public class Swarming : Nucleus {
    //public Perception perception;

    public Neuroid cohesion;
    public Neuroid alignment;
    public Neuroid avoidance;
    public Neuroid boundary;

    public Neuroid output;

    public const int BoundaryType = 1;
    public const int BoidType = 2;

    public Swarming(NeuroidNetwork neuroidNet, Perception perception, SwarmControl sc) : base(neuroidNet) {
        cohesion = new(neuroidNet, "Cohesion");
        perception.SendPositions(cohesion, 1.0f, BoidType);

        alignment = new(neuroidNet, "Alignment") { average = true };
        perception.SendVelocities(alignment);

        avoidance = new(neuroidNet, "Separation") { inverse = true };
        perception.SendPositions(avoidance, sc.avoidanceForce);

        boundary = new(neuroidNet, "Boundary");

        this.output = new(neuroidNet, "Swarming");
        output.GetInputFrom(alignment, sc.alignmentForce);
        output.GetInputFrom(cohesion, sc.cohesionForce);
        output.GetInputFrom(avoidance, -sc.avoidanceForce);
        output.GetInputFrom(boundary, sc.boundaryForce);
    }}