NanoBrain-unitypackage/Runtime/Scripts/Ant.cs

using System.Collections.Generic;
using UnityEngine;
using NanoBrain;

namespace Passer.CreatureControl {

    [RequireComponent(typeof(NanoBrain.NanoBrain))]
    public class Ant : Insect {
        private readonly float inertia = 0.2f;
        private readonly float smellRadius = 0.2f;
        private readonly float smellAngle = 80.0f;

        public GameObject homePheromonePrefab;
        public GameObject foodPheromonePrefab;

        public AntennaTouch touchLeft;
        public AntennaTouch touchRight;

        public NanoBrain.NanoBrain nanoBrain;
        // brain output
        public Neuron hasFood;
        // brain input
        public Nucleus pheromoneSteering;
        public Nucleus hitLeft;
        public Nucleus hitRight;
        public Nucleus beat;
        public Receptor foodReceptor;
        public Receptor homeReceptor;

        public Animator animator;
        public Vector3 linearVelocity;
        public Vector3 angularVelocity;

        #region Init

        protected virtual void Awake() {
            if (this.targetRig != null)
                this.animator = this.targetRig.animator;

            this.nanoBrain = GetComponentInChildren<NanoBrain.NanoBrain>();
        }

        #endregion Init

        #region Start

        protected override void Start() {
            base.Start();

            Cluster brain = this.nanoBrain.brain;
            if (brain != null) {
                // brain outputs
                this.pheromoneSteering = brain.GetNucleus("Pheromone Steering");

                if (brain.GetNucleus("Home Pheromones") is Neuron homePheromones)
                    homePheromones.WhenFiring += PlaceHomePheromone;
                if (brain.GetNucleus("Food Pheromones") is Neuron foodPheromones)
                    foodPheromones.WhenFiring += PlaceFoodPheromone;

                this.hasFood = brain.GetNucleus("Having Food") as Neuron;
                // brain inputs
                this.beat = brain.GetNucleus("Beat");
                this.hitLeft = brain.GetNucleus("Hit Left");
                this.hitRight = brain.GetNucleus("Hit Right");
                this.foodReceptor = brain.GetNucleus("Food Receptor") as Receptor;
                this.homeReceptor = brain.GetNucleus("Home Receptor") as Receptor;
            }

            this.linearVelocity = Vector3.forward;

            if (touchLeft != null)
                touchLeft.touched += OnAntennaTouchLeft;
            if (touchRight != null)
                touchRight.touched += OnAntennaTouchRight;

        }

        #endregion Start

        #region Update

        void PlaceFoodPheromone() {
            GameObject pheromoneObj = Instantiate(foodPheromonePrefab);
            pheromoneObj.transform.position = this.model.position;
        }
        void PlaceHomePheromone() {
            GameObject pheromoneObj = Instantiate(homePheromonePrefab);
            pheromoneObj.transform.position = this.model.position;
        }

        // Update is called once per frame
        public override void Update() {
            base.Update();

            UpdateBeat();
            UpdateSmell();

            if (this.nanoBrain == null || this.nanoBrain.brain == null || this.animator == null)
                return;

            Vector3 localForce = nanoBrain.brain.defaultOutput.outputValue;
            this.linearVelocity = (1 - inertia) * (Time.deltaTime * localForce.normalized) + inertia * this.linearVelocity;
            this.linearVelocity = this.linearVelocity.normalized * 0.2f;

            this.animator.SetFloat("Forward", this.forwardSpeed); //this.linearVelocity.z * this.forwardSpeed);

            // Rotate towards the movement direction
            if (this.linearVelocity != Vector3.zero) {
                Quaternion targetRotation = Quaternion.LookRotation(this.linearVelocity);
                Quaternion worldRotation = transform.rotation * targetRotation;
                Quaternion deltaRotation = worldRotation * Quaternion.Inverse(transform.rotation);

                Vector3 eulerAngleChange = deltaRotation.eulerAngles;
                // Normalize the Euler angles to avoid unexpected jumps due to 360-degree rotations
                eulerAngleChange = new Vector3(
                    LinearAlgebra.Angles.Normalize(eulerAngleChange.x),
                    LinearAlgebra.Angles.Normalize(eulerAngleChange.y),
                    LinearAlgebra.Angles.Normalize(eulerAngleChange.z)
                );

                this.animator.SetFloat("Rotate", eulerAngleChange.y / 45 * this.rotationSpeed);
            }
        }

        public float beatInterval = 3;
        float lastBeatTime = 0;
        void UpdateBeat() {
            if (lastBeatTime == 0) {
                ulong delay = (ulong)(Random.value * beatInterval);
                lastBeatTime = Time.time - delay;
            }
            if (Time.time - lastBeatTime >= beatInterval) {
                lastBeatTime = Time.time;
                beat?.SetBias(Vector3.one); //, 0);

                float randomAngle = Random.Range(-smellAngle, smellAngle);
                Vector3 randomDirection = Quaternion.AngleAxis(randomAngle, Vector3.up) * Vector3.forward * 1.01f;
                pheromoneSteering?.SetBias(randomDirection); //, 0, "random");
            }
        }

        void UpdateSmell() {
            // To generate random basic movement, we add a small with a random direction with low intensity

            Collider[] colliders = Physics.OverlapSphere(this.transform.position, smellRadius);
            foreach (Collider collider in colliders) {
                SmellPheromones(collider);
                SmellFood(collider);
                SmellHome(collider);
            }
            if (nanoBrain != null && nanoBrain.brain != null)
                nanoBrain.brain.UpdateNuclei();
        }

        void SmellPheromones(Collider thing) {
            Pheromone pheromone = thing.GetComponentInParent<Pheromone>();
            if (pheromone == null)
                return;

            Vector3 smellDirection = this.transform.InverseTransformPoint(pheromone.transform.position);
            float distance = smellDirection.magnitude;
            float angle = Vector3.Angle(Vector3.forward, smellDirection);
            if (angle < smellAngle && smellDirection.magnitude > 0.01) {
                float intensity = pheromone.StrengthAt(distance);
                Vector3 smell = smellDirection.normalized * intensity;
                switch (pheromone.type) {
                    case Pheromone.Type.Food:
                        foodReceptor?.ProcessStimulus(smellDirection.normalized * intensity, pheromone.GetInstanceID(), "food pheromone");
                        break;
                    case Pheromone.Type.Home:
                        homeReceptor?.ProcessStimulus(smellDirection.normalized * intensity, pheromone.GetInstanceID(), "home pheromone");
                        break;
                }
                //Debug.DrawLine(this.transform.position, pheromone.transform.position, Color.magenta);
            }

        }

        void SmellFood(Collider thing) {
            if (hasFood != null && hasFood.outputValue.x > 0)
                // if it has food...
                return;

            Food food = thing.GetComponentInParent<Food>();
            if (food == null)
                return;

            Vector3 smellDirection = this.transform.InverseTransformPoint(food.transform.position);
            float distance = smellDirection.magnitude;
            float angle = Vector3.Angle(Vector3.forward, smellDirection);
            if (angle < smellAngle && distance > 0.01) {
                float intensity = food.StrengthAt(distance);
                foodReceptor?.ProcessStimulus(smellDirection.normalized * intensity, food.GetInstanceID(), "food");
                Debug.DrawLine(this.transform.position, food.transform.position, Color.red);
            }
        }

        void SmellHome(Collider thing) {
            if (hasFood != null && hasFood.outputValue.x < 0)
                // if it does not have food....
                return;

            AntsNest nest = thing.GetComponentInParent<AntsNest>();
            if (nest == null)
                return;

            Vector3 smellDirection = this.transform.InverseTransformPoint(nest.transform.position);
            float distance = smellDirection.magnitude;
            float angle = Vector3.Angle(Vector3.forward, smellDirection);
            if (angle < smellAngle && distance > 0.01) {
                float intensity = nest.StrengthAt(distance);
                Vector3 value = smellDirection.normalized * intensity;
                homeReceptor?.ProcessStimulus(value, nest.GetInstanceID(), "nest");
                Debug.DrawLine(this.transform.position, nest.transform.position, Color.red);
            }
        }

        void OnAntennaTouchLeft(Collider other, bool isTouching) {
            Vector3 touchDirection = Vector3.zero;
            if (isTouching)
                touchDirection = this.transform.InverseTransformVector(touchLeft.transform.forward);
            hitLeft?.SetBias(touchDirection);
        }
        void OnAntennaTouchRight(Collider other, bool isTouching) {
            Vector3 touchDirection = Vector3.zero;
            if (isTouching)
                touchDirection = this.transform.InverseTransformVector(touchRight.transform.forward);
            hitRight?.SetBias(touchDirection);
        }

        #endregion Update
    }

}