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genomanipulation-fS.goal @ 1092

Last change on this file since 1092 was 1067, checked in by sz, 4 years ago
sdk tests updated (remove Part.vs)
File size: 24.7 KB

Rev	Line
[1034]	1	#############################################
	2	## ##
	3	## Welcome to Genotype Manipulation Demo! ##
	4	## ##
	5	#############################################
	6	Found converter accepting f1: "Recursive encoding"
	7	Found 6 converter(s) producing f0
	8
	9	Source genotype: '1.1,0,0.4:C[Gpart]{x=0.806,y=0.806,z=2.295}(C[N;M:p=0.899]{x=0.806,z=0.806}(E{rx=1.3416,ry=-1.3967,rz=1.1368,tx=-0.7694,ty=1.0496,tz=-0.1275,x=1,y=1,z=1},bIE[N,1]{rx=-1.277,ry=-1.087,rz=-0.9208,tx=1.189,ty=1.1182,tz=-0.1494,x=1,y=1,z=1}E{rx=0.4085,ry=1.0807,rz=0.5977,tx=0.4698,ty=0.3333,tz=1.4408,x=1,y=1,z=1}E{rx=-0.9279,ry=-0.2806,rz=-0.7292,tx=1.1498,ty=-0.6195,tz=0.0121,x=1,y=1,z=1}),biR[N]{ry=0.271,x=1.0144,y=0.903,z=0.903}(R{rx=0.3229,ry=-0.3828,rz=1.5117,tx=0.7618,ty=1.3803,tz=1.354,x=0.8736,y=0.8736,z=0.8736},E{rx=1.3416,ry=-1.3967,rz=1.1368,tx=-0.7694,ty=1.0496,tz=-0.1275,x=1,y=1,z=1}),iC{rx=-0.9744,ry=-1.5695,rz=1.1659,tx=-0.9065,ty=-1.2759,tz=-0.0857,x=1.273,y=0.133,z=1.509},R{rx=0.3229,ry=-0.3828,rz=1.5117,tx=0.7618,ty=1.3803,tz=1.354,x=0.8736,y=0.8736,z=0.8736},iE{rx=1.3416,ry=-1.3967,rz=1.1368,tx=-0.7694,ty=1.0496,tz=-0.1275,x=1,y=1,z=1})'
	10	( format S )
	11	Converted to f0:
	12	p:sh=2, sx=0.806, sy=0.806, sz=2.295
	13	p:1.6610658177212956, sh=2, sx=0.806, sz=0.806
	14	p:2.669522581015868, -0.12927953115999094, 1.770803754024758, sh=1, rx=1.3416, -1.3967, 1.1368
	15	p:2.5149067817465802, -0.12852148117052686, 1.7757109168238943, sh=1, ing=0.275, rx=-1.277, -1.087, -0.9208
	16	p:3.491120795397971, 0.0627093264475479, 3.542562176271334, sh=1, rx=0.4085, 1.0807, 0.5977
	17	p:4.82498021179015, -1.4556859677056804, 3.7057221690326423, sh=1, rx=-0.9279, -0.2806, -0.7292
	18	p:2.044122892122303, sh=3, sx=1.0144, sy=0.903, sz=0.903, ing=0.22727272727272727, ry=0.271
	19	p:2.1225041839451873, 0.3558613626799459, 1.8896569415253044, sh=3, sx=0.8736, sy=0.8736, sz=0.8736, rx=0.3229, -0.3828, 1.5117
	20	p:3.2159989925040344, -0.15022914055334208, 2.057760603467444, sh=1, rx=1.3416, -1.3967, 1.1368
	21	p:1.0846131653683386, -0.09317957887309433, -3.5838606901740344, sh=2, sx=1.273, sy=0.133, sz=1.509, ing=0.22727272727272727, rx=-0.9744, -1.5695, 1.1659
	22	p:0.1364642552368182, 0.619565647570761, 3.289951226640109, sh=3, sx=0.8736, sy=0.8736, sz=0.8736, rx=0.3229, -0.3828, 1.5117
	23	p:1.6422082610960242, -0.21052356609516198, 2.883642273506047, sh=1, ing=0.22727272727272727, rx=1.3416, -1.3967, 1.1368
	24	j:0, 1, sh=1
	25	j:1, 2, sh=1
	26	j:1, 3, sh=2
	27	j:3, 4, sh=1
	28	j:4, 5, sh=1
	29	j:0, 6, sh=2
	30	j:6, 7, sh=1
	31	j:6, 8, sh=1
	32	j:0, 9, sh=1
	33	j:0, 10, sh=1
	34	j:0, 11, sh=1
	35	n:p=0, d=Gpart
	36	n:p=1
	37	n:j=0, d=M:p=0.899
	38	n:p=3
	39	n:p=6
	40	c:3, 1
	41
	42	Model contains: 12 part(s)
	43	11 joint(s)
	44	5 neuron(s)
	45
	46	Investigating details...
	47	#############################################
	48	## ##
	49	## P A R T O B J E C T ##
	50	## ##
	51	#############################################
	52	(part # 6)
	53	Here is the full listing of properties as they are printed in f0
	54	(please compare with f0 genotype).
	55	Some properties have special meaning (eg. geometry and connections groups)
	56	and should be handled with care, because they influence other elements of the model.
	57
	58	[this data is provided by Part::properties() ]
[1067]	59	# id type name group (21 properties)
[1034]	60	0. x = 2.044122892122303 f position.x Geometry
	61	1. y = 0.0 f position.y Geometry
	62	2. z = 0.0 f position.z Geometry
	63	3. sh = 3 d 0 3 0 shape Geometry
	64	4. s = 1.0 f 0.1 10.0 1.0 size Geometry
	65	5. sx = 1.0144 f 0.05 5.0 1.0 scale.x Geometry
	66	6. sy = 0.903 f 0.05 5.0 1.0 scale.y Geometry
	67	7. sz = 0.903 f 0.05 5.0 1.0 scale.z Geometry
	68	8. h = 0.0 f 0 1 0 hollow Other properties
	69	9. dn = 1.0 f 0.2 5.0 1.0 density Other properties
	70	10. fr = 0.4 f 0.0 4.0 0.4 friction Other properties
	71	11. ing = 0.22727272727272727 f 0.0 1.0 0.25 ingestion Other properties
	72	12. as = 0.25 f 0.0 1.0 0.25 assimilation Other properties
	73	13. rx = 0.0 f rot.x Geometry
	74	14. ry = 0.271 f rot.y Geometry
	75	15. rz = 0.0 f rot.z Geometry
	76	16. i = s info Other properties
	77	17. Vstyle = part s 0 0 part vis_style Visual
[1067]	78	18. vr = 1.0 f 0.0 1.0 1.0 red component Visual
	79	19. vg = 1.0 f 0.0 1.0 1.0 green component Visual
	80	20. vb = 1.0 f 0.0 1.0 1.0 blue component Visual
[1034]	81
	82	However, there is a subset of properties which may be modified more freely.
	83	Properties on this list are related only to this part and can be changed
	84	without much consideration. They are guaranteed to be always valid; any inconsistencies
	85	will be silently repaired.
	86
	87	[this data is provided by Part::extraProperties() ]
[1067]	88	# id type name group (8 properties)
[1034]	89	0. h = 0.0 f 0 1 0 hollow Extra properties
	90	1. dn = 1.0 f 0.2 5.0 1.0 density Extra properties
	91	2. fr = 0.4 f 0.0 4.0 0.4 friction Extra properties
	92	3. ing = 0.22727272727272727 f 0.0 1.0 0.25 ingestion Extra properties
	93	4. as = 0.25 f 0.0 1.0 0.25 assimilation Extra properties
[1067]	94	5. vr = 1.0 f 0.0 1.0 1.0 red component Extra properties
	95	6. vg = 1.0 f 0.0 1.0 1.0 green component Extra properties
	96	7. vb = 1.0 f 0.0 1.0 1.0 blue component Extra properties
[1034]	97
	98	This set of properties can vary from release to release,
	99	but can be safely accessed by using extraProperties() call.
	100	This method accesses the full set of properies (even those
	101	which appear in future releases).
	102	Now we will try to change some of properties:
	103
[1067]	104	Change property #4 to random value from range [0..1]
	105	Current value of 'as' (assimilation) is '0.25'
[1034]	106	Setting new value... [ using ParamInterface::set() ]
[1067]	107	The value is now '0.715189'
[1034]	108
	109	Let's see f0... (check out part #6 !)
	110
	111	p:sh=2, sx=0.806, sy=0.806, sz=2.295
	112	p:1.6610658177212956, sh=2, sx=0.806, sz=0.806
	113	p:2.669522581015868, -0.12927953115999094, 1.770803754024758, sh=1, rx=1.3416, -1.3967, 1.1368
	114	p:2.5149067817465802, -0.12852148117052686, 1.7757109168238943, sh=1, ing=0.275, rx=-1.277, -1.087, -0.9208
	115	p:3.491120795397971, 0.0627093264475479, 3.542562176271334, sh=1, rx=0.4085, 1.0807, 0.5977
	116	p:4.82498021179015, -1.4556859677056804, 3.7057221690326423, sh=1, rx=-0.9279, -0.2806, -0.7292
[1067]	117	p:2.044122892122303, sh=3, sx=1.0144, sy=0.903, sz=0.903, ing=0.22727272727272727, as=0.715189, ry=0.271
[1034]	118	p:2.1225041839451873, 0.3558613626799459, 1.8896569415253044, sh=3, sx=0.8736, sy=0.8736, sz=0.8736, rx=0.3229, -0.3828, 1.5117
	119	p:3.2159989925040344, -0.15022914055334208, 2.057760603467444, sh=1, rx=1.3416, -1.3967, 1.1368
	120	p:1.0846131653683386, -0.09317957887309433, -3.5838606901740344, sh=2, sx=1.273, sy=0.133, sz=1.509, ing=0.22727272727272727, rx=-0.9744, -1.5695, 1.1659
	121	p:0.1364642552368182, 0.619565647570761, 3.289951226640109, sh=3, sx=0.8736, sy=0.8736, sz=0.8736, rx=0.3229, -0.3828, 1.5117
	122	p:1.6422082610960242, -0.21052356609516198, 2.883642273506047, sh=1, ing=0.22727272727272727, rx=1.3416, -1.3967, 1.1368
	123	j:0, 1, sh=1
	124	j:1, 2, sh=1
	125	j:1, 3, sh=2
	126	j:3, 4, sh=1
	127	j:4, 5, sh=1
	128	j:0, 6, sh=2
	129	j:6, 7, sh=1
	130	j:6, 8, sh=1
	131	j:0, 9, sh=1
	132	j:0, 10, sh=1
	133	j:0, 11, sh=1
	134	n:p=0, d=Gpart
	135	n:p=1
	136	n:j=0, d=M:p=0.899
	137	n:p=3
	138	n:p=6
	139	c:3, 1
	140
	141	#############################################
	142	## ##
	143	## J O I N T O B J E C T ##
	144	## ##
	145	#############################################
	146	(joint # 9)
	147	Similarly as with Part, the full list of properties comes first:
	148
	149	# id type name group (21 properties)
	150	0. p1 = 0 d -1 999999 -1 part1 ref# Connections
	151	1. p2 = 10 d -1 999999 -1 part2 ref# Connections
	152	2. sh = 1 d 0 3 0 shape Geometry
	153	3. hx = 0.0 f hinge position.x Geometry
	154	4. hy = 0.0 f hinge position.y Geometry
	155	5. hz = 0.0 f hinge position.z Geometry
	156	6. hrx = 0.0 f hinge rotation.x Geometry
	157	7. hry = 0.0 f hinge rotation.y Geometry
	158	8. hrz = 0.0 f hinge rotation.z Geometry
	159	9. hxn = -1.5708 f -6.2832 0 -1.5708 hinge x negative limit Geometry
	160	10. hxp = 1.5708 f 0 6.2832 1.5708 hinge x positive limit Geometry
	161	11. hyn = -1.5708 f -6.2832 0 -1.5708 hinge y negative limit Geometry
	162	12. hyp = 1.5708 f 0 6.2832 1.5708 hinge y positive limit Geometry
	163	13. stif = 1.0 f 0.0 1.0 1.0 stiffness Other properties
	164	14. rotstif = 1.0 f 0.0 1.0 1.0 rotation stiffness Other properties
	165	15. stam = 0.25 f 0.0 1.0 0.25 stamina Other properties
	166	16. i = s info Other properties
	167	17. Vstyle = joint s 0 0 joint vis_style Visual
	168	18. vr = 1.0 f 0.0 1.0 1.0 red component Visual
	169	19. vg = 1.0 f 0.0 1.0 1.0 green component Visual
	170	20. vb = 1.0 f 0.0 1.0 1.0 blue component Visual
	171
	172	Actually, there are two kinds of Joints: delta and absolute.
	173	For this object, Joint::isDelta() returns 0, so this is the absolute Joint.
	174
	175	Absolute Joints adapt to its Parts' positions.
	176	We can move a Part, and it does not influence the second part, nor the Joint.
	177	Let's move the first Part along y axis by -0.1...
	178	The Part's position is changed, but everything else stays intact:
	179
	180	p:y=-0.1, sh=2, sx=0.806, sy=0.806, sz=2.295
	181	p:1.6610658177212956, sh=2, sx=0.806, sz=0.806
	182	p:2.669522581015868, -0.12927953115999094, 1.770803754024758, sh=1, rx=1.3416, -1.3967, 1.1368
	183	p:2.5149067817465802, -0.12852148117052686, 1.7757109168238943, sh=1, ing=0.275, rx=-1.277, -1.087, -0.9208
	184	p:3.491120795397971, 0.0627093264475479, 3.542562176271334, sh=1, rx=0.4085, 1.0807, 0.5977
	185	p:4.82498021179015, -1.4556859677056804, 3.7057221690326423, sh=1, rx=-0.9279, -0.2806, -0.7292
[1067]	186	p:2.044122892122303, sh=3, sx=1.0144, sy=0.903, sz=0.903, ing=0.22727272727272727, as=0.715189, ry=0.271
[1034]	187	p:2.1225041839451873, 0.3558613626799459, 1.8896569415253044, sh=3, sx=0.8736, sy=0.8736, sz=0.8736, rx=0.3229, -0.3828, 1.5117
	188	p:3.2159989925040344, -0.15022914055334208, 2.057760603467444, sh=1, rx=1.3416, -1.3967, 1.1368
	189	p:1.0846131653683386, -0.09317957887309433, -3.5838606901740344, sh=2, sx=1.273, sy=0.133, sz=1.509, ing=0.22727272727272727, rx=-0.9744, -1.5695, 1.1659
	190	p:0.1364642552368182, 0.619565647570761, 3.289951226640109, sh=3, sx=0.8736, sy=0.8736, sz=0.8736, rx=0.3229, -0.3828, 1.5117
	191	p:1.6422082610960242, -0.21052356609516198, 2.883642273506047, sh=1, ing=0.22727272727272727, rx=1.3416, -1.3967, 1.1368
	192	j:0, 1, sh=1
	193	j:1, 2, sh=1
	194	j:1, 3, sh=2
	195	j:3, 4, sh=1
	196	j:4, 5, sh=1
	197	j:0, 6, sh=2
	198	j:6, 7, sh=1
	199	j:6, 8, sh=1
	200	j:0, 9, sh=1
	201	j:0, 10, sh=1
	202	j:0, 11, sh=1
	203	n:p=0, d=Gpart
	204	n:p=1
	205	n:j=0, d=M:p=0.899
	206	n:p=3
	207	n:p=6
	208	c:3, 1
	209
	210	How would this joint look like with delta option enabled?
	211	[ by calling Joint::useDelta(1) ]
	212	f0 is now:
	213
	214	p:y=-0.1, sh=2, sx=0.806, sy=0.806, sz=2.295
	215	p:1.6610658177212956, sh=2, sx=0.806, sz=0.806
	216	p:2.669522581015868, -0.12927953115999094, 1.770803754024758, sh=1, rx=1.3416, -1.3967, 1.1368
	217	p:2.5149067817465802, -0.12852148117052686, 1.7757109168238943, sh=1, ing=0.275, rx=-1.277, -1.087, -0.9208
	218	p:3.491120795397971, 0.0627093264475479, 3.542562176271334, sh=1, rx=0.4085, 1.0807, 0.5977
	219	p:4.82498021179015, -1.4556859677056804, 3.7057221690326423, sh=1, rx=-0.9279, -0.2806, -0.7292
[1067]	220	p:2.044122892122303, sh=3, sx=1.0144, sy=0.903, sz=0.903, ing=0.22727272727272727, as=0.715189, ry=0.271
[1034]	221	p:2.1225041839451873, 0.3558613626799459, 1.8896569415253044, sh=3, sx=0.8736, sy=0.8736, sz=0.8736, rx=0.3229, -0.3828, 1.5117
	222	p:3.2159989925040344, -0.15022914055334208, 2.057760603467444, sh=1, rx=1.3416, -1.3967, 1.1368
	223	p:1.0846131653683386, -0.09317957887309433, -3.5838606901740344, sh=2, sx=1.273, sy=0.133, sz=1.509, ing=0.22727272727272727, rx=-0.9744, -1.5695, 1.1659
	224	p:0.13646425523681815, 0.6195656475707613, 3.289951226640109, sh=3, sx=0.8736, sy=0.8736, sz=0.8736, rx=0.3229, -0.3828, 1.5117
	225	p:1.6422082610960242, -0.21052356609516198, 2.883642273506047, sh=1, ing=0.22727272727272727, rx=1.3416, -1.3967, 1.1368
	226	j:0, 1, sh=1
	227	j:1, 2, sh=1
	228	j:1, 3, sh=2
	229	j:3, 4, sh=1
	230	j:4, 5, sh=1
	231	j:0, 6, sh=2
	232	j:6, 7, sh=1
	233	j:6, 8, sh=1
	234	j:0, 9, sh=1
	235	j:0, 10, rx=0.3229, -0.3828, 1.5117, dx=-0.5550636879509978, 0.9656107299102641, 3.181143899353255, sh=1
	236	j:0, 11, sh=1
	237	n:p=0, d=Gpart
	238	n:p=1
	239	n:j=0, d=M:p=0.899
	240	n:p=3
	241	n:p=6
	242	c:3, 1
	243
	244	...so this is a delta joint.
	245
	246	Delta fields (dx,dy,dz) describe relative location of the second part.
	247	This joint will change the second Part's positions to preserve delta distance.
	248	Let's move the first Part (#0) along y axis (+0.1) and change delta.z (dz) by 0.1.
	249	Position of the second Part referenced by this joint (part #10) is now changed:
	250
	251	p:sh=2, sx=0.806, sy=0.806, sz=2.295
	252	p:1.6610658177212956, sh=2, sx=0.806, sz=0.806
	253	p:2.669522581015868, -0.12927953115999094, 1.770803754024758, sh=1, rx=1.3416, -1.3967, 1.1368
	254	p:2.5149067817465802, -0.12852148117052686, 1.7757109168238943, sh=1, ing=0.275, rx=-1.277, -1.087, -0.9208
	255	p:3.491120795397971, 0.0627093264475479, 3.542562176271334, sh=1, rx=0.4085, 1.0807, 0.5977
	256	p:4.82498021179015, -1.4556859677056804, 3.7057221690326423, sh=1, rx=-0.9279, -0.2806, -0.7292
[1067]	257	p:2.044122892122303, sh=3, sx=1.0144, sy=0.903, sz=0.903, ing=0.22727272727272727, as=0.715189, ry=0.271
[1034]	258	p:2.1225041839451873, 0.3558613626799459, 1.8896569415253044, sh=3, sx=0.8736, sy=0.8736, sz=0.8736, rx=0.3229, -0.3828, 1.5117
	259	p:3.2159989925040344, -0.15022914055334208, 2.057760603467444, sh=1, rx=1.3416, -1.3967, 1.1368
	260	p:1.0846131653683386, -0.09317957887309433, -3.5838606901740344, sh=2, sx=1.273, sy=0.133, sz=1.509, ing=0.22727272727272727, rx=-0.9744, -1.5695, 1.1659
	261	p:0.1702327285845081, 0.753051220526163, 3.3779194402835317, sh=3, sx=0.8736, sy=0.8736, sz=0.8736, rx=0.3229, -0.3828, 1.5117
	262	p:1.6422082610960242, -0.21052356609516198, 2.883642273506047, sh=1, ing=0.22727272727272727, rx=1.3416, -1.3967, 1.1368
	263	j:0, 1, sh=1
	264	j:1, 2, sh=1
	265	j:1, 3, sh=2
	266	j:3, 4, sh=1
	267	j:4, 5, sh=1
	268	j:0, 6, sh=2
	269	j:6, 7, sh=1
	270	j:6, 8, sh=1
	271	j:0, 9, sh=1
	272	j:0, 10, rx=0.3229, -0.3828, 1.5117, dx=-0.5550636879509978, 0.9656107299102641, 3.281143899353255, sh=1
	273	j:0, 11, sh=1
	274	n:p=0, d=Gpart
	275	n:p=1
	276	n:j=0, d=M:p=0.899
	277	n:p=3
	278	n:p=6
	279	c:3, 1
	280
	281	If no delta fields are defined, they will be computed automatically.
	282	You can always delete existing delta values by using Joint::resetDelta().
	283	Now we will change the second Part's z position by -0.2 and call resetDelta()...
	284	As you can see, Joint's delta fields have altered:
	285
	286	p:sh=2, sx=0.806, sy=0.806, sz=2.295
	287	p:1.6610658177212956, sh=2, sx=0.806, sz=0.806
	288	p:2.669522581015868, -0.12927953115999094, 1.770803754024758, sh=1, rx=1.3416, -1.3967, 1.1368
	289	p:2.5149067817465802, -0.12852148117052686, 1.7757109168238943, sh=1, ing=0.275, rx=-1.277, -1.087, -0.9208
	290	p:3.491120795397971, 0.0627093264475479, 3.542562176271334, sh=1, rx=0.4085, 1.0807, 0.5977
	291	p:4.82498021179015, -1.4556859677056804, 3.7057221690326423, sh=1, rx=-0.9279, -0.2806, -0.7292
[1067]	292	p:2.044122892122303, sh=3, sx=1.0144, sy=0.903, sz=0.903, ing=0.22727272727272727, as=0.715189, ry=0.271
[1034]	293	p:2.1225041839451873, 0.3558613626799459, 1.8896569415253044, sh=3, sx=0.8736, sy=0.8736, sz=0.8736, rx=0.3229, -0.3828, 1.5117
	294	p:3.2159989925040344, -0.15022914055334208, 2.057760603467444, sh=1, rx=1.3416, -1.3967, 1.1368
	295	p:1.0846131653683386, -0.09317957887309433, -3.5838606901740344, sh=2, sx=1.273, sy=0.133, sz=1.509, ing=0.22727272727272727, rx=-0.9744, -1.5695, 1.1659
	296	p:0.1702327285845081, 0.753051220526163, 3.1779194402835316, sh=3, sx=0.8736, sy=0.8736, sz=0.8736, rx=0.3229, -0.3828, 1.5117
	297	p:1.6422082610960242, -0.21052356609516198, 2.883642273506047, sh=1, ing=0.22727272727272727, rx=1.3416, -1.3967, 1.1368
	298	j:0, 1, sh=1
	299	j:1, 2, sh=1
	300	j:1, 3, sh=2
	301	j:3, 4, sh=1
	302	j:4, 5, sh=1
	303	j:0, 6, sh=2
	304	j:6, 7, sh=1
	305	j:6, 8, sh=1
	306	j:0, 9, sh=1
	307	j:0, 10, rx=0.3229, -0.3828, 1.5117, dx=-0.48035983335347077, 0.9067404686418418, 3.10520747206641, sh=1
	308	j:0, 11, sh=1
	309	n:p=0, d=Gpart
	310	n:p=1
	311	n:j=0, d=M:p=0.899
	312	n:p=3
	313	n:p=6
	314	c:3, 1
	315
	316	Part references and delta fields are the 'core' properties of the Joint.
	317	The other properties are available from Joint::extraProperties()
	318	and at the moment are defined as follows:
	319
	320	# id type name group (5 properties)
	321	0. stif = 1.0 f 0.0 1.0 1.0 stiffness Extra properties
	322	1. rotstif = 1.0 f 0.0 1.0 1.0 rotation stiffness Extra properties
	323	2. vr = 1.0 f 0.0 1.0 1.0 red component Extra properties
	324	3. vg = 1.0 f 0.0 1.0 1.0 green component Extra properties
	325	4. vb = 1.0 f 0.0 1.0 1.0 blue component Extra properties
	326
	327	They can be changed just like Part's extra properties:
	328	Change property #3 to random value from range [0..1]
	329	Current value of 'vg' (green component) is '1.0'
	330	Setting new value... [ using ParamInterface::set() ]
	331	The value is now '0.857946'
	332	And after that we have this genotype:
	333
	334	p:sh=2, sx=0.806, sy=0.806, sz=2.295
	335	p:1.6610658177212956, sh=2, sx=0.806, sz=0.806
	336	p:2.669522581015868, -0.12927953115999094, 1.770803754024758, sh=1, rx=1.3416, -1.3967, 1.1368
	337	p:2.5149067817465802, -0.12852148117052686, 1.7757109168238943, sh=1, ing=0.275, rx=-1.277, -1.087, -0.9208
	338	p:3.491120795397971, 0.0627093264475479, 3.542562176271334, sh=1, rx=0.4085, 1.0807, 0.5977
	339	p:4.82498021179015, -1.4556859677056804, 3.7057221690326423, sh=1, rx=-0.9279, -0.2806, -0.7292
[1067]	340	p:2.044122892122303, sh=3, sx=1.0144, sy=0.903, sz=0.903, ing=0.22727272727272727, as=0.715189, ry=0.271
[1034]	341	p:2.1225041839451873, 0.3558613626799459, 1.8896569415253044, sh=3, sx=0.8736, sy=0.8736, sz=0.8736, rx=0.3229, -0.3828, 1.5117
	342	p:3.2159989925040344, -0.15022914055334208, 2.057760603467444, sh=1, rx=1.3416, -1.3967, 1.1368
	343	p:1.0846131653683386, -0.09317957887309433, -3.5838606901740344, sh=2, sx=1.273, sy=0.133, sz=1.509, ing=0.22727272727272727, rx=-0.9744, -1.5695, 1.1659
	344	p:0.170232728584508, 0.7530512205261631, 3.1779194402835316, sh=3, sx=0.8736, sy=0.8736, sz=0.8736, rx=0.3229, -0.3828, 1.5117
	345	p:1.6422082610960242, -0.21052356609516198, 2.883642273506047, sh=1, ing=0.22727272727272727, rx=1.3416, -1.3967, 1.1368
	346	j:0, 1, sh=1
	347	j:1, 2, sh=1
	348	j:1, 3, sh=2
	349	j:3, 4, sh=1
	350	j:4, 5, sh=1
	351	j:0, 6, sh=2
	352	j:6, 7, sh=1
	353	j:6, 8, sh=1
	354	j:0, 9, sh=1
	355	j:0, 10, rx=0.3229, -0.3828, 1.5117, dx=-0.48035983335347077, 0.9067404686418418, 3.10520747206641, sh=1, vg=0.857946
	356	j:0, 11, sh=1
	357	n:p=0, d=Gpart
	358	n:p=1
	359	n:j=0, d=M:p=0.899
	360	n:p=3
	361	n:p=6
	362	c:3, 1
	363
	364	#############################################
	365	## ##
	366	## N E U R O O B J E C T ##
	367	## ##
	368	#############################################
	369	(neuro # 2)
	370	Basic features of Neuro object are similar to those of Part and Joint.
	371	We can request a property list:
	372
	373	# id type name group (10 properties)
	374	0. p = -1 d -1 999999 -1 part ref# Connections
	375	1. j = 0 d -1 999999 -1 joint ref# Connections
	376	2. d = M:p=0.899 s details Other
	377	3. i = s info Other
	378	4. Vstyle = neuro s 0 0 neuro vis_style Visual
	379	5. getInputCount = 0 d input count Connections
	380	9. classObject = null oNeuroClass neuron class Connections
	381
	382	...and extra properties (which are designed to be always valid and easy to change):
	383
	384	# id type name group (0 properties)
	385
	386	As usual, we will change something:
	387	Each neuron can have any number of inputs = weighted connections
	388	with other neurons.
	389	According to Neuro::getInputCount(), this one has 0 inputs.
	390	Standard API is provided for accessing those inputs (getInput(int)),
	391	adding inputs (addInput(Neuro*)) and removing them (removeInput(int)).
	392
	393
	394	The most unusual thing is 'details' field (d).
	395	It is something like separate object with its own set of properties.
	396	Currently the value of 'd' is 'M:p=0.899'.
	397	'M' is the class name (Neuro::getClassName() == 'M') and means 'Muscle for solids'.
	398	Neuro::getClass() gives you information about basic characteristic
	399	of the class, that can be analyzed automatically.
	400	For the current object we can learn that it supports 1 inputs (getPreferredInputs()) and doesn't provide useful output signal (getPreferredOutput()==0).
	401	Instances of 'M' can be used in models having shape types: 'solid shapes'.
	402	Instances of 'M' can be attached to Joints having shapes: 'hinge x' 'hinge xy'.
	403	The class defines its own properties:
	404
	405	[ data provided by Neuro::classProperties() ]
	406	# id type name group (2 properties)
	407	0. p = 0.899 f 0.01 1.0 1.0 power Muscle for solids
	408	1. a = 0 d 0 1 0 axis Muscle for solids
	409	and they can be changed:
	410	Change property #1 to random value from range [0..1]
	411	Current value of 'a' (axis) is '0'
	412	Setting new value... [ using ParamInterface::set() ]
	413	The value is now '0'
	414	After that, 'details' contains the new object: 'M:p=0.899'.
	415	The class of this object can be changed using Neuro::setClassName()
	416	The following classes are available:
	417	[ data provided by Neuro::getClassInfo()->getProperties() ]
	418
	419	# class description properties
	420	0. N Neuron 4
	421	1. Nu Unipolar neuron [EXPERIMENTAL!] 4
	422	2. G Gyroscope 0
	423	3. Gpart Part Gyroscope 2
	424	4. T Touch 3
	425	5.Tcontact Touch contact 0
	426	6.Tproximity Touch proximity 3
	427	7. S Smell 0
	428	8. * Constant 0
	429	9. \| Bend muscle 2
	430	10. @ Rotation muscle 1
	431	11. M Muscle for solids 2
	432	12. D Differentiate 0
	433	13. Fuzzy Fuzzy system [EXPERIMENTAL!] 4
	434	14. Sti Sticky [EXPERIMENTAL!] 0
	435	15. LMu Linear muscle [EXPERIMENTAL!] 1
	436	16. Water Water detector 0
	437	17.Energy Energy level 0
	438	18. Ch Channelize 0
	439	19. ChMux Channel multiplexer 0
	440	20. ChSel Channel selector 1
	441	21. Rnd Random noise 0
	442	22. Sin Sinus generator 2
	443
	444	Let's change the Neuro's class to 'Sti'...
	445	[WARN] Param.loadSingleLine: Unknown property 'Sti.p' (ignored)
	446	The final object description will be then: 'Sti'
	447	And the full f0 genotype:
	448
	449	p:sh=2, sx=0.806, sy=0.806, sz=2.295
	450	p:1.6610658177212956, sh=2, sx=0.806, sz=0.806
	451	p:2.669522581015868, -0.12927953115999094, 1.770803754024758, sh=1, rx=1.3416, -1.3967, 1.1368
	452	p:2.5149067817465802, -0.12852148117052686, 1.7757109168238943, sh=1, ing=0.275, rx=-1.277, -1.087, -0.9208
	453	p:3.491120795397971, 0.0627093264475479, 3.542562176271334, sh=1, rx=0.4085, 1.0807, 0.5977
	454	p:4.82498021179015, -1.4556859677056804, 3.7057221690326423, sh=1, rx=-0.9279, -0.2806, -0.7292
[1067]	455	p:2.044122892122303, sh=3, sx=1.0144, sy=0.903, sz=0.903, ing=0.22727272727272727, as=0.715189, ry=0.271
[1034]	456	p:2.1225041839451873, 0.3558613626799459, 1.8896569415253044, sh=3, sx=0.8736, sy=0.8736, sz=0.8736, rx=0.3229, -0.3828, 1.5117
	457	p:3.2159989925040344, -0.15022914055334208, 2.057760603467444, sh=1, rx=1.3416, -1.3967, 1.1368
	458	p:1.0846131653683386, -0.09317957887309433, -3.5838606901740344, sh=2, sx=1.273, sy=0.133, sz=1.509, ing=0.22727272727272727, rx=-0.9744, -1.5695, 1.1659
	459	p:0.170232728584508, 0.7530512205261631, 3.1779194402835316, sh=3, sx=0.8736, sy=0.8736, sz=0.8736, rx=0.3229, -0.3828, 1.5117
	460	p:1.6422082610960242, -0.21052356609516198, 2.883642273506047, sh=1, ing=0.22727272727272727, rx=1.3416, -1.3967, 1.1368
	461	j:0, 1, sh=1
	462	j:1, 2, sh=1
	463	j:1, 3, sh=2
	464	j:3, 4, sh=1
	465	j:4, 5, sh=1
	466	j:0, 6, sh=2
	467	j:6, 7, sh=1
	468	j:6, 8, sh=1
	469	j:0, 9, sh=1
	470	j:0, 10, rx=0.3229, -0.3828, 1.5117, dx=-0.48035983335347077, 0.9067404686418418, 3.10520747206641, sh=1, vg=0.857946
	471	j:0, 11, sh=1
	472	n:p=0, d=Gpart
	473	n:p=1
	474	n:j=0, d=Sti
	475	n:p=3
	476	n:p=6
	477	c:3, 1
	478
	479
	480	######### THE END ###########
	481
	482	Hints:
	483	1. You can redirect output: genomanipulation >filename.txt
	484	2. Each run can yield different results and new behaviors, but you
	485	need to uncomment rndRandomizeSeed() in genomanipulation.cpp.
	486	3. This application will use custom genotype passed as
	487	a commandline parameter: genomanipulation "/9/FULU"
	488
	489

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