source: cpp/frams/config/f0def.xml @ 132

Last change on this file since 132 was 109, checked in by sz, 11 years ago

source reorganization (see README)
new feature added: part/joint shapes (see frams/_demos/part_shapes.cpp)
File size: 14.6 KB
Line 
1<!DOCTYPE F0CLASSES>
2<F0CLASSES>
3
4 <CLASS ID="m" NAME="Model">
5  <GROUP NAME="Properties" />
6  <GROUP NAME="Visual" />
7  <PROP ID="se" NAME="startenergy" GROUP="0" FLAGS="1024" TYPE="f" />
8  <PROP ID="Vstyle" NAME="vis_style" GROUP="1" FLAGS="0" TYPE="s" MIN="0" MAX="-1" />
9 </CLASS>
10
11 <CLASS ID="p" NAME="Part">
12  <GROUP NAME="Geometry" />
13  <GROUP NAME="Other properties" />
14  <GROUP NAME="Visual" />
15  <PROP ID="x" NAME="position.x" GROUP="0" FLAGS="1024" TYPE="f" />
16  <PROP ID="y" NAME="position.y" GROUP="0" FLAGS="1024" TYPE="f" />
17  <PROP ID="z" NAME="position.z" GROUP="0" FLAGS="1024" TYPE="f" />
18  <PROP ID="m" XTRA="1" NAME="mass" GROUP="1" FLAGS="0" TYPE="f" MIN="0.1" MAX="999.0" DEF="1.0" />
19  <PROP ID="sh" NAME="shape" GROUP="1" FLAGS="0" TYPE="d" MIN="0" MAX="3" DEF="0" />
20  <PROP ID="s" NAME="size" GROUP="1" FLAGS="0" TYPE="f" MIN="0.1" MAX="10.0" DEF="1.0" />
21  <PROP ID="sx" NAME="scale.x" GROUP="1" FLAGS="0" TYPE="f" MIN="0.001" MAX="1000.0" DEF="1.0" />
22  <PROP ID="sy" NAME="scale.y" GROUP="1" FLAGS="0" TYPE="f" MIN="0.001" MAX="1000.0" DEF="1.0" />
23  <PROP ID="sz" NAME="scale.z" GROUP="1" FLAGS="0" TYPE="f" MIN="0.001" MAX="1000.0" DEF="1.0" />
24  <PROP ID="dn" XTRA="1" NAME="density" GROUP="1" FLAGS="0" TYPE="f" MIN="0.2" MAX="5.0" DEF="1.0" />
25  <PROP ID="fr" XTRA="1" NAME="friction" GROUP="1" FLAGS="0" TYPE="f" MIN="0.0" MAX="4.0" DEF="0.4" />
26  <PROP ID="ing" XTRA="1" NAME="ingestion" GROUP="1" FLAGS="0" TYPE="f" MIN="0.0" MAX="1.0" DEF="0.25" />
27  <PROP ID="as" XTRA="1" NAME="assimilation" GROUP="1" FLAGS="0" TYPE="f" MIN="0.0" MAX="1.0" DEF="0.25" />
28  <PROP ID="rx" NAME="rot.x" GROUP="0" FLAGS="0" TYPE="f" />
29  <PROP ID="ry" NAME="rot.y" GROUP="0" FLAGS="1024" TYPE="f" />
30  <PROP ID="rz" NAME="rot.z" GROUP="0" FLAGS="1024" TYPE="f" />
31  <PROP ID="i" NAME="info" GROUP="1" FLAGS="0" TYPE="s" />
32  <PROP ID="Vstyle" NAME="vis_style" GROUP="2" FLAGS="0" TYPE="s" MIN="0" MAX="-1" DEF="part" />
33  <PROP ID="vs" XTRA="1" NAME="visual thickness" GROUP="2" FLAGS="0" TYPE="f" MIN="0.05" MAX="0.7" DEF="0.2" />
34  <PROP ID="vr" XTRA="1" NAME="red component" GROUP="2" FLAGS="0" TYPE="f" MIN="0.0" MAX="1.0" DEF="0.5" />
35  <PROP ID="vg" XTRA="1" NAME="green component" GROUP="2" FLAGS="1024" TYPE="f" MIN="0.0" MAX="1.0" DEF="0.5" />
36  <PROP ID="vb" XTRA="1" NAME="blue component" GROUP="2" FLAGS="1024" TYPE="f" MIN="0.0" MAX="1.0" DEF="0.5" />
37 </CLASS>
38
39 <CLASS ID="j" NAME="Joint">
40  <GROUP NAME="Connections" />
41  <GROUP NAME="Geometry" />
42  <GROUP NAME="Other properties" />
43  <GROUP NAME="Visual" />
44  <PROP ID="p1" NAME="part1 ref#" GROUP="0" FLAGS="1024" TYPE="d" MIN="-1" MAX="999999" DEF="-1" />
45  <PROP ID="p2" NAME="part2 ref#" GROUP="0" FLAGS="1024" TYPE="d" MIN="-1" MAX="999999" DEF="-1" />
46  <PROP ID="rx" NAME="rotation.x" GROUP="1" FLAGS="0" TYPE="f" />
47  <PROP ID="ry" NAME="rotation.y" GROUP="1" FLAGS="1024" TYPE="f" />
48  <PROP ID="rz" NAME="rotation.z" GROUP="1" FLAGS="1024" TYPE="f" />
49  <PROP ID="dx" NAME="delta.x" GROUP="1" FLAGS="0" TYPE="f" MIN="-2" MAX="2" DEF="0" />
50  <PROP ID="dy" NAME="delta.y" GROUP="1" FLAGS="1024" TYPE="f" MIN="-2" MAX="2" DEF="0" />
51  <PROP ID="dz" NAME="delta.z" GROUP="1" FLAGS="1024" TYPE="f" MIN="-2" MAX="2" DEF="0" />
52  <PROP ID="sh" NAME="shape" GROUP="1" FLAGS="0" TYPE="d" MIN="0" MAX="1" DEF="0" />
53  <PROP ID="stif" XTRA="1" NAME="stiffness" GROUP="2" FLAGS="0" TYPE="f" MIN="0.0" MAX="1.0" DEF="1.0" />
54  <PROP ID="rotstif" XTRA="1" NAME="rotation stiffness" GROUP="2" FLAGS="0" TYPE="f" MIN="0.0" MAX="1.0" DEF="1.0" />
55  <PROP ID="stam" NAME="stamina" GROUP="2" FLAGS="0" TYPE="f" MIN="0.0" MAX="1.0" DEF="0.25" />
56  <PROP ID="i" NAME="info" GROUP="2" FLAGS="0" TYPE="s" />
57  <PROP ID="Vstyle" NAME="vis_style" GROUP="3" FLAGS="0" TYPE="s" MIN="0" MAX="-1" DEF="joint" />
58  <PROP ID="vr" XTRA="1" NAME="red component" GROUP="3" FLAGS="0" TYPE="f" MIN="0.0" MAX="1.0" DEF="0.5" />
59  <PROP ID="vg" XTRA="1" NAME="green component" GROUP="3" FLAGS="1024" TYPE="f" MIN="0.0" MAX="1.0" DEF="0.5" />
60  <PROP ID="vb" XTRA="1" NAME="blue component" GROUP="3" FLAGS="1024" TYPE="f" MIN="0.0" MAX="1.0" DEF="0.5" />
61 </CLASS>
62
63
64
65 <CLASS ID="n" NAME="Neuro">
66  <GROUP NAME="Connections" />
67  <GROUP NAME="Other" />
68  <GROUP NAME="Visual" />
69  <PROP ID="p" NAME="part ref#" GROUP="0" FLAGS="0" TYPE="d" MIN="-1" MAX="999999" DEF="-1" />
70  <PROP ID="j" NAME="joint ref#" GROUP="0" FLAGS="0" TYPE="d" MIN="-1" MAX="999999" DEF="-1" />
71  <PROP ID="d" NAME="item details" GROUP="1" FLAGS="0" TYPE="s" DEF="N" />
72  <PROP ID="i" NAME="info" GROUP="1" FLAGS="0" TYPE="s" />
73  <PROP ID="Vstyle" NAME="vis_style" GROUP="2" FLAGS="0" TYPE="s" MIN="0" MAX="-1" DEF="neuro" />
74  <PROP ID="getInputCount" NAME="input count" GROUP="0" FLAGS="1+2" TYPE="d" />
75  <PROP ID="getInputNeuroDef" NAME="get input neuron" GROUP="0" FLAGS="1+2" TYPE="p oNeuroDef(d)" />
76  <PROP ID="getInputNeuroIndex" NAME="get input neuron index" GROUP="0" FLAGS="1+2" TYPE="p d(d)" />
77  <PROP ID="getInputWeight" NAME="get input weight" GROUP="0" FLAGS="1+2" TYPE="p f(d)" />
78  <PROP ID="classObject" NAME="neuron class" GROUP="0" FLAGS="1+2" TYPE="o NeuroClass" />
79 </CLASS>
80
81 <CLASS ID="c" NAME="NeuroConn">
82  <GROUP NAME="Connection" />
83  <GROUP NAME="Other" />
84  <PROP ID="n1" NAME="this neuro ref#" GROUP="0" FLAGS="1024" TYPE="d" MIN="-1" MAX="999999" DEF="-1" />
85  <PROP ID="n2" NAME="connected neuro ref#" GROUP="0" FLAGS="1024" TYPE="d" MIN="-1" MAX="999999" DEF="-1" />
86  <PROP ID="w" NAME="weight" GROUP="0" FLAGS="1024" TYPE="f" MIN="-999999" MAX="999999" DEF="1.0" />
87  <PROP ID="i" NAME="info" GROUP="1" FLAGS="0" TYPE="s" />
88 </CLASS>
89
90 <NEUROCLASS ID="N" NAME="Neuron" DESCRIPTION="Standard neuron" INPUTS="-1" OUTPUT="1" LOCATION="0"  VISUALHINTS="2"  >
91
92  <NEUROPROP ID="in" NAME="Inertia" TYPE="f" MIN="0.0" MAX="1.0" DEF="0.8" />
93  <NEUROPROP ID="fo" NAME="Force" TYPE="f" MIN="0.0" MAX="999.0" DEF="0.04" />
94  <NEUROPROP ID="si" NAME="Sigmoid" TYPE="f" MIN="-99999.0" MAX="99999.0" DEF="2.0" />
95  <NEUROPROP ID="s" NAME="State" TYPE="f" MIN="-1.0" MAX="1.0" DEF="0.0" />
96 </NEUROCLASS>
97
98 <NEUROCLASS ID="Nu" NAME="Unipolar neuron [EXPERIMENTAL!]" DESCRIPTION="Works like standard neuron (N) but the output value is scaled to 0...+1 instead of -1...+1.\nHaving 0 as one of the saturation states should help in &quot;gate circuits&quot;, where input signal is passed through or blocked depending on the other singal." INPUTS="-1" OUTPUT="1" LOCATION="0"  >
99  <NEUROPROP ID="in" NAME="Inertia" TYPE="f" MIN="0.0" MAX="1.0" DEF="0.8" />
100  <NEUROPROP ID="fo" NAME="Force" TYPE="f" MIN="0.0" MAX="999.0" DEF="0.04" />
101  <NEUROPROP ID="si" NAME="Sigmoid" TYPE="f" MIN="-99999.0" MAX="99999.0" DEF="2.0" />
102  <NEUROPROP ID="s" NAME="State" TYPE="f" MIN="-1.0" MAX="1.0" DEF="0.0" />
103 </NEUROCLASS>
104
105 <NEUROCLASS ID="G" NAME="Gyroscope" DESCRIPTION="Equilibrium sensor.\n0=the stick is horizontal\n+1/-1=the stick is vertical" INPUTS="0" OUTPUT="1" LOCATION="2"  VISUALHINTS="32"  SYMBOL="8,7,100,50,90,50,90,40,70,40,80,50,70,60,90,60,90,50,12,43,24,48,24,48,19,38,19,38,24,43,24,43,54,48,54,48,64,43,69,38,64,38,54,43,54,5,63,69,58,74,48,79,38,79,28,74,23,69,1,43,79,43,74,1,23,69,26,66,1,63,69,60,66,1,55,76,53,73,1,31,75,33,72"  >
106
107
108 </NEUROCLASS>
109
110 <NEUROCLASS ID="T" NAME="Touch" DESCRIPTION="Touch sensor.\n-1=no contact\n0=just touching\n>0=pressing, value depends on the force applied" INPUTS="0" OUTPUT="1" LOCATION="1"  VISUALHINTS="32"  SYMBOL="2,7,100,50,90,50,90,40,70,40,80,50,70,60,90,60,90,50,11,75,50,65,50,60,55,55,45,50,55,45,45,40,50,35,50,30,45,25,50,30,55,35,50"  >
111
112
113  <NEUROPROP ID="r" NAME="Range" TYPE="f" MIN="0.0" MAX="1.0" DEF="1.0" />
114 </NEUROCLASS>
115
116 <NEUROCLASS ID="S" NAME="Smell" DESCRIPTION="Smell sensor. Aggregated &quot;smell of energy&quot; experienced from all energy objects (creatures and food pieces).\nClose objects have bigger influence than the distant ones: for each energy source, its partial feeling is proportional to its energy/(distance^2)" INPUTS="0" OUTPUT="1" LOCATION="1"  VISUALHINTS="32"  SYMBOL="5,7,100,50,90,50,90,40,70,40,80,50,70,60,90,60,90,50,3,10,40,15,45,15,55,10,60,5,20,30,25,35,30,45,30,55,25,65,20,70,4,15,35,20,40,22,50,20,60,15,65,5,75,50,50,50,45,45,40,50,45,55,50,50"  >
117
118
119 </NEUROCLASS>
120
121 <NEUROCLASS ID="*" NAME="Constant" DESCRIPTION="Constant value" INPUTS="0" OUTPUT="1" LOCATION="0"  VISUALHINTS="1"  SYMBOL="4,4,26,27,26,73,73,73,73,27,26,27,1,73,50,100,50,1,56,68,46,68,2,41,47,51,32,51,68"  >
122
123
124 </NEUROCLASS>
125
126 <NEUROCLASS ID="|" NAME="Bend muscle" DESCRIPTION="" INPUTS="1" OUTPUT="0" LOCATION="2"  VISUALHINTS="86"  SYMBOL="6,5,25,40,35,40,45,50,35,60,25,60,25,40,4,65,85,65,50,75,50,75,85,65,85,3,65,56,49,29,57,24,72,50,4,68,53,70,53,70,55,68,55,68,53,5,50,21,60,15,70,14,79,15,87,20,81,10,1,86,20,77,21"  >
127
128
129  <NEUROPROP ID="p" NAME="power" TYPE="f" MIN="0.01" MAX="1.0" DEF="0.25" />
130  <NEUROPROP ID="r" NAME="bending range" TYPE="f" MIN="0.0" MAX="1.0" DEF="1.0" />
131 </NEUROCLASS>
132
133 <NEUROCLASS ID="@" NAME="Rotation muscle" DESCRIPTION="" INPUTS="1" OUTPUT="0" LOCATION="2"  VISUALHINTS="150"  SYMBOL="5,5,25,40,35,40,45,50,35,60,25,60,25,40,4,65,85,65,50,75,50,75,85,65,85,1,69,10,77,17,10,59,15,57,17,57,22,60,26,69,27,78,26,82,21,82,16,79,12,69,10,80,6,3,65,50,65,20,75,20,75,50"  >
134
135
136  <NEUROPROP ID="p" NAME="power" TYPE="f" MIN="0.01" MAX="1.0" DEF="1.0" />
137 </NEUROCLASS>
138
139 <NEUROCLASS ID="D" NAME="Differentiate" DESCRIPTION="Calculate the difference between the current and previous input value. Multiple inputs are aggregated with respect to their weights" INPUTS="-1" OUTPUT="1" LOCATION="0"  SYMBOL="3,3,25,0,25,100,75,50,25,0,1,75,50,100,50,3,44,42,51,57,36,57,44,42"  >
140
141 </NEUROCLASS>
142
143 <NEUROCLASS ID="Fuzzy" NAME="Fuzzy system [EXPERIMENTAL!]" DESCRIPTION="Refer to publications to learn more about this neuron." INPUTS="-1" OUTPUT="1" LOCATION="0"  SYMBOL="5,2,30,65,37,37,44,65,3,37,65,44,37,51,37,58,65,2,51,65,58,37,65,65,6,100,50,70,50,70,25,25,10,25,90,70,75,70,50,1,70,65,25,65"  >
144
145  <NEUROPROP ID="ns" NAME="number of fuzzy sets" TYPE="d" MIN="1" MAX="" DEF="" />
146  <NEUROPROP ID="nr" NAME="number of rules" TYPE="d" MIN="1" MAX="" DEF="" />
147  <NEUROPROP ID="fs" NAME="fuzzy sets" TYPE="s" MIN="0" MAX="-1" DEF="0" />
148  <NEUROPROP ID="fr" NAME="fuzzy rules" TYPE="s" MIN="0" MAX="-1" DEF="0" />
149 </NEUROCLASS>
150
151 <NEUROCLASS ID="VEye" NAME="Vector Eye [EXPERIMENTAL!]" DESCRIPTION="Refer to publications to learn more about this neuron." INPUTS="1" OUTPUT="1" LOCATION="1"  SYMBOL="11,7,100,50,90,50,90,40,70,40,80,50,70,60,90,60,90,50,14,70,50,65,40,60,35,45,30,30,30,15,35,10,40,5,50,10,60,15,65,30,70,45,70,60,65,65,60,70,50,8,38,67,28,62,23,52,28,42,38,37,48,42,53,52,48,62,38,67,4,33,52,38,47,43,52,38,57,33,52,5,70,50,60,40,45,35,30,35,15,40,5,50,1,53,33,58,22,1,62,36,68,26,1,45,30,47,19,1,35,30,35,19,1,27,31,24,20,1,18,34,12,24"  >
152
153  <NEUROPROP ID="tx" NAME="target.x" TYPE="f" MIN="" MAX="" DEF="" />
154  <NEUROPROP ID="ty" NAME="target.y" TYPE="f" MIN="" MAX="" DEF="" />
155  <NEUROPROP ID="tz" NAME="target.z" TYPE="f" MIN="" MAX="" DEF="" />
156  <NEUROPROP ID="ts" NAME="target shape" TYPE="s" MIN="0" MAX="-1" DEF="0" />
157  <NEUROPROP ID="p" NAME="perspective" TYPE="f" MIN="0.1" MAX="10.0" DEF="1.0" />
158  <NEUROPROP ID="s" NAME="scale" TYPE="f" MIN="0.1" MAX="100.0" DEF="1.0" />
159  <NEUROPROP ID="h" NAME="show hidden lines" TYPE="d" MIN="0" MAX="1" DEF="0" />
160  <NEUROPROP ID="o" NAME="output lines count (each line needs four channels)" TYPE="d" MIN="0" MAX="99" DEF="0" />
161  <NEUROPROP ID="d" NAME="debug" TYPE="d" MIN="0" MAX="1" DEF="0" />
162 </NEUROCLASS>
163
164 <NEUROCLASS ID="VMotor" NAME="Visual-Motor Cortex [EXPERIMENTAL!]" DESCRIPTION="Must be connected to the VEye and properly set up. Refer to publications to learn more about this neuron." INPUTS="-1" OUTPUT="1" LOCATION="0"  >
165  <NEUROPROP ID="noIF" NAME="number of basic features" TYPE="d" MIN="" MAX="" DEF="" />
166  <NEUROPROP ID="noDim" NAME="number of degrees of freedom" TYPE="d" MIN="" MAX="" DEF="" />
167  <NEUROPROP ID="params" NAME="parameters" TYPE="s" MIN="" MAX="" DEF="" />
168 </NEUROCLASS>
169
170 <NEUROCLASS ID="Sti" NAME="Sticky [EXPERIMENTAL!]" DESCRIPTION="" INPUTS="1" OUTPUT="0" LOCATION="1"  VISUALHINTS="16"  >
171
172 </NEUROCLASS>
173
174 <NEUROCLASS ID="LMu" NAME="Linear muscle [EXPERIMENTAL!]" DESCRIPTION="" INPUTS="1" OUTPUT="0" LOCATION="2"  VISUALHINTS="272"  >
175
176  <NEUROPROP ID="p" NAME="power" TYPE="f" MIN="0.01" MAX="1.0" DEF="1.0" />
177 </NEUROCLASS>
178
179 <NEUROCLASS ID="Water" NAME="Water detector" DESCRIPTION="Output signal:\n0=on or above water surface\n1=under water (deeper than 1)\n0..1=in the transient area just below water surface" INPUTS="0" OUTPUT="1" LOCATION="1"  VISUALHINTS="32"  >
180
181 </NEUROCLASS>
182
183 <NEUROCLASS ID="Energy" NAME="Energy level" DESCRIPTION="The current energy level divided by the initial energy level.\nUsually falls from initial 1.0 down to 0.0 and then the creature dies. It can rise above 1.0 if enough food is ingested" INPUTS="0" OUTPUT="1" LOCATION="0"  VISUALHINTS="32"  >
184
185 </NEUROCLASS>
186
187 <NEUROCLASS ID="Ch" NAME="Channelize" DESCRIPTION="Combines all input signals into a single multichannel output; Note: ChSel and ChMux are the only neurons which support multiple channels. Other neurons discard everything except the first channel." INPUTS="-1" OUTPUT="1" LOCATION="0"  SYMBOL="10,4,25,0,25,100,75,70,75,30,25,0,1,75,50,100,50,1,70,50,55,50,1,30,80,55,50,1,30,20,55,50,1,30,35,55,50,1,30,45,55,50,1,30,55,55,50,1,61,53,65,47,1,30,65,55,50"  >
188
189 </NEUROCLASS>
190
191 <NEUROCLASS ID="ChMux" NAME="Channel multiplexer" DESCRIPTION="Outputs the selected channel from the second (multichannel) input. The first input is used as the selector value (-1=select first channel, .., 1=last channel)" INPUTS="2" OUTPUT="1" LOCATION="0"  SYMBOL="7,4,25,0,25,100,75,70,75,30,25,0,1,75,50,100,50,1,70,50,55,50,3,50,55,55,50,50,45,50,55,3,30,67,45,67,45,50,50,50,1,35,70,39,64,2,30,33,53,33,53,48"  >
192
193 </NEUROCLASS>
194
195 <NEUROCLASS ID="ChSel" NAME="Channel selector" DESCRIPTION="Outputs a single channel (selected by the &quot;ch&quot; parameter) from multichannel input" INPUTS="1" OUTPUT="1" LOCATION="0"  SYMBOL="6,4,25,0,25,100,75,70,75,30,25,0,1,75,50,100,50,1,70,50,55,50,3,50,55,55,50,50,45,50,55,1,30,50,50,50,1,35,53,39,47"  >
196
197  <NEUROPROP ID="ch" NAME="channel" TYPE="d" MIN="" MAX="" DEF="" />
198 </NEUROCLASS>
199
200 <NEUROCLASS ID="Rnd" NAME="Random noise" DESCRIPTION="Generates random noise (subsequent random values in the range of -1..+1)" INPUTS="0" OUTPUT="1" LOCATION="0"  >
201 </NEUROCLASS>
202
203 <NEUROCLASS ID="Sin" NAME="Sinus generator" DESCRIPTION="Output frequency = f0+input" INPUTS="1" OUTPUT="1" LOCATION="0"  SYMBOL="3,12,75,50,71,37,62,28,50,25,37,28,28,37,25,50,28,62,37,71,50,75,62,71,71,62,75,50,1,75,50,100,50,5,35,50,40,35,45,35,55,65,60,65,65,50"  >
204
205  <NEUROPROP ID="f0" NAME="base frequency" TYPE="f" MIN="-1.0" MAX="1.0" DEF="0.06283185307" />
206  <NEUROPROP ID="t" NAME="time" TYPE="f" MIN="0" MAX="6.283185307" DEF="0" />
207 </NEUROCLASS>
208
209</F0CLASSES>
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