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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

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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 (21 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. 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
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() ]
88	# id type name group (8 properties)
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
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
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
104	Change property #4 to random value from range [0..1]
105	Current value of 'as' (assimilation) is '0.25'
106	Setting new value... [ using ParamInterface::set() ]
107	The value is now '0.715189'
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
117	p:2.044122892122303, sh=3, sx=1.0144, sy=0.903, sz=0.903, ing=0.22727272727272727, as=0.715189, ry=0.271
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
186	p:2.044122892122303, sh=3, sx=1.0144, sy=0.903, sz=0.903, ing=0.22727272727272727, as=0.715189, ry=0.271
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
220	p:2.044122892122303, sh=3, sx=1.0144, sy=0.903, sz=0.903, ing=0.22727272727272727, as=0.715189, ry=0.271
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
257	p:2.044122892122303, sh=3, sx=1.0144, sy=0.903, sz=0.903, ing=0.22727272727272727, as=0.715189, ry=0.271
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
292	p:2.044122892122303, sh=3, sx=1.0144, sy=0.903, sz=0.903, ing=0.22727272727272727, as=0.715189, ry=0.271
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
340	p:2.044122892122303, sh=3, sx=1.0144, sy=0.903, sz=0.903, ing=0.22727272727272727, as=0.715189, ry=0.271
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
455	p:2.044122892122303, sh=3, sx=1.0144, sy=0.903, sz=0.903, ing=0.22727272727272727, as=0.715189, ry=0.271
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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