NanoBrain-unitypackage/Assets/NanoBrain/Perception.cs

using System.Collections.Generic;
using UnityEngine;

[System.Serializable]
public class Perception : Nucleus {
    public SensoryNeuroid[] sensoryNeuroids = new SensoryNeuroid[7];

    [System.Serializable]
    public class Receiver {
        public int thingType = 0;
        public Nucleus neuroid;
    }

    //public HashSet<Receiver> positionReceivers { get; protected set; }
    public List<Receiver> positionReceivers;
    //public HashSet<Receiver> velocityReceivers { get; protected set; }
    public List<Receiver> velocityReceivers;

    public Perception(NanoBrainObj brain) : base(brain, "Perception") {
        this.positionReceivers = new();
        this.velocityReceivers = new();
    }


    public void SendPositions(Nucleus receivingNeuroid, int thingType = 0, float weight = 1.0f) {
        Receiver receiver = new() {
            thingType = thingType,
            neuroid = receivingNeuroid
        };
        positionReceivers.Add(receiver);
        foreach (SensoryNeuroid neuroid in sensoryNeuroids) {
            if (neuroid != null) {
                neuroid.AddReceiver(receivingNeuroid);
                receivingNeuroid.SetWeight(neuroid, weight);
            }
        }
    }
    public void SendVelocities(Nucleus receivingNeuroid, int thingType = 0, float weight = 1.0f) {
        Receiver receiver = new() {
            thingType = thingType,
            neuroid = receivingNeuroid
        };
        velocityReceivers.Add(receiver);
        foreach (SensoryNeuroid neuroid in sensoryNeuroids) {
            if (neuroid != null && neuroid.velocityNeuroid != null) {
                neuroid.velocityNeuroid.AddReceiver(receivingNeuroid);
                receivingNeuroid.SetWeight(neuroid, weight);
            }
        }
    }

    public void ProcessStimulus(int thingId, int thingType, Vector3 localPosition, string name = "Sensing") {
        int availableIx = -1;
        int leastInterestingIx = -1;
        for (int i = 0; i < sensoryNeuroids.Length; i++) {
            if (sensoryNeuroids[i] == null)
                availableIx = i;
            else if (sensoryNeuroids[i].receptor.thingId == thingId) {
                sensoryNeuroids[i].receptor.position = localPosition;
                return;
            }
            if (availableIx == -1) {
                if (sensoryNeuroids[i].isSleeping)
                    leastInterestingIx = i;
                else if (sensoryNeuroids[i] != null) {
                    if (leastInterestingIx == -1 || sensoryNeuroids[leastInterestingIx].receptor.position.magnitude > sensoryNeuroids[i].receptor.position.magnitude)
                        leastInterestingIx = i;
                }
            }
        }
        if (availableIx == -1)
            availableIx = leastInterestingIx;

        if (availableIx != -1) {
            SensoryNeuroid neuroid;
            if (sensoryNeuroids[availableIx] != null) {
                Debug.Log($"replace receptor for {thingId} at {availableIx}");
                neuroid = sensoryNeuroids[availableIx];
                neuroid.Replace(thingId, name);
            }
            else {
                Debug.Log($"new receptor for {thingId} at {availableIx}");
                neuroid = new(newBrain, thingId, name);
                sensoryNeuroids[availableIx] = neuroid;
            }
            foreach (Receiver receiver in positionReceivers) {
                if (receiver.thingType == 0 || receiver.thingType == thingType) {
                    Debug.Log("Add position receiver");
                    receiver.neuroid.GetInputFrom(neuroid);
                }
            }
            foreach (Receiver receiver in velocityReceivers) {
                if (receiver.thingType == 0 || receiver.thingType == thingType)
                    receiver.neuroid.GetInputFrom(neuroid.velocityNeuroid);
            }

            neuroid.receptor.position = localPosition;
        }
    }

}