Move more towards pure neuroids

Assets/NanoBrain/Editor/NeuroidWindow.cs

@@ -37,15 +37,19 @@ public class GraphEditorWindow : EditorWindow {
             int neuroidIx = 0;
 
             foreach (Neuroid neuroid in neuroids) {
+                // Skip neurons we already processed
+                if (neuronVisited.Contains(neuroid))
+                    continue;
+
                 if (neuroid.IsStale()) {
                     neuronVisited.Add(neuroid);
                     continue;
                 }
 
-                // If this neuroid is not visited while its output neuroid is visited
+                // If the output neuroid is visited
                 // Note: this does not yet work for multiple outputs yet (see the use of First())
-                if (!neuronVisited.Contains(neuroid) && (neuroid.outputNeuroids.Count == 0 ||
+                if (neuroid.outputNeuroids.Count == 0 // make sure the root neuroids are processed directly
-                    (neuronVisited.Contains(neuroid.outputNeuroids.First()) && neuroid.outputNeuroids.First().layerIx == layerIx - 1))) {
+                    || (neuronVisited.Contains(neuroid.outputNeuroids.First()) && neuroid.outputNeuroids.First().layerIx == layerIx - 1)) {
                     // Add it to the next layer
                     currentLayer.neuroids.Add(neuroid);
                     neuroid.layerIx = layerIx;
@@ -111,9 +115,9 @@ public class GraphEditorWindow : EditorWindow {
             Vector3 parentPos = new(100 + layerNeuroidPos.x * 100, margin + layerNeuroidPos.y * spacing, 0.1f);
 
             int i = 0;
-            float inputSpacing = 200f / layerNeuroid.newSynapses.Count;
+            float inputSpacing = 200f / layerNeuroid.synapses.Count;
             float inputMargin = 100 + inputSpacing / 2;
-            foreach (Synapse synapse in layerNeuroid.newSynapses.Values) {
+            foreach (Synapse synapse in layerNeuroid.synapses.Values) {
                 if (synapse.neuroid != null) {
                     if (this.neuroidPositions.ContainsKey(synapse.neuroid)) {
 
@@ -145,7 +149,7 @@ public class GraphEditorWindow : EditorWindow {
         // Draw the tooltip
         GUIContent tooltip = new(
             $"{neuroid.name}" +
-            $"\nsynapse count {neuroid.newSynapses.Count}" +
+            $"\nsynapse count {neuroid.synapses.Count}" +
             $"\nValue: {neuroid.outputValue}" +
             $"\nStale: {neuroid.stale}");
             

Assets/NanoBrain/Neuroid.cs

@@ -16,8 +16,8 @@ public class Synapse {
 public class NeuroidNetwork {
     public List<Neuroid> neuroids = new();
 
-    public Neuroid AddNeuron() {
+    public Neuroid AddNeuron(string name) {
-        Neuroid neuroid = new(this);
+        Neuroid neuroid = new(this, name);
         return neuroid;
     }
 
@@ -29,35 +29,33 @@ public class NeuroidNetwork {
 }
 
 public class Neuroid {
-    //public int id;
     public string name;
 
     public int layerIx;
     public int stale = 0;
 
-    public readonly Dictionary<Neuroid, Synapse> newSynapses = new();
+    public readonly Dictionary<Neuroid, Synapse> synapses = new();
 
     public Vector3 outputValue;
     public HashSet<Neuroid> outputNeuroids = new();
 
-    public enum Mode {
+    public bool average = false;
-        Sum,
+    //public bool quadratic = false;
-        Average,
+    public bool inverse = false;
-    }
+    public float exponent = 1.0f;
-    public Mode mode = Mode.Sum;
-
 
     public NeuroidNetwork net;
 
-    public Neuroid(NeuroidNetwork net) {
+    public Neuroid(NeuroidNetwork net, string name) {
         this.net = net;
+        this.name = name;
         if (this.net != null)
             this.net.neuroids.Add(this);
     }
 
     public void AddSynapse(Neuroid input) {
         input.AddReceiver(this);
-        this.newSynapses[input] = new(input, Vector3.zero, 1.0f);
+        this.synapses[input] = new(input, Vector3.zero, 1.0f);
     }
 
     public void AddReceiver(Neuroid receiver) {
@@ -65,84 +63,77 @@ public class Neuroid {
     }
 
     public void ResetWeights() {
-        foreach (Synapse synapse in this.newSynapses.Values)
+        foreach (Synapse synapse in this.synapses.Values)
             synapse.weight = 1.0f;
     }
 
     public void SetWeight(Neuroid input, float weight) {
-        if (this.newSynapses.ContainsKey(input)) {
+        if (this.synapses.ContainsKey(input)) {
-            this.newSynapses[input].weight = weight;
+            this.synapses[input].weight = weight;
         }
         else {
-            this.newSynapses[input] = new(input, Vector3.zero, weight);
+            this.synapses[input] = new(input, Vector3.zero, weight);
         }
     }
 
     public void GetInputFrom(Neuroid input, float weight = 1.0f) {
         input.AddReceiver(this);
-        this.newSynapses[input] = new(input, Vector3.zero, weight);
+        this.synapses[input] = new(input, Vector3.zero, weight);
     }
 
     public void SetInput(Neuroid input, Vector3 value) {
-        if (this.newSynapses.ContainsKey(input)) {
+        if (this.synapses.ContainsKey(input)) {
-            Synapse synapse = this.newSynapses[input];
+            Synapse synapse = this.synapses[input];
             synapse.value = value;
         }
         else
-            this.newSynapses[input] = new(null, value, 1.0f);
+            this.synapses[input] = new(null, value, 1.0f);
         UpdateState();
     }
 
     public void SetInput(Neuroid input, Vector3 value, float weight) {
-        if (this.newSynapses.ContainsKey(input)) {
+        if (this.synapses.ContainsKey(input)) {
-            Synapse synapse = this.newSynapses[input];
+            Synapse synapse = this.synapses[input];
             synapse.value = value;
             synapse.weight = weight;
         }
         else
-            this.newSynapses[input] = new(null, value, weight);
+            this.synapses[input] = new(null, value, weight);
-        UpdateState();
-    }
-
-    public readonly Dictionary<int, Neuroid> fakeNeuroids = new();
-    public void SetInput(int thingId, Vector3 value, float weight, NeuroidNetwork net) {
-        if (fakeNeuroids.ContainsKey(thingId)) {
-            Neuroid fakeInput = fakeNeuroids[thingId];
-            Synapse synapse = this.newSynapses[fakeInput];
-            synapse.value = value;
-            synapse.weight = weight;
-        }
-        else {
-            fakeNeuroids[thingId] = new(net);
-            this.newSynapses[fakeNeuroids[thingId]] = new (null, value, weight);
-        }
         UpdateState();
     }
 
+    // public readonly Dictionary<int, Neuroid> fakeNeuroids = new();
+    // public void SetInput(int thingId, Vector3 value, float weight, NeuroidNetwork net) {
+    //     if (fakeNeuroids.ContainsKey(thingId)) {
+    //         Neuroid fakeInput = fakeNeuroids[thingId];
+    //         Synapse synapse = this.synapses[fakeInput];
+    //         synapse.value = value;
+    //         synapse.weight = weight;
+    //     }
+    //     else {
+    //         fakeNeuroids[thingId] = new(net);
+    //         this.synapses[fakeNeuroids[thingId]] = new(null, value, weight);
+    //     }
+    //     UpdateState();
+    // }
 
     protected virtual void UpdateState() {
-        Vector3 sum = Vector3.zero;
+        Vector3 result = Vector3.zero;
-        foreach (Synapse synapse in this.newSynapses.Values)
+        foreach (Synapse synapse in this.synapses.Values) {
-            sum += synapse.value * synapse.weight;
+            Vector3 direction = synapse.value.normalized;
-
+            float magnitude = synapse.value.magnitude;
-        this.outputValue = Activation(sum);
+            magnitude = synapse.weight * Mathf.Pow(magnitude, exponent);
-        foreach (Neuroid neuroid in outputNeuroids) {
+            if (inverse)
-            neuroid?.SetInput(this, this.outputValue);
+                magnitude = 1 / magnitude;
+            result += direction * magnitude;
         }
-        this.stale = 0;
+        if (average && this.synapses.Count > 0)
-    }
+            result /= this.synapses.Count;
 
-    Vector3 Activation(Vector3 sum) {
+        this.outputValue = result;
-        if (this.newSynapses.Count == 0 && mode == Mode.Average)
+        foreach (Neuroid neuroid in outputNeuroids)
-            Debug.LogWarning($"{this.name} has zero synapses for average");
+            neuroid.SetInput(this, this.outputValue);
-        if (float.IsNaN(sum.magnitude))
+        this.stale = 0;
-            Debug.LogWarning($"{this.name} sum is nan");
-        return mode switch {
-            Mode.Sum => sum,
-            Mode.Average => sum / this.newSynapses.Count,
-            _ => sum,
-        };
-        //return sum;  //(sum.magnitude > 0.5f) ? sum : Vector3.zero;
     }
 
     public bool IsStale() {

Assets/NanoBrain/Perception.cs

@@ -3,40 +3,33 @@ using UnityEngine;
 
 public class Perception {
     public SensoryNeuroid[] sensoryNeuroids = new SensoryNeuroid[7];
-    //public Neuroid[] velocitySensors = new Neuroid[7];
+
     public NeuroidNetwork neuroidNet { get; protected set; }
 
-    public HashSet<Neuroid> receivers { get; protected set; }
+    public HashSet<Neuroid> positionReceivers { get; protected set; }
+    public HashSet<Neuroid> velocityReceivers { get; protected set; }
 
     public Perception(NeuroidNetwork neuroidNet) {
         this.neuroidNet = neuroidNet;
-        this.receivers = new();
+        this.positionReceivers = new();
+        this.velocityReceivers = new();
     }
 
-    // public void SendOutputTo(Neuroid receiver) {
+    public void SendPositions(Neuroid receiver, float weight = 1.0f) {
-    //     foreach (SensoryNeuroid neuroid in sensoryNeuroids) {
+        positionReceivers.Add(receiver);
-    //         if (neuroid != null) {
-    //             neuroid.AddReceiver(receiver);
-    //             receiver.newSynapses[neuroid] = new (neuroid, Vector3.zero, 1.0f);
-    //         }
-    //     }
-    // }
-
-    public void SendPositions(Neuroid receiver) {
-        receivers.Add(receiver);
         foreach (SensoryNeuroid neuroid in sensoryNeuroids) {
             if (neuroid != null) {
                 neuroid.AddReceiver(receiver);
-                receiver.newSynapses[neuroid] = new (neuroid, Vector3.zero, 1.0f);
+                receiver.synapses[neuroid] = new (neuroid, Vector3.zero, weight);
             }
         }
     }
     public void SendVelocities(Neuroid receiver) {
-        receivers.Add(receiver);
+        velocityReceivers.Add(receiver);
         foreach (SensoryNeuroid neuroid in sensoryNeuroids) {
             if (neuroid != null && neuroid.velocityNeuroid != null) {
                 neuroid.velocityNeuroid.AddReceiver(receiver);
-                receiver.newSynapses[neuroid] = new (neuroid, Vector3.zero, 1.0f);
+                receiver.synapses[neuroid] = new (neuroid, Vector3.zero, 1.0f);
             }
         }
     }
@@ -65,8 +58,10 @@ public class Perception {
             else {
                 // Debug.Log($"new receptor for {thingId}");
                 SensoryNeuroid neuroid = new(neuroidNet, thingId);
-                foreach (Neuroid receiver in receivers)
+                foreach (Neuroid receiver in positionReceivers)
                     receiver.GetInputFrom(neuroid);
+                foreach (Neuroid receiver in velocityReceivers)
+                    receiver.GetInputFrom(neuroid.velocityNeuroid);
 
                 sensoryNeuroids[availableIx] = neuroid;
                 neuroid.receptor.position = localPosition;

Assets/NanoBrain/SensoryNeuroid.cs

@@ -7,8 +7,7 @@ public class SensoryNeuroid : Neuroid {
     public Receptor receptor;
     public VelocityNeuroid velocityNeuroid;
 
-    public SensoryNeuroid(NeuroidNetwork net, int thingId) : base(net) {
+    public SensoryNeuroid(NeuroidNetwork net, int thingId) : base(net, "sensory neuroid") {
-        this.name = "sensory neuroid";
         this.receptor = new Receptor {
             neuroid = this,
             thingId = thingId
@@ -31,7 +30,7 @@ public class Receptor {
     public virtual Vector3 position {
         get {
             if (neuroid != null)
-                return neuroid.newSynapses[neuroid].value;
+                return neuroid.synapses[neuroid].value;
             else
                 return Vector3.zero;
         }
@@ -47,12 +46,12 @@ public class VelocityNeuroid : Neuroid {
     private Vector3 lastPosition = Vector3.zero;
     private float lastValueTime = 0;
 
-    public VelocityNeuroid(NeuroidNetwork net) : base(net) {
+    public VelocityNeuroid(NeuroidNetwork net) : base(net, "Velocity") {
     }
 
     protected override void UpdateState() {
         // Assuming only one synapse for now....
-        Vector3 currentPosition = this.newSynapses.First().Value.value;
+        Vector3 currentPosition = this.synapses.First().Value.value;
         float currentValueTime = Time.time;
 
         float deltaTime = currentValueTime - lastValueTime;

Assets/Scenes/Boids/Boids.unity

@@ -377,7 +377,6 @@ MonoBehaviour:
   cohesionForce: 5
   separationForce: 5
   separationDistance: 0.3
-  bodyForce: 20
   perceptionDistance: 1
   boundaryForce: 5
   spaceSize: {x: 10, y: 10, z: 10}
@@ -394,7 +393,7 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: ec888ca5333d45a438f9f417fa5ce135, type: 3}
   m_Name: 
   m_EditorClassIdentifier: Assembly-CSharp::SwarmSpawn
-  count: 5
+  count: 10
   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

@@ -11,6 +11,8 @@ public class Boid : MonoBehaviour {
     public float separationDistance = 0.5f;
     public float bodyForce = 1;
 
+    public bool debug = false;
+
     public SwarmControl sc;
     public Vector3 velocity = Vector3.zero;
     public Vector3 acceleration = Vector3.zero;
@@ -27,7 +29,7 @@ public class Boid : MonoBehaviour {
     public Neuroid cohesion;
     public Neuroid alignment;
     public Neuroid separation;
-    public Neuroid target;
+    // public Neuroid target;
     public Neuroid boundary;
 
     public Neuroid totalForce;
@@ -42,34 +44,28 @@ public class Boid : MonoBehaviour {
         bounds = new(sc.transform.position, sc.spaceSize - 2 * sc.boundaryWidth);
 
         perception = new Perception(neuroidNet);
-        //neighbourSensor = new(neuroidNet) { name = "Neighbour", id = 879 };
 
-        cohesion = new(neuroidNet) { name = "Cohesion", mode = Neuroid.Mode.Sum };
+        cohesion = new(neuroidNet, "Cohesion");
         perception.SendPositions(cohesion);
-        //cohesion.GetInputFrom(neighbourSensor);
+
-        alignment = new(neuroidNet) { name = "Alignment", mode = Neuroid.Mode.Average };
+        alignment = new(neuroidNet, "Alignment") { average = true };
-        //perception.SendVelocities(alignment);
+        perception.SendVelocities(alignment);
-        separation = new(neuroidNet) { name = "Separation", mode = Neuroid.Mode.Sum };
+
-        target = new(neuroidNet) { name = "Target", mode = Neuroid.Mode.Sum };
+        separation = new(neuroidNet, "Separation") { inverse = true, exponent = 2 };
-        boundary = new(neuroidNet) { name = "Boundary", mode = Neuroid.Mode.Sum };
+        perception.SendPositions(separation, sc.separationForce);
+
+        boundary = new(neuroidNet, "Boundary");
 
 
-        totalForce = new(neuroidNet) { name = "Total force", mode = Neuroid.Mode.Sum };
+        totalForce = new(neuroidNet, "Total");
         totalForce.GetInputFrom(alignment, sc.alignmentForce);
         totalForce.GetInputFrom(cohesion, sc.cohesionForce);
-        totalForce.GetInputFrom(separation, sc.separationForce);
+        totalForce.GetInputFrom(separation, -sc.separationForce);
-        totalForce.GetInputFrom(target, sc.bodyForce);
         totalForce.GetInputFrom(boundary, sc.boundaryForce);
     }
 
     void Update() {
         Physics.OverlapSphereNonAlloc(this.transform.position, sc.perceptionDistance, results);
-        neighbourCount = 0;
-
-        cohesion.ResetWeights();
-        alignment.ResetWeights();
-        //separation.ResetWeights();
-
         foreach (Collider c in results) {
             if (c == null)
                 continue;
@@ -80,45 +76,40 @@ public class Boid : MonoBehaviour {
                     continue;
 
                 Vector3 localPosition = neighbour.transform.position - this.transform.position;
-                Vector3 relativeVelocity = neighbour.velocity - this.velocity;
+                if (debug)
+                    Debug.Log($"   distance {localPosition.magnitude}");
 
                 int thingId = neighbour.GetInstanceID();
                 perception.ProcessStimulus(thingId, localPosition);
-
-                Vector3 separationForce = -localPosition / localPosition.sqrMagnitude;
-                // which is equivalent to -(localPosition.normalized / localPosition.magnitude)
-
-                separation.SetInput(thingId, separationForce, sc.separationDistance, neuroidNet);
-                //cohesion.SetInput(thingId, localPosition, sc.cohesionForce);
-                alignment.SetInput(thingId, relativeVelocity, sc.alignmentForce, neuroidNet);
-                neighbourCount++;
-
             }
         }
 
-        //Vector3 spaceLocalPosition = sc.transform.InverseTransformPoint(this.transform.position);
+        // if (!bounds.Contains(this.transform.position)) {
-        if (!bounds.Contains(this.transform.position)) {
+        //     Vector3 point = this.transform.position;
-            Vector3 point = this.transform.position;
+        //     // Vector3 distanceOutside = Vector3.Max(bounds.min - this.transform.position, this.transform.position - bounds.max);
-            // Vector3 distanceOutside = Vector3.Max(bounds.min - this.transform.position, this.transform.position - bounds.max);
+        //     // // Ensure value is > 0 (but isn't this already)
-            // // Ensure value is > 0 (but isn't this already)
+        //     // Vector3 outside = distanceOutside; // Vector3.Max(Vector3.zero, distanceOutside);
-            // Vector3 outside = distanceOutside; // Vector3.Max(Vector3.zero, distanceOutside);
 
-            Vector3 below = bounds.min - point;    // positive where point < min
+        //     Vector3 below = bounds.min - point;    // positive where point < min
-            Vector3 above = point - bounds.max;    // positive where point > max
+        //     Vector3 above = point - bounds.max;    // positive where point > max
 
-            // outside distances per axis (0 if inside on that axis)
+        //     // outside distances per axis (0 if inside on that axis)
-            Vector3 outside = Vector3.Max(Vector3.zero, Vector3.Max(below, above));
+        //     Vector3 outside = Vector3.Max(Vector3.zero, Vector3.Max(below, above));
-            float magnitude = outside.magnitude;
+        //     float magnitude = outside.magnitude;
-            Vector3 direction = (sc.transform.position - this.transform.position).normalized;
+        //     Vector3 direction = (sc.transform.position - this.transform.position).normalized;
-            outside = direction * magnitude;
+        //     outside = direction * magnitude;
 
-            boundary.SetInput(id, outside, sc.boundaryForce, neuroidNet);
+        //     boundary.SetInput(id, outside, sc.boundaryForce, neuroidNet);
-            // Debug.Log($"boundary {this.transform.position} {outside} force = {outside * sc.boundaryForce}");
+        //     // Debug.Log($"boundary {this.transform.position} {outside} force = {outside * sc.boundaryForce}");
-        }
+        // }
 
         Vector3 totalForceVector = totalForce.outputValue;
         //Debug.DrawRay(this.transform.position, totalForceVector, Color.magenta);
 
+        if (this.debug) {
+            Debug.Log($"Cohesion {cohesion.outputValue.magnitude} separation {separation.outputValue.magnitude} alignment {alignment.outputValue.magnitude}");
+        }
+
         this.velocity = (1 - sc.inertia) * (totalForceVector * Time.deltaTime) + sc.inertia * velocity + (sc.speed * transform.forward);
         //this.velocity = Vector3.ClampMagnitude(this.velocity, sc.speed);
 
@@ -132,74 +123,7 @@ public class Boid : MonoBehaviour {
         //Debug.Log($"neighbours: {neighbourCount} synapses: {cohesion.synapses.Count}");
         neuroidNet.Update();
     }
-/*
-    Receptor GetReceptor(Neuroid perceptionNeuroid, int id) {
-        int availableIx = -1;
-        for (int i = 0; i < neighbourSensor.Length; i++) {
-            if (neighbourSensor[i] == null || neighbourSensor[i].IsStale())
-                availableIx = i;
-            else if (neighbourSensor[i].thingId == id)
-                return neighbourSensor[i].receptor;
-        }
-        if (availableIx != -1) {
-            if (neighbourSensor[availableIx] != null) {
-                Debug.Log($"revived receptor {availableIx} for {id}");
-                neighbourSensor[availableIx].thingId = id;
-                return neighbourSensor[availableIx].receptor;
-            }
-            else {
-                Debug.Log($"new receptor for {id}");
-                SensoryNeuroid neuroid = new(neuroidNet, id);
-                perceptionNeuroid.GetInputFrom(neuroid);
-                neighbourSensor[availableIx] = neuroid;
-                return neuroid.receptor;
-            }
-        }
 
-        //Debug.LogWarning($"No available receptor for {id}");
-        return null;
-    }
-
-
-/*
-    void ProcessStimulus(int thingId, Vector3 value) {
-        int availableIx = -1;
-        SensoryNeuroid leastInterestingNeuroid = null;
-        for (int i = 0; i < neighbourSensor.Length; i++) {
-            if (neighbourSensor[i] == null || neighbourSensor[i].IsStale())
-                availableIx = i;
-            else if (neighbourSensor[i].thingId == thingId) {
-                neighbourSensor[i].receptor.SetValue(value);
-                return;
-            }
-            if (neighbourSensor[i] != null) {
-                if (leastInterestingNeuroid == null || leastInterestingNeuroid.receptor.GetValue().magnitude > neighbourSensor[i].receptor.GetValue().magnitude)
-                    leastInterestingNeuroid = neighbourSensor[i];
-            }
-        }
-        if (availableIx != -1) {
-            if (neighbourSensor[availableIx] != null) {
-                // Debug.Log($"revived receptor {availableIx} for {thingId}");
-                neighbourSensor[availableIx].thingId = thingId;
-                neighbourSensor[availableIx].receptor.SetValue(value);
-            }
-            else {
-                // Debug.Log($"new receptor for {thingId}");
-                SensoryNeuroid neuroid = new(neuroidNet, thingId);
-                cohesion.GetInputFrom(neuroid);
-                neighbourSensor[availableIx] = neuroid;
-                neuroid.receptor.SetValue(value);
-            }
-        }
-        else if (leastInterestingNeuroid != null) {
-            //Debug.Log($"replaced receptor {leastInterestingNeuroid.thingId} for {thingId}");
-            leastInterestingNeuroid.thingId = thingId;
-            leastInterestingNeuroid.receptor.SetValue(value);
-        }
-
-        //Debug.LogWarning($"No available receptor for {id}");
-    }
-*/
     void OnDrawGizmosSelected() {
         Gizmos.DrawWireSphere(transform.position, sc.perceptionDistance);
     }

Assets/Scenes/Boids/Scripts/SwarmControl.cs

@@ -10,7 +10,7 @@ public class SwarmControl : MonoBehaviour
     public float cohesionForce = 10.0f;
     public float separationForce = 5.0f;
     public float separationDistance = 0.5f;
-    public float bodyForce = 20;
+    // public float bodyForce = 20;
     public float perceptionDistance = 1.0f;
 
     public float boundaryForce = 2.0f;