7 +102,8 @@ namespace NanoBrain { /// Set the bias, recalculate the output and update all Nuclei receiving from this Nucleus /// /// - public virtual void SetBias(Vector3 inputValue) { + public virtual void SetBias(Vector3 inputValue) + { this.bias = inputValue; this.lastUpdate = Time.time; this.parent?.UpdateFromNucleus(this); @@ -105,7 +113,8 @@ namespace NanoBrain { /// The type of combinators /// /// A combinator combines the weighted values of the synapses to a single value - public enum CombinatorType { + public enum CombinatorType + { /// Add the weighted values together Sum, /// Multiply the weighted values @@ -120,7 +129,8 @@ namespace NanoBrain { /// /// The type of /// - public enum ActivationType { + public enum ActivationType + { Linear, Power, Sqrt, @@ -139,9 +149,11 @@ namespace NanoBrain { /// /// The activation funtion /// - public ActivationType activator { + public ActivationType activator + { get { return _activator; } - set { + set + { _activator = value; //this.curve = GenerateCurve(); } @@ -159,9 +171,11 @@ namespace NanoBrain { /// /// The output value of the neuron /// - public virtual float3 outputValue { + public virtual float3 outputValue + { get { return _outputValue; } - set { + set + { _outputValue = value; if (this.isFiring) WhenFiring?.Invoke(); @@ -224,8 +238,10 @@ namespace NanoBrain { /// Check if the neuron is sleeping. /// /// This will reset the output value if it is sleeping - public void SleepCheck() { - if (this.isSleeping && this.outputSqrMagnitude > 0) { + public void SleepCheck() + { + if (this.isSleeping && this.outputSqrMagnitude > 0) + { #if UNITY_MATHEMATICS this._outputValue = new float3(0, 0, 0); #else @@ -251,8 +267,10 @@ namespace NanoBrain { public bool breakOnUpdate = false; /// \copydoc NanoBrain::Nucleus::ShallowCloneTo - public override Nucleus ShallowCloneTo(Cluster parent) { - Neuron clone = new(parent, this.name) { + public override Nucleus ShallowCloneTo(Cluster parent) + { + Neuron clone = new(parent, this.name) + { // prefabNucleus = this }; CloneFields(clone); @@ -263,7 +281,8 @@ namespace NanoBrain { /// Copy relevant fields of this neuron to the given neuron /// /// - protected virtual void CloneFields(Neuron clone) { + protected virtual void CloneFields(Neuron clone) + { clone.bias = this.bias; clone.persistOutput = this.persistOutput; clone.combinator = this.combinator; @@ -275,34 +294,45 @@ namespace NanoBrain { /// Delete the give neuron /// /// The neuron to delete - public static void Delete(Nucleus nucleus) { + public static void Delete(Nucleus nucleus) + { if (nucleus == null) return; - if (nucleus is Neuron neuron) { - foreach (Synapse synapse in neuron.synapses) { - if (synapse.neuron is Neuron synapse_nucleus) { - if (synapse_nucleus.receivers.Count > 1) { + if (nucleus is Neuron neuron) + { + foreach (Synapse synapse in neuron.synapses) + { + if (synapse.neuron is Neuron synapse_nucleus) + { + if (synapse_nucleus.receivers.Count > 1) + { // there is another nucleus feeding into this input nucleus synapse_nucleus.receivers.RemoveAll(r => r == nucleus); } - else { + else + { // No other links, delete it. Neuron.Delete(synapse_nucleus); } } } - foreach (Nucleus receiver in neuron.receivers) { + foreach (Nucleus receiver in neuron.receivers) + { if (receiver is not Neuron receiverNeuron) continue; if (receiver != null && receiverNeuron.synapses != null) receiverNeuron.synapses.RemoveAll(s => s.neuron == nucleus); } } - else if (nucleus is Cluster cluster) { + else if (nucleus is Cluster cluster) + { // remove all receivers for this cluster - foreach (Nucleus clusterNucleus in cluster.nuclei) { - if (clusterNucleus is Neuron output) { - foreach (Nucleus receiver in output.receivers) { + foreach (Nucleus clusterNucleus in cluster.nuclei) + { + if (clusterNucleus is Neuron output) + { + foreach (Nucleus receiver in output.receivers) + { if (receiver is not Neuron receiverNeuron) continue; receiverNeuron.synapses.RemoveAll(s => s.neuron == output); @@ -311,15 +341,18 @@ namespace NanoBrain { } } - if (nucleus.parent.prefab != null) { + if (nucleus.parent.prefab != null) + { nucleus.parent.nuclei.RemoveAll(n => n == nucleus); nucleus.parent.RefreshOutputs(); } } /// \copydoc NanoBrain::Nucleus::UpdateStateIsolated - public override void UpdateStateIsolated() { - if (breakOnUpdate) { + public override void UpdateStateIsolated() + { + if (breakOnUpdate) + { Debug.Break(); } var combination = Combinator(this.bias, this.synapses); @@ -337,8 +370,10 @@ namespace NanoBrain { /// The bias of the neuron /// The synapses of the neuron /// - protected float3 Combinator(float3 bias, List synapses) { - switch (combinator) { + protected float3 Combinator(float3 bias, List synapses) + { + switch (combinator) + { case CombinatorType.Sum: return CombinatorSum(bias, synapses); case CombinatorType.Product: @@ -354,9 +389,11 @@ namespace NanoBrain { /// The bias of the neuron /// The synapses of the neuron /// - public static float3 CombinatorSum(float3 bias, List synapses) { + public static float3 CombinatorSum(float3 bias, List synapses) + { float3 sum = bias; - foreach (Synapse synapse in synapses) { + foreach (Synapse synapse in synapses) + { synapse.neuron.SleepCheck(); sum += synapse.weight * synapse.neuron.outputValue; } @@ -369,9 +406,11 @@ namespace NanoBrain { /// The bias of the neuron /// The synapses of the neuron /// The result of the multiplication - public static float3 CombinatorProduct(float3 bias, List synapses) { + public static float3 CombinatorProduct(float3 bias, List synapses) + { float3 product = bias; - foreach (Synapse synapse in synapses) { + foreach (Synapse synapse in synapses) + { synapse.neuron.SleepCheck(); product *= synapse.weight * synapse.neuron.outputValue; } @@ -437,8 +476,10 @@ namespace NanoBrain { /// /// The result of applying the activation function // This does not allocate memory and seems faster than a switch expression - protected float3 Activator(float3 inputValue) { - switch (activator) { + protected float3 Activator(float3 inputValue) + { + switch (activator) + { case ActivationType.Linear: return ActivatorLinear(inputValue); case ActivationType.Sqrt: @@ -463,7 +504,8 @@ namespace NanoBrain { /// /// Input value /// The unchanged value - protected float3 ActivatorLinear(float3 input) { + protected float3 ActivatorLinear(float3 input) + { return input; } @@ -472,7 +514,8 @@ namespace NanoBrain { /// /// Input value /// The square root of the input - protected float3 ActivatorSqrt(float3 input) { + protected float3 ActivatorSqrt(float3 input) + { float3 result = normalize(input) * MathF.Sqrt(length(input)); return result; } @@ -482,7 +525,8 @@ namespace NanoBrain { /// /// Input value /// The input to the power of 2 - protected float3 ActivatorPower(float3 input) { + protected float3 ActivatorPower(float3 input) + { float3 result = normalize(input) * MathF.Pow(length(input), 2); return result; } @@ -492,7 +536,8 @@ namespace NanoBrain { /// /// Input value /// 1/input value - protected float3 ActivatorReciprocal(float3 input) { + protected float3 ActivatorReciprocal(float3 input) + { float magnitude = length(input); if (magnitude == 0) return new float3(0, 0, 0); @@ -506,7 +551,8 @@ namespace NanoBrain { /// /// Input value /// Tanh(input value) - protected float3 ActivatorTanh(float3 input) { + protected float3 ActivatorTanh(float3 input) + { float magnitude = length(input); float3 result = normalize(input) * MathF.Tanh(magnitude); return result; @@ -516,7 +562,8 @@ namespace NanoBrain { /// /// Input value /// An uniform vector with magnitude between 0 and 1 - protected float3 ActivatorBinary(float3 input) { + protected float3 ActivatorBinary(float3 input) + { float magnitude = length(input); float value = Mathf.Clamp01(magnitude); return float3(value, value, value); @@ -527,7 +574,8 @@ namespace NanoBrain { /// /// Input value /// The normalized vector - protected float3 ActivatorNormalized(float3 input) { + protected float3 ActivatorNormalized(float3 input) + { if (lengthsq(input) == 0) return input; float3 result = normalize(input); @@ -613,7 +661,8 @@ namespace NanoBrain { /// /// The nuclei which have a synapse to this neuron /// - public virtual List receivers { + public virtual List receivers + { get { return _receivers; } set { _receivers = value; } } @@ -623,7 +672,8 @@ namespace NanoBrain { /// /// The receiver to add /// The weight to use for the synapse to his neuron - public virtual void AddReceiver(Nucleus receiverToAdd, float weight = 1) { + public virtual void AddReceiver(Nucleus receiverToAdd, float weight = 1) + { if (receiverToAdd is not Neuron receiverNeuron) return; this._receivers.Add(receiverNeuron); @@ -636,7 +686,8 @@ namespace NanoBrain { /// Remove a receiver to this neuron /// /// The receiver to remove - public virtual void RemoveReceiver(Nucleus receiverToRemove) { + public virtual void RemoveReceiver(Nucleus receiverToRemove) + { if (receiverToRemove is not Neuron receiverNeuron) return; this._receivers.RemoveAll(receiver => receiver == receiverNeuron); @@ -652,11 +703,37 @@ namespace NanoBrain { #endregion Receivers + #region Back propagation + + public void BackPropagation(Synapse synapse, Vector3 error, float learningRate) + { + // Loss function: + // Mean Squared Error (MSE) 1/n * sum(errors^2) + // We use simplified here 1/2 * (error^2) + // For vectors, we need to use MSE component wise. + Vector3 loss = 0.5f * Vector3.Scale(error, error); + + // loss is a derivative of error + // Backpropagation = loss * d(combinator) + + // Assuming linear activation function. + // Derivative of this (f'()) would be 1. + Vector3 delta2 = loss * 1; + + Vector3 scaledOutput = Vector3.Scale(delta2, synapse.neuron.outputValue); + float deltaWeight = Mathf.Abs(scaledOutput.x) + Mathf.Abs(scaledOutput.y) + Mathf.Abs(scaledOutput.z); + synapse.weight += learningRate * deltaWeight; + Debug.Log($"Updated weight: {error.magnitude} {error} {scaledOutput} {synapse.weight}"); + } + + #endregion Back propagation + /// /// Process an external stimulus /// /// The value of the stimulus - public virtual void ProcessStimulus(Vector3 inputValue) { + public virtual void ProcessStimulus(Vector3 inputValue) + { this.lastUpdate = Time.time; this.bias = inputValue; this.parent?.UpdateFromNucleus(this); From 737cbfcfe58a611c844c38b0f74f211f5af28420 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Mon, 29 Jun 2026 17:25:05 +0200 Subject: [PATCH 18/45] WIP reciprocal activation --- Editor/Cluster_Drawer.cs | 28 ++++++++++++++-------------- Runtime/Scripts/Core/Neuron.cs | 26 +++++++++++++++++++++----- 2 files changed, 35 insertions(+), 19 deletions(-) diff --git a/Editor/Cluster_Drawer.cs b/Editor/Cluster_Drawer.cs index d1e3778..acc8eb3 100644 --- a/Editor/Cluster_Drawer.cs +++ b/Editor/Cluster_Drawer.cs @@ -150,20 +150,20 @@ namespace NanoBrain.Unity { else if (selectedTarget is GameObject g) gameObject = g; - // Handles.color = Color.yellow; - // if (Cluster_Drawer.currentClusterView.selectedSynapseNeuron != null) { - // foreach (Cluster sibling in Cluster_Drawer.currentClusterView.selectedSynapseNeuron.parent.instances) { - // Neuron siblingNeuron = sibling.GetNeuron(Cluster_Drawer.currentClusterView.selectedSynapseNeuron.name); - // Vector3 worldVector = gameObject.transform.TransformVector(siblingNeuron.outputValue); - // Handles.DrawLine(gameObject.transform.position, gameObject.transform.position + worldVector); - // } - // } - // else { - // if (Cluster_Drawer.currentClusterView.currentNucleus is Neuron currentNeuron) { - // Vector3 worldVector = gameObject.transform.TransformVector(currentNeuron.outputValue); - // Handles.DrawLine(gameObject.transform.position, gameObject.transform.position + worldVector); - // } - // } + Handles.color = Color.yellow; + if (Cluster_Drawer.currentClusterView.selectedSynapseNeuron != null) { + foreach (Cluster sibling in Cluster_Drawer.currentClusterView.selectedSynapseNeuron.parent.instances) { + Neuron siblingNeuron = sibling.GetNeuron(Cluster_Drawer.currentClusterView.selectedSynapseNeuron.name); + Vector3 worldVector = gameObject.transform.TransformVector(siblingNeuron.outputValue); + Handles.DrawLine(gameObject.transform.position, gameObject.transform.position + worldVector); + } + } + else { + if (Cluster_Drawer.currentClusterView.currentNucleus is Neuron currentNeuron) { + Vector3 worldVector = gameObject.transform.TransformVector(currentNeuron.outputValue); + Handles.DrawLine(gameObject.transform.position, gameObject.transform.position + worldVector); + } + } } } diff --git a/Runtime/Scripts/Core/Neuron.cs b/Runtime/Scripts/Core/Neuron.cs index c8a74e3..58e1946 100644 --- a/Runtime/Scripts/Core/Neuron.cs +++ b/Runtime/Scripts/Core/Neuron.cs @@ -355,14 +355,15 @@ namespace NanoBrain { Debug.Break(); } - var combination = Combinator(this.bias, this.synapses); - this.outputValue = Activator(combination); + this.combinationValue = Combinator(this.bias, this.synapses); + this.outputValue = Activator(this.combinationValue); this.lastUpdate = Time.time; } #region Combinator #if UNITY_MATHEMATICS + public float3 combinationValue; /// /// The combinator which combines the bias with the values from all synapses @@ -418,6 +419,7 @@ namespace NanoBrain } #else + public Vector3 combinationValue; /// /// The combinator which combines the bias with the values from all synapses @@ -716,9 +718,23 @@ namespace NanoBrain // loss is a derivative of error // Backpropagation = loss * d(combinator) - // Assuming linear activation function. - // Derivative of this (f'()) would be 1. - Vector3 delta2 = loss * 1; + Vector3 delta2; + switch (activator) + { + case ActivationType.Linear: + // Derivative of this (f'()) would be 1. + delta2 = loss * 1; + break; + case ActivationType.Power: + delta2 = loss * (2 * this.combinationValue); + break; + case ActivationType.Reciprocal: + delta2 = loss * (-1 / (this.combinationValue * this.combinationValue)); + break; + default: + delta2 = loss; + break; + } Vector3 scaledOutput = Vector3.Scale(delta2, synapse.neuron.outputValue); float deltaWeight = Mathf.Abs(scaledOutput.x) + Mathf.Abs(scaledOutput.y) + Mathf.Abs(scaledOutput.z); From eb2adaeec37636342242f4ccc441faa61a343307 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Tue, 30 Jun 2026 11:37:21 +0200 Subject: [PATCH 19/45] Fix dangling clusters --- Editor/ClusterEditor.cs | 16 ++++++++++------ Runtime/Scripts/Core/Cluster.cs | 11 +++++++++++ Runtime/Scripts/Core/Neuron.cs | 30 ++++++++++++++++++++++++++++++ 3 files changed, 51 insertions(+), 6 deletions(-) diff --git a/Editor/ClusterEditor.cs b/Editor/ClusterEditor.cs index a6e8ee5..c19cc2c 100644 --- a/Editor/ClusterEditor.cs +++ b/Editor/ClusterEditor.cs @@ -19,6 +19,8 @@ namespace NanoBrain.Unity { view.currentCluster ??= clusterPrefab.cluster; view.currentNucleus = clusterPrefab.cluster.defaultOutput; view.selectedOutput = view.currentNucleus; + + clusterPrefab.cluster.Cleanup(); } public override void OnInspectorGUI() { @@ -395,24 +397,26 @@ namespace NanoBrain.Unity { .Where(synapse => synapse.neuron != null) .Select(synapse => synapse.neuron); - IEnumerable nuclei = cluster.cluster.nuclei - .Except(synapseNuclei); + Nucleus[] nuclei = cluster.cluster.nuclei + .Except(synapseNuclei).Distinct().ToArray(); IEnumerable nucleiNames = nuclei .Select(n => { int idx = n.name.IndexOf(':'); return idx < 0 ? n.name : n.name[..idx]; - }) - .Distinct(); + }); string[] names = nucleiNames.ToArray(); EditorGUILayout.BeginHorizontal(); selectedConnectNucleus = EditorGUILayout.Popup(selectedConnectNucleus, names); bool connecting = GUILayout.Button("Connect", GUILayout.Width(80)); EditorGUILayout.EndHorizontal(); - if (connecting) { - Nucleus nucleus = nuclei.ElementAt(selectedConnectNucleus); + if (connecting && selectedConnectNucleus >= 0 && selectedConnectNucleus < nuclei.Length) { + Nucleus nucleus = nuclei[selectedConnectNucleus];//nuclei.ElementAt(selectedConnectNucleus); if (nucleus is Neuron neuron) neuron.AddReceiver(this.view.currentNucleus); + else if (nucleus is Cluster clusterToConnect) { + clusterToConnect.defaultOutput.AddReceiver(this.view.currentNucleus); + } this.view.currentCluster.Refresh(); } return connecting; diff --git a/Runtime/Scripts/Core/Cluster.cs b/Runtime/Scripts/Core/Cluster.cs index ef0cac0..18726f0 100644 --- a/Runtime/Scripts/Core/Cluster.cs +++ b/Runtime/Scripts/Core/Cluster.cs @@ -711,6 +711,7 @@ namespace NanoBrain { /// /// This can be used to recalculate derived properties after the set of nuclei has been changed public void Refresh() { + Cleanup(); // This should not be needed, but somehow somewhere the parent is changed... foreach (Nucleus nucleus in this.nuclei) { nucleus.parent = this; @@ -719,6 +720,16 @@ namespace NanoBrain { RefreshComputeOrders(); } + public void Cleanup() { + foreach (Nucleus nucleus in this.nuclei.ToArray()) { + if (nucleus is not Cluster cluster) + continue; + List receivers = cluster.CollectReceivers(); + Debug.Log($"cluster receiver count = {receivers.Count}"); + if (receivers.Count == 0) + this.nuclei.Remove(nucleus); + } + } } } \ No newline at end of file diff --git a/Runtime/Scripts/Core/Neuron.cs b/Runtime/Scripts/Core/Neuron.cs index 58e1946..cb5639c 100644 --- a/Runtime/Scripts/Core/Neuron.cs +++ b/Runtime/Scripts/Core/Neuron.cs @@ -363,6 +363,7 @@ namespace NanoBrain #region Combinator #if UNITY_MATHEMATICS + [NonSerialized] public float3 combinationValue; /// @@ -742,6 +743,35 @@ namespace NanoBrain Debug.Log($"Updated weight: {error.magnitude} {error} {scaledOutput} {synapse.weight}"); } + public void BackPropagationWithLoss(Synapse synapse, Vector3 loss, float learningRate) + { + // loss is a derivative of error + // Backpropagation = loss * d(combinator) + + Vector3 delta2; + switch (activator) + { + case ActivationType.Linear: + // Derivative of this (f'()) would be 1. + delta2 = loss * 1; + break; + case ActivationType.Power: + delta2 = loss * (2 * this.combinationValue); + break; + case ActivationType.Reciprocal: + delta2 = loss * (-1 / (this.combinationValue * this.combinationValue)); + break; + default: + delta2 = loss; + break; + } + + Vector3 scaledOutput = Vector3.Scale(delta2, synapse.neuron.outputValue); + float deltaWeight = Mathf.Abs(scaledOutput.x) + Mathf.Abs(scaledOutput.y) + Mathf.Abs(scaledOutput.z); + synapse.weight += learningRate * deltaWeight; + Debug.Log($"Updated weight: {loss.magnitude} {loss} {scaledOutput} {synapse.weight}"); + } + #endregion Back propagation /// From 51002e78df11ebbb91b19bb6f1da92032a51b190 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Tue, 30 Jun 2026 16:44:13 +0200 Subject: [PATCH 20/45] BackPropagation implementations --- Runtime/Scripts/Core/Neuron.cs | 285 +++++++++++++++++---------------- 1 file changed, 149 insertions(+), 136 deletions(-) diff --git a/Runtime/Scripts/Core/Neuron.cs b/Runtime/Scripts/Core/Neuron.cs index cb5639c..b5ebda2 100644 --- a/Runtime/Scripts/Core/Neuron.cs +++ b/Runtime/Scripts/Core/Neuron.cs @@ -6,8 +6,7 @@ using Unity.Mathematics; using static Unity.Mathematics.math; #endif -namespace NanoBrain -{ +namespace NanoBrain { /// /// A neuron is a basic Nucleus @@ -22,20 +21,17 @@ namespace NanoBrain /// Each connection has a weight which is used to multiply the output of that other neuron /// before it is used by the combinator. [Serializable] - public class Neuron : Nucleus - { + public class Neuron : Nucleus { /// /// Create a new Neuron in a Cluster instance /// /// The parent cluster in which the new Neuron should be created /// The name of the new Neuron - public Neuron(Cluster parent, string name) - { + public Neuron(Cluster parent, string name) { this.parent = parent; this.name = name; - if (this.parent != null) - { + if (this.parent != null) { this.parent.nuclei ??= new(); this.parent.nuclei.Add(this); } @@ -67,8 +63,7 @@ namespace NanoBrain /// The weight applied to the input. Default value = 1 /// The created Synapse /// This will add a new input to this nucleus with the given weight. - public Synapse AddSynapse(Neuron sendingNucleus, float weight = 1) - { + public Synapse AddSynapse(Neuron sendingNucleus, float weight = 1) { Synapse synapse = new(sendingNucleus, weight); this.synapses.Add(synapse); return synapse; @@ -79,8 +74,7 @@ namespace NanoBrain /// /// The sender of the input to the Synapse /// The found Synapse or null when the sender has no synapse to this nucleus. - public Synapse GetSynapse(Nucleus sender) - { + public Synapse GetSynapse(Nucleus sender) { foreach (Synapse synapse in this.synapses) if (synapse.neuron == sender) return synapse; @@ -91,8 +85,7 @@ namespace NanoBrain /// Remove a synapse from a Nucleus /// /// Remote the synapse connecting to this Nucleus - public void RemoveSynapse(Nucleus sendingNucleus) - { + public void RemoveSynapse(Nucleus sendingNucleus) { this.synapses.RemoveAll(synapse => synapse.neuron == sendingNucleus); } @@ -102,8 +95,7 @@ namespace NanoBrain /// Set the bias, recalculate the output and update all Nuclei receiving from this Nucleus /// /// - public virtual void SetBias(Vector3 inputValue) - { + public virtual void SetBias(Vector3 inputValue) { this.bias = inputValue; this.lastUpdate = Time.time; this.parent?.UpdateFromNucleus(this); @@ -113,8 +105,7 @@ namespace NanoBrain /// The type of combinators /// /// A combinator combines the weighted values of the synapses to a single value - public enum CombinatorType - { + public enum CombinatorType { /// Add the weighted values together Sum, /// Multiply the weighted values @@ -129,8 +120,7 @@ namespace NanoBrain /// /// The type of /// - public enum ActivationType - { + public enum ActivationType { Linear, Power, Sqrt, @@ -149,11 +139,9 @@ namespace NanoBrain /// /// The activation funtion /// - public ActivationType activator - { + public ActivationType activator { get { return _activator; } - set - { + set { _activator = value; //this.curve = GenerateCurve(); } @@ -171,16 +159,15 @@ namespace NanoBrain /// /// The output value of the neuron /// - public virtual float3 outputValue - { + public virtual float3 outputValue { get { return _outputValue; } - set - { + set { _outputValue = value; if (this.isFiring) WhenFiring?.Invoke(); } } + public float3 activation => outputValue; /// /// The magnitude of the neuron output /// @@ -238,10 +225,8 @@ namespace NanoBrain /// Check if the neuron is sleeping. /// /// This will reset the output value if it is sleeping - public void SleepCheck() - { - if (this.isSleeping && this.outputSqrMagnitude > 0) - { + public void SleepCheck() { + if (this.isSleeping && this.outputSqrMagnitude > 0) { #if UNITY_MATHEMATICS this._outputValue = new float3(0, 0, 0); #else @@ -267,10 +252,8 @@ namespace NanoBrain public bool breakOnUpdate = false; /// \copydoc NanoBrain::Nucleus::ShallowCloneTo - public override Nucleus ShallowCloneTo(Cluster parent) - { - Neuron clone = new(parent, this.name) - { + public override Nucleus ShallowCloneTo(Cluster parent) { + Neuron clone = new(parent, this.name) { // prefabNucleus = this }; CloneFields(clone); @@ -281,8 +264,7 @@ namespace NanoBrain /// Copy relevant fields of this neuron to the given neuron /// /// - protected virtual void CloneFields(Neuron clone) - { + protected virtual void CloneFields(Neuron clone) { clone.bias = this.bias; clone.persistOutput = this.persistOutput; clone.combinator = this.combinator; @@ -294,45 +276,34 @@ namespace NanoBrain /// Delete the give neuron /// /// The neuron to delete - public static void Delete(Nucleus nucleus) - { + public static void Delete(Nucleus nucleus) { if (nucleus == null) return; - if (nucleus is Neuron neuron) - { - foreach (Synapse synapse in neuron.synapses) - { - if (synapse.neuron is Neuron synapse_nucleus) - { - if (synapse_nucleus.receivers.Count > 1) - { + if (nucleus is Neuron neuron) { + foreach (Synapse synapse in neuron.synapses) { + if (synapse.neuron is Neuron synapse_nucleus) { + if (synapse_nucleus.receivers.Count > 1) { // there is another nucleus feeding into this input nucleus synapse_nucleus.receivers.RemoveAll(r => r == nucleus); } - else - { + else { // No other links, delete it. Neuron.Delete(synapse_nucleus); } } } - foreach (Nucleus receiver in neuron.receivers) - { + foreach (Nucleus receiver in neuron.receivers) { if (receiver is not Neuron receiverNeuron) continue; if (receiver != null && receiverNeuron.synapses != null) receiverNeuron.synapses.RemoveAll(s => s.neuron == nucleus); } } - else if (nucleus is Cluster cluster) - { + else if (nucleus is Cluster cluster) { // remove all receivers for this cluster - foreach (Nucleus clusterNucleus in cluster.nuclei) - { - if (clusterNucleus is Neuron output) - { - foreach (Nucleus receiver in output.receivers) - { + foreach (Nucleus clusterNucleus in cluster.nuclei) { + if (clusterNucleus is Neuron output) { + foreach (Nucleus receiver in output.receivers) { if (receiver is not Neuron receiverNeuron) continue; receiverNeuron.synapses.RemoveAll(s => s.neuron == output); @@ -341,22 +312,19 @@ namespace NanoBrain } } - if (nucleus.parent.prefab != null) - { + if (nucleus.parent.prefab != null) { nucleus.parent.nuclei.RemoveAll(n => n == nucleus); nucleus.parent.RefreshOutputs(); } } /// \copydoc NanoBrain::Nucleus::UpdateStateIsolated - public override void UpdateStateIsolated() - { - if (breakOnUpdate) - { + public override void UpdateStateIsolated() { + if (breakOnUpdate) { Debug.Break(); } - this.combinationValue = Combinator(this.bias, this.synapses); - this.outputValue = Activator(this.combinationValue); + this.combination = Combinator(this.bias, this.synapses); + this.outputValue = Activator(this.combination); this.lastUpdate = Time.time; } @@ -364,7 +332,7 @@ namespace NanoBrain #if UNITY_MATHEMATICS [NonSerialized] - public float3 combinationValue; + public float3 combination; /// /// The combinator which combines the bias with the values from all synapses @@ -372,10 +340,8 @@ namespace NanoBrain /// The bias of the neuron /// The synapses of the neuron /// - protected float3 Combinator(float3 bias, List synapses) - { - switch (combinator) - { + protected float3 Combinator(float3 bias, List synapses) { + switch (combinator) { case CombinatorType.Sum: return CombinatorSum(bias, synapses); case CombinatorType.Product: @@ -391,11 +357,9 @@ namespace NanoBrain /// The bias of the neuron /// The synapses of the neuron /// - public static float3 CombinatorSum(float3 bias, List synapses) - { + public static float3 CombinatorSum(float3 bias, List synapses) { float3 sum = bias; - foreach (Synapse synapse in synapses) - { + foreach (Synapse synapse in synapses) { synapse.neuron.SleepCheck(); sum += synapse.weight * synapse.neuron.outputValue; } @@ -408,11 +372,9 @@ namespace NanoBrain /// The bias of the neuron /// The synapses of the neuron /// The result of the multiplication - public static float3 CombinatorProduct(float3 bias, List synapses) - { + public static float3 CombinatorProduct(float3 bias, List synapses) { float3 product = bias; - foreach (Synapse synapse in synapses) - { + foreach (Synapse synapse in synapses) { synapse.neuron.SleepCheck(); product *= synapse.weight * synapse.neuron.outputValue; } @@ -479,10 +441,8 @@ namespace NanoBrain /// /// The result of applying the activation function // This does not allocate memory and seems faster than a switch expression - protected float3 Activator(float3 inputValue) - { - switch (activator) - { + protected float3 Activator(float3 inputValue) { + switch (activator) { case ActivationType.Linear: return ActivatorLinear(inputValue); case ActivationType.Sqrt: @@ -507,8 +467,7 @@ namespace NanoBrain /// /// Input value /// The unchanged value - protected float3 ActivatorLinear(float3 input) - { + protected float3 ActivatorLinear(float3 input) { return input; } @@ -517,8 +476,7 @@ namespace NanoBrain /// /// Input value /// The square root of the input - protected float3 ActivatorSqrt(float3 input) - { + protected float3 ActivatorSqrt(float3 input) { float3 result = normalize(input) * MathF.Sqrt(length(input)); return result; } @@ -528,8 +486,7 @@ namespace NanoBrain /// /// Input value /// The input to the power of 2 - protected float3 ActivatorPower(float3 input) - { + protected float3 ActivatorPower(float3 input) { float3 result = normalize(input) * MathF.Pow(length(input), 2); return result; } @@ -539,8 +496,7 @@ namespace NanoBrain /// /// Input value /// 1/input value - protected float3 ActivatorReciprocal(float3 input) - { + protected float3 ActivatorReciprocal(float3 input) { float magnitude = length(input); if (magnitude == 0) return new float3(0, 0, 0); @@ -554,8 +510,7 @@ namespace NanoBrain /// /// Input value /// Tanh(input value) - protected float3 ActivatorTanh(float3 input) - { + protected float3 ActivatorTanh(float3 input) { float magnitude = length(input); float3 result = normalize(input) * MathF.Tanh(magnitude); return result; @@ -565,8 +520,7 @@ namespace NanoBrain /// /// Input value /// An uniform vector with magnitude between 0 and 1 - protected float3 ActivatorBinary(float3 input) - { + protected float3 ActivatorBinary(float3 input) { float magnitude = length(input); float value = Mathf.Clamp01(magnitude); return float3(value, value, value); @@ -577,8 +531,7 @@ namespace NanoBrain /// /// Input value /// The normalized vector - protected float3 ActivatorNormalized(float3 input) - { + protected float3 ActivatorNormalized(float3 input) { if (lengthsq(input) == 0) return input; float3 result = normalize(input); @@ -664,8 +617,7 @@ namespace NanoBrain /// /// The nuclei which have a synapse to this neuron /// - public virtual List receivers - { + public virtual List receivers { get { return _receivers; } set { _receivers = value; } } @@ -675,8 +627,7 @@ namespace NanoBrain /// /// The receiver to add /// The weight to use for the synapse to his neuron - public virtual void AddReceiver(Nucleus receiverToAdd, float weight = 1) - { + public virtual void AddReceiver(Nucleus receiverToAdd, float weight = 1) { if (receiverToAdd is not Neuron receiverNeuron) return; this._receivers.Add(receiverNeuron); @@ -689,8 +640,7 @@ namespace NanoBrain /// Remove a receiver to this neuron /// /// The receiver to remove - public virtual void RemoveReceiver(Nucleus receiverToRemove) - { + public virtual void RemoveReceiver(Nucleus receiverToRemove) { if (receiverToRemove is not Neuron receiverNeuron) return; this._receivers.RemoveAll(receiver => receiver == receiverNeuron); @@ -708,8 +658,7 @@ namespace NanoBrain #region Back propagation - public void BackPropagation(Synapse synapse, Vector3 error, float learningRate) - { + public void BackPropagation(Synapse synapse, Vector3 error, float learningRate) { // Loss function: // Mean Squared Error (MSE) 1/n * sum(errors^2) // We use simplified here 1/2 * (error^2) @@ -720,17 +669,16 @@ namespace NanoBrain // Backpropagation = loss * d(combinator) Vector3 delta2; - switch (activator) - { + switch (activator) { case ActivationType.Linear: // Derivative of this (f'()) would be 1. delta2 = loss * 1; break; case ActivationType.Power: - delta2 = loss * (2 * this.combinationValue); + delta2 = loss * (2 * this.combination); break; case ActivationType.Reciprocal: - delta2 = loss * (-1 / (this.combinationValue * this.combinationValue)); + delta2 = loss * (-1 / (this.combination * this.combination)); break; default: delta2 = loss; @@ -743,43 +691,108 @@ namespace NanoBrain Debug.Log($"Updated weight: {error.magnitude} {error} {scaledOutput} {synapse.weight}"); } - public void BackPropagationWithLoss(Synapse synapse, Vector3 loss, float learningRate) - { - // loss is a derivative of error - // Backpropagation = loss * d(combinator) - - Vector3 delta2; - switch (activator) - { - case ActivationType.Linear: - // Derivative of this (f'()) would be 1. - delta2 = loss * 1; - break; - case ActivationType.Power: - delta2 = loss * (2 * this.combinationValue); - break; - case ActivationType.Reciprocal: - delta2 = loss * (-1 / (this.combinationValue * this.combinationValue)); - break; - default: - delta2 = loss; - break; - } - + public void BackPropagationWithLoss(Synapse synapse, Vector3 loss, float learningRate) { + Vector3 delta2 = activator switch { + ActivationType.Linear => loss * 1, + ActivationType.Power => (Vector3)(loss * (2 * this.combination)), + ActivationType.Reciprocal => (Vector3)(loss * (-1 / (this.combination * this.combination))), + _ => loss, + }; Vector3 scaledOutput = Vector3.Scale(delta2, synapse.neuron.outputValue); float deltaWeight = Mathf.Abs(scaledOutput.x) + Mathf.Abs(scaledOutput.y) + Mathf.Abs(scaledOutput.z); synapse.weight += learningRate * deltaWeight; Debug.Log($"Updated weight: {loss.magnitude} {loss} {scaledOutput} {synapse.weight}"); } + public void BackPropagation1(Vector3 cost, Vector3 error, float learningRate) { + cost = Vector3.Scale(error, error); // error^2 + float3 derivative = 2 * error; // derivative of (error^2) + // inverted because it uses the non-convential + // error=(actual-taget) instead of (target-actual) + // dSSR / dPredicted + + // Bias + float3 deltaBias = derivative; + // deltaBias *= 1; // because bias is always fully applied + Vector3 stepSize = deltaBias * learningRate; + this.bias -= stepSize; + + foreach (Synapse synapse in this.synapses) { + // derivative for the weight? + float3 deltaSynapse = derivative; // dSSR/dPredicted + // derivative for the previous activation + deltaSynapse *= synapse.neuron.activation; // dPredicted/dWeight + + // // derivative for the activator + // switch (activator) { + // case ActivationType.Linear: + // //delta2 *= 1; + // break; + // default: + // break; + // } + float deltaWeight = length(deltaSynapse); + synapse.weight += learningRate * deltaWeight; + + synapse.neuron.BackPropagation2(derivative * synapse.weight, learningRate); + } + } + + public void BackPropagation0(Vector3 error, float learningRate) { + float3 derivative = 2 * error; // derivative of (error^2) + // inverted because it uses the non-convential + // error=(actual-taget) instead of (target-actual) + // dSSR / dPredicted + BackPropagation2(derivative, learningRate); + } + + public void BackPropagation2(Vector3 derivative, float learningRate) { + + // Bias + float3 deltaBias = derivative; // dSSR/dActivator + switch (activator) { // dActivator/dBias + case ActivationType.Linear: + //deltaBias *= 1; + break; + default: + break; + } + // deltaBias *= 1; // because bias is always fully applied + Vector3 stepSize = deltaBias * learningRate; + this.bias -= stepSize; + + foreach (Synapse synapse in this.synapses) { + // derivative for the weight? + float3 deltaSynapse = derivative; // dSSR/dActivator + + // derivative for the activator + // dActivator/dCombinator + switch (activator) { + case ActivationType.Linear: + //deltaSynapse *= 1; + break; + default: + break; + } + + // derivative for the previous activation + // dCombinator/dWeight + deltaSynapse *= synapse.neuron.activation; + + float deltaWeight = length(deltaSynapse); + synapse.weight += learningRate * deltaWeight; + + BackPropagation2(derivative * synapse.weight, learningRate); + } + } + #endregion Back propagation /// /// Process an external stimulus /// /// The value of the stimulus - public virtual void ProcessStimulus(Vector3 inputValue) - { + public virtual void ProcessStimulus(Vector3 inputValue) { this.lastUpdate = Time.time; this.bias = inputValue; this.parent?.UpdateFromNucleus(this); From 06a7a6d1fab184eca477a9a774db2b21a1a68645 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Tue, 30 Jun 2026 16:47:18 +0200 Subject: [PATCH 21/45] Add synapse trainable flag --- Editor/ClusterEditor.cs | 5 +++++ Runtime/Scripts/Core/Synapse.cs | 2 ++ 2 files changed, 7 insertions(+) diff --git a/Editor/ClusterEditor.cs b/Editor/ClusterEditor.cs index c19cc2c..fe182c8 100644 --- a/Editor/ClusterEditor.cs +++ b/Editor/ClusterEditor.cs @@ -303,6 +303,11 @@ namespace NanoBrain.Unity { synapse.weight = newWeight; anythingChanged = true; } + bool isTrainable = EditorGUILayout.Toggle("Trainable", synapse.trainable); + if (isTrainable != synapse.trainable) { + synapse.trainable = isTrainable; + anythingChanged = true; + } EditorGUI.indentLevel--; } } diff --git a/Runtime/Scripts/Core/Synapse.cs b/Runtime/Scripts/Core/Synapse.cs index a28626c..a0bf74d 100644 --- a/Runtime/Scripts/Core/Synapse.cs +++ b/Runtime/Scripts/Core/Synapse.cs @@ -19,6 +19,8 @@ namespace NanoBrain { /// public float weight; + public bool trainable = false; + /// /// Create a new Synapse /// From fa9b3145f9eedef1df73b6a8ba4b1fb2b706263f Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Wed, 1 Jul 2026 17:17:36 +0200 Subject: [PATCH 22/45] Backpropagation over cluster part 1 --- Runtime/Scripts/Core/Cluster.cs | 45 ++++++++++++++++++++++++++++++++- 1 file changed, 44 insertions(+), 1 deletion(-) diff --git a/Runtime/Scripts/Core/Cluster.cs b/Runtime/Scripts/Core/Cluster.cs index 18726f0..7dcfafb 100644 --- a/Runtime/Scripts/Core/Cluster.cs +++ b/Runtime/Scripts/Core/Cluster.cs @@ -366,6 +366,49 @@ namespace NanoBrain { thingClusters.Remove(thingId); } + + public List GetAllInstances(Neuron nucleus) { + List allInstances = new(); + + int ix = -1; + //foreach (Nucleus myNucleus in this.nuclei) { + for (; ix < this.nuclei.Count; ix++) { + if (this.nuclei[ix] == nucleus) + break; + } + if (ix == this.nuclei.Count) + return allInstances; + + foreach (Cluster instance in this.instances) { + List otherNuclei = instance.nuclei; + if (otherNuclei[ix] is Neuron otherNeuron) + allInstances.Add(otherNeuron); + } + return allInstances; + } + + public void Backpropagation(Func Observer, Vector3 target, float learningRate) { + foreach (Nucleus nucleus in this.instances[0].nuclei) { + if (nucleus is not Neuron neuron) + continue; + + foreach (Synapse synapse in neuron.synapses) { + List allSynapseNeurons = GetAllInstances(synapse.neuron); + + Vector3 dSSRdW = Vector3.zero; + for (int clusterIx = 0; clusterIx < this.instances.Length; clusterIx++) { + Cluster clusterInstance = this.instances[clusterIx]; + Neuron neuronInstance = allSynapseNeurons[clusterIx]; + + // Simple case, without receivers... + dSSRdW += (Vector3)(-2 * (Observer(clusterInstance) - target) * neuronInstance.activation); + } + synapse.weight += learningRate * dSSRdW.magnitude; + } + } + + } + #endregion ClusterArray /// @@ -724,7 +767,7 @@ namespace NanoBrain { foreach (Nucleus nucleus in this.nuclei.ToArray()) { if (nucleus is not Cluster cluster) continue; - List receivers = cluster.CollectReceivers(); + List receivers = cluster.CollectReceivers(); Debug.Log($"cluster receiver count = {receivers.Count}"); if (receivers.Count == 0) this.nuclei.Remove(nucleus); From 736766fb315545db6ecdd70898bcb0f5d0145c13 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Wed, 1 Jul 2026 17:36:15 +0200 Subject: [PATCH 23/45] Using cluster backpropagation --- Runtime/Scripts/Core/Cluster.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Runtime/Scripts/Core/Cluster.cs b/Runtime/Scripts/Core/Cluster.cs index 7dcfafb..18332e1 100644 --- a/Runtime/Scripts/Core/Cluster.cs +++ b/Runtime/Scripts/Core/Cluster.cs @@ -387,7 +387,7 @@ namespace NanoBrain { return allInstances; } - public void Backpropagation(Func Observer, Vector3 target, float learningRate) { + public void Backpropagation(Func Observer, float target, float learningRate) { foreach (Nucleus nucleus in this.instances[0].nuclei) { if (nucleus is not Neuron neuron) continue; From 9568cdfcfbbb6a6cd30e562507b6c188d09537ae Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Fri, 3 Jul 2026 09:31:28 +0200 Subject: [PATCH 24/45] Backpropagation in synapse --- Runtime/Scripts/Core/Synapse.cs | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/Runtime/Scripts/Core/Synapse.cs b/Runtime/Scripts/Core/Synapse.cs index a0bf74d..5cca04a 100644 --- a/Runtime/Scripts/Core/Synapse.cs +++ b/Runtime/Scripts/Core/Synapse.cs @@ -1,5 +1,6 @@ using System; using UnityEngine; +using Unity.Mathematics; namespace NanoBrain { @@ -31,6 +32,20 @@ namespace NanoBrain { this.weight = weight; } + public virtual void BasicBackPropagation(float error, float learningRate) { + float derivative = error; + switch (neuron.activator) { + case Neuron.ActivationType.Linear: + derivative *= 1; + break; + default: + break; + } + derivative *= math.length(neuron.activation); + + float deltaWeight = learningRate * derivative; + this.weight += deltaWeight; + } } } \ No newline at end of file From c16c3c5dc9404c3673a9513f8dfb908c630c88d9 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Fri, 3 Jul 2026 11:31:08 +0200 Subject: [PATCH 25/45] Simple example with cluster --- Editor/ClusterEditor.cs | 2 +- Runtime/Scripts/Core/Cluster.cs | 4 +-- Runtime/Scripts/Core/Neuron.cs | 43 ++++++++++++++++++--------------- Runtime/Scripts/Core/Synapse.cs | 3 ++- 4 files changed, 28 insertions(+), 24 deletions(-) diff --git a/Editor/ClusterEditor.cs b/Editor/ClusterEditor.cs index fe182c8..d5aaf06 100644 --- a/Editor/ClusterEditor.cs +++ b/Editor/ClusterEditor.cs @@ -57,7 +57,7 @@ namespace NanoBrain.Unity { versionProp.intValue++; serializedObject.ApplyModifiedProperties(); EditorUtility.SetDirty(target); - Debug.Log($"{name} Prefab changed, version {versionProp.intValue}"); + // Debug.Log($"{name} Prefab changed, version {versionProp.intValue}"); } } diff --git a/Runtime/Scripts/Core/Cluster.cs b/Runtime/Scripts/Core/Cluster.cs index 18332e1..e93b7e4 100644 --- a/Runtime/Scripts/Core/Cluster.cs +++ b/Runtime/Scripts/Core/Cluster.cs @@ -157,7 +157,7 @@ namespace NanoBrain { // Could not find the neuron in the cloned cluster continue; - clonedSender.AddReceiver(clonedNeuron, prefabSynapse.weight); + clonedSender.AddReceiver(clonedNeuron, prefabSynapse.weight, prefabSynapse.trainable); //Debug.Log($"Add synapse {clonedCluster.name}.{clonedSender.name} -> {clonedNeuron.name} [{clonedSender.receivers.Count}]"); } else { @@ -168,7 +168,7 @@ namespace NanoBrain { continue; // Copy the receivers which will also create the synapse - clonedSender.AddReceiver(clonedNeuron, prefabSynapse.weight); + clonedSender.AddReceiver(clonedNeuron, prefabSynapse.weight, prefabSynapse.trainable); // Debug.Log($"Add synapse {clonedSender.name} -> {clonedNeuron.name}"); } } diff --git a/Runtime/Scripts/Core/Neuron.cs b/Runtime/Scripts/Core/Neuron.cs index b5ebda2..9a9ccef 100644 --- a/Runtime/Scripts/Core/Neuron.cs +++ b/Runtime/Scripts/Core/Neuron.cs @@ -63,8 +63,10 @@ namespace NanoBrain { /// The weight applied to the input. Default value = 1 /// The created Synapse /// This will add a new input to this nucleus with the given weight. - public Synapse AddSynapse(Neuron sendingNucleus, float weight = 1) { - Synapse synapse = new(sendingNucleus, weight); + public Synapse AddSynapse(Neuron sendingNucleus, float weight = 1, bool trainable = false) { + Synapse synapse = new(sendingNucleus, weight) { + trainable = trainable + }; this.synapses.Add(synapse); return synapse; } @@ -627,11 +629,11 @@ namespace NanoBrain { /// /// The receiver to add /// The weight to use for the synapse to his neuron - public virtual void AddReceiver(Nucleus receiverToAdd, float weight = 1) { + public virtual void AddReceiver(Nucleus receiverToAdd, float weight = 1, bool trainable = false) { if (receiverToAdd is not Neuron receiverNeuron) return; this._receivers.Add(receiverNeuron); - receiverNeuron.AddSynapse(this, weight); + receiverNeuron.AddSynapse(this, weight, trainable); //Debug.Log($"Add synapse {this.clusterPrefab.name}.{this.name} -> {receiverToAdd.name} --- [{this.receivers.Count}]"); } @@ -762,25 +764,26 @@ namespace NanoBrain { this.bias -= stepSize; foreach (Synapse synapse in this.synapses) { - // derivative for the weight? - float3 deltaSynapse = derivative; // dSSR/dActivator + synapse.BackPropagation(length(derivative), learningRate); + // // derivative for the weight? + // float3 deltaSynapse = derivative; // dSSR/dActivator - // derivative for the activator - // dActivator/dCombinator - switch (activator) { - case ActivationType.Linear: - //deltaSynapse *= 1; - break; - default: - break; - } + // // derivative for the activator + // // dActivator/dCombinator + // switch (activator) { + // case ActivationType.Linear: + // //deltaSynapse *= 1; + // break; + // default: + // break; + // } - // derivative for the previous activation - // dCombinator/dWeight - deltaSynapse *= synapse.neuron.activation; + // // derivative for the previous activation + // // dCombinator/dWeight + // deltaSynapse *= synapse.neuron.activation; - float deltaWeight = length(deltaSynapse); - synapse.weight += learningRate * deltaWeight; + // float deltaWeight = length(deltaSynapse); + // synapse.weight += learningRate * deltaWeight; BackPropagation2(derivative * synapse.weight, learningRate); } diff --git a/Runtime/Scripts/Core/Synapse.cs b/Runtime/Scripts/Core/Synapse.cs index 5cca04a..22ee378 100644 --- a/Runtime/Scripts/Core/Synapse.cs +++ b/Runtime/Scripts/Core/Synapse.cs @@ -13,6 +13,7 @@ namespace NanoBrain { /// The neuron from which input is received /// [SerializeReference] + [HideInInspector] public Neuron neuron; /// @@ -32,7 +33,7 @@ namespace NanoBrain { this.weight = weight; } - public virtual void BasicBackPropagation(float error, float learningRate) { + public virtual void BackPropagation(float error, float learningRate) { float derivative = error; switch (neuron.activator) { case Neuron.ActivationType.Linear: From a38e4c3c77e27241a2d5fca8b4f89045a6950e27 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Fri, 3 Jul 2026 11:44:58 +0200 Subject: [PATCH 26/45] Generic 1-layer training --- Runtime/Scripts/Core/Neuron.cs | 90 ++++++++++++++++----------------- Runtime/Scripts/Core/Synapse.cs | 8 +-- 2 files changed, 50 insertions(+), 48 deletions(-) diff --git a/Runtime/Scripts/Core/Neuron.cs b/Runtime/Scripts/Core/Neuron.cs index 9a9ccef..7cda0b8 100644 --- a/Runtime/Scripts/Core/Neuron.cs +++ b/Runtime/Scripts/Core/Neuron.cs @@ -706,65 +706,65 @@ namespace NanoBrain { Debug.Log($"Updated weight: {loss.magnitude} {loss} {scaledOutput} {synapse.weight}"); } - public void BackPropagation1(Vector3 cost, Vector3 error, float learningRate) { - cost = Vector3.Scale(error, error); // error^2 - float3 derivative = 2 * error; // derivative of (error^2) - // inverted because it uses the non-convential - // error=(actual-taget) instead of (target-actual) - // dSSR / dPredicted + // public void BackPropagation1(Vector3 cost, Vector3 error, float learningRate) { + // cost = Vector3.Scale(error, error); // error^2 + // float3 derivative = 2 * error; // derivative of (error^2) + // // inverted because it uses the non-convential + // // error=(actual-taget) instead of (target-actual) + // // dSSR / dPredicted - // Bias - float3 deltaBias = derivative; - // deltaBias *= 1; // because bias is always fully applied - Vector3 stepSize = deltaBias * learningRate; - this.bias -= stepSize; + // // Bias + // float3 deltaBias = derivative; + // // deltaBias *= 1; // because bias is always fully applied + // Vector3 stepSize = deltaBias * learningRate; + // this.bias -= stepSize; - foreach (Synapse synapse in this.synapses) { - // derivative for the weight? - float3 deltaSynapse = derivative; // dSSR/dPredicted - // derivative for the previous activation - deltaSynapse *= synapse.neuron.activation; // dPredicted/dWeight + // foreach (Synapse synapse in this.synapses) { + // // derivative for the weight? + // float3 deltaSynapse = derivative; // dSSR/dPredicted + // // derivative for the previous activation + // deltaSynapse *= synapse.neuron.activation; // dPredicted/dWeight - // // derivative for the activator - // switch (activator) { - // case ActivationType.Linear: - // //delta2 *= 1; - // break; - // default: - // break; - // } - float deltaWeight = length(deltaSynapse); - synapse.weight += learningRate * deltaWeight; + // // // derivative for the activator + // // switch (activator) { + // // case ActivationType.Linear: + // // //delta2 *= 1; + // // break; + // // default: + // // break; + // // } + // float deltaWeight = length(deltaSynapse); + // synapse.weight += learningRate * deltaWeight; - synapse.neuron.BackPropagation2(derivative * synapse.weight, learningRate); - } - } + // synapse.neuron.BackPropagation2(derivative * synapse.weight, learningRate); + // } + // } - public void BackPropagation0(Vector3 error, float learningRate) { - float3 derivative = 2 * error; // derivative of (error^2) + public void BackPropagation0(float error, float learningRate) { + float derivative = 2 * error; // derivative of (error^2) // inverted because it uses the non-convential // error=(actual-taget) instead of (target-actual) // dSSR / dPredicted BackPropagation2(derivative, learningRate); } - public void BackPropagation2(Vector3 derivative, float learningRate) { + public void BackPropagation2(float derivative, float learningRate) { // Bias - float3 deltaBias = derivative; // dSSR/dActivator - switch (activator) { // dActivator/dBias - case ActivationType.Linear: - //deltaBias *= 1; - break; - default: - break; - } - // deltaBias *= 1; // because bias is always fully applied - Vector3 stepSize = deltaBias * learningRate; - this.bias -= stepSize; + // float3 deltaBias = derivative; // dSSR/dActivator + // switch (activator) { // dActivator/dBias + // case ActivationType.Linear: + // //deltaBias *= 1; + // break; + // default: + // break; + // } + // // deltaBias *= 1; // because bias is always fully applied + // Vector3 stepSize = deltaBias * learningRate; + // this.bias -= stepSize; foreach (Synapse synapse in this.synapses) { - synapse.BackPropagation(length(derivative), learningRate); + synapse.BackPropagation(this, derivative, learningRate); // // derivative for the weight? // float3 deltaSynapse = derivative; // dSSR/dActivator @@ -785,7 +785,7 @@ namespace NanoBrain { // float deltaWeight = length(deltaSynapse); // synapse.weight += learningRate * deltaWeight; - BackPropagation2(derivative * synapse.weight, learningRate); + // BackPropagation2(derivative * synapse.weight, learningRate); } } diff --git a/Runtime/Scripts/Core/Synapse.cs b/Runtime/Scripts/Core/Synapse.cs index 22ee378..8a66fe6 100644 --- a/Runtime/Scripts/Core/Synapse.cs +++ b/Runtime/Scripts/Core/Synapse.cs @@ -22,7 +22,7 @@ namespace NanoBrain { public float weight; public bool trainable = false; - + /// /// Create a new Synapse /// @@ -33,13 +33,15 @@ namespace NanoBrain { this.weight = weight; } - public virtual void BackPropagation(float error, float learningRate) { + public virtual void BackPropagation(Neuron receiver, float error, float learningRate) { float derivative = error; - switch (neuron.activator) { + + switch (receiver.activator) { case Neuron.ActivationType.Linear: derivative *= 1; break; default: + Debug.Log("other activator"); break; } derivative *= math.length(neuron.activation); From 66c57f803c7d136dd169d7ba9f03aceb578a7cb0 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Fri, 3 Jul 2026 15:39:45 +0200 Subject: [PATCH 27/45] Support more activators and bias (incorrectly) --- Editor/ClusterEditor.cs | 9 ++- Runtime/Scripts/Core/Neuron.cs | 120 +++++++++++++++++--------------- Runtime/Scripts/Core/Synapse.cs | 23 +++++- 3 files changed, 92 insertions(+), 60 deletions(-) diff --git a/Editor/ClusterEditor.cs b/Editor/ClusterEditor.cs index d5aaf06..e3a1995 100644 --- a/Editor/ClusterEditor.cs +++ b/Editor/ClusterEditor.cs @@ -220,9 +220,16 @@ namespace NanoBrain.Unity { Vector3 newBias = EditorGUILayout.Vector3Field("Bias", neuron2.bias); if (newBias != neuron2.bias) { - anythingChanged |= newBias != neuron2.bias; + anythingChanged = true; neuron2.bias = newBias; } + + bool newTrainable = EditorGUILayout.Toggle("Trainable", neuron2.trainable); + if (newTrainable != neuron2.trainable) { + anythingChanged = true; + neuron2.trainable = newTrainable; + } + EditorGUIUtility.labelWidth = previousLabelWidth; } diff --git a/Runtime/Scripts/Core/Neuron.cs b/Runtime/Scripts/Core/Neuron.cs index 7cda0b8..1e99a80 100644 --- a/Runtime/Scripts/Core/Neuron.cs +++ b/Runtime/Scripts/Core/Neuron.cs @@ -47,6 +47,11 @@ namespace NanoBrain { //[HideInInspector] public Vector3 bias = Vector3.zero; + /// + /// Indicator whether the bias can be trained + /// + public bool trainable = false; + #region Synapses [SerializeField] @@ -268,6 +273,7 @@ namespace NanoBrain { /// protected virtual void CloneFields(Neuron clone) { clone.bias = this.bias; + clone.trainable = this.trainable; clone.persistOutput = this.persistOutput; clone.combinator = this.combinator; clone.activator = this.activator; @@ -660,51 +666,51 @@ namespace NanoBrain { #region Back propagation - public void BackPropagation(Synapse synapse, Vector3 error, float learningRate) { - // Loss function: - // Mean Squared Error (MSE) 1/n * sum(errors^2) - // We use simplified here 1/2 * (error^2) - // For vectors, we need to use MSE component wise. - Vector3 loss = 0.5f * Vector3.Scale(error, error); + // public void BackPropagation(Synapse synapse, Vector3 error, float learningRate) { + // // Loss function: + // // Mean Squared Error (MSE) 1/n * sum(errors^2) + // // We use simplified here 1/2 * (error^2) + // // For vectors, we need to use MSE component wise. + // Vector3 loss = 0.5f * Vector3.Scale(error, error); - // loss is a derivative of error - // Backpropagation = loss * d(combinator) + // // loss is a derivative of error + // // Backpropagation = loss * d(combinator) - Vector3 delta2; - switch (activator) { - case ActivationType.Linear: - // Derivative of this (f'()) would be 1. - delta2 = loss * 1; - break; - case ActivationType.Power: - delta2 = loss * (2 * this.combination); - break; - case ActivationType.Reciprocal: - delta2 = loss * (-1 / (this.combination * this.combination)); - break; - default: - delta2 = loss; - break; - } + // Vector3 delta2; + // switch (activator) { + // case ActivationType.Linear: + // // Derivative of this (f'()) would be 1. + // delta2 = loss * 1; + // break; + // case ActivationType.Power: + // delta2 = loss * (2 * this.combination); + // break; + // case ActivationType.Reciprocal: + // delta2 = loss * (-1 / (this.combination * this.combination)); + // break; + // default: + // delta2 = loss; + // break; + // } - Vector3 scaledOutput = Vector3.Scale(delta2, synapse.neuron.outputValue); - float deltaWeight = Mathf.Abs(scaledOutput.x) + Mathf.Abs(scaledOutput.y) + Mathf.Abs(scaledOutput.z); - synapse.weight += learningRate * deltaWeight; - Debug.Log($"Updated weight: {error.magnitude} {error} {scaledOutput} {synapse.weight}"); - } + // Vector3 scaledOutput = Vector3.Scale(delta2, synapse.neuron.outputValue); + // float deltaWeight = Mathf.Abs(scaledOutput.x) + Mathf.Abs(scaledOutput.y) + Mathf.Abs(scaledOutput.z); + // synapse.weight += learningRate * deltaWeight; + // Debug.Log($"Updated weight: {error.magnitude} {error} {scaledOutput} {synapse.weight}"); + // } - public void BackPropagationWithLoss(Synapse synapse, Vector3 loss, float learningRate) { - Vector3 delta2 = activator switch { - ActivationType.Linear => loss * 1, - ActivationType.Power => (Vector3)(loss * (2 * this.combination)), - ActivationType.Reciprocal => (Vector3)(loss * (-1 / (this.combination * this.combination))), - _ => loss, - }; - Vector3 scaledOutput = Vector3.Scale(delta2, synapse.neuron.outputValue); - float deltaWeight = Mathf.Abs(scaledOutput.x) + Mathf.Abs(scaledOutput.y) + Mathf.Abs(scaledOutput.z); - synapse.weight += learningRate * deltaWeight; - Debug.Log($"Updated weight: {loss.magnitude} {loss} {scaledOutput} {synapse.weight}"); - } + // public void BackPropagationWithLoss(Synapse synapse, Vector3 loss, float learningRate) { + // Vector3 delta2 = activator switch { + // ActivationType.Linear => loss * 1, + // ActivationType.Power => (Vector3)(loss * (2 * this.combination)), + // ActivationType.Reciprocal => (Vector3)(loss * (-1 / (this.combination * this.combination))), + // _ => loss, + // }; + // Vector3 scaledOutput = Vector3.Scale(delta2, synapse.neuron.outputValue); + // float deltaWeight = Mathf.Abs(scaledOutput.x) + Mathf.Abs(scaledOutput.y) + Mathf.Abs(scaledOutput.z); + // synapse.weight += learningRate * deltaWeight; + // Debug.Log($"Updated weight: {loss.magnitude} {loss} {scaledOutput} {synapse.weight}"); + // } // public void BackPropagation1(Vector3 cost, Vector3 error, float learningRate) { // cost = Vector3.Scale(error, error); // error^2 @@ -742,26 +748,28 @@ namespace NanoBrain { public void BackPropagation0(float error, float learningRate) { float derivative = 2 * error; // derivative of (error^2) - // inverted because it uses the non-convential - // error=(actual-taget) instead of (target-actual) - // dSSR / dPredicted + // inverted because it uses the non-convential + // error=(actual-taget) instead of (target-actual) + // dSSR / dPredicted BackPropagation2(derivative, learningRate); } public void BackPropagation2(float derivative, float learningRate) { // Bias - // float3 deltaBias = derivative; // dSSR/dActivator - // switch (activator) { // dActivator/dBias - // case ActivationType.Linear: - // //deltaBias *= 1; - // break; - // default: - // break; - // } - // // deltaBias *= 1; // because bias is always fully applied - // Vector3 stepSize = deltaBias * learningRate; - // this.bias -= stepSize; + if (this.trainable) { + // This does not work well, because the derivative/error does not have a 3D direction + // float3 biasDerivative = derivative; // dSSR/dActivator + // switch (activator) { // dActivator/dBias + // case ActivationType.Linear: + // //deltaBias *= 1; + // break; + // default: + // break; + // } + // Vector3 deltaBias = biasDerivative * learningRate; + // this.bias -= deltaBias; + } foreach (Synapse synapse in this.synapses) { synapse.BackPropagation(this, derivative, learningRate); @@ -785,7 +793,7 @@ namespace NanoBrain { // float deltaWeight = length(deltaSynapse); // synapse.weight += learningRate * deltaWeight; - // BackPropagation2(derivative * synapse.weight, learningRate); + //BackPropagation2(derivative * synapse.weight, learningRate); } } diff --git a/Runtime/Scripts/Core/Synapse.cs b/Runtime/Scripts/Core/Synapse.cs index 8a66fe6..cd7859e 100644 --- a/Runtime/Scripts/Core/Synapse.cs +++ b/Runtime/Scripts/Core/Synapse.cs @@ -21,6 +21,9 @@ namespace NanoBrain { /// public float weight; + /// + /// Indicator whether the weight can be trained + /// public bool trainable = false; /// @@ -40,14 +43,28 @@ namespace NanoBrain { case Neuron.ActivationType.Linear: derivative *= 1; break; + case Neuron.ActivationType.Power: + // untested + derivative *= 2 * math.length(this.neuron.combination); + break; + case Neuron.ActivationType.Reciprocal: + // untested + derivative *= -1 / Mathf.Pow(math.length(this.neuron.combination), 2); + break; default: Debug.Log("other activator"); break; } - derivative *= math.length(neuron.activation); - float deltaWeight = learningRate * derivative; - this.weight += deltaWeight; + this.neuron.BackPropagation2(derivative * this.weight, learningRate); + + derivative *= math.length(this.neuron.activation); + + if (this.trainable) { + float deltaWeight = learningRate * derivative; + this.weight += deltaWeight; + } + } } From aeb9cf7cea7a4716f0b379d15af6f272101614b7 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Fri, 3 Jul 2026 17:12:04 +0200 Subject: [PATCH 28/45] 3D error, not yet working for weights --- Runtime/Scripts/Core/Neuron.cs | 20 +++++++++++++++++++- Runtime/Scripts/Core/Synapse.cs | 32 ++++++++++++++++++++++++++++++++ 2 files changed, 51 insertions(+), 1 deletion(-) diff --git a/Runtime/Scripts/Core/Neuron.cs b/Runtime/Scripts/Core/Neuron.cs index 1e99a80..3e876ec 100644 --- a/Runtime/Scripts/Core/Neuron.cs +++ b/Runtime/Scripts/Core/Neuron.cs @@ -755,7 +755,6 @@ namespace NanoBrain { } public void BackPropagation2(float derivative, float learningRate) { - // Bias if (this.trainable) { // This does not work well, because the derivative/error does not have a 3D direction @@ -797,6 +796,25 @@ namespace NanoBrain { } } + public void BackPropagation3D(Vector3 derivative, float learningRate) { + foreach (Synapse synapse in this.synapses) + synapse.BackPropagation(this, derivative, learningRate); + + // Bias + if (this.trainable) { + switch (this.activator) { // dActivator/dBias + case ActivationType.Linear: + derivative *= 1; + break; + default: + break; + } + + this.bias += derivative * learningRate; + Debug.Log($"bias {derivative} {this.bias}"); + } + } + #endregion Back propagation /// diff --git a/Runtime/Scripts/Core/Synapse.cs b/Runtime/Scripts/Core/Synapse.cs index cd7859e..072ef45 100644 --- a/Runtime/Scripts/Core/Synapse.cs +++ b/Runtime/Scripts/Core/Synapse.cs @@ -64,7 +64,39 @@ namespace NanoBrain { float deltaWeight = learningRate * derivative; this.weight += deltaWeight; } + } + public virtual void BackPropagation(Neuron receiver, Vector3 derivative, float learningRate) { + //Vector3 derivative = error; + + switch (receiver.activator) { + case Neuron.ActivationType.Linear: + derivative *= 1; + break; + case Neuron.ActivationType.Power: + // untested + derivative *= 2 * math.length(this.neuron.combination); + break; + case Neuron.ActivationType.Reciprocal: + // untested + derivative *= -1 / Mathf.Pow(math.length(this.neuron.combination), 2); + break; + default: + Debug.Log("other activator"); + break; + } + + this.neuron.BackPropagation3D(derivative * this.weight, learningRate); + + derivative = Vector3.Scale(derivative, this.neuron.activation); + + if (this.trainable) { + // Compared to the 1D solution, this does not decrease the weight. + // direction and sign are different.... + // Perhaps the sign is determine by the direction of the derivative and the neuron activation? + // When they are oppositie, the sign is negative? (or the other way round...) + this.weight += learningRate * derivative.magnitude; + } } } From 50e09c0db329dec954cf45253489b86fe4c5c5df Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Fri, 3 Jul 2026 17:16:32 +0200 Subject: [PATCH 29/45] Cleanup --- Runtime/Scripts/Core/Neuron.cs | 115 +------------------------------- Runtime/Scripts/Core/Synapse.cs | 2 +- 2 files changed, 4 insertions(+), 113 deletions(-) diff --git a/Runtime/Scripts/Core/Neuron.cs b/Runtime/Scripts/Core/Neuron.cs index 3e876ec..646607c 100644 --- a/Runtime/Scripts/Core/Neuron.cs +++ b/Runtime/Scripts/Core/Neuron.cs @@ -666,95 +666,10 @@ namespace NanoBrain { #region Back propagation - // public void BackPropagation(Synapse synapse, Vector3 error, float learningRate) { - // // Loss function: - // // Mean Squared Error (MSE) 1/n * sum(errors^2) - // // We use simplified here 1/2 * (error^2) - // // For vectors, we need to use MSE component wise. - // Vector3 loss = 0.5f * Vector3.Scale(error, error); + public void BackPropagation1D(float derivative, float learningRate) { + foreach (Synapse synapse in this.synapses) + synapse.BackPropagation(this, derivative, learningRate); - // // loss is a derivative of error - // // Backpropagation = loss * d(combinator) - - // Vector3 delta2; - // switch (activator) { - // case ActivationType.Linear: - // // Derivative of this (f'()) would be 1. - // delta2 = loss * 1; - // break; - // case ActivationType.Power: - // delta2 = loss * (2 * this.combination); - // break; - // case ActivationType.Reciprocal: - // delta2 = loss * (-1 / (this.combination * this.combination)); - // break; - // default: - // delta2 = loss; - // break; - // } - - // Vector3 scaledOutput = Vector3.Scale(delta2, synapse.neuron.outputValue); - // float deltaWeight = Mathf.Abs(scaledOutput.x) + Mathf.Abs(scaledOutput.y) + Mathf.Abs(scaledOutput.z); - // synapse.weight += learningRate * deltaWeight; - // Debug.Log($"Updated weight: {error.magnitude} {error} {scaledOutput} {synapse.weight}"); - // } - - // public void BackPropagationWithLoss(Synapse synapse, Vector3 loss, float learningRate) { - // Vector3 delta2 = activator switch { - // ActivationType.Linear => loss * 1, - // ActivationType.Power => (Vector3)(loss * (2 * this.combination)), - // ActivationType.Reciprocal => (Vector3)(loss * (-1 / (this.combination * this.combination))), - // _ => loss, - // }; - // Vector3 scaledOutput = Vector3.Scale(delta2, synapse.neuron.outputValue); - // float deltaWeight = Mathf.Abs(scaledOutput.x) + Mathf.Abs(scaledOutput.y) + Mathf.Abs(scaledOutput.z); - // synapse.weight += learningRate * deltaWeight; - // Debug.Log($"Updated weight: {loss.magnitude} {loss} {scaledOutput} {synapse.weight}"); - // } - - // public void BackPropagation1(Vector3 cost, Vector3 error, float learningRate) { - // cost = Vector3.Scale(error, error); // error^2 - // float3 derivative = 2 * error; // derivative of (error^2) - // // inverted because it uses the non-convential - // // error=(actual-taget) instead of (target-actual) - // // dSSR / dPredicted - - // // Bias - // float3 deltaBias = derivative; - // // deltaBias *= 1; // because bias is always fully applied - // Vector3 stepSize = deltaBias * learningRate; - // this.bias -= stepSize; - - // foreach (Synapse synapse in this.synapses) { - // // derivative for the weight? - // float3 deltaSynapse = derivative; // dSSR/dPredicted - // // derivative for the previous activation - // deltaSynapse *= synapse.neuron.activation; // dPredicted/dWeight - - // // // derivative for the activator - // // switch (activator) { - // // case ActivationType.Linear: - // // //delta2 *= 1; - // // break; - // // default: - // // break; - // // } - // float deltaWeight = length(deltaSynapse); - // synapse.weight += learningRate * deltaWeight; - - // synapse.neuron.BackPropagation2(derivative * synapse.weight, learningRate); - // } - // } - - public void BackPropagation0(float error, float learningRate) { - float derivative = 2 * error; // derivative of (error^2) - // inverted because it uses the non-convential - // error=(actual-taget) instead of (target-actual) - // dSSR / dPredicted - BackPropagation2(derivative, learningRate); - } - - public void BackPropagation2(float derivative, float learningRate) { // Bias if (this.trainable) { // This does not work well, because the derivative/error does not have a 3D direction @@ -770,30 +685,6 @@ namespace NanoBrain { // this.bias -= deltaBias; } - foreach (Synapse synapse in this.synapses) { - synapse.BackPropagation(this, derivative, learningRate); - // // derivative for the weight? - // float3 deltaSynapse = derivative; // dSSR/dActivator - - // // derivative for the activator - // // dActivator/dCombinator - // switch (activator) { - // case ActivationType.Linear: - // //deltaSynapse *= 1; - // break; - // default: - // break; - // } - - // // derivative for the previous activation - // // dCombinator/dWeight - // deltaSynapse *= synapse.neuron.activation; - - // float deltaWeight = length(deltaSynapse); - // synapse.weight += learningRate * deltaWeight; - - //BackPropagation2(derivative * synapse.weight, learningRate); - } } public void BackPropagation3D(Vector3 derivative, float learningRate) { diff --git a/Runtime/Scripts/Core/Synapse.cs b/Runtime/Scripts/Core/Synapse.cs index 072ef45..640cf04 100644 --- a/Runtime/Scripts/Core/Synapse.cs +++ b/Runtime/Scripts/Core/Synapse.cs @@ -56,7 +56,7 @@ namespace NanoBrain { break; } - this.neuron.BackPropagation2(derivative * this.weight, learningRate); + this.neuron.BackPropagation1D(derivative * this.weight, learningRate); derivative *= math.length(this.neuron.activation); From 10e1dd01269e2097e5077d4a8d4ba8ac009b6417 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Mon, 6 Jul 2026 11:22:23 +0200 Subject: [PATCH 30/45] 3D DeltaWeight fix --- Runtime/Scripts/Core/Synapse.cs | 27 +++++++++++++++------------ 1 file changed, 15 insertions(+), 12 deletions(-) diff --git a/Runtime/Scripts/Core/Synapse.cs b/Runtime/Scripts/Core/Synapse.cs index 640cf04..9116e12 100644 --- a/Runtime/Scripts/Core/Synapse.cs +++ b/Runtime/Scripts/Core/Synapse.cs @@ -36,9 +36,7 @@ namespace NanoBrain { this.weight = weight; } - public virtual void BackPropagation(Neuron receiver, float error, float learningRate) { - float derivative = error; - + public virtual void BackPropagation(Neuron receiver, float derivative, float learningRate) { switch (receiver.activator) { case Neuron.ActivationType.Linear: derivative *= 1; @@ -67,8 +65,6 @@ namespace NanoBrain { } public virtual void BackPropagation(Neuron receiver, Vector3 derivative, float learningRate) { - //Vector3 derivative = error; - switch (receiver.activator) { case Neuron.ActivationType.Linear: derivative *= 1; @@ -83,21 +79,28 @@ namespace NanoBrain { break; default: Debug.Log("other activator"); - break; + break; } this.neuron.BackPropagation3D(derivative * this.weight, learningRate); - derivative = Vector3.Scale(derivative, this.neuron.activation); + derivative *= math.length(this.neuron.activation); if (this.trainable) { - // Compared to the 1D solution, this does not decrease the weight. - // direction and sign are different.... - // Perhaps the sign is determine by the direction of the derivative and the neuron activation? - // When they are oppositie, the sign is negative? (or the other way round...) - this.weight += learningRate * derivative.magnitude; + float deltaWeight = learningRate * derivative.magnitude; + // Compared to the 1D solution, this does not decrease the weight because magnitude is always positive + // derivative.direction and derivative.sign are different.... + if (AreOpposed(derivative, this.neuron.activation)) + this.weight -= deltaWeight; + else + this.weight += deltaWeight; } } + + public static bool AreOpposed(Vector3 a, Vector3 b) { + // Check if the angle between the vectors is > 90 degrees + return Vector3.Dot(a, b) < 0f; + } } } \ No newline at end of file From 88114cc048e3d6c6c614c2438b82e663e8610ffd Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Mon, 6 Jul 2026 11:38:33 +0200 Subject: [PATCH 31/45] Simplify weight training by using 1D in the right way --- Runtime/Scripts/Core/Neuron.cs | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/Runtime/Scripts/Core/Neuron.cs b/Runtime/Scripts/Core/Neuron.cs index 646607c..c0dfc6b 100644 --- a/Runtime/Scripts/Core/Neuron.cs +++ b/Runtime/Scripts/Core/Neuron.cs @@ -668,7 +668,7 @@ namespace NanoBrain { public void BackPropagation1D(float derivative, float learningRate) { foreach (Synapse synapse in this.synapses) - synapse.BackPropagation(this, derivative, learningRate); + synapse.BackPropagation(this, derivative, learningRate); // Bias if (this.trainable) { @@ -689,7 +689,14 @@ namespace NanoBrain { public void BackPropagation3D(Vector3 derivative, float learningRate) { foreach (Synapse synapse in this.synapses) - synapse.BackPropagation(this, derivative, learningRate); + // synapse.BackPropagation(this, derivative, learningRate); + // As the weight cannot change the direction of the derivative + // we can use the simpler, 1D backpropagation here + // But we still need to determine the sign of the derivative + if (Synapse.AreOpposed(derivative, synapse.neuron.activation)) + synapse.BackPropagation(this, -derivative.magnitude, learningRate); + else + synapse.BackPropagation(this, derivative.magnitude, learningRate); // Bias if (this.trainable) { From fa78dcddb5ab19f4909e8a7f578f59d204979045 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Mon, 6 Jul 2026 15:39:05 +0200 Subject: [PATCH 32/45] use ClusterPrefab instead of Cluster --- Runtime/Scripts/Core/Neuron.cs | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/Runtime/Scripts/Core/Neuron.cs b/Runtime/Scripts/Core/Neuron.cs index c0dfc6b..d9fc41b 100644 --- a/Runtime/Scripts/Core/Neuron.cs +++ b/Runtime/Scripts/Core/Neuron.cs @@ -88,6 +88,14 @@ namespace NanoBrain { return null; } + public Synapse GetSynapse(string senderNeuronName) { + Neuron sender = this.parent.GetNeuron(senderNeuronName); + if (sender == null) + return null; + + return this.GetSynapse(sender); + } + /// /// Remove a synapse from a Nucleus /// From d72f15eb662a111fde6d6488e7cfba4e198cd6de Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Mon, 6 Jul 2026 17:36:35 +0200 Subject: [PATCH 33/45] Adding alignment --- Editor/ClusterEditor.cs | 3 ++- Runtime/Scripts/Core/Cluster.cs | 2 +- Runtime/Scripts/Core/Nucleus.cs | 2 +- 3 files changed, 4 insertions(+), 3 deletions(-) diff --git a/Editor/ClusterEditor.cs b/Editor/ClusterEditor.cs index e3a1995..7cc4f44 100644 --- a/Editor/ClusterEditor.cs +++ b/Editor/ClusterEditor.cs @@ -15,6 +15,7 @@ namespace NanoBrain.Unity { void OnEnable() { clusterPrefab = (ClusterPrefab)target; + clusterPrefab.cluster.name = clusterPrefab.name; view = ClusterView.GetClusterView(serializedObject); view.currentCluster ??= clusterPrefab.cluster; view.currentNucleus = clusterPrefab.cluster.defaultOutput; @@ -378,7 +379,7 @@ namespace NanoBrain.Unity { } protected virtual void AddNeuronInput(Nucleus nucleus) { - Neuron newNeuron = new(this.view.currentCluster, "New Neuron"); + Neuron newNeuron = new(this.view.currentNucleus.parent, "New Neuron"); //Neuron newNeuroid = new(this.prefab.cluster, "New neuron"); newNeuron.AddReceiver(nucleus); this.view.currentNucleus = newNeuron; diff --git a/Runtime/Scripts/Core/Cluster.cs b/Runtime/Scripts/Core/Cluster.cs index e93b7e4..e706e83 100644 --- a/Runtime/Scripts/Core/Cluster.cs +++ b/Runtime/Scripts/Core/Cluster.cs @@ -768,7 +768,7 @@ namespace NanoBrain { if (nucleus is not Cluster cluster) continue; List receivers = cluster.CollectReceivers(); - Debug.Log($"cluster receiver count = {receivers.Count}"); + //Debug.Log($"cluster receiver count = {receivers.Count}"); if (receivers.Count == 0) this.nuclei.Remove(nucleus); } diff --git a/Runtime/Scripts/Core/Nucleus.cs b/Runtime/Scripts/Core/Nucleus.cs index a93c153..9b7fda3 100644 --- a/Runtime/Scripts/Core/Nucleus.cs +++ b/Runtime/Scripts/Core/Nucleus.cs @@ -21,7 +21,7 @@ namespace NanoBrain { /// The cluster instance in which the nucleus is located /// [SerializeReference] - [HideInInspector] + //[HideInInspector] public Cluster parent; /// From 8afd5e006fa3e8509fa5bcf7b8e97507e41a5e16 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Wed, 8 Jul 2026 12:52:19 +0200 Subject: [PATCH 34/45] Fixing serialization problems --- Editor/ClusterEditor.cs | 8 ++++++ Runtime/Scripts/Core/Cluster.cs | 43 +++++++++++++++++++++++++++++++++ Runtime/Scripts/Core/Neuron.cs | 26 ++++++++++++++++++-- Runtime/Scripts/Core/Synapse.cs | 12 +++++++++ 4 files changed, 87 insertions(+), 2 deletions(-) diff --git a/Editor/ClusterEditor.cs b/Editor/ClusterEditor.cs index 7cc4f44..e42dc95 100644 --- a/Editor/ClusterEditor.cs +++ b/Editor/ClusterEditor.cs @@ -24,6 +24,14 @@ namespace NanoBrain.Unity { clusterPrefab.cluster.Cleanup(); } + void OnDisable() { + string assetPath = AssetDatabase.GetAssetPath(clusterPrefab); + string folder = System.IO.Path.GetDirectoryName(assetPath); + string jsonPath = System.IO.Path.Combine(folder, clusterPrefab.name + ".json"); + + clusterPrefab.cluster.Export(jsonPath); + } + public override void OnInspectorGUI() { EditorGUI.BeginChangeCheck(); diff --git a/Runtime/Scripts/Core/Cluster.cs b/Runtime/Scripts/Core/Cluster.cs index e706e83..e577fbf 100644 --- a/Runtime/Scripts/Core/Cluster.cs +++ b/Runtime/Scripts/Core/Cluster.cs @@ -7,6 +7,7 @@ using static Unity.Mathematics.math; #endif using NanoBrain.Unity; + namespace NanoBrain { /// @@ -773,6 +774,48 @@ namespace NanoBrain { this.nuclei.Remove(nucleus); } } + + #region Serialization + + public void Export(string path) { + ClusterData data = new(this); //this.ToJSON(); + string json = JsonUtility.ToJson(data, prettyPrint: true); + + Debug.Log($"Exporting json to {path}"); + System.IO.File.WriteAllText(path, json); + } + + #endregion } + [Serializable] + public class ClusterData { + public string name; + public List neurons = new(); + public List clusters = new(); + + public ClusterData(Cluster cluster) { + this.name = cluster.name; + foreach (Nucleus nucleus in cluster.nuclei) { + if (nucleus is Neuron neuron) { + NeuronData neuronData = new(neuron); + this.neurons.Add(neuronData); + } else if (nucleus is Cluster extCluster) { + ExternalClusterData clusterData = new (extCluster); + this.clusters.Add(clusterData); + } + } + } + } + + [Serializable] + public class ExternalClusterData { + public string name; + public uint instanceCount; + + public ExternalClusterData(Cluster cluster) { + this.name = cluster.name; + this.instanceCount = (uint)cluster.instanceCount; + } + } } \ No newline at end of file diff --git a/Runtime/Scripts/Core/Neuron.cs b/Runtime/Scripts/Core/Neuron.cs index d9fc41b..921de93 100644 --- a/Runtime/Scripts/Core/Neuron.cs +++ b/Runtime/Scripts/Core/Neuron.cs @@ -92,7 +92,7 @@ namespace NanoBrain { Neuron sender = this.parent.GetNeuron(senderNeuronName); if (sender == null) return null; - + return this.GetSynapse(sender); } @@ -734,4 +734,26 @@ namespace NanoBrain { } } -} \ No newline at end of file + [Serializable] + public class NeuronData { + public string name; + public Vector3 bias = Vector3.zero; + public Neuron.CombinatorType combinatorType; + public List synapses = new(); + public Neuron.ActivationType activationType; + + public NeuronData(Neuron neuron) { + this.name = neuron.name; + this.bias = neuron.bias; + this.combinatorType = neuron.combinator; + this.activationType = neuron.activator; + + foreach (Synapse synapse in neuron.synapses) { + SynapseData synapseData = new(synapse); + this.synapses.Add(synapseData); + } + } + + } + +} diff --git a/Runtime/Scripts/Core/Synapse.cs b/Runtime/Scripts/Core/Synapse.cs index 9116e12..0cddc88 100644 --- a/Runtime/Scripts/Core/Synapse.cs +++ b/Runtime/Scripts/Core/Synapse.cs @@ -103,4 +103,16 @@ namespace NanoBrain { } } + [Serializable] + public class SynapseData { + public string clusterName; + public string neuronName; + public float weight; + + public SynapseData(Synapse synapse) { + this.clusterName = synapse.neuron.parent.name; + this.neuronName = synapse.neuron.name; + this.weight = synapse.weight; + } + } } \ No newline at end of file From 27f423789006a2317674c27fa155c4d7a3826b15 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Fri, 10 Jul 2026 10:07:22 +0200 Subject: [PATCH 35/45] Adding JSON serialization UI --- Editor/ClusterJson_Drawer.cs | 72 +++++++++++++++++++++++++++++ Editor/ClusterJson_Drawer.cs.meta | 2 + Editor/Cluster_Drawer.cs | 28 ++++++----- Runtime/Scripts/ClusterJson.cs | 10 ++++ Runtime/Scripts/ClusterJson.cs.meta | 2 + Runtime/Scripts/Core/Cluster.cs | 29 +++++++++++- Runtime/Scripts/Core/Nucleus.cs | 3 -- 7 files changed, 129 insertions(+), 17 deletions(-) create mode 100644 Editor/ClusterJson_Drawer.cs create mode 100644 Editor/ClusterJson_Drawer.cs.meta create mode 100644 Runtime/Scripts/ClusterJson.cs create mode 100644 Runtime/Scripts/ClusterJson.cs.meta diff --git a/Editor/ClusterJson_Drawer.cs b/Editor/ClusterJson_Drawer.cs new file mode 100644 index 0000000..25acfe8 --- /dev/null +++ b/Editor/ClusterJson_Drawer.cs @@ -0,0 +1,72 @@ +using System.Collections.Generic; +using UnityEditor; +using UnityEngine; + +namespace NanoBrain.Unity { + + [CustomPropertyDrawer(typeof(ClusterJson))] + class ClusterJson_Drawer : PropertyDrawer { + public override void OnGUI(Rect position, SerializedProperty property, GUIContent label) { + EditorGUI.BeginProperty(position, label, property); + + ClusterJson clusterJson = property.objectReferenceValue as ClusterJson; + if (clusterJson == null) { + clusterJson = ScriptableObject.CreateInstance(); + + property.objectReferenceValue = clusterJson; + property.serializedObject.ApplyModifiedProperties(); + + EditorUtility.SetDirty(property.serializedObject.targetObject); + } + SerializedObject so = new(clusterJson); + SerializedProperty jsonFileProp = so.FindProperty(nameof(ClusterJson.jsonFile)); + + EditorGUI.BeginChangeCheck(); + + TextAsset current = jsonFileProp.objectReferenceValue as TextAsset; + Rect fieldRect = new(position.x, position.y, position.width, EditorGUIUtility.singleLineHeight); + TextAsset newAsset = (TextAsset)EditorGUI.ObjectField(fieldRect, label, current, typeof(TextAsset), false); + + if (EditorGUI.EndChangeCheck()) { + jsonFileProp.objectReferenceValue = newAsset; + so.ApplyModifiedProperties(); + } + bool showWarning = IsInvalidJson(jsonFileProp); + if (showWarning) { + Rect helpRect = new( + position.x, + position.y + EditorGUIUtility.singleLineHeight + 2f, + position.width, + EditorGUIUtility.singleLineHeight * 2f + ); + propertyExtraHeight = 2 + 2 * EditorGUIUtility.singleLineHeight; + EditorGUI.HelpBox(helpRect, "Selected asset is not a .json file.", MessageType.Error); + } else + propertyExtraHeight = 0; + + EditorGUI.EndProperty(); + } + + private float propertyExtraHeight = 0; + + public override float GetPropertyHeight(SerializedProperty property, GUIContent label) { + return EditorGUIUtility.singleLineHeight + propertyExtraHeight; + } + + private readonly Dictionary _invalidCache = new(); + + private bool IsInvalidJson(SerializedProperty jsonFileProp) { + TextAsset current = jsonFileProp.objectReferenceValue as TextAsset; + if (current == null) return false; + + EntityId id = current.GetEntityId(); + if (_invalidCache.TryGetValue(id, out bool invalid)) + return invalid; + + string path = AssetDatabase.GetAssetPath(current); + invalid = !path.EndsWith(".json", System.StringComparison.OrdinalIgnoreCase); + _invalidCache[id] = invalid; + return invalid; + } + } +} \ No newline at end of file diff --git a/Editor/ClusterJson_Drawer.cs.meta b/Editor/ClusterJson_Drawer.cs.meta new file mode 100644 index 0000000..403c980 --- /dev/null +++ b/Editor/ClusterJson_Drawer.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 879b585246de16598959c21b724cf105 \ No newline at end of file diff --git a/Editor/Cluster_Drawer.cs b/Editor/Cluster_Drawer.cs index acc8eb3..abc7308 100644 --- a/Editor/Cluster_Drawer.cs +++ b/Editor/Cluster_Drawer.cs @@ -25,7 +25,8 @@ namespace NanoBrain.Unity { return height; SerializedProperty prefabProp = property.FindPropertyRelative(nameof(Cluster.prefab)); - if (prefabProp.objectReferenceValue != null && Cluster_Drawer.currentClusterView.isOpen) { + if (//prefabProp.objectReferenceValue != null && + Cluster_Drawer.currentClusterView.isOpen) { height = graphHeight; } else { @@ -92,18 +93,19 @@ namespace NanoBrain.Unity { } // If a brain has been selected - if (prefabProp.objectReferenceValue != null) { - // Graph is not shown when multi-editing - if (property.serializedObject.targetObjects.Length == 1) { - UnityEngine.Object targetObject = property.serializedObject.targetObject; - Cluster_Drawer.selectedTarget = targetObject; + //if (prefabProp.objectReferenceValue != null) { + // Graph is not shown when multi-editing + if (property.serializedObject.targetObjects.Length == 1) { + UnityEngine.Object targetObject = property.serializedObject.targetObject; + Cluster_Drawer.selectedTarget = targetObject; - Cluster cluster = SerializedPropertyUtility.GetManagedObjectForProperty(targetObject, property.propertyPath) as Cluster; - if (cluster.version != cluster.prefab.version) { - // Debug.Log($"prefab version: {cluster.prefab.version} cluster version: {cluster.version}"); - clusterView.initialized = false; - EditorApplication.delayCall += () => InstantiateCluster(property, clusterView); - } + Cluster cluster = SerializedPropertyUtility.GetManagedObjectForProperty(targetObject, property.propertyPath) as Cluster; + if (cluster != null) { + // if (cluster.version != cluster.prefab.version) { + // // Debug.Log($"prefab version: {cluster.prefab.version} cluster version: {cluster.version}"); + // clusterView.initialized = false; + // EditorApplication.delayCall += () => InstantiateCluster(property, clusterView); + // } // foldout header rect Rect headerRect = new(fieldRect.x, fieldRect.yMax + 4f, fieldRect.width, EditorGUIUtility.singleLineHeight); @@ -122,8 +124,10 @@ namespace NanoBrain.Unity { clusterView.Render(drawRect); //Debug.Log(prefab.cluster.defaultOutput.outputMagnitude); } + } } + //} EditorGUI.indentLevel = indent; EditorGUI.EndProperty(); diff --git a/Runtime/Scripts/ClusterJson.cs b/Runtime/Scripts/ClusterJson.cs new file mode 100644 index 0000000..2fa61b8 --- /dev/null +++ b/Runtime/Scripts/ClusterJson.cs @@ -0,0 +1,10 @@ +using UnityEngine; + +namespace NanoBrain.Unity { + + [System.Serializable] + public class ClusterJson : ScriptableObject { + public TextAsset jsonFile; + } + +} \ No newline at end of file diff --git a/Runtime/Scripts/ClusterJson.cs.meta b/Runtime/Scripts/ClusterJson.cs.meta new file mode 100644 index 0000000..5dd0437 --- /dev/null +++ b/Runtime/Scripts/ClusterJson.cs.meta @@ -0,0 +1,2 @@ +fileFormatVersion: 2 +guid: 8ea9c456ab9da37daaa610edaadc38bb \ No newline at end of file diff --git a/Runtime/Scripts/Core/Cluster.cs b/Runtime/Scripts/Core/Cluster.cs index e577fbf..f4e0e2c 100644 --- a/Runtime/Scripts/Core/Cluster.cs +++ b/Runtime/Scripts/Core/Cluster.cs @@ -1,4 +1,5 @@ using System; +using System.IO; using System.Collections.Generic; using UnityEngine; #if UNITY_MATHEMATICS @@ -112,6 +113,24 @@ namespace NanoBrain { ClonePrefab(); } + public Cluster(ClusterJson json) { + ClusterData clusterData = JsonUtility.FromJson(json.jsonFile.text); + this.name = clusterData.name; + // First create all neurons + foreach (NeuronData neuronData in clusterData.neurons) { + Neuron newNeuron = new(this, neuronData.name); + } + // Now create the synapses between them + foreach (NeuronData neuronData in clusterData.neurons) { + Neuron receiver = this.GetNeuron(neuronData.name); + foreach (SynapseData synapseData in neuronData.synapses) { + Neuron sender = this.GetNeuron(synapseData.neuronName); + sender?.AddReceiver(receiver, synapseData.weight); + } + } + } + + /// /// Clone a prefab. /// @@ -785,6 +804,11 @@ namespace NanoBrain { System.IO.File.WriteAllText(path, json); } + public ClusterData Import(string path) { + string json = File.ReadAllText(path); + return JsonUtility.FromJson(json); + } + #endregion } @@ -800,8 +824,9 @@ namespace NanoBrain { if (nucleus is Neuron neuron) { NeuronData neuronData = new(neuron); this.neurons.Add(neuronData); - } else if (nucleus is Cluster extCluster) { - ExternalClusterData clusterData = new (extCluster); + } + else if (nucleus is Cluster extCluster) { + ExternalClusterData clusterData = new(extCluster); this.clusters.Add(clusterData); } } diff --git a/Runtime/Scripts/Core/Nucleus.cs b/Runtime/Scripts/Core/Nucleus.cs index 9b7fda3..fe06919 100644 --- a/Runtime/Scripts/Core/Nucleus.cs +++ b/Runtime/Scripts/Core/Nucleus.cs @@ -39,9 +39,6 @@ namespace NanoBrain { Neuron, MemoryCell, Cluster, - //Receptor, - //ClusterReceptor, - //ClusterArray, } #region Update From 85017861b50a5033e435806172481dc7282543d2 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Fri, 10 Jul 2026 12:49:14 +0200 Subject: [PATCH 36/45] Deserialization first version --- Editor/ClusterEditor.cs | 34 +++++++++++++------ Editor/ClusterJson_Drawer.cs | 16 +++++---- Editor/ClusterPickerWindow.cs | 2 +- Editor/Cluster_Drawer.cs | 60 ++++++++++++++++----------------- Runtime/Scripts/Core/Cluster.cs | 54 ++++++++++++++++++++++++++--- Runtime/Scripts/Core/Neuron.cs | 5 +++ 6 files changed, 118 insertions(+), 53 deletions(-) diff --git a/Editor/ClusterEditor.cs b/Editor/ClusterEditor.cs index e42dc95..e3ed2ef 100644 --- a/Editor/ClusterEditor.cs +++ b/Editor/ClusterEditor.cs @@ -15,12 +15,24 @@ namespace NanoBrain.Unity { void OnEnable() { clusterPrefab = (ClusterPrefab)target; - clusterPrefab.cluster.name = clusterPrefab.name; view = ClusterView.GetClusterView(serializedObject); + + string assetPath = AssetDatabase.GetAssetPath(clusterPrefab); + if (!string.IsNullOrEmpty(assetPath)) { + string folder = System.IO.Path.GetDirectoryName(assetPath); + string jsonPath = System.IO.Path.Combine(folder, clusterPrefab.name + ".json"); + if (System.IO.File.Exists(jsonPath)) { + ClusterData newClusterData = Cluster.Import(jsonPath); + clusterPrefab.cluster = new(newClusterData); + } + } + view.currentCluster ??= clusterPrefab.cluster; view.currentNucleus = clusterPrefab.cluster.defaultOutput; view.selectedOutput = view.currentNucleus; + clusterPrefab.cluster.name = clusterPrefab.name; + clusterPrefab.cluster.Cleanup(); } @@ -218,25 +230,25 @@ namespace NanoBrain.Unity { showSynapses = EditorGUILayout.Foldout(showSynapses, "Synapses", true); if (showSynapses) { EditorGUI.indentLevel--; - if (this.view.currentNucleus is Neuron neuron2) { - Neuron.CombinatorType newCombinator = (Neuron.CombinatorType)EditorGUILayout.EnumPopup("Combinator", neuron2.combinator); - anythingChanged |= newCombinator != neuron2.combinator; - neuron2.combinator = newCombinator; + if (this.view.currentNucleus is Neuron neuron) { + Neuron.CombinatorType newCombinator = (Neuron.CombinatorType)EditorGUILayout.EnumPopup("Combinator", neuron.combinator); + anythingChanged |= newCombinator != neuron.combinator; + neuron.combinator = newCombinator; EditorGUIUtility.wideMode = true; float previousLabelWidth = EditorGUIUtility.labelWidth; EditorGUIUtility.labelWidth = 100; - Vector3 newBias = EditorGUILayout.Vector3Field("Bias", neuron2.bias); - if (newBias != neuron2.bias) { + Vector3 newBias = EditorGUILayout.Vector3Field("Bias", neuron.bias); + if (newBias != neuron.bias) { anythingChanged = true; - neuron2.bias = newBias; + neuron.bias = newBias; } - bool newTrainable = EditorGUILayout.Toggle("Trainable", neuron2.trainable); - if (newTrainable != neuron2.trainable) { + bool newTrainable = EditorGUILayout.Toggle("Trainable", neuron.trainable); + if (newTrainable != neuron.trainable) { anythingChanged = true; - neuron2.trainable = newTrainable; + neuron.trainable = newTrainable; } EditorGUIUtility.labelWidth = previousLabelWidth; diff --git a/Editor/ClusterJson_Drawer.cs b/Editor/ClusterJson_Drawer.cs index 25acfe8..b2a0d8c 100644 --- a/Editor/ClusterJson_Drawer.cs +++ b/Editor/ClusterJson_Drawer.cs @@ -24,7 +24,7 @@ namespace NanoBrain.Unity { EditorGUI.BeginChangeCheck(); TextAsset current = jsonFileProp.objectReferenceValue as TextAsset; - Rect fieldRect = new(position.x, position.y, position.width, EditorGUIUtility.singleLineHeight); + Rect fieldRect = new(position.x, position.y, position.width, EditorGUIUtility.singleLineHeight); TextAsset newAsset = (TextAsset)EditorGUI.ObjectField(fieldRect, label, current, typeof(TextAsset), false); if (EditorGUI.EndChangeCheck()) { @@ -41,7 +41,8 @@ namespace NanoBrain.Unity { ); propertyExtraHeight = 2 + 2 * EditorGUIUtility.singleLineHeight; EditorGUI.HelpBox(helpRect, "Selected asset is not a .json file.", MessageType.Error); - } else + } + else propertyExtraHeight = 0; EditorGUI.EndProperty(); @@ -56,16 +57,19 @@ namespace NanoBrain.Unity { private readonly Dictionary _invalidCache = new(); private bool IsInvalidJson(SerializedProperty jsonFileProp) { - TextAsset current = jsonFileProp.objectReferenceValue as TextAsset; - if (current == null) return false; + TextAsset jsonFile = jsonFileProp.objectReferenceValue as TextAsset; + if (jsonFile == null) + return false; - EntityId id = current.GetEntityId(); + EntityId id = jsonFile.GetEntityId(); if (_invalidCache.TryGetValue(id, out bool invalid)) return invalid; - string path = AssetDatabase.GetAssetPath(current); + string path = AssetDatabase.GetAssetPath(jsonFile); invalid = !path.EndsWith(".json", System.StringComparison.OrdinalIgnoreCase); _invalidCache[id] = invalid; + + return invalid; } } diff --git a/Editor/ClusterPickerWindow.cs b/Editor/ClusterPickerWindow.cs index 4e2597f..c37fb31 100644 --- a/Editor/ClusterPickerWindow.cs +++ b/Editor/ClusterPickerWindow.cs @@ -44,7 +44,7 @@ namespace NanoBrain.Unity { EditorGUILayout.Space(); scroll = EditorGUILayout.BeginScrollView(scroll); - foreach (var it in items) { + foreach (ClusterPrefab it in this.items) { if (!string.IsNullOrEmpty(search) && it.name.IndexOf(search, StringComparison.OrdinalIgnoreCase) < 0) continue; diff --git a/Editor/Cluster_Drawer.cs b/Editor/Cluster_Drawer.cs index abc7308..21e4002 100644 --- a/Editor/Cluster_Drawer.cs +++ b/Editor/Cluster_Drawer.cs @@ -93,41 +93,41 @@ namespace NanoBrain.Unity { } // If a brain has been selected - //if (prefabProp.objectReferenceValue != null) { - // Graph is not shown when multi-editing - if (property.serializedObject.targetObjects.Length == 1) { - UnityEngine.Object targetObject = property.serializedObject.targetObject; - Cluster_Drawer.selectedTarget = targetObject; + if (prefabProp.objectReferenceValue != null) { + // Graph is not shown when multi-editing + if (property.serializedObject.targetObjects.Length == 1) { + UnityEngine.Object targetObject = property.serializedObject.targetObject; + Cluster_Drawer.selectedTarget = targetObject; - Cluster cluster = SerializedPropertyUtility.GetManagedObjectForProperty(targetObject, property.propertyPath) as Cluster; - if (cluster != null) { - // if (cluster.version != cluster.prefab.version) { - // // Debug.Log($"prefab version: {cluster.prefab.version} cluster version: {cluster.version}"); - // clusterView.initialized = false; - // EditorApplication.delayCall += () => InstantiateCluster(property, clusterView); - // } - - // foldout header rect - Rect headerRect = new(fieldRect.x, fieldRect.yMax + 4f, fieldRect.width, EditorGUIUtility.singleLineHeight); - clusterView.isOpen = EditorGUI.Foldout(headerRect, clusterView.isOpen, "Graph", true); - - if (clusterView.isOpen) { - // content rect below header - Rect drawRect = new(fieldRect.x, headerRect.yMax + 2f, fieldRect.width, 450f); - - if (cluster is not null && (clusterView.currentCluster == null || clusterView.currentCluster != cluster)) { - clusterView.currentCluster = cluster; - clusterView.currentNucleus = cluster.defaultOutput; - clusterView.selectedOutput = clusterView.currentNucleus; + Cluster cluster = SerializedPropertyUtility.GetManagedObjectForProperty(targetObject, property.propertyPath) as Cluster; + if (cluster != null) { + if (cluster.version != cluster.prefab.version) { + // Debug.Log($"prefab version: {cluster.prefab.version} cluster version: {cluster.version}"); + clusterView.initialized = false; + EditorApplication.delayCall += () => InstantiateCluster(property, clusterView); } - Cluster_Drawer.currentClusterView = clusterView; - clusterView.Render(drawRect); - //Debug.Log(prefab.cluster.defaultOutput.outputMagnitude); - } + // foldout header rect + Rect headerRect = new(fieldRect.x, fieldRect.yMax + 4f, fieldRect.width, EditorGUIUtility.singleLineHeight); + clusterView.isOpen = EditorGUI.Foldout(headerRect, clusterView.isOpen, "Graph", true); + + if (clusterView.isOpen) { + // content rect below header + Rect drawRect = new(fieldRect.x, headerRect.yMax + 2f, fieldRect.width, 450f); + + if (cluster is not null && (clusterView.currentCluster == null || clusterView.currentCluster != cluster)) { + clusterView.currentCluster = cluster; + clusterView.currentNucleus = cluster.defaultOutput; + clusterView.selectedOutput = clusterView.currentNucleus; + } + Cluster_Drawer.currentClusterView = clusterView; + clusterView.Render(drawRect); + //Debug.Log(prefab.cluster.defaultOutput.outputMagnitude); + } + + } } } - //} EditorGUI.indentLevel = indent; EditorGUI.EndProperty(); diff --git a/Runtime/Scripts/Core/Cluster.cs b/Runtime/Scripts/Core/Cluster.cs index f4e0e2c..77ed36b 100644 --- a/Runtime/Scripts/Core/Cluster.cs +++ b/Runtime/Scripts/Core/Cluster.cs @@ -25,6 +25,7 @@ namespace NanoBrain { /// /// Cluster should always be created from prefabs public ClusterPrefab prefab; + public ClusterJson json; //[HideInInspector] @@ -129,6 +130,46 @@ namespace NanoBrain { } } } + public Cluster(ClusterData clusterData) { + this.name = clusterData.name; + // First create all neurons + foreach (NeuronData neuronData in clusterData.neurons) { + if (neuronData.type == Type.MemoryCell) + new MemoryCell(this, neuronData.name) { + bias = neuronData.bias, + combinator = neuronData.combinatorType, + activator = neuronData.activationType + }; + else + new Neuron(this, neuronData.name) { + bias = neuronData.bias, + combinator = neuronData.combinatorType, + activator = neuronData.activationType + }; + + } + // Now create the synapses between them + foreach (NeuronData neuronData in clusterData.neurons) { + Neuron receiver = this.GetNeuron(neuronData.name); + foreach (SynapseData synapseData in neuronData.synapses) { + if (synapseData.clusterName != this.name) { + // Add reference to external cluster + ClusterPrefab extPrefab = Resources.Load(synapseData.clusterName) as ClusterPrefab; + if (extPrefab == null) + Debug.LogError($"Could not find cluster Resource {synapseData.clusterName}"); + else { + Cluster extCluster = new Cluster(extPrefab, this); + Neuron extNeuron = extCluster.GetNeuron(synapseData.neuronName); + extNeuron.AddReceiver(receiver); + } + } + else { + Neuron sender = this.GetNeuron(synapseData.neuronName); + sender?.AddReceiver(receiver, synapseData.weight); + } + } + } + } /// @@ -804,8 +845,9 @@ namespace NanoBrain { System.IO.File.WriteAllText(path, json); } - public ClusterData Import(string path) { + public static ClusterData Import(string path) { string json = File.ReadAllText(path); + Debug.Log($"Importing json from {path}"); return JsonUtility.FromJson(json); } @@ -824,10 +866,12 @@ namespace NanoBrain { if (nucleus is Neuron neuron) { NeuronData neuronData = new(neuron); this.neurons.Add(neuronData); - } - else if (nucleus is Cluster extCluster) { - ExternalClusterData clusterData = new(extCluster); - this.clusters.Add(clusterData); + foreach (Synapse synapse in neuron.synapses) { + if (synapse.neuron.parent.name != cluster.name) { + ExternalClusterData clusterData = new(synapse.neuron.parent); + this.clusters.Add(clusterData); + } + } } } } diff --git a/Runtime/Scripts/Core/Neuron.cs b/Runtime/Scripts/Core/Neuron.cs index 921de93..6e4dd1b 100644 --- a/Runtime/Scripts/Core/Neuron.cs +++ b/Runtime/Scripts/Core/Neuron.cs @@ -737,12 +737,17 @@ namespace NanoBrain { [Serializable] public class NeuronData { public string name; + public Nucleus.Type type; public Vector3 bias = Vector3.zero; public Neuron.CombinatorType combinatorType; public List synapses = new(); public Neuron.ActivationType activationType; public NeuronData(Neuron neuron) { + if (neuron is MemoryCell) + this.type = Nucleus.Type.MemoryCell; + else + this.type = Nucleus.Type.Neuron; this.name = neuron.name; this.bias = neuron.bias; this.combinatorType = neuron.combinator; From 90f8065a39d5263a76666115d417ca1634c53ce9 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Fri, 10 Jul 2026 14:13:08 +0200 Subject: [PATCH 37/45] Cluster instances deserialization --- Editor/ClusterEditor.cs | 2 +- Runtime/Scripts/Core/Cluster.cs | 32 +++++++++++++++++++++++++++++--- 2 files changed, 30 insertions(+), 4 deletions(-) diff --git a/Editor/ClusterEditor.cs b/Editor/ClusterEditor.cs index e3ed2ef..3bc2791 100644 --- a/Editor/ClusterEditor.cs +++ b/Editor/ClusterEditor.cs @@ -186,7 +186,7 @@ namespace NanoBrain.Unity { protected void ClusterInspector(Cluster cluster, ref bool anythingChanged) { EditorGUILayout.BeginHorizontal(); - int instanceCount = cluster.instanceCount; + int instanceCount = (int)cluster.instanceCount; if (instanceCount <= 1) { if (cluster.instances != null && cluster.instances.Length > 1) instanceCount = cluster.instances.Count(); diff --git a/Runtime/Scripts/Core/Cluster.cs b/Runtime/Scripts/Core/Cluster.cs index 77ed36b..8abf227 100644 --- a/Runtime/Scripts/Core/Cluster.cs +++ b/Runtime/Scripts/Core/Cluster.cs @@ -63,7 +63,7 @@ namespace NanoBrain { /// /// A cluster is a multi-clsuter when there is more than one instance. [SerializeField] - public int instanceCount = 1; + public uint instanceCount = 1; /// /// The mapping from things to cluster instances /// @@ -89,7 +89,7 @@ namespace NanoBrain { /// /// The prefab to use /// The cluster in which this new cluster will be placed - public Cluster(ClusterPrefab prefab, Cluster parent) { + public Cluster(ClusterPrefab prefab, Cluster parent, uint instanceCount = 1) { this.prefab = prefab; this.version = prefab.version; this.name = prefab.name; @@ -97,6 +97,27 @@ namespace NanoBrain { this.parent = parent; this.parent?.nuclei.Add(this); ClonePrefab(); + + if (instanceCount > 1) { + Debug.Log($" InstanceCount = {instanceCount}"); + List siblings = new() { this }; + for (int instanceIx = 1; instanceIx < instanceCount; instanceIx++) { + // Create another sibling + Cluster sibling = new(prefab, this) { + name = $"{this.baseName}: {instanceIx}", + parent = this.parent, + instanceCount = this.instanceCount, + }; + siblings.Add(sibling); + CopyAllExternalReceivers(this, sibling, this); + } + Cluster[] siblingClusters = siblings.ToArray(); + foreach (Cluster sibling in siblings) { + sibling.instanceCount = instanceCount; + sibling.instances = siblingClusters; + } + + } } /// @@ -158,7 +179,12 @@ namespace NanoBrain { if (extPrefab == null) Debug.LogError($"Could not find cluster Resource {synapseData.clusterName}"); else { - Cluster extCluster = new Cluster(extPrefab, this); + uint instanceCount = 1; + foreach (ExternalClusterData externalCluster in clusterData.clusters) { + if (externalCluster.name == synapseData.clusterName) + instanceCount = externalCluster.instanceCount; + } + Cluster extCluster = new Cluster(extPrefab, this, instanceCount); Neuron extNeuron = extCluster.GetNeuron(synapseData.neuronName); extNeuron.AddReceiver(receiver); } From a229ee21f002df2644aa0fca26f08b59eec6c070 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Fri, 10 Jul 2026 14:42:46 +0200 Subject: [PATCH 38/45] Boid training first steps --- Editor/Cluster_Drawer.cs | 2 +- Runtime/Scripts/Core/Cluster.cs | 41 ++++++++++++++++----------------- 2 files changed, 21 insertions(+), 22 deletions(-) diff --git a/Editor/Cluster_Drawer.cs b/Editor/Cluster_Drawer.cs index 21e4002..37a4841 100644 --- a/Editor/Cluster_Drawer.cs +++ b/Editor/Cluster_Drawer.cs @@ -25,7 +25,7 @@ namespace NanoBrain.Unity { return height; SerializedProperty prefabProp = property.FindPropertyRelative(nameof(Cluster.prefab)); - if (//prefabProp.objectReferenceValue != null && + if (prefabProp.objectReferenceValue != null && Cluster_Drawer.currentClusterView.isOpen) { height = graphHeight; } diff --git a/Runtime/Scripts/Core/Cluster.cs b/Runtime/Scripts/Core/Cluster.cs index 8abf227..7990031 100644 --- a/Runtime/Scripts/Core/Cluster.cs +++ b/Runtime/Scripts/Core/Cluster.cs @@ -99,7 +99,6 @@ namespace NanoBrain { ClonePrefab(); if (instanceCount > 1) { - Debug.Log($" InstanceCount = {instanceCount}"); List siblings = new() { this }; for (int instanceIx = 1; instanceIx < instanceCount; instanceIx++) { // Create another sibling @@ -474,27 +473,27 @@ namespace NanoBrain { return allInstances; } - public void Backpropagation(Func Observer, float target, float learningRate) { - foreach (Nucleus nucleus in this.instances[0].nuclei) { - if (nucleus is not Neuron neuron) - continue; + // public void Backpropagation(Func Observer, float target, float learningRate) { + // foreach (Nucleus nucleus in this.instances[0].nuclei) { + // if (nucleus is not Neuron neuron) + // continue; - foreach (Synapse synapse in neuron.synapses) { - List allSynapseNeurons = GetAllInstances(synapse.neuron); + // foreach (Synapse synapse in neuron.synapses) { + // List allSynapseNeurons = GetAllInstances(synapse.neuron); - Vector3 dSSRdW = Vector3.zero; - for (int clusterIx = 0; clusterIx < this.instances.Length; clusterIx++) { - Cluster clusterInstance = this.instances[clusterIx]; - Neuron neuronInstance = allSynapseNeurons[clusterIx]; + // Vector3 dSSRdW = Vector3.zero; + // for (int clusterIx = 0; clusterIx < this.instances.Length; clusterIx++) { + // Cluster clusterInstance = this.instances[clusterIx]; + // Neuron neuronInstance = allSynapseNeurons[clusterIx]; - // Simple case, without receivers... - dSSRdW += (Vector3)(-2 * (Observer(clusterInstance) - target) * neuronInstance.activation); - } - synapse.weight += learningRate * dSSRdW.magnitude; - } - } + // // Simple case, without receivers... + // dSSRdW += (Vector3)(-2 * (Observer(clusterInstance) - target) * neuronInstance.activation); + // } + // synapse.weight += learningRate * dSSRdW.magnitude; + // } + // } - } + // } #endregion ClusterArray @@ -867,13 +866,13 @@ namespace NanoBrain { ClusterData data = new(this); //this.ToJSON(); string json = JsonUtility.ToJson(data, prettyPrint: true); - Debug.Log($"Exporting json to {path}"); - System.IO.File.WriteAllText(path, json); + // Debug.Log($"Exporting json to {path}"); + File.WriteAllText(path, json); } public static ClusterData Import(string path) { string json = File.ReadAllText(path); - Debug.Log($"Importing json from {path}"); + // Debug.Log($"Importing json from {path}"); return JsonUtility.FromJson(json); } From 42580a83ea026671d34be299e37e77811cea6a87 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Thu, 6 Aug 2026 09:44:52 +0200 Subject: [PATCH 39/45] Add trainable --- Runtime/Scripts/Core/Synapse.cs | 2 ++ 1 file changed, 2 insertions(+) diff --git a/Runtime/Scripts/Core/Synapse.cs b/Runtime/Scripts/Core/Synapse.cs index 0cddc88..e34474c 100644 --- a/Runtime/Scripts/Core/Synapse.cs +++ b/Runtime/Scripts/Core/Synapse.cs @@ -108,11 +108,13 @@ namespace NanoBrain { public string clusterName; public string neuronName; public float weight; + public bool trainable; public SynapseData(Synapse synapse) { this.clusterName = synapse.neuron.parent.name; this.neuronName = synapse.neuron.name; this.weight = synapse.weight; + this.trainable = synapse.trainable; } } } \ No newline at end of file From 142bef5fa4b9959ea37b5f3e28360fcfb90526e7 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Thu, 6 Aug 2026 09:45:04 +0200 Subject: [PATCH 40/45] Prevent multiple cluster refs --- Runtime/Scripts/Core/Cluster.cs | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/Runtime/Scripts/Core/Cluster.cs b/Runtime/Scripts/Core/Cluster.cs index 7990031..0a7c2b3 100644 --- a/Runtime/Scripts/Core/Cluster.cs +++ b/Runtime/Scripts/Core/Cluster.cs @@ -894,7 +894,10 @@ namespace NanoBrain { foreach (Synapse synapse in neuron.synapses) { if (synapse.neuron.parent.name != cluster.name) { ExternalClusterData clusterData = new(synapse.neuron.parent); - this.clusters.Add(clusterData); + if (this.clusters.Find(data => data.name == clusterData.name) == null) { + this.clusters.Add(clusterData); + //Debug.Log("Add cluster"); + } } } } From 42aa4bd154f59b457e421cb069e38f3e5a349800 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Thu, 6 Aug 2026 09:47:25 +0200 Subject: [PATCH 41/45] Fix import trainable --- Runtime/Scripts/Core/Cluster.cs | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Runtime/Scripts/Core/Cluster.cs b/Runtime/Scripts/Core/Cluster.cs index 0a7c2b3..e200f74 100644 --- a/Runtime/Scripts/Core/Cluster.cs +++ b/Runtime/Scripts/Core/Cluster.cs @@ -146,7 +146,7 @@ namespace NanoBrain { Neuron receiver = this.GetNeuron(neuronData.name); foreach (SynapseData synapseData in neuronData.synapses) { Neuron sender = this.GetNeuron(synapseData.neuronName); - sender?.AddReceiver(receiver, synapseData.weight); + sender?.AddReceiver(receiver, synapseData.weight, synapseData.trainable); } } } @@ -190,7 +190,7 @@ namespace NanoBrain { } else { Neuron sender = this.GetNeuron(synapseData.neuronName); - sender?.AddReceiver(receiver, synapseData.weight); + sender?.AddReceiver(receiver, synapseData.weight, synapseData.trainable); } } } From 1d80c4fec3dde4f24320ca3424bb05ea77e37dd7 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Thu, 6 Aug 2026 10:47:10 +0200 Subject: [PATCH 42/45] Fix multiple ext. cluster instances --- Runtime/Scripts/Core/Cluster.cs | 4 +++- Runtime/Scripts/Core/Neuron.cs | 3 +-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/Runtime/Scripts/Core/Cluster.cs b/Runtime/Scripts/Core/Cluster.cs index e200f74..4ec2fed 100644 --- a/Runtime/Scripts/Core/Cluster.cs +++ b/Runtime/Scripts/Core/Cluster.cs @@ -183,8 +183,10 @@ namespace NanoBrain { if (externalCluster.name == synapseData.clusterName) instanceCount = externalCluster.instanceCount; } - Cluster extCluster = new Cluster(extPrefab, this, instanceCount); + if (this.nuclei.Find(nucleus => nucleus.name == synapseData.clusterName) is not Cluster extCluster) + extCluster = new(extPrefab, this, instanceCount); Neuron extNeuron = extCluster.GetNeuron(synapseData.neuronName); + Debug.Log("Add receiver for external"); extNeuron.AddReceiver(receiver); } } diff --git a/Runtime/Scripts/Core/Neuron.cs b/Runtime/Scripts/Core/Neuron.cs index 6e4dd1b..cd74076 100644 --- a/Runtime/Scripts/Core/Neuron.cs +++ b/Runtime/Scripts/Core/Neuron.cs @@ -646,10 +646,9 @@ namespace NanoBrain { public virtual void AddReceiver(Nucleus receiverToAdd, float weight = 1, bool trainable = false) { if (receiverToAdd is not Neuron receiverNeuron) return; + this._receivers.Add(receiverNeuron); receiverNeuron.AddSynapse(this, weight, trainable); - //Debug.Log($"Add synapse {this.clusterPrefab.name}.{this.name} -> {receiverToAdd.name} --- [{this.receivers.Count}]"); - } /// From 0541a08c68b5c009334bd33e732e2407229b2e5d Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Thu, 6 Aug 2026 10:52:17 +0200 Subject: [PATCH 43/45] renamed neuron trainable to trainableBias --- Editor/ClusterEditor.cs | 6 +++--- Runtime/Scripts/Core/Neuron.cs | 8 ++++---- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/Editor/ClusterEditor.cs b/Editor/ClusterEditor.cs index 3bc2791..9a26561 100644 --- a/Editor/ClusterEditor.cs +++ b/Editor/ClusterEditor.cs @@ -245,10 +245,10 @@ namespace NanoBrain.Unity { neuron.bias = newBias; } - bool newTrainable = EditorGUILayout.Toggle("Trainable", neuron.trainable); - if (newTrainable != neuron.trainable) { + bool newTrainable = EditorGUILayout.Toggle("Trainable", neuron.trainableBias); + if (newTrainable != neuron.trainableBias) { anythingChanged = true; - neuron.trainable = newTrainable; + neuron.trainableBias = newTrainable; } EditorGUIUtility.labelWidth = previousLabelWidth; diff --git a/Runtime/Scripts/Core/Neuron.cs b/Runtime/Scripts/Core/Neuron.cs index cd74076..4d61bc0 100644 --- a/Runtime/Scripts/Core/Neuron.cs +++ b/Runtime/Scripts/Core/Neuron.cs @@ -50,7 +50,7 @@ namespace NanoBrain { /// /// Indicator whether the bias can be trained /// - public bool trainable = false; + public bool trainableBias = false; #region Synapses @@ -281,7 +281,7 @@ namespace NanoBrain { /// protected virtual void CloneFields(Neuron clone) { clone.bias = this.bias; - clone.trainable = this.trainable; + clone.trainableBias = this.trainableBias; clone.persistOutput = this.persistOutput; clone.combinator = this.combinator; clone.activator = this.activator; @@ -678,7 +678,7 @@ namespace NanoBrain { synapse.BackPropagation(this, derivative, learningRate); // Bias - if (this.trainable) { + if (this.trainableBias) { // This does not work well, because the derivative/error does not have a 3D direction // float3 biasDerivative = derivative; // dSSR/dActivator // switch (activator) { // dActivator/dBias @@ -706,7 +706,7 @@ namespace NanoBrain { synapse.BackPropagation(this, derivative.magnitude, learningRate); // Bias - if (this.trainable) { + if (this.trainableBias) { switch (this.activator) { // dActivator/dBias case ActivationType.Linear: derivative *= 1; From fb51cc8914ed17a0a2445ac9df405260496a5976 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Fri, 7 Aug 2026 09:55:07 +0200 Subject: [PATCH 44/45] Containment training added --- Runtime/Scripts/Core/Neuron.cs | 17 +++++--- Runtime/Scripts/Core/Synapse.cs | 73 ++++++++++++++++++--------------- 2 files changed, 53 insertions(+), 37 deletions(-) diff --git a/Runtime/Scripts/Core/Neuron.cs b/Runtime/Scripts/Core/Neuron.cs index 4d61bc0..9a62534 100644 --- a/Runtime/Scripts/Core/Neuron.cs +++ b/Runtime/Scripts/Core/Neuron.cs @@ -695,15 +695,22 @@ namespace NanoBrain { } public void BackPropagation3D(Vector3 derivative, float learningRate) { + float derivativeMagnitude = derivative.magnitude; + if (derivativeMagnitude < 1e-03f) + // Small changes are not processed + // We are probably very close to the desired output + return; + foreach (Synapse synapse in this.synapses) - // synapse.BackPropagation(this, derivative, learningRate); + synapse.BackPropagation3D(this, derivative, learningRate); // As the weight cannot change the direction of the derivative // we can use the simpler, 1D backpropagation here // But we still need to determine the sign of the derivative - if (Synapse.AreOpposed(derivative, synapse.neuron.activation)) - synapse.BackPropagation(this, -derivative.magnitude, learningRate); - else - synapse.BackPropagation(this, derivative.magnitude, learningRate); + + // if (Synapse.AreOpposed(derivative, synapse.neuron.activation)) + // synapse.BackPropagation(this, -derivativeMagnitude, learningRate); + // else + // synapse.BackPropagation(this, derivativeMagnitude, learningRate); // Bias if (this.trainableBias) { diff --git a/Runtime/Scripts/Core/Synapse.cs b/Runtime/Scripts/Core/Synapse.cs index e34474c..8a5f83c 100644 --- a/Runtime/Scripts/Core/Synapse.cs +++ b/Runtime/Scripts/Core/Synapse.cs @@ -64,37 +64,46 @@ namespace NanoBrain { } } - public virtual void BackPropagation(Neuron receiver, Vector3 derivative, float learningRate) { - switch (receiver.activator) { - case Neuron.ActivationType.Linear: - derivative *= 1; - break; - case Neuron.ActivationType.Power: - // untested - derivative *= 2 * math.length(this.neuron.combination); - break; - case Neuron.ActivationType.Reciprocal: - // untested - derivative *= -1 / Mathf.Pow(math.length(this.neuron.combination), 2); - break; - default: - Debug.Log("other activator"); - break; - } + public virtual void BackPropagation3D(Neuron receiver, Vector3 derivative, float learningRate) { + // As the weight cannot change the direction of the derivative + // we can use the simpler, 1D backpropagation here + // But we still need to determine the sign of the derivative - this.neuron.BackPropagation3D(derivative * this.weight, learningRate); + if (Synapse.AreOpposed(derivative, this.neuron.activation)) + BackPropagation(receiver, -derivative.magnitude, learningRate); + else + BackPropagation(receiver, derivative.magnitude, learningRate); - derivative *= math.length(this.neuron.activation); + // switch (receiver.activator) { + // case Neuron.ActivationType.Linear: + // derivative *= 1; + // break; + // case Neuron.ActivationType.Power: + // // untested + // derivative *= 2 * math.length(this.neuron.combination); + // break; + // case Neuron.ActivationType.Reciprocal: + // // untested + // derivative *= -1 / Mathf.Pow(math.length(this.neuron.combination), 2); + // break; + // default: + // Debug.Log("other activator"); + // break; + // } - if (this.trainable) { - float deltaWeight = learningRate * derivative.magnitude; - // Compared to the 1D solution, this does not decrease the weight because magnitude is always positive - // derivative.direction and derivative.sign are different.... - if (AreOpposed(derivative, this.neuron.activation)) - this.weight -= deltaWeight; - else - this.weight += deltaWeight; - } + // this.neuron.BackPropagation3D(derivative * this.weight, learningRate); + + // derivative *= math.length(this.neuron.activation); + + // if (this.trainable) { + // float deltaWeight = learningRate * derivative.magnitude; + // // Compared to the 1D solution, this does not decrease the weight because magnitude is always positive + // // derivative.direction and derivative.sign are different.... + // if (AreOpposed(derivative, this.neuron.activation)) + // this.weight -= deltaWeight; + // else + // this.weight += deltaWeight; + // } } public static bool AreOpposed(Vector3 a, Vector3 b) { @@ -105,10 +114,10 @@ namespace NanoBrain { [Serializable] public class SynapseData { - public string clusterName; - public string neuronName; - public float weight; - public bool trainable; + public string clusterName; + public string neuronName; + public float weight; + public bool trainable; public SynapseData(Synapse synapse) { this.clusterName = synapse.neuron.parent.name; From 808bb949cf71c56d90489125f71f84abc00bf393 Mon Sep 17 00:00:00 2001 From: Pascal Serrarens Date: Mon, 10 Aug 2026 11:30:45 +0200 Subject: [PATCH 45/45] Unity 2022 compatibility --- Editor/ClusterJson_Drawer.cs | 8 ++++++++ Editor/ClusterView.cs | 2 +- 2 files changed, 9 insertions(+), 1 deletion(-) diff --git a/Editor/ClusterJson_Drawer.cs b/Editor/ClusterJson_Drawer.cs index b2a0d8c..dfb61a7 100644 --- a/Editor/ClusterJson_Drawer.cs +++ b/Editor/ClusterJson_Drawer.cs @@ -54,14 +54,22 @@ namespace NanoBrain.Unity { return EditorGUIUtility.singleLineHeight + propertyExtraHeight; } +#if UNITY_6000_0_OR_NEWER private readonly Dictionary _invalidCache = new(); +#else + private readonly Dictionary _invalidCache = new(); +#endif private bool IsInvalidJson(SerializedProperty jsonFileProp) { TextAsset jsonFile = jsonFileProp.objectReferenceValue as TextAsset; if (jsonFile == null) return false; +#if UNITY_6000_0_OR_NEWER EntityId id = jsonFile.GetEntityId(); +#else + int id = jsonFile.GetInstanceID(); +#endif if (_invalidCache.TryGetValue(id, out bool invalid)) return invalid; diff --git a/Editor/ClusterView.cs b/Editor/ClusterView.cs index 214c7f8..beaef17 100644 --- a/Editor/ClusterView.cs +++ b/Editor/ClusterView.cs @@ -41,7 +41,7 @@ namespace NanoBrain.Unity { #if UNITY_6000_0_OR_NEWER EntityId id = serializedObject.targetObject.GetEntityId(); #else - int id = property.serializedObject.targetObject.GetInstanceID(); + int id = serializedObject.targetObject.GetInstanceID(); #endif string key = id.ToString(); if (!clusterViews.TryGetValue(key, out ClusterView clusterView))