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genomanipulation-fS.goal @ 1031

Last change on this file since 1031 was 1009, checked in by Maciej Komosinski, 4 years ago
Added tests for most SDK demo programs
File size: 24.2 KB

Line
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:ssC[S;S;S]{ry=-0.214;ty=0.781}fSC[S;S;;M'4:-5.154;M'0]fE[M;Gpart]{rx=0.603;ry=-0.9391;rz=0.3034;tx=0.6534;ty=0.6856;tz=-0.166;x=1;z=1}ttC[;;Gpart]{st=0.262}fTE{rx=0.603;ry=-0.9391;rz=0.3034;tx=0.6534;ty=0.6856;tz=-0.166;x=1;y=1;z=1}ftC[;*;N'0'2'3'9'12'14]{ry=-0.199;y=0.828;z=0.806}'
10	( format S )
11	Converted to f0:
12	p:sh=2, sx=0.8264462809917354, sy=0.8264462809917354, sz=0.8264462809917354, ry=-0.214
13	p:1.84400826446281, sh=2, sx=0.9090909090909091, sy=0.9090909090909091, sz=0.9090909090909091, fr=0.36363636363636365
14	p:3.4488812833580815, -0.26888325253375556, 1.3310278019498911, sh=1, sx=0.9090909090909091, sy=0.9090909090909091, sz=0.9090909090909091, fr=0.3305785123966942, rx=0.603, -0.9391, 0.3034
15	p:5.053754302253353, -0.5377665050675111, 2.6620556038997822, sh=2, sx=0.9090909090909091, sy=0.9090909090909091, sz=0.9090909090909091, fr=0.3305785123966942
16	p:5.552059067218389, -1.6581236294201593, 4.369698100138417, sh=1, sx=0.9090909090909091, sy=0.9090909090909091, sz=0.9090909090909091, fr=0.3005259203606311, rx=0.603, -0.9391, 0.3034
17	p:5.983025350431394, -2.6270811423738007, 5.846578096885344, sh=2, sx=0.9090909090909091, sy=0.7527272727272727, sz=0.7327272727272728, fr=0.27320538214602824, ry=-0.199
18	j:0, 1, sh=1
19	j:1, 2, sh=1
20	j:2, 3, sh=1, stif=0.2165289256198347, rotstif=0.2165289256198347
21	j:3, 4, sh=1, stif=0.9090909090909091, rotstif=0.9090909090909091
22	j:4, 5, sh=1, stif=0.8264462809917354, rotstif=0.8264462809917354
23	n:p=0, d=S
24	n:p=0, d=S
25	n:p=0, d=S
26	n:p=1, d=S
27	n:p=1, d=S
28	n:p=1, d=*
29	n:j=0, d=M
30	n:j=0, d=M
31	n:j=1, d=M
32	n:p=2, d=Gpart
33	n:p=3, d=*
34	n:p=3, d=*
35	n:p=3, d=Gpart
36	n:p=5, d=*
37	n:p=5, d=*
38	n:p=5
39	c:6, 4, -5.154
40	c:7, 0
41	c:15, 0
42	c:15, 2
43	c:15, 3
44	c:15, 9
45	c:15, 12
46	c:15, 14
47
48	Model contains: 6 part(s)
49	5 joint(s)
50	16 neuron(s)
51
52	Investigating details...
53	#############################################
54	## ##
55	## P A R T O B J E C T ##
56	## ##
57	#############################################
58	(part # 5)
59	Here is the full listing of properties as they are printed in f0
60	(please compare with f0 genotype).
61	Some properties have special meaning (eg. geometry and connections groups)
62	and should be handled with care, because they influence other elements of the model.
63
64	[this data is provided by Part::properties() ]
65	# id type name group (22 properties)
66	0. x = 5.983025350431394 f position.x Geometry
67	1. y = -2.6270811423738007 f position.y Geometry
68	2. z = 5.846578096885344 f position.z Geometry
69	3. sh = 2 d 0 3 0 shape Geometry
70	4. s = 1.0 f 0.1 10.0 1.0 size Geometry
71	5. sx = 0.9090909090909091 f 0.001 1000.0 1.0 scale.x Geometry
72	6. sy = 0.7527272727272727 f 0.001 1000.0 1.0 scale.y Geometry
73	7. sz = 0.7327272727272728 f 0.001 1000.0 1.0 scale.z Geometry
74	8. h = 0.0 f 0 1 0 hollow Other properties
75	9. dn = 1.0 f 0.2 5.0 1.0 density Other properties
76	10. fr = 0.27320538214602824 f 0.0 4.0 0.4 friction Other properties
77	11. ing = 0.25 f 0.0 1.0 0.25 ingestion Other properties
78	12. as = 0.25 f 0.0 1.0 0.25 assimilation Other properties
79	13. rx = 0.0 f rot.x Geometry
80	14. ry = -0.199 f rot.y Geometry
81	15. rz = 0.0 f rot.z Geometry
82	16. i = s info Other properties
83	17. Vstyle = part s 0 0 part vis_style Visual
84	18. vs = 0.2 f 0.05 0.7 0.2 visual thickness Visual
85	19. vr = 1.0 f 0.0 1.0 1.0 red component Visual
86	20. vg = 1.0 f 0.0 1.0 1.0 green component Visual
87	21. vb = 1.0 f 0.0 1.0 1.0 blue component Visual
88
89	However, there is a subset of properties which may be modified more freely.
90	Properties on this list are related only to this part and can be changed
91	without much consideration. They are guaranteed to be always valid; any inconsistencies
92	will be silently repaired.
93
94	[this data is provided by Part::extraProperties() ]
95	# id type name group (9 properties)
96	0. h = 0.0 f 0 1 0 hollow Extra properties
97	1. dn = 1.0 f 0.2 5.0 1.0 density Extra properties
98	2. fr = 0.27320538214602824 f 0.0 4.0 0.4 friction Extra properties
99	3. ing = 0.25 f 0.0 1.0 0.25 ingestion Extra properties
100	4. as = 0.25 f 0.0 1.0 0.25 assimilation Extra properties
101	5. vs = 0.2 f 0.05 0.7 0.2 visual thickness Extra properties
102	6. vr = 1.0 f 0.0 1.0 1.0 red component Extra properties
103	7. vg = 1.0 f 0.0 1.0 1.0 green component Extra properties
104	8. vb = 1.0 f 0.0 1.0 1.0 blue component Extra properties
105
106	This set of properties can vary from release to release,
107	but can be safely accessed by using extraProperties() call.
108	This method accesses the full set of properies (even those
109	which appear in future releases).
110	Now we will try to change some of properties:
111
112	Change property #0 to random value from range [0..1]
113	Current value of 'h' (hollow) is '0.0'
114	Setting new value... [ using ParamInterface::set() ]
115	The value is now '0.548814'
116
117	Let's see f0... (check out part #5 !)
118
119	p:sh=2, sx=0.8264462809917354, sy=0.8264462809917354, sz=0.8264462809917354, ry=-0.214
120	p:1.84400826446281, sh=2, sx=0.9090909090909091, sy=0.9090909090909091, sz=0.9090909090909091, fr=0.36363636363636365
121	p:3.4488812833580815, -0.26888325253375556, 1.3310278019498911, sh=1, sx=0.9090909090909091, sy=0.9090909090909091, sz=0.9090909090909091, fr=0.3305785123966942, rx=0.603, -0.9391, 0.3034
122	p:5.053754302253353, -0.5377665050675111, 2.6620556038997822, sh=2, sx=0.9090909090909091, sy=0.9090909090909091, sz=0.9090909090909091, fr=0.3305785123966942
123	p:5.552059067218389, -1.6581236294201593, 4.369698100138417, sh=1, sx=0.9090909090909091, sy=0.9090909090909091, sz=0.9090909090909091, fr=0.3005259203606311, rx=0.603, -0.9391, 0.3034
124	p:5.983025350431394, -2.6270811423738007, 5.846578096885344, sh=2, sx=0.9090909090909091, sy=0.7527272727272727, sz=0.7327272727272728, h=0.548814, fr=0.27320538214602824, ry=-0.199
125	j:0, 1, sh=1
126	j:1, 2, sh=1
127	j:2, 3, sh=1, stif=0.2165289256198347, rotstif=0.2165289256198347
128	j:3, 4, sh=1, stif=0.9090909090909091, rotstif=0.9090909090909091
129	j:4, 5, sh=1, stif=0.8264462809917354, rotstif=0.8264462809917354
130	n:p=0, d=S
131	n:p=0, d=S
132	n:p=0, d=S
133	n:p=1, d=S
134	n:p=1, d=S
135	n:p=1, d=*
136	n:j=0, d=M
137	n:j=0, d=M
138	n:j=1, d=M
139	n:p=2, d=Gpart
140	n:p=3, d=*
141	n:p=3, d=*
142	n:p=3, d=Gpart
143	n:p=5, d=*
144	n:p=5, d=*
145	n:p=5
146	c:6, 4, -5.154
147	c:7, 0
148	c:15, 0
149	c:15, 2
150	c:15, 3
151	c:15, 9
152	c:15, 12
153	c:15, 14
154
155	#############################################
156	## ##
157	## J O I N T O B J E C T ##
158	## ##
159	#############################################
160	(joint # 2)
161	Similarly as with Part, the full list of properties comes first:
162
163	# id type name group (21 properties)
164	0. p1 = 2 d -1 999999 -1 part1 ref# Connections
165	1. p2 = 3 d -1 999999 -1 part2 ref# Connections
166	2. sh = 1 d 0 3 0 shape Geometry
167	3. hx = 0.0 f hinge position.x Geometry
168	4. hy = 0.0 f hinge position.y Geometry
169	5. hz = 0.0 f hinge position.z Geometry
170	6. hrx = 0.0 f hinge rotation.x Geometry
171	7. hry = 0.0 f hinge rotation.y Geometry
172	8. hrz = 0.0 f hinge rotation.z Geometry
173	9. hxn = -1.5708 f -6.2832 0 -1.5708 hinge x negative limit Geometry
174	10. hxp = 1.5708 f 0 6.2832 1.5708 hinge x positive limit Geometry
175	11. hyn = -1.5708 f -6.2832 0 -1.5708 hinge y negative limit Geometry
176	12. hyp = 1.5708 f 0 6.2832 1.5708 hinge y positive limit Geometry
177	13. stif = 0.2165289256198347 f 0.0 1.0 1.0 stiffness Other properties
178	14. rotstif = 0.2165289256198347 f 0.0 1.0 1.0 rotation stiffness Other properties
179	15. stam = 0.25 f 0.0 1.0 0.25 stamina Other properties
180	16. i = s info Other properties
181	17. Vstyle = joint s 0 0 joint vis_style Visual
182	18. vr = 1.0 f 0.0 1.0 1.0 red component Visual
183	19. vg = 1.0 f 0.0 1.0 1.0 green component Visual
184	20. vb = 1.0 f 0.0 1.0 1.0 blue component Visual
185
186	Actually, there are two kinds of Joints: delta and absolute.
187	For this object, Joint::isDelta() returns 0, so this is the absolute Joint.
188
189	Absolute Joints adapt to its Parts' positions.
190	We can move a Part, and it does not influence the second part, nor the Joint.
191	Let's move the first Part along y axis by -0.1...
192	The Part's position is changed, but everything else stays intact:
193
194	p:sh=2, sx=0.8264462809917354, sy=0.8264462809917354, sz=0.8264462809917354, ry=-0.214
195	p:1.84400826446281, sh=2, sx=0.9090909090909091, sy=0.9090909090909091, sz=0.9090909090909091, fr=0.36363636363636365
196	p:3.4488812833580815, -0.36888325253375553, 1.3310278019498911, sh=1, sx=0.9090909090909091, sy=0.9090909090909091, sz=0.9090909090909091, fr=0.3305785123966942, rx=0.603, -0.9391, 0.3034
197	p:5.053754302253353, -0.5377665050675111, 2.6620556038997822, sh=2, sx=0.9090909090909091, sy=0.9090909090909091, sz=0.9090909090909091, fr=0.3305785123966942
198	p:5.552059067218389, -1.6581236294201593, 4.369698100138417, sh=1, sx=0.9090909090909091, sy=0.9090909090909091, sz=0.9090909090909091, fr=0.3005259203606311, rx=0.603, -0.9391, 0.3034
199	p:5.983025350431394, -2.6270811423738007, 5.846578096885344, sh=2, sx=0.9090909090909091, sy=0.7527272727272727, sz=0.7327272727272728, h=0.548814, fr=0.27320538214602824, ry=-0.199
200	j:0, 1, sh=1
201	j:1, 2, sh=1
202	j:2, 3, sh=1, stif=0.2165289256198347, rotstif=0.2165289256198347
203	j:3, 4, sh=1, stif=0.9090909090909091, rotstif=0.9090909090909091
204	j:4, 5, sh=1, stif=0.8264462809917354, rotstif=0.8264462809917354
205	n:p=0, d=S
206	n:p=0, d=S
207	n:p=0, d=S
208	n:p=1, d=S
209	n:p=1, d=S
210	n:p=1, d=*
211	n:j=0, d=M
212	n:j=0, d=M
213	n:j=1, d=M
214	n:p=2, d=Gpart
215	n:p=3, d=*
216	n:p=3, d=*
217	n:p=3, d=Gpart
218	n:p=5, d=*
219	n:p=5, d=*
220	n:p=5
221	c:6, 4, -5.154
222	c:7, 0
223	c:15, 0
224	c:15, 2
225	c:15, 3
226	c:15, 9
227	c:15, 12
228	c:15, 14
229
230	How would this joint look like with delta option enabled?
231	[ by calling Joint::useDelta(1) ]
232	f0 is now:
233
234	p:sh=2, sx=0.8264462809917354, sy=0.8264462809917354, sz=0.8264462809917354, ry=-0.214
235	p:1.84400826446281, sh=2, sx=0.9090909090909091, sy=0.9090909090909091, sz=0.9090909090909091, fr=0.36363636363636365
236	p:3.4488812833580815, -0.36888325253375553, 1.3310278019498911, sh=1, sx=0.9090909090909091, sy=0.9090909090909091, sz=0.9090909090909091, fr=0.3305785123966942, rx=0.603, -0.9391, 0.3034
237	p:5.053754302253353, -0.5377665050675109, 2.6620556038997822, sh=2, sx=0.9090909090909091, sy=0.9090909090909091, sz=0.9090909090909091, fr=0.3305785123966942
238	p:5.552059067218389, -1.6581236294201593, 4.369698100138417, sh=1, sx=0.9090909090909091, sy=0.9090909090909091, sz=0.9090909090909091, fr=0.3005259203606311, rx=0.603, -0.9391, 0.3034
239	p:5.983025350431394, -2.6270811423738007, 5.846578096885344, sh=2, sx=0.9090909090909091, sy=0.7527272727272727, sz=0.7327272727272728, h=0.548814, fr=0.27320538214602824, ry=-0.199
240	j:0, 1, sh=1
241	j:1, 2, sh=1
242	j:2, 3, rx=-0.6137069589668486, 0.9336120115153849, 0.32629609148341426, dx=1.6048730188952711, -0.16888325253375558, 1.3310278019498911, sh=1, stif=0.2165289256198347, rotstif=0.2165289256198347
243	j:3, 4, sh=1, stif=0.9090909090909091, rotstif=0.9090909090909091
244	j:4, 5, sh=1, stif=0.8264462809917354, rotstif=0.8264462809917354
245	n:p=0, d=S
246	n:p=0, d=S
247	n:p=0, d=S
248	n:p=1, d=S
249	n:p=1, d=S
250	n:p=1, d=*
251	n:j=0, d=M
252	n:j=0, d=M
253	n:j=1, d=M
254	n:p=2, d=Gpart
255	n:p=3, d=*
256	n:p=3, d=*
257	n:p=3, d=Gpart
258	n:p=5, d=*
259	n:p=5, d=*
260	n:p=5
261	c:6, 4, -5.154
262	c:7, 0
263	c:15, 0
264	c:15, 2
265	c:15, 3
266	c:15, 9
267	c:15, 12
268	c:15, 14
269
270	...so this is a delta joint.
271
272	Delta fields (dx,dy,dz) describe relative location of the second part.
273	This joint will change the second Part's positions to preserve delta distance.
274	Let's move the first Part (#2) along y axis (+0.1) and change delta.z (dz) by 0.1.
275	Position of the second Part referenced by this joint (part #3) is now changed:
276
277	p:sh=2, sx=0.8264462809917354, sy=0.8264462809917354, sz=0.8264462809917354, ry=-0.214
278	p:1.84400826446281, sh=2, sx=0.9090909090909091, sy=0.9090909090909091, sz=0.9090909090909091, fr=0.36363636363636365
279	p:3.4488812833580815, -0.26888325253375556, 1.3310278019498911, sh=1, sx=0.9090909090909091, sy=0.9090909090909091, sz=0.9090909090909091, fr=0.3305785123966942, rx=0.603, -0.9391, 0.3034
280	p:5.053754302253353, -0.43776650506751086, 2.762055603899782, sh=2, sx=0.9090909090909091, sy=0.9090909090909091, sz=0.9090909090909091, fr=0.3305785123966942
281	p:5.552059067218389, -1.6581236294201593, 4.369698100138417, sh=1, sx=0.9090909090909091, sy=0.9090909090909091, sz=0.9090909090909091, fr=0.3005259203606311, rx=0.603, -0.9391, 0.3034
282	p:5.983025350431394, -2.6270811423738007, 5.846578096885344, sh=2, sx=0.9090909090909091, sy=0.7527272727272727, sz=0.7327272727272728, h=0.548814, fr=0.27320538214602824, ry=-0.199
283	j:0, 1, sh=1
284	j:1, 2, sh=1
285	j:2, 3, rx=-0.6137069589668486, 0.9336120115153849, 0.32629609148341426, dx=1.6048730188952711, -0.16888325253375558, 1.4310278019498912, sh=1, stif=0.2165289256198347, rotstif=0.2165289256198347
286	j:3, 4, sh=1, stif=0.9090909090909091, rotstif=0.9090909090909091
287	j:4, 5, sh=1, stif=0.8264462809917354, rotstif=0.8264462809917354
288	n:p=0, d=S
289	n:p=0, d=S
290	n:p=0, d=S
291	n:p=1, d=S
292	n:p=1, d=S
293	n:p=1, d=*
294	n:j=0, d=M
295	n:j=0, d=M
296	n:j=1, d=M
297	n:p=2, d=Gpart
298	n:p=3, d=*
299	n:p=3, d=*
300	n:p=3, d=Gpart
301	n:p=5, d=*
302	n:p=5, d=*
303	n:p=5
304	c:6, 4, -5.154
305	c:7, 0
306	c:15, 0
307	c:15, 2
308	c:15, 3
309	c:15, 9
310	c:15, 12
311	c:15, 14
312
313	If no delta fields are defined, they will be computed automatically.
314	You can always delete existing delta values by using Joint::resetDelta().
315	Now we will change the second Part's z position by -0.2 and call resetDelta()...
316	As you can see, Joint's delta fields have altered:
317
318	p:sh=2, sx=0.8264462809917354, sy=0.8264462809917354, sz=0.8264462809917354, ry=-0.214
319	p:1.84400826446281, sh=2, sx=0.9090909090909091, sy=0.9090909090909091, sz=0.9090909090909091, fr=0.36363636363636365
320	p:3.4488812833580815, -0.26888325253375556, 1.3310278019498911, sh=1, sx=0.9090909090909091, sy=0.9090909090909091, sz=0.9090909090909091, fr=0.3305785123966942, rx=0.603, -0.9391, 0.3034
321	p:5.053754302253353, -0.43776650506751086, 2.5620556038997817, sh=2, sx=0.9090909090909091, sy=0.9090909090909091, sz=0.9090909090909091, fr=0.3305785123966942
322	p:5.552059067218389, -1.6581236294201593, 4.369698100138417, sh=1, sx=0.9090909090909091, sy=0.9090909090909091, sz=0.9090909090909091, fr=0.3005259203606311, rx=0.603, -0.9391, 0.3034
323	p:5.983025350431394, -2.6270811423738007, 5.846578096885344, sh=2, sx=0.9090909090909091, sy=0.7527272727272727, sz=0.7327272727272728, h=0.548814, fr=0.27320538214602824, ry=-0.199
324	j:0, 1, sh=1
325	j:1, 2, sh=1
326	j:2, 3, rx=-0.6137069589668486, 0.9336120115153848, 0.32629609148341426, dx=1.6048730188952707, -0.16888325253375547, 1.2310278019498906, sh=1, stif=0.2165289256198347, rotstif=0.2165289256198347
327	j:3, 4, sh=1, stif=0.9090909090909091, rotstif=0.9090909090909091
328	j:4, 5, sh=1, stif=0.8264462809917354, rotstif=0.8264462809917354
329	n:p=0, d=S
330	n:p=0, d=S
331	n:p=0, d=S
332	n:p=1, d=S
333	n:p=1, d=S
334	n:p=1, d=*
335	n:j=0, d=M
336	n:j=0, d=M
337	n:j=1, d=M
338	n:p=2, d=Gpart
339	n:p=3, d=*
340	n:p=3, d=*
341	n:p=3, d=Gpart
342	n:p=5, d=*
343	n:p=5, d=*
344	n:p=5
345	c:6, 4, -5.154
346	c:7, 0
347	c:15, 0
348	c:15, 2
349	c:15, 3
350	c:15, 9
351	c:15, 12
352	c:15, 14
353
354	Part references and delta fields are the 'core' properties of the Joint.
355	The other properties are available from Joint::extraProperties()
356	and at the moment are defined as follows:
357
358	# id type name group (5 properties)
359	0. stif = 0.2165289256198347 f 0.0 1.0 1.0 stiffness Extra properties
360	1. rotstif = 0.2165289256198347 f 0.0 1.0 1.0 rotation stiffness Extra properties
361	2. vr = 1.0 f 0.0 1.0 1.0 red component Extra properties
362	3. vg = 1.0 f 0.0 1.0 1.0 green component Extra properties
363	4. vb = 1.0 f 0.0 1.0 1.0 blue component Extra properties
364
365	They can be changed just like Part's extra properties:
366	Change property #4 to random value from range [0..1]
367	Current value of 'vb' (blue component) is '1.0'
368	Setting new value... [ using ParamInterface::set() ]
369	The value is now '0.592845'
370	And after that we have this genotype:
371
372	p:sh=2, sx=0.8264462809917354, sy=0.8264462809917354, sz=0.8264462809917354, ry=-0.214
373	p:1.84400826446281, sh=2, sx=0.9090909090909091, sy=0.9090909090909091, sz=0.9090909090909091, fr=0.36363636363636365
374	p:3.4488812833580815, -0.26888325253375556, 1.3310278019498911, sh=1, sx=0.9090909090909091, sy=0.9090909090909091, sz=0.9090909090909091, fr=0.3305785123966942, rx=0.603, -0.9391, 0.3034
375	p:5.053754302253352, -0.4377665050675108, 2.5620556038997817, sh=2, sx=0.9090909090909091, sy=0.9090909090909091, sz=0.9090909090909091, fr=0.3305785123966942
376	p:5.552059067218389, -1.6581236294201593, 4.369698100138417, sh=1, sx=0.9090909090909091, sy=0.9090909090909091, sz=0.9090909090909091, fr=0.3005259203606311, rx=0.603, -0.9391, 0.3034
377	p:5.983025350431394, -2.6270811423738007, 5.846578096885344, sh=2, sx=0.9090909090909091, sy=0.7527272727272727, sz=0.7327272727272728, h=0.548814, fr=0.27320538214602824, ry=-0.199
378	j:0, 1, sh=1
379	j:1, 2, sh=1
380	j:2, 3, rx=-0.6137069589668486, 0.9336120115153848, 0.32629609148341426, dx=1.6048730188952707, -0.16888325253375547, 1.2310278019498906, sh=1, stif=0.2165289256198347, rotstif=0.2165289256198347, vb=0.592845
381	j:3, 4, sh=1, stif=0.9090909090909091, rotstif=0.9090909090909091
382	j:4, 5, sh=1, stif=0.8264462809917354, rotstif=0.8264462809917354
383	n:p=0, d=S
384	n:p=0, d=S
385	n:p=0, d=S
386	n:p=1, d=S
387	n:p=1, d=S
388	n:p=1, d=*
389	n:j=0, d=M
390	n:j=0, d=M
391	n:j=1, d=M
392	n:p=2, d=Gpart
393	n:p=3, d=*
394	n:p=3, d=*
395	n:p=3, d=Gpart
396	n:p=5, d=*
397	n:p=5, d=*
398	n:p=5
399	c:6, 4, -5.154
400	c:7, 0
401	c:15, 0
402	c:15, 2
403	c:15, 3
404	c:15, 9
405	c:15, 12
406	c:15, 14
407
408	#############################################
409	## ##
410	## N E U R O O B J E C T ##
411	## ##
412	#############################################
413	(neuro # 4)
414	Basic features of Neuro object are similar to those of Part and Joint.
415	We can request a property list:
416
417	# id type name group (10 properties)
418	0. p = 1 d -1 999999 -1 part ref# Connections
419	1. j = -1 d -1 999999 -1 joint ref# Connections
420	2. d = S s details Other
421	3. i = s info Other
422	4. Vstyle = neuro s 0 0 neuro vis_style Visual
423	5. getInputCount = 0 d input count Connections
424	9. classObject = null oNeuroClass neuron class Connections
425
426	...and extra properties (which are designed to be always valid and easy to change):
427
428	# id type name group (0 properties)
429
430	As usual, we will change something:
431	Each neuron can have any number of inputs = weighted connections
432	with other neurons.
433	According to Neuro::getInputCount(), this one has 0 inputs.
434	Standard API is provided for accessing those inputs (getInput(int)),
435	adding inputs (addInput(Neuro*)) and removing them (removeInput(int)).
436
437
438	The most unusual thing is 'details' field (d).
439	It is something like separate object with its own set of properties.
440	Currently the value of 'd' is 'S'.
441	'S' is the class name (Neuro::getClassName() == 'S') and means 'Smell'.
442	Neuro::getClass() gives you information about basic characteristic
443	of the class, that can be analyzed automatically.
444	For the current object we can learn that it supports no inputs (getPreferredInputs()) and provides meaningful output signal (getPreferredOutput()==1).
445	Instances of 'S' can be used in models having any shape types.
446	Instances of 'S' can be attached to Parts.
447	(This class does not have its own properties
448	- Neuro::classProperties().getPropCount()==0)
449	The class of this object can be changed using Neuro::setClassName()
450	The following classes are available:
451	[ data provided by Neuro::getClassInfo()->getProperties() ]
452
453	# class description properties
454	0. N Neuron 4
455	1. Nu Unipolar neuron [EXPERIMENTAL!] 4
456	2. G Gyroscope 0
457	3. Gpart Part Gyroscope 2
458	4. T Touch 3
459	5.Tcontact Touch contact 0
460	6.Tproximity Touch proximity 3
461	7. S Smell 0
462	8. * Constant 0
463	9. \| Bend muscle 2
464	10. @ Rotation muscle 1
465	11. M Muscle for solids 2
466	12. D Differentiate 0
467	13. Fuzzy Fuzzy system [EXPERIMENTAL!] 4
468	14. Sti Sticky [EXPERIMENTAL!] 0
469	15. LMu Linear muscle [EXPERIMENTAL!] 1
470	16. Water Water detector 0
471	17.Energy Energy level 0
472	18. Ch Channelize 0
473	19. ChMux Channel multiplexer 0
474	20. ChSel Channel selector 1
475	21. Rnd Random noise 0
476	22. Sin Sinus generator 2
477
478	Let's change the Neuro's class to 'D'...
479	The final object description will be then: 'D'
480	And the full f0 genotype:
481
482	p:sh=2, sx=0.8264462809917354, sy=0.8264462809917354, sz=0.8264462809917354, ry=-0.214
483	p:1.84400826446281, sh=2, sx=0.9090909090909091, sy=0.9090909090909091, sz=0.9090909090909091, fr=0.36363636363636365
484	p:3.4488812833580815, -0.26888325253375556, 1.3310278019498911, sh=1, sx=0.9090909090909091, sy=0.9090909090909091, sz=0.9090909090909091, fr=0.3305785123966942, rx=0.603, -0.9391, 0.3034
485	p:5.053754302253352, -0.4377665050675108, 2.5620556038997817, sh=2, sx=0.9090909090909091, sy=0.9090909090909091, sz=0.9090909090909091, fr=0.3305785123966942
486	p:5.552059067218389, -1.6581236294201593, 4.369698100138417, sh=1, sx=0.9090909090909091, sy=0.9090909090909091, sz=0.9090909090909091, fr=0.3005259203606311, rx=0.603, -0.9391, 0.3034
487	p:5.983025350431394, -2.6270811423738007, 5.846578096885344, sh=2, sx=0.9090909090909091, sy=0.7527272727272727, sz=0.7327272727272728, h=0.548814, fr=0.27320538214602824, ry=-0.199
488	j:0, 1, sh=1
489	j:1, 2, sh=1
490	j:2, 3, rx=-0.6137069589668486, 0.9336120115153848, 0.32629609148341426, dx=1.6048730188952707, -0.16888325253375547, 1.2310278019498906, sh=1, stif=0.2165289256198347, rotstif=0.2165289256198347, vb=0.592845
491	j:3, 4, sh=1, stif=0.9090909090909091, rotstif=0.9090909090909091
492	j:4, 5, sh=1, stif=0.8264462809917354, rotstif=0.8264462809917354
493	n:p=0, d=S
494	n:p=0, d=S
495	n:p=0, d=S
496	n:p=1, d=S
497	n:p=1, d=D
498	n:p=1, d=*
499	n:j=0, d=M
500	n:j=0, d=M
501	n:j=1, d=M
502	n:p=2, d=Gpart
503	n:p=3, d=*
504	n:p=3, d=*
505	n:p=3, d=Gpart
506	n:p=5, d=*
507	n:p=5, d=*
508	n:p=5
509	c:6, 4, -5.154
510	c:7, 0
511	c:15, 0
512	c:15, 2
513	c:15, 3
514	c:15, 9
515	c:15, 12
516	c:15, 14
517
518
519	######### THE END ###########
520
521	Hints:
522	1. You can redirect output: genomanipulation >filename.txt
523	2. Each run can yield different results and new behaviors, but you
524	need to uncomment srand(time(0)) in genomanipulation.cpp.
525	3. This application will use custom genotype passed as
526	a commandline parameter: genomanipulation "/9/FULU"
527
528

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