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genomanipulation-fS.goal @ 1037

Last change on this file since 1037 was 1034, checked in by sz, 4 years ago
test results updated
File size: 24.8 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: '1.1,0,0.4: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() ]
59	# id type name group (22 properties)
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
78	18. vs = 0.2 f 0.05 0.7 0.2 visual thickness Visual
79	19. vr = 1.0 f 0.0 1.0 1.0 red component Visual
80	20. vg = 1.0 f 0.0 1.0 1.0 green component Visual
81	21. vb = 1.0 f 0.0 1.0 1.0 blue component Visual
82
83	However, there is a subset of properties which may be modified more freely.
84	Properties on this list are related only to this part and can be changed
85	without much consideration. They are guaranteed to be always valid; any inconsistencies
86	will be silently repaired.
87
88	[this data is provided by Part::extraProperties() ]
89	# id type name group (9 properties)
90	0. h = 0.0 f 0 1 0 hollow Extra properties
91	1. dn = 1.0 f 0.2 5.0 1.0 density Extra properties
92	2. fr = 0.4 f 0.0 4.0 0.4 friction Extra properties
93	3. ing = 0.22727272727272727 f 0.0 1.0 0.25 ingestion Extra properties
94	4. as = 0.25 f 0.0 1.0 0.25 assimilation Extra properties
95	5. vs = 0.2 f 0.05 0.7 0.2 visual thickness Extra properties
96	6. vr = 1.0 f 0.0 1.0 1.0 red component Extra properties
97	7. vg = 1.0 f 0.0 1.0 1.0 green component Extra properties
98	8. vb = 1.0 f 0.0 1.0 1.0 blue component Extra properties
99
100	This set of properties can vary from release to release,
101	but can be safely accessed by using extraProperties() call.
102	This method accesses the full set of properies (even those
103	which appear in future releases).
104	Now we will try to change some of properties:
105
106	Change property #5 to random value from range [0.05..0.7]
107	Current value of 'vs' (visual thickness) is '0.2'
108	Setting new value... [ using ParamInterface::set() ]
109	The value is now '0.514873'
110
111	Let's see f0... (check out part #6 !)
112
113	p:sh=2, sx=0.806, sy=0.806, sz=2.295
114	p:1.6610658177212956, sh=2, sx=0.806, sz=0.806
115	p:2.669522581015868, -0.12927953115999094, 1.770803754024758, sh=1, rx=1.3416, -1.3967, 1.1368
116	p:2.5149067817465802, -0.12852148117052686, 1.7757109168238943, sh=1, ing=0.275, rx=-1.277, -1.087, -0.9208
117	p:3.491120795397971, 0.0627093264475479, 3.542562176271334, sh=1, rx=0.4085, 1.0807, 0.5977
118	p:4.82498021179015, -1.4556859677056804, 3.7057221690326423, sh=1, rx=-0.9279, -0.2806, -0.7292
119	p:2.044122892122303, sh=3, sx=1.0144, sy=0.903, sz=0.903, ing=0.22727272727272727, ry=0.271, vs=0.514873
120	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
121	p:3.2159989925040344, -0.15022914055334208, 2.057760603467444, sh=1, rx=1.3416, -1.3967, 1.1368
122	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
123	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
124	p:1.6422082610960242, -0.21052356609516198, 2.883642273506047, sh=1, ing=0.22727272727272727, rx=1.3416, -1.3967, 1.1368
125	j:0, 1, sh=1
126	j:1, 2, sh=1
127	j:1, 3, sh=2
128	j:3, 4, sh=1
129	j:4, 5, sh=1
130	j:0, 6, sh=2
131	j:6, 7, sh=1
132	j:6, 8, sh=1
133	j:0, 9, sh=1
134	j:0, 10, sh=1
135	j:0, 11, sh=1
136	n:p=0, d=Gpart
137	n:p=1
138	n:j=0, d=M:p=0.899
139	n:p=3
140	n:p=6
141	c:3, 1
142
143	#############################################
144	## ##
145	## J O I N T O B J E C T ##
146	## ##
147	#############################################
148	(joint # 9)
149	Similarly as with Part, the full list of properties comes first:
150
151	# id type name group (21 properties)
152	0. p1 = 0 d -1 999999 -1 part1 ref# Connections
153	1. p2 = 10 d -1 999999 -1 part2 ref# Connections
154	2. sh = 1 d 0 3 0 shape Geometry
155	3. hx = 0.0 f hinge position.x Geometry
156	4. hy = 0.0 f hinge position.y Geometry
157	5. hz = 0.0 f hinge position.z Geometry
158	6. hrx = 0.0 f hinge rotation.x Geometry
159	7. hry = 0.0 f hinge rotation.y Geometry
160	8. hrz = 0.0 f hinge rotation.z Geometry
161	9. hxn = -1.5708 f -6.2832 0 -1.5708 hinge x negative limit Geometry
162	10. hxp = 1.5708 f 0 6.2832 1.5708 hinge x positive limit Geometry
163	11. hyn = -1.5708 f -6.2832 0 -1.5708 hinge y negative limit Geometry
164	12. hyp = 1.5708 f 0 6.2832 1.5708 hinge y positive limit Geometry
165	13. stif = 1.0 f 0.0 1.0 1.0 stiffness Other properties
166	14. rotstif = 1.0 f 0.0 1.0 1.0 rotation stiffness Other properties
167	15. stam = 0.25 f 0.0 1.0 0.25 stamina Other properties
168	16. i = s info Other properties
169	17. Vstyle = joint s 0 0 joint vis_style Visual
170	18. vr = 1.0 f 0.0 1.0 1.0 red component Visual
171	19. vg = 1.0 f 0.0 1.0 1.0 green component Visual
172	20. vb = 1.0 f 0.0 1.0 1.0 blue component Visual
173
174	Actually, there are two kinds of Joints: delta and absolute.
175	For this object, Joint::isDelta() returns 0, so this is the absolute Joint.
176
177	Absolute Joints adapt to its Parts' positions.
178	We can move a Part, and it does not influence the second part, nor the Joint.
179	Let's move the first Part along y axis by -0.1...
180	The Part's position is changed, but everything else stays intact:
181
182	p:y=-0.1, sh=2, sx=0.806, sy=0.806, sz=2.295
183	p:1.6610658177212956, sh=2, sx=0.806, sz=0.806
184	p:2.669522581015868, -0.12927953115999094, 1.770803754024758, sh=1, rx=1.3416, -1.3967, 1.1368
185	p:2.5149067817465802, -0.12852148117052686, 1.7757109168238943, sh=1, ing=0.275, rx=-1.277, -1.087, -0.9208
186	p:3.491120795397971, 0.0627093264475479, 3.542562176271334, sh=1, rx=0.4085, 1.0807, 0.5977
187	p:4.82498021179015, -1.4556859677056804, 3.7057221690326423, sh=1, rx=-0.9279, -0.2806, -0.7292
188	p:2.044122892122303, sh=3, sx=1.0144, sy=0.903, sz=0.903, ing=0.22727272727272727, ry=0.271, vs=0.514873
189	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
190	p:3.2159989925040344, -0.15022914055334208, 2.057760603467444, sh=1, rx=1.3416, -1.3967, 1.1368
191	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
192	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
193	p:1.6422082610960242, -0.21052356609516198, 2.883642273506047, sh=1, ing=0.22727272727272727, rx=1.3416, -1.3967, 1.1368
194	j:0, 1, sh=1
195	j:1, 2, sh=1
196	j:1, 3, sh=2
197	j:3, 4, sh=1
198	j:4, 5, sh=1
199	j:0, 6, sh=2
200	j:6, 7, sh=1
201	j:6, 8, sh=1
202	j:0, 9, sh=1
203	j:0, 10, sh=1
204	j:0, 11, sh=1
205	n:p=0, d=Gpart
206	n:p=1
207	n:j=0, d=M:p=0.899
208	n:p=3
209	n:p=6
210	c:3, 1
211
212	How would this joint look like with delta option enabled?
213	[ by calling Joint::useDelta(1) ]
214	f0 is now:
215
216	p:y=-0.1, sh=2, sx=0.806, sy=0.806, sz=2.295
217	p:1.6610658177212956, sh=2, sx=0.806, sz=0.806
218	p:2.669522581015868, -0.12927953115999094, 1.770803754024758, sh=1, rx=1.3416, -1.3967, 1.1368
219	p:2.5149067817465802, -0.12852148117052686, 1.7757109168238943, sh=1, ing=0.275, rx=-1.277, -1.087, -0.9208
220	p:3.491120795397971, 0.0627093264475479, 3.542562176271334, sh=1, rx=0.4085, 1.0807, 0.5977
221	p:4.82498021179015, -1.4556859677056804, 3.7057221690326423, sh=1, rx=-0.9279, -0.2806, -0.7292
222	p:2.044122892122303, sh=3, sx=1.0144, sy=0.903, sz=0.903, ing=0.22727272727272727, ry=0.271, vs=0.514873
223	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
224	p:3.2159989925040344, -0.15022914055334208, 2.057760603467444, sh=1, rx=1.3416, -1.3967, 1.1368
225	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
226	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
227	p:1.6422082610960242, -0.21052356609516198, 2.883642273506047, sh=1, ing=0.22727272727272727, rx=1.3416, -1.3967, 1.1368
228	j:0, 1, sh=1
229	j:1, 2, sh=1
230	j:1, 3, sh=2
231	j:3, 4, sh=1
232	j:4, 5, sh=1
233	j:0, 6, sh=2
234	j:6, 7, sh=1
235	j:6, 8, sh=1
236	j:0, 9, sh=1
237	j:0, 10, rx=0.3229, -0.3828, 1.5117, dx=-0.5550636879509978, 0.9656107299102641, 3.181143899353255, sh=1
238	j:0, 11, sh=1
239	n:p=0, d=Gpart
240	n:p=1
241	n:j=0, d=M:p=0.899
242	n:p=3
243	n:p=6
244	c:3, 1
245
246	...so this is a delta joint.
247
248	Delta fields (dx,dy,dz) describe relative location of the second part.
249	This joint will change the second Part's positions to preserve delta distance.
250	Let's move the first Part (#0) along y axis (+0.1) and change delta.z (dz) by 0.1.
251	Position of the second Part referenced by this joint (part #10) is now changed:
252
253	p:sh=2, sx=0.806, sy=0.806, sz=2.295
254	p:1.6610658177212956, sh=2, sx=0.806, sz=0.806
255	p:2.669522581015868, -0.12927953115999094, 1.770803754024758, sh=1, rx=1.3416, -1.3967, 1.1368
256	p:2.5149067817465802, -0.12852148117052686, 1.7757109168238943, sh=1, ing=0.275, rx=-1.277, -1.087, -0.9208
257	p:3.491120795397971, 0.0627093264475479, 3.542562176271334, sh=1, rx=0.4085, 1.0807, 0.5977
258	p:4.82498021179015, -1.4556859677056804, 3.7057221690326423, sh=1, rx=-0.9279, -0.2806, -0.7292
259	p:2.044122892122303, sh=3, sx=1.0144, sy=0.903, sz=0.903, ing=0.22727272727272727, ry=0.271, vs=0.514873
260	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
261	p:3.2159989925040344, -0.15022914055334208, 2.057760603467444, sh=1, rx=1.3416, -1.3967, 1.1368
262	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
263	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
264	p:1.6422082610960242, -0.21052356609516198, 2.883642273506047, sh=1, ing=0.22727272727272727, rx=1.3416, -1.3967, 1.1368
265	j:0, 1, sh=1
266	j:1, 2, sh=1
267	j:1, 3, sh=2
268	j:3, 4, sh=1
269	j:4, 5, sh=1
270	j:0, 6, sh=2
271	j:6, 7, sh=1
272	j:6, 8, sh=1
273	j:0, 9, sh=1
274	j:0, 10, rx=0.3229, -0.3828, 1.5117, dx=-0.5550636879509978, 0.9656107299102641, 3.281143899353255, sh=1
275	j:0, 11, sh=1
276	n:p=0, d=Gpart
277	n:p=1
278	n:j=0, d=M:p=0.899
279	n:p=3
280	n:p=6
281	c:3, 1
282
283	If no delta fields are defined, they will be computed automatically.
284	You can always delete existing delta values by using Joint::resetDelta().
285	Now we will change the second Part's z position by -0.2 and call resetDelta()...
286	As you can see, Joint's delta fields have altered:
287
288	p:sh=2, sx=0.806, sy=0.806, sz=2.295
289	p:1.6610658177212956, sh=2, sx=0.806, sz=0.806
290	p:2.669522581015868, -0.12927953115999094, 1.770803754024758, sh=1, rx=1.3416, -1.3967, 1.1368
291	p:2.5149067817465802, -0.12852148117052686, 1.7757109168238943, sh=1, ing=0.275, rx=-1.277, -1.087, -0.9208
292	p:3.491120795397971, 0.0627093264475479, 3.542562176271334, sh=1, rx=0.4085, 1.0807, 0.5977
293	p:4.82498021179015, -1.4556859677056804, 3.7057221690326423, sh=1, rx=-0.9279, -0.2806, -0.7292
294	p:2.044122892122303, sh=3, sx=1.0144, sy=0.903, sz=0.903, ing=0.22727272727272727, ry=0.271, vs=0.514873
295	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
296	p:3.2159989925040344, -0.15022914055334208, 2.057760603467444, sh=1, rx=1.3416, -1.3967, 1.1368
297	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
298	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
299	p:1.6422082610960242, -0.21052356609516198, 2.883642273506047, sh=1, ing=0.22727272727272727, rx=1.3416, -1.3967, 1.1368
300	j:0, 1, sh=1
301	j:1, 2, sh=1
302	j:1, 3, sh=2
303	j:3, 4, sh=1
304	j:4, 5, sh=1
305	j:0, 6, sh=2
306	j:6, 7, sh=1
307	j:6, 8, sh=1
308	j:0, 9, sh=1
309	j:0, 10, rx=0.3229, -0.3828, 1.5117, dx=-0.48035983335347077, 0.9067404686418418, 3.10520747206641, sh=1
310	j:0, 11, sh=1
311	n:p=0, d=Gpart
312	n:p=1
313	n:j=0, d=M:p=0.899
314	n:p=3
315	n:p=6
316	c:3, 1
317
318	Part references and delta fields are the 'core' properties of the Joint.
319	The other properties are available from Joint::extraProperties()
320	and at the moment are defined as follows:
321
322	# id type name group (5 properties)
323	0. stif = 1.0 f 0.0 1.0 1.0 stiffness Extra properties
324	1. rotstif = 1.0 f 0.0 1.0 1.0 rotation stiffness Extra properties
325	2. vr = 1.0 f 0.0 1.0 1.0 red component Extra properties
326	3. vg = 1.0 f 0.0 1.0 1.0 green component Extra properties
327	4. vb = 1.0 f 0.0 1.0 1.0 blue component Extra properties
328
329	They can be changed just like Part's extra properties:
330	Change property #3 to random value from range [0..1]
331	Current value of 'vg' (green component) is '1.0'
332	Setting new value... [ using ParamInterface::set() ]
333	The value is now '0.857946'
334	And after that we have this genotype:
335
336	p:sh=2, sx=0.806, sy=0.806, sz=2.295
337	p:1.6610658177212956, sh=2, sx=0.806, sz=0.806
338	p:2.669522581015868, -0.12927953115999094, 1.770803754024758, sh=1, rx=1.3416, -1.3967, 1.1368
339	p:2.5149067817465802, -0.12852148117052686, 1.7757109168238943, sh=1, ing=0.275, rx=-1.277, -1.087, -0.9208
340	p:3.491120795397971, 0.0627093264475479, 3.542562176271334, sh=1, rx=0.4085, 1.0807, 0.5977
341	p:4.82498021179015, -1.4556859677056804, 3.7057221690326423, sh=1, rx=-0.9279, -0.2806, -0.7292
342	p:2.044122892122303, sh=3, sx=1.0144, sy=0.903, sz=0.903, ing=0.22727272727272727, ry=0.271, vs=0.514873
343	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
344	p:3.2159989925040344, -0.15022914055334208, 2.057760603467444, sh=1, rx=1.3416, -1.3967, 1.1368
345	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
346	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
347	p:1.6422082610960242, -0.21052356609516198, 2.883642273506047, sh=1, ing=0.22727272727272727, rx=1.3416, -1.3967, 1.1368
348	j:0, 1, sh=1
349	j:1, 2, sh=1
350	j:1, 3, sh=2
351	j:3, 4, sh=1
352	j:4, 5, sh=1
353	j:0, 6, sh=2
354	j:6, 7, sh=1
355	j:6, 8, sh=1
356	j:0, 9, sh=1
357	j:0, 10, rx=0.3229, -0.3828, 1.5117, dx=-0.48035983335347077, 0.9067404686418418, 3.10520747206641, sh=1, vg=0.857946
358	j:0, 11, sh=1
359	n:p=0, d=Gpart
360	n:p=1
361	n:j=0, d=M:p=0.899
362	n:p=3
363	n:p=6
364	c:3, 1
365
366	#############################################
367	## ##
368	## N E U R O O B J E C T ##
369	## ##
370	#############################################
371	(neuro # 2)
372	Basic features of Neuro object are similar to those of Part and Joint.
373	We can request a property list:
374
375	# id type name group (10 properties)
376	0. p = -1 d -1 999999 -1 part ref# Connections
377	1. j = 0 d -1 999999 -1 joint ref# Connections
378	2. d = M:p=0.899 s details Other
379	3. i = s info Other
380	4. Vstyle = neuro s 0 0 neuro vis_style Visual
381	5. getInputCount = 0 d input count Connections
382	9. classObject = null oNeuroClass neuron class Connections
383
384	...and extra properties (which are designed to be always valid and easy to change):
385
386	# id type name group (0 properties)
387
388	As usual, we will change something:
389	Each neuron can have any number of inputs = weighted connections
390	with other neurons.
391	According to Neuro::getInputCount(), this one has 0 inputs.
392	Standard API is provided for accessing those inputs (getInput(int)),
393	adding inputs (addInput(Neuro*)) and removing them (removeInput(int)).
394
395
396	The most unusual thing is 'details' field (d).
397	It is something like separate object with its own set of properties.
398	Currently the value of 'd' is 'M:p=0.899'.
399	'M' is the class name (Neuro::getClassName() == 'M') and means 'Muscle for solids'.
400	Neuro::getClass() gives you information about basic characteristic
401	of the class, that can be analyzed automatically.
402	For the current object we can learn that it supports 1 inputs (getPreferredInputs()) and doesn't provide useful output signal (getPreferredOutput()==0).
403	Instances of 'M' can be used in models having shape types: 'solid shapes'.
404	Instances of 'M' can be attached to Joints having shapes: 'hinge x' 'hinge xy'.
405	The class defines its own properties:
406
407	[ data provided by Neuro::classProperties() ]
408	# id type name group (2 properties)
409	0. p = 0.899 f 0.01 1.0 1.0 power Muscle for solids
410	1. a = 0 d 0 1 0 axis Muscle for solids
411	and they can be changed:
412	Change property #1 to random value from range [0..1]
413	Current value of 'a' (axis) is '0'
414	Setting new value... [ using ParamInterface::set() ]
415	The value is now '0'
416	After that, 'details' contains the new object: 'M:p=0.899'.
417	The class of this object can be changed using Neuro::setClassName()
418	The following classes are available:
419	[ data provided by Neuro::getClassInfo()->getProperties() ]
420
421	# class description properties
422	0. N Neuron 4
423	1. Nu Unipolar neuron [EXPERIMENTAL!] 4
424	2. G Gyroscope 0
425	3. Gpart Part Gyroscope 2
426	4. T Touch 3
427	5.Tcontact Touch contact 0
428	6.Tproximity Touch proximity 3
429	7. S Smell 0
430	8. * Constant 0
431	9. \| Bend muscle 2
432	10. @ Rotation muscle 1
433	11. M Muscle for solids 2
434	12. D Differentiate 0
435	13. Fuzzy Fuzzy system [EXPERIMENTAL!] 4
436	14. Sti Sticky [EXPERIMENTAL!] 0
437	15. LMu Linear muscle [EXPERIMENTAL!] 1
438	16. Water Water detector 0
439	17.Energy Energy level 0
440	18. Ch Channelize 0
441	19. ChMux Channel multiplexer 0
442	20. ChSel Channel selector 1
443	21. Rnd Random noise 0
444	22. Sin Sinus generator 2
445
446	Let's change the Neuro's class to 'Sti'...
447	[WARN] Param.loadSingleLine: Unknown property 'Sti.p' (ignored)
448	The final object description will be then: 'Sti'
449	And the full f0 genotype:
450
451	p:sh=2, sx=0.806, sy=0.806, sz=2.295
452	p:1.6610658177212956, sh=2, sx=0.806, sz=0.806
453	p:2.669522581015868, -0.12927953115999094, 1.770803754024758, sh=1, rx=1.3416, -1.3967, 1.1368
454	p:2.5149067817465802, -0.12852148117052686, 1.7757109168238943, sh=1, ing=0.275, rx=-1.277, -1.087, -0.9208
455	p:3.491120795397971, 0.0627093264475479, 3.542562176271334, sh=1, rx=0.4085, 1.0807, 0.5977
456	p:4.82498021179015, -1.4556859677056804, 3.7057221690326423, sh=1, rx=-0.9279, -0.2806, -0.7292
457	p:2.044122892122303, sh=3, sx=1.0144, sy=0.903, sz=0.903, ing=0.22727272727272727, ry=0.271, vs=0.514873
458	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
459	p:3.2159989925040344, -0.15022914055334208, 2.057760603467444, sh=1, rx=1.3416, -1.3967, 1.1368
460	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
461	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
462	p:1.6422082610960242, -0.21052356609516198, 2.883642273506047, sh=1, ing=0.22727272727272727, rx=1.3416, -1.3967, 1.1368
463	j:0, 1, sh=1
464	j:1, 2, sh=1
465	j:1, 3, sh=2
466	j:3, 4, sh=1
467	j:4, 5, sh=1
468	j:0, 6, sh=2
469	j:6, 7, sh=1
470	j:6, 8, sh=1
471	j:0, 9, sh=1
472	j:0, 10, rx=0.3229, -0.3828, 1.5117, dx=-0.48035983335347077, 0.9067404686418418, 3.10520747206641, sh=1, vg=0.857946
473	j:0, 11, sh=1
474	n:p=0, d=Gpart
475	n:p=1
476	n:j=0, d=Sti
477	n:p=3
478	n:p=6
479	c:3, 1
480
481
482	######### THE END ###########
483
484	Hints:
485	1. You can redirect output: genomanipulation >filename.txt
486	2. Each run can yield different results and new behaviors, but you
487	need to uncomment rndRandomizeSeed() in genomanipulation.cpp.
488	3. This application will use custom genotype passed as
489	a commandline parameter: genomanipulation "/9/FULU"
490
491

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