Fixed the evaluation order

a0bbb5b Improve unit tests
f3044db Add more ToString
e64eaa2 Fix direction  To Unity Vector3
3bcd212 Fixed Spherical.ToVector3
a232385 Merge commit '841d923fed686700610a85aeab6289e44239aa6c'

git-subtree-dir: Assets/NanoBrain/LinearAlgebra
git-subtree-split: a0bbb5b5dd2e938be6d8a516bb69eb1130c4a51d

Cluster.cs

@@ -4,12 +4,9 @@ using UnityEngine;
 using Unity.Mathematics;
 using static Unity.Mathematics.math;
 
-[System.Serializable]
+[Serializable]
 public class Cluster : INucleus {
     // The ScriptableObject asset from which the runtime object has been created
-    public readonly ClusterPrefab prefab;
-
-    public ClusterPrefab cluster { get; set; }
 
     [SerializeField]
     protected string _name;
@@ -18,17 +15,113 @@ public class Cluster : INucleus {
         set => _name = value;
     }
 
-    // Hmm, a cluster instance can never be part of a scriptable object...(Cluster)
+    #region Init
-    public Cluster(ClusterPrefab parent, ClusterPrefab prefab) {
+
+    public Cluster(ClusterPrefab prefab, Cluster parent) {
         this.prefab = prefab;
+        this.name = prefab.name;
+
+        this.parent = parent;
+        this.parent?.nuclei.Add(this);
+
+        ClonePrefab();
+        this.sortedNuclei = TopologicalSort(this.nuclei);
+    }
+
+    public Cluster(ClusterPrefab prefab, ClusterPrefab parent = null) {
+        this.prefab = prefab;
+        this.name = prefab.name;
         this.cluster = parent;
+
         if (this.cluster != null)
             this.cluster.nuclei.Add(this);
 
-        // foreach (IReceptor nucleus in this.prefab.nuclei) {
+        ClonePrefab();
-        //     IReceptor clone = nucleus.CloneTo(null);
+        this.sortedNuclei = TopologicalSort(this.nuclei);
-        //     this.dynamicNuclei.Add(clone);
+    }
+
+    // public Cluster(ClusterPrefab parent, ClusterPrefab realPrefab) {
+    //     this.prefab = realPrefab;
+    //     this.name = realPrefab.name;
+    //     this.cluster = parent;
+    //     if (this.cluster != null)
+    //         this.cluster.nuclei.Add(this);
+
+    //     ClonePrefab();
     // }
+
+    private void ClonePrefab() {
+        IReceptor[] nucleiArray = this.prefab.nuclei.ToArray();
+        // first clone the nuclei without their connections
+        foreach (IReceptor nucleus in this.prefab.nuclei)
+            nucleus.ShallowCloneTo(this);
+        IReceptor[] clonedNuclei = this.nuclei.ToArray();
+
+        // Now clone the connections
+        for (int nucleusIx = 0; nucleusIx < nucleiArray.Length; nucleusIx++) {
+            IReceptor receptor = nucleiArray[nucleusIx];
+            IReceptor clonedSender = clonedNuclei[nucleusIx];
+            if (clonedSender == null)
+                continue;
+
+            // Copy the receivers, which will also create the synapses
+            foreach (INucleus receiver in receptor.receivers) {
+                int ix = GetNucleusIndex(nucleiArray, receiver);
+                if (ix < 0)
+                    continue;
+
+                if (clonedNuclei[ix] is not INucleus clonedReceiver)
+                    continue;
+
+                // Find the synapse for the weight
+                float weight = 1;
+                foreach (Synapse synapse in receiver.synapses) {
+                    if (synapse.nucleus == receptor) {
+                        weight = synapse.weight;
+                        break;
+                    }
+                }
+
+                clonedSender.AddReceiver(clonedReceiver, weight);
+            }
+        }
+    }
+
+    // Sort the nuclei in a correct evaluation order
+    private List<IReceptor> TopologicalSort(List<IReceptor> nodes) {
+        Dictionary<IReceptor, int> inDegree = new();
+        foreach (IReceptor node in nodes)
+            inDegree[node] = 0; // Initialize in-degree to zero
+
+        // Calculate in-degrees
+        foreach (IReceptor node in nodes) {
+            foreach (INucleus receiver in node.receivers)
+                inDegree[receiver]++;            
+        }
+
+        Queue<IReceptor> queue = new();
+        foreach (IReceptor node in nodes) {
+            if (inDegree[node] == 0) // Nodes with no dependencies            
+                queue.Enqueue(node);            
+        }
+
+        List<IReceptor> sortedOrder = new();
+        while (queue.Count > 0) {
+            IReceptor current = queue.Dequeue();
+            sortedOrder.Add(current); // Process the node
+
+            foreach (INucleus receiver in current.receivers) {
+                inDegree[receiver]--;
+                if (inDegree[receiver] == 0) // If all dependencies resolved
+                    queue.Enqueue(receiver);
+            }
+        }
+
+        // Check for cycles in the graph
+        if (sortedOrder.Count != nodes.Count)
+            throw new InvalidOperationException("Graph is not a DAG; a cycle exists.");        
+
+        return sortedOrder;
     }
 
     public virtual IReceptor Clone() {
@@ -46,6 +139,59 @@ public class Cluster : INucleus {
         return clone;
     }
 
+    public IReceptor ShallowCloneTo(Cluster parent) {
+        Cluster clone = new(this.prefab, parent) {
+            name = this.name,
+        };
+        return clone;
+    }
+
+    private int GetNucleusIndex(IReceptor[] nucleiArray, IReceptor nucleus) {
+        for (int i = 0; i < nucleiArray.Length; i++) {
+            if (nucleus == nucleiArray[i])
+                return i;
+        }
+        return -1;
+    }
+
+    #endregion Init
+
+    public ClusterPrefab prefab;
+
+    public ClusterPrefab cluster { get; set; }
+    public Cluster parent { get; set; }
+
+    [SerializeReference]
+    public List<IReceptor> nuclei = new();
+    // the nuclei sorted using topological sorting
+    // to ensure that the cluster is computer in the right order
+    public List<IReceptor> sortedNuclei;
+
+    public List<INucleus> _inputs = null;
+    public virtual List<INucleus> inputs {
+        get {
+            if (this._inputs == null) {
+                this._inputs = new();
+                foreach (IReceptor receptor in this.nuclei) {
+                    if (receptor is INucleus nucleus) {
+                        // inputs have no incoming synapses yet.
+                        if (nucleus.synapses.Count == 0)
+                            this._inputs.Add(nucleus);
+                    }
+                }
+            }
+            return this._inputs;
+        }
+    }
+
+    public virtual INucleus output {//=> this.nuclei[0] as INucleus;
+        get {
+            if (this.nuclei.Count > 0)
+                return this.nuclei[0] as INucleus;
+            return null;
+        }
+    }
+
     // Not sure if this belongs here...
     [SerializeReference]
     private NucleusArray _array;
@@ -56,27 +202,14 @@ public class Cluster : INucleus {
 
     #region Synapses
 
-    // class ClusterSynapse : Synapse {
-    //     public IReceptor receptor;
-    //     public ClusterSynapse(IReceptor nucleus, INucleus receptor, float weight = 1.0f) : base(nucleus, weight) {
-    //         this.receptor = receptor;
-    //     }
-    // }
     [SerializeField]
     private List<Synapse> _synapses = new();
     public List<Synapse> synapses => _synapses;
 
-    public Synapse AddSynapse(IReceptor sendingNucleus) {
+    public Synapse AddSynapse(IReceptor sendingNucleus, float weight = 1.0f) {
-        Synapse synapse = new(sendingNucleus); //, this.prefab.inputs[0]);
+        Synapse synapse = new(sendingNucleus, weight);
         this._synapses.Add(synapse);
         return synapse;
-        // else {
-        //     INucleus receptor = (INucleus)this.prefab.nuclei.Find(nucleus => nucleus is INucleus n && nucleus.name == nucleusName);
-        //     ClusterSynapse synapse = new(sendingNucleus, receptor);
-        //     receptor.AddSynapse(sendingNucleus);
-        // }
-        // // Add synapse to which neuron?
-        // return null;
     }
 
     // Does this even exist already?
@@ -95,9 +228,9 @@ public class Cluster : INucleus {
         set { _receivers = value; }
     }
 
-    public virtual void AddReceiver(INucleus receivingNucleus) {
+    public virtual void AddReceiver(INucleus receivingNucleus, float weight = 1) {
         this._receivers.Add(receivingNucleus);
-        receivingNucleus.AddSynapse(this);
+        receivingNucleus.AddSynapse(this, weight);
     }
 
     public void RemoveReceiver(INucleus receiverNucleus) {
@@ -105,48 +238,6 @@ public class Cluster : INucleus {
         receiverNucleus.synapses.RemoveAll(synapse => synapse.nucleus == this);
     }
 
-    // public void AddReceiver(INucleus receivingNucleus) {
-    //     int newLength = this._receivers.Count + 1;
-    //     INucleus[] newReceivers = new INucleus[newLength];
-
-    //     // Copy the existing receivers
-    //     for (int ix = 0; ix < this._receivers.Count; ix++)
-    //         newReceivers[ix] = this._receivers[ix];
-    //     // Add the new receivers
-    //     newReceivers[this._receivers.Count] = receivingNucleus;
-    //     // Replace the receivers with the new receivers
-    //     this._receivers = new(newReceivers);
-
-    //     receivingNucleus.AddSynapse(this);
-    // }
-
-    // public void RemoveReceiver(INucleus receivingNucleus) {
-    //     Debug.Log("Clusterinstance. remote receiver");
-    //     int newLength = this._receivers.Count - 1;
-    //     if (newLength < 0)
-    //         //  Array was empty, so we cannot remove anything
-    //         return;
-
-    //     INucleus[] newReceivers = new INucleus[newLength];
-
-    //     int newIx = 0;
-    //     // Copy all receivers except receivingNucleus
-    //     for (int ix = 0; ix < this._receivers.Count; ix++) {
-    //         if (this._receivers[ix] == receivingNucleus)
-    //             // skip the receiver we want to remote
-    //             continue;
-
-    //         if (newIx >= newLength)
-    //             // We want to copy more elements than expected
-    //             // the receivingNucleus is not found
-    //             // and the original array is returned
-    //             return;
-    //         newReceivers[newIx] = this._receivers[ix];
-    //         newIx++;
-    //     }
-    //     this._receivers = new(newReceivers);
-    // }
-
     #endregion Receivers
 
     #region Runtime
@@ -171,16 +262,55 @@ public class Cluster : INucleus {
         UpdateState(new float3(0, 0, 0));
     }
 
-    public void UpdateState(float3 inputValue) {
+    public void UpdateState(float3 bias) {
-        float3 sum = inputValue; // new(0, 0, 0);
+        float3 sum = bias; // new(0, 0, 0);
 
-        //Applying the weight factgors
+        //Applying the weight factors
         foreach (Synapse synapse in this.synapses) {
             sum += synapse.weight * synapse.nucleus.outputValue;
         }
 
-        // This does not work because the prefab nucleus does not have a state
+        //this.inputs[0].UpdateState(sum);
-        this.prefab.inputs[0].UpdateState(sum);
+        this.inputs[0].UpdateStateIsolated(sum);
+        foreach (IReceptor receptor in this.sortedNuclei) {
+            if (receptor is INucleus nucleus && nucleus != this.inputs[0])
+                nucleus.UpdateStateIsolated();
+        }
+
+        UpdateResult(this.output.outputValue);
+    }
+
+    public void UpdateStateIsolated() {
+        float3 bias = new(0,0,0);
+        UpdateStateIsolated(bias);
+    }
+    public void UpdateStateIsolated(float3 bias) {
+        float3 sum = bias; // new(0, 0, 0);
+
+        //Applying the weight factors
+        foreach (Synapse synapse in this.synapses) {
+            sum += synapse.weight * synapse.nucleus.outputValue;
+        }
+
+        //this.inputs[0].UpdateState(sum);
+        this.inputs[0].UpdateStateIsolated(sum);
+        foreach (IReceptor receptor in this.sortedNuclei) {
+            if (receptor is INucleus nucleus && nucleus != this.inputs[0])
+                nucleus.UpdateStateIsolated();
+        }
+        this.outputValue = this.output.outputValue;
+    }
+
+    public virtual void UpdateResult(Vector3 result) {
+        // float d = Vector3.Distance(result, this.outputValue);
+        // if (d < 0.5f) {
+        //     //Debug.Log($"insignificant update: {d}");
+        //     return;
+        // }
+
+        this.outputValue = result;
+        foreach (INucleus receiver in this.receivers)
+            receiver.UpdateState();
     }
 
     public void UpdateNuclei() {
@@ -188,72 +318,12 @@ public class Cluster : INucleus {
         if (this.stale > 2)
             _outputValue = Vector3.zero;
 
-        foreach (IReceptor nucleus in this.prefab.nuclei)
+        //foreach (IReceptor nucleus in this.prefab.nuclei)
+        foreach (IReceptor nucleus in this.nuclei)
             nucleus.UpdateNuclei();
     }
 
     #endregion Update
 
     #endregion Runtime    
-
-    /*
-        [SerializeField]
-        private List<IReceptor> _dynamicNuclei;
-        public List<IReceptor> dynamicNuclei {// = new();
-            get {
-                if (_dynamicNuclei == null) {
-                    this._dynamicNuclei = new();
-                    foreach (IReceptor nucleus in this.prefab.nuclei) {
-                        IReceptor clone = nucleus.CloneTo(null);
-                        this._dynamicNuclei.Add(clone);
-                    }
-                }
-                return this._dynamicNuclei;
-            }
-        }
-
-        public List<INucleus> _inputs = null;
-        public List<INucleus> inputs {
-            get {
-                this._inputs = new();
-                if (this.dynamicNuclei != null) {
-                    foreach (IReceptor receptor in this.dynamicNuclei) {
-                        if (receptor is INucleus nucleus)
-                            this._inputs.Add(nucleus);
-                    }
-                }
-                return this._inputs;
-            }
-        }
-
-        public INucleus output => this.dynamicNuclei[0] as INucleus;
-
-        public float3 outputValue => this.output.outputValue;
-
-
-        public IReceptor CloneTo(ClusterPrefab parent) {
-            Cluster clone = new(parent, this.prefab);
-            return clone;
-        }
-        public IReceptor Clone() {
-            Cluster clone = new(this.cluster, this.prefab);
-            return clone;
-        }
-
-        #region Properties
-
-        public string name {
-            get { return prefab.name; }
-            set { prefab.name = value; }
-        }
-
-        public bool isSleeping => lengthsq(this.outputValue) == 0;
-
-        public NucleusArray array { get; set; }
-
-        #endregion Properties
-
-
-    */
-
 }

ClusterPrefab.cs

@@ -4,18 +4,11 @@ using UnityEngine;
 [CreateAssetMenu(menuName = "Passer/Cluster")]
 public class ClusterPrefab : ScriptableObject {
 
-    //public virtual Cluster cluster {get;set;}
-
     // The ScriptableObject asset from which the runtime object has been created
-    //public Cluster asset;
 
     [SerializeReference]
     public List<IReceptor> nuclei = new();
 
-    // public List<Cluster> subClusters = new();
-    // public void AddSubCluster(ClusterInstance subCluster) {
-    //     this.nuclei.Add(subCluster);
-    // }
 
     public virtual INucleus output => this.nuclei[0] as INucleus;
 
@@ -25,10 +18,13 @@ public class ClusterPrefab : ScriptableObject {
             if (this._inputs == null) {
                 this._inputs = new();
                 foreach (IReceptor receptor in this.nuclei) {
-                    if (receptor is INucleus nucleus)
+                    if (receptor is INucleus nucleus) {
+                        // inputs have no incoming synapses yet.
+                        if (nucleus.synapses.Count == 0)
                             this._inputs.Add(nucleus);
                     }
                 }
+            }
             return this._inputs;
         }
     }

INucleus.cs

@@ -10,7 +10,7 @@ public interface INucleus : IReceptor {
 
     // Senders
     public List<Synapse> synapses { get; }
-    public Synapse AddSynapse(IReceptor sender);
+    public Synapse AddSynapse(IReceptor sender, float weight = 1.0f);
 
     public NucleusArray array { get; set; }
 
@@ -20,7 +20,8 @@ public interface INucleus : IReceptor {
 
     public void UpdateState();
     public void UpdateState(float3 inputValue);
-
+    public void UpdateStateIsolated();
+    public void UpdateStateIsolated(float3 inputValue);
 
     #endregion dynamic state
 }
@@ -33,7 +34,7 @@ public interface IReceptor {
     // Receivers
     public List<INucleus> receivers { get; set; }
 
-    public void AddReceiver(INucleus receiver);
+    public void AddReceiver(INucleus receiver, float weight = 1);
     public void RemoveReceiver(INucleus receiverNucleus);
 
     #endregion static
@@ -48,7 +49,7 @@ public interface IReceptor {
 
     #endregion dynamic
 
-    //public IReceptor CloneTo(ClusterPrefab parent);
+    public IReceptor ShallowCloneTo(Cluster parent);
     public IReceptor Clone();
 }
 

MemoryCell.cs

@@ -4,35 +4,38 @@ using Unity.Mathematics;
 using static Unity.Mathematics.math;
 
 [Serializable]
-public class MemoryCell : Neuron {
+public class MemoryCell : Neuron, INucleus {
 
-    public MemoryCell(ClusterPrefab cluster, string name) : base(cluster, name) {}
+    public MemoryCell(ClusterPrefab cluster, string name) : base(cluster, name) { }
+    public MemoryCell(Cluster parent, string name) : base(parent, name) { }
+    //     this.parent = parent;
+    //     this.name = name;
+    //     this.parent?.nuclei.Add(this);
+    // }
 
-    #region Parameters
+    public override IReceptor ShallowCloneTo(Cluster newParent) {
-
+        MemoryCell clone = new(newParent, this.name) {
-    // Returns the memorized value weighted by time
+            array = this.array,
-    // return lastValue * (current time - last time)
+            curve = this.curve,
-    [SerializeField]
+            curvePreset = this.curvePreset,
-    public bool deltaValue = false;
+            curveMax = this.curveMax,
-
+            average = this.average
-    #endregion Parameters
+        };
+        return clone;
+    }
 
     #region State
 
     private float3 _memorizedValue;
     private float _memorizedTime;
 
-    public override void UpdateState() {
+    public override void UpdateState(float3 bias) {
         // A memorycell does not have an activation function
-        float3 result = new(0, 0, 0);
+        float3 result = bias;
         int n = 0;
 
         //Applying the weight factgors
         foreach (Synapse synapse in this.synapses) {
-            if (synapse.nucleus == this) {
-                float deltaTime = Time.time - this.lastTime;
-                synapse.weight = deltaTime;
-            }
             result += synapse.weight * synapse.nucleus.outputValue;
             if (lengthsq(synapse.nucleus.outputValue) != 0)
                 n++;
@@ -44,14 +47,40 @@ public class MemoryCell : Neuron {
         UpdateResult(result);
     }
 
+    public override void UpdateStateIsolated() {
+        float3 bias = new(0, 0, 0);
+        UpdateStateIsolated(bias);
+    }
+    public override void UpdateStateIsolated(float3 bias) {
+        // A memorycell does not have an activation function
+        float3 result = bias;
+        int n = 0;
+
+        //Applying the weight factgors
+        foreach (Synapse synapse in this.synapses) {
+            result += synapse.weight * synapse.nucleus.outputValue;
+            if (lengthsq(synapse.nucleus.outputValue) != 0)
+                n++;
+        }
+
+        if (this.average)
+            result /= n;
+
+        this.outputValue = this._memorizedValue;
+
+        // Store the result for the next time
+        this._memorizedValue = result;
+        this._memorizedTime = Time.time;
+    }
+
     public override void UpdateResult(Vector3 result) {
         // output value is the previous value
-        if (this.deltaValue) {
+        // if (this.deltaValue) {
-            float deltaTime = Time.time - this._memorizedTime;
+        //     float deltaTime = Time.time - this._memorizedTime;
-            this._outputValue = this._memorizedValue * deltaTime;
+        //     this._outputValue = this._memorizedValue * deltaTime;
-        }
+        // }
-        else
+        //else
-            this._outputValue = this._memorizedValue;
+        this.outputValue = this._memorizedValue;
 
         // Store the result for the next time
         this._memorizedValue = result;

Neuron.cs

@@ -88,6 +88,7 @@ public class Neuron : INucleus {
     #region Runtime state (not serialized)
 
     public ClusterPrefab cluster { get; set; }
+    public Cluster parent { get; set; }
 
     #region Activation
 
@@ -153,7 +154,6 @@ public class Neuron : INucleus {
     // private bool _isSleeping = false;
     // public bool isSleeping => _isSleeping;
     public bool isSleeping => lengthsq(this.outputValue) == 0;
-    public float lastTime { get; private set; }
 
     public void UpdateNuclei() {
         this.stale++;
@@ -165,6 +165,11 @@ public class Neuron : INucleus {
 
     #endregion Runtime state
 
+    public Neuron(Cluster parent, string name) {
+        this.parent = parent;
+        this.name = name;
+        this.parent?.nuclei.Add(this);
+    }
     public Neuron(ClusterPrefab parent, string name) {
         this.cluster = parent;
         this.name = name;
@@ -175,9 +180,27 @@ public class Neuron : INucleus {
         //     Debug.LogError("No neuroid network");
     }
 
-    // public Neuron(string name) {
+    // this clone the nucleus without the synapses and receivers
-    //     this._name = name;
+    public virtual IReceptor ShallowCloneTo(Cluster newParent) {
-    // }
+        Neuron clone = new(newParent, this.name) {
+            array = this.array,
+            curve = this.curve,
+            curvePreset = this.curvePreset,
+            curveMax = this.curveMax,
+            average = this.average
+        };
+        return clone;
+    }
+    public virtual IReceptor ShallowCloneTo(ClusterPrefab newParent) {
+        Neuron clone = new(newParent, this.name) {
+            array = this.array,
+            curve = this.curve,
+            curvePreset = this.curvePreset,
+            curveMax = this.curveMax,
+            average = this.average
+        };
+        return clone;
+    }
 
     public virtual IReceptor CloneTo(ClusterPrefab parent) {
         Neuron clone = new(parent, this.name) {
@@ -187,8 +210,6 @@ public class Neuron : INucleus {
             curveMax = this.curveMax,
             average = this.average
         };
-        // if (clone.cluster != null)
-        //     clone.cluster.nuclei.Add(clone);
 
         foreach (Synapse synapse in this.synapses) {
             Synapse clonedSynapse = clone.AddSynapse(synapse.nucleus);
@@ -220,9 +241,9 @@ public class Neuron : INucleus {
         return clone;
     }
 
-    public virtual void AddReceiver(INucleus receivingNucleus) {
+    public virtual void AddReceiver(INucleus receivingNucleus, float weight = 1) {
         this._receivers.Add(receivingNucleus);
-        receivingNucleus.AddSynapse(this);
+        receivingNucleus.AddSynapse(this, weight);
     }
 
     public void RemoveReceiver(INucleus receiverNucleus) {
@@ -254,27 +275,25 @@ public class Neuron : INucleus {
         }
     }
 
-    public Synapse AddSynapse(IReceptor sendingNucleus) {
+    public Synapse AddSynapse(IReceptor sendingNucleus, float weight = 1.0f) {
-        Synapse synapse = new(sendingNucleus);
+        Synapse synapse = new(sendingNucleus, weight);
         this.synapses.Add(synapse);
         return synapse;
     }
 
     public virtual void UpdateState() {
-        UpdateState(new float3(0, 0, 0));
+        //UpdateState(new float3(0, 0, 0));
+        this.parent?.UpdateState();
     }
 
     public virtual void UpdateState(float3 inputValue) {
-        float3 sum = inputValue;//new(0, 0, 0);
+        float3 sum = inputValue;
         int n = 0;
 
         //Applying the weight factgors
         foreach (Synapse synapse in this.synapses) {
-            if (synapse.nucleus == this) {
-                float deltaTime = Time.time - this.lastTime;
-                synapse.weight = deltaTime;
-            }
             sum += synapse.weight * synapse.nucleus.outputValue;
+
             // Perhaps synapses should be removed when the output value goes to 0....
             if (lengthsq(synapse.nucleus.outputValue) != 0)
                 n++;
@@ -305,6 +324,47 @@ public class Neuron : INucleus {
         UpdateResult(result);
     }
 
+    public virtual void UpdateStateIsolated() {
+        UpdateStateIsolated(new float3(0, 0, 0));
+    }
+    public virtual void UpdateStateIsolated(float3 bias) {
+        float3 sum = bias;
+        int n = 0;
+
+        //Applying the weight factgors
+        foreach (Synapse synapse in this.synapses) {
+            sum += synapse.weight * synapse.nucleus.outputValue;
+
+            // Perhaps synapses should be removed when the output value goes to 0....
+            if (lengthsq(synapse.nucleus.outputValue) != 0)
+                n++;
+        }
+        if (this.average && n > 0)
+            sum /= n;
+
+        // Activation function
+        Vector3 result;
+        switch (this.curvePreset) {
+            case CurvePresets.Linear:
+                result = sum;
+                break;
+            case CurvePresets.Sqrt:
+                result = normalize(sum) * System.MathF.Sqrt(length(sum));
+                break;
+            case CurvePresets.Power:
+                result = normalize(sum) * System.MathF.Pow(length(sum), 2);
+                break;
+            case CurvePresets.Reciprocal:
+                result = normalize(sum) * (1 / length(sum));
+                break;
+            default:
+                float activatedValue = this.curve.Evaluate(length(sum));
+                result = normalize(sum) * activatedValue;
+                break;
+        }
+        this.outputValue = result;
+    }
+
     public virtual void UpdateResult(Vector3 result) {
         // float d = Vector3.Distance(result, this.outputValue);
         // if (d < 0.5f) {
@@ -313,7 +373,10 @@ public class Neuron : INucleus {
         // }
 
         this.outputValue = result;
-        this.lastTime = Time.time;
+        if (lengthsq(outputValue) != 0) {
+            Debug.Log($"{this.parent.name}.{this.name}: {this.outputValue}");
+        }
+
         foreach (INucleus receiver in this.receivers)
             receiver.UpdateState();
 

Receptor.cs

@@ -1,3 +1,4 @@
+using System;
 using System.Collections.Generic;
 using UnityEngine;
 using Unity.Mathematics;
@@ -6,6 +7,7 @@ using static Unity.Mathematics.math;
 public class Receptor : IReceptor {
 
     private ClusterPrefab cluster;
+    private Cluster parent;
 
     [SerializeField]
     protected string _name;
@@ -14,6 +16,11 @@ public class Receptor : IReceptor {
         set => _name = value;
     }
 
+    public Receptor(Cluster parent) {
+        this.parent = parent;
+        if (parent != null)
+            parent.nuclei.Add(this);
+    }
     public Receptor(ClusterPrefab cluster) {
         this.cluster = cluster;
         if (cluster != null)
@@ -27,15 +34,13 @@ public class Receptor : IReceptor {
         this.AddReceiver(nucleus);
     }
 
-    public static Receptor CreateReceptor(ClusterPrefab cluster, string nucleusName) {
+    public static Receptor CreateReceptor(Cluster cluster, string nucleusName) {
         if (cluster == null)
             return null;
 
         Receptor receptor = new(cluster);
         foreach (INucleus nucleus in cluster.inputs) {
             if (nucleus != null && nucleus.name == nucleusName) {
-                // Receptor receptor = new(cluster, nucleus);
-                // return receptor;
                 receptor.AddReceiver(nucleus);
             }
         }
@@ -45,6 +50,15 @@ public class Receptor : IReceptor {
             return receptor;
     }
 
+    public virtual IReceptor ShallowCloneTo(Cluster parent) {
+        Receptor clone = new(parent);
+        return clone;
+    }
+    public virtual IReceptor ShallowCloneTo(ClusterPrefab parent) {
+        Receptor clone = new(parent);
+        return clone;
+    }
+
     public virtual IReceptor CloneTo(ClusterPrefab parent) {
         Receptor clone = new(parent);
 
@@ -84,9 +98,9 @@ public class Receptor : IReceptor {
 
     protected int[] thingIds; // every receiver can handle a thing with this id
 
-    public virtual void AddReceiver(INucleus receivingNucleus) {
+    public virtual void AddReceiver(INucleus receivingNucleus, float weight = 1) {
         this._receivers.Add(receivingNucleus);
-        receivingNucleus.AddSynapse(this);
+        receivingNucleus.AddSynapse(this, weight);
     }
 
     public void RemoveReceiver(INucleus receiverNucleus) {
@@ -122,6 +136,8 @@ public class Receptor : IReceptor {
 
     public virtual void ProcessStimulus(int thingId, Vector3 newLocalPositionVector, string thingName = null) {
         this.localPosition = newLocalPositionVector;
+        if (this._receivers == null)
+            return;
 
         thingIds ??= new int[this._receivers.Count];
 

Velocity.asset

@@ -11,26 +11,20 @@ MonoBehaviour:
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: 60a957541c24c57e78018c202ebb1d9b, type: 3}
   m_Name: Velocity
-  m_EditorClassIdentifier: Assembly-CSharp::Cluster
+  m_EditorClassIdentifier: Assembly-CSharp::ClusterPrefab
   nuclei:
-  - rid: 2243601403683012671
+  - rid: 2243601425629446539
-  - rid: 2243601403683012676
   references:
     version: 2
     RefIds:
-    - rid: -2
+    - rid: 2243601425629446539
-      type: {class: , ns: , asm: }
-    - rid: 2243601403683012671
       type: {class: Neuron, ns: , asm: Assembly-CSharp}
       data:
         _name: Output
-        _synapses:
+        _synapses: []
-        - nucleus:
-            rid: -2
-          weight: 1
         _receivers: []
         _array:
-          rid: 2243601403683012672
+          rid: 2243601425629446540
         _curvePreset: 0
         curve:
           serializedVersion: 2
@@ -58,51 +52,9 @@ MonoBehaviour:
           m_RotationOrder: 4
         curveMax: 1
         average: 0
-    - rid: 2243601403683012672
+    - rid: 2243601425629446540
       type: {class: NucleusArray, ns: , asm: Assembly-CSharp}
       data:
         _nuclei:
-        - rid: 2243601403683012671
+        - rid: 2243601425629446539
         name: Output
-    - rid: 2243601403683012676
-      type: {class: Neuron, ns: , asm: Assembly-CSharp}
-      data:
-        _name: Position
-        _synapses: []
-        _receivers:
-        - rid: 2243601403683012671
-        _array:
-          rid: 2243601403683012677
-        _curvePreset: 0
-        curve:
-          serializedVersion: 2
-          m_Curve:
-          - serializedVersion: 3
-            time: 0
-            value: 0
-            inSlope: 0
-            outSlope: 1
-            tangentMode: 0
-            weightedMode: 0
-            inWeight: 0
-            outWeight: 0
-          - serializedVersion: 3
-            time: 1000
-            value: 1000
-            inSlope: 1
-            outSlope: 0
-            tangentMode: 0
-            weightedMode: 0
-            inWeight: 0
-            outWeight: 0
-          m_PreInfinity: 2
-          m_PostInfinity: 2
-          m_RotationOrder: 4
-        curveMax: 1
-        average: 0
-    - rid: 2243601403683012677
-      type: {class: NucleusArray, ns: , asm: Assembly-CSharp}
-      data:
-        _nuclei:
-        - rid: 2243601403683012676
-        name: New neuron

Velocity.asset.meta

@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: dd622ac7ed09e70ea8edac595047ac82
+guid: c61aecac62c26de4aaefb2612bcc9a5d
 NativeFormatImporter:
   externalObjects: {}
   mainObjectFileID: 11400000

VisualEditor/Editor/BrainPickerWindow.cs

@@ -3,14 +3,14 @@ using UnityEngine;
 using System;
 using System.Linq;
 
-public class BrainPickerWindow : EditorWindow {
+public class ClusterPickerWindow : EditorWindow {
     private Vector2 scroll;
     private ClusterPrefab[] items = new ClusterPrefab[0];
     private Action<ClusterPrefab> onPicked;
     private string search = "";
 
     public static void ShowPicker(Action<ClusterPrefab> onPicked, string title = "Select Cluster") {
-        var w = CreateInstance<BrainPickerWindow>();
+        var w = CreateInstance<ClusterPickerWindow>();
         w.titleContent = new GUIContent(title);
         w.minSize = new Vector2(360, 320);
         w.onPicked = onPicked;
@@ -21,7 +21,7 @@ public class BrainPickerWindow : EditorWindow {
     private void OnEnable() => RefreshList();
 
     private void RefreshList() {
-        var guids = AssetDatabase.FindAssets("t:Cluster");
+        var guids = AssetDatabase.FindAssets("t:ClusterPrefab");
         items = guids
             .Select(g => AssetDatabase.LoadAssetAtPath<ClusterPrefab>(AssetDatabase.GUIDToAssetPath(g)))
             .Where(b => b != null)

VisualEditor/Editor/ClusterInspector.cs

@@ -617,22 +617,22 @@ public class ClusterInspector : Editor {
         }
 
         protected virtual void AddCluster(INucleus nucleus) {
-            BrainPickerWindow.ShowPicker(brain => OnClusterPicked(nucleus, brain), "Select Cluster");
+            ClusterPickerWindow.ShowPicker(brain => OnClusterPicked(nucleus, brain), "Select Cluster");
         }
 
-        private void OnClusterPicked(INucleus nucleus, ClusterPrefab subCluster) {
+        private void OnClusterPicked(INucleus nucleus, ClusterPrefab prefab) {
-            Cluster subclusterInstance = new(this.cluster, subCluster);
+            Cluster subclusterInstance = new(prefab, this.cluster);
-            //this.cluster.AddSubCluster(subclusterInstance);
-            //this.cluster.nuclei.Add(subclusterInstance);
             subclusterInstance.AddReceiver(nucleus);
+            // This does not work somehow
+            // this.currentNucleus = subclusterInstance;
+            // BuildLayers();
         }
 
         private void EditCluster(Cluster subCluster) {
-            //var currentActiveObject = Selection.activeObject;
+            // May be used with storedPrefab...
             Selection.activeObject = subCluster.prefab;
             EditorGUIUtility.PingObject(subCluster.prefab);
             var editor = Editor.CreateEditor(subCluster.prefab);
-            //Selection.activeObject = currentActiveObject;
         }
 
         // Connect to another nucleus in the same cluster

VisualEditor/Editor/NanoBrainComponent_Editor.cs

@@ -22,8 +22,8 @@ public class NanoBrainComponent_Editor : Editor {
     }
 
     public override VisualElement CreateInspectorGUI() {
-        //NanoBrainComponent component = target as NanoBrainComponent;
+        //ClusterPrefab brain = Application.isPlaying ? component.brain.prefab : component.defaultBrain;
-        ClusterPrefab brain = Application.isPlaying ? component.brain : component.defaultBrain;
+        Cluster brain = component.brain;
 
         if (Application.isPlaying == false)
             serializedObject.Update();
@@ -79,7 +79,7 @@ public class NanoBrainComponent_Editor : Editor {
         });
 
         if (brain != null && board != null)
-            board.SetGraph(component.gameObject, brain, brain.output, inspectorContainer);
+            board.SetGraph(component.gameObject, brain.prefab, brain.output, inspectorContainer);
         // else
         //     Debug.LogWarning(" No brain!");
 

VisualEditor/NanoBrainComponent.cs

@@ -1,14 +1,15 @@
+using System;
 using UnityEngine;
 
 public class NanoBrainComponent : MonoBehaviour {
     public ClusterPrefab defaultBrain;
-    private ClusterPrefab brainInstance;
     
-    public INucleus root => brainInstance.output;
+    [NonSerialized]
-    public ClusterPrefab brain {
+    private Cluster brainInstance;
+    public Cluster brain {
         get {
             if (brainInstance == null && defaultBrain != null) {
-                brainInstance = Instantiate(defaultBrain);
+                brainInstance = new Cluster(defaultBrain); //Instantiate(defaultBrain);
                 brainInstance.name = defaultBrain.name + " (Instance)";
 
                 SwarmControl sc = FindFirstObjectByType<SwarmControl>();
@@ -23,7 +24,7 @@ public class NanoBrainComponent : MonoBehaviour {
         }
     }
 
-    public static void UpdateWeight(ClusterPrefab brain, string name, float weight) {
+    public static void UpdateWeight(Cluster brain, string name, float weight) {
         INucleus root = brain.output;
         foreach (Synapse synapse in root.synapses) {
             if (synapse.nucleus.name == name) {