Fix boundary velocityneuroid to alignment

Assets/NanoBrain/Editor/NanoBrain_Editor.cs

@@ -26,7 +26,6 @@ public class NanoBrain_Editor : Editor {
         Debug.Log($"Layercount = {this.layers.Count}");
     }
 
-
     #endregion Start    
 
     #region Update
@@ -205,10 +204,18 @@ public class NanoBrain_Editor : Editor {
         if (brain == null)
             return;
 
+        Vector3 position = brain.transform.position;
+        float radius = 1;
+
+
+        Handles.DrawWireDisc(position, Vector3.up, radius);    // horizontal circle
+        Handles.DrawWireDisc(position, Vector3.right, radius); // X-plane
+        Handles.DrawWireDisc(position, Vector3.forward, radius); // Z-plane
+
+
         // Debug.DrawRay(brain.transform.position, Vector3.forward, Color.magenta);
         // Handles.color = Color.green;
         // Handles.DrawLine(brain.transform.position, brain.transform.position + Vector3.up);
-        Vector3 position = brain.transform.position;
         Handles.color = Color.yellow;
         Vector3 worldForce = brain.transform.TransformDirection(this.currentNucleus.outputValue);
         Debug.DrawRay(position, worldForce * 10, Color.yellow);

Assets/NanoBrain/Neuroid.cs

@@ -3,13 +3,10 @@ using UnityEngine;
 public class Neuroid : Nucleus {
     public int stale = 0;
 
-
     public bool average = false;
     public bool inverse = false;
     public float exponent = 1.0f;
 
-    public NanoBrain brain;
-
     public Neuroid(NanoBrain brain, string name) : base(name) {
         this.brain = brain;
         if (this.brain != null)
@@ -18,10 +15,10 @@ public class Neuroid : Nucleus {
             Debug.LogError("No neuroid network");
     }
 
-    public void AddSynapse(Neuroid input) {
+    // public void AddSynapse(Neuroid input) {
-        input.AddReceiver(this);
+    //     input.AddReceiver(this);
-        this.synapses[input] = 1.0f;
+    //     this.synapses[input] = 1.0f;
-    }
+    // }
 
     public void SetWeight(Neuroid input, float weight) {
         this.synapses[input] = weight;
@@ -43,21 +40,7 @@ public class Neuroid : Nucleus {
         UpdateState();
     }
 
-    public void RemoveInputFrom(Neuroid input) {
-        if (this.synapses.Count == 0)
-            return;
-
-        this.synapses.Remove(input);
-        if (this.synapses.Count == 0) {
-            // In case this was the last synapse, we reset the output because in this case no updates from synapses will follow.
-            this.outputValue = Vector3.zero;
-            foreach (Neuroid neuroid in this.receivers)
-                neuroid.SetInput(this);
-        }
-    }
-
     public virtual void UpdateState() {
-        // int minStale = 10000;
         Vector3 result = Vector3.zero;
         foreach ((Nucleus nucleus, float weight) in this.synapses) {
             if (nucleus is Neuroid neuroid && neuroid.IsStale())
@@ -71,16 +54,11 @@ public class Neuroid : Nucleus {
                 magnitude = 1 / magnitude;
             result += direction * magnitude;
 
-            // if (nucleus is Neuroid neuroid && neuroid.stale < minStale)
-            //     minStale = neuroid.stale;
         }
         if (average && this.synapses.Count > 0)
             result /= this.synapses.Count;
 
         this.outputValue = result;
-
-        // if (minStale > 2)
-        //     Debug.LogWarning($"Strange {minStale} is big duing update");
         this.stale = 0;
 
         foreach (Neuroid receiver in this.receivers)

Assets/NanoBrain/Nucleus.cs

@@ -2,6 +2,8 @@ using System.Collections.Generic;
 using UnityEngine;
 
 public class Nucleus {
+    public NanoBrain brain { get; protected set; }
+
     public string name;
 
     public readonly Dictionary<Nucleus, float> synapses = new();

Assets/NanoBrain/Perception.cs

@@ -5,9 +5,6 @@ using UnityEngine;
 public class Perception : Nucleus {
     public SensoryNeuroid[] sensoryNeuroids = new SensoryNeuroid[7];
 
-    // public NeuroidNetwork neuroidNet { get; protected set; }
-    public NanoBrain neuroidNet { get; protected set; }
-
     public class Receiver {
         public int thingType = 0;
         public Neuroid neuroid;
@@ -16,9 +13,8 @@ public class Perception : Nucleus {
     public HashSet<Receiver> positionReceivers { get; protected set; }
     public HashSet<Receiver> velocityReceivers { get; protected set; }
 
-    // public Perception(NeuroidNetwork neuroidNet) : base("Perception") {
     public Perception(NanoBrain neuroidNet) : base("Perception") {
-        this.neuroidNet = neuroidNet;
+        this.brain = neuroidNet;
         this.positionReceivers = new();
         this.velocityReceivers = new();
     }
@@ -32,7 +28,7 @@ public class Perception : Nucleus {
         foreach (SensoryNeuroid neuroid in sensoryNeuroids) {
             if (neuroid != null) {
                 neuroid.AddReceiver(receivingNeuroid);
-                receivingNeuroid.synapses[neuroid] = weight; // new(neuroid, weight);
+                receivingNeuroid.synapses[neuroid] = weight;
             }
         }
     }
@@ -45,7 +41,7 @@ public class Perception : Nucleus {
         foreach (SensoryNeuroid neuroid in sensoryNeuroids) {
             if (neuroid != null && neuroid.velocityNeuroid != null) {
                 neuroid.velocityNeuroid.AddReceiver(receivingNeuroid);
-                receivingNeuroid.synapses[neuroid] = 1.0f; //new(neuroid);
+                receivingNeuroid.synapses[neuroid] = weight;
             }
         }
     }
@@ -73,49 +69,28 @@ public class Perception : Nucleus {
             availableIx = leastInterestingIx;
 
         if (availableIx != -1) {
+            SensoryNeuroid neuroid;
             if (sensoryNeuroids[availableIx] != null) {
-                Debug.Log($"replace receptor for {thingId} at {availableIx}");
+                // Debug.Log($"replace receptor for {thingId} at {availableIx}");
-                SensoryNeuroid neuroid = sensoryNeuroids[availableIx];
+                neuroid = sensoryNeuroids[availableIx];
-                neuroid.Replace(thingId);
+                neuroid.Replace(thingId, name);
-                neuroid.name = name;
-                foreach (Receiver receiver in positionReceivers) {
-                    if (receiver.thingType == 0 || receiver.thingType == thingType)
-                        receiver.neuroid.GetInputFrom(neuroid);
-                }
-                foreach (Receiver receiver in velocityReceivers) {
-                    if (receiver.thingType == 0 || receiver.thingType == thingType)
-                        receiver.neuroid.GetInputFrom(neuroid.velocityNeuroid);
-                }
-                neuroid.receptor.position = localPosition;
-
             }
             else {
-                Debug.Log($"new receptor for {thingId} at {availableIx}");
+                // Debug.Log($"new receptor for {thingId} at {availableIx}");
-                SensoryNeuroid neuroid = new(neuroidNet, thingId) { name = name };
+                neuroid = new(brain, thingId) { name = name };
-                foreach (Receiver receiver in positionReceivers) {
-                    if (receiver.thingType == 0 || receiver.thingType == thingType)
-                        receiver.neuroid.GetInputFrom(neuroid);
-                }
-                foreach (Receiver receiver in velocityReceivers) {
-                    if (receiver.thingType == 0 || receiver.thingType == thingType)
-                        receiver.neuroid.GetInputFrom(neuroid.velocityNeuroid);
-                }
-
                 sensoryNeuroids[availableIx] = neuroid;
-                neuroid.receptor.position = localPosition;
             }
+            foreach (Receiver receiver in positionReceivers) {
+                if (receiver.thingType == 0 || receiver.thingType == thingType)
+                    receiver.neuroid.GetInputFrom(neuroid);
+            }
+            foreach (Receiver receiver in velocityReceivers) {
+                if (receiver.thingType == 0 || receiver.thingType == thingType)
+                    receiver.neuroid.GetInputFrom(neuroid.velocityNeuroid);
+            }
+
+            neuroid.receptor.position = localPosition;
         }
     }
 
-    public void RemoveStimulus(int thingId) {
-        for (int i = 0; i < sensoryNeuroids.Length; i++) {
-            if (sensoryNeuroids[i] != null && sensoryNeuroids[i].receptor.thingId == thingId) {
-                foreach (Neuroid receiver in sensoryNeuroids[i].receivers)
-                    receiver.RemoveInputFrom(sensoryNeuroids[i]);
-                sensoryNeuroids[i] = null;
-                return;
-            }
-        }
-
-    }
 }

Assets/NanoBrain/SensoryNeuroid.cs

@@ -7,17 +7,17 @@ public class Receptor {
     public SensoryNeuroid neuroid;
 
     public int thingId;
-    public Vector3 value;
+    public Vector3 localPosition;
 
     /// <summary>
     /// Local position of the thing
     /// </summary>
     public virtual Vector3 position {
         get {
-            return this.value;
+            return this.localPosition;
         }
         set {
-            this.value = value;
+            this.localPosition = value;
             neuroid.UpdateState();
         }
     }
@@ -40,17 +40,18 @@ public class SensoryNeuroid : Neuroid {
         this.AddReceiver(velocityNeuroid);
     }
 
-    public void Replace(int thingId) {
+    public void Replace(int thingId, string name = "sensory neuroid") {
-        this.name = "sensory neuroid";
+        this.name = name;
         this.receptor.thingId = thingId;
-        this.receptor.value = Vector3.zero;
+        this.receptor.localPosition = Vector3.zero;
         this.outputValue = Vector3.zero;
         this.receivers = new();
         this.AddReceiver(velocityNeuroid);
+        this.velocityNeuroid.receivers = new();
     }
 
     public override void UpdateState() {
-        Vector3 result = receptor.value;
+        Vector3 result = receptor.localPosition;
         //foreach ((Nucleus nucleus, Synapse synapse) in this.synapses) {
         foreach ((Nucleus nucleus, float weight) in this.synapses) {
             Vector3 direction = nucleus.outputValue.normalized;

Assets/Scenes/Boids/Boids.unity

@@ -373,8 +373,8 @@ MonoBehaviour:
   m_EditorClassIdentifier: Assembly-CSharp::SwarmControl
   speed: 2
   inertia: 0.1
-  alignmentForce: 5
+  alignmentForce: 3
-  cohesionForce: 5
+  cohesionForce: 3
   avoidanceForce: 5
   separationDistance: 0.3
   perceptionDistance: 1
@@ -393,7 +393,7 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: ec888ca5333d45a438f9f417fa5ce135, type: 3}
   m_Name: 
   m_EditorClassIdentifier: Assembly-CSharp::SwarmSpawn
-  count: 2
+  count: 5
   boidPrefab: {fileID: 8702527964058765413, guid: f9c706268554ce449a8773675b2864b8, type: 3}
   spawnAreaSize: {x: 0.5, y: 0.5, z: 0.5}
   minDelay: 0.05

Assets/Scenes/Boids/Scripts/Boid.cs

@@ -63,9 +63,6 @@ public class Boid : MonoBehaviour {
             Vector3 desiredLocalSpace = -this.transform.InverseTransformPoint(desiredWorldSpace);
             perception.ProcessStimulus(777, BoundaryType, desiredLocalSpace, "Boundary");
         }
-        // else {
-        //     perception.RemoveStimulus(777);
-        // }
 
         Vector3 worldForce = this.transform.TransformDirection(totalForce.outputValue);
 
@@ -95,19 +92,4 @@ public class Boid : MonoBehaviour {
         float m = Mathf.Min(sx, Mathf.Min(sy, sz));
         return b.center + d * m;
     }
-
-    // void OnDrawGizmosSelected() {
-    //     if (sc == null)
-    //         return;
-    //     Gizmos.DrawWireSphere(this.transform.position, sc.perceptionDistance);
-    //     Gizmos.color = Color.yellow;
-    //     Vector3 worldForce = this.transform.TransformDirection(totalForce.outputValue);
-    //     Gizmos.DrawRay(transform.position, worldForce * 10);
-    //     // Gizmos.color = Color.magenta;
-    //     // Gizmos.DrawRay(transform.position, this.transform.TransformDirection(avoidance.outputValue) * 10);
-    //     // Debug.Log($"Avoidance {roaming.avoidance.outputValue} Roaming {roaming.output.outputValue} Total {totalForce.outputValue}");
-    //     // Debug.Log($"WorldForce {worldForce} velocity {velocity} inertia {sc.inertia}");
-    //     Gizmos.color = Color.blue;
-    //     Gizmos.DrawRay(transform.position, this.velocity * 10);
-    // }
 }

Assets/Scenes/Boids/Scripts/RoamingNucleus.cs

@@ -3,7 +3,6 @@ public class Roaming : Nucleus {
 
     public Neuroid output;
 
-    // public Roaming(NeuroidNetwork neuroidNet, Perception perception, SwarmControl sc) : base("Roaming nucleus") {
     public Roaming(NanoBrain neuroidNet, Perception perception, SwarmControl sc) : base("Roaming nucleus") {
         avoidance = new(neuroidNet, "Avoidance") { inverse = true };
         perception.SendPositions(avoidance, 1.0f, 1);

Assets/Scenes/Boids/Scripts/SwarmSpawner.cs

@@ -26,7 +26,8 @@ public class SwarmSpawn : MonoBehaviour {
             );
 
             // Instantiate the prefab at the random position relative to the spawner
-            Instantiate(boidPrefab, transform.position + randomPosition, Random.rotation);
+            GameObject boid = Instantiate(boidPrefab, transform.position + randomPosition, Random.rotation);
+            boid.name = "Boid " + i;
         }
     }
 }

Assets/Scenes/Boids/Scripts/SwarmingNucleus.cs

@@ -12,7 +12,6 @@ public class Swarming : Nucleus {
     public const int BoundaryType = 1;
     public const int BoidType = 2;
 
-    // public Swarming(NeuroidNetwork neuroidNet, Perception perception, SwarmControl sc) : base("Swarming Nucleus") {
     public Swarming(NanoBrain neuroidNet, Perception perception, SwarmControl sc) : base("Swarming Nucleus") {
         this.cohesion = new(neuroidNet, "Cohesion");
         perception.SendPositions(this.cohesion, 1.0f, BoidType);