Pascal Serrarens
4363079d43
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
592 lines
28 KiB
C#
592 lines
28 KiB
C#
using System.Collections.Generic;
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using System.Linq;
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using UnityEditor;
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using UnityEngine;
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using UnityEngine.UIElements;
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namespace NanoBrain {
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[CustomEditor(typeof(ClusterPrefab))]
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public class ClusterEditor : ClusterViewer {
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public override VisualElement CreateInspectorGUI() {
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ClusterPrefab prefab = target as ClusterPrefab;
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if (prefab != null)
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prefab.EnsureInitialization();
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serializedObject.Update();
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VisualElement root = new();
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CreateEditor(root, prefab, null);
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serializedObject.ApplyModifiedProperties();
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return root;
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}
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public GraphView CreateEditor(VisualElement root, ClusterPrefab cluster, GameObject gameObject) {
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root.style.paddingLeft = 0;
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root.style.paddingRight = 0;
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root.style.paddingTop = 0;
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root.style.paddingBottom = 0;
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root.styleSheets.Add(Resources.Load<StyleSheet>("GraphStyles"));
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VisualElement mainContainer = new() {
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style = {
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flexDirection = FlexDirection.Row,
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}
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};
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GraphEditor graphContainer = new(cluster);
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graphContainer.style.flexShrink = 0;
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graphContainer.style.width = 300;
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graphContainer.style.overflow = Overflow.Hidden;
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VisualElement inspectorContainer = new() {
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name = "inspector",
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style = {
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minHeight = 450,
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width = 300,
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flexGrow = 0,
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flexDirection = FlexDirection.Row,
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}
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};
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mainContainer.Add(graphContainer);
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mainContainer.Add(inspectorContainer);
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root.Add(mainContainer);
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graphContainer.SetGraph(gameObject, inspectorContainer);
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return graphContainer;
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}
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public class GraphEditor : GraphView {
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protected ClusterPrefab prefab;
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//protected Nucleus currentPrefabNucleus;
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protected override Nucleus currentNucleus {
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get => base.currentNucleus;
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set {
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base.currentNucleus = value;
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// this.currentPrefabNucleus = value != null ? this.prefab.GetNucleus(value.name) : null;
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}
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}
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public GraphEditor(ClusterPrefab prefab) : base(prefab.cluster.defaultOutput.parent) {
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this.prefab = prefab;
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// In a Prefab editor, no instance exists but we need it for the ClusterViewer.
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// So we create a temporary instance
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//this.currentCluster = new(prefab);
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this.currentCluster = prefab.cluster;
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this.currentCluster.Refresh();
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}
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public void SetGraph(GameObject gameObject, VisualElement inspectorContainer) {
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this.gameObject = gameObject;
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if (Application.isPlaying == false)
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this.serializedBrain = new SerializedObject(this.prefab);
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this.selectedOutput = this.currentCluster.defaultOutput;
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this.currentNucleus = this.selectedOutput;
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//this.currentCluster = this.currentNucleus.parent;
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Rebuild(inspectorContainer);
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// if (outputsPopup != null)
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// OnOutputChanged(outputsPopup.choices[0]);
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}
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private void Rebuild(VisualElement inspectorContainer) {
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if (this.currentNucleus == null) {
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inspectorContainer.Clear();
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return;
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}
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string path = AssetDatabase.GetAssetPath(this.prefab); // or known path
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this.prefabAsset = AssetDatabase.LoadAssetAtPath<ClusterPrefab>(path);
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if (this.prefabAsset == null) {
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// create in memory save if it doesn't exist
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this.prefabAsset = CreateInstance<ClusterPrefab>();
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//Debug.LogError("Cluster Prefab is not found on disk");
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}
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// DrawInspector(inspectorContainer);
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if (inspectorContainer == null)
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return;
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inspectorContainer.Clear();
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if (this.currentNucleus == null)
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return;
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// create a SerializedObject wrapper so Unity inspector controls work (and Undo)
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SerializedObject so = new(prefabAsset);
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// foreach (Nucleus nucleus in this.prefab.cluster.nuclei) {
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// nucleus.Initialize();
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// }
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this.inspectorIMGUIContainer = new IMGUIContainer(() => InspectorHandler(so));
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inspectorContainer.Add(inspectorIMGUIContainer);
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}
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#region Inspector
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private VisualElement inspectorIMGUIContainer;
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private bool showSynapses = true;
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private bool showActivation = true;
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protected bool breakOnWake = false;
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protected bool trace = false;
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void InspectorHandler(SerializedObject serializedObject) {
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bool anythingChanged = false;
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if (serializedObject == null || serializedObject.targetObject == null)
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return;
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serializedObject.Update();
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GUIStyle boldTextFieldStyle = new(EditorStyles.textField) {
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fontStyle = FontStyle.Bold
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};
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if (this.currentNucleus == null) {
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OutputsInspector(ref anythingChanged);
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return;
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}
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else {
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GUIStyle headerStyle = new(EditorStyles.boldLabel) {
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alignment = TextAnchor.MiddleLeft,
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margin = new RectOffset(10, 0, 4, 4)
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};
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// Nucleus type
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string nucleusType = this.currentNucleus.GetType().Name;
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GUILayout.Label(nucleusType, headerStyle);
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// Nucleus name
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string newName = EditorGUILayout.TextField(this.currentNucleus.name, boldTextFieldStyle);
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if (newName != this.currentNucleus.name) {
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this.currentNucleus.name = newName;
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anythingChanged = true;
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}
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// Current output value
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if (Application.isPlaying) {
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if (currentNucleus is Neuron currentNeuron1) {
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GUIContent nameLabel = new("Output", currentNeuron1.outputValue.ToString());
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EditorGUILayout.FloatField(nameLabel, currentNeuron1.outputMagnitude);
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}
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else
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EditorGUILayout.LabelField(" ");
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}
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else
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EditorGUILayout.LabelField(" ");
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// Memory cell
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if (this.currentNucleus is MemoryCell memory)
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MemoryCellInspector(memory, ref anythingChanged);
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// Cluster
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else if (this.currentNucleus is Cluster cluster)
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ClusterInspector(cluster, ref anythingChanged);
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// Other
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else
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NucleusInspector(this.currentNucleus, ref anythingChanged);
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if (GUILayout.Button("Delete"))
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DeleteNucleus(this.currentNucleus);
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}
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serializedObject.ApplyModifiedProperties();
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if (anythingChanged) {
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EditorUtility.SetDirty(prefabAsset);
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AssetDatabase.SaveAssets();
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}
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}
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protected void OutputsInspector(ref bool anythingChanged) {
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GUIStyle headerStyle = new(EditorStyles.boldLabel) {
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alignment = TextAnchor.MiddleLeft,
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margin = new RectOffset(10, 0, 4, 4)
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};
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GUILayout.Label("Outputs", headerStyle);
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bool connecting = GUILayout.Button("Add Output Neuron");
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if (connecting) {
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Nucleus newOutput = new Neuron(this.currentCluster, "New Output");
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this.currentCluster.Refresh();
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this.currentNucleus = newOutput;
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this.selectedOutput = this.currentNucleus;
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}
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}
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protected void MemoryCellInspector(MemoryCell memoryCell, ref bool anythingChanged) {
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memoryCell.staticMemory = EditorGUILayout.Toggle("Static Memory", memoryCell.staticMemory);
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NucleusInspector(memoryCell, ref anythingChanged);
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}
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protected void ClusterInspector(Cluster cluster, ref bool anythingChanged) {
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EditorGUILayout.BeginHorizontal();
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int instanceCount = cluster.instanceCount;
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if (instanceCount <= 1) {
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if (cluster.instances != null && cluster.instances.Length > 1)
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instanceCount = cluster.instances.Count();
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else
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instanceCount = 1;
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}
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EditorGUILayout.IntField("Instances", instanceCount, GUILayout.MinWidth(150));
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if (GUILayout.Button("Add")) {
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Undo.RecordObject(prefabAsset, "Array add " + prefabAsset.name);
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cluster.AddInstance();
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anythingChanged = true;
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}
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if (GUILayout.Button("Del")) {
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Undo.RecordObject(prefabAsset, "Array delete " + prefabAsset.name);
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cluster.RemoveInstance();
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anythingChanged = true;
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}
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EditorGUILayout.EndHorizontal();
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// if (GUILayout.Button("Reimport Cluster"))
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// ReimportCluster(cluster);
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}
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protected void NucleusInspector(Nucleus nucleus, ref bool anythingChanged) {
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SynapsesInspector(ref anythingChanged);
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ActivationInspector(ref anythingChanged);
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EditorGUILayout.Space();
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breakOnWake = EditorGUILayout.Toggle("Break on wake", breakOnWake);
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if (breakOnWake && this.currentNucleus is Neuron currentNeuron) {
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if (currentNeuron.isSleeping == false)
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Debug.Break();
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// trace = EditorGUILayout.Toggle("Trace", trace);
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// currentNeuron.trace = trace;
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}
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}
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protected void SynapsesInspector(ref bool anythingChanged) {
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showSynapses = EditorGUILayout.BeginFoldoutHeaderGroup(showSynapses, "Synapses");
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if (showSynapses) {
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if (this.currentNucleus is Neuron neuron2) {
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Neuron.CombinatorType newCombinator = (Neuron.CombinatorType)EditorGUILayout.EnumPopup("Combinator", neuron2.combinator);
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anythingChanged |= newCombinator != neuron2.combinator;
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neuron2.combinator = newCombinator;
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EditorGUIUtility.wideMode = true;
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float previousLabelWidth = EditorGUIUtility.labelWidth;
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EditorGUIUtility.labelWidth = 100;
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Vector3 newBias = EditorGUILayout.Vector3Field("Bias", neuron2.bias);
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if (newBias != neuron2.bias) {
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anythingChanged |= newBias != neuron2.bias;
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neuron2.bias = newBias;
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}
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EditorGUIUtility.labelWidth = previousLabelWidth;
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}
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Nucleus[] array = null;
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int elementIx = -1;
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if (this.currentNucleus is Neuron currentNeuron && currentNeuron.synapses.Count > 0) {
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Synapse[] synapses = currentNeuron.synapses.ToArray();
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foreach (Synapse synapse in synapses) {
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if (synapse.neuron == null)
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continue;
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if (array != null) {
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if (synapse.neuron.parent is Cluster iCluster && elementIx > 0) {
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int thisElementIx = Cluster.GetNucleusIndex(iCluster.nuclei, synapse.neuron);
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if (thisElementIx == elementIx)
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continue;
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else
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elementIx = thisElementIx;
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}
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if (array.Contains(synapse.neuron))
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continue;
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else if (array.Contains(synapse.neuron.parent))
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continue;
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}
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else {
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if (synapse.neuron.parent is Cluster iReceptor) {
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array = iReceptor.instances;
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if (iReceptor is Cluster iCluster)
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elementIx = Cluster.GetNucleusIndex(iCluster.nuclei, synapse.neuron);
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}
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}
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EditorGUILayout.Space();
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if (Application.isPlaying) {
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if (synapse.neuron is Neuron synapseNeuron) {
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Vector3 value = synapseNeuron.outputValue * synapse.weight;
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GUIContent synapseValueLabel = new(synapse.neuron.name, synapseNeuron.outputValue.ToString());
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EditorGUILayout.FloatField(synapseValueLabel, synapseNeuron.outputMagnitude);
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}
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}
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else {
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EditorGUILayout.BeginHorizontal();
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if (synapse.neuron.parent != this.currentNucleus.parent) {
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// If it is a different cluster
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GUIStyle labelStyle = new(GUI.skin.label);
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float labelWidth = 200;
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if (synapse.neuron.parent != null) {
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labelWidth = labelStyle.CalcSize(new GUIContent($"{synapse.neuron.parent.name}.")).x;
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GUILayout.Label($"{synapse.neuron.parent.name}", GUILayout.Width(labelWidth));
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}
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string[] options = synapse.neuron.parent.nuclei.Select(n => n.name).ToArray();
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int selectedIndex = System.Array.IndexOf(options, synapse.neuron.name);
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int newIndex = EditorGUILayout.Popup(selectedIndex, options);
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if (newIndex != selectedIndex) {
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Neuron newNeuron = synapse.neuron.parent.nuclei[newIndex] as Neuron;
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ChangeSynapse(synapse, newNeuron);
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}
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}
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else
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GUILayout.Label(synapse.neuron.name);
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bool disconnecting = GUILayout.Button("Disconnect", GUILayout.Width(80));
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if (disconnecting) {
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synapse.neuron.RemoveReceiver(this.currentNucleus);
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this.currentCluster.Refresh();
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anythingChanged = true;
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}
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EditorGUILayout.EndHorizontal();
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}
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EditorGUI.indentLevel++;
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float newWeight = EditorGUILayout.FloatField("Weight", synapse.weight);
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if (newWeight != synapse.weight) {
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synapse.weight = newWeight;
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anythingChanged = true;
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}
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EditorGUI.indentLevel--;
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}
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}
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EditorGUILayout.Space();
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anythingChanged |= ConnectNucleus(this.prefab, this.currentNucleus);
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anythingChanged |= AddSynapse(this.prefab, this.currentNucleus);
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}
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EditorGUILayout.EndFoldoutHeaderGroup();
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}
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protected void ActivationInspector(ref bool anythingChanged) {
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EditorGUILayout.Space();
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showActivation = EditorGUILayout.BeginFoldoutHeaderGroup(showActivation, "Activation");
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if (showActivation) {
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if (this.currentNucleus is Neuron neuron) {
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if (this.currentNucleus is not MemoryCell) {
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EditorGUILayout.BeginHorizontal();
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EditorGUILayout.LabelField("Activation Curve", GUILayout.MinWidth(60));
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if (neuron.curveMax > 0)
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EditorGUILayout.CurveField(neuron.curve, Color.cyan, new Rect(0, 0, 1, neuron.curveMax), GUILayout.Width(40));
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else
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EditorGUILayout.CurveField(neuron.curve, Color.cyan, new Rect(0, neuron.curveMax, 1, -neuron.curveMax), GUILayout.Width(40));
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Neuron.ActivationType newPreset = (Neuron.ActivationType)EditorGUILayout.EnumPopup(neuron.curvePreset, GUILayout.MinWidth(50));
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anythingChanged |= newPreset != neuron.curvePreset;
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neuron.curvePreset = newPreset;
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EditorGUILayout.EndHorizontal();
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}
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// if (neuron is Receptor receptor2) {
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// if (receptor2.nucleiArray == null || receptor2.nucleiArray.Count() == 0)
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// receptor2.array = new NucleusArray(neuron);
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// }
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}
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EditorGUILayout.Space();
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}
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EditorGUILayout.EndFoldoutHeaderGroup();
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}
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#region Synapses
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protected virtual void AddInput(Nucleus.Type selectedType, Nucleus nucleus) {
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switch (selectedType) {
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case Nucleus.Type.Neuron:
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AddNeuronInput(nucleus);
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break;
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case Nucleus.Type.MemoryCell:
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AddMemoryCellInput(nucleus);
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break;
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case Nucleus.Type.Cluster:
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AddClusterInput(nucleus);
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break;
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default:
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break;
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}
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}
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protected virtual void AddNeuronInput(Nucleus nucleus) {
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Neuron newNeuron = new(this.currentCluster, "New Neuron");
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//Neuron newNeuroid = new(this.prefab.cluster, "New neuron");
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newNeuron.AddReceiver(nucleus);
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this.currentNucleus = newNeuron;
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}
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protected virtual void AddMemoryCellInput(Nucleus nucleus) {
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MemoryCell newMemory = new(this.prefab.cluster, "New memory cell");
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newMemory.AddReceiver(nucleus);
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this.currentNucleus = newMemory;
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}
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protected virtual void AddClusterInput(Nucleus nucleus) {
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ClusterPickerWindow.ShowPicker(brain => OnClusterPicked(nucleus, brain), "Select Cluster");
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}
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private void OnClusterPicked(Nucleus nucleus, ClusterPrefab selectedPrefab) {
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Cluster subclusterInstance = new(selectedPrefab, this.currentCluster);
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subclusterInstance.defaultOutput.AddReceiver(nucleus);
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}
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// private void ReimportCluster(Cluster subCluster) {
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// if (subCluster.siblingClusters == null || subCluster.siblingClusters.Length <= 0) {
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// Cluster reimportedCluster = new(subCluster.prefab, this.prefab);
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// subCluster.MoveReceivers(reimportedCluster);
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// // subcluster should be garbage now...
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// this.currentNucleus = reimportedCluster;
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// }
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// else {
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// this.currentNucleus = null;
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// List<Cluster> newSiblingsList = new();
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// foreach (Cluster sibling in subCluster.siblingClusters) {
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// Cluster reimportedCluster = new(sibling.prefab, this.prefab) {
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// name = sibling.name
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// };
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// sibling.MoveReceivers(reimportedCluster);
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// newSiblingsList.Add(reimportedCluster);
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// // make the first reimportedCluster the new current nucleus
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// this.currentNucleus ??= reimportedCluster;
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// }
|
|
// Cluster[] newSiblings = newSiblingsList.ToArray();
|
|
// foreach (Cluster sibling in newSiblings)
|
|
// sibling.siblingClusters = newSiblings;
|
|
// }
|
|
// }
|
|
|
|
int selectedConnectNucleus = -1;
|
|
// Connect to another nucleus
|
|
protected virtual bool ConnectNucleus(ClusterPrefab cluster, Nucleus nucleusToConnect) {
|
|
if (cluster == null)
|
|
return false;
|
|
|
|
Neuron currentNeuron = this.currentNucleus as Neuron;
|
|
IEnumerable<Nucleus> synapseNuclei = currentNeuron.synapses
|
|
.Where(synapse => synapse.neuron != null)
|
|
.Select(synapse => synapse.neuron);
|
|
|
|
IEnumerable<Nucleus> nuclei = cluster.cluster.nuclei
|
|
.Except(synapseNuclei);
|
|
IEnumerable<string> nucleiNames = nuclei
|
|
.Select(n => {
|
|
int idx = n.name.IndexOf(':');
|
|
return idx < 0 ? n.name : n.name[..idx];
|
|
})
|
|
.Distinct();
|
|
|
|
string[] names = nucleiNames.ToArray();
|
|
EditorGUILayout.BeginHorizontal();
|
|
selectedConnectNucleus = EditorGUILayout.Popup(selectedConnectNucleus, names);
|
|
bool connecting = GUILayout.Button("Connect", GUILayout.Width(80));
|
|
EditorGUILayout.EndHorizontal();
|
|
if (connecting) {
|
|
Nucleus nucleus = nuclei.ElementAt(selectedConnectNucleus);
|
|
// if (nucleus is Cluster subCluster) {
|
|
// subCluster.AddArrayReceiver(this.currentNucleus);
|
|
// }
|
|
// else
|
|
if (nucleus is Neuron neuron)
|
|
neuron.AddReceiver(this.currentNucleus);
|
|
this.currentCluster.Refresh();
|
|
}
|
|
return connecting;
|
|
}
|
|
|
|
protected virtual void DeleteNucleus(Nucleus nucleus) {
|
|
if (nucleus == null)
|
|
return;
|
|
|
|
if (nucleus is Neuron neuron) {
|
|
foreach (Nucleus receiver in neuron.receivers) {
|
|
if (receiver != null) {
|
|
this.currentNucleus = receiver;
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
this.currentCluster.DeleteNucleus(nucleus);//clusterNuclei.Remove(nucleus);
|
|
|
|
// this.prefab.nuclei.Remove(nucleus);
|
|
// Neuron.Delete(nucleus);
|
|
this.prefab.cluster.RefreshOutputs();
|
|
|
|
|
|
this.currentNucleus = this.prefab.cluster.defaultOutput;
|
|
this.selectedOutput = this.currentNucleus;
|
|
}
|
|
|
|
Nucleus.Type selectedType = Nucleus.Type.None;
|
|
protected virtual bool AddSynapse(ClusterPrefab cluster, Nucleus nucleus) {
|
|
if (cluster == null)
|
|
return false;
|
|
|
|
EditorGUILayout.BeginHorizontal();
|
|
selectedType = (Nucleus.Type)EditorGUILayout.EnumPopup(selectedType);
|
|
bool connecting = GUILayout.Button("Add", GUILayout.Width(80));
|
|
EditorGUILayout.EndHorizontal();
|
|
|
|
if (connecting) {
|
|
AddInput(selectedType, this.currentNucleus);
|
|
}
|
|
return connecting;
|
|
}
|
|
|
|
protected virtual void ChangeSynapse(Synapse synapse, Neuron newNucleus) {
|
|
Neuron synapseNeuron = synapse.neuron;
|
|
if (synapse.neuron.parent is Cluster subCluster && subCluster.prefab != this.prefab) {
|
|
// if (synapse.neuron.parent is ClusterReceptor receptor) {
|
|
// // the new nucleus is part of a (cluster) receptor,
|
|
// // so we have to change all synapses to this nucleus array elements
|
|
// int oldNucleusIx = Cluster.GetNucleusIndex(subCluster.clusterNuclei, synapse.neuron);
|
|
// int newNucleusIx = Cluster.GetNucleusIndex(subCluster.clusterNuclei, newNucleus);
|
|
// foreach (Nucleus element in receptor.nucleiArray) {
|
|
// if (element is not ClusterReceptor clusterReceptor)
|
|
// continue;
|
|
// // Get the same neuron as the synapse.nucleus in a different element
|
|
// // of the ClusterReceptor array
|
|
// Nucleus oldElementNucleus = clusterReceptor.clusterNuclei[oldNucleusIx];
|
|
// if (oldElementNucleus is not Neuron oldElementNeuron)
|
|
// continue;
|
|
// // Get the same neuron as newNucleus in a different element
|
|
// // of the ClusterReceptor array
|
|
// Nucleus newElementNucleus = clusterReceptor.clusterNuclei[newNucleusIx];
|
|
// if (newElementNucleus is not Neuron newElementNeuron)
|
|
// continue;
|
|
|
|
// oldElementNeuron.RemoveReceiver(this.currentNucleus);
|
|
// newElementNeuron.AddReceiver(this.currentNucleus);
|
|
// // Now find the synapse which pointed to the old Neuron
|
|
// // Synapse synapseForUpdate = this.currentNucleus.GetSynapse(oldElementNeuron);
|
|
// // synapseForUpdate.nucleus = newElementNeuron;
|
|
// }
|
|
// }
|
|
// else {
|
|
// it is a neuron in a subcluster
|
|
synapseNeuron.RemoveReceiver(this.currentNucleus);
|
|
newNucleus.AddReceiver(this.currentNucleus);
|
|
// }
|
|
}
|
|
else {
|
|
synapseNeuron.RemoveReceiver(this.currentNucleus);
|
|
newNucleus.AddReceiver(this.currentNucleus);
|
|
}
|
|
}
|
|
|
|
#endregion Synapses
|
|
|
|
#endregion Inspector
|
|
}
|
|
}
|
|
|
|
} |