Cleanup

ec3b1d4 Completed cluster documentation
348fee3 Update .gitea/workflows/copy_documentation.yml
911e52f Update .gitea/workflows/copy_documentation.yml
d472790 Update .gitea/workflows/copy_documentation.yml
b87f40f Trying to get the workflow running...10
2b0db4f Trying to get the workflow running...9
927fd6d Trying to get the workflow running...8
176f399 Trying to get the workflow running...7
3c841c7 Trying to get the workflow running...6
5c798c2 Trying to get the workflow running...5
30b25a1 Trying to get the workflow running...4
5edf019 Trying to get the workflow running...3
587cf82 Trying to get the workflow running...2
a1d3aa7 Trying to get the workflow running...1
97ec277 Removed LinearAlgebra, first setup webserver copy workflow
5827396 Fixed documentation links
ce19335 Added Documentation
da370bb Improvements
32b5885 Multi smell works
33ea14b Single smell works
a651ec6 Add neuron property drawer
baa7def Pheromones WIP
551b4d9 Improve ant walking speed
7187f61 Ant is walking again
c78722a Make it work again
2ff550c Removed clusterPrefab property
2ef67fe Cleanup and fix connect neuron
a9a0072 Merge commit 'dd326823a8256f3ddb808e071d98c4aede72e410'
22ee17c Insect rig improvements
b6a3bc1 Added insect body parts
517e738 Merge commit '4ae9a15fc61f386b96ce0f7b440780f562d7dc68'
033ddf4 Merge commit '05fd588f9bc41d84113d410a2ca992f1a2ee66e0'
ef700c0 Merge commit '3f8716794ad9d685cfb9ed9dd230eb31cd8df10f'
7d5e157 Added NanoBrain namespace
f138201 Merge commit '611055cdcd58b01f2f19991ad35eb8fe8e573ebb'
1c4d361 Merge commit '9fcbaa5bf84f91680d24b56dbf114bcb97de4aee'
0f83945 Added NanoBrain subtree
6f398ad Merge commit '8e87e4ea77308b51c3691bdad96e7f9707952821' as 'NanoBrain'
587f104 Move out non-subtree NanoBrain
fc581a0 cleanup & documentation
837c5ce WIP Physics based walking
63486d1 The ant does it ant things!
ce8e476 Added sample assets...
88d5eb5 Placing home pheromones
481829c Ensure model follows target in editor
018c99d Any walks
e709ea4 Steps to get it working
c1dcc83 Initial Ant setup
af2fa77 Merge commit '04ca8dda0793476a59fc06f1958453730a99c105' as 'NanoBrain'
04ca8dd Squashed 'NanoBrain/' content from commit b3423b9
d9ba98d WIP: Initial scripts
2219e98 Initial commit

git-subtree-dir: NanoBrain
git-subtree-split: ec3b1d46ab2b9f332a8ae63589b09c3fb6fb1b1a

Editor/Brain_Editor.cs

@@ -1,75 +0,0 @@
-/*
-using UnityEditor;
-using UnityEditor.UIElements;
-
-using UnityEngine;
-using UnityEngine.UIElements;
-
-namespace NanoBrain.Unity {
-
-    [CustomEditor(typeof(Brain))]
-    public class Brain_Editor : Editor {
-        protected static VisualElement mainContainer;
-        protected static VisualElement inspectorContainer;
-
-        public Brain component;
-        private SerializedProperty brainProp;
-
-        public void OnEnable() {
-            component = target as Brain;
-
-            if (Application.isPlaying == false && serializedObject != null) {
-                string propertyName = nameof(Brain.brainPrefab);
-                brainProp = serializedObject.FindProperty(propertyName);
-            }
-        }
-
-        public override VisualElement CreateInspectorGUI() {
-
-            if (Application.isPlaying == false)
-                serializedObject.Update();
-
-
-            VisualElement root = new() {
-                style = {
-                    paddingLeft = 0,
-                    paddingRight = 0,
-                    paddingTop = 0,
-                    paddingBottom = 0
-                }
-            };
-            root.styleSheets.Add(Resources.Load<StyleSheet>("GraphStyles"));
-
-            PropertyField brainField = new(brainProp) {
-                label = "Cluster Prefab"
-            };
-            root.Add(brainField);
-
-            CreateViewer(root, component.brain, component.gameObject);
-
-            if (Application.isPlaying == false)
-                serializedObject.ApplyModifiedProperties();
-            return root;
-        }
-
-        public ClusterViewer.GraphView CreateViewer(VisualElement root, Cluster cluster, GameObject gameObject) {
-            VisualElement mainContainer = new() {
-                style = {
-                    flexDirection = FlexDirection.Row,
-                    minHeight = 450
-                }
-            };
-            ClusterViewer.GraphView graph = new(cluster);
-            graph.style.flexGrow = 1;
-
-            mainContainer.Add(graph);
-            root.Add(mainContainer);
-
-            graph.SetGraph(gameObject);
-
-            return graph;
-        }
-    }
-
-}
-*/

Editor/Brain_Editor.cs.meta

@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: f05072314d39990639a2dbf99f322664
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 

Editor/ClusterEditor.cs

@@ -76,8 +76,15 @@ namespace NanoBrain.Unity {
                     margin = new RectOffset(10, 0, 4, 4)
                 };
                 // Nucleus type
-                string nucleusType = this.view.currentNucleus.GetType().Name;
-                GUILayout.Label(nucleusType, headerStyle);
+                System.Type nucleusType = this.view.currentNucleus.GetType();
+                if (nucleusType == typeof(Cluster)) {
+                    Cluster cluster = this.view.currentNucleus as Cluster;                    
+                    GUILayout.Label($"{cluster.prefab.name} {nucleusType.Name}", headerStyle);
+                }
+                else
+                    GUILayout.Label(nucleusType.Name, headerStyle);
+                // string nucleusType = this.view.currentNucleus.GetType().Name;
+                // GUILayout.Label(nucleusType, headerStyle);
 
                 // Nucleus name
                 string newName = EditorGUILayout.TextField(this.view.currentNucleus.name, boldTextFieldStyle);
@@ -304,10 +311,10 @@ namespace NanoBrain.Unity {
                     if (this.view.currentNucleus is not MemoryCell) {
                         EditorGUILayout.BeginHorizontal();
                         EditorGUILayout.LabelField("Activation Curve", GUILayout.MinWidth(60));
-                        if (neuron.curveMax > 0)
-                            EditorGUILayout.CurveField(neuron.curve, Color.cyan, new Rect(0, 0, 1, neuron.curveMax), GUILayout.Width(40));
-                        else
-                            EditorGUILayout.CurveField(neuron.curve, Color.cyan, new Rect(0, neuron.curveMax, 1, -neuron.curveMax), GUILayout.Width(40));
+                        // if (neuron.curveMax > 0)
+                        //     EditorGUILayout.CurveField(neuron.curve, Color.cyan, new Rect(0, 0, 1, neuron.curveMax), GUILayout.Width(40));
+                        // else
+                        //     EditorGUILayout.CurveField(neuron.curve, Color.cyan, new Rect(0, neuron.curveMax, 1, -neuron.curveMax), GUILayout.Width(40));
                         Neuron.ActivationType newPreset = (Neuron.ActivationType)EditorGUILayout.EnumPopup(neuron.activator, GUILayout.MinWidth(50));
                         anythingChanged |= newPreset != neuron.activator;
                         neuron.activator = newPreset;

Editor/ClusterPrefab_Drawer.cs

@@ -1,129 +0,0 @@
-using System.Linq;
-using System.Collections.Generic;
-using UnityEngine;
-using UnityEngine.UIElements;
-using UnityEditor;
-using System;
-using System.Reflection;
-
-namespace NanoBrain.Unity {
-
-    [CustomPropertyDrawer(typeof(ClusterPrefab))]
-    class ClusterPrefab_Drawer : PropertyDrawer {
-        public static void Insepctor(SerializedObject serializedObject, string propertyName) {
-            EditorGUILayout.PropertyField(serializedObject.FindProperty(propertyName));
-        }
-
-        const float padding = 4f;
-        const float elementHeight = 64f; // height reserved for the VisualElement
-
-        public override float GetPropertyHeight(SerializedProperty property, GUIContent label) {
-            float height = EditorGUIUtility.singleLineHeight + padding;
-            string key = property.propertyPath + "_" + property.serializedObject.targetObject.GetEntityId();
-            s_foldouts.TryGetValue(key, out bool isOpen);
-            if (property.objectReferenceValue != null && isOpen) {
-                height += padding + elementHeight;
-                height = 500;
-            }
-            else
-                height = 36;
-            return height;
-        }
-
-        static readonly Dictionary<string, bool> s_foldouts = new();
-
-        public override void OnGUI(Rect position, SerializedProperty property, GUIContent label) {
-            label = EditorGUI.BeginProperty(position, label, property);
-
-            // Begin indent block
-            int indent = EditorGUI.indentLevel;
-            EditorGUI.indentLevel = 0;
-
-            // Draw the object field on the top line
-            Rect fieldRect = new(position.x, position.y, position.width, EditorGUIUtility.singleLineHeight);
-            EditorGUI.PropertyField(fieldRect, property, label);
-            
-            if (property.objectReferenceValue is ClusterPrefab prefab) {
-                // key per field instance
-                string key = property.propertyPath + "_" + property.serializedObject.targetObject.GetEntityId();
-                if (!s_foldouts.TryGetValue(key, out bool isOpen))
-                    isOpen = true;
-
-                // foldout header rect
-                Rect headerRect = new(fieldRect.x, fieldRect.yMax + 4f, fieldRect.width, EditorGUIUtility.singleLineHeight);
-                isOpen = EditorGUI.Foldout(headerRect, isOpen, "Graph", true);
-                s_foldouts[key] = isOpen;
-
-                if (isOpen) {
-                    // content rect below header
-                    Rect drawRect = new(fieldRect.x, headerRect.yMax + 2f, fieldRect.width, 450f);
-
-                    ClusterView.Render(drawRect, prefab.cluster, property);
-                    //Debug.Log(prefab.cluster.defaultOutput.outputMagnitude);
-                }
-            }
-
-            EditorGUI.indentLevel = indent;
-            EditorGUI.EndProperty();
-        }
-    }
-
-/*
-    [InitializeOnLoad]
-    static class ClusterPrefabInspectorRepaints {
-        static ClusterPrefabInspectorRepaints() {
-            EditorApplication.update += OnEditorUpdate;
-        }
-
-        static double lastRepaint = 0;
-        const double repaintInterval = 1.0 / 15.0; // up to 15 FPS in inspector
-
-        static void OnEditorUpdate() {
-            if (!Application.isPlaying) return;
-
-            // throttle repaint frequency
-            if (EditorApplication.timeSinceStartup - lastRepaint < repaintInterval) return;
-            lastRepaint = EditorApplication.timeSinceStartup;
-
-            // Find all open inspectors (Editors) that target objects containing ClusterPrefab fields
-            var editors = Resources.FindObjectsOfTypeAll<Editor>();
-            foreach (var ed in editors) {
-                var targets = ed.targets;
-                if (targets == null)
-                    continue;
-                bool shouldRepaint = targets.Any(t => ObjectHasClusterPrefabField(t));
-                if (shouldRepaint) {
-                    try {
-                        ed.Repaint();
-                    }
-                    catch {
-                        // ignore 
-                    }
-                }
-            }
-        }
-
-        static bool ObjectHasClusterPrefabField(UnityEngine.Object obj) {
-            if (obj == null)
-                return false;
-            Type type = obj.GetType();
-            // search fields (instance, non-public/public)
-            FieldInfo[] fields = type.GetFields(BindingFlags.Instance | BindingFlags.Public | BindingFlags.NonPublic);
-            foreach (FieldInfo f in fields) {
-                if (f.FieldType == typeof(ClusterPrefab))
-                    return true;
-                // also handle arrays/lists of ClusterPrefab or serializable wrappers:
-                if (f.FieldType.IsArray && f.FieldType.GetElementType() == typeof(ClusterPrefab))
-                    return true;
-                if (f.FieldType.IsGenericType) {
-                    Type[] gen = f.FieldType.GetGenericArguments();
-                    if (gen.Length == 1 && gen[0] == typeof(ClusterPrefab))
-                        return true;
-                }
-            }
-            return false;
-        }
-    }
-*/
-
-}

Editor/ClusterPrefab_Drawer.cs.meta

@@ -1,2 +0,0 @@
-fileFormatVersion: 2
-guid: 5f43b401b7d59dec7ac7d493cbc4927d

Editor/ClusterView.cs

@@ -7,6 +7,13 @@ namespace NanoBrain.Unity {
 
     public class ClusterView {
 
+        public ClusterView(string key) {
+            this.key = key;
+            ClusterView.clusterViews[this.key] = this;
+        }
+
+        public static ClusterPrefab previousPrefab;
+
         private static readonly float discRadius = 20;
         private float viewWidth;
         private float contentWidth = 1000;
@@ -17,17 +24,17 @@ namespace NanoBrain.Unity {
         }
         public Mode mode = Mode.Focus;
 
-        static readonly Dictionary<string, ClusterView> clusterViews = new();
+        public static readonly Dictionary<string, ClusterView> clusterViews = new();
         public static ClusterView GetClusterView(SerializedProperty property) {
-            string key = property.propertyPath + "_" + property.serializedObject.targetObject.GetEntityId();
+            string key = property.propertyPath + "_" + property.serializedObject.targetObject.GetInstanceID();//GetEntityId();
             if (!clusterViews.TryGetValue(key, out ClusterView clusterView))
-                clusterView = new() { key = key };
+                clusterView = new(key);// { key = key };
             return clusterView;
         }
         public static ClusterView GetClusterView(SerializedObject serializedObject) {
-            string key = serializedObject.targetObject.GetEntityId().ToString();
+            string key = serializedObject.targetObject.GetInstanceID().ToString(); //GetEntityId().ToString();
             if (!clusterViews.TryGetValue(key, out ClusterView clusterView))
-                clusterView = new() { key = key };
+                clusterView = new(key); // { key = key };
             return clusterView;
         }
 
@@ -37,7 +44,7 @@ namespace NanoBrain.Unity {
 
         public static void Render(Rect drawRect, Cluster cluster, SerializedProperty property) {
             ClusterView clusterView = GetClusterView(property);
-            if (clusterView.currentCluster == null) {
+            if (clusterView.currentCluster == null || clusterView.currentCluster != cluster) {
                 clusterView.currentCluster = cluster;
                 clusterView.currentNucleus = cluster.defaultOutput;
                 clusterView.selectedOutput = clusterView.currentNucleus;
@@ -46,7 +53,7 @@ namespace NanoBrain.Unity {
         }
         public static void Render(Rect drawRect, Cluster cluster, SerializedObject obj) {
             ClusterView clusterView = GetClusterView(obj);
-            if (clusterView.currentCluster == null) {
+            if (clusterView.currentCluster == null || clusterView.currentCluster != cluster) {
                 clusterView.currentCluster = cluster;
                 clusterView.currentNucleus = cluster.defaultOutput;
                 clusterView.selectedOutput = clusterView.currentNucleus;
@@ -101,6 +108,8 @@ namespace NanoBrain.Unity {
         public Nucleus currentNucleus = null;
         public Nucleus selectedSynapseNeuron = null;
         public Nucleus selectedOutput;
+        public bool isOpen = true;
+        public bool initialized = false;
 
         #region Focus Graph
 
@@ -199,7 +208,7 @@ namespace NanoBrain.Unity {
                 DrawOutputs(position);
                 return;
             }
-            
+
             Dag dag = GenerateGraph(this.selectedOutput);
             Dag.ComputeLayout(dag);
 
@@ -267,6 +276,9 @@ namespace NanoBrain.Unity {
 
         private void DescendGraph(Dag.Node receiver, ref int ix, Dag dag) {
             Neuron receiverNeuron = receiver.nucleus as Neuron;
+            if (receiverNeuron == null)
+                return;
+
             foreach (Synapse synapse in receiverNeuron.synapses) {
                 Nucleus nucleus = synapse.neuron;
                 if (nucleus.parent != null && nucleus.parent != currentNucleus.parent) {
@@ -307,7 +319,7 @@ namespace NanoBrain.Unity {
             if (nucleus == this.selectedOutput) {
                 // Add link to 'Outpus'
                 nodeCount++;
-                if (ClusterViewer.previousPrefab != null)
+                if (ClusterView.previousPrefab != null && ClusterView.previousPrefab != nucleus.parent.prefab)
                     // Add link to previous editor
                     nodeCount++;
             }
@@ -341,9 +353,9 @@ namespace NanoBrain.Unity {
             }
             if (nucleus == this.selectedOutput) {
                 Vector3 pos = new(50, margin + row * spacing, 0);
-                if (ClusterViewer.previousPrefab != null) {
+                if (ClusterView.previousPrefab != null && ClusterView.previousPrefab != nucleus.parent.prefab) {
                     DrawEdge(parentPos, pos);
-                    DrawClusterPrefab(ClusterViewer.previousPrefab, pos);
+                    DrawClusterPrefab(ClusterView.previousPrefab, pos);
                     row++;
                 }
                 pos = new(50, margin + row * spacing, 0);
@@ -433,7 +445,7 @@ namespace NanoBrain.Unity {
 
             float maxValue = 0;
             foreach (Cluster sibling in nucleus.parent.instances) {
-                Neuron siblingNeuron = sibling.GetNucleus(nucleus.name) as Neuron;
+                Neuron siblingNeuron = sibling.GetNeuron(nucleus.name);
                 float value = siblingNeuron.outputMagnitude; // no need to add weight as they are all the same
                 if (value > maxValue)
                     maxValue = value;
@@ -444,9 +456,10 @@ namespace NanoBrain.Unity {
             float margin = 10 + spacing / 2;
 
             int row = 0;
+            Vector3 position = Vector3.zero;
             foreach (Cluster sibling in nucleus.parent.instances) {
-                Neuron siblingNeuron = sibling.GetNucleus(nucleus.name) as Neuron;
-                Vector3 position = new(250, margin + row * spacing, 0.0f);
+                Neuron siblingNeuron = sibling.GetNeuron(nucleus.name);
+                position = new(250, margin + row * spacing, 0.0f);
                 DrawEdge(parentPos, position);
                 Color color = Color.black;
                 if (Application.isPlaying) {
@@ -456,16 +469,16 @@ namespace NanoBrain.Unity {
                     color = new Color(brightness, brightness, brightness, 1f);
                 }
                 DrawNucleus(siblingNeuron, position, color);
+                row++;
+            }
+            Vector3 labelPos = position - Vector3.down * (discRadius + 5); // below neuron
+            string name = $"{nucleus.parent.instances[0].baseName}\n{nucleus.name}";
                 GUIStyle style = new(EditorStyles.label) {
                     alignment = TextAnchor.UpperCenter,
                     normal = { textColor = Color.white },
                     fontStyle = FontStyle.Bold,
                 };
-                Vector3 labelPos = position - Vector3.down * (discRadius + 5); // below neuron
-                string name = $"{sibling.baseName}\n{nucleus.name}";
-                Handles.Label(labelPos, name, style);
-                row++;
-            }
+            Handles.Label(labelPos, name, style);
             expandArray = false;
         }
 
@@ -523,7 +536,6 @@ namespace NanoBrain.Unity {
             }
         }
 
-
         protected void DrawNucleus(Nucleus nucleus, Vector3 position, float maxValue) {
             maxValue = 1;
             Color color;
@@ -538,7 +550,6 @@ namespace NanoBrain.Unity {
             DrawNucleus(nucleus, position, color);
         }
 
-
         protected void DrawNucleus(Nucleus nucleus, Vector2 position, Color color) {
             if (nucleus == null)
                 return;
@@ -696,7 +707,7 @@ namespace NanoBrain.Unity {
                     e.Use();
                     Selection.activeObject = prefab;
                     EditorGUIUtility.PingObject(prefab);
-                    ClusterViewer.previousPrefab = null;
+                    ClusterView.previousPrefab = null;
                     Editor.CreateEditor(prefab);
                 }
             }
@@ -762,16 +773,16 @@ namespace NanoBrain.Unity {
         protected void OnNeuronClick(Nucleus nucleus) {
             if (nucleus == this.currentNucleus) {
                 this.selectedSynapseNeuron = null;
-                // if (Application.isPlaying) {
-                //     if (nucleus is Cluster)
-                //         expandArray = !expandArray;
-                //     else
-                //         expandArray = false;
-                // }
-                // else {
-                if (nucleus is Cluster cluster)
-                    OnClusterClick(cluster);
-                // }
+                if (Application.isPlaying) {
+                    if (nucleus is Cluster)
+                        expandArray = !expandArray;
+                    else
+                        expandArray = false;
+                }
+                else {
+                    if (nucleus is Cluster cluster)
+                        OnClusterClick(cluster);
+                }
             }
             else if (nucleus.parent != null && this.currentNucleus != null && nucleus.parent != this.currentNucleus.parent) {
                 // We go to a different cluster
@@ -792,6 +803,7 @@ namespace NanoBrain.Unity {
                 else {
                     // select the cluster, not the neuron in the cluster
                     this.currentNucleus = nucleus.parent;
+                    this.selectedSynapseNeuron = null;
                     this.expandArray = false;
                 }
             }
@@ -799,6 +811,7 @@ namespace NanoBrain.Unity {
                 this.currentNucleus = nucleus;
                 if (this.currentNucleus is Neuron neuron && neuron.receivers.Count == 0)
                     this.selectedOutput = this.currentNucleus;
+                this.selectedSynapseNeuron = null;
                 this.expandArray = false;
             }
         }
@@ -807,7 +820,7 @@ namespace NanoBrain.Unity {
             // May be used with storedPrefab...
             Selection.activeObject = subCluster.prefab;
             EditorGUIUtility.PingObject(subCluster.prefab);
-            ClusterViewer.previousPrefab = this.currentCluster.prefab;
+            ClusterView.previousPrefab = this.currentCluster.prefab;
             Editor.CreateEditor(subCluster.prefab);
         }
 

Editor/ClusterView.cs.meta

@@ -1,2 +1,11 @@
 fileFormatVersion: 2
-guid: 8a7663ccd347fd78dbdba393c03ed7c7
+guid: 8a7663ccd347fd78dbdba393c03ed7c7
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Editor/ClusterViewer.cs

@@ -1,902 +0,0 @@
-using System.Collections.Generic;
-using System.Linq;
-
-using UnityEditor;
-using UnityEngine;
-using UnityEngine.UIElements;
-
-namespace NanoBrain.Unity {
-
-    public class ClusterViewer : Editor {
-
-        public static ClusterPrefab previousPrefab;
-
-        public class GraphView : VisualElement {
-            protected Cluster currentCluster;
-            protected SerializedObject serializedBrain;
-            protected Nucleus _currentNucleus;
-            protected virtual Nucleus currentNucleus {
-                get => _currentNucleus;
-                set => _currentNucleus = value;
-            }
-            //protected Nucleus currentNucleus;
-            protected Nucleus selectedOutput;
-            // Only used when selecting a synapse to a multi-cluster
-            protected Nucleus selectedSynapseNeuron;
-
-            protected GameObject gameObject;
-            private bool expandArray = false;
-
-            protected ClusterPrefab prefabAsset;
-            protected VisualElement topMenuContainer;
-            protected ScrollView scrollView;
-            protected IMGUIContainer graphContainer;
-            //protected readonly PopupField<string> outputsPopup;
-
-            public enum Mode {
-                Focus,
-                Full
-            }
-            public Mode mode = Mode.Focus;
-
-            public GraphView(Cluster cluster) {
-                this.currentCluster = cluster;
-
-                name = "content";
-                style.flexGrow = 1;
-
-                topMenuContainer = new() {
-                    style = {
-                        flexDirection = FlexDirection.Row,
-                        alignItems = Align.Center,
-                    }
-                };
-
-                EnumField modePopup = new(mode);
-                modePopup.style.width = 80;
-                modePopup.RegisterValueChangedCallback(OnModeChange);
-                topMenuContainer.Add(modePopup);
-
-                scrollView = new(ScrollViewMode.Horizontal);
-                scrollView.style.position = Position.Absolute;
-                scrollView.style.left = 0; scrollView.style.top = 0;
-                scrollView.style.right = 0; scrollView.style.bottom = 0;
-                scrollView.horizontalScrollerVisibility = ScrollerVisibility.Auto; // Auto shows when needed
-                scrollView.verticalScrollerVisibility = ScrollerVisibility.Hidden;
-
-                graphContainer = new(OnIMGUI) {
-                    pickingMode = PickingMode.Position,
-                    focusable = true
-                };
-
-                scrollView.contentContainer.Add(graphContainer);
-                Add(scrollView);
-                Add(topMenuContainer);
-
-                // Subscribe when added to panel (editor UI ready)
-                RegisterCallback<AttachToPanelEvent>(evt => Subscribe());
-                RegisterCallback<DetachFromPanelEvent>(evt => Unsubscribe());
-            }
-
-            protected virtual void OnModeChange(ChangeEvent<System.Enum> changeEvent) {
-                this.mode = (Mode)changeEvent.newValue;
-            }
-
-            private bool subscribed = false;
-            void Subscribe() {
-                if (subscribed)
-                    return;
-                SceneView.duringSceneGui += OnSceneGUI;
-                subscribed = true;
-                SceneView.RepaintAll();
-            }
-
-            void Unsubscribe() {
-                if (!subscribed)
-                    return;
-                SceneView.duringSceneGui -= OnSceneGUI;
-                subscribed = false;
-            }
-
-            public void SetGraph(GameObject gameObject) {
-                this.gameObject = gameObject;
-                if (this.currentCluster == null)
-                    return;
-
-                if (Application.isPlaying == false)
-                    this.serializedBrain = new SerializedObject(this.currentCluster.prefab);
-                this.selectedOutput = this.currentCluster.defaultOutput;
-                this.currentNucleus = this.selectedOutput;
-                Rebuild();
-            }
-
-            void Rebuild() {
-                if (this.currentNucleus == null)
-                    return;
-
-                string path = AssetDatabase.GetAssetPath(this.currentCluster.prefab); // or known path
-                this.prefabAsset = AssetDatabase.LoadAssetAtPath<ClusterPrefab>(path);
-                if (this.prefabAsset == null) {
-                    // create in memory save if it doesn't exist
-                    this.prefabAsset = CreateInstance<ClusterPrefab>();
-                    //Debug.LogError("Cluster Prefab is not found on disk");
-                }
-            }
-
-            public void OnIMGUI() {
-                var rect = graphContainer.layout;                     // container local size
-                int id = GUIUtility.GetControlID(123456, FocusType.Passive, new Rect(0, 0, rect.width, rect.height));
-
-                //int id = GUIUtility.GetControlID(FocusType.Passive);
-
-                if (Application.isPlaying == false && serializedBrain != null)
-                    serializedBrain.Update();
-
-                Rect r =  new Rect(0, 0, rect.width, rect.height);
-                ClusterView.Render(r, currentCluster, serializedBrain);
-                // ClusterView clusterView = ClusterView.GetClusterView(serializedBrain);
-                // clusterView.currentCluster ??= currentCluster;
-                // clusterView.DrawGraph(id);
-
-                // Handles.BeginGUI();
-                // DrawGraph();
-                // Handles.EndGUI();
-            }
-
-            #region Graph
-
-            // public virtual void DrawGraph() {
-            //     if (mode == Mode.Focus)
-            //         DrawFocusGraph();
-            //     // else
-            //     //     DrawFullGraph();
-            // }
-
-            #region Full Graph
-            /*
-                        protected void DrawFullGraph() {
-                            //Dag dag = GenerateGraph(this.prefab);
-                            Dag dag = GenerateGraph(this.selectedOutput);
-                            Dag.ComputeLayout(dag);
-                            // Draw edges
-                            foreach (Dag.Edge e in dag.edges) {
-                                Dag.Node from = dag.nodes.FirstOrDefault(x => x.id == e.fromId);
-                                Dag.Node to = dag.nodes.FirstOrDefault(x => x.id == e.toId);
-                                if (from == null || to == null)
-                                    continue;
-
-                                Vector2 fromPosition = from.position;
-                                Vector2 toPosition = to.position;
-                                DrawEdge(fromPosition, toPosition);
-                            }
-
-                            // Draw nodes
-                            foreach (Dag.Node n in dag.nodes)
-                                DrawNucleus(n.nucleus, n.position, 1, n.radius);
-
-                            // Determine graph width
-                            float width = 0;
-                            float currentNucleusPosition = 0;
-                            foreach (Dag.Node node in dag.nodes) {
-                                if (node.position.x > width)
-                                    width = node.position.x;
-                                if (node.nucleus == currentNucleus)
-                                    currentNucleusPosition = node.position.x;
-                            }
-
-                            // Resize the graph container to the full graph width
-                            float margin = 50f;
-                            graphContainer.style.width = width + 2 * margin;
-
-                            // Scroll to the current nucleus
-                            float viewportWidth = scrollView.layout.width;
-                            // center currentNucleus in viewport
-                            float desiredScrollX = currentNucleusPosition - viewportWidth * 0.5f;
-                            // clamp between 0 and maximum scrollable range
-                            float maxScrollX = Mathf.Max(0f, graphContainer.resolvedStyle.width - viewportWidth);
-                            desiredScrollX = Mathf.Clamp(desiredScrollX, 0f, maxScrollX);
-
-                            Vector2 current = scrollView.scrollOffset;
-                            scrollView.scrollOffset = new Vector2(desiredScrollX, current.y);
-                        }
-
-                        public Dag GenerateGraph(Nucleus rootNucleus) {
-                            Dag dag = new();
-                            if (rootNucleus == null)
-                                return dag;
-
-                            int ix = 0;
-                            Dag.Node receiver = new() {
-                                id = ix,
-                                //title = nucleus.name,
-                                nucleus = rootNucleus
-                            };
-                            dag.nodes.Add(receiver);
-                            ix++;
-                            DescendGraph(receiver, ref ix, dag);
-                            return dag;
-                        }
-
-                        private void DescendGraph(Dag.Node receiver, ref int ix, Dag dag) {
-                            Neuron receiverNeuron = receiver.nucleus as Neuron;
-                            foreach (Synapse synapse in receiverNeuron.synapses) {
-                                Nucleus nucleus = synapse.neuron;
-                                if (nucleus.parent != null && nucleus.parent != currentNucleus.parent) {
-                                    nucleus = nucleus.parent;
-                                }
-                                string nucleusName = nucleus.name;
-                                Dag.Node synapseNode = dag.FindNode(nucleusName);
-                                if (synapseNode == null) {
-                                    synapseNode = new() {
-                                        id = ix,
-                                        nucleus = nucleus
-                                    };
-                                    dag.nodes.Add(synapseNode);
-                                }
-                                Dag.Edge edge = new() {
-                                    fromId = synapseNode.id,
-                                    toId = receiver.id
-                                };
-                                dag.edges.Add(edge);
-                                ix++;
-                                DescendGraph(synapseNode, ref ix, dag);
-                            }
-                        }
-            */
-            #endregion Full Graph
-
-            #region Focus Graph
-            /*
-                        protected void DrawFocusGraph() {
-                            float size = 20;
-                            Vector3 position = new(150, 210, 0);
-
-                            if (this.currentNucleus != null) {
-                                DrawReceivers(this.currentNucleus, position, size);
-                                DrawSynapses(this.currentNucleus, position, size);
-
-                                // Draw selected Nucleus
-                                if (expandArray) {
-                                    float maxValue = 1;
-
-                                    if (this.currentNucleus is Cluster cluster) {
-                                        float spacing = 400f / cluster.instanceCount;
-                                        float margin = 10 + spacing / 2;
-                                        float xMin = 150 - size;
-                                        float xMax = 150 + size;
-                                        float yMin = 10 + margin - size / 2;
-                                        float yMax = 400 - margin + size;
-                                        Vector3[] verts = new Vector3[4] {
-                                        new(xMin, yMin, 0),
-                                        new(xMax, yMin, 0),
-                                        new(xMax, yMax, 0),
-                                        new(xMin, yMax, 0)
-                                    };
-                                        Handles.color = Color.black;
-                                        Handles.DrawAAConvexPolygon(verts);
-                                        int row = 0;
-                                        if (cluster.instances == null) {
-                                            Vector3 pos = new(150, margin + row * spacing, 0.0f);
-                                            Handles.color = Color.white;
-                                            // The selected sibling highlight ring
-                                            Handles.DrawSolidDisc(pos, Vector3.forward, size + 2);
-                                            DrawNucleus(cluster, pos, maxValue, size);
-                                            row++;
-                                        }
-                                        else {
-                                            foreach (Cluster sibling in cluster.instances) {
-                                                Vector3 pos = new(150, margin + row * spacing, 0.0f);
-                                                Handles.color = Color.white;
-                                                // The selected sibling highlight ring
-                                                Handles.DrawSolidDisc(pos, Vector3.forward, size + 2);
-                                                DrawNucleus(sibling, pos, maxValue, size);
-                                                row++;
-                                            }
-                                        }
-                                        GUIStyle style = new(EditorStyles.label) {
-                                            alignment = TextAnchor.UpperCenter,
-                                            normal = { textColor = Color.white },
-                                            fontStyle = FontStyle.Bold,
-                                        };
-                                        Vector3 labelPos = new(150, yMax + size + 5, 0);
-                                        string clusterName = cluster.name;
-                                        int colonPos = clusterName.IndexOf(":");
-                                        if (colonPos > 0) {
-                                            string baseName = clusterName[..colonPos];
-                                            Handles.Label(labelPos, baseName, style);
-                                        }
-                                        else
-                                            Handles.Label(labelPos, clusterName, style);
-                                    }
-                                    else {
-                                        if (this.currentNucleus is Neuron neuron)
-                                            maxValue = neuron.outputMagnitude;
-
-                                        DrawNucleus(this.currentNucleus, position, maxValue, 20);
-
-                                    }
-                                }
-                                else {
-                                    float maxValue = 1;
-                                    if (this.currentNucleus is Neuron neuron)
-                                        maxValue = neuron.outputMagnitude;
-                                    else if (this.currentNucleus is Cluster cluster)
-                                        maxValue = cluster.defaultOutput.outputMagnitude;
-                                    DrawNucleus(this.currentNucleus, position, maxValue, 20);
-                                }
-                            }
-                            else {
-                                DrawAllOutputs(position, size);
-                                DrawOutputs(position, size);
-                            }
-                            graphContainer.style.width = 300;
-                        }
-
-                        protected void DrawReceivers(Nucleus nucleus, Vector3 parentPos, float size) {
-                            List<Nucleus> receivers;
-                            if (nucleus is Neuron neuron)
-                                receivers = neuron.receivers;
-                            else if (nucleus is Cluster cluster)
-                                receivers = cluster.CollectReceivers(true);
-                            else
-                                return;
-
-                            // For top-level nodes, add link to previous editor and/or 'Outputs'
-                            int nodeCount = receivers.Count();
-                            if (nucleus == this.selectedOutput) {
-                                // Add link to 'Outpus'
-                                nodeCount++;
-                                if (ClusterViewer.previousPrefab != null)
-                                    // Add link to previous editor
-                                    nodeCount++;
-                            }
-
-                            // Determine the maximum value in this layer
-                            // This is used to 'scale' the output value colors of the nuclei
-                            float maxValue = 0;
-                            foreach (Nucleus receiver in receivers) {
-                                if (receiver is Neuron neuroid) {
-                                    float value = neuroid.outputMagnitude;
-                                    if (value > maxValue)
-                                        maxValue = value;
-                                }
-                            }
-
-                            // Determine the spacing of the nuclei in the layer
-                            float spacing = 400f / nodeCount;
-                            float margin = 10 + spacing / 2;
-
-                            int row = 0;
-                            foreach (Nucleus receiver in receivers) {
-                                Nucleus receiverNucleus = receiver;
-                                if (receiverNucleus == null)
-                                    continue;
-
-                                Vector3 pos = new(50, margin + row * spacing, 0.0f);
-                                DrawEdge(parentPos, pos);
-
-                                DrawNucleus(receiverNucleus, pos, maxValue, size);
-                                row++;
-                            }
-                            if (nucleus == this.selectedOutput) {
-                                Vector3 pos = new(50, margin + row * spacing, 0);
-                                if (ClusterViewer.previousPrefab != null) {
-                                    DrawEdge(parentPos, pos);
-                                    DrawClusterPrefab(ClusterViewer.previousPrefab, pos, size);
-                                    row++;
-                                }
-                                pos = new(50, margin + row * spacing, 0);
-                                DrawEdge(parentPos, pos);
-                                DrawAllOutputs(pos, size);
-                            }
-                        }
-
-                        protected void DrawSynapses(Nucleus nucleus, Vector3 parentPos, float size) {
-                            if (nucleus is not Neuron neuron)
-                                return;
-
-                            if (this.selectedSynapseNeuron != null) {
-                                DrawClusterSynapses(this.selectedSynapseNeuron, parentPos, size);
-                                return;
-                            }
-                            if (nucleus == null)
-                                return;
-
-                            // Determine the maximum value in this layer
-                            // This is used to 'scale' the output value colors of the nuclei
-                            float maxValue = 0;
-                            int neuronCount = 0;
-                            List<string> drawnNeuronNames = new();
-                            foreach (Synapse synapse in neuron.synapses) {
-                                if (synapse.neuron == null)
-                                    continue;
-
-                                // Count multiple synapses to the same neuron only once
-                                string neuronName = synapse.neuron.name;
-                                if (synapse.neuron.parent != null)
-                                    neuronName = synapse.neuron.parent.baseName + "." + neuronName;
-
-                                if (drawnNeuronNames.Contains(neuronName))
-                                    continue;
-                                drawnNeuronNames.Add(neuronName);
-
-                                float value = synapse.neuron.outputMagnitude * synapse.weight;
-                                if (value > maxValue)
-                                    maxValue = value;
-
-                                neuronCount++;
-                            }
-
-                            // Determine the spacing of the nuclei in the layer
-                            float spacing = 400f / neuronCount;
-                            float margin = 10 + spacing / 2;
-
-                            int row = 0;
-                            //List<Neuron> drawnNeurons = new();
-                            drawnNeuronNames = new();
-                            foreach (Synapse synapse in neuron.synapses) {
-                                if (synapse.neuron is null)
-                                    continue;
-
-                                // Draw multiple synapses to the same neuron only once
-                                string neuronName = synapse.neuron.name;
-                                if (synapse.neuron.parent != null)
-                                    neuronName = synapse.neuron.parent.baseName + "." + neuronName;
-
-                                if (drawnNeuronNames.Contains(neuronName))
-                                    continue;
-                                drawnNeuronNames.Add(neuronName);
-
-                                Vector3 pos = new(250, margin + row * spacing, 0.0f);
-                                DrawEdge(parentPos, pos);
-                                // Handles.color = Color.white;
-                                // Handles.DrawLine(parentPos, pos);
-                                Color color = Color.black;
-                                if (Application.isPlaying) {
-                                    if (maxValue == 0 || !float.IsFinite(maxValue))
-                                        maxValue = 1;
-                                    float brightness = synapse.neuron.outputMagnitude * synapse.weight / maxValue;
-                                    color = new Color(brightness, brightness, brightness, 1f);
-                                }
-                                DrawNucleus(synapse.neuron, pos, size, color);
-                                row++;
-                            }
-                        }
-
-                        protected void DrawClusterSynapses(Nucleus nucleus, Vector3 parentPos, float size) {
-                            if (nucleus == null || nucleus.parent == null || nucleus.parent.instances == null)
-                                return;
-
-                            // Hack to disable showing labels
-                            expandArray = true;
-
-                            float maxValue = 0;
-                            foreach (Cluster sibling in nucleus.parent.instances) {
-                                Neuron siblingNeuron = sibling.GetNucleus(nucleus.name) as Neuron;
-                                float value = siblingNeuron.outputMagnitude; // no need to add weight as they are all the same
-                                if (value > maxValue)
-                                    maxValue = value;
-                            }
-
-                            // Determine the spacing of the nuclei in the layer
-                            float spacing = 400f / nucleus.parent.instanceCount;
-                            float margin = 10 + spacing / 2;
-
-                            int row = 0;
-                            foreach (Cluster sibling in nucleus.parent.instances) {
-                                Neuron siblingNeuron = sibling.GetNucleus(nucleus.name) as Neuron;
-                                Vector3 position = new(250, margin + row * spacing, 0.0f);
-                                DrawEdge(parentPos, position);
-                                Color color = Color.black;
-                                if (Application.isPlaying) {
-                                    if (maxValue == 0 || !float.IsFinite(maxValue))
-                                        maxValue = 1;
-                                    float brightness = siblingNeuron.outputMagnitude / maxValue;
-                                    color = new Color(brightness, brightness, brightness, 1f);
-                                }
-                                DrawNucleus(siblingNeuron, position, size, color);
-                                GUIStyle style = new(EditorStyles.label) {
-                                    alignment = TextAnchor.UpperCenter,
-                                    normal = { textColor = Color.white },
-                                    fontStyle = FontStyle.Bold,
-                                };
-                                Vector3 labelPos = position - Vector3.down * (size + 5); // below neuron
-                                string name = $"{sibling.baseName}\n{nucleus.name}";
-                                Handles.Label(labelPos, name, style);
-                                row++;
-                            }
-                            expandArray = false;
-                        }
-
-                        protected void DrawOutputs(Vector2 parentPos, float size) {
-                            if (this.currentCluster == null)
-                                return;
-
-                            // Determine the maximum value in this layer
-                            // This is used to 'scale' the output value colors of the nuclei
-                            float maxValue = 0;
-                            int neuronCount = 0;
-                            List<Nucleus> drawnNuclei = new();
-                            foreach (Nucleus nucleus in this.currentCluster.outputs) {
-                                if (nucleus is not Neuron neuron)
-                                    continue;
-
-                                // Draw multiple synapses to the same neuron only once
-                                if (drawnNuclei.Contains(nucleus))
-                                    continue;
-                                drawnNuclei.Add(nucleus);
-
-                                float value = neuron.outputMagnitude;
-                                if (value > maxValue)
-                                    maxValue = value;
-
-                                neuronCount++;
-                            }
-
-                            // Determine the spacing of the nuclei in the layer
-                            float spacing = 400f / neuronCount;
-                            float margin = 10 + spacing / 2;
-
-                            int row = 0;
-                            drawnNuclei = new();
-                            foreach (Nucleus nucleus in this.currentCluster.outputs) {
-                                if (nucleus is not Neuron neuron)
-                                    continue;
-
-                                // Draw multiple synapses to the same neuron only once
-                                if (drawnNuclei.Contains(nucleus))
-                                    continue;
-                                drawnNuclei.Add(nucleus);
-
-                                Vector3 pos = new(250, margin + row * spacing, 0.0f);
-                                DrawEdge(parentPos, pos);
-                                Color color = Color.black;
-                                if (Application.isPlaying) {
-                                    if (maxValue == 0 || !float.IsFinite(maxValue))
-                                        maxValue = 1;
-                                    float brightness = neuron.outputMagnitude / maxValue;
-                                    color = new Color(brightness, brightness, brightness, 1f);
-                                }
-                                DrawNucleus(nucleus, pos, size, color);
-                                row++;
-                            }
-                        }
-            */
-            #endregion Focus Graph
-            /*
-                        protected void DrawNucleus(Nucleus nucleus, Vector3 position, float maxValue, float size) {
-                            Color color;
-                            if (Application.isPlaying) {
-                                float brightness = 0;
-                                if (nucleus is Neuron neuron)
-                                    brightness = neuron.outputMagnitude / maxValue;
-                                color = new Color(brightness, brightness, brightness, 1f);
-                            }
-                            else
-                                color = Color.black;
-                            DrawNucleus(nucleus, position, size, color);
-                        }
-
-                        protected void DrawNucleus(Nucleus nucleus, Vector3 position, float size, Color color) {
-                            if (nucleus == null)
-                                return;
-
-                            if (nucleus == this.currentNucleus) {
-                                // The selected nucleus highlight ring
-                                Handles.color = Color.white;
-                                Handles.DrawSolidDisc(position, Vector3.forward, size + 2);
-                            }
-
-                            if (nucleus is MemoryCell) {
-                                Handles.color = Color.white;
-                                Handles.DrawWireDisc(position + Vector3.right * 10, Vector3.forward, size);
-                            }
-
-                            Handles.color = color;
-                            Handles.DrawSolidDisc(position, Vector3.forward, size);
-
-                            Handles.color = Color.white;
-                            // Position the label in front of the disc
-                            Vector3 labelPosition = position + (Vector3.forward * 0.1f);
-
-                            GUIStyle style = new(EditorStyles.label) {
-                                alignment = TextAnchor.MiddleCenter,
-                                normal = { textColor = Color.white },
-                                fontStyle = FontStyle.Bold,
-                            };
-
-                            if (nucleus.parent is Cluster parentCluster && currentNucleus != null && parentCluster != currentNucleus.parent)
-                                DrawCluster(parentCluster, position, color, size);
-                            else if (nucleus is Cluster cluster)
-                                DrawCluster(cluster, position, color, size);
-
-                            if (expandArray == false) {// || nucleus != currentNucleus) {
-                                // put name below nucleus
-                                Vector3 labelPos = position - Vector3.down * (size + 5); // below neuron
-                                style.alignment = TextAnchor.UpperCenter;
-
-                                if (nucleus.parent != null && currentNucleus != null && nucleus.parent != currentNucleus.parent && nucleus.parent is Cluster parentCluster1) {
-                                    // This neuron is part of another cluster
-                                    parentCluster1.name ??= "";
-                                    int colonPos = parentCluster1.name.IndexOf(":");
-                                    string baseName;
-                                    if (colonPos > 0 && colonPos < parentCluster1.name.Length - 2)
-                                        baseName = parentCluster1.name[..colonPos] + "\n";
-                                    else
-                                        baseName = parentCluster1.name + "\n";
-                                    Handles.Label(labelPos, baseName + nucleus.name, style);
-                                }
-                                else {
-                                    nucleus.name ??= "";
-                                    int colonPos = nucleus.name.IndexOf(":");
-                                    if (colonPos > 0 && colonPos < nucleus.name.Length - 2) {
-                                        // if it is an array, we should not show the :0 of the first element
-                                        string baseName = nucleus.name[..colonPos];
-                                        Handles.Label(labelPos, baseName, style);
-                                    }
-                                    else
-                                        Handles.Label(labelPos, nucleus.name, style);
-                                }
-                            }
-
-                            // Tooltip
-                            Rect neuronRect = new(position.x - size, position.y - size, size * 2, size * 2);
-
-                            int id = GUIUtility.GetControlID(FocusType.Passive);
-                            Event e = Event.current;
-                            EventType et = e.GetTypeForControl(id);
-                            if (e != null && neuronRect.Contains(e.mousePosition)) {
-                                // Process Hover
-                                HandleMouseHover(nucleus, neuronRect);
-                                // Process click
-                                if (e.type == EventType.MouseDown && e.button == 0) {
-                                    // Consume the event so the scene doesn't also handle it
-                                    e.Use();
-                                    if (nucleus is Cluster parentCluster2)
-                                        OnNeuronClick(parentCluster2);
-                                    else
-                                        OnNeuronClick(nucleus);
-                                }
-                            }
-                        }
-
-                        protected void DrawCluster(Cluster cluster, Vector3 position, Color color, float size) {
-                            GUIStyle labelTextStyle = new(EditorStyles.label) {
-                                normal = { textColor = Color.white },
-                                fontStyle = FontStyle.Bold,
-                            };
-
-                            if (expandArray) {
-                                // Put array indices above the discs
-                                labelTextStyle.alignment = TextAnchor.LowerCenter;
-                                Vector3 labelPosition = position + Vector3.down * (size + 5); // below disc 
-
-                                // Strip the instance number in the name
-                                int colonPos1 = cluster.name.IndexOf(":");
-                                if (colonPos1 > 0) {
-                                    string extName = cluster.name[(colonPos1 + 2)..];
-                                    Handles.Label(labelPosition, extName, labelTextStyle);
-                                }
-                                else
-                                    Handles.Label(labelPosition, "0", labelTextStyle);
-                            }
-                            else {
-                                // Put instance count inside the disc
-                                labelTextStyle.alignment = TextAnchor.MiddleCenter;
-                                Vector3 labelPosition = position + (Vector3.forward * 0.1f);
-
-                                // Adjust text color based on disc color
-                                if (color.grayscale > 0.5f)
-                                    labelTextStyle.normal.textColor = Color.black;
-                                else
-                                    labelTextStyle.normal.textColor = Color.white;
-
-                                if (cluster.instanceCount > 1) {
-                                    Handles.Label(labelPosition, cluster.instanceCount.ToString(), labelTextStyle);
-                                    labelTextStyle.normal.textColor = Color.white;
-                                }
-                                else if (cluster.instances != null && cluster.instances.Length > 1) {
-                                    Handles.Label(labelPosition, cluster.instances.Length.ToString(), labelTextStyle);
-                                    labelTextStyle.normal.textColor = Color.white;
-                                }
-                            }
-
-                            // Draw a circle around the disc to indicate this is a Cluster
-                            Handles.color = Color.white;
-                            Handles.DrawWireDisc(position, Vector3.forward, size + 5);
-                        }
-
-                        protected void DrawClusterPrefab(ClusterPrefab prefab, Vector2 position, float size) {
-                            Handles.color = Color.black;
-                            Handles.DrawSolidDisc(position, Vector3.forward, size);
-                            // Draw a circle around the disc to indicate this is a Cluster
-                            Handles.color = Color.white;
-                            Handles.DrawWireDisc(position, Vector3.forward, size + 5);
-
-                            // put name below nucleus
-                            GUIStyle style = new(EditorStyles.label) {
-                                alignment = TextAnchor.MiddleCenter,
-                                normal = { textColor = Color.white },
-                                fontStyle = FontStyle.Bold,
-                            };
-                            Vector2 labelPos = position - Vector2.down * (size + 5); // below neuron
-                            style.alignment = TextAnchor.UpperCenter;
-                            Handles.Label(labelPos, prefab.name, style);
-
-                            Rect neuronRect = new(position.x - size, position.y - size, size * 2, size * 2);
-                            int id = GUIUtility.GetControlID(FocusType.Passive);
-                            Event e = Event.current;
-                            EventType et = e.GetTypeForControl(id);
-                            if (e != null && neuronRect.Contains(e.mousePosition)) {
-                                // Process click
-                                if (e.type == EventType.MouseDown && e.button == 0) {
-                                    // Consume the event so the scene doesn't also handle it
-                                    e.Use();
-                                    Selection.activeObject = prefab;
-                                    EditorGUIUtility.PingObject(prefab);
-                                    ClusterViewer.previousPrefab = null;
-                                    CreateEditor(prefab);
-                                }
-                            }
-                        }
-
-                        protected void DrawAllOutputs(Vector2 position, float size) {
-                            GUIStyle labelTextStyle = new(EditorStyles.label) {
-                                normal = { textColor = Color.white },
-                                fontStyle = FontStyle.Bold,
-                                alignment = TextAnchor.MiddleCenter,
-                            };
-                            Handles.Label(position, "Outputs", labelTextStyle);
-
-                            Rect neuronRect = new(position.x - size, position.y - size, size * 2, size * 2);
-                            Event e = Event.current;
-                            if (e != null && neuronRect.Contains(e.mousePosition)) {
-                                // Process click
-                                if (e.type == EventType.MouseDown && e.button == 0) {
-                                    // Consume the event so the scene doesn't also handle it
-                                    e.Use();
-                                    OnAllOutputsClick();
-                                }
-                            }
-
-                        }
-
-                        protected void DrawEdge(Vector2 from, Vector2 to, float radius = 20) {
-                            Handles.color = Color.white;
-                            // Handles.DrawLine(from, to);
-
-                            Vector2 dir = to - from;
-                            float len = dir.magnitude;
-                            if (len <= 2f * radius || len <= Mathf.Epsilon)
-                                // line too short
-                                return;
-
-                            Vector2 n = dir / len; // normalized
-                            Vector2 a = from + n * radius;
-                            Vector2 b = to - n * radius;
-                            Handles.DrawLine(a, b);
-                        }
-
-                        protected void HandleMouseHover(Nucleus nucleus, Rect rect) {
-                            GUIContent tooltip;
-                            if (nucleus is Neuron neuron) {
-                                tooltip = new(
-                                    $"{nucleus.name}" +
-                                    $"\nValue: {neuron.outputMagnitude}");
-                            }
-                            else
-                                tooltip = new($"{nucleus.name}");
-
-                            Vector2 mousePosition = Event.current.mousePosition;
-
-                            // Display tooltip with some offset
-                            Vector2 tooltipSize = GUI.skin.box.CalcSize(tooltip);
-                            Rect tooltipRect = new Rect(mousePosition.x + 10, mousePosition.y + 10, tooltipSize.x, tooltipSize.y);
-
-                            GUI.Box(tooltipRect, tooltip);
-                        }
-
-                        protected void OnNeuronClick(Nucleus nucleus) {
-                            if (nucleus == this.currentNucleus) {
-                                this.selectedSynapseNeuron = null;
-                                // if (Application.isPlaying) {
-                                //     if (nucleus is Cluster)
-                                //         expandArray = !expandArray;
-                                //     else
-                                //         expandArray = false;
-                                // }
-                                // else {
-                                if (nucleus is Cluster cluster)
-                                    OnClusterClick(cluster);
-                                // }
-                            }
-                            else if (nucleus.parent != null && this.currentNucleus != null && nucleus.parent != this.currentNucleus.parent) {
-                                // We go to a different cluster
-                                if (Application.isPlaying) {
-                                    if (this.selectedSynapseNeuron == null && nucleus.parent.instanceCount > 1) {
-                                        this.selectedSynapseNeuron = nucleus;
-                                        expandArray = false;
-                                    }
-                                    else {
-                                        this.currentNucleus = nucleus;
-                                        if (this.currentNucleus is Neuron neuron && neuron.receivers.Count == 0)
-                                            this.selectedOutput = this.currentNucleus;
-                                        this.selectedSynapseNeuron = null;
-                                        expandArray = false;
-                                    }
-
-                                }
-                                else {
-                                    // select the cluster, not the neuron in the cluster
-                                    this.currentNucleus = nucleus.parent;
-                                    expandArray = false;
-                                }
-                            }
-                            else {
-                                this.currentNucleus = nucleus;
-                                if (this.currentNucleus is Neuron neuron && neuron.receivers.Count == 0)
-                                    this.selectedOutput = this.currentNucleus;
-                                expandArray = false;
-                            }
-                        }
-
-                        protected void OnClusterClick(Cluster subCluster) {
-                            // May be used with storedPrefab...
-                            Selection.activeObject = subCluster.prefab;
-                            EditorGUIUtility.PingObject(subCluster.prefab);
-                            ClusterViewer.previousPrefab = this.currentCluster.prefab;
-                            ClusterEditor newEditor = CreateEditor(subCluster.prefab) as ClusterEditor;
-                        }
-
-                        protected void OnAllOutputsClick() {
-                            this.currentNucleus = null;
-                            this.selectedOutput = null;
-                            expandArray = false;
-                        }
-            */
-            #endregion Graph
-
-            void OnSceneGUI(SceneView sceneView) {
-                if (this.gameObject != null) {
-
-                    Handles.color = Color.yellow;
-                    if (this.selectedSynapseNeuron != null) {
-                        foreach (Cluster sibling in this.selectedSynapseNeuron.parent.instances) {
-                            Neuron siblingNeuron = sibling.GetNucleus(this.selectedSynapseNeuron.name) as Neuron;
-                            Vector3 worldVector = this.gameObject.transform.TransformVector(siblingNeuron.outputValue);
-                            Handles.DrawLine(this.gameObject.transform.position, this.gameObject.transform.position + worldVector);
-                        }
-                        // if (this.currentNucleus is Cluster cluster) {
-                        //     foreach (Cluster sibling in cluster.siblingClusters) {
-
-                        //     }
-                        // }
-                        // // if (this.currentNucleus is IReceptor receptor) {
-                        // //     foreach (Nucleus nucleus in receptor.nucleiArray) {
-                        // //         if (nucleus is Neuron neuron) {
-                        // //             Vector3 worldVector = this.gameObject.transform.TransformVector(neuron.outputValue);
-                        // //             Handles.color = Color.yellow;
-                        // //             Handles.DrawLine(this.gameObject.transform.position, this.gameObject.transform.position + worldVector);
-                        // //         }
-                        // //     }
-                    }
-                    else {
-                        if (this.currentNucleus is Neuron currentNeuron) {
-                            Vector3 worldVector = this.gameObject.transform.TransformVector(currentNeuron.outputValue);
-                            Handles.DrawLine(this.gameObject.transform.position, this.gameObject.transform.position + worldVector);
-                        }
-                    }
-                }
-            }
-
-        }
-    }
-
-    public class NeuroidLayer {
-        public int ix = 0;
-        public List<Nucleus> neuroids = new();
-    }
-
-
-
-}

Editor/Cluster_Drawer.cs

@@ -0,0 +1,308 @@
+using System.Collections;
+using System.Collections.Generic;
+using System.Reflection;
+using UnityEngine;
+using UnityEditor;
+using System;
+
+namespace NanoBrain.Unity {
+
+    [CustomPropertyDrawer(typeof(Cluster))]
+    class Cluster_Drawer : PropertyDrawer {
+
+        static Cluster_Drawer() {
+            if (Application.isPlaying)
+                SceneView.duringSceneGui += OnSceneGUI;
+
+            Selection.selectionChanged += OnSelectionChanged;
+            if (clusterView != null)
+                clusterView.initialized = false;
+        }
+
+        private const float padding = 4f;
+        private const float elementHeight = 64f; // height reserved for the VisualElement
+        private static ClusterView clusterView;
+        private static UnityEngine.Object selectedTarget;
+
+        public override float GetPropertyHeight(SerializedProperty property, GUIContent label) {
+            if (Cluster_Drawer.clusterView == null)
+                return 0;
+
+            float height = EditorGUIUtility.singleLineHeight + padding;
+
+            SerializedProperty prefabProp = property.FindPropertyRelative(nameof(Cluster.prefab));
+            if (prefabProp.objectReferenceValue != null && Cluster_Drawer.clusterView.isOpen) {
+                height += padding + elementHeight;
+                height = 500;
+            }
+            else
+                height = 18;
+            return height;
+        }
+
+
+        public override void OnGUI(Rect position, SerializedProperty property, GUIContent label) {
+            // Not sure if this works properly with multiple Clusters in a single gameObject
+            ClusterView clusterView = Cluster_Drawer.clusterView;
+            if (Cluster_Drawer.clusterView == null)
+                clusterView = ClusterView.GetClusterView(property);
+
+            label = EditorGUI.BeginProperty(position, label, property);
+
+            // Begin indent block
+            int indent = EditorGUI.indentLevel;
+            EditorGUI.indentLevel = 0;
+
+            SerializedProperty prefabProp = property.FindPropertyRelative(nameof(Cluster.prefab));
+
+            // Draw the object field on the top line
+            Rect fieldRect = new(position.x, position.y, position.width, EditorGUIUtility.singleLineHeight);
+            EditorGUI.BeginChangeCheck();
+            EditorGUI.PropertyField(fieldRect, prefabProp, label);
+            if (EditorGUI.EndChangeCheck()) {
+                prefabProp.serializedObject.ApplyModifiedProperties();
+                ClusterPrefab clusterPrefab = prefabProp.objectReferenceValue as ClusterPrefab;
+                if (clusterPrefab != null) {
+                    Cluster newCluster = new(clusterPrefab);
+
+                    SerializedObject serializedObject = property.serializedObject;
+                    foreach (UnityEngine.Object targetObject in serializedObject.targetObjects) {
+                        var parent = SerializedPropertyUtility.GetParentObjectAndMember(targetObject, property.propertyPath, out var memberInfo, out int outIndex);
+                        if (parent != null && memberInfo is FieldInfo fieldInfo) {
+                            fieldInfo.SetValue(parent, newCluster);
+                            EditorUtility.SetDirty(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;
+                    if (clusterView.initialized || Application.isPlaying) {
+                        cluster = SerializedPropertyUtility.GetManagedObjectForProperty(targetObject, property.propertyPath) as Cluster;
+                    }
+                    else {
+                        Debug.Log("New cluster instance");
+                        // This does not work properly yet it seems
+                        ClusterPrefab clusterPrefab = prefabProp.objectReferenceValue as ClusterPrefab;
+                        cluster = new(clusterPrefab);
+                        object parent = SerializedPropertyUtility.GetParentObjectAndMember(targetObject, property.propertyPath, out var memberInfo, out int outIndex);
+                        if (parent != null && memberInfo is FieldInfo fieldInfo) {
+                            fieldInfo.SetValue(parent, cluster);
+                            EditorUtility.SetDirty(targetObject);
+                        }
+                        clusterView.initialized = true;
+                    }
+
+                    // 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 (clusterView.currentCluster == null || clusterView.currentCluster != cluster) {
+                            clusterView.currentCluster = cluster;
+                            clusterView.currentNucleus = cluster.defaultOutput;
+                            clusterView.selectedOutput = clusterView.currentNucleus;
+                        }
+                        Cluster_Drawer.clusterView = clusterView;
+                        clusterView.Render(drawRect);
+                        //Debug.Log(prefab.cluster.defaultOutput.outputMagnitude);
+                    }
+                }
+            }
+
+            EditorGUI.indentLevel = indent;
+            EditorGUI.EndProperty();
+        }
+
+        private static void OnSceneGUI(SceneView sceneView) {
+            if (Application.isPlaying == false || selectedTarget == null)
+                return;
+
+            GameObject gameObject = null;
+            if (selectedTarget is Component c)
+                gameObject = c.gameObject;
+            else if (selectedTarget is GameObject g)
+                gameObject = g;
+
+            Handles.color = Color.yellow;
+            if (Cluster_Drawer.clusterView.selectedSynapseNeuron != null) {
+                foreach (Cluster sibling in Cluster_Drawer.clusterView.selectedSynapseNeuron.parent.instances) {
+                    Neuron siblingNeuron = sibling.GetNeuron(Cluster_Drawer.clusterView.selectedSynapseNeuron.name);
+                    Vector3 worldVector = gameObject.transform.TransformVector(siblingNeuron.outputValue);
+                    Handles.DrawLine(gameObject.transform.position, gameObject.transform.position + worldVector);
+                }
+            }
+            else {
+                if (Cluster_Drawer.clusterView.currentNucleus is Neuron currentNeuron) {
+                    Vector3 worldVector = gameObject.transform.TransformVector(currentNeuron.outputValue);
+                    Handles.DrawLine(gameObject.transform.position, gameObject.transform.position + worldVector);
+                }
+            }
+        }
+
+        private static void OnSelectionChanged() {
+            UnityEngine.Object active = Selection.activeObject;
+            if (active == null)
+                return;
+
+            foreach (ClusterView clusterView in ClusterView.clusterViews.Values)
+                clusterView.initialized = false;            
+        }
+    }
+
+    public static class SerializedPropertyUtility {
+        // Walks path like "myField.nested.arrayField.Array.data[0].value"
+        // Returns parent object that contains the final member, and sets outMember (FieldInfo or PropertyInfo) for the final member.
+        // If final target is an array/list element, returns parent as the IList and outMember = null, and outIndex set to element index.
+        public static object GetParentObjectAndMember(object root, string propertyPath, out MemberInfo outMember, out int outIndex) {
+            outMember = null;
+            outIndex = -1;
+            if (root == null || string.IsNullOrEmpty(propertyPath)) return null;
+
+            object obj = root;
+            var parts = propertyPath.Split('.');
+            for (int i = 0; i < parts.Length; i++) {
+                string part = parts[i];
+
+                // handle array/list: Unity path uses "Array" then "data[index]"
+                if (part == "Array" && i + 2 < parts.Length && parts[i + 1].StartsWith("data[")) {
+                    // previous part name is the list/array field name
+                    string listFieldName = parts[i - 1];
+                    // get the field info for listFieldName on current obj's type
+                    var fiList = GetFieldInTypeHierarchy(obj.GetType(), listFieldName);
+                    object listObj = fiList != null ? fiList.GetValue(obj) : GetPropValue(obj, listFieldName);
+
+                    if (listObj == null) return null;
+
+                    // parse index from e.g. "data[3]"
+                    string indexPart = parts[i + 1]; // like data[3]
+                    int start = indexPart.IndexOf('[') + 1;
+                    int end = indexPart.IndexOf(']');
+                    int index = int.Parse(indexPart.Substring(start, end - start));
+
+                    // if this is the last element in the path, return parent=the IList and outIndex=index
+                    if (i + 2 == parts.Length - 0) {
+                        outMember = null;
+                        outIndex = index;
+                        return listObj as IList;
+                    }
+
+                    // otherwise step into the element and continue
+                    if (listObj is IList ilist) {
+                        obj = ilist[index];
+                    }
+                    else {
+                        // not an IList — cannot continue
+                        return null;
+                    }
+
+                    i += 1; // skip the data[...] part (we already consumed it)
+                    continue;
+                }
+
+                // normal field/property access: if this is the last part, return parent and member
+                bool isLast = (i == parts.Length - 1);
+
+                var fi = GetFieldInTypeHierarchy(obj.GetType(), part);
+                if (fi != null) {
+                    if (isLast) {
+                        outMember = fi;
+                        return obj;
+                    }
+                    else {
+                        obj = fi.GetValue(obj);
+                        if (obj == null) return null;
+                        continue;
+                    }
+                }
+
+                var pi = GetPropertyInTypeHierarchy(obj.GetType(), part);
+                if (pi != null) {
+                    if (isLast) {
+                        outMember = pi;
+                        return obj;
+                    }
+                    else {
+                        obj = pi.GetValue(obj);
+                        if (obj == null) return null;
+                        continue;
+                    }
+                }
+
+                // if nothing found, fail
+                return null;
+            }
+
+            return null;
+        }
+
+        public static object GetManagedObjectForProperty(object root, string propertyPath) {
+            var obj = root;
+            var parts = propertyPath.Split('.');
+            for (int i = 0; i < parts.Length; i++) {
+                var part = parts[i];
+
+                // handle array: "arrayField.Array.data[index]"
+                if (part == "Array") {
+                    i += 2; // skip "Array" and "data[index]"
+                    var indexPart = parts[i]; // like "data[0]"
+                    int start = indexPart.IndexOf('[') + 1;
+                    int end = indexPart.IndexOf(']');
+                    int idx = int.Parse(indexPart.Substring(start, end - start));
+                    var listField = parts[i - 2];
+                    var fi = obj.GetType().GetField(listField, BindingFlags.Instance | BindingFlags.NonPublic | BindingFlags.Public);
+                    var list = fi.GetValue(obj) as System.Collections.IList;
+                    obj = list[idx];
+                    continue;
+                }
+
+                var field = obj.GetType().GetField(part, BindingFlags.Instance | BindingFlags.NonPublic | BindingFlags.Public);
+                if (field == null) {
+                    var prop = obj.GetType().GetProperty(part, BindingFlags.Instance | BindingFlags.NonPublic | BindingFlags.Public);
+                    if (prop == null) return null;
+                    obj = prop.GetValue(obj);
+                }
+                else {
+                    obj = field.GetValue(obj);
+                }
+
+                if (obj == null) return null;
+            }
+            return obj;
+        }
+        static FieldInfo GetFieldInTypeHierarchy(Type type, string fieldName) {
+            while (type != null) {
+                var fi = type.GetField(fieldName, BindingFlags.Instance | BindingFlags.Public | BindingFlags.NonPublic);
+                if (fi != null) return fi;
+                type = type.BaseType;
+            }
+            return null;
+        }
+
+        static PropertyInfo GetPropertyInTypeHierarchy(Type type, string propName) {
+            while (type != null) {
+                var pi = type.GetProperty(propName, BindingFlags.Instance | BindingFlags.Public | BindingFlags.NonPublic);
+                if (pi != null) return pi;
+                type = type.BaseType;
+            }
+            return null;
+        }
+
+        static object GetPropValue(object obj, string name) {
+            var pi = GetPropertyInTypeHierarchy(obj.GetType(), name);
+            if (pi != null) return pi.GetValue(obj);
+            var fi = GetFieldInTypeHierarchy(obj.GetType(), name);
+            if (fi != null) return fi.GetValue(obj);
+            return null;
+        }
+    }
+}

Editor/Cluster_Drawer.cs.meta

@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 4fe58945c76d153edacc220597474ad2
+guid: 18e075a03ca2efdb2895079f63eb333a
 MonoImporter:
   externalObjects: {}
   serializedVersion: 2

Editor/Dag.cs.meta

@@ -1,2 +1,11 @@
 fileFormatVersion: 2
-guid: a755ac8461bd0c714a852df47331048e
+guid: a755ac8461bd0c714a852df47331048e
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Editor/Neuron_Drawer.cs

@@ -1,85 +0,0 @@
-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;
-        }
-    }
-    
-}

Editor/Neuron_Drawer.cs.meta

@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: aa0e340763ca6299e93d514b271ae38d
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 

Runtime/Scripts/Brain.cs

@@ -1,69 +0,0 @@
-using System;
-using UnityEngine;
-/*
-namespace NanoBrain.Unity {
-
-    /// <summary>
-    /// A NanoBrain which can be used to control a gameobject
-    /// </summary>
-    /// A NanoBrain is a small neural network which can be used to implement functional behaviour.
-    /// The network consists of neurons which are connected together with synapses.
-    /// The output values of the neurons are of type Vector3 to support spatial computing.
-    /// 
-    /// This component is basically a Unity representation of a nanobrain cluster.
-    /// \sa
-    /// - \ref NanoBrain::Cluster "Cluster"
-    /// - \ref NanoBrain::Neuron "Neuron"
-    [HelpURL("https://passer.life/documentation/nanobrain/Documentation/html/class_nano_brain_1_1_unity_1_1_brain.html")] 
-    public class Brain : MonoBehaviour {
-        /// <summary>
-        /// The Cluster prefab from which the cluster is created
-        /// </summary>
-        public ClusterPrefab brainPrefab;
-
-        [NonSerialized]
-        private Cluster brainInstance;
-        /// <summary>
-        /// The cluster isntance
-        /// </summary>
-        public Cluster brain {
-            get {
-                if (brainInstance == null && brainPrefab != null) {
-                    brainInstance = new Cluster(brainPrefab) {
-                        name = brainPrefab.name
-                    };
-                } else if (brainInstance != null && brainPrefab == null) {
-                    brainInstance = null;
-                }
-                return brainInstance;
-            }
-        }
-
-        // public Cluster InitializeBrain() {
-        //     brainInstance = new Cluster(brainPrefab) {
-        //         name = brainPrefab.name
-        //     };
-        //     return brainInstance;
-        // }
-
-        /// <summary>
-        /// Update the weight for all Synapses coming from the Neuron with the given name
-        /// </summary>
-        /// <param name="brain">The cluster in which the synapses are updated</param>
-        /// <param name="name">The name of the Neuron for which the weights are updated</param>
-        /// <param name="weight">The new Synapse weight</param>
-        public static void UpdateWeight(Cluster brain, string name, float weight) {
-            Neuron root = brain.defaultOutput;
-            foreach (Synapse synapse in root.synapses) {
-                if (synapse.neuron.name == name) {
-                    if (synapse.weight != weight) {
-                        synapse.weight = weight;
-                        // Debug.Log($"Updated weight for {name}");
-                    }
-                }
-            }
-        }
-    }
-
-}
-*/

Runtime/Scripts/Brain.cs.meta

@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 92f34a5e4027a1dc39efd8ce63cf6aba
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 

Runtime/Scripts/Core/Cluster.cs

@@ -24,6 +24,9 @@ namespace NanoBrain {
         /// Cluster should always be created from prefabs
         public ClusterPrefab prefab;
 
+        //[HideInInspector]
+        public int version;
+
         /// <summary>
         /// The base name of the cluster. I don't think this is actively used at this moment
         /// </summary>
@@ -42,7 +45,9 @@ namespace NanoBrain {
         /// A cluster is a multi-cluster when there is more than one instance.
         /// The actual instances are only created at runtime.
         /// The value instanceCount determines how many instances will be present at runtime.
-        [NonSerialized]
+        //[NonSerialized]
+        [SerializeReference]
+        [HideInInspector]
         public Cluster[] instances;
 
         /// <summary>
@@ -62,11 +67,8 @@ namespace NanoBrain {
         /// All nuclei in this cluster
         /// </summary>
         [SerializeReference]
+        [HideInInspector]
         public List<Nucleus> nuclei = new();
-        // the nuclei sorted using topological sorting
-        // to ensure that the cluster is computer in the right order
-        
-        //public List<Nucleus> sortedNuclei;
 
         #region Init
 
@@ -77,13 +79,12 @@ namespace NanoBrain {
         /// <param name="parent">The cluster in which this new cluster will be placed</param>
         public Cluster(ClusterPrefab prefab, Cluster parent) {
             this.prefab = prefab;
+            this.version = prefab.version;
             this.name = prefab.name;
 
             this.parent = parent;
             this.parent?.nuclei.Add(this);
             ClonePrefab();
-            // _ = this.inputs;
-            //this.sortedNuclei = TopologicalSort(this.nuclei);
         }
 
         /// <summary>
@@ -93,13 +94,12 @@ namespace NanoBrain {
         /// <param name="parent">The prefab in which the new copy is placed</param>
         public Cluster(ClusterPrefab prefab, ClusterPrefab parent = null) {
             this.prefab = prefab;
+            this.version = prefab.version;
             this.name = prefab.name;
             if (parent != null)
                 this.parent = parent.cluster;
 
             ClonePrefab();
-            // _ = this.inputs;
-            //this.sortedNuclei = TopologicalSort(this.nuclei);
         }
 
         /// <summary>
@@ -108,6 +108,10 @@ namespace NanoBrain {
         /// Strange that this does not take any parameters or return values.
         /// Where which the clone be found???
         private void ClonePrefab() {
+            //Debug.Log($"Clone Prefab {this.prefab.name} -> {this.name}");
+            if (this.prefab == null || this.prefab.cluster == null || this.prefab.cluster.nuclei == null)
+                return;
+
             Nucleus[] prefabNuclei = this.prefab.cluster.nuclei.ToArray();
 
             // first clone the nuclei without their connections
@@ -161,36 +165,30 @@ namespace NanoBrain {
                 }
             }
 
-            if (Application.isPlaying) {
-                // Only create cluster siblings at runtime
-                foreach (Nucleus clonedNucleus in clonedNuclei) {
-                    if (clonedNucleus is not Cluster clonedCluster)
-                        continue;
+            foreach (Nucleus clonedNucleus in clonedNuclei) {
+                if (clonedNucleus is not Cluster clonedCluster)
+                    continue;
 
-                    List<Cluster> siblings = new() {
-                        clonedCluster
+                List<Cluster> siblings = new() { clonedCluster };
+                for (int instanceIx = 1; instanceIx < clonedCluster.instanceCount; instanceIx++) {
+                    // Create another sibling
+                    Cluster sibling = new(clonedCluster.prefab, this) {
+                        name = $"{clonedCluster.baseName}: {instanceIx}",
+                        parent = this.parent,
+                        instanceCount = this.instanceCount,
                     };
-                    for (int instanceIx = 1; instanceIx < clonedCluster.instanceCount; instanceIx++) {
-                        // Create another sibling
-                        Debug.Log($"create {clonedCluster.prefab.name} sibling");
-                        Cluster sibling = new(clonedCluster.prefab, this) {
-                            name = $"{clonedCluster.baseName}: {instanceIx}",
-                            parent = this.parent,
-                            instanceCount = this.instanceCount,
-                        };
-                        siblings.Add(sibling);
-                        CopyAllExternalReceivers(clonedCluster, sibling, clonedCluster.prefab, this);
-                    }
-                    Cluster[] siblingClusters = siblings.ToArray();
-                    foreach (Cluster sibling in siblings)
-                        sibling.instances = siblingClusters;
+                    siblings.Add(sibling);
+                    CopyAllExternalReceivers(clonedCluster, sibling, this);
                 }
+                Cluster[] siblingClusters = siblings.ToArray();
+                foreach (Cluster sibling in siblings)
+                    sibling.instances = siblingClusters;
+            }
 
-                // Ensure that all neurons are computed to initialize bias
-                foreach (Nucleus clonedNucleus in clonedNuclei) {
-                    if (clonedNucleus is not Cluster)
-                        clonedNucleus.UpdateStateIsolated();
-                }
+            // Ensure that all neurons are computed to initialize bias
+            foreach (Nucleus clonedNucleus in clonedNuclei) {
+                if (clonedNucleus is not Cluster)
+                    clonedNucleus.UpdateStateIsolated();
             }
         }
 
@@ -202,13 +200,11 @@ namespace NanoBrain {
                 parent = this.parent,
                 instanceCount = this.instanceCount,
             };
-            // Somehow siblingClusters should be cloned too. Believe I do this in ClonePrefab right now.
 
             return clone;
         }
 
-        private static void CopyAllExternalReceivers(Cluster sourceCluster, Cluster sibling, ClusterPrefab prefabParent, Cluster clonedParent) {
-
+        private static void CopyAllExternalReceivers(Cluster sourceCluster, Cluster sibling, Cluster clonedParent) {
             for (int nucleusIx = 0; nucleusIx < sourceCluster.nuclei.Count; nucleusIx++) {
                 Nucleus sourceNucleus = sourceCluster.nuclei[nucleusIx];
                 if (sourceNucleus is not Neuron sourceNeuron)
@@ -237,7 +233,7 @@ namespace NanoBrain {
                     }
 
                     clonedNeuron.AddReceiver(receiver, weight);
-                    Debug.Log($"external: {receiver.name} receives from {clonedNeuron.name} {clonedNeuron.GetHashCode()}");
+                    // Debug.Log($"external: {receiver.name} receives from {clonedNeuron.name} {clonedNeuron.GetHashCode()}");
                 }
             }
 
@@ -460,7 +456,7 @@ namespace NanoBrain {
                 return null;
             }
         }
-        
+
         /// <summary>
         /// The neurons without outgoing connections
         /// </summary>
@@ -500,6 +496,8 @@ namespace NanoBrain {
             foreach (Nucleus receptor in this.nuclei) {
                 if (receptor is Nucleus nucleus)
                     if (nucleus.name == nucleusName) {
+                        // if (nucleus is Cluster cluster)
+                        //     cluster.CheckInstances();
                         foundNucleus = nucleus;
                         return true;
                     }
@@ -509,52 +507,56 @@ namespace NanoBrain {
         }
 
         /// <summary>
-        /// Get a nucleus in this cluster
+        /// Get a neuron in this cluster
         /// </summary>
-        /// <param name="nucleusName">The name of the nucleus to find</param>
-        /// <returns>The found nucleus or null when it is not found</returns>
-        public Nucleus GetNucleus(string nucleusName) {
-            int dotPosition = nucleusName.IndexOf('.');
+        /// <param name="neuronName">The name of the neuron to find</param>
+        /// <returns>The found neuron or null when it is not found</returns>
+        public Neuron GetNeuron(string neuronName) {
+            if (this.nuclei == null)
+                return null;
+
+            foreach (Nucleus nucleus in this.nuclei) {
+                if (nucleus is Neuron neuron && neuron.name == neuronName)
+                    return neuron;
+            }
+            return null;
+        }
+
+        /// <summary>
+        /// Get a subcluster in this cluster
+        /// </summary>
+        /// <param name="clusterName">The name of the cluster to find</param>
+        /// <returns>The found cluster or null when it is not found</returns>
+        public Cluster GetCluster(string clusterName) {
+            int dotPosition = clusterName.IndexOf('.');
             if (dotPosition >= 0) {
-                string clusterName = nucleusName[..dotPosition];
-                string clusterName0 = clusterName + ": 0";
+                string clusterBaseName = clusterName[..dotPosition];
+                string clusterName0 = clusterBaseName + ": 0";
                 foreach (Nucleus nucleus in this.nuclei) {
                     if (nucleus is Cluster cluster) {
-                        if (cluster.name == clusterName || cluster.name == clusterName0) {
-                            string subNucleusName = nucleusName[(dotPosition + 1)..];
-                            return cluster.GetNucleus(subNucleusName);
+                        if (cluster.name == clusterBaseName || cluster.name == clusterName0) {
+                            // cluster.CheckInstances();
+                            string subNucleusName = clusterName[(dotPosition + 1)..];
+                            return cluster.GetCluster(subNucleusName);
                         }
                     }
                 }
                 return null;
             }
             else {
-                string nucleusName0 = nucleusName + ": 0";
+                string nucleusName0 = clusterName + ": 0";
                 foreach (Nucleus nucleus in this.nuclei) {
-                    if (nucleus is Cluster) {
-                        if (nucleus.name == nucleusName || nucleus.name == nucleusName0)
-                            return nucleus;
+                    if (nucleus is Cluster cluster) {
+                        if (nucleus.name == clusterName || nucleus.name == nucleusName0) {
+                            // cluster.CheckInstances();
+                            return cluster;
+                        }
                     }
-                    else if (nucleus.name == nucleusName)
-                        return nucleus;
                 }
                 return null;
             }
         }
 
-        /// <summary>
-        /// Get a neuron in this cluster
-        /// </summary>
-        /// <param name="neuronName">The name of the neuron to find</param>
-        /// <returns>The found neuron or null when it is not found</returns>
-        public Neuron GetNeuron(string neuronName) {
-            foreach (Nucleus nucleus in this.nuclei) {
-                if (nucleus is Neuron neuron && neuron.name == neuronName)
-                    return neuron;
-            }
-            return null;
-        }
-
         /// <summary>
         /// Get a neuron in an instance of a multi-cluster
         /// </summary>
@@ -568,6 +570,7 @@ namespace NanoBrain {
                 return this.GetNeuron(neuronName);
 
             // See if we are already using a cluster for thingId
+            thingClusters ??= new();
             if (thingClusters.TryGetValue(thingId, out Cluster cluster))
                 return cluster.GetNeuron(neuronName);
 

Runtime/Scripts/Core/Neuron.cs

@@ -42,6 +42,7 @@ namespace NanoBrain {
         /// </summary>
         /// 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]
         public Vector3 bias = Vector3.zero;
 
         #region Synapses
@@ -111,6 +112,7 @@ namespace NanoBrain {
         /// <summary>
         /// The type of combinator used for this Neuron
         /// </summary>
+        [HideInInspector]
         public CombinatorType combinator = CombinatorType.Sum;
 
         /// <summary>
@@ -130,6 +132,7 @@ namespace NanoBrain {
         /// The activation function
         /// </summary>
         [SerializeField]
+        [HideInInspector]
         public ActivationType _activator;
         /// <summary>
         /// The activation funtion
@@ -138,145 +141,7 @@ namespace NanoBrain {
             get { return _activator; }
             set {
                 _activator = value;
-                this.curve = GenerateCurve();
-            }
-        }
-        /// <summary>
-        /// The curve representing the activation function
-        /// </summary>
-        public AnimationCurve curve;
-        /// <summary>
-        /// The maximum value of the curve
-        /// </summary>
-        public float curveMax = 1.0f;
-
-        /// <summary>
-        /// Generate the curve for the current activation function
-        /// </summary>
-        /// <returns>The curve </returns>
-        public AnimationCurve GenerateCurve() {
-            switch (this.activator) {
-                case ActivationType.Linear:
-                    this.curveMax = 1;
-                    return Presets.Linear(1);
-                case ActivationType.Power:
-                    this.curveMax = 1;
-                    return Presets.Power(2.0f, 1);
-                case ActivationType.Sqrt:
-                    this.curveMax = 1;
-                    return Presets.Power(0.5f, 1);
-                case ActivationType.Reciprocal:
-                    this.curveMax = 1 / 0.01f * 1;
-                    return Presets.Reciprocal(1);
-                case ActivationType.Tanh:
-                    this.curveMax = 1;
-                    return Presets.Tanh(1);
-                case ActivationType.Binary:
-                    this.curveMax = 1;
-                    return Presets.Binary();
-                case ActivationType.Normalized:
-                    this.curveMax = 1;
-                    return Presets.Binary();
-                default:
-                    this.curveMax = 1;
-                    return this.curve;
-            }
-        }
-
-        /// <summary>
-        /// The curve presets for the activation functions
-        /// </summary>
-        public static class Presets {
-            /// <summary>
-            /// The number of samples in the curve
-            /// </summary>
-            private const int samples = 32;
-            /// <summary>
-            /// Generate a curve for the linear activation function
-            /// </summary>
-            /// <param name="weight">The maximum value for the function</param>
-            /// <returns>The curve preset</returns>
-            public static AnimationCurve Linear(float weight) {
-                return AnimationCurve.Linear(0f, 0f, 1000f, weight * 1000);
-            }
-            /// <summary>
-            /// Generate a curve for the power activation function
-            /// </summary>
-            /// <param name="exponent">The exponent of the power function</param>
-            /// <param name="weight">The maximum value for the function</param>
-            /// <returns>The curve preset</returns>
-            public static AnimationCurve Power(float exponent, float weight) {
-                // build keyframes
-                Keyframe[] keys = new Keyframe[samples];
-                for (int i = 0; i < samples; i++) {
-                    float t = i / (float)(samples - 1);
-                    float v = Mathf.Pow(t, exponent) * weight;
-                    keys[i] = new Keyframe(t, v);
-                }
-
-                AnimationCurve curve = new(keys);
-
-                // set tangent modes for each key to Auto (smooth). Use Linear if you prefer straight segments.
-                for (int i = 0; i < curve.length; i++) {
-                    AnimationUtility.SetKeyLeftTangentMode(curve, i, AnimationUtility.TangentMode.Auto);
-                    AnimationUtility.SetKeyRightTangentMode(curve, i, AnimationUtility.TangentMode.Auto);
-                }
-
-                return curve;
-            }
-            /// <summary>
-            /// Generate a curve for the reciprocal activation function
-            /// </summary>
-            /// <param name="weight">The maximum value for the function</param>
-            /// <returns>The curve preset</returns>
-            public static AnimationCurve Reciprocal(float weight) {
-                int samples = 128;
-                float xMin = 0.001f;
-                float xMax = 1;
-                var keys = new Keyframe[samples];
-                for (int i = 0; i < samples; i++) {
-                    float t = i / (float)(samples - 1);
-                    float x = Mathf.Lerp(xMin, xMax, t);
-                    float y = 1f / x * weight;
-                    keys[i] = new Keyframe(x, y);
-                }
-                var curve = new AnimationCurve(keys);
-                for (int i = 0; i < curve.length; i++) {
-                    AnimationUtility.SetKeyLeftTangentMode(curve, i, AnimationUtility.TangentMode.Linear);
-                    AnimationUtility.SetKeyRightTangentMode(curve, i, AnimationUtility.TangentMode.Linear);
-                }
-                return curve;
-            }
-            /// <summary>
-            /// Generate a curve for the tanh activation function
-            /// </summary>
-            /// <param name="weight">The maximum value for the function</param>
-            /// <returns>The curve preset</returns>
-            public static AnimationCurve Tanh(float weight) {
-                //int samples = 128;
-                float xMin = 0.001f;
-                float xMax = 1;
-                var keys = new Keyframe[samples];
-                for (int i = 0; i < samples; i++) {
-                    float t = i / (float)(samples - 1);
-                    float x = Mathf.Lerp(xMin, xMax, t);
-                    float y = MathF.Tanh(x * weight);
-                    keys[i] = new Keyframe(x, y);
-                }
-                var curve = new AnimationCurve(keys);
-                for (int i = 0; i < curve.length; i++) {
-                    AnimationUtility.SetKeyLeftTangentMode(curve, i, AnimationUtility.TangentMode.Linear);
-                    AnimationUtility.SetKeyRightTangentMode(curve, i, AnimationUtility.TangentMode.Linear);
-                }
-                return curve;
-
-            }
-            /// <summary>
-            /// Generate a curve for the binary activation function
-            /// </summary>
-            /// <returns>The curve preset</returns>
-            public static AnimationCurve Binary() {
-                return AnimationCurve.Linear(0, 0, 1, 1);
+                //this.curve = GenerateCurve();
             }
         }
 
@@ -287,6 +152,7 @@ namespace NanoBrain {
         /// <summary>
         /// The output value of the neuron
         /// </summary>
+        [HideInInspector]
         protected float3 _outputValue;
         /// <summary>
         /// The output value of the neuron
@@ -351,13 +217,13 @@ namespace NanoBrain {
         /// <summary>
         /// True when the neuron is not persisting and has not be updated for timeToSleep seconds
         /// </summary>
-        public virtual bool isSleeping => !persistOutput && (Time.time - this.lastUpdate > this.timeToSleep);
+        public virtual bool isSleeping => !persistOutput && (Time.time - this.lastUpdate > timeToSleep);
         /// <summary>
         /// Check if the neuron is sleeping.
         /// </summary>
         /// This will reset the output value if it is sleeping
         public void SleepCheck() {
-            if (this.isSleeping) {
+            if (this.isSleeping && this.outputSqrMagnitude > 0) {
 #if UNITY_MATHEMATICS
                 this._outputValue = new float3(0, 0, 0);
 #else
@@ -369,11 +235,14 @@ namespace NanoBrain {
         /// <summary>
         /// The time at which the last update has been done
         /// </summary>
+        [HideInInspector]
         public float lastUpdate = 0;
         /// <summary>
         /// Time in seconds after the last update the neuron can go to sleep
         /// </summary>
-        public readonly float timeToSleep = 1f;
+        public static readonly float timeToSleep = 0.5f;
+
+        public bool breakOnUpdate = false;
 
         /// \copydoc NanoBrain::Nucleus::ShallowCloneTo
         public override Nucleus ShallowCloneTo(Cluster parent) {
@@ -392,9 +261,8 @@ namespace NanoBrain {
             clone.bias = this.bias;
             clone.persistOutput = this.persistOutput;
             clone.combinator = this.combinator;
-            clone.curve = this.curve;
             clone.activator = this.activator;
-            clone.curveMax = this.curveMax;
+            clone.breakOnUpdate = this.breakOnUpdate;
         }
 
         /// <summary>
@@ -445,6 +313,9 @@ namespace NanoBrain {
 
         /// \copydoc NanoBrain::Nucleus::UpdateStateIsolated
         public override void UpdateStateIsolated() {
+            if (breakOnUpdate) {
+                Debug.Break();
+            }
             var combination = Combinator(this.bias, this.synapses);
             this.outputValue = Activator(combination);
             this.lastUpdate = Time.time;
@@ -731,6 +602,7 @@ namespace NanoBrain {
         /// The nuclei which have a synapse to this neuron
         /// </summary>
         [SerializeReference]
+        [HideInInspector]
         private List<Nucleus> _receivers = new();
         /// <summary>
         /// The nuclei which have a synapse to this neuron

Runtime/Scripts/Core/Nucleus.cs

@@ -14,12 +14,14 @@ namespace NanoBrain {
         /// <summary>
         /// The name of the Nucleus
         /// </summary>
+        [HideInInspector]
         public string name;
 
         /// <summary>
         /// The cluster instance in which the nucleus is located
         /// </summary>
         [SerializeReference]
+        [HideInInspector]
         public Cluster parent;
 
         /// <summary>

Runtime/Scripts/ScriptableObjects/ClusterPrefab.cs

@@ -14,14 +14,8 @@ namespace NanoBrain.Unity {
         /// </summary>
         public Cluster cluster;
 
-        /// <summary>
-        /// Retrieve a nucleus in this cluster
-        /// </summary>
-        /// <param name="nucleusName">The name of the nucleus</param>
-        /// <returns>The Nucleus with the given name or null if no such Nucleus could be found</returns>
-        public Nucleus GetNucleus(string nucleusName) {
-            return cluster.GetNucleus(nucleusName);
-        }
+        //[HideInInspector]
+        public int version;
 
         /// <summary>
         /// Call this function to ensure that there is at least one nucleus
@@ -36,6 +30,12 @@ namespace NanoBrain.Unity {
                 new Neuron(this.cluster, "Output"); // Every cluster should have at least 1 neuron
             this.cluster.instanceCount = 1;
         }
+
+#if UNITY_EDITOR
+        private void OnValidate() {
+            version++;
+        }
+#endif
     }
 
 }

Samples/Braitenberg/Scripts/LightSensor.cs

@@ -15,7 +15,7 @@ namespace NanoBrain.Braitenberg {
         protected override float SampleSensor() {
             float sum = 0f;
             // Get all active lights in scene (Point lights only)
-            Light[] lights = FindObjectsByType<Light>();
+            Light[] lights = FindObjectsByType<Light>(FindObjectsSortMode.None);
             Vector3 pos = transform.position;
             Vector3 forward = transform.forward;
 

Samples/Braitenberg/Scripts/LightSensor.cs.meta

@@ -1,2 +1,11 @@
 fileFormatVersion: 2
-guid: fbdba2c00e2271d7eae755fa49a7958c
+guid: fbdba2c00e2271d7eae755fa49a7958c
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Samples/Braitenberg/Scripts/Motor.cs

@@ -10,7 +10,7 @@ namespace NanoBrain.Braitenberg {
 
         public WheelCollider wheelCollider;
 
-        protected ClusterPrefab brain;
+        protected Cluster brain;
         public Neuron motorNeuron;
 
         protected virtual void Awake() {
@@ -18,7 +18,7 @@ namespace NanoBrain.Braitenberg {
             if (vehicle != null)
                 brain = vehicle.brain;
             if (brain != null)
-                motorNeuron = brain.GetNucleus(outputNeuronName) as Neuron;
+                motorNeuron = brain.GetNeuron(outputNeuronName);
             wheelCollider = GetComponent<WheelCollider>();
         }
 

Samples/Braitenberg/Scripts/Motor.cs.meta

@@ -1,2 +1,11 @@
 fileFormatVersion: 2
-guid: 07c6bf9674b9f9f0bbbf4a37f570ef4d
+guid: 07c6bf9674b9f9f0bbbf4a37f570ef4d
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Samples/Braitenberg/Scripts/Sensor.cs

@@ -25,7 +25,7 @@ namespace NanoBrain.Braitenberg {
         public float _output;
 
         protected Vehicle vehicle;
-        protected ClusterPrefab brain;
+        protected Cluster brain;
         public Neuron sensoryNeuron;
 
         protected virtual void Awake() {
@@ -34,7 +34,7 @@ namespace NanoBrain.Braitenberg {
             if (vehicle != null)
                 brain = vehicle.brain;  
             if (brain != null)
-                sensoryNeuron = brain.GetNucleus(this.name) as Neuron;
+                sensoryNeuron = brain.GetNeuron(this.name);
         }
 
         void OnEnable() => StartCoroutine(SampleRoutine());

Samples/Braitenberg/Scripts/Sensor.cs.meta

@@ -1,2 +1,11 @@
 fileFormatVersion: 2
-guid: b3d0457beca5df1bba076ac65df90b59
+guid: b3d0457beca5df1bba076ac65df90b59
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Samples/Braitenberg/Scripts/Vehicle.cs

@@ -4,7 +4,7 @@ namespace NanoBrain.Braitenberg {
 
     [RequireComponent(typeof(Rigidbody))]
     public class Vehicle : MonoBehaviour {
-        public Unity.ClusterPrefab brain;
+        public Cluster brain;
 
         [Header("Motors")]
         public Motor motorLeft;

Samples/Braitenberg/Scripts/Vehicle.cs.meta

@@ -1,2 +1,11 @@
 fileFormatVersion: 2
-guid: a8d53357b6673864d91bbc5c595d48b9
+guid: a8d53357b6673864d91bbc5c595d48b9
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: