Initial Doxygen documentation

Documentation.meta

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Documentation/Ant2.md

@@ -0,0 +1,14 @@
+Lorum ipsum
+
+Heading level 1
+===============
+
+Lorum ipsum
+
+Heading Level 2
+---------------
+
+Lorum ipsum
+
+here is a an image:
+![Passer Logo](images/PasserLifeLogoRight1_300.png)

Documentation/Ant2.md.meta

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Documentation/GettingStarted.md

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+/// \page GettingStarted Getttting Started
+Getting starttted

Documentation/GettingStarted.md.meta

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Documentation/Installation.md

@@ -0,0 +1,9 @@
+/// \page Installation Installation
+
+You can import the NanoBrain Ant package in Unity directly with the Package Manager git package importer.
+
+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.
+
+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.

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README.md

@@ -1,2 +1,6 @@
-# Ant
+# %NanoBrain Ant
-
+
+Table of Contents
+-----------------
+- [Installation](\ref Installation)
+- [Getting started](\ref GettingStarted)

Runtime/Scripts/Ant.cs

@@ -1,13 +1,28 @@
+using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
 using NanoBrain;
 
 namespace Passer.CreatureControl {
 
+    /// <summary>
+    /// Simulated ant using a NanoBrain
+    /// </summary>
     [RequireComponent(typeof(Brain))]
     public class Ant : Insect {
+        /// <summary>
+        /// inertia controls how quickly the ant can change it direction
+        /// </summary>
         private readonly float inertia = 0.2f;
+        /// <summary>
+        /// The maximum distance at which the ant can smell things
+        /// </summary>
+        /// The strength of the smell decreases with the inverse square law
+        /// to zero at this distance
         private readonly float smellRadius = 0.2f;
+        /// <summary>
+        /// The angle to the left and right within the ant can smell things
+        /// </summary>
         private readonly float smellAngle = 80.0f;
 
         public GameObject homePheromonePrefab;
@@ -18,16 +33,25 @@ namespace Passer.CreatureControl {
 
         public Brain nanoBrain;
         // brain output
+        public Neuron targetDirection;
         public Neuron hasFood;
+
         // brain input
+
+        /// <summary>
+        /// The (heart) beat for the brain
+        /// </summary>
+        /// It is used by the brain to do things periodically
+        /// like placing pheromones
+        public Nucleus beat;
+
         public Nucleus pheromoneSteering;
         public Nucleus hitLeft;
         public Nucleus hitRight;
-        public Nucleus beat;
         public Receptor foodReceptor;
         public Receptor homeReceptor;
 
-        public Vector3 linearVelocity;
+        public Vector3 linearVelocity = Vector3.forward;
         public Vector3 angularVelocity;
 
         #region Init
@@ -49,30 +73,37 @@ namespace Passer.CreatureControl {
 
             Cluster brain = this.nanoBrain.brain;
             if (brain != null) {
-                // brain outputs
+                //--- brain inputs
-                this.pheromoneSteering = brain.GetNucleus("Pheromone Steering");
 
-                if (brain.GetNucleus("Home Pheromones") is Neuron homePheromones)
-                    homePheromones.WhenFiring += PlaceHomePheromone;
-                if (brain.GetNucleus("Food Pheromones") is Neuron foodPheromones)
-                    foodPheromones.WhenFiring += PlaceFoodPheromone;
-
-                this.hasFood = brain.GetNucleus("Having Food") as Neuron;
-                // brain inputs
                 this.beat = brain.GetNucleus("Beat");
                 this.hitLeft = brain.GetNucleus("Hit Left");
                 this.hitRight = brain.GetNucleus("Hit Right");
                 this.foodReceptor = brain.GetNucleus("Food Receptor") as Receptor;
                 this.homeReceptor = brain.GetNucleus("Home Receptor") as Receptor;
+                this.pheromoneSteering = brain.GetNucleus("Pheromone Steering");
+
+                //--- brain outputs
+                this.targetDirection = brain.defaultOutput;
+
+                // Try to find the Home Pheromones Neuron
+                if (brain.GetNucleus("Home Pheromones") is Neuron homePheromones)
+                    // and call PlaceHomePheromone when it is firing
+                    homePheromones.WhenFiring += PlaceHomePheromone;
+                // Try to find the Food Pheromones Neuron
+                if (brain.GetNucleus("Food Pheromones") is Neuron foodPheromones)
+                    // and call PlaceFoodPheromone when it is firing
+                    foodPheromones.WhenFiring += PlaceFoodPheromone;
+
+                this.hasFood = brain.GetNucleus("Having Food") as Neuron;
             }
 
-            this.linearVelocity = Vector3.forward;
+            // Initialize the callbacks for the antenna colliders
-
             if (touchLeft != null)
                 touchLeft.touched += OnAntennaTouchLeft;
             if (touchRight != null)
                 touchRight.touched += OnAntennaTouchRight;
 
+            StartCoroutine(Beat());
         }
 
         #endregion Start
@@ -88,86 +119,56 @@ namespace Passer.CreatureControl {
             pheromoneObj.transform.position = this.model.position;
         }
 
-        // Update is called once per frame
         public override void Update() {
             base.Update();
 
-            UpdateBeat();
             UpdateSmell();
-
+            UpdateMovement();
-            if (this.nanoBrain == null || this.nanoBrain.brain == null || this.animator == null)
-                return;
-
-            Vector3 localForce = nanoBrain.brain.defaultOutput.outputValue;
-            //Vector3 localForce = this.transform.InverseTransformDirection(worldForce);
-
-            this.linearVelocity = (1 - inertia) * (Time.deltaTime * localForce.normalized) + inertia * this.linearVelocity;
-            this.linearVelocity = this.linearVelocity.normalized; // * this.forwardSpeed;
-
-            //this.animator.SetFloat("Forward", this.forwardSpeed); //this.linearVelocity.z * this.forwardSpeed);
-            float forwardParam = Mathf.Clamp01(this.linearVelocity.z); // / this.forwardSpeed);
-            float angleDeg = 0;
-            if (this.linearVelocity.magnitude > 1e-5f)
-                angleDeg = Mathf.Atan2(this.linearVelocity.x, this.linearVelocity.z) * Mathf.Rad2Deg;
-
-            // base turn in -1..1
-            float baseTurn = Mathf.Clamp(angleDeg / 45, -1f, 1f);
-            float turnParam = baseTurn; // * Mathf.Max(0.6f, 1 - forwardParam);
-
-            // Rotate towards the movement direction
-            // if (this.linearVelocity != Vector3.zero) {
-            //     Quaternion targetRotation = Quaternion.LookRotation(this.linearVelocity);
-            //     Quaternion worldRotation = transform.rotation * targetRotation;
-            //     Quaternion deltaRotation = worldRotation * Quaternion.Inverse(transform.rotation);
-
-            //     Vector3 eulerAngleChange = deltaRotation.eulerAngles;
-            //     // Normalize the Euler angles to avoid unexpected jumps due to 360-degree rotations
-            //     eulerAngleChange = new Vector3(
-            //         LinearAlgebra.Angles.Normalize(eulerAngleChange.x),
-            //         LinearAlgebra.Angles.Normalize(eulerAngleChange.y),
-            //         LinearAlgebra.Angles.Normalize(eulerAngleChange.z)
-            //     );
-
-            //     float rotSpeed = (eulerAngleChange.y / 45) * this.rotationSpeed;
-            //     this.animator.SetFloat("Rotate", rotSpeed);
-            //     Debug.Log($"fw {this.forwardSpeed} ang {rotSpeed}");
-            // }
-
-            // Smooth against current animator values
-            // float curF = animator.GetFloat("Forward");
-            // float curT = animator.GetFloat("Turn");
-            // forwardParam = Mathf.Lerp(curF, forwardParam, 1f - Mathf.Exp(-10 * Time.deltaTime));
-            // turnParam = Mathf.Lerp(curT, turnParam, 1f - Mathf.Exp(-10 * Time.deltaTime));
-
-
-            this.animator.SetFloat("Forward", forwardParam);
-            this.animator.SetFloat("Rotate", turnParam);
         }
 
         public virtual void FixedUpdate() {
             CheckGrounded();
         }
 
-        public float beatInterval = 3;
+        protected void UpdateMovement() {
-        float lastBeatTime = 0;
+            if (this.targetDirection == null || this.animator == null)
-        void UpdateBeat() {
+                return;
-            if (lastBeatTime == 0) {
-                ulong delay = (ulong)(Random.value * beatInterval);
-                lastBeatTime = Time.time - delay;
-            }
-            if (Time.time - lastBeatTime >= beatInterval) {
-                lastBeatTime = Time.time;
-                beat?.SetBias(Vector3.one); //, 0);
 
+            Vector3 movementDir = this.targetDirection.outputValue;
+            this.linearVelocity =
+                (1 - this.inertia) * (Time.deltaTime * movementDir.normalized) +
+                this.inertia * this.linearVelocity;
+            this.linearVelocity = this.linearVelocity.normalized;
+
+            float forwardParam = this.linearVelocity.z;
+
+            float angleRad = this.linearVelocity.sqrMagnitude > 1e-10f ?
+                Mathf.Atan2(this.linearVelocity.x, this.linearVelocity.z) :
+                0;
+            // map -20..20 degrees to -1..1
+            float rotateParam = Mathf.Clamp(angleRad * 3, -1f, 1f);
+
+            this.animator.SetFloat("Forward", forwardParam);
+            this.animator.SetFloat("Rotate", rotateParam);
+        }
+
+        private static readonly WaitForSeconds _waitForSeconds3 = new(3);
+        IEnumerator Beat() {
+            while (Application.isPlaying) {
+                // Beat signal to the brain
+                beat?.SetBias(Vector3.one);
+
+                // Set random direction to simulate noisy smells perception
+                // which will result in a bit of random walking when no clear
+                // smells are received
                 float randomAngle = Random.Range(-smellAngle, smellAngle);
-                Vector3 randomDirection = Quaternion.AngleAxis(randomAngle, Vector3.up) * Vector3.forward * 1.01f;
+                Vector3 randomDirection = Quaternion.AngleAxis(randomAngle, Vector3.up) * Vector3.forward;
-                pheromoneSteering?.SetBias(randomDirection); //, 0, "random");
+                pheromoneSteering?.SetBias(randomDirection);
+                yield return _waitForSeconds3;
             }
         }
 
         void UpdateSmell() {
-            // To generate random basic movement, we add a small with a random direction with low intensity
-
             Collider[] colliders = Physics.OverlapSphere(this.transform.position, smellRadius);
             foreach (Collider collider in colliders) {
                 SmellPheromones(collider);
@@ -199,7 +200,6 @@ namespace Passer.CreatureControl {
                 }
                 //Debug.DrawLine(this.transform.position, pheromone.transform.position, Color.magenta);
             }
-
         }
 
         void SmellFood(Collider thing) {

Runtime/Scripts/Odorant.cs

@@ -6,7 +6,10 @@ namespace Passer.CreatureControl {
         public float strength = 1;
 
         public float StrengthAt(float distance) {
-            float intensity = this.strength * (1 / distance);
+            if (distance <= 0)
+                return this.strength;
+            
+            float intensity = this.strength / (4.0f * Mathf.PI * distance * distance);
             return intensity;
         }
     }

Samples/Animation/AntAnimator.controller

@@ -28,7 +28,7 @@ BlendTree:
     m_Motion: {fileID: 7400000, guid: ab82ff68e62ea3b1c8e6523f8d46c142, type: 2}
     m_Threshold: 0.19200002
     m_Position: {x: -1, y: 0}
-    m_TimeScale: 2
+    m_TimeScale: 5
     m_CycleOffset: 0
     m_DirectBlendParameter: Forward
     m_Mirror: 0
@@ -36,7 +36,7 @@ BlendTree:
     m_Motion: {fileID: 7400000, guid: 91229db5e929c379bbfd5bf417848488, type: 2}
     m_Threshold: 0.28800002
     m_Position: {x: 1, y: 0}
-    m_TimeScale: 2
+    m_TimeScale: 1
     m_CycleOffset: 0
     m_DirectBlendParameter: Forward
     m_Mirror: 0