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source: java/Framclipse/com.framsticks.framclipse/res/framscript.xml @ 437

Last change on this file since 437 was 437, checked in by Mateusz Poszwa, 9 years ago
Added Framclipse as developed by Bartosz Kukawka and Tomek Maciejewski in 2010
Property svn:eol-style set to `native` Property svn:mime-type set to `text/xml`
File size: 253.1 KB

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1	<?xml version="1.0"?>
2	<!DOCTYPE framscript SYSTEM "framscript.dtd">
3	<?xml-stylesheet type="text/xsl" href="framscript.xsl"?>
4	<framscript>
5	<type name="expdef" context="expdef file">
6	<element name="code" type="string"/>
7	<element name="info" type="string"/>
8	<element name="name" type="string"/>
9	<element name="neurons" type="string"/>
10	</type>
11	<type name="prop" context="properties file">
12	<element name="flags" type="integer"/>
13	<element name="group" type="string"/>
14	<element name="help" type="string"/>
15	<element name="id" type="string"/>
16	<element name="name" type="string"/>
17	<element name="type" type="string"/>
18	</type>
19	<type name="stat" context="state file">
20	<element name="flags" type="integer"/>
21	<element name="group" type="string"/>
22	<element name="help" type="string"/>
23	<element name="id" type="string"/>
24	<element name="name" type="string"/>
25	<element name="type" type="string"/>
26	</type>
27	<type name="style" context="style file">
28	<description><![CDATA[General visual style properties.]]></description>
29	<element name="code" type="string"/>
30	<element name="info" type="string"/>
31	<element name="name" type="string"/>
32	<element name="neurons" type="integer" min="0" max="1"/>
33	<element name="smooth" type="integer" min="0" max="1"/>
34	<element name="style" type="string"/>
35	<element name="tex" type="integer" min="0" max="2"/>
36	<element name="rebuild" function="true"/>
37	<element name="streload" function="true"/>
38	</type>
39	<type name="show" context="show file">
40	<description><![CDATA[Show properties for the Framsticks Theater (from the *.show file).]]></description>
41	<element name="code" type="string"/>
42	<element name="dispinfo" type="integer" min="0" max="2"/>
43	<element name="expdef" type="string"/>
44	<element name="info" type="string"/>
45	<element name="mode" type="integer" min="0" max="2"/>
46	<element name="name" type="string"/>
47	<element name="regname" type="string"/>
48	<element name="show" type="string"/>
49	<element name="showlog" type="integer" min="0" max="1"/>
50	<element name="switchmode" type="integer" min="0" max="2"/>
51	<element name="switchshows" type="string">
52	<description><![CDATA[names of the shows participating in automatic switching (comma separated). Use * as a wildcard.]]></description>
53	</element>
54	<element name="switchtime" type="integer" min="0" max="9999">
55	<description><![CDATA[time between switching (seconds)]]></description>
56	</element>
57	<element name="userspeed" type="integer" min="0" max="5" default="3"/>
58	<element name="about" function="true"/>
59	<element name="dummy" function="true">
60	<description><![CDATA[This is the empty item in the Theater's menu]]></description>
61	</element>
62	<element name="reload" function="true"/>
63	</type>
64	<type name="class" context="neuro file">
65	<element name="code" type="string"/>
66	<element name="description" type="string"/>
67	<element name="icon" type="string"/>
68	<element name="longname" type="string"/>
69	<element name="name" type="string"/>
70	<element name="prefinputs" type="integer"/>
71	<element name="preflocation" type="integer" min="0" max="2"/>
72	<element name="prefoutput" type="integer" min="0" max="1"/>
73	<element name="vhints" type="integer"/>
74	</type>
75	<type name="script" context="script file">
76	<element name="code" type="string"/>
77	<element name="group" type="string"/>
78	<element name="help" type="string"/>
79	<element name="name" type="string"/>
80	</type>
81	<type name="Collision" context="Global context">
82	<description><![CDATA[Used in collision handlers (On___Collision). Contains the detailed information about the colliding parts (Part1,Part2 and their associated MechParts and Creatures). See the onFoodCollision() function in standard.expdef]]></description>
83	<element name="Creature1" type="Object"/>
84	<element name="Creature2" type="Object"/>
85	<element name="MechPart1" type="Object"/>
86	<element name="MechPart2" type="Object"/>
87	<element name="Part1" type="Object"/>
88	<element name="Part2" type="Object"/>
89	</type>
90	<type name="CrCollision" context="Global context">
91	<description><![CDATA[Used in creature collision handlers (On___CrCollision).]]></description>
92	<element name="Creature1" type="Object"/>
93	<element name="Creature2" type="Object"/>
94	</type>
95	<type name="Creature" context="Global context">
96	<description><![CDATA[The object inside the simulated world, including its physical structure, neural network and performance data. Food pieces, obstacles and other movable objects can be implemented as Creatures even though the are not "alive". See also: Population.]]></description>
97	<element name="bodysim" type="integer" min="0" max="1" default="1">
98	<description><![CDATA[(Physical) body simulation can be disabled for individual objects which makes them immovable. Disabled objects can still participate in collisions depending on their collisions masks.
99
100	Bugs: the standard collision handler does not work for disabled objects when ODE simulation is used. It means that these objects won't physically interact with other objects. The custom (scripting) handlers work as expected.]]></description>
101	</element>
102	<element name="buildproblems" type="integer"/>
103	<element name="c_velocity" type="float"/>
104	<element name="c_vertpos" type="float"/>
105	<element name="c_vertvelocity" type="float"/>
106	<element name="center_x" type="float">
107	<description><![CDATA[Center of gravity]]></description>
108	</element>
109	<element name="center_y" type="float">
110	<description><![CDATA[Center of gravity]]></description>
111	</element>
112	<element name="center_z" type="float">
113	<description><![CDATA[Center of gravity]]></description>
114	</element>
115	<element name="distance" type="float"/>
116	<element name="drive" type="XYZ">
117	<description><![CDATA[Measured in global coordinates]]></description>
118	</element>
119	<element name="energ0" type="float"/>
120	<element name="energy" type="float"/>
121	<element name="energy_b" type="float"/>
122	<element name="energy_m" type="float"/>
123	<element name="energy_p" type="float"/>
124	<element name="geno" type="Geno">
125	<description><![CDATA[Source genotype for this creature]]></description>
126	</element>
127	<element name="genotype" type="string"/>
128	<element name="gnum" type="integer"/>
129	<element name="group" type="untyped"/>
130	<element name="idleen" type="float"/>
131	<element name="index" type="integer">
132	<description><![CDATA[Index of this Creature in its Population.]]></description>
133	</element>
134	<element name="info" type="string">
135	<description><![CDATA[Additional info or comments]]></description>
136	</element>
137	<element name="lifespan" type="integer"/>
138	<element name="liveModel" type="Model">
139	<description><![CDATA[A Model object that is a copy of the current (temporary) geometry of this creature]]></description>
140	</element>
141	<element name="localDrive" type="XYZ">
142	<description><![CDATA[Measured in local coordinates, that is, with respect to the current orientation of the creature.
143	See also: Creature.orient]]></description>
144	</element>
145	<element name="model" type="Model">
146	<description><![CDATA[Source Model for this creature]]></description>
147	</element>
148	<element name="name" type="string"/>
149	<element name="nnenabled" type="integer" min="0" max="1"/>
150	<element name="numjoints" type="integer"/>
151	<element name="numneurons" type="integer"/>
152	<element name="numparts" type="integer"/>
153	<element name="orient" type="Orient">
154	<description><![CDATA[By convention, the orientation of the creature is equal to the orientation of its first Part]]></description>
155	</element>
156	<element name="othermask" type="integer" min="0" max="2147483647" default="0"/>
157	<element name="perf" type="integer" min="0" max="2">
158	<description><![CDATA[Initial value of this property is taken from Population.enableperf]]></description>
159	</element>
160	<element name="pos_x" type="float">
161	<description><![CDATA[(pos_x,pos_y,pos_z) is the point of minimal coordinates ("bottom left corner") of the creature, including imaginary Part sizes (Part.s, usually 1.0). See also: Creature.moveAbs]]></description>
162	</element>
163	<element name="pos_y" type="float">
164	<description><![CDATA[See Creature.pos_x]]></description>
165	</element>
166	<element name="pos_z" type="float">
167	<description><![CDATA[See Creature.pos_x]]></description>
168	</element>
169	<element name="selfcol" type="integer" min="0" max="1">
170	<description><![CDATA[Enable/disable detection of self-collisions (within a creature body). They can only occur when using the ODE simulation engine. If enabled, the creature will have its sticks collide during lifespan.]]></description>
171	</element>
172	<element name="selfcolstate" type="integer" min="0" max="1">
173	<description><![CDATA[Current self-collision state]]></description>
174	</element>
175	<element name="selfmask" type="integer" min="0" max="2147483647" default="0"/>
176	<element name="signals" type="CreatureSignals"/>
177	<element name="size_x" type="float">
178	<description><![CDATA[(size_x,size_y,size_z) are dimensions of the axis-aligned bounding box of the creature, including the imaginary part sizes (Part.s, usually 1.0). A creature consisting of a single default Part has the size of (2.0,2.0,2.0) - twice the Part.s value (like a sphere diameter is twice its radius).
179	See also: Creature.moveAbs]]></description>
180	</element>
181	<element name="size_y" type="float">
182	<description><![CDATA[See Creature.size_x]]></description>
183	</element>
184	<element name="size_z" type="float">
185	<description><![CDATA[See Creature.size_x]]></description>
186	</element>
187	<element name="uid" type="string"/>
188	<element name="user1" type="untyped"/>
189	<element name="user2" type="untyped"/>
190	<element name="user3" type="untyped"/>
191	<element name="velocity" type="float"/>
192	<element name="vertpos" type="float"/>
193	<element name="vertvel" type="float"/>
194	<element name="currentGeometryAsF0" function="true" type="string"><arguments/></element>
195	<element name="getJoint" function="true" type="Joint">
196	<arguments>
197	<argument name="index" type="integer"/>
198	</arguments>
199	</element>
200	<element name="getMechJoint" function="true" type="MechJoint">
201	<arguments>
202	<argument name="index" type="integer"/>
203	</arguments>
204	</element>
205	<element name="getMechPart" function="true" type="MechPart">
206	<arguments>
207	<argument name="index" type="integer"/>
208	</arguments>
209	</element>
210	<element name="getNeuro" function="true" type="Neuro">
211	<arguments>
212	<argument name="index" type="integer"/>
213	</arguments>
214	</element>
215	<element name="getNeuroDef" function="true" type="NeuroDef">
216	<arguments>
217	<argument name="index" type="integer"/>
218	</arguments>
219	</element>
220	<element name="getPart" function="true" type="Part">
221	<arguments>
222	<argument name="index" type="integer"/>
223	</arguments>
224	</element>
225	<element name="localToWorld" function="true" type="XYZ">
226	<description><![CDATA[Local coordinates are measured with respect to the position and orientation of the first Part]]></description>
227	<arguments>
228	<argument name="x" type="float"/>
229	<argument name="y" type="float"/>
230	<argument name="z" type="float"/>
231	</arguments>
232	</element>
233	<element name="move" function="true" type="void">
234	<description><![CDATA[Shift the creature by a given vector.]]></description>
235	<arguments>
236	<argument name="x" type="float"/>
237	<argument name="y" type="float"/>
238	<argument name="z" type="float"/>
239	</arguments>
240	</element>
241	<element name="moveAbs" function="true" type="void">
242	<description><![CDATA[Moves the creature so that its origin (pos_x,pos_y,pos_z) is placed at the given location. The origin is the point of minimal coordinates ("bottom left corner"), including imaginary part sizes (Part.s, usually 1.0).
243	Assuming a simple single-stick creature "X" having parts at (0,0,0) and (1,0,0),
244
245	origin (pos_x,pos_y,pos_z) = (-1,-1,-1)
246	size (size_x,size_y,size_z) = (3,2,2)
247
248	The following example places the bottom of a creature at a given location (x,y,z):
249	Creature.moveAbs(x-(Creature.size_x/2),y-(Creature.size_y/2),z-1.0)
250	(assuming that the part size is 1.0)]]></description>
251	<arguments>
252	<argument name="x" type="float"/>
253	<argument name="y" type="float"/>
254	<argument name="z" type="float"/>
255	</arguments>
256	</element>
257	<element name="moveLocal" function="true" type="void">
258	<description><![CDATA[Local coordinates are measured with respect to the position and orientation of the first Part]]></description>
259	<arguments>
260	<argument name="x" type="float"/>
261	<argument name="y" type="float"/>
262	<argument name="z" type="float"/>
263	</arguments>
264	</element>
265	<element name="rotate" function="true" type="void">
266	<description><![CDATA[Rotate the creature around X, Y and Z axes. Should only be used immediately after creating a new creature (before the first simulation step is performed for this creature), otherwise further simulation can be disturbed.]]></description>
267	<arguments>
268	<argument name="x" type="float"/>
269	<argument name="y" type="float"/>
270	<argument name="z" type="float"/>
271	</arguments>
272	</element>
273	<element name="rotateLocal" function="true" type="void">
274	<description><![CDATA[Rotate the creature around (local) X, Y and Z axes. Should only be used immediately after creating a new creature (before the first simulation step is performed for this creature), otherwise further simulation can be disturbed.]]></description>
275	<arguments>
276	<argument name="x" type="float"/>
277	<argument name="y" type="float"/>
278	<argument name="z" type="float"/>
279	</arguments>
280	</element>
281	<element name="worldToLocal" function="true" type="XYZ">
282	<description><![CDATA[Local coordinates are measured with respect to the position and orientation of the first Part]]></description>
283	<arguments>
284	<argument name="x" type="float"/>
285	<argument name="y" type="float"/>
286	<argument name="z" type="float"/>
287	</arguments>
288	</element>
289	</type>
290	<type name="CreatureSettings" context="Global context">
291	<description><![CDATA[Creature building parameters]]></description>
292	<element name="bnoise_struct" type="float" min="0" max="10" default="0">
293	<description><![CDATA[When >0, body constructs of creatures (position of Parts) will be randomly disturbed when they are created.]]></description>
294	</element>
295	<element name="bnoise_vel" type="float" min="0" max="10" default="0">
296	<description><![CDATA[Random velocities will be applied to all body Parts (in MechaStick) or rigid segments (in ODE) of newly created creatures.]]></description>
297	</element>
298	<element name="maxjoint" type="float" min="0" max="100" default="2"/>
299	<element name="minjoint" type="float" min="0" max="100" default="0"/>
300	<element name="randinit" type="float" min="0" max="10" default="0.01">
301	<description><![CDATA[Allowed range for initializing all neuron states with uniform distribution random numbers and zero mean. Set 0 for deterministic initialization.]]></description>
302	</element>
303	<element name="touchrange" type="float" min="0" max="100" default="1"/>
304	</type>
305	<type name="CreaturesGroup" context="Global context">
306	<description><![CDATA[A set of Creature objects, sharing some high level simulation properties (performance calculation, NN simulation, collision detection, event handling). The groups usually have different roles in the experiment (Creatures groups and Food group in standard.expdef).]]></description>
307	<element name="bodysim" type="integer" min="0" max="1" default="1">
308	<description><![CDATA[Enable/disable physical body simulation. This is the initial value of Creature.bodysim for all objects created in this group. For details, see the documentation of Creature.bodysim.]]></description>
309	</element>
310	<element name="colmask" type="integer" min="0" max="65535" default="0">
311	<description><![CDATA[DEPRECATED. You should use selfmask and othermask (these masks are also much easier to understand than the old colmask field).]]></description>
312	</element>
313	<element name="death" type="integer" min="0" max="1" default="1">
314	<description><![CDATA[Do creatures die when no energy?]]></description>
315	</element>
316	<element name="em_dyn" type="float" min="0" max="1" default="0">
317	<description><![CDATA[Energy requirements for a muscle
318	moving a stick]]></description>
319	</element>
320	<element name="em_stat" type="float" min="0" max="1" default="0">
321	<description><![CDATA[Energy requirements for a muscle
322	resisting an external force]]></description>
323	</element>
324	<element name="en_assim" type="float" min="0" max="1" default="0">
325	<description><![CDATA[Maximal energy gain produced by a vertical specialized stick.
326	Horizontal specialized sticks get half of this value.]]></description>
327	</element>
328	<element name="enableperf" type="integer" min="0" max="2" default="1">
329	<description><![CDATA[Stabilization means no significant movement during a specified period of time.]]></description>
330	</element>
331	<element name="energy" type="integer" min="0" max="1" default="1">
332	<description><![CDATA[If turned off, creature's energy will be constant.]]></description>
333	</element>
334	<element name="index" type="integer"/>
335	<element name="killnostable" type="integer" min="0" max="10000000" default="1000000">
336	<description><![CDATA[Creatures that fail to stabilize after the specified waiting period (e.g. because they are continuously rolling) will be killed. 0 disables this feature.]]></description>
337	</element>
338	<element name="name" type="string"/>
339	<element name="nnsim" type="integer" min="0" max="2" default="1">
340	<description><![CDATA[Stabilization means no significant movement during a specified period of time.]]></description>
341	</element>
342	<element name="othermask" type="integer" min="0" max="2147483647" default="0">
343	<description><![CDATA[See selfmask.]]></description>
344	</element>
345	<element name="perfperiod" type="integer" min="0" max="1000000" default="100">
346	<description><![CDATA[Defines how often onUpdate() events are called. Also used to compute partial performance of creatures (distance, speed, etc.) and to determine stabilization.]]></description>
347	</element>
348	<element name="selfcol" type="integer" min="0" max="1" default="0">
349	<description><![CDATA[Detect collisions within creature bodies (only applicable for the ODE simulation engine). This is the initial value of Creature.selfcol for all objects created in this group. If enabled, creatures with self-colliding genotypes are not born, and others will have their sticks collide during lifespan.]]></description>
350	</element>
351	<element name="selfmask" type="integer" min="0" max="2147483647" default="0">
352	<description><![CDATA[Collisions between objects can be handled in two ways:
353	- standard 'mechanical' collision (simple 'rebound' effect)
354	- special script handler (On[GROUPNAME]Collision function)
355
356	In the script handler function, use the Collision object to access the two colliding parts of two creatures.
357	The first part in the Collision object (i.e. Collision.Creature1) always concerns the creature that belongs to [GROUPNAME].
358	The handler is called once for each creature that collides with the creature from [GROUPNAME].
359
360	Collision masks determine which one will be used (none and both are also possible). On each collision, selfmask and othermask of the colliding objects are logically ANDed. 16 lower bits (0xffff) enable the standard handler. 16 higher bits (0xffff0000) enable the custom handler.
361	Examples:
362
363	1.With one group, all possible combinations of the collision handlers are as follows:
364	- ignore collisions (e.g. selfmask=othermask=0)
365	- use standard handling (e.g. selfmask=othermask=1)
366	- use custom handling (e.g. selfmask=othermask=0x10000)
367	- use standard and custom handling (e.g. selfmask=othermask=0x10001)
368
369	2.Two groups yield more interesting cases. Let us consider the 'standard.expdef' setting:
370	Creatures: selfmask=0x10001, othermask=0x20001
371	Food colmask = selfmask=0x20002, othermask=0x10002
372	There are three possible scenarios:
373	- creature and creature: collision value = 0x10001 & 0x20001 = 1 -> Standard handling will be used (1 is one of the lower 16 bits)
374	- food and food: collision value = 0x20002 & 0x10002 = 2 -> As above.
375	- creature and food: collision value = (0x10001 & 0x10002) or (0x20002 & 0x20001) = 0x10000 or 0x20000 -> Custom handling will be used (higher 16 bits).
376	]]></description>
377	</element>
378	<element name="size" type="integer"/>
379	<element name="stabilperiod" type="integer" min="0" max="1000000" default="100">
380	<description><![CDATA["Performance sampling period" for the stabilization phase.]]></description>
381	</element>
382	<element name="stabledist" type="float" min="0" max="1" default="0.01">
383	<description><![CDATA[A creature is considered stabilized when its center of gravity stays within the specified distance after the "Sampling period while waiting" has elapsed.]]></description>
384	</element>
385	<element name="createFromGeno" function="true" type="Creature">
386	<description><![CDATA[Uses the supplied Geno object]]></description>
387	<arguments>
388	<argument type="Geno"/>
389	</arguments>
390	</element>
391	<element name="createFromGenotype" function="true" type="Creature">
392	<description><![CDATA[Uses the selected Genotype object]]></description>
393	<arguments/></element>
394	<element name="createFromString" function="true" type="Creature">
395	<description><![CDATA[Uses the supplied string argument]]></description>
396	<arguments>
397	<argument name="genotype" type="string"/>
398	</arguments>
399	</element>
400	<element name="delete" function="true" type="void">
401	<description><![CDATA[delete creature]]></description>
402	<arguments>
403	<argument name="creature index" type="integer"/>
404	</arguments>
405	</element>
406	<element name="findCreatureAt" function="true" type="Creature">
407	<arguments>
408	<argument name="point" type="Vector"/>
409	<argument name="vector" type="Vector"/>
410	</arguments>
411	</element>
412	<element name="findUID" function="true" type="integer">
413	<arguments>
414	<argument name="uid" type="string"/>
415	</arguments>
416	</element>
417	<element name="get" function="true" type="Creature">
418	<arguments>
419	<argument name="index" type="integer"/>
420	</arguments>
421	</element>
422	<element name="kill" function="true" type="void">
423	<description><![CDATA[kill creature]]></description>
424	<arguments>
425	<argument name="creature index" type="integer"/>
426	</arguments>
427	</element>
428	<element name="senseCreaturesProperty" function="true" type="float">
429	<description><![CDATA[arguments:
430	- x,y,z (sensor position)
431	- property (name, name[index] or Class:id). name[index] can be used for Vector objects inside the user fields, eg "user2[10]"
432	- exclude (creature object)
433	works like a smell sensor for a given property (for all creatures in this group except "exclude").
434	The following function reproduces the "classic" framsticks "S" sensor:
435	function smellReceptorValue(x,y,z,exclude)
436	{
437	var i,s=0; for(i=0;i<Populations.size;i++)
438	s+=Populations[0].senseCreaturesProperty(x,y,z,"energy",exclude);
439	return s;
440	}]]></description>
441	<arguments>
442	<argument name="x" type="float"/>
443	<argument name="y" type="float"/>
444	<argument name="z" type="float"/>
445	<argument name="propertyname" type="string"/>
446	<argument name="exclude" type="Creature"/>
447	</arguments>
448	</element>
449	</type>
450	<type name="CreatureSignals" context="Global context">
451	<description><![CDATA[Signal sources associated with the creature. See also: Signal, WorldSignals, NeuroSignals]]></description>
452	<element name="size" type="integer">
453	<description><![CDATA[Number of signals in this set]]></description>
454	</element>
455	<element name="add" function="true" type="Signal">
456	<description><![CDATA[Create a new signal]]></description>
457	<arguments>
458	<argument name="channel" type="string"/>
459	</arguments>
460	</element>
461	<element name="addProperty" function="true" type="Signal">
462	<description><![CDATA[Create a signal that automatically reflects one of the creature's properties (i.e. its power is equal to the property value).
463	Example:
464	Creature.signals.addProperty("energy","energy"); //then, Neuro.signals.receive("energy") in custom neuron would work similarly to the built-in smell sensor]]></description>
465	<arguments>
466	<argument name="channel" type="string"/>
467	<argument name="property" type="untyped"/>
468	</arguments>
469	</element>
470	<element name="clear" function="true" type="void">
471	<description><![CDATA[Delete all signals]]></description>
472	<arguments/></element>
473	<element name="get" function="true" type="Signal">
474	<description><![CDATA[Access individual signals (index=0 .. size-1)]]></description>
475	<arguments>
476	<argument name="index" type="integer"/>
477	</arguments>
478	</element>
479	<element name="receive" function="true" type="float">
480	<description><![CDATA[Receive the aggregated signal power in a given channel.]]></description>
481	<arguments>
482	<argument name="channel" type="string"/>
483	</arguments>
484	</element>
485	<element name="receiveFilter" function="true" type="float">
486	<description><![CDATA[Receive the aggregated signal power in a given channel.
487
488	Additional filtering options:
489	- Max distance only receives the neighbor signals (based on their physical location)
490	- Flavor filtering: only signals having the flavor close to the specified one will be received. The filter value is the maximum allowed difference.]]></description>
491	<arguments>
492	<argument name="channel" type="string"/>
493	<argument name="max distance" type="float"/>
494	<argument name="flavor" type="float"/>
495	<argument name="filter" type="float"/>
496	</arguments>
497	</element>
498	<element name="receiveSet" function="true" type="Vector">
499	<description><![CDATA[Get all signals in the specified range. Returns a readonly vector object containing Signal objects (individual signals can be accessed as result[0], .., result[result.size-1]).]]></description>
500	<arguments>
501	<argument name="channel" type="string"/>
502	<argument name="max distance" type="float"/>
503	</arguments>
504	</element>
505	<element name="receiveSingle" function="true" type="Signal">
506	<description><![CDATA[Find the signal source having the highest signal power (including the distance)]]></description>
507	<arguments>
508	<argument name="channel" type="string"/>
509	<argument name="max distance" type="float"/>
510	</arguments>
511	</element>
512	</type>
513	<type name="Dictionary" context="Global context">
514	<description><![CDATA[Dictionary associates stored values with string keys ("key" is the first argument in get/set/remove functions). Integer "key" can be used to enumerate all elements.
515	Example: var d=Dictionary.new(); d.set("name","John"); d.set("age",44);
516	var i,element; for(i=0;i<d.size;i++) element=d.get(i);]]></description>
517	<element name="size" type="integer"/>
518	<element name="toString" type="string"/>
519	<element name="clear" function="true" type="void"><arguments/></element>
520	<element name="find" function="true" type="string">
521	<description><![CDATA[returns the element key or null if not found]]></description>
522	<arguments>
523	<argument name="value" type="untyped"/>
524	</arguments>
525	</element>
526	<element name="get" function="true" type="untyped">
527	<arguments>
528	<argument name="key" type="untyped"/>
529	</arguments>
530	</element>
531	<element name="new" function="true" type="Dictionary"><arguments/></element>
532	<element name="remove" function="true" type="void">
533	<arguments>
534	<argument name="key" type="untyped"/>
535	</arguments>
536	</element>
537	<element name="set" function="true" type="void">
538	<arguments>
539	<argument name="key" type="untyped"/>
540	<argument name="value" type="untyped"/>
541	</arguments>
542	</element>
543	</type>
544	<type name="File" context="Global context">
545	<description><![CDATA[Provides read/write access to the filesystem. Can be used in the experiment definition to save the experiment state (onExpSave). Files are created in the "scripts_output" subdirectory of the directory where the Framsticks executable is located.]]></description>
546	<element name="EOF" type="integer" min="0" max="1"/>
547	<element name="info" type="string"/>
548	<element name="name" type="string"/>
549	<element name="path" type="string"/>
550	<element name="pathseparator" type="string"/>
551	<element name="append" function="true" type="File ">
552	<arguments>
553	<argument name="filename" type="string"/>
554	<argument name="description" type="string"/>
555	</arguments>
556	</element>
557	<element name="appendDirect" function="true" type="File ">
558	<arguments>
559	<argument name="filename" type="string"/>
560	<argument name="description" type="string"/>
561	</arguments>
562	</element>
563	<element name="close" function="true" type="string">
564	<description><![CDATA[returns file contents if it has been buffered]]></description>
565	<arguments/></element>
566	<element name="create" function="true" type="File">
567	<arguments>
568	<argument name="filename" type="string"/>
569	<argument name="description" type="string"/>
570	</arguments>
571	</element>
572	<element name="createDirect" function="true" type="File">
573	<arguments>
574	<argument name="filename" type="string"/>
575	<argument name="description" type="string"/>
576	</arguments>
577	</element>
578	<element name="exists" function="true" type="integer" min="0" max="1">
579	<description><![CDATA[Sample:
580	File.exists("default.sim") -> return 0 or 1]]></description>
581	<arguments/></element>
582	<element name="flush" function="true" type="void">
583	<description><![CDATA[useful for unbuffered disk files only (openDirect, appendDirect)]]></description>
584	<arguments/></element>
585	<element name="new" function="true" type="File "><arguments/></element>
586	<element name="newFromString" function="true" type="File ">
587	<arguments>
588	<argument name="text" type="string"/>
589	</arguments>
590	</element>
591	<element name="open" function="true" type="File ">
592	<arguments>
593	<argument name="filename" type="string"/>
594	</arguments>
595	</element>
596	<element name="readLine" function="true" type="string"><arguments/></element>
597	<element name="readObject" function="true" type="void">
598	<arguments>
599	<argument type="Object"/>
600	</arguments>
601	</element>
602	<element name="readUntilEOF" function="true" type="string"><arguments/></element>
603	<element name="system" function="true" type="integer">
604	<description><![CDATA[Invokes a system command and returns its exit code (0 usually means the command was completed successfully).
605
606	Example:
607	File.system("wget",["-O","/tmp/filename","http://example.com/file"]);]]></description>
608	<arguments>
609	<argument name="executable" type="string"/>
610	<argument name="string arguments" type="Vector"/>
611	</arguments>
612	</element>
613	<element name="writeComment" function="true" type="void">
614	<arguments>
615	<argument name="anything" type="string"/>
616	</arguments>
617	</element>
618	<element name="writeNameObject" function="true" type="void">
619	<arguments>
620	<argument name="name" type="string"/>
621	<argument type="Object"/>
622	</arguments>
623	</element>
624	<element name="writeObject" function="true" type="void">
625	<arguments>
626	<argument type="Object"/>
627	</arguments>
628	</element>
629	<element name="writeObjectBegin" function="true" type="void">
630	<arguments>
631	<argument type="Object"/>
632	</arguments>
633	</element>
634	<element name="writeObjectEnd" function="true" type="void"><arguments/></element>
635	<element name="writeObjectField" function="true" type="void">
636	<arguments>
637	<argument type="Object"/>
638	<argument name="field index or name" type="untyped"/>
639	</arguments>
640	</element>
641	<element name="writeObjectFieldForce" function="true" type="void">
642	<arguments>
643	<argument type="Object"/>
644	<argument name="field index or name" type="untyped"/>
645	</arguments>
646	</element>
647	<element name="writeObjectFields" function="true" type="void">
648	<arguments>
649	<argument type="Object"/>
650	</arguments>
651	</element>
652	<element name="writeObjectFieldsForce" function="true" type="void">
653	<arguments>
654	<argument type="Object"/>
655	</arguments>
656	</element>
657	<element name="writeString" function="true" type="void">
658	<arguments>
659	<argument name="anything" type="untyped"/>
660	</arguments>
661	</element>
662	</type>
663	<type name="GenePool" context="Global context">
664	<description><![CDATA[The static GenePool object refers to the "selected group" as described in GenePools.]]></description>
665	<element name="fitfun" type="integer" min="0" max="1" default="0">
666	<description><![CDATA[Enables fitness scaling.]]></description>
667	</element>
668	<element name="fitm" type="float" min="0" max="10" default="2">
669	<description><![CDATA[Lower threshold: how many standard deviations below average?
670	(avg - n * stddev) - used for fitness shifting]]></description>
671	</element>
672	<element name="fitma" type="float" min="1" max="10" default="2">
673	<description><![CDATA[The best genotype is as many times
674	better than the average one.]]></description>
675	</element>
676	<element name="fitness" type="string">
677	<description><![CDATA[(intended for advanced users)]]></description>
678	</element>
679	<element name="index" type="integer"/>
680	<element name="name" type="string"/>
681	<element name="size" type="integer">
682	<description><![CDATA[In standard.expdef, this is equivalent to the number of unique genotypes. Standard experiment definition uses the Genotype.instances field to indicate that some genotypes exist in multiple instances despite having only one item in the group. Other experiment definitions may create multiple copies of the same genotype.]]></description>
683	</element>
684	<element name="totalpop" type="integer">
685	<description><![CDATA[Takes into account the Genotype.instances field (which may give the total number of instances depending on the experiment definition).]]></description>
686	</element>
687	<element name="addGeno" function="true" type="Genotype">
688	<description><![CDATA[Creates a new Genotype from the supplied Geno object.
689	Returns the created Genotype.]]></description>
690	<arguments>
691	<argument type="Geno"/>
692	</arguments>
693	</element>
694	<element name="delete" function="true" type="void">
695	<description><![CDATA[Deletes a genotype.]]></description>
696	<arguments>
697	<argument name="genotype index" type="integer"/>
698	</arguments>
699	</element>
700	<element name="findGeno" function="true" type="integer">
701	<description><![CDATA[Finds the Genotype matching the supplied Geno object.
702	returns genotype index or -1 if not found.]]></description>
703	<arguments>
704	<argument type="Geno"/>
705	</arguments>
706	</element>
707	<element name="findUID" function="true" type="integer">
708	<arguments>
709	<argument name="uid" type="string"/>
710	</arguments>
711	</element>
712	<element name="get" function="true" type="Genotype">
713	<arguments>
714	<argument name="index" type="integer"/>
715	</arguments>
716	</element>
717	</type>
718	<type name="GenePools" context="Global context">
719	<description><![CDATA[Manages all genotypes in the experiment, organized in one or more groups. Some functions refer to the "selected genotype" i.e. the genotype number "GenePools.genotype" in the pool number "GenePools.group". For example to access the first genoype in the first group you could do:
720	GenePools.group=0; GenePools.genotype=0; var name=Genotype.name;
721	However, the preferred way doesn't refer to the static Genotype object:
722	var name=GenePools[0][0].name;
723
724	Apart from the Genotypes in the group, there is also one temporary Genotype object used by genetic operators and some functions from GenePools. Genotype points to that object when "GenePools.genotype"=-1. The following code accesses that object before adding it to the genotype group:
725	GenePools.newGenotype("X");
726	//makes the temporary object from the "X" genotype, GenePools.genotype is now -1
727	GenePools.mutateSelected();
728	//the temporary object is mutated
729	Genotype.info="my favorite genotype";
730	//modify the temporary object
731	GenePools.copySelected(0);
732	//copy the current, i.e. temporary genotype to the genotype group #0]]></description>
733	<element name="genotype" type="integer">
734	<description><![CDATA[Index of the currently selected genotype or -1 if no genotype is selected.]]></description>
735	</element>
736	<element name="group" type="integer">
737	<description><![CDATA[Index of the currently selected group (GenePool).]]></description>
738	</element>
739	<element name="size" type="integer"/>
740	<element name="addGroup" function="true" type="void">
741	<description><![CDATA[Adds a new gene pool.]]></description>
742	<arguments>
743	<argument name="name" type="string"/>
744	</arguments>
745	</element>
746	<element name="addPerformanceFromCreature" function="true" type="void">
747	<description><![CDATA[Updates the current Genotype's performance values merging them with the current Creture's performance. It assumes the Genotype.instances has a reasonable value and performs the proper weighting. Use your own function instead if these conditions are not met in your experiment.]]></description>
748	<arguments/></element>
749	<element name="clear" function="true" type="void">
750	<description><![CDATA[Removes all gene pools except the first one.]]></description>
751	<arguments/></element>
752	<element name="clearGroup" function="true" type="void">
753	<arguments>
754	<argument name="index" type="integer"/>
755	</arguments>
756	</element>
757	<element name="copySelected" function="true" type="void">
758	<description><![CDATA[Copies the selected genotype to another group.]]></description>
759	<arguments>
760	<argument name="groupindex" type="integer"/>
761	</arguments>
762	</element>
763	<element name="crossoverSelected" function="true" type="void">
764	<description><![CDATA[Crossovers the selected genotype with another one (from the genotype group). The resulting genotype is stored in the static Genotype object detached from the genotype group. After calling this function GenePools.genotype is -1 indicating that no genotype from the group is selected.]]></description>
765	<arguments>
766	<argument name="other index" type="integer"/>
767	</arguments>
768	</element>
769	<element name="deleteGroup" function="true" type="void">
770	<description><![CDATA[Removes a gene pool.]]></description>
771	<arguments>
772	<argument name="index" type="integer"/>
773	</arguments>
774	</element>
775	<element name="deleteOne" function="true" type="void">
776	<description><![CDATA[Deletes one individual from the gene pool = decreases 'instances' and deletes the genotype if the 'instances' goes to 0.]]></description>
777	<arguments>
778	<argument name="genotype index" type="integer"/>
779	</arguments>
780	</element>
781	<element name="deleteSelected" function="true" type="void">
782	<description><![CDATA[Deletes selected genotype from the gene pool (uses the selected genotype object).]]></description>
783	<arguments/></element>
784	<element name="findGenotype" function="true" type="integer">
785	<description><![CDATA[Finds a genotype matching the current genotype. It only makes sense when the current genotype is a result of the genetic operator.]]></description>
786	<arguments/></element>
787	<element name="findGenotypeForCreature" function="true" type="integer">
788	<description><![CDATA[Finds a genotype matching the selected creature.]]></description>
789	<arguments/></element>
790	<element name="get" function="true" type="GenePool">
791	<arguments>
792	<argument name="index" type="integer"/>
793	</arguments>
794	</element>
795	<element name="getFromCreature" function="true" type="void">
796	<description><![CDATA[Copies a genotype from the selected creature. The resulting genotype is stored in the static Genotype object detached from the genotype group.]]></description>
797	<arguments/></element>
798	<element name="getFromCreatureObject" function="true" type="void">
799	<description><![CDATA[Copies a genotype from the creature object passed in argument. The resulting genotype is stored in the static Genotype object detached from the genotype group.]]></description>
800	<arguments>
801	<argument type="Creature"/>
802	</arguments>
803	</element>
804	<element name="likeThisRoulette" function="true" type="integer">
805	<description><![CDATA[Gets a random genotype similar to the selected one, fitness-proportional.]]></description>
806	<arguments>
807	<argument name="minimum similarity" type="float"/>
808	</arguments>
809	</element>
810	<element name="mutateSelected" function="true" type="void">
811	<description><![CDATA[Mutates the selected genotype. The resulting genotype is stored in the static Genotype object detached from the genotype group. After calling this function GenePools.genotype is -1 indicating that no genotype from the group is selected.]]></description>
812	<arguments/></element>
813	<element name="newGenotype" function="true" type="void">
814	<description><![CDATA[Makes a new genotype from the supplied string and select the genotype. The resulting genotype is stored in the static Genotype object detached from the genotype group. After calling this function GenePools.genotype is -1 indicating that no genotype from the group is selected. (call "copySelected" if you want to add this gentype to the genotype group).]]></description>
815	<arguments>
816	<argument name="genotype" type="string"/>
817	</arguments>
818	</element>
819	<element name="random" function="true" type="integer">
820	<description><![CDATA[Gets random genotype.]]></description>
821	<arguments/></element>
822	<element name="randomLikeThis" function="true" type="integer">
823	<description><![CDATA[Gets a random genotype similar to the selected one.]]></description>
824	<arguments>
825	<argument name="minimum similarity" type="float"/>
826	</arguments>
827	</element>
828	<element name="revroulette" function="true" type="integer">
829	<description><![CDATA[Get reverse fitness-proportional genotype.]]></description>
830	<arguments/></element>
831	<element name="roulette" function="true" type="integer">
832	<description><![CDATA[Gets fitness-proportional genotype.]]></description>
833	<arguments/></element>
834	<element name="tournament" function="true" type="integer">
835	<description><![CDATA[Gets tournament winner genotype.]]></description>
836	<arguments>
837	<argument name="genotypes in tournament" type="integer"/>
838	</arguments>
839	</element>
840	<element name="worst" function="true" type="integer">
841	<description><![CDATA[Gets worst genotype.]]></description>
842	<arguments/></element>
843	</type>
844	<type name="GenMan" context="Global context">
845	<description><![CDATA[Manages various genetic operations, using appropriate operators for the argument genotype format.]]></description>
846	<element name="changedProperty" type="integer"/>
847	<element name="changedPropertyId" type="string"/>
848	<element name="f0_c_del" type="float" min="0" max="100" default="5">
849	<description><![CDATA[]]></description>
850	</element>
851	<element name="f0_c_new" type="float" min="0" max="100" default="5">
852	<description><![CDATA[]]></description>
853	</element>
854	<element name="f0_c_wei" type="float" min="0" max="100" default="10">
855	<description><![CDATA[]]></description>
856	</element>
857	<element name="f0_j_del" type="float" min="0" max="100" default="5">
858	<description><![CDATA[]]></description>
859	</element>
860	<element name="f0_j_new" type="float" min="0" max="100" default="5">
861	<description><![CDATA[]]></description>
862	</element>
863	<element name="f0_j_rsf" type="float" min="0" max="100" default="10">
864	<description><![CDATA[]]></description>
865	</element>
866	<element name="f0_j_stf" type="float" min="0" max="100" default="10">
867	<description><![CDATA[]]></description>
868	</element>
869	<element name="f0_j_stm" type="float" min="0" max="100" default="10">
870	<description><![CDATA[]]></description>
871	</element>
872	<element name="f0_n_del" type="float" min="0" max="100" default="5">
873	<description><![CDATA[]]></description>
874	</element>
875	<element name="f0_n_new" type="float" min="0" max="100" default="5">
876	<description><![CDATA[]]></description>
877	</element>
878	<element name="f0_n_prp" type="float" min="0" max="100" default="10">
879	<description><![CDATA[]]></description>
880	</element>
881	<element name="f0_nodel_tag" type="integer" min="0" max="1" default="1">
882	<description><![CDATA[You can tag elements using their 'i' field and the i="mi=d" tag.
883	Mutations will not delete such elements.
884	The i="mi=dm" combination is allowed.]]></description>
885	</element>
886	<element name="f0_nomod_tag" type="integer" min="0" max="1" default="1">
887	<description><![CDATA[You can tag elements using their 'i' field and the i="mi=m" tag.
888	Mutations will not modify properties of such elements.
889	The i="mi=md" combination is allowed.]]></description>
890	</element>
891	<element name="f0_p_asm" type="float" min="0" max="100" default="10">
892	<description><![CDATA[]]></description>
893	</element>
894	<element name="f0_p_del" type="float" min="0" max="100" default="5">
895	<description><![CDATA[]]></description>
896	</element>
897	<element name="f0_p_frc" type="float" min="0" max="100" default="10">
898	<description><![CDATA[]]></description>
899	</element>
900	<element name="f0_p_ing" type="float" min="0" max="100" default="10">
901	<description><![CDATA[]]></description>
902	</element>
903	<element name="f0_p_mas" type="float" min="0" max="100" default="10">
904	<description><![CDATA[]]></description>
905	</element>
906	<element name="f0_p_new" type="float" min="0" max="100" default="5">
907	<description><![CDATA[]]></description>
908	</element>
909	<element name="f0_p_pos" type="float" min="0" max="100" default="10">
910	<description><![CDATA[]]></description>
911	</element>
912	<element name="f0_p_swp" type="float" min="0" max="100" default="10">
913	<description><![CDATA[]]></description>
914	</element>
915	<element name="f1_mut_exmod" type="string">
916	<description><![CDATA[Modifiers that will not be added nor deleted during mutation
917	(all: RrLlAaCcFfMmSsIiQqWwEe)]]></description>
918	</element>
919	<element name="f1_nmConn" type="float" min="0" max="100" default="0.1">
920	<description><![CDATA[]]></description>
921	</element>
922	<element name="f1_nmNeu" type="float" min="0" max="100" default="0.05">
923	<description><![CDATA[Adds a (connected) neuron or removes a neuron]]></description>
924	</element>
925	<element name="f1_nmProp" type="float" min="0" max="100" default="0.1">
926	<description><![CDATA[]]></description>
927	</element>
928	<element name="f1_nmVal" type="float" min="0" max="100" default="0.05"/>
929	<element name="f1_nmWei" type="float" min="0" max="100" default="1"/>
930	<element name="f1_smComma" type="float" min="0" max="100" default="0.02"/>
931	<element name="f1_smJunct" type="float" min="0" max="100" default="0.02"/>
932	<element name="f1_smModif" type="float" min="0" max="100" default="0.1">
933	<description><![CDATA[Modifiers: RrLlAaCcFfMmSsIiQqWwEe]]></description>
934	</element>
935	<element name="f1_smX" type="float" min="0" max="100" default="0.05"/>
936	<element name="f1_xo_propor" type="integer" min="0" max="1" default="1">
937	<description><![CDATA[Cross over (exchange) corresponding segments of the two parent genotypes?
938
939	f1 uses a two-point crossing over.
940	If this option is turned on, cut points will be selected proportionally to neural genes.
941	Thus, if both parents have the same number of neurons, then this will be preserved in their children.]]></description>
942	</element>
943	<element name="f2_mutAddOper" type="float" min="0" max="1" default="0.4">
944	<description><![CDATA[]]></description>
945	</element>
946	<element name="f2_mutConnElem" type="float" min="0" max="1" default="0.33">
947	<description><![CDATA[]]></description>
948	</element>
949	<element name="f2_mutDelOper" type="float" min="0" max="1" default="0.1">
950	<description><![CDATA[]]></description>
951	</element>
952	<element name="f2_mutHandleOper" type="float" min="0" max="1" default="0.3">
953	<description><![CDATA[]]></description>
954	</element>
955	<element name="f2_mutJointElem" type="float" min="0" max="1" default="0.33">
956	<description><![CDATA[]]></description>
957	</element>
958	<element name="f2_mutNeuroElem" type="float" min="0" max="1" default="0.33">
959	<description><![CDATA[]]></description>
960	</element>
961	<element name="f2_mutPropOper" type="float" min="0" max="1" default="0.2">
962	<description><![CDATA[]]></description>
963	</element>
964	<element name="f3_mutDelIns" type="float" min="0" max="1" default="0.1">
965	<description><![CDATA[]]></description>
966	</element>
967	<element name="f3_mutDelInsLength" type="integer" min="1" max="100" default="5">
968	<description><![CDATA[]]></description>
969	</element>
970	<element name="f3_mutDelInsPerChar" type="float" min="0" max="1" default="0.05">
971	<description><![CDATA[]]></description>
972	</element>
973	<element name="f3_mutDuplication" type="float" min="0" max="1" default="0.05">
974	<description><![CDATA[]]></description>
975	</element>
976	<element name="f3_mutSubstitution" type="float" min="0" max="1" default="0.6">
977	<description><![CDATA[]]></description>
978	</element>
979	<element name="f3_mutSubstPerChar" type="float" min="0" max="1" default="0.1">
980	<description><![CDATA[]]></description>
981	</element>
982	<element name="f3_mutTranslocation" type="float" min="0" max="1" default="0.15">
983	<description><![CDATA[]]></description>
984	</element>
985	<element name="f3_xovCrossingOver" type="float" min="0" max="1" default="0.2">
986	<description><![CDATA[]]></description>
987	</element>
988	<element name="f3_xovGeneTransfer" type="float" min="0" max="1" default="0.8">
989	<description><![CDATA[]]></description>
990	</element>
991	<element name="f4_mut_add" type="float" min="0" max="100" default="50">
992	<description><![CDATA[mutation: probability of adding a node]]></description>
993	</element>
994	<element name="f4_mut_add_conn" type="float" min="0" max="100" default="15">
995	<description><![CDATA[add node mutation: probability of adding a neural connection]]></description>
996	</element>
997	<element name="f4_mut_add_div" type="float" min="0" max="100" default="20">
998	<description><![CDATA[add node mutation: probability of adding a division]]></description>
999	</element>
1000	<element name="f4_mut_add_neupar" type="float" min="0" max="100" default="5">
1001	<description><![CDATA[add node mutation: probability of adding a neuron property/modifier]]></description>
1002	</element>
1003	<element name="f4_mut_add_rep" type="float" min="0" max="100" default="10">
1004	<description><![CDATA[add node mutation: probability of adding a repetition]]></description>
1005	</element>
1006	<element name="f4_mut_add_simp" type="float" min="0" max="100" default="50">
1007	<description><![CDATA[add node mutation: probability of adding a random, simple gene]]></description>
1008	</element>
1009	<element name="f4_mut_del" type="float" min="0" max="100" default="20">
1010	<description><![CDATA[mutation: probability of deleting a node]]></description>
1011	</element>
1012	<element name="f4_mut_mod" type="float" min="0" max="100" default="30">
1013	<description><![CDATA[mutation: probability of changing a node]]></description>
1014	</element>
1015	<element name="gen_extmutinfo" type="integer" min="0" max="2" default="0">
1016	<description><![CDATA[If active, information about employed mutation method will be stored in the 'info' field of each mutated genotype.]]></description>
1017	</element>
1018	<element name="gen_hilite" type="integer" min="0" max="1" default="1">
1019	<description><![CDATA[Use colors for genes?
1020	(slows down viewing/editing of huge genotypes)]]></description>
1021	</element>
1022	<element name="gen_hist" type="integer" min="0" max="1" default="0">
1023	<description><![CDATA[Required for phylogenetic analysis]]></description>
1024	</element>
1025	<element name="genoper_f0" type="integer" min="0" max="0">
1026	<description><![CDATA[]]></description>
1027	</element>
1028	<element name="genoper_f1" type="integer" min="0" max="0">
1029	<description><![CDATA[]]></description>
1030	</element>
1031	<element name="genoper_f2" type="integer" min="0" max="0">
1032	<description><![CDATA[]]></description>
1033	</element>
1034	<element name="genoper_f3" type="integer" min="0" max="0">
1035	<description><![CDATA[]]></description>
1036	</element>
1037	<element name="genoper_f4" type="integer" min="0" max="0">
1038	<description><![CDATA[]]></description>
1039	</element>
1040	<element name="neuadd_N" type="integer" min="0" max="1">
1041	<description><![CDATA[Standard neuron
1042
1043	Characteristics:
1044	supports any number of inputs
1045	provides output value
1046	does not require location in body
1047
1048
1049	Properties:
1050	Inertia (in) float 0..1
1051	Force (fo) float 0..999
1052	Sigmoid (si) float -99999..99999
1053	State (s) float -1..1]]></description>
1054	</element>
1055	<element name="neuadd_Nu" type="integer" min="0" max="1">
1056	<description><![CDATA[Works like standard neuron (N) but the output value is scaled to 0...+1 instead of -1...+1.
1057	Having 0 as one of the saturation states should help in "gate circuits", where input signal is passed through or blocked depending on the other singal.
1058
1059	Characteristics:
1060	supports any number of inputs
1061	provides output value
1062	does not require location in body
1063
1064
1065	Properties:
1066	Inertia (in) float 0..1
1067	Force (fo) float 0..999
1068	Sigmoid (si) float -99999..99999
1069	State (s) float -1..1]]></description>
1070	</element>
1071	<element name="neuadd_G" type="integer" min="0" max="1">
1072	<description><![CDATA[Equilibrium sensor.
1073	0=the stick is horizontal
1074	+1/-1=the stick is vertical
1075
1076	Characteristics:
1077	does not use inputs
1078	provides output value
1079	should be located on a Joint
1080	]]></description>
1081	</element>
1082	<element name="neuadd_T" type="integer" min="0" max="1">
1083	<description><![CDATA[Touch sensor.
1084	-1=no contact
1085	0=just touching
1086	>0=pressing, value depends on the force applied
1087
1088	Characteristics:
1089	does not use inputs
1090	provides output value
1091	should be located on a Part
1092
1093
1094	Properties:
1095	Range (r) float 0..1]]></description>
1096	</element>
1097	<element name="neuadd_S" type="integer" min="0" max="1">
1098	<description><![CDATA[Smell sensor. Aggregated "smell of energy" experienced from all energy objects (creatures and food pieces).
1099	Close objects have bigger influence than the distant ones: for each energy source, its partial feeling is proportional to its energy/(distance^2)
1100
1101	Characteristics:
1102	does not use inputs
1103	provides output value
1104	should be located on a Part
1105	]]></description>
1106	</element>
1107	<element name="neuadd_*" type="integer" min="0" max="1">
1108	<description><![CDATA[Constant value
1109
1110	Characteristics:
1111	does not use inputs
1112	provides output value
1113	does not require location in body
1114	]]></description>
1115	</element>
1116	<element name="neuadd_\|" type="integer" min="0" max="1">
1117	<description><![CDATA[Characteristics:
1118	uses single input
1119	does not provide output value
1120	should be located on a Joint
1121
1122
1123	Properties:
1124	power (p) float 0.01..1
1125	bending range (r) float 0..1]]></description>
1126	</element>
1127	<element name="neuadd_@" type="integer" min="0" max="1">
1128	<description><![CDATA[Characteristics:
1129	uses single input
1130	does not provide output value
1131	should be located on a Joint
1132
1133
1134	Properties:
1135	power (p) float 0.01..1]]></description>
1136	</element>
1137	<element name="neuadd_D" type="integer" min="0" max="1">
1138	<description><![CDATA[Calculate the difference between the current and previous input value. Multiple inputs are aggregated with respect to their weights
1139
1140	Characteristics:
1141	supports any number of inputs
1142	provides output value
1143	does not require location in body
1144	]]></description>
1145	</element>
1146	<element name="neuadd_Fuzzy" type="integer" min="0" max="1">
1147	<description><![CDATA[Refer to publications to learn more about this neuron.
1148
1149	Characteristics:
1150	supports any number of inputs
1151	provides output value
1152	does not require location in body
1153
1154
1155	Properties:
1156	number of fuzzy sets (ns) integer
1157	number of rules (nr) integer
1158	fuzzy sets (fs) string
1159	fuzzy rules (fr) string]]></description>
1160	</element>
1161	<element name="neuadd_VEye" type="integer" min="0" max="1">
1162	<description><![CDATA[Refer to publications to learn more about this neuron.
1163
1164	Characteristics:
1165	uses single input
1166	provides output value
1167	should be located on a Part
1168
1169
1170	Properties:
1171	target.x (tx) float
1172	target.y (ty) float
1173	target.z (tz) float
1174	target shape (ts) string
1175	perspective (p) float 0.1..10
1176	scale (s) float 0.1..100
1177	show hidden lines (h) integer 0..1
1178	output lines count (each line needs four channels) (o) integer 0..99
1179	debug (d) integer 0..1]]></description>
1180	</element>
1181	<element name="neuadd_VMotor" type="integer" min="0" max="1">
1182	<description><![CDATA[Must be connected to the VEye and properly set up. Refer to publications to learn more about this neuron.
1183
1184	Characteristics:
1185	supports any number of inputs
1186	provides output value
1187	does not require location in body
1188
1189
1190	Properties:
1191	number of basic features (noIF) integer
1192	number of degrees of freedom (noDim) integer
1193	parameters (params) string]]></description>
1194	</element>
1195	<element name="neuadd_Sti" type="integer" min="0" max="1">
1196	<description><![CDATA[Characteristics:
1197	uses single input
1198	does not provide output value
1199	should be located on a Part
1200	]]></description>
1201	</element>
1202	<element name="neuadd_LMu" type="integer" min="0" max="1">
1203	<description><![CDATA[Characteristics:
1204	uses single input
1205	does not provide output value
1206	should be located on a Joint
1207
1208
1209	Properties:
1210	power (p) float 0.01..1]]></description>
1211	</element>
1212	<element name="neuadd_Water" type="integer" min="0" max="1">
1213	<description><![CDATA[Output signal:
1214	0=on or above water surface
1215	1=under water (deeper than 1)
1216	0..1=in the transient area just below water surface
1217
1218	Characteristics:
1219	does not use inputs
1220	provides output value
1221	should be located on a Part
1222	]]></description>
1223	</element>
1224	<element name="neuadd_Energy" type="integer" min="0" max="1">
1225	<description><![CDATA[The current energy level divided by the initial energy level.
1226	Usually falls from initial 1.0 down to 0.0 and then the creature dies. It can rise above 1.0 if enough food is ingested
1227
1228	Characteristics:
1229	does not use inputs
1230	provides output value
1231	does not require location in body
1232	]]></description>
1233	</element>
1234	<element name="neuadd_Ch" type="integer" min="0" max="1">
1235	<description><![CDATA[Combines all input signals into a single multichannel output; Note: ChSel and ChMux are the only neurons which support multiple channels. Other neurons discard everything except the first channel.
1236
1237	Characteristics:
1238	supports any number of inputs
1239	provides output value
1240	does not require location in body
1241	]]></description>
1242	</element>
1243	<element name="neuadd_ChMux" type="integer" min="0" max="1">
1244	<description><![CDATA[Outputs the selected channel from the second (multichannel) input. The first input is used as the selector value (-1=select first channel, .., 1=last channel)
1245
1246	Characteristics:
1247	uses 2 inputs
1248	provides output value
1249	does not require location in body
1250	]]></description>
1251	</element>
1252	<element name="neuadd_ChSel" type="integer" min="0" max="1">
1253	<description><![CDATA[Outputs a single channel (selected by the "ch" parameter) from multichannel input
1254
1255	Characteristics:
1256	uses single input
1257	provides output value
1258	does not require location in body
1259
1260
1261	Properties:
1262	channel (ch) integer]]></description>
1263	</element>
1264	<element name="neuadd_Rnd" type="integer" min="0" max="1">
1265	<description><![CDATA[Generates random noise (subsequent random values in the range of -1..+1)
1266
1267	Characteristics:
1268	does not use inputs
1269	provides output value
1270	does not require location in body
1271	]]></description>
1272	</element>
1273	<element name="neuadd_Sin" type="integer" min="0" max="1">
1274	<description><![CDATA[Output frequency = f0+input
1275
1276	Characteristics:
1277	uses single input
1278	provides output value
1279	does not require location in body
1280
1281
1282	Properties:
1283	base frequency (f0) float -1..1
1284	time (t) float 0..6.28319]]></description>
1285	</element>
1286	<element name="add" function="true"/>
1287	<element name="addGroup" function="true"/>
1288	<element name="clear" function="true"/>
1289	<element name="crossOver" function="true" type="Geno">
1290	<description><![CDATA[returns crossed over genotype]]></description>
1291	<arguments>
1292	<argument type="Geno"/>
1293	<argument type="Geno"/>
1294	</arguments>
1295	</element>
1296	<element name="getSimplest" function="true" type="Geno">
1297	<description><![CDATA[returns the simplest genotype for a given encoding (format). 0 means f0, 4 means f4, etc.]]></description>
1298	<arguments>
1299	<argument name="format" type="integer"/>
1300	</arguments>
1301	</element>
1302	<element name="mutate" function="true" type="Geno">
1303	<description><![CDATA[returns mutated Geno object from supplied Geno]]></description>
1304	<arguments>
1305	<argument type="Geno"/>
1306	</arguments>
1307	</element>
1308	<element name="operReport" function="true" type="void">
1309	<description><![CDATA[Show available genetic operators]]></description>
1310	<arguments/></element>
1311	<element name="remove" function="true"/>
1312	<element name="removeGroup" function="true"/>
1313	<element name="toHTML" function="true" type="string">
1314	<description><![CDATA[returns genotype expressed as colored HTML]]></description>
1315	<arguments>
1316	<argument type="string"/>
1317	</arguments>
1318	</element>
1319	<element name="toHTMLshort" function="true" type="string">
1320	<description><![CDATA[returns genotype (abbreviated if needed) expressed as colored HTML]]></description>
1321	<arguments>
1322	<argument type="string"/>
1323	</arguments>
1324	</element>
1325	<element name="validate" function="true" type="Geno">
1326	<description><![CDATA[returns validated (if possible) Geno object from supplied Geno]]></description>
1327	<arguments>
1328	<argument type="Geno"/>
1329	</arguments>
1330	</element>
1331	</type>
1332	<type name="GenManStats" context="Global context">
1333	<description><![CDATA[Statistics for genetic operations.]]></description>
1334	<element name="gen_count" type="integer">
1335	<description><![CDATA[]]></description>
1336	</element>
1337	<element name="gen_mfailed" type="integer">
1338	<description><![CDATA[couldn't be performed]]></description>
1339	</element>
1340	<element name="gen_minvalid" type="integer">
1341	<description><![CDATA[couldn't be repaired]]></description>
1342	</element>
1343	<element name="gen_mutimpr" type="float">
1344	<description><![CDATA[total cumulative mutation change]]></description>
1345	</element>
1346	<element name="gen_mvalid" type="integer">
1347	<description><![CDATA[]]></description>
1348	</element>
1349	<element name="gen_mvalidated" type="integer">
1350	<description><![CDATA[]]></description>
1351	</element>
1352	<element name="gen_xofailed" type="integer">
1353	<description><![CDATA[couldn't be performed]]></description>
1354	</element>
1355	<element name="gen_xoimpr" type="float">
1356	<description><![CDATA[total cumulative crossover change]]></description>
1357	</element>
1358	<element name="gen_xoinvalid" type="integer">
1359	<description><![CDATA[couldn't be repaired]]></description>
1360	</element>
1361	<element name="gen_xovalid" type="integer">
1362	<description><![CDATA[]]></description>
1363	</element>
1364	<element name="gen_xovalidated" type="integer">
1365	<description><![CDATA[]]></description>
1366	</element>
1367	<element name="clrstats" function="true" type="void">
1368	<description><![CDATA[]]></description>
1369	<arguments/></element>
1370	</type>
1371	<type name="Geno" context="Global context">
1372	<description><![CDATA[All information about a single genotype.
1373	This is a genetics-only object which does not contain any performance data. See also: Genotype class]]></description>
1374	<element name="autoname" type="string"/>
1375	<element name="f0genotype" type="string">
1376	<description><![CDATA[converted to f0 genotype]]></description>
1377	</element>
1378	<element name="format" type="integer">
1379	<description><![CDATA[Genotype format]]></description>
1380	</element>
1381	<element name="genotype" type="string"/>
1382	<element name="info" type="string">
1383	<description><![CDATA[Additional information or comments]]></description>
1384	</element>
1385	<element name="isValid" type="integer" min="0" max="1"/>
1386	<element name="name" type="string"/>
1387	<element name="rawgenotype" type="string">
1388	<description><![CDATA[Genotype, excluding the format specifier]]></description>
1389	</element>
1390	<element name="getConverted" function="true" type="Geno">
1391	<arguments>
1392	<argument name="format" type="integer"/>
1393	</arguments>
1394	</element>
1395	<element name="new" function="true" type="Geno"><arguments/></element>
1396	<element name="newFrom" function="true" type="Geno">
1397	<arguments>
1398	<argument name="genotype" type="string"/>
1399	<argument name="format" type="integer"/>
1400	<argument name="name" type="string"/>
1401	<argument name="description" type="string"/>
1402	</arguments>
1403	</element>
1404	<element name="newFromString" function="true" type="Geno">
1405	<arguments>
1406	<argument name="genotype" type="string"/>
1407	</arguments>
1408	</element>
1409	</type>
1410	<type name="Genotype" context="Global context">
1411	<description><![CDATA[A Genotype with the associated performance information. All but one Genotype objects are placed in Genotype Groups. There is also a single static Genotype object not associated with a group, which is used as a temporary storage by genetic operators and some functions from GenePools.]]></description>
1412	<element name="convtrace1" type="string"/>
1413	<element name="distance" type="float"/>
1414	<element name="energ0" type="float"/>
1415	<element name="f0genotype" type="string">
1416	<description><![CDATA[converted to f0 genotype]]></description>
1417	</element>
1418	<element name="fit" type="float"/>
1419	<element name="fit2" type="float">
1420	<description><![CDATA[Fitness shifted by (avg-n*stddev)]]></description>
1421	</element>
1422	<element name="geno" type="Geno">
1423	<description><![CDATA[Geno object for this Genotype]]></description>
1424	</element>
1425	<element name="genotype" type="string"/>
1426	<element name="gnum" type="integer"/>
1427	<element name="info" type="string">
1428	<description><![CDATA[Additional information or comments]]></description>
1429	</element>
1430	<element name="instances" type="integer">
1431	<description><![CDATA[Copies of this genotype]]></description>
1432	</element>
1433	<element name="isValid" type="integer" min="0" max="1"/>
1434	<element name="lifespan" type="float">
1435	<description><![CDATA[Average life span]]></description>
1436	</element>
1437	<element name="name" type="string"/>
1438	<element name="nncon" type="float"/>
1439	<element name="nnsiz" type="float"/>
1440	<element name="num" type="integer"/>
1441	<element name="numconnections" type="float"/>
1442	<element name="numjoints" type="float"/>
1443	<element name="numneurons" type="float"/>
1444	<element name="numparts" type="float"/>
1445	<element name="popsiz" type="integer"/>
1446	<element name="simi" type="float"/>
1447	<element name="strjoints" type="float"/>
1448	<element name="strsiz" type="float"/>
1449	<element name="uid" type="string">
1450	<description><![CDATA[Unique identifier]]></description>
1451	</element>
1452	<element name="user1" type="untyped"/>
1453	<element name="user2" type="untyped"/>
1454	<element name="user3" type="untyped"/>
1455	<element name="velocity" type="float">
1456	<description><![CDATA[Average velocity]]></description>
1457	</element>
1458	<element name="vertpos" type="float"/>
1459	<element name="vertvel" type="float"/>
1460	<element name="getModel" function="true" type="Model"><arguments/></element>
1461	<element name="getNormalized" function="true" type="float">
1462	<arguments>
1463	<argument name="property name or index" type="untyped"/>
1464	</arguments>
1465	</element>
1466	<element name="mutate" function="true" type="void"><arguments/></element>
1467	</type>
1468	<type name="GenotypeGroup" context="Global context">
1469	<description><![CDATA[The static GenePool object refers to the "selected group" as described in GenePools.]]></description>
1470	<element name="fitfun" type="integer" min="0" max="1" default="0">
1471	<description><![CDATA[Enables fitness scaling.]]></description>
1472	</element>
1473	<element name="fitm" type="float" min="0" max="10" default="2">
1474	<description><![CDATA[Lower threshold: how many standard deviations below average?
1475	(avg - n * stddev) - used for fitness shifting]]></description>
1476	</element>
1477	<element name="fitma" type="float" min="1" max="10" default="2">
1478	<description><![CDATA[The best genotype is as many times
1479	better than the average one.]]></description>
1480	</element>
1481	<element name="fitness" type="string">
1482	<description><![CDATA[(intended for advanced users)]]></description>
1483	</element>
1484	<element name="index" type="integer"/>
1485	<element name="name" type="string"/>
1486	<element name="size" type="integer">
1487	<description><![CDATA[In standard.expdef, this is equivalent to the number of unique genotypes. Standard experiment definition uses the Genotype.instances field to indicate that some genotypes exist in multiple instances despite having only one item in the group. Other experiment definitions may create multiple copies of the same genotype.]]></description>
1488	</element>
1489	<element name="totalpop" type="integer">
1490	<description><![CDATA[Takes into account the Genotype.instances field (which may give the total number of instances depending on the experiment definition).]]></description>
1491	</element>
1492	<element name="addGeno" function="true" type="Genotype">
1493	<description><![CDATA[Creates a new Genotype from the supplied Geno object.
1494	Returns the created Genotype.]]></description>
1495	<arguments>
1496	<argument type="Geno"/>
1497	</arguments>
1498	</element>
1499	<element name="delete" function="true" type="void">
1500	<description><![CDATA[Deletes a genotype.]]></description>
1501	<arguments>
1502	<argument name="genotype index" type="integer"/>
1503	</arguments>
1504	</element>
1505	<element name="findGeno" function="true" type="integer">
1506	<description><![CDATA[Finds the Genotype matching the supplied Geno object.
1507	returns genotype index or -1 if not found.]]></description>
1508	<arguments>
1509	<argument type="Geno"/>
1510	</arguments>
1511	</element>
1512	<element name="findUID" function="true" type="integer">
1513	<arguments>
1514	<argument name="uid" type="string"/>
1515	</arguments>
1516	</element>
1517	<element name="get" function="true" type="Genotype">
1518	<arguments>
1519	<argument name="index" type="integer"/>
1520	</arguments>
1521	</element>
1522	</type>
1523	<type name="Interface" context="Global context">
1524	<description><![CDATA[Used to query for object member descriptions. Example:
1525	var iface=Interface.makeFrom(someobject); var description="this object has "+iface.properties+" properties, first property is "+iface.getId(0);]]></description>
1526	<element name="groups" type="integer"/>
1527	<element name="name" type="string"/>
1528	<element name="properties" type="integer"/>
1529	<element name="findGroupId" function="true" type="integer">
1530	<arguments>
1531	<argument name="name" type="string"/>
1532	</arguments>
1533	</element>
1534	<element name="findId" function="true" type="integer">
1535	<arguments>
1536	<argument name="name" type="string"/>
1537	</arguments>
1538	</element>
1539	<element name="findIdInGroup" function="true" type="integer">
1540	<arguments>
1541	<argument name="name" type="string"/>
1542	<argument name="group name or index" type="untyped"/>
1543	</arguments>
1544	</element>
1545	<element name="get" function="true" type="untyped">
1546	<arguments>
1547	<argument name="index" type="integer"/>
1548	</arguments>
1549	</element>
1550	<element name="getFlags" function="true" type="integer">
1551	<arguments>
1552	<argument name="index" type="integer"/>
1553	</arguments>
1554	</element>
1555	<element name="getGroup" function="true" type="integer">
1556	<arguments>
1557	<argument name="index" type="integer"/>
1558	</arguments>
1559	</element>
1560	<element name="getGroupName" function="true" type="string">
1561	<arguments>
1562	<argument name="index" type="integer"/>
1563	</arguments>
1564	</element>
1565	<element name="getHelp" function="true" type="string">
1566	<arguments>
1567	<argument name="index" type="integer"/>
1568	</arguments>
1569	</element>
1570	<element name="getId" function="true" type="string">
1571	<arguments>
1572	<argument name="index" type="integer"/>
1573	</arguments>
1574	</element>
1575	<element name="getName" function="true" type="string">
1576	<arguments>
1577	<argument name="index" type="integer"/>
1578	</arguments>
1579	</element>
1580	<element name="getType" function="true" type="string">
1581	<arguments>
1582	<argument name="index" type="integer"/>
1583	</arguments>
1584	</element>
1585	<element name="invoke" function="true" type="void">
1586	<arguments>
1587	<argument name="function name or index" type="untyped"/>
1588	<argument name="arguments" type="Vector"/>
1589	</arguments>
1590	</element>
1591	<element name="makeFrom" function="true" type="Interface">
1592	<arguments>
1593	<argument type="Object"/>
1594	</arguments>
1595	</element>
1596	<element name="set" function="true" type="void">
1597	<arguments>
1598	<argument name="index" type="integer"/>
1599	<argument name="value" type="untyped"/>
1600	</arguments>
1601	</element>
1602	<element name="setAllDefault" function="true" type="void"><arguments/></element>
1603	<element name="setDefault" function="true" type="void">
1604	<arguments>
1605	<argument name="index" type="integer"/>
1606	</arguments>
1607	</element>
1608	</type>
1609	<type name="Joint" context="Global context">
1610	<element name="dx" type="float" min="-2" max="2" default="0"/>
1611	<element name="dy" type="float" min="-2" max="2" default="0"/>
1612	<element name="dz" type="float" min="-2" max="2" default="0"/>
1613	<element name="i" type="string"/>
1614	<element name="p1" type="integer" min="-1" max="999999" default="-1"/>
1615	<element name="p2" type="integer" min="-1" max="999999" default="-1"/>
1616	<element name="rotstif" type="float" min="0" max="1" default="1"/>
1617	<element name="rx" type="float"/>
1618	<element name="ry" type="float"/>
1619	<element name="rz" type="float"/>
1620	<element name="stam" type="float" min="0" max="1" default="0.25"/>
1621	<element name="stif" type="float" min="0" max="1" default="1"/>
1622	<element name="Vstyle" type="string"/>
1623	</type>
1624	<type name="Loader" context="Global context">
1625	<description><![CDATA[Support for loading files in the Framsticks format. Used in the experiment definition to retrieve experiment state (see OnExpLoad function in standard.expdef). Registered objects (addClass) are handled automaticaly. Loader can call user functions defined by setBreakLabel.]]></description>
1626	<element name="AfterObject" type="integer"/>
1627	<element name="BeforeObject" type="integer"/>
1628	<element name="BeforeUnknown" type="integer"/>
1629	<element name="comment" type="string"/>
1630	<element name="currentObject" type="Object"/>
1631	<element name="firstComment" type="integer" min="0" max="1"/>
1632	<element name="objectName" type="string"/>
1633	<element name="OnComment" type="integer"/>
1634	<element name="OnError" type="integer"/>
1635	<element name="status" type="integer"/>
1636	<element name="abort" function="true" type="void"><arguments/></element>
1637	<element name="addClass" function="true" type="void">
1638	<arguments>
1639	<argument type="Object"/>
1640	</arguments>
1641	</element>
1642	<element name="clearClasses" function="true" type="void"><arguments/></element>
1643	<element name="go" function="true" type="integer"><arguments/></element>
1644	<element name="loadObject" function="true" type="void"><arguments/></element>
1645	<element name="removeClass" function="true" type="void">
1646	<arguments>
1647	<argument type="Object"/>
1648	</arguments>
1649	</element>
1650	<element name="run" function="true" type="integer"><arguments/></element>
1651	<element name="setBreak" function="true" type="void">
1652	<arguments>
1653	<argument name="break conditions" type="integer"/>
1654	</arguments>
1655	</element>
1656	<element name="setBreakLabel" function="true" type="void">
1657	<arguments>
1658	<argument name="break condition" type="integer"/>
1659	<argument name="label" type="string"/>
1660	</arguments>
1661	</element>
1662	<element name="skipObject" function="true" type="void"><arguments/></element>
1663	</type>
1664	<type name="Math" context="Global context">
1665	<description><![CDATA[Mathematical functions library.]]></description>
1666	<element name="pi" type="float"/>
1667	<element name="pi2" type="float"/>
1668	<element name="pi4" type="float"/>
1669	<element name="rnd01" type="float"/>
1670	<element name="rndGaussStd" type="float"/>
1671	<element name="seed" type="integer">
1672	<description><![CDATA[Random number generator seed.
1673	Note: Math.seed influences all future random activity in the simulator, not only Math.rnd01 results.]]></description>
1674	</element>
1675	<element name="time" type="float">
1676	<description><![CDATA[Number of seconds since the Epoch (00:00:00 UTC/GMT, January 1, 1970)]]></description>
1677	</element>
1678	<element name="twopi" type="float"/>
1679	<element name="abs" function="true" type="float">
1680	<arguments>
1681	<argument type="float"/>
1682	</arguments>
1683	</element>
1684	<element name="acos" function="true" type="float">
1685	<arguments>
1686	<argument type="float"/>
1687	</arguments>
1688	</element>
1689	<element name="asin" function="true" type="float">
1690	<arguments>
1691	<argument type="float"/>
1692	</arguments>
1693	</element>
1694	<element name="atan" function="true" type="float">
1695	<arguments>
1696	<argument type="float"/>
1697	</arguments>
1698	</element>
1699	<element name="atan2" function="true" type="float">
1700	<arguments>
1701	<argument name="y" type="float"/>
1702	<argument name="x" type="float"/>
1703	</arguments>
1704	</element>
1705	<element name="cos" function="true" type="float">
1706	<arguments>
1707	<argument type="float"/>
1708	</arguments>
1709	</element>
1710	<element name="exp" function="true" type="float">
1711	<arguments>
1712	<argument type="float"/>
1713	</arguments>
1714	</element>
1715	<element name="log" function="true" type="float">
1716	<arguments>
1717	<argument type="float"/>
1718	</arguments>
1719	</element>
1720	<element name="max" function="true" type="untyped">
1721	<arguments>
1722	<argument type="untyped"/>
1723	<argument type="untyped"/>
1724	</arguments>
1725	</element>
1726	<element name="min" function="true" type="untyped">
1727	<arguments>
1728	<argument type="untyped"/>
1729	<argument type="untyped"/>
1730	</arguments>
1731	</element>
1732	<element name="pow" function="true" type="float">
1733	<arguments>
1734	<argument name="a" type="float"/>
1735	<argument name="b" type="float"/>
1736	</arguments>
1737	</element>
1738	<element name="random" function="true" type="integer">
1739	<description><![CDATA[0..num-1]]></description>
1740	<arguments>
1741	<argument name="num" type="integer"/>
1742	</arguments>
1743	</element>
1744	<element name="rndCustom" function="true" type="float">
1745	<description><![CDATA[the parameter describes the desired random distribution, being a sum of uniform distributions, eg. rndCustom([-10,-1, -1,1, 1,10]) defines 3 uniform distribution intervals [-1,10) [-1,1), [1,10)]]></description>
1746	<arguments>
1747	<argument type="Vector"/>
1748	</arguments>
1749	</element>
1750	<element name="rndGauss" function="true" type="float">
1751	<description><![CDATA[rndGaussStd is rndGauss(0,1)]]></description>
1752	<arguments>
1753	<argument name="center" type="float"/>
1754	<argument name="stdandard deviation" type="float"/>
1755	</arguments>
1756	</element>
1757	<element name="rndUni" function="true" type="float">
1758	<description><![CDATA[[begin..end)]]></description>
1759	<arguments>
1760	<argument name="begin" type="float"/>
1761	<argument name="end" type="float"/>
1762	</arguments>
1763	</element>
1764	<element name="sigmoid" function="true" type="float">
1765	<arguments>
1766	<argument type="float"/>
1767	</arguments>
1768	</element>
1769	<element name="sign" function="true" type="integer">
1770	<arguments>
1771	<argument type="float"/>
1772	</arguments>
1773	</element>
1774	<element name="sin" function="true" type="float">
1775	<arguments>
1776	<argument type="float"/>
1777	</arguments>
1778	</element>
1779	<element name="sqrt" function="true" type="float">
1780	<arguments>
1781	<argument type="float"/>
1782	</arguments>
1783	</element>
1784	</type>
1785	<type name="MechJoint" context="Global context">
1786	<element name="dx" type="float"/>
1787	<element name="dy" type="float"/>
1788	<element name="dz" type="float"/>
1789	<element name="part1" type="MechPart"/>
1790	<element name="part2" type="MechPart"/>
1791	<element name="rotstif" type="float"/>
1792	<element name="rotstress" type="float"/>
1793	<element name="rx" type="float"/>
1794	<element name="ry" type="float"/>
1795	<element name="rz" type="float"/>
1796	<element name="stif" type="float"/>
1797	<element name="stress" type="float"/>
1798	</type>
1799	<type name="MechPart" context="Global context">
1800	<element name="fr" type="float"/>
1801	<element name="m" type="float"/>
1802	<element name="orient" type="Orient"/>
1803	<element name="oxx" type="float"/>
1804	<element name="oxy" type="float"/>
1805	<element name="oxz" type="float"/>
1806	<element name="oyx" type="float"/>
1807	<element name="oyy" type="float"/>
1808	<element name="oyz" type="float"/>
1809	<element name="ozx" type="float"/>
1810	<element name="ozy" type="float"/>
1811	<element name="ozz" type="float"/>
1812	<element name="pos" type="XYZ"/>
1813	<element name="s" type="float"/>
1814	<element name="v" type="XYZ"/>
1815	<element name="vol" type="float"/>
1816	<element name="vx" type="float"/>
1817	<element name="vy" type="float"/>
1818	<element name="vz" type="float"/>
1819	<element name="x" type="float"/>
1820	<element name="y" type="float"/>
1821	<element name="z" type="float"/>
1822	<element name="applyForce" function="true" type="void">
1823	<arguments>
1824	<argument name="x" type="float"/>
1825	<argument name="y" type="float"/>
1826	<argument name="z" type="float"/>
1827	</arguments>
1828	</element>
1829	</type>
1830	<type name="Model" context="Global context">
1831	<element name="geno" type="Geno"/>
1832	<element name="numconnections" type="integer"/>
1833	<element name="numjoints" type="integer"/>
1834	<element name="numneurons" type="integer"/>
1835	<element name="numparts" type="integer"/>
1836	<element name="se" type="float"/>
1837	<element name="size_x" type="float">
1838	<description><![CDATA[(size_x,size_y,size_z) are dimensions of the axis-aligned bounding box of the creature, including imaginary Part sizes (Part.s, usually 1.0). A creature consisting of a single default part has the size of (2.0,2.0,2.0) - twice the Part.s value (like a sphere diameter is twice its radius).
1839	See also: Creature.moveAbs]]></description>
1840	</element>
1841	<element name="size_y" type="float">
1842	<description><![CDATA[See Model.size_x]]></description>
1843	</element>
1844	<element name="size_z" type="float">
1845	<description><![CDATA[See Model.size_x]]></description>
1846	</element>
1847	<element name="Vstyle" type="string"/>
1848	<element name="getJoint" function="true" type="Joint">
1849	<arguments>
1850	<argument name="index" type="integer"/>
1851	</arguments>
1852	</element>
1853	<element name="getNeuroDef" function="true" type="NeuroDef">
1854	<arguments>
1855	<argument name="index" type="integer"/>
1856	</arguments>
1857	</element>
1858	<element name="getPart" function="true" type="Part">
1859	<arguments>
1860	<argument name="index" type="integer"/>
1861	</arguments>
1862	</element>
1863	<element name="newFromGeno" function="true" type="Model">
1864	<arguments>
1865	<argument type="Geno"/>
1866	</arguments>
1867	</element>
1868	<element name="newFromString" function="true" type="Model">
1869	<arguments>
1870	<argument name="genotype" type="string"/>
1871	</arguments>
1872	</element>
1873	</type>
1874	<type name="Neuro" context="Global context">
1875	<description><![CDATA[Live Neuron object.]]></description>
1876	<element name="channelCount" type="integer"/>
1877	<element name="creature" type="Creature"/>
1878	<element name="currState" type="float">
1879	<description><![CDATA[The only difference from the "state" field is that currState, when written, changes the internal neuron state immediately (which disturbs the regular synchronous NN operation). This feature should only be used while controlling the neuron 'from outside' (like a neuro probe) and not in the neuron definition. See also: Neuro.hold]]></description>
1880	</element>
1881	<element name="def" type="NeuroDef"/>
1882	<element name="fields" type="Fields">
1883	<description><![CDATA[Neurons can have different fields depending on their class. Script neurons have their fields defined using the "prop:" syntax. If you develop a custom neuron script you should use the Fields object for accessing your own neuron fields. The Neuro.fields property is meant for accessing the neuron fields from the outside script.
1884	Examples:
1885	var c=Populations.createFromString("X[N]");
1886	Simulator.print("standard neuron inertia="+c.getNeuro(0).fields.in);
1887	c=Populations.createFromString("X[Nn,e:0.1]");
1888	Simulator.print("noisy neuron error rate="+c.getNeuro(0).fields.e);
1889
1890	The Interface object can be used to discover which fields are available for a certain neuron object:
1891	c=Populations.createFromString("X[N]");
1892	var iobj=Interface.makeFrom(c.getNeuro(0).fields);
1893	var i;
1894	for(i=0;i<iobj.properties;i++)
1895	Simulator.print(iobj.getId(i)+" ("+iobj.getName(i)+")");]]></description>
1896	</element>
1897	<element name="getInputCount" type="integer"/>
1898	<element name="hold" type="integer" min="0" max="1">
1899	<description><![CDATA["Holding" means keeping the neuron state as is, blocking the regular neuron operation. This is useful when your script needs to inject some control signals into the NN. Without "holding", live neurons would be constantly overwriting your changes, and the rest of the NN could see inconsistent states, depending on the connections. Setting hold=1 ensures the neuron state will be only set by you, and not by the neuron. The enforced signal value can be set using Neuro.currState before or after setting hold=1. Set hold=0 to resume normal operation.]]></description>
1900	</element>
1901	<element name="inputSum" type="float"/>
1902	<element name="joint" type="MechJoint"/>
1903	<element name="part" type="MechPart"/>
1904	<element name="position_x" type="float"/>
1905	<element name="position_y" type="float"/>
1906	<element name="position_z" type="float"/>
1907	<element name="signals" type="NeuroSignals"/>
1908	<element name="state" type="float">
1909	<description><![CDATA[When read, returns the current neuron state.
1910	When written, sets the next neuron state (for use in the neuron definition)]]></description>
1911	</element>
1912	<element name="weightedInputSum" type="float"/>
1913	<element name="getInputChannelCount" function="true" type="integer">
1914	<arguments>
1915	<argument name="input" type="integer"/>
1916	</arguments>
1917	</element>
1918	<element name="getInputState" function="true" type="float">
1919	<arguments>
1920	<argument name="input" type="integer"/>
1921	</arguments>
1922	</element>
1923	<element name="getInputStateChannel" function="true" type="float">
1924	<arguments>
1925	<argument name="input" type="integer"/>
1926	<argument name="channel" type="integer"/>
1927	</arguments>
1928	</element>
1929	<element name="getInputSum" function="true" type="float">
1930	<arguments>
1931	<argument name="input" type="integer"/>
1932	</arguments>
1933	</element>
1934	<element name="getInputWeight" function="true" type="float">
1935	<arguments>
1936	<argument name="input" type="integer"/>
1937	</arguments>
1938	</element>
1939	<element name="getStateChannel" function="true" type="float">
1940	<arguments>
1941	<argument name="channel" type="integer"/>
1942	</arguments>
1943	</element>
1944	<element name="getWeightedInputState" function="true" type="float">
1945	<arguments>
1946	<argument name="input" type="integer"/>
1947	</arguments>
1948	</element>
1949	<element name="getWeightedInputStateChannel" function="true" type="float">
1950	<arguments>
1951	<argument name="input" type="integer"/>
1952	<argument name="channel" type="integer"/>
1953	</arguments>
1954	</element>
1955	<element name="getWeightedInputSum" function="true" type="float">
1956	<description><![CDATA[Uses any number of inputs starting with the specified input. getWeightedInputSum(0)=weightedInputSum]]></description>
1957	<arguments>
1958	<argument name="input" type="integer"/>
1959	</arguments>
1960	</element>
1961	<element name="setCurrStateChannel" function="true" type="void">
1962	<description><![CDATA[Analogous to "currState".]]></description>
1963	<arguments>
1964	<argument name="channel" type="integer"/>
1965	<argument name="value" type="float"/>
1966	</arguments>
1967	</element>
1968	<element name="setStateChannel" function="true" type="void">
1969	<arguments>
1970	<argument name="channel" type="integer"/>
1971	<argument name="value" type="float"/>
1972	</arguments>
1973	</element>
1974	</type>
1975	<type name="NeuroClass" context="Global context">
1976	<description><![CDATA[The static NeuroClass object refers to class selected in the NeuroClassLibrary.]]></description>
1977	<element name="description" type="string"/>
1978	<element name="glyph" type="string"/>
1979	<element name="longname" type="string"/>
1980	<element name="name" type="string"/>
1981	<element name="prefinputs" type="integer"/>
1982	<element name="preflocation" type="integer" min="0" max="2"/>
1983	<element name="prefoutput" type="integer" min="0" max="1"/>
1984	<element name="properties" type="Interface"/>
1985	<element name="summary" type="string">
1986	<description><![CDATA[Textual summary of all features]]></description>
1987	</element>
1988	<element name="visualhints" type="integer"/>
1989	</type>
1990	<type name="NeuroClassLibrary" context="Global context">
1991	<description><![CDATA[Set of Neuron classes. You can access the selected class in the static NeuroClass object.]]></description>
1992	<element name="class" type="integer">
1993	<description><![CDATA[0 ... count-1]]></description>
1994	</element>
1995	<element name="count" type="integer"/>
1996	<element name="findClass" function="true" type="void">
1997	<arguments>
1998	<argument name="class name" type="string"/>
1999	</arguments>
2000	</element>
2001	</type>
2002	<type name="NeuroDef" context="Global context">
2003	<element name="d" type="string"/>
2004	<element name="getInputCount" type="integer"/>
2005	<element name="i" type="string"/>
2006	<element name="j" type="integer" min="-1" max="999999" default="-1"/>
2007	<element name="p" type="integer" min="-1" max="999999" default="-1"/>
2008	<element name="Vstyle" type="string"/>
2009	<element name="getInputNeuroDef" function="true" type="NeuroDef">
2010	<arguments>
2011	<argument type="integer"/>
2012	</arguments>
2013	</element>
2014	<element name="getInputNeuroIndex" function="true" type="integer">
2015	<arguments>
2016	<argument type="integer"/>
2017	</arguments>
2018	</element>
2019	<element name="getInputWeight" function="true" type="float">
2020	<arguments>
2021	<argument type="integer"/>
2022	</arguments>
2023	</element>
2024	</type>
2025	<type name="NeuronsSimEnabled" context="Global context">
2026	<element name="ncl_N" type="integer" min="0" max="1">
2027	<description><![CDATA[Standard neuron
2028
2029	Characteristics:
2030	supports any number of inputs
2031	provides output value
2032	does not require location in body
2033
2034
2035	Properties:
2036	Inertia (in) float 0..1
2037	Force (fo) float 0..999
2038	Sigmoid (si) float -99999..99999
2039	State (s) float -1..1]]></description>
2040	</element>
2041	<element name="ncl_Nu" type="integer" min="0" max="1">
2042	<description><![CDATA[Works like standard neuron (N) but the output value is scaled to 0...+1 instead of -1...+1.
2043	Having 0 as one of the saturation states should help in "gate circuits", where input signal is passed through or blocked depending on the other singal.
2044
2045	Characteristics:
2046	supports any number of inputs
2047	provides output value
2048	does not require location in body
2049
2050
2051	Properties:
2052	Inertia (in) float 0..1
2053	Force (fo) float 0..999
2054	Sigmoid (si) float -99999..99999
2055	State (s) float -1..1]]></description>
2056	</element>
2057	<element name="ncl_G" type="integer" min="0" max="1">
2058	<description><![CDATA[Equilibrium sensor.
2059	0=the stick is horizontal
2060	+1/-1=the stick is vertical
2061
2062	Characteristics:
2063	does not use inputs
2064	provides output value
2065	should be located on a Joint
2066	]]></description>
2067	</element>
2068	<element name="ncl_T" type="integer" min="0" max="1">
2069	<description><![CDATA[Touch sensor.
2070	-1=no contact
2071	0=just touching
2072	>0=pressing, value depends on the force applied
2073
2074	Characteristics:
2075	does not use inputs
2076	provides output value
2077	should be located on a Part
2078
2079
2080	Properties:
2081	Range (r) float 0..1]]></description>
2082	</element>
2083	<element name="ncl_S" type="integer" min="0" max="1">
2084	<description><![CDATA[Smell sensor. Aggregated "smell of energy" experienced from all energy objects (creatures and food pieces).
2085	Close objects have bigger influence than the distant ones: for each energy source, its partial feeling is proportional to its energy/(distance^2)
2086
2087	Characteristics:
2088	does not use inputs
2089	provides output value
2090	should be located on a Part
2091	]]></description>
2092	</element>
2093	<element name="ncl_*" type="integer" min="0" max="1">
2094	<description><![CDATA[Constant value
2095
2096	Characteristics:
2097	does not use inputs
2098	provides output value
2099	does not require location in body
2100	]]></description>
2101	</element>
2102	<element name="ncl_\|" type="integer" min="0" max="1">
2103	<description><![CDATA[Characteristics:
2104	uses single input
2105	does not provide output value
2106	should be located on a Joint
2107
2108
2109	Properties:
2110	power (p) float 0.01..1
2111	bending range (r) float 0..1]]></description>
2112	</element>
2113	<element name="ncl_@" type="integer" min="0" max="1">
2114	<description><![CDATA[Characteristics:
2115	uses single input
2116	does not provide output value
2117	should be located on a Joint
2118
2119
2120	Properties:
2121	power (p) float 0.01..1]]></description>
2122	</element>
2123	<element name="ncl_D" type="integer" min="0" max="1">
2124	<description><![CDATA[Calculate the difference between the current and previous input value. Multiple inputs are aggregated with respect to their weights
2125
2126	Characteristics:
2127	supports any number of inputs
2128	provides output value
2129	does not require location in body
2130	]]></description>
2131	</element>
2132	<element name="ncl_Fuzzy" type="integer" min="0" max="1">
2133	<description><![CDATA[Refer to publications to learn more about this neuron.
2134
2135	Characteristics:
2136	supports any number of inputs
2137	provides output value
2138	does not require location in body
2139
2140
2141	Properties:
2142	number of fuzzy sets (ns) integer
2143	number of rules (nr) integer
2144	fuzzy sets (fs) string
2145	fuzzy rules (fr) string]]></description>
2146	</element>
2147	<element name="ncl_VEye" type="integer" min="0" max="1">
2148	<description><![CDATA[Refer to publications to learn more about this neuron.
2149
2150	Characteristics:
2151	uses single input
2152	provides output value
2153	should be located on a Part
2154
2155
2156	Properties:
2157	target.x (tx) float
2158	target.y (ty) float
2159	target.z (tz) float
2160	target shape (ts) string
2161	perspective (p) float 0.1..10
2162	scale (s) float 0.1..100
2163	show hidden lines (h) integer 0..1
2164	output lines count (each line needs four channels) (o) integer 0..99
2165	debug (d) integer 0..1]]></description>
2166	</element>
2167	<element name="ncl_VMotor" type="integer" min="0" max="1">
2168	<description><![CDATA[Must be connected to the VEye and properly set up. Refer to publications to learn more about this neuron.
2169
2170	Characteristics:
2171	supports any number of inputs
2172	provides output value
2173	does not require location in body
2174
2175
2176	Properties:
2177	number of basic features (noIF) integer
2178	number of degrees of freedom (noDim) integer
2179	parameters (params) string]]></description>
2180	</element>
2181	<element name="ncl_Sti" type="integer" min="0" max="1">
2182	<description><![CDATA[Characteristics:
2183	uses single input
2184	does not provide output value
2185	should be located on a Part
2186	]]></description>
2187	</element>
2188	<element name="ncl_LMu" type="integer" min="0" max="1">
2189	<description><![CDATA[Characteristics:
2190	uses single input
2191	does not provide output value
2192	should be located on a Joint
2193
2194
2195	Properties:
2196	power (p) float 0.01..1]]></description>
2197	</element>
2198	<element name="ncl_Water" type="integer" min="0" max="1">
2199	<description><![CDATA[Output signal:
2200	0=on or above water surface
2201	1=under water (deeper than 1)
2202	0..1=in the transient area just below water surface
2203
2204	Characteristics:
2205	does not use inputs
2206	provides output value
2207	should be located on a Part
2208	]]></description>
2209	</element>
2210	<element name="ncl_Energy" type="integer" min="0" max="1">
2211	<description><![CDATA[The current energy level divided by the initial energy level.
2212	Usually falls from initial 1.0 down to 0.0 and then the creature dies. It can rise above 1.0 if enough food is ingested
2213
2214	Characteristics:
2215	does not use inputs
2216	provides output value
2217	does not require location in body
2218	]]></description>
2219	</element>
2220	<element name="ncl_Ch" type="integer" min="0" max="1">
2221	<description><![CDATA[Combines all input signals into a single multichannel output; Note: ChSel and ChMux are the only neurons which support multiple channels. Other neurons discard everything except the first channel.
2222
2223	Characteristics:
2224	supports any number of inputs
2225	provides output value
2226	does not require location in body
2227	]]></description>
2228	</element>
2229	<element name="ncl_ChMux" type="integer" min="0" max="1">
2230	<description><![CDATA[Outputs the selected channel from the second (multichannel) input. The first input is used as the selector value (-1=select first channel, .., 1=last channel)
2231
2232	Characteristics:
2233	uses 2 inputs
2234	provides output value
2235	does not require location in body
2236	]]></description>
2237	</element>
2238	<element name="ncl_ChSel" type="integer" min="0" max="1">
2239	<description><![CDATA[Outputs a single channel (selected by the "ch" parameter) from multichannel input
2240
2241	Characteristics:
2242	uses single input
2243	provides output value
2244	does not require location in body
2245
2246
2247	Properties:
2248	channel (ch) integer]]></description>
2249	</element>
2250	<element name="ncl_Rnd" type="integer" min="0" max="1">
2251	<description><![CDATA[Generates random noise (subsequent random values in the range of -1..+1)
2252
2253	Characteristics:
2254	does not use inputs
2255	provides output value
2256	does not require location in body
2257	]]></description>
2258	</element>
2259	<element name="ncl_Sin" type="integer" min="0" max="1">
2260	<description><![CDATA[Output frequency = f0+input
2261
2262	Characteristics:
2263	uses single input
2264	provides output value
2265	does not require location in body
2266
2267
2268	Properties:
2269	base frequency (f0) float -1..1
2270	time (t) float 0..6.28319]]></description>
2271	</element>
2272	</type>
2273	<type name="NeuroSignals" context="Global context">
2274	<description><![CDATA[Signals attached to the neuron.
2275	See also: Signal, WorldSignals, CreatureSignals.
2276	scripts/light.neuro and scripts/seelight.neuro are simple custom neuron examples demonstrating how to send/receive signals between creatures.]]></description>
2277	<element name="size" type="integer"/>
2278	<element name="add" function="true" type="void">
2279	<description><![CDATA[Create a new signal]]></description>
2280	<arguments>
2281	<argument name="channel" type="string"/>
2282	</arguments>
2283	</element>
2284	<element name="clear" function="true" type="void"><arguments/></element>
2285	<element name="get" function="true" type="Signal">
2286	<arguments>
2287	<argument name="index" type="integer"/>
2288	</arguments>
2289	</element>
2290	<element name="receive" function="true" type="float">
2291	<description><![CDATA[Receive the aggregated signal power in a given channel.]]></description>
2292	<arguments>
2293	<argument name="channel" type="string"/>
2294	</arguments>
2295	</element>
2296	<element name="receiveFilter" function="true" type="float">
2297	<description><![CDATA[Receive the aggregated signal power in a given channel.
2298
2299	Additional filtering options:
2300	- Max distance only receives the neighbor signals (based on their physical location)
2301	- Flavor filtering: only signals having the flavor close to the specified one will be received. The filter value is the maximum allowed difference.]]></description>
2302	<arguments>
2303	<argument name="channel" type="string"/>
2304	<argument name="max distance" type="float"/>
2305	<argument name="flavor" type="float"/>
2306	<argument name="filter" type="float"/>
2307	</arguments>
2308	</element>
2309	<element name="receiveSet" function="true" type="Vector">
2310	<description><![CDATA[Get all signals in the specified range. Returns a readonly vector object containing Signal objects (individual signals can be accessed as result[0] throught result[result.size-1]).]]></description>
2311	<arguments>
2312	<argument name="channel" type="string"/>
2313	<argument name="max distance" type="float"/>
2314	</arguments>
2315	</element>
2316	<element name="receiveSingle" function="true" type="Signal">
2317	<description><![CDATA[Find the signal source having the highest signal power (including the distance)]]></description>
2318	<arguments>
2319	<argument name="channel" type="string"/>
2320	<argument name="range" type="float"/>
2321	</arguments>
2322	</element>
2323	</type>
2324	<type name="ODE" context="Global context">
2325	<description><![CDATA[ODE Parameters.]]></description>
2326	<element name="odeairdrag" type="float" min="0" max="0.5" default="0.01">
2327	<description><![CDATA[A drag force ("air drag") proportional to the velocity of mass centers of moving parts]]></description>
2328	</element>
2329	<element name="odecol2bounce" type="float" min="0" max="1" default="0.1"/>
2330	<element name="odecol2bouncevel" type="float" min="0" max="1" default="0.01"/>
2331	<element name="odecol2mumax" type="float" min="0" max="10" default="1">
2332	<description><![CDATA[Mu coefficient for Parts with maximal friction (i.e. "FFFFF" in f1)]]></description>
2333	</element>
2334	<element name="odecol2mumin" type="float" min="0" max="10" default="0.1">
2335	<description><![CDATA[Mu coefficient for Parts with minimal friction (i.e. "fffff" in f1)]]></description>
2336	</element>
2337	<element name="odecol2softcfm" type="float" min="0" max="1" default="0"/>
2338	<element name="odecolbounce" type="float" min="0" max="1" default="0.1"/>
2339	<element name="odecolbouncevel" type="float" min="0" max="1" default="0.01"/>
2340	<element name="odecolmumax" type="float" min="0" max="10" default="5">
2341	<description><![CDATA[Mu coefficient for Parts with maximal friction (i.e. "FFFFF" in f1)]]></description>
2342	</element>
2343	<element name="odecolmumin" type="float" min="0" max="10" default="0.1">
2344	<description><![CDATA[Mu coefficient for Parts with minimal friction (i.e. "fffff" in f1)]]></description>
2345	</element>
2346	<element name="odecolsoftcfm" type="float" min="0" max="1" default="0"/>
2347	<element name="odemusclemax" type="float" min="0" max="100" default="10">
2348	<description><![CDATA[i.e. "MMMMM" if f1]]></description>
2349	</element>
2350	<element name="odemusclemin" type="float" min="0" max="100" default="0">
2351	<description><![CDATA[i.e. "mmmmm" in f1]]></description>
2352	</element>
2353	<element name="odemusclespeed" type="float" min="0" max="10" default="1">
2354	<description><![CDATA[Muscle state cannot change faster than the supplied value]]></description>
2355	</element>
2356	<element name="odeseed" type="integer" min="0" max="2">
2357	<description><![CDATA[Affects collisions.
2358	- 'Truly random' is closest to the standard ODE operation. Use Math.seed to influence randomness in ODE collisions
2359	- 'Deterministic' automatically calculates random seed in each step based on the current simulation (world) state, which makes the simulation repeatable but more random than 'Fixed'
2360	- 'Fixed' is completely deterministic and does not depend on Math.seed. This might negatively affect ODE accuracy
2361	]]></description>
2362	</element>
2363	<element name="odeshape" type="integer" min="0" max="1"/>
2364	<element name="odestep" type="float" min="0.001" max="1" default="0.05"/>
2365	<element name="odewaterbuoy" type="float" min="0" max="2" default="1"/>
2366	<element name="odewaterdrag" type="float" min="0.001" max="1" default="0.5"/>
2367	<element name="rayIntersection" function="true" type="float">
2368	<arguments>
2369	<argument name="position x" type="float"/>
2370	<argument name="position y" type="float"/>
2371	<argument name="position z" type="float"/>
2372	<argument name="direction x" type="float"/>
2373	<argument name="direction y" type="float"/>
2374	<argument name="direction z" type="float"/>
2375	<argument name="max distance" type="float"/>
2376	</arguments>
2377	</element>
2378	</type>
2379	<type name="Orient" context="Global context">
2380	<description><![CDATA[3D orientation, stored as 3x3 matrix.]]></description>
2381	<element name="x" type="XYZ"/>
2382	<element name="xx" type="float"/>
2383	<element name="xy" type="float"/>
2384	<element name="xz" type="float"/>
2385	<element name="y" type="XYZ"/>
2386	<element name="yx" type="float"/>
2387	<element name="yy" type="float"/>
2388	<element name="yz" type="float"/>
2389	<element name="z" type="XYZ"/>
2390	<element name="zx" type="float"/>
2391	<element name="zy" type="float"/>
2392	<element name="zz" type="float"/>
2393	<element name="between2" function="true" type="void">
2394	<arguments>
2395	<argument type="Orient"/>
2396	<argument type="Orient"/>
2397	<argument name="amount" type="float"/>
2398	</arguments>
2399	</element>
2400	<element name="betweenOV" function="true" type="void">
2401	<arguments>
2402	<argument type="Orient"/>
2403	<argument type="XYZ"/>
2404	<argument name="amount" type="float"/>
2405	</arguments>
2406	</element>
2407	<element name="clone" function="true" type="Orient"><arguments/></element>
2408	<element name="localToWorld" function="true">
2409	<arguments>
2410	<argument name="point" type="XYZ"/>
2411	<argument name="center" type="XYZ"/>
2412	</arguments>
2413	</element>
2414	<element name="lookAt" function="true" type="void">
2415	<arguments>
2416	<argument name="direction" type="XYZ"/>
2417	<argument name="up" type="XYZ"/>
2418	</arguments>
2419	</element>
2420	<element name="new" function="true" type="Orient">
2421	<arguments>
2422	<argument name="x" type="float"/>
2423	<argument name="y" type="float"/>
2424	<argument name="z" type="float"/>
2425	</arguments>
2426	</element>
2427	<element name="normalize" function="true" type="void"><arguments/></element>
2428	<element name="reset" function="true" type="void"><arguments/></element>
2429	<element name="revRotate" function="true" type="void">
2430	<arguments>
2431	<argument type="Orient"/>
2432	</arguments>
2433	</element>
2434	<element name="rotate" function="true" type="void">
2435	<arguments>
2436	<argument type="Orient"/>
2437	</arguments>
2438	</element>
2439	<element name="rotate3" function="true" type="void">
2440	<arguments>
2441	<argument name="x" type="float"/>
2442	<argument name="y" type="float"/>
2443	<argument name="z" type="float"/>
2444	</arguments>
2445	</element>
2446	<element name="set" function="true" type="void">
2447	<arguments>
2448	<argument type="Orient"/>
2449	</arguments>
2450	</element>
2451	<element name="worldToLocal" function="true">
2452	<arguments>
2453	<argument name="point" type="XYZ"/>
2454	<argument name="center" type="XYZ"/>
2455	</arguments>
2456	</element>
2457	</type>
2458	<type name="Part" context="Global context">
2459	<element name="as" type="float" min="0" max="1" default="0.25"/>
2460	<element name="dn" type="float" min="0.2" max="5" default="1"/>
2461	<element name="fr" type="float" min="0" max="4" default="0.4"/>
2462	<element name="i" type="string"/>
2463	<element name="ing" type="float" min="0" max="1" default="0.25"/>
2464	<element name="m" type="float" min="0.1" max="999" default="1"/>
2465	<element name="rx" type="float"/>
2466	<element name="ry" type="float"/>
2467	<element name="rz" type="float"/>
2468	<element name="s" type="float" min="0.1" max="10" default="1"/>
2469	<element name="Vstyle" type="string"/>
2470	<element name="x" type="float"/>
2471	<element name="y" type="float"/>
2472	<element name="z" type="float"/>
2473	</type>
2474	<type name="Population" context="Global context">
2475	<description><![CDATA[A set of Creature objects, sharing some high level simulation properties (performance calculation, NN simulation, collision detection, event handling). The groups usually have different roles in the experiment (Creatures groups and Food group in standard.expdef).]]></description>
2476	<element name="bodysim" type="integer" min="0" max="1" default="1">
2477	<description><![CDATA[Enable/disable physical body simulation. This is the initial value of Creature.bodysim for all objects created in this group. For details, see the documentation of Creature.bodysim.]]></description>
2478	</element>
2479	<element name="colmask" type="integer" min="0" max="65535" default="0">
2480	<description><![CDATA[DEPRECATED. You should use selfmask and othermask (these masks are also much easier to understand than the old colmask field).]]></description>
2481	</element>
2482	<element name="death" type="integer" min="0" max="1" default="1">
2483	<description><![CDATA[Do creatures die when no energy?]]></description>
2484	</element>
2485	<element name="em_dyn" type="float" min="0" max="1" default="0">
2486	<description><![CDATA[Energy requirements for a muscle
2487	moving a stick]]></description>
2488	</element>
2489	<element name="em_stat" type="float" min="0" max="1" default="0">
2490	<description><![CDATA[Energy requirements for a muscle
2491	resisting an external force]]></description>
2492	</element>
2493	<element name="en_assim" type="float" min="0" max="1" default="0">
2494	<description><![CDATA[Maximal energy gain produced by a vertical specialized stick.
2495	Horizontal specialized sticks get half of this value.]]></description>
2496	</element>
2497	<element name="enableperf" type="integer" min="0" max="2" default="1">
2498	<description><![CDATA[Stabilization means no significant movement during a specified period of time.]]></description>
2499	</element>
2500	<element name="energy" type="integer" min="0" max="1" default="1">
2501	<description><![CDATA[If turned off, creature's energy will be constant.]]></description>
2502	</element>
2503	<element name="index" type="integer"/>
2504	<element name="killnostable" type="integer" min="0" max="10000000" default="1000000">
2505	<description><![CDATA[Creatures that fail to stabilize after the specified waiting period (e.g. because they are continuously rolling) will be killed. 0 disables this feature.]]></description>
2506	</element>
2507	<element name="name" type="string"/>
2508	<element name="nnsim" type="integer" min="0" max="2" default="1">
2509	<description><![CDATA[Stabilization means no significant movement during a specified period of time.]]></description>
2510	</element>
2511	<element name="othermask" type="integer" min="0" max="2147483647" default="0">
2512	<description><![CDATA[See selfmask.]]></description>
2513	</element>
2514	<element name="perfperiod" type="integer" min="0" max="1000000" default="100">
2515	<description><![CDATA[Defines how often onUpdate() events are called. Also used to compute partial performance of creatures (distance, speed, etc.) and to determine stabilization.]]></description>
2516	</element>
2517	<element name="selfcol" type="integer" min="0" max="1" default="0">
2518	<description><![CDATA[Detect collisions within creature bodies (only applicable for the ODE simulation engine). This is the initial value of Creature.selfcol for all objects created in this group. If enabled, creatures with self-colliding genotypes are not born, and others will have their sticks collide during lifespan.]]></description>
2519	</element>
2520	<element name="selfmask" type="integer" min="0" max="2147483647" default="0">
2521	<description><![CDATA[Collisions between objects can be handled in two ways:
2522	- standard 'mechanical' collision (simple 'rebound' effect)
2523	- special script handler (On[GROUPNAME]Collision function)
2524
2525	In the script handler function, use the Collision object to access the two colliding parts of two creatures.
2526	The first part in the Collision object (i.e. Collision.Creature1) always concerns the creature that belongs to [GROUPNAME].
2527	The handler is called once for each creature that collides with the creature from [GROUPNAME].
2528
2529	Collision masks determine which one will be used (none and both are also possible). On each collision, selfmask and othermask of the colliding objects are logically ANDed. 16 lower bits (0xffff) enable the standard handler. 16 higher bits (0xffff0000) enable the custom handler.
2530	Examples:
2531
2532	1.With one group, all possible combinations of the collision handlers are as follows:
2533	- ignore collisions (e.g. selfmask=othermask=0)
2534	- use standard handling (e.g. selfmask=othermask=1)
2535	- use custom handling (e.g. selfmask=othermask=0x10000)
2536	- use standard and custom handling (e.g. selfmask=othermask=0x10001)
2537
2538	2.Two groups yield more interesting cases. Let us consider the 'standard.expdef' setting:
2539	Creatures: selfmask=0x10001, othermask=0x20001
2540	Food colmask = selfmask=0x20002, othermask=0x10002
2541	There are three possible scenarios:
2542	- creature and creature: collision value = 0x10001 & 0x20001 = 1 -> Standard handling will be used (1 is one of the lower 16 bits)
2543	- food and food: collision value = 0x20002 & 0x10002 = 2 -> As above.
2544	- creature and food: collision value = (0x10001 & 0x10002) or (0x20002 & 0x20001) = 0x10000 or 0x20000 -> Custom handling will be used (higher 16 bits).
2545	]]></description>
2546	</element>
2547	<element name="size" type="integer"/>
2548	<element name="stabilperiod" type="integer" min="0" max="1000000" default="100">
2549	<description><![CDATA["Performance sampling period" for the stabilization phase.]]></description>
2550	</element>
2551	<element name="stabledist" type="float" min="0" max="1" default="0.01">
2552	<description><![CDATA[A creature is considered stabilized when its center of gravity stays within the specified distance after the "Sampling period while waiting" has elapsed.]]></description>
2553	</element>
2554	<element name="createFromGeno" function="true" type="Creature">
2555	<description><![CDATA[Uses the supplied Geno object]]></description>
2556	<arguments>
2557	<argument type="Geno"/>
2558	</arguments>
2559	</element>
2560	<element name="createFromGenotype" function="true" type="Creature">
2561	<description><![CDATA[Uses the selected Genotype object]]></description>
2562	<arguments/></element>
2563	<element name="createFromString" function="true" type="Creature">
2564	<description><![CDATA[Uses the supplied string argument]]></description>
2565	<arguments>
2566	<argument name="genotype" type="string"/>
2567	</arguments>
2568	</element>
2569	<element name="delete" function="true" type="void">
2570	<description><![CDATA[delete creature]]></description>
2571	<arguments>
2572	<argument name="creature index" type="integer"/>
2573	</arguments>
2574	</element>
2575	<element name="findCreatureAt" function="true" type="Creature">
2576	<arguments>
2577	<argument name="point" type="Vector"/>
2578	<argument name="vector" type="Vector"/>
2579	</arguments>
2580	</element>
2581	<element name="findUID" function="true" type="integer">
2582	<arguments>
2583	<argument name="uid" type="string"/>
2584	</arguments>
2585	</element>
2586	<element name="get" function="true" type="Creature">
2587	<arguments>
2588	<argument name="index" type="integer"/>
2589	</arguments>
2590	</element>
2591	<element name="kill" function="true" type="void">
2592	<description><![CDATA[kill creature]]></description>
2593	<arguments>
2594	<argument name="creature index" type="integer"/>
2595	</arguments>
2596	</element>
2597	<element name="senseCreaturesProperty" function="true" type="float">
2598	<description><![CDATA[arguments:
2599	- x,y,z (sensor position)
2600	- property (name, name[index] or Class:id). name[index] can be used for Vector objects inside the user fields, eg "user2[10]"
2601	- exclude (creature object)
2602	works like a smell sensor for a given property (for all creatures in this group except "exclude").
2603	The following function reproduces the "classic" framsticks "S" sensor:
2604	function smellReceptorValue(x,y,z,exclude)
2605	{
2606	var i,s=0; for(i=0;i<Populations.size;i++)
2607	s+=Populations[0].senseCreaturesProperty(x,y,z,"energy",exclude);
2608	return s;
2609	}]]></description>
2610	<arguments>
2611	<argument name="x" type="float"/>
2612	<argument name="y" type="float"/>
2613	<argument name="z" type="float"/>
2614	<argument name="propertyname" type="string"/>
2615	<argument name="exclude" type="Creature"/>
2616	</arguments>
2617	</element>
2618	</type>
2619	<type name="Populations" context="Global context">
2620	<description><![CDATA[Manages all Creature objects in the experiment, organized in one or more groups. See also: Creature, Population.]]></description>
2621	<element name="creature" type="integer"/>
2622	<element name="group" type="integer">
2623	<description><![CDATA[Index of the currently selected group (Population).]]></description>
2624	</element>
2625	<element name="size" type="integer"/>
2626	<element name="addGroup" function="true" type="void">
2627	<description><![CDATA[Adds a new population.]]></description>
2628	<arguments>
2629	<argument name="name" type="string"/>
2630	</arguments>
2631	</element>
2632	<element name="clear" function="true" type="void">
2633	<description><![CDATA[Removes all populations except the first one.]]></description>
2634	<arguments/></element>
2635	<element name="clearGroup" function="true" type="void">
2636	<arguments>
2637	<argument name="index" type="integer"/>
2638	</arguments>
2639	</element>
2640	<element name="creatBBCollisions" function="true" type="integer">
2641	<description><![CDATA[Checks approximate collisions for the selected creature.
2642	Returns the collision mask calculated as in the regular simulation. The argument is the collision mask substituted for the selected creature (defaults to group colmask for 0).]]></description>
2643	<arguments>
2644	<argument name="mask" type="integer"/>
2645	</arguments>
2646	</element>
2647	<element name="createFromGenotype" function="true" type="Creature">
2648	<description><![CDATA[Uses the selected Genotype object.]]></description>
2649	<arguments/></element>
2650	<element name="createFromString" function="true" type="Creature">
2651	<description><![CDATA[Uses the supplied string argument.]]></description>
2652	<arguments>
2653	<argument name="genotype" type="string"/>
2654	</arguments>
2655	</element>
2656	<element name="deleteGroup" function="true" type="void">
2657	<description><![CDATA[Removes a population.]]></description>
2658	<arguments>
2659	<argument name="index" type="integer"/>
2660	</arguments>
2661	</element>
2662	<element name="deleteSelected" function="true" type="void">
2663	<description><![CDATA[Applies to the selected Creature.]]></description>
2664	<arguments/></element>
2665	<element name="findCreatureAt" function="true" type="Creature">
2666	<arguments>
2667	<argument name="point" type="Vector"/>
2668	<argument name="vector" type="Vector"/>
2669	</arguments>
2670	</element>
2671	<element name="get" function="true" type="Population">
2672	<arguments>
2673	<argument name="index" type="integer"/>
2674	</arguments>
2675	</element>
2676	<element name="killSelected" function="true" type="void">
2677	<description><![CDATA[Applies to the selected Creature.]]></description>
2678	<arguments/></element>
2679	</type>
2680	<type name="Ref" context="Global context">
2681	<description><![CDATA[Reference objects. Useful for returning things from functions.
2682
2683	Example:
2684	var x=111;
2685	square(&x);// '&' creates the Reference object
2686	Simulator.print(x);//x is now 12321
2687
2688	function square(r)
2689	{r.value=r.value*r.value;}
2690	//square receives the Reference objects and changes its 'value' field]]></description>
2691	<element name="toString" type="string"/>
2692	<element name="value" type="untyped"/>
2693	<element name="copyFrom" function="true" type="void">
2694	<description><![CDATA[make the reference point to the same target,]]></description>
2695	<arguments>
2696	<argument type="Ref"/>
2697	</arguments>
2698	</element>
2699	<element name="newO" function="true">
2700	<description><![CDATA[(for internal use only) use &variablename to create Ref objects.]]></description>
2701	</element>
2702	<element name="newS" function="true">
2703	<description><![CDATA[(for internal use only) use &variablename to create Ref objects.]]></description>
2704	</element>
2705	</type>
2706	<type name="Shapes" context="Global context">
2707	<description><![CDATA[This object defines appearance of the elements of creatures (applies to the 'wireframe' display mode). Default shape definitions make food's "p:" look like a sphere, and manipulator's "p:" look like a robot hand. The model's Vstyle property is the name of the shape. Developers of experiment definitions can introduce new Vstyle(s) for their expdef and provide appropriate shape definitions by calling Shapes.set(...) in the onExpDefLoad() function.]]></description>
2708	<element name="clear" function="true" type="void"><arguments/></element>
2709	<element name="set" function="true" type="void">
2710	<description><![CDATA[Arguments:
2711
2712	- "id" - can be
2713	"1p_STYLENAME": affects a single-Part creature (without Joints)
2714	"p_STYLENAME": affects all normal Parts
2715	"j_STYLENAME": affects Joints
2716	(STYLENAME corresponds to the Model.Vstyle value, and it can be empty).
2717
2718	- "definition" is a genotype describing the object shape
2719
2720	- "color" can be 0xRRGGBB or one of the special values: -3 = default creature color, -4 = default food color, -5 = default manipulator color
2721
2722	Examples:
2723	Shapes.set("j_predator","X",0xff0000);//make all predators (i.e. creatures with Vstyle=predator) red
2724	Shapes.set("1p_food","...some...genotype...",-4);//change food appearance
2725	Shapes.set("p_","//0\np:0,0,0\np:-0.1,0,0\np:0.1,0,0\np:0,-0.1,0\np:0,0.1,0\np:0,0,-0.1\np:0,0,0.1\nj:0,1\nj:0,2\nj:0,3\nj:0,4\nj:0,5\nj:0,6\n",0);//make Parts' orientation axes visible]]></description>
2726	<arguments>
2727	<argument name="id" type="string"/>
2728	<argument name="definition" type="string"/>
2729	<argument name="color" type="integer"/>
2730	</arguments>
2731	</element>
2732	</type>
2733	<type name="Signal" context="Global context">
2734	<description><![CDATA[Signals broadcast information in a channel (being an abstract communication medium that could be imagined as sound, smell, vision or anything else). There are no sender-receiver associations, although the receiving party can filter out signals (two standard filtering methods are: physical neighborhood and one-dimensional attribute called flavor). Signals attached to neurons and creatures (created in Creature.signals and Neuro.signals) automatically follow the owner's location. Environmental signals (in World.signals) are stationary.
2735
2736	Receiving:
2737	There are 2 kinds of data you can receive:
2738	1. aggregating functions (receive and receiveFilter) calculate the overall power of the received signal (based on the distance and the source power).
2739	2. receiveSet and receiveSingle fetch the individual Signal object(s) so it is possible to transmit something else than just a single number (by using Signal.value) and do more sophisticated processing.
2740
2741	Creating: Use "add" in Creature.signals, Neuro.signals, or World.signals.]]></description>
2742	<element name="channel" type="string">
2743	<description><![CDATA[Channel name, readonly.]]></description>
2744	</element>
2745	<element name="flavor" type="float">
2746	<description><![CDATA[Signal flavor is can be used to differentiate between signals in a single channel. ]]></description>
2747	</element>
2748	<element name="pos" type="XYZ">
2749	<description><![CDATA[Signal position, readonly.]]></description>
2750	</element>
2751	<element name="power" type="float">
2752	<description><![CDATA[Signal power affects the aggregated signal value returned from receive() and receiveFilter().]]></description>
2753	</element>
2754	<element name="value" type="untyped">
2755	<description><![CDATA[Signal value can be any type. On the receiver side it is only available by accessing the individual Signal objects, i.e. after calling receiveSet() or receiveSingle(). The aggregating function receive() and receiveFilter() ignore this attribute.]]></description>
2756	</element>
2757	<element name="remove" function="true">
2758	<description><![CDATA[Deletes the signal]]></description>
2759	</element>
2760	</type>
2761	<type name="SignalView" context="Global context">
2762	<element name="labels" type="string">
2763	<description><![CDATA[The label formula should return text to be displayed over the signal source, presumably by reading some values from the supplied Signal object. It is especially useful for more sophisticated signal usage scenarios, when Signal.value keeps a reference to an object (the default signal label only shows <XXX Object at xxxxx> in such cases).
2764
2765	Examples: (switch to "Automatic" mode to see labels, then remove the label formula and compare the effect)
2766
2767	return "x";
2768	return "val="+Signal.value;
2769	return "power="+Signal.power;]]></description>
2770	</element>
2771	<element name="mode" type="integer" min="0" max="2">
2772	<description><![CDATA["Automatic" labels all signal sources in all channels and shows the intensity map of the first channel. This is sufficient for many simple setups, but as the number of signals and channels grows, the display becomes cluttered. In such cases, the experiment definition can define "Custom" signal visualization tailored for the particular experiment.]]></description>
2773	</element>
2774	<element name="addMap" function="true" type="void">
2775	<arguments>
2776	<argument name="channel" type="string"/>
2777	<argument name="color" type="integer"/>
2778	</arguments>
2779	</element>
2780	<element name="addSignals" function="true" type="void">
2781	<arguments>
2782	<argument name="channel" type="string"/>
2783	<argument name="color" type="integer"/>
2784	<argument name="angle_x" type="integer"/>
2785	<argument name="angle_y" type="integer"/>
2786	<argument name="angle_z" type="integer"/>
2787	</arguments>
2788	</element>
2789	<element name="addSignalsFilter" function="true" type="void">
2790	<arguments>
2791	<argument name="channel" type="string"/>
2792	<argument name="color" type="integer"/>
2793	<argument name="angle_x" type="integer"/>
2794	<argument name="angle_y" type="integer"/>
2795	<argument name="angle_z" type="integer"/>
2796	<argument name="flavor" type="integer"/>
2797	<argument name="filter" type="integer"/>
2798	</arguments>
2799	</element>
2800	<element name="clear" function="true">
2801	<description><![CDATA[Removes custom display settings that might have been defined by various scripts (expdef or show).]]></description>
2802	</element>
2803	</type>
2804	<type name="sim_params" context="Global context">
2805	<description><![CDATA[This object groups all simulator parameters so they can be loaded or saved with a single call (see scripts/standard_loadsave.inc). For other purposes please use specific objects, like Simulator, World, Populations, etc.]]></description>
2806	<element name="autosaveperiod" type="integer" min="0" max="100000">
2807	<description><![CDATA[Save simulation state once every n-th event
2808	(events are defined by the script. For 'standard.expdef' it is after each death).
2809	Save EXPT file first to initialize name for autosave files.]]></description>
2810	</element>
2811	<element name="bnoise_struct" type="float" min="0" max="10" default="0">
2812	<description><![CDATA[When >0, body constructs of creatures (position of Parts) will be randomly disturbed when they are created.]]></description>
2813	</element>
2814	<element name="bnoise_vel" type="float" min="0" max="10" default="0">
2815	<description><![CDATA[Random velocities will be applied to all body Parts (in MechaStick) or rigid segments (in ODE) of newly created creatures.]]></description>
2816	</element>
2817	<element name="changedProperty" type="integer"/>
2818	<element name="changedPropertyId" type="string"/>
2819	<element name="createrr" type="integer" min="0" max="2" default="1"/>
2820	<element name="creatwarnfail" type="integer" min="0" max="1">
2821	<description><![CDATA[Creatures grown with warnings will not be simulated.]]></description>
2822	</element>
2823	<element name="expdef" type="string">
2824	<description><![CDATA[Choose the experiment framework
2825	(in Windows GUI, confirm by pressing 'Apply')
2826
2827	Stop the simulation before selecting another experiment definition.
2828	It is a good practice to initialize the experiment before running the simulation.]]></description>
2829	</element>
2830	<element name="expdef_info" type="string"/>
2831	<element name="expdef_title" type="string"/>
2832	<element name="f0_c_del" type="float" min="0" max="100" default="5">
2833	<description><![CDATA[]]></description>
2834	</element>
2835	<element name="f0_c_new" type="float" min="0" max="100" default="5">
2836	<description><![CDATA[]]></description>
2837	</element>
2838	<element name="f0_c_wei" type="float" min="0" max="100" default="10">
2839	<description><![CDATA[]]></description>
2840	</element>
2841	<element name="f0_j_del" type="float" min="0" max="100" default="5">
2842	<description><![CDATA[]]></description>
2843	</element>
2844	<element name="f0_j_new" type="float" min="0" max="100" default="5">
2845	<description><![CDATA[]]></description>
2846	</element>
2847	<element name="f0_j_rsf" type="float" min="0" max="100" default="10">
2848	<description><![CDATA[]]></description>
2849	</element>
2850	<element name="f0_j_stf" type="float" min="0" max="100" default="10">
2851	<description><![CDATA[]]></description>
2852	</element>
2853	<element name="f0_j_stm" type="float" min="0" max="100" default="10">
2854	<description><![CDATA[]]></description>
2855	</element>
2856	<element name="f0_n_del" type="float" min="0" max="100" default="5">
2857	<description><![CDATA[]]></description>
2858	</element>
2859	<element name="f0_n_new" type="float" min="0" max="100" default="5">
2860	<description><![CDATA[]]></description>
2861	</element>
2862	<element name="f0_n_prp" type="float" min="0" max="100" default="10">
2863	<description><![CDATA[]]></description>
2864	</element>
2865	<element name="f0_nodel_tag" type="integer" min="0" max="1" default="1">
2866	<description><![CDATA[You can tag elements using their 'i' field and the i="mi=d" tag.
2867	Mutations will not delete such elements.
2868	The i="mi=dm" combination is allowed.]]></description>
2869	</element>
2870	<element name="f0_nomod_tag" type="integer" min="0" max="1" default="1">
2871	<description><![CDATA[You can tag elements using their 'i' field and the i="mi=m" tag.
2872	Mutations will not modify properties of such elements.
2873	The i="mi=md" combination is allowed.]]></description>
2874	</element>
2875	<element name="f0_p_asm" type="float" min="0" max="100" default="10">
2876	<description><![CDATA[]]></description>
2877	</element>
2878	<element name="f0_p_del" type="float" min="0" max="100" default="5">
2879	<description><![CDATA[]]></description>
2880	</element>
2881	<element name="f0_p_frc" type="float" min="0" max="100" default="10">
2882	<description><![CDATA[]]></description>
2883	</element>
2884	<element name="f0_p_ing" type="float" min="0" max="100" default="10">
2885	<description><![CDATA[]]></description>
2886	</element>
2887	<element name="f0_p_mas" type="float" min="0" max="100" default="10">
2888	<description><![CDATA[]]></description>
2889	</element>
2890	<element name="f0_p_new" type="float" min="0" max="100" default="5">
2891	<description><![CDATA[]]></description>
2892	</element>
2893	<element name="f0_p_pos" type="float" min="0" max="100" default="10">
2894	<description><![CDATA[]]></description>
2895	</element>
2896	<element name="f0_p_swp" type="float" min="0" max="100" default="10">
2897	<description><![CDATA[]]></description>
2898	</element>
2899	<element name="f1_mut_exmod" type="string">
2900	<description><![CDATA[Modifiers that will not be added nor deleted during mutation
2901	(all: RrLlAaCcFfMmSsIiQqWwEe)]]></description>
2902	</element>
2903	<element name="f1_nmConn" type="float" min="0" max="100" default="0.1">
2904	<description><![CDATA[]]></description>
2905	</element>
2906	<element name="f1_nmNeu" type="float" min="0" max="100" default="0.05">
2907	<description><![CDATA[Adds a (connected) neuron or removes a neuron]]></description>
2908	</element>
2909	<element name="f1_nmProp" type="float" min="0" max="100" default="0.1">
2910	<description><![CDATA[]]></description>
2911	</element>
2912	<element name="f1_nmVal" type="float" min="0" max="100" default="0.05"/>
2913	<element name="f1_nmWei" type="float" min="0" max="100" default="1"/>
2914	<element name="f1_smComma" type="float" min="0" max="100" default="0.02"/>
2915	<element name="f1_smJunct" type="float" min="0" max="100" default="0.02"/>
2916	<element name="f1_smModif" type="float" min="0" max="100" default="0.1">
2917	<description><![CDATA[Modifiers: RrLlAaCcFfMmSsIiQqWwEe]]></description>
2918	</element>
2919	<element name="f1_smX" type="float" min="0" max="100" default="0.05"/>
2920	<element name="f1_xo_propor" type="integer" min="0" max="1" default="1">
2921	<description><![CDATA[Cross over (exchange) corresponding segments of the two parent genotypes?
2922
2923	f1 uses a two-point crossing over.
2924	If this option is turned on, cut points will be selected proportionally to neural genes.
2925	Thus, if both parents have the same number of neurons, then this will be preserved in their children.]]></description>
2926	</element>
2927	<element name="f2_mutAddOper" type="float" min="0" max="1" default="0.4">
2928	<description><![CDATA[]]></description>
2929	</element>
2930	<element name="f2_mutConnElem" type="float" min="0" max="1" default="0.33">
2931	<description><![CDATA[]]></description>
2932	</element>
2933	<element name="f2_mutDelOper" type="float" min="0" max="1" default="0.1">
2934	<description><![CDATA[]]></description>
2935	</element>
2936	<element name="f2_mutHandleOper" type="float" min="0" max="1" default="0.3">
2937	<description><![CDATA[]]></description>
2938	</element>
2939	<element name="f2_mutJointElem" type="float" min="0" max="1" default="0.33">
2940	<description><![CDATA[]]></description>
2941	</element>
2942	<element name="f2_mutNeuroElem" type="float" min="0" max="1" default="0.33">
2943	<description><![CDATA[]]></description>
2944	</element>
2945	<element name="f2_mutPropOper" type="float" min="0" max="1" default="0.2">
2946	<description><![CDATA[]]></description>
2947	</element>
2948	<element name="f3_mutDelIns" type="float" min="0" max="1" default="0.1">
2949	<description><![CDATA[]]></description>
2950	</element>
2951	<element name="f3_mutDelInsLength" type="integer" min="1" max="100" default="5">
2952	<description><![CDATA[]]></description>
2953	</element>
2954	<element name="f3_mutDelInsPerChar" type="float" min="0" max="1" default="0.05">
2955	<description><![CDATA[]]></description>
2956	</element>
2957	<element name="f3_mutDuplication" type="float" min="0" max="1" default="0.05">
2958	<description><![CDATA[]]></description>
2959	</element>
2960	<element name="f3_mutSubstitution" type="float" min="0" max="1" default="0.6">
2961	<description><![CDATA[]]></description>
2962	</element>
2963	<element name="f3_mutSubstPerChar" type="float" min="0" max="1" default="0.1">
2964	<description><![CDATA[]]></description>
2965	</element>
2966	<element name="f3_mutTranslocation" type="float" min="0" max="1" default="0.15">
2967	<description><![CDATA[]]></description>
2968	</element>
2969	<element name="f3_xovCrossingOver" type="float" min="0" max="1" default="0.2">
2970	<description><![CDATA[]]></description>
2971	</element>
2972	<element name="f3_xovGeneTransfer" type="float" min="0" max="1" default="0.8">
2973	<description><![CDATA[]]></description>
2974	</element>
2975	<element name="f4_mut_add" type="float" min="0" max="100" default="50">
2976	<description><![CDATA[mutation: probability of adding a node]]></description>
2977	</element>
2978	<element name="f4_mut_add_conn" type="float" min="0" max="100" default="15">
2979	<description><![CDATA[add node mutation: probability of adding a neural connection]]></description>
2980	</element>
2981	<element name="f4_mut_add_div" type="float" min="0" max="100" default="20">
2982	<description><![CDATA[add node mutation: probability of adding a division]]></description>
2983	</element>
2984	<element name="f4_mut_add_neupar" type="float" min="0" max="100" default="5">
2985	<description><![CDATA[add node mutation: probability of adding a neuron property/modifier]]></description>
2986	</element>
2987	<element name="f4_mut_add_rep" type="float" min="0" max="100" default="10">
2988	<description><![CDATA[add node mutation: probability of adding a repetition]]></description>
2989	</element>
2990	<element name="f4_mut_add_simp" type="float" min="0" max="100" default="50">
2991	<description><![CDATA[add node mutation: probability of adding a random, simple gene]]></description>
2992	</element>
2993	<element name="f4_mut_del" type="float" min="0" max="100" default="20">
2994	<description><![CDATA[mutation: probability of deleting a node]]></description>
2995	</element>
2996	<element name="f4_mut_mod" type="float" min="0" max="100" default="30">
2997	<description><![CDATA[mutation: probability of changing a node]]></description>
2998	</element>
2999	<element name="filecomm" type="integer" min="0" max="1" default="1">
3000	<description><![CDATA[Display comments encountered in opened files]]></description>
3001	</element>
3002	<element name="gen_extmutinfo" type="integer" min="0" max="2" default="0">
3003	<description><![CDATA[If active, information about employed mutation method will be stored in the 'info' field of each mutated genotype.]]></description>
3004	</element>
3005	<element name="gen_hilite" type="integer" min="0" max="1" default="1">
3006	<description><![CDATA[Use colors for genes?
3007	(slows down viewing/editing of huge genotypes)]]></description>
3008	</element>
3009	<element name="gen_hist" type="integer" min="0" max="1" default="0">
3010	<description><![CDATA[Required for phylogenetic analysis]]></description>
3011	</element>
3012	<element name="genkonw0" type="integer" min="0" max="1">
3013	<description><![CDATA[]]></description>
3014	</element>
3015	<element name="genkonw1" type="integer" min="0" max="1">
3016	<description><![CDATA[]]></description>
3017	</element>
3018	<element name="genkonw2" type="integer" min="0" max="1">
3019	<description><![CDATA[]]></description>
3020	</element>
3021	<element name="genkonw3" type="integer" min="0" max="1">
3022	<description><![CDATA[]]></description>
3023	</element>
3024	<element name="genolib" type="GenePools"/>
3025	<element name="genoper_f0" type="integer" min="0" max="0">
3026	<description><![CDATA[]]></description>
3027	</element>
3028	<element name="genoper_f1" type="integer" min="0" max="0">
3029	<description><![CDATA[]]></description>
3030	</element>
3031	<element name="genoper_f2" type="integer" min="0" max="0">
3032	<description><![CDATA[]]></description>
3033	</element>
3034	<element name="genoper_f3" type="integer" min="0" max="0">
3035	<description><![CDATA[]]></description>
3036	</element>
3037	<element name="genoper_f4" type="integer" min="0" max="0">
3038	<description><![CDATA[]]></description>
3039	</element>
3040	<element name="groupchk" type="integer" min="0" max="1"/>
3041	<element name="importchk" type="integer" min="0" max="1"/>
3042	<element name="livelib" type="Populations"/>
3043	<element name="loadchk" type="integer" min="0" max="1"/>
3044	<element name="maxjoint" type="float" min="0" max="100" default="2"/>
3045	<element name="minjoint" type="float" min="0" max="100" default="0"/>
3046	<element name="neuadd_N" type="integer" min="0" max="1">
3047	<description><![CDATA[Standard neuron
3048
3049	Characteristics:
3050	supports any number of inputs
3051	provides output value
3052	does not require location in body
3053
3054
3055	Properties:
3056	Inertia (in) float 0..1
3057	Force (fo) float 0..999
3058	Sigmoid (si) float -99999..99999
3059	State (s) float -1..1]]></description>
3060	</element>
3061	<element name="neuadd_Nu" type="integer" min="0" max="1">
3062	<description><![CDATA[Works like standard neuron (N) but the output value is scaled to 0...+1 instead of -1...+1.
3063	Having 0 as one of the saturation states should help in "gate circuits", where input signal is passed through or blocked depending on the other singal.
3064
3065	Characteristics:
3066	supports any number of inputs
3067	provides output value
3068	does not require location in body
3069
3070
3071	Properties:
3072	Inertia (in) float 0..1
3073	Force (fo) float 0..999
3074	Sigmoid (si) float -99999..99999
3075	State (s) float -1..1]]></description>
3076	</element>
3077	<element name="neuadd_G" type="integer" min="0" max="1">
3078	<description><![CDATA[Equilibrium sensor.
3079	0=the stick is horizontal
3080	+1/-1=the stick is vertical
3081
3082	Characteristics:
3083	does not use inputs
3084	provides output value
3085	should be located on a Joint
3086	]]></description>
3087	</element>
3088	<element name="neuadd_T" type="integer" min="0" max="1">
3089	<description><![CDATA[Touch sensor.
3090	-1=no contact
3091	0=just touching
3092	>0=pressing, value depends on the force applied
3093
3094	Characteristics:
3095	does not use inputs
3096	provides output value
3097	should be located on a Part
3098
3099
3100	Properties:
3101	Range (r) float 0..1]]></description>
3102	</element>
3103	<element name="neuadd_S" type="integer" min="0" max="1">
3104	<description><![CDATA[Smell sensor. Aggregated "smell of energy" experienced from all energy objects (creatures and food pieces).
3105	Close objects have bigger influence than the distant ones: for each energy source, its partial feeling is proportional to its energy/(distance^2)
3106
3107	Characteristics:
3108	does not use inputs
3109	provides output value
3110	should be located on a Part
3111	]]></description>
3112	</element>
3113	<element name="neuadd_*" type="integer" min="0" max="1">
3114	<description><![CDATA[Constant value
3115
3116	Characteristics:
3117	does not use inputs
3118	provides output value
3119	does not require location in body
3120	]]></description>
3121	</element>
3122	<element name="neuadd_\|" type="integer" min="0" max="1">
3123	<description><![CDATA[Characteristics:
3124	uses single input
3125	does not provide output value
3126	should be located on a Joint
3127
3128
3129	Properties:
3130	power (p) float 0.01..1
3131	bending range (r) float 0..1]]></description>
3132	</element>
3133	<element name="neuadd_@" type="integer" min="0" max="1">
3134	<description><![CDATA[Characteristics:
3135	uses single input
3136	does not provide output value
3137	should be located on a Joint
3138
3139
3140	Properties:
3141	power (p) float 0.01..1]]></description>
3142	</element>
3143	<element name="neuadd_D" type="integer" min="0" max="1">
3144	<description><![CDATA[Calculate the difference between the current and previous input value. Multiple inputs are aggregated with respect to their weights
3145
3146	Characteristics:
3147	supports any number of inputs
3148	provides output value
3149	does not require location in body
3150	]]></description>
3151	</element>
3152	<element name="neuadd_Fuzzy" type="integer" min="0" max="1">
3153	<description><![CDATA[Refer to publications to learn more about this neuron.
3154
3155	Characteristics:
3156	supports any number of inputs
3157	provides output value
3158	does not require location in body
3159
3160
3161	Properties:
3162	number of fuzzy sets (ns) integer
3163	number of rules (nr) integer
3164	fuzzy sets (fs) string
3165	fuzzy rules (fr) string]]></description>
3166	</element>
3167	<element name="neuadd_VEye" type="integer" min="0" max="1">
3168	<description><![CDATA[Refer to publications to learn more about this neuron.
3169
3170	Characteristics:
3171	uses single input
3172	provides output value
3173	should be located on a Part
3174
3175
3176	Properties:
3177	target.x (tx) float
3178	target.y (ty) float
3179	target.z (tz) float
3180	target shape (ts) string
3181	perspective (p) float 0.1..10
3182	scale (s) float 0.1..100
3183	show hidden lines (h) integer 0..1
3184	output lines count (each line needs four channels) (o) integer 0..99
3185	debug (d) integer 0..1]]></description>
3186	</element>
3187	<element name="neuadd_VMotor" type="integer" min="0" max="1">
3188	<description><![CDATA[Must be connected to the VEye and properly set up. Refer to publications to learn more about this neuron.
3189
3190	Characteristics:
3191	supports any number of inputs
3192	provides output value
3193	does not require location in body
3194
3195
3196	Properties:
3197	number of basic features (noIF) integer
3198	number of degrees of freedom (noDim) integer
3199	parameters (params) string]]></description>
3200	</element>
3201	<element name="neuadd_Sti" type="integer" min="0" max="1">
3202	<description><![CDATA[Characteristics:
3203	uses single input
3204	does not provide output value
3205	should be located on a Part
3206	]]></description>
3207	</element>
3208	<element name="neuadd_LMu" type="integer" min="0" max="1">
3209	<description><![CDATA[Characteristics:
3210	uses single input
3211	does not provide output value
3212	should be located on a Joint
3213
3214
3215	Properties:
3216	power (p) float 0.01..1]]></description>
3217	</element>
3218	<element name="neuadd_Water" type="integer" min="0" max="1">
3219	<description><![CDATA[Output signal:
3220	0=on or above water surface
3221	1=under water (deeper than 1)
3222	0..1=in the transient area just below water surface
3223
3224	Characteristics:
3225	does not use inputs
3226	provides output value
3227	should be located on a Part
3228	]]></description>
3229	</element>
3230	<element name="neuadd_Energy" type="integer" min="0" max="1">
3231	<description><![CDATA[The current energy level divided by the initial energy level.
3232	Usually falls from initial 1.0 down to 0.0 and then the creature dies. It can rise above 1.0 if enough food is ingested
3233
3234	Characteristics:
3235	does not use inputs
3236	provides output value
3237	does not require location in body
3238	]]></description>
3239	</element>
3240	<element name="neuadd_Ch" type="integer" min="0" max="1">
3241	<description><![CDATA[Combines all input signals into a single multichannel output; Note: ChSel and ChMux are the only neurons which support multiple channels. Other neurons discard everything except the first channel.
3242
3243	Characteristics:
3244	supports any number of inputs
3245	provides output value
3246	does not require location in body
3247	]]></description>
3248	</element>
3249	<element name="neuadd_ChMux" type="integer" min="0" max="1">
3250	<description><![CDATA[Outputs the selected channel from the second (multichannel) input. The first input is used as the selector value (-1=select first channel, .., 1=last channel)
3251
3252	Characteristics:
3253	uses 2 inputs
3254	provides output value
3255	does not require location in body
3256	]]></description>
3257	</element>
3258	<element name="neuadd_ChSel" type="integer" min="0" max="1">
3259	<description><![CDATA[Outputs a single channel (selected by the "ch" parameter) from multichannel input
3260
3261	Characteristics:
3262	uses single input
3263	provides output value
3264	does not require location in body
3265
3266
3267	Properties:
3268	channel (ch) integer]]></description>
3269	</element>
3270	<element name="neuadd_Rnd" type="integer" min="0" max="1">
3271	<description><![CDATA[Generates random noise (subsequent random values in the range of -1..+1)
3272
3273	Characteristics:
3274	does not use inputs
3275	provides output value
3276	does not require location in body
3277	]]></description>
3278	</element>
3279	<element name="neuadd_Sin" type="integer" min="0" max="1">
3280	<description><![CDATA[Output frequency = f0+input
3281
3282	Characteristics:
3283	uses single input
3284	provides output value
3285	does not require location in body
3286
3287
3288	Properties:
3289	base frequency (f0) float -1..1
3290	time (t) float 0..6.28319]]></description>
3291	</element>
3292	<element name="ncl_N" type="integer" min="0" max="1">
3293	<description><![CDATA[Standard neuron
3294
3295	Characteristics:
3296	supports any number of inputs
3297	provides output value
3298	does not require location in body
3299
3300
3301	Properties:
3302	Inertia (in) float 0..1
3303	Force (fo) float 0..999
3304	Sigmoid (si) float -99999..99999
3305	State (s) float -1..1]]></description>
3306	</element>
3307	<element name="ncl_Nu" type="integer" min="0" max="1">
3308	<description><![CDATA[Works like standard neuron (N) but the output value is scaled to 0...+1 instead of -1...+1.
3309	Having 0 as one of the saturation states should help in "gate circuits", where input signal is passed through or blocked depending on the other singal.
3310
3311	Characteristics:
3312	supports any number of inputs
3313	provides output value
3314	does not require location in body
3315
3316
3317	Properties:
3318	Inertia (in) float 0..1
3319	Force (fo) float 0..999
3320	Sigmoid (si) float -99999..99999
3321	State (s) float -1..1]]></description>
3322	</element>
3323	<element name="ncl_G" type="integer" min="0" max="1">
3324	<description><![CDATA[Equilibrium sensor.
3325	0=the stick is horizontal
3326	+1/-1=the stick is vertical
3327
3328	Characteristics:
3329	does not use inputs
3330	provides output value
3331	should be located on a Joint
3332	]]></description>
3333	</element>
3334	<element name="ncl_T" type="integer" min="0" max="1">
3335	<description><![CDATA[Touch sensor.
3336	-1=no contact
3337	0=just touching
3338	>0=pressing, value depends on the force applied
3339
3340	Characteristics:
3341	does not use inputs
3342	provides output value
3343	should be located on a Part
3344
3345
3346	Properties:
3347	Range (r) float 0..1]]></description>
3348	</element>
3349	<element name="ncl_S" type="integer" min="0" max="1">
3350	<description><![CDATA[Smell sensor. Aggregated "smell of energy" experienced from all energy objects (creatures and food pieces).
3351	Close objects have bigger influence than the distant ones: for each energy source, its partial feeling is proportional to its energy/(distance^2)
3352
3353	Characteristics:
3354	does not use inputs
3355	provides output value
3356	should be located on a Part
3357	]]></description>
3358	</element>
3359	<element name="ncl_*" type="integer" min="0" max="1">
3360	<description><![CDATA[Constant value
3361
3362	Characteristics:
3363	does not use inputs
3364	provides output value
3365	does not require location in body
3366	]]></description>
3367	</element>
3368	<element name="ncl_\|" type="integer" min="0" max="1">
3369	<description><![CDATA[Characteristics:
3370	uses single input
3371	does not provide output value
3372	should be located on a Joint
3373
3374
3375	Properties:
3376	power (p) float 0.01..1
3377	bending range (r) float 0..1]]></description>
3378	</element>
3379	<element name="ncl_@" type="integer" min="0" max="1">
3380	<description><![CDATA[Characteristics:
3381	uses single input
3382	does not provide output value
3383	should be located on a Joint
3384
3385
3386	Properties:
3387	power (p) float 0.01..1]]></description>
3388	</element>
3389	<element name="ncl_D" type="integer" min="0" max="1">
3390	<description><![CDATA[Calculate the difference between the current and previous input value. Multiple inputs are aggregated with respect to their weights
3391
3392	Characteristics:
3393	supports any number of inputs
3394	provides output value
3395	does not require location in body
3396	]]></description>
3397	</element>
3398	<element name="ncl_Fuzzy" type="integer" min="0" max="1">
3399	<description><![CDATA[Refer to publications to learn more about this neuron.
3400
3401	Characteristics:
3402	supports any number of inputs
3403	provides output value
3404	does not require location in body
3405
3406
3407	Properties:
3408	number of fuzzy sets (ns) integer
3409	number of rules (nr) integer
3410	fuzzy sets (fs) string
3411	fuzzy rules (fr) string]]></description>
3412	</element>
3413	<element name="ncl_VEye" type="integer" min="0" max="1">
3414	<description><![CDATA[Refer to publications to learn more about this neuron.
3415
3416	Characteristics:
3417	uses single input
3418	provides output value
3419	should be located on a Part
3420
3421
3422	Properties:
3423	target.x (tx) float
3424	target.y (ty) float
3425	target.z (tz) float
3426	target shape (ts) string
3427	perspective (p) float 0.1..10
3428	scale (s) float 0.1..100
3429	show hidden lines (h) integer 0..1
3430	output lines count (each line needs four channels) (o) integer 0..99
3431	debug (d) integer 0..1]]></description>
3432	</element>
3433	<element name="ncl_VMotor" type="integer" min="0" max="1">
3434	<description><![CDATA[Must be connected to the VEye and properly set up. Refer to publications to learn more about this neuron.
3435
3436	Characteristics:
3437	supports any number of inputs
3438	provides output value
3439	does not require location in body
3440
3441
3442	Properties:
3443	number of basic features (noIF) integer
3444	number of degrees of freedom (noDim) integer
3445	parameters (params) string]]></description>
3446	</element>
3447	<element name="ncl_Sti" type="integer" min="0" max="1">
3448	<description><![CDATA[Characteristics:
3449	uses single input
3450	does not provide output value
3451	should be located on a Part
3452	]]></description>
3453	</element>
3454	<element name="ncl_LMu" type="integer" min="0" max="1">
3455	<description><![CDATA[Characteristics:
3456	uses single input
3457	does not provide output value
3458	should be located on a Joint
3459
3460
3461	Properties:
3462	power (p) float 0.01..1]]></description>
3463	</element>
3464	<element name="ncl_Water" type="integer" min="0" max="1">
3465	<description><![CDATA[Output signal:
3466	0=on or above water surface
3467	1=under water (deeper than 1)
3468	0..1=in the transient area just below water surface
3469
3470	Characteristics:
3471	does not use inputs
3472	provides output value
3473	should be located on a Part
3474	]]></description>
3475	</element>
3476	<element name="ncl_Energy" type="integer" min="0" max="1">
3477	<description><![CDATA[The current energy level divided by the initial energy level.
3478	Usually falls from initial 1.0 down to 0.0 and then the creature dies. It can rise above 1.0 if enough food is ingested
3479
3480	Characteristics:
3481	does not use inputs
3482	provides output value
3483	does not require location in body
3484	]]></description>
3485	</element>
3486	<element name="ncl_Ch" type="integer" min="0" max="1">
3487	<description><![CDATA[Combines all input signals into a single multichannel output; Note: ChSel and ChMux are the only neurons which support multiple channels. Other neurons discard everything except the first channel.
3488
3489	Characteristics:
3490	supports any number of inputs
3491	provides output value
3492	does not require location in body
3493	]]></description>
3494	</element>
3495	<element name="ncl_ChMux" type="integer" min="0" max="1">
3496	<description><![CDATA[Outputs the selected channel from the second (multichannel) input. The first input is used as the selector value (-1=select first channel, .., 1=last channel)
3497
3498	Characteristics:
3499	uses 2 inputs
3500	provides output value
3501	does not require location in body
3502	]]></description>
3503	</element>
3504	<element name="ncl_ChSel" type="integer" min="0" max="1">
3505	<description><![CDATA[Outputs a single channel (selected by the "ch" parameter) from multichannel input
3506
3507	Characteristics:
3508	uses single input
3509	provides output value
3510	does not require location in body
3511
3512
3513	Properties:
3514	channel (ch) integer]]></description>
3515	</element>
3516	<element name="ncl_Rnd" type="integer" min="0" max="1">
3517	<description><![CDATA[Generates random noise (subsequent random values in the range of -1..+1)
3518
3519	Characteristics:
3520	does not use inputs
3521	provides output value
3522	does not require location in body
3523	]]></description>
3524	</element>
3525	<element name="ncl_Sin" type="integer" min="0" max="1">
3526	<description><![CDATA[Output frequency = f0+input
3527
3528	Characteristics:
3529	uses single input
3530	provides output value
3531	does not require location in body
3532
3533
3534	Properties:
3535	base frequency (f0) float -1..1
3536	time (t) float 0..6.28319]]></description>
3537	</element>
3538	<element name="nnspeed" type="float" min="0" max="1000" default="1">
3539	<description><![CDATA[Number of neural network simulation steps in each physics simulation step]]></description>
3540	</element>
3541	<element name="odeairdrag" type="float" min="0" max="0.5" default="0.01">
3542	<description><![CDATA[A drag force ("air drag") proportional to the velocity of mass centers of moving parts]]></description>
3543	</element>
3544	<element name="odecol2bounce" type="float" min="0" max="1" default="0.1"/>
3545	<element name="odecol2bouncevel" type="float" min="0" max="1" default="0.01"/>
3546	<element name="odecol2mumax" type="float" min="0" max="10" default="1">
3547	<description><![CDATA[Mu coefficient for Parts with maximal friction (i.e. "FFFFF" in f1)]]></description>
3548	</element>
3549	<element name="odecol2mumin" type="float" min="0" max="10" default="0.1">
3550	<description><![CDATA[Mu coefficient for Parts with minimal friction (i.e. "fffff" in f1)]]></description>
3551	</element>
3552	<element name="odecol2softcfm" type="float" min="0" max="1" default="0"/>
3553	<element name="odecolbounce" type="float" min="0" max="1" default="0.1"/>
3554	<element name="odecolbouncevel" type="float" min="0" max="1" default="0.01"/>
3555	<element name="odecolmumax" type="float" min="0" max="10" default="5">
3556	<description><![CDATA[Mu coefficient for Parts with maximal friction (i.e. "FFFFF" in f1)]]></description>
3557	</element>
3558	<element name="odecolmumin" type="float" min="0" max="10" default="0.1">
3559	<description><![CDATA[Mu coefficient for Parts with minimal friction (i.e. "fffff" in f1)]]></description>
3560	</element>
3561	<element name="odecolsoftcfm" type="float" min="0" max="1" default="0"/>
3562	<element name="odemusclemax" type="float" min="0" max="100" default="10">
3563	<description><![CDATA[i.e. "MMMMM" if f1]]></description>
3564	</element>
3565	<element name="odemusclemin" type="float" min="0" max="100" default="0">
3566	<description><![CDATA[i.e. "mmmmm" in f1]]></description>
3567	</element>
3568	<element name="odemusclespeed" type="float" min="0" max="10" default="1">
3569	<description><![CDATA[Muscle state cannot change faster than the supplied value]]></description>
3570	</element>
3571	<element name="odeseed" type="integer" min="0" max="2">
3572	<description><![CDATA[Affects collisions.
3573	- 'Truly random' is closest to the standard ODE operation. Use Math.seed to influence randomness in ODE collisions
3574	- 'Deterministic' automatically calculates random seed in each step based on the current simulation (world) state, which makes the simulation repeatable but more random than 'Fixed'
3575	- 'Fixed' is completely deterministic and does not depend on Math.seed. This might negatively affect ODE accuracy
3576	]]></description>
3577	</element>
3578	<element name="odeshape" type="integer" min="0" max="1"/>
3579	<element name="odestep" type="float" min="0.001" max="1" default="0.05"/>
3580	<element name="odewaterbuoy" type="float" min="0" max="2" default="1"/>
3581	<element name="odewaterdrag" type="float" min="0.001" max="1" default="0.5"/>
3582	<element name="overwrite" type="integer" min="0" max="1">
3583	<description><![CDATA[Overwite existing files or create their backups]]></description>
3584	</element>
3585	<element name="randinit" type="float" min="0" max="10" default="0.01">
3586	<description><![CDATA[Allowed range for initializing all neuron states with uniform distribution random numbers and zero mean. Set 0 for deterministic initialization.]]></description>
3587	</element>
3588	<element name="resetonexpdef" type="integer" min="0" max="1" default="1">
3589	<description><![CDATA[If turned on: when a new experiment definition is selected, default values are loaded for most of the simulator parameters, and gene pools and populations are cleared.
3590	When turned off: parameters from previous experiment definition will remain.]]></description>
3591	</element>
3592	<element name="running" type="integer" min="0" max="1">
3593	<description><![CDATA[for synchronizing the user interface state]]></description>
3594	</element>
3595	<element name="signals" type="WorldSignals"/>
3596	<element name="simil_method" type="integer" min="0" max="1" default="0">
3597	<description><![CDATA[]]></description>
3598	</element>
3599	<element name="simil_neuro" type="float" min="0" max="100" default="0.5">
3600	<description><![CDATA[]]></description>
3601	</element>
3602	<element name="simil_partdeg" type="float" min="0" max="100" default="1">
3603	<description><![CDATA[]]></description>
3604	</element>
3605	<element name="simil_parts" type="float" min="0" max="100" default="0">
3606	<description><![CDATA[Differing number of parts is also handled by the 'part degree' similarity component.]]></description>
3607	</element>
3608	<element name="simspeed" type="integer">
3609	<description><![CDATA[steps/second]]></description>
3610	</element>
3611	<element name="simtype" type="integer" min="0" max="1" default="0">
3612	<description><![CDATA[MechaStick is a fast and simple primary Framsticks simulation engine.
3613	ODE is Open Dynamics Engine by Russel Smith et al.
3614
3615	NOTE: switching between simulation engines causes removal of all objects in the world (e.g. creatures).]]></description>
3616	</element>
3617	<element name="symAlphaSteps" type="integer" min="2" max="50" default="20">
3618	<description><![CDATA[Default number of samples per full angle (#1)]]></description>
3619	</element>
3620	<element name="symBetaSteps" type="integer" min="2" max="50" default="20">
3621	<description><![CDATA[Default number of samples per full angle (#2)]]></description>
3622	</element>
3623	<element name="symPosSteps" type="integer" min="2" max="50" default="10">
3624	<description><![CDATA[Default number of samples per stick length]]></description>
3625	</element>
3626	<element name="symResultA" type="float"/>
3627	<element name="symResultB" type="float"/>
3628	<element name="symResultC" type="float"/>
3629	<element name="symResultD" type="float"/>
3630	<element name="time" type="integer"/>
3631	<element name="touchrange" type="float" min="0" max="100" default="1"/>
3632	<element name="usercode" type="string">
3633	<description><![CDATA[This script overrides the experiment definition]]></description>
3634	</element>
3635	<element name="vmdebug" type="integer" min="0" max="1"/>
3636	<element name="world" type="World"/>
3637	<element name="wrldbnd" type="integer" min="0" max="2" default="1"/>
3638	<element name="wrldg" type="float" min="0" max="10" default="1">
3639	<description><![CDATA[You can adjust gravity for your experiments.
3640	The "official" setting used to evaluate and compare creatures is 1.]]></description>
3641	</element>
3642	<element name="wrldmap" type="string">
3643	<description><![CDATA[Description of the world (Type: Blocks or Heighfield). Enter
3644	r <sizex> <sizey> [seed]
3645	to generate a random landscape, or
3646	m <sizex> <sizey> digits
3647	M <sizex> <sizey> numbers
3648	to provide height values.
3649
3650	See also the WorldMap object.]]></description>
3651	</element>
3652	<element name="wrldsiz" type="float" min="10" max="1000" default="20">
3653	<description><![CDATA[Side length of the world]]></description>
3654	</element>
3655	<element name="wrldtyp" type="integer" min="0" max="2" default="0"/>
3656	<element name="wrldwat" type="float" min="-20" max="30" default="-1"/>
3657	<element name="add" function="true"/>
3658	<element name="addGroup" function="true"/>
3659	<element name="beep" function="true" type="void">
3660	<description><![CDATA[Plays a default system sound]]></description>
3661	<arguments/></element>
3662	<element name="calculateSymmetry" function="true" type="float">
3663	<description><![CDATA[Returns bilateral symmetry (0.0 .. 1.0) for a given Model using default precision parameters (symPosSteps,symAlphaSteps,symBetaSteps). Returns the symmetry plane, too (sets symResultA,B,C,D).
3664	Note: may take a long time for large creatures.]]></description>
3665	<arguments>
3666	<argument name="model" type="Model"/>
3667	</arguments>
3668	</element>
3669	<element name="calculateSymmetry2" function="true" type="float">
3670	<description><![CDATA[Returns bilateral symmetry (0.0 .. 1.0) for a given Model using specified precision parameters. Returns the symmetry plane, too (sets symResultA,B,C,D).
3671	Note: may take a long time for large creatures.]]></description>
3672	<arguments>
3673	<argument name="model" type="Model"/>
3674	<argument name="posSteps" type="integer"/>
3675	<argument name="alphaSteps" type="integer"/>
3676	<argument name="betaSteps" type="integer"/>
3677	</arguments>
3678	</element>
3679	<element name="calculateSymmetryForPlane" function="true" type="float">
3680	<description><![CDATA[Returns bilateral symmetry (0.0 .. 1.0) for a given Model and given a specific plane defined by coefficients A, B, C, D.]]></description>
3681	<arguments>
3682	<argument name="model" type="Model"/>
3683	<argument name="A" type="float"/>
3684	<argument name="B" type="float"/>
3685	<argument name="C" type="float"/>
3686	<argument name="D" type="float"/>
3687	</arguments>
3688	</element>
3689	<element name="checkpoint" function="true" type="void">
3690	<description><![CDATA[This function was previously called "autosave".]]></description>
3691	<arguments/></element>
3692	<element name="clear" function="true"/>
3693	<element name="crossOver" function="true" type="Geno">
3694	<description><![CDATA[returns crossed over genotype]]></description>
3695	<arguments>
3696	<argument type="Geno"/>
3697	<argument type="Geno"/>
3698	</arguments>
3699	</element>
3700	<element name="eval" function="true" type="void">
3701	<arguments>
3702	<argument name="script expression" type="string"/>
3703	</arguments>
3704	</element>
3705	<element name="evaluateDistance" function="true" type="float">
3706	<description><![CDATA[calculate dissimilarity between two models created from Geno objects]]></description>
3707	<arguments>
3708	<argument type="Geno"/>
3709	<argument type="Geno"/>
3710	</arguments>
3711	</element>
3712	<element name="export" function="true" type="void">
3713	<description><![CDATA[Save some data to file. arguments:
3714	- filename
3715	- flags: composed of the following bit values:
3716	1 - experiment (works like "save" and all other bits are ignored)
3717	2 - genotypes
3718	4 - simulator parameters
3719	8 - simulator stats
3720	16 - genepool settings
3721	32 - population settings
3722	64 - do autosave
3723	- selected genepool
3724	- selected population]]></description>
3725	<arguments>
3726	<argument name="filename" type="string"/>
3727	<argument name="options" type="integer"/>
3728	<argument name="genepool" type="integer"/>
3729	<argument name="population" type="integer"/>
3730	</arguments>
3731	</element>
3732	<element name="getSimplest" function="true" type="Geno">
3733	<description><![CDATA[returns the simplest genotype for a given encoding (format). 0 means f0, 4 means f4, etc.]]></description>
3734	<arguments>
3735	<argument name="format" type="integer"/>
3736	</arguments>
3737	</element>
3738	<element name="import" function="true" type="void">
3739	<description><![CDATA[Load some data from file. The second optional argument selects what section(s) will be imported:
3740	1 - experiment (works like "load" and can reset the simulator state!)
3741	2 - genotypes
3742	4 - simulator parameters
3743	8 - genepool settings
3744	16 - population settings
3745	32 - new groups will be created for imported genepools and populations
3746	64 - allow switching to a different expdef while importing parameters (4)
3747
3748	The standard behavior (without the second argument) is to import genotypes, parameters, and genepool and population settings (2+4+8+16). Note that "64" is not included by default, because the expdef change resets all simulator parameters, which contradicts the usual meaning of "import" in Framsticks ("add data", as opposed to "load" meaning "replace data"). Moreover, using the "64" option in scripts can be dengerous, especially all expdef and show scripts should always declare the proper expdef name in their header rather than change the expdef directly. Without the "64" option, it is always safe to "import" any file in a script regardless of the current simulator state.]]></description>
3749	<arguments>
3750	<argument name="filename" type="string"/>
3751	<argument name="options" type="integer"/>
3752	</arguments>
3753	</element>
3754	<element name="init" function="true" type="void">
3755	<description><![CDATA[Performs initialization procedures, like resetting counters, states, gene pools, etc.]]></description>
3756	<arguments/></element>
3757	<element name="load" function="true" type="void">
3758	<description><![CDATA[Load experiment file (calls onExpLoad() in the current experiment definition). This function is intended to replace the simulator state; the old state is cleared by automatically calling "resetToDefaults()" (only if "resetonexpdef" is enabled). Use "import" if you don't want to loose the old simulator state.]]></description>
3759	<arguments>
3760	<argument name="filename" type="string"/>
3761	</arguments>
3762	</element>
3763	<element name="loadexpdef" function="true" type="void"><arguments/></element>
3764	<element name="loadNeurons" function="true" type="void">
3765	<arguments>
3766	<argument name="directory path" type="string"/>
3767	</arguments>
3768	</element>
3769	<element name="message" function="true" type="void">
3770	<description><![CDATA[The second argument can be:
3771	-1 = debugging message
3772	0 = information
3773	1 = warning
3774	2 = error
3775	3 = critical error]]></description>
3776	<arguments>
3777	<argument name="text" type="string"/>
3778	<argument name="level" type="integer"/>
3779	</arguments>
3780	</element>
3781	<element name="mutate" function="true" type="Geno">
3782	<description><![CDATA[returns mutated Geno object from supplied Geno]]></description>
3783	<arguments>
3784	<argument type="Geno"/>
3785	</arguments>
3786	</element>
3787	<element name="new" function="true" type="Simulator"><arguments/></element>
3788	<element name="operReport" function="true" type="void">
3789	<description><![CDATA[Show available genetic operators]]></description>
3790	<arguments/></element>
3791	<element name="print" function="true" type="void">
3792	<description><![CDATA[One argument: message to be printed]]></description>
3793	<arguments>
3794	<argument name="text" type="string"/>
3795	</arguments>
3796	</element>
3797	<element name="rayIntersection" function="true" type="float">
3798	<arguments>
3799	<argument name="position x" type="float"/>
3800	<argument name="position y" type="float"/>
3801	<argument name="position z" type="float"/>
3802	<argument name="direction x" type="float"/>
3803	<argument name="direction y" type="float"/>
3804	<argument name="direction z" type="float"/>
3805	<argument name="max distance" type="float"/>
3806	</arguments>
3807	</element>
3808	<element name="remove" function="true"/>
3809	<element name="removeGroup" function="true"/>
3810	<element name="resetToDefaults" function="true" type="void">
3811	<description><![CDATA[Clears groups and loads default values for simulator parameters, then calls onExpDefLoad() of the current experiment definition.]]></description>
3812	<arguments/></element>
3813	<element name="save" function="true" type="void">
3814	<description><![CDATA[Save experiment file (calls onExpSave() in the current experiment definition)]]></description>
3815	<arguments>
3816	<argument name="filename" type="string"/>
3817	</arguments>
3818	</element>
3819	<element name="sleep" function="true" type="void">
3820	<description><![CDATA[Suspends the execution for a specified interval]]></description>
3821	<arguments>
3822	<argument name="milliseconds" type="integer"/>
3823	</arguments>
3824	</element>
3825	<element name="sound" function="true" type="void">
3826	<description><![CDATA[Generates a simple tone on the speaker]]></description>
3827	<arguments>
3828	<argument name="freqency in Hz" type="integer"/>
3829	<argument name="length in milliseconds" type="integer"/>
3830	</arguments>
3831	</element>
3832	<element name="start" function="true" type="void">
3833	<description><![CDATA[called by the user interface]]></description>
3834	<arguments/></element>
3835	<element name="step" function="true" type="void"><arguments/></element>
3836	<element name="stop" function="true" type="void">
3837	<description><![CDATA[the expdef script calls this to stop simulation]]></description>
3838	<arguments/></element>
3839	<element name="toHTML" function="true" type="string">
3840	<description><![CDATA[returns genotype expressed as colored HTML]]></description>
3841	<arguments>
3842	<argument type="string"/>
3843	</arguments>
3844	</element>
3845	<element name="toHTMLshort" function="true" type="string">
3846	<description><![CDATA[returns genotype (abbreviated if needed) expressed as colored HTML]]></description>
3847	<arguments>
3848	<argument type="string"/>
3849	</arguments>
3850	</element>
3851	<element name="validate" function="true" type="Geno">
3852	<description><![CDATA[returns validated (if possible) Geno object from supplied Geno]]></description>
3853	<arguments>
3854	<argument type="Geno"/>
3855	</arguments>
3856	</element>
3857	<element name="wrldchg" function="true" type="void"><arguments/></element>
3858	</type>
3859	<type name="Similarity" context="Global context">
3860	<element name="simil_method" type="integer" min="0" max="1" default="0">
3861	<description><![CDATA[]]></description>
3862	</element>
3863	<element name="simil_neuro" type="float" min="0" max="100" default="0.5">
3864	<description><![CDATA[]]></description>
3865	</element>
3866	<element name="simil_partdeg" type="float" min="0" max="100" default="1">
3867	<description><![CDATA[]]></description>
3868	</element>
3869	<element name="simil_parts" type="float" min="0" max="100" default="0">
3870	<description><![CDATA[Differing number of parts is also handled by the 'part degree' similarity component.]]></description>
3871	</element>
3872	<element name="evaluateDistance" function="true" type="float">
3873	<description><![CDATA[calculate dissimilarity between two models created from Geno objects]]></description>
3874	<arguments>
3875	<argument type="Geno"/>
3876	<argument type="Geno"/>
3877	</arguments>
3878	</element>
3879	</type>
3880	<type name="Simulator" context="Global context">
3881	<description><![CDATA[The Framsticks simulator.]]></description>
3882	<element name="autosaveperiod" type="integer" min="0" max="100000">
3883	<description><![CDATA[Save simulation state once every n-th event
3884	(events are defined by the script. For 'standard.expdef' it is after each death).
3885	Save EXPT file first to initialize name for autosave files.]]></description>
3886	</element>
3887	<element name="createrr" type="integer" min="0" max="2" default="1"/>
3888	<element name="creatwarnfail" type="integer" min="0" max="1">
3889	<description><![CDATA[Creatures grown with warnings will not be simulated.]]></description>
3890	</element>
3891	<element name="expdef" type="string">
3892	<description><![CDATA[Choose the experiment framework
3893	(in Windows GUI, confirm by pressing 'Apply')
3894
3895	Stop the simulation before selecting another experiment definition.
3896	It is a good practice to initialize the experiment before running the simulation.]]></description>
3897	</element>
3898	<element name="expdef_info" type="string"/>
3899	<element name="expdef_title" type="string"/>
3900	<element name="filecomm" type="integer" min="0" max="1" default="1">
3901	<description><![CDATA[Display comments encountered in opened files]]></description>
3902	</element>
3903	<element name="genolib" type="GenePools"/>
3904	<element name="groupchk" type="integer" min="0" max="1"/>
3905	<element name="importchk" type="integer" min="0" max="1"/>
3906	<element name="livelib" type="Populations"/>
3907	<element name="loadchk" type="integer" min="0" max="1"/>
3908	<element name="overwrite" type="integer" min="0" max="1">
3909	<description><![CDATA[Overwite existing files or create their backups]]></description>
3910	</element>
3911	<element name="resetonexpdef" type="integer" min="0" max="1" default="1">
3912	<description><![CDATA[If turned on: when a new experiment definition is selected, default values are loaded for most of the simulator parameters, and gene pools and populations are cleared.
3913	When turned off: parameters from previous experiment definition will remain.]]></description>
3914	</element>
3915	<element name="running" type="integer" min="0" max="1">
3916	<description><![CDATA[for synchronizing the user interface state]]></description>
3917	</element>
3918	<element name="simspeed" type="integer">
3919	<description><![CDATA[steps/second]]></description>
3920	</element>
3921	<element name="time" type="integer"/>
3922	<element name="usercode" type="string">
3923	<description><![CDATA[This script overrides the experiment definition]]></description>
3924	</element>
3925	<element name="vmdebug" type="integer" min="0" max="1"/>
3926	<element name="world" type="World"/>
3927	<element name="beep" function="true" type="void">
3928	<description><![CDATA[Plays a default system sound]]></description>
3929	<arguments/></element>
3930	<element name="checkpoint" function="true" type="void">
3931	<description><![CDATA[This function was previously called "autosave".]]></description>
3932	<arguments/></element>
3933	<element name="eval" function="true" type="void">
3934	<arguments>
3935	<argument name="script expression" type="string"/>
3936	</arguments>
3937	</element>
3938	<element name="export" function="true" type="void">
3939	<description><![CDATA[Save some data to file. arguments:
3940	- filename
3941	- flags: composed of the following bit values:
3942	1 - experiment (works like "save" and all other bits are ignored)
3943	2 - genotypes
3944	4 - simulator parameters
3945	8 - simulator stats
3946	16 - genepool settings
3947	32 - population settings
3948	64 - do autosave
3949	- selected genepool
3950	- selected population]]></description>
3951	<arguments>
3952	<argument name="filename" type="string"/>
3953	<argument name="options" type="integer"/>
3954	<argument name="genepool" type="integer"/>
3955	<argument name="population" type="integer"/>
3956	</arguments>
3957	</element>
3958	<element name="import" function="true" type="void">
3959	<description><![CDATA[Load some data from file. The second optional argument selects what section(s) will be imported:
3960	1 - experiment (works like "load" and can reset the simulator state!)
3961	2 - genotypes
3962	4 - simulator parameters
3963	8 - genepool settings
3964	16 - population settings
3965	32 - new groups will be created for imported genepools and populations
3966	64 - allow switching to a different expdef while importing parameters (4)
3967
3968	The standard behavior (without the second argument) is to import genotypes, parameters, and genepool and population settings (2+4+8+16). Note that "64" is not included by default, because the expdef change resets all simulator parameters, which contradicts the usual meaning of "import" in Framsticks ("add data", as opposed to "load" meaning "replace data"). Moreover, using the "64" option in scripts can be dengerous, especially all expdef and show scripts should always declare the proper expdef name in their header rather than change the expdef directly. Without the "64" option, it is always safe to "import" any file in a script regardless of the current simulator state.]]></description>
3969	<arguments>
3970	<argument name="filename" type="string"/>
3971	<argument name="options" type="integer"/>
3972	</arguments>
3973	</element>
3974	<element name="init" function="true" type="void">
3975	<description><![CDATA[Performs initialization procedures, like resetting counters, states, gene pools, etc.]]></description>
3976	<arguments/></element>
3977	<element name="load" function="true" type="void">
3978	<description><![CDATA[Load experiment file (calls onExpLoad() in the current experiment definition). This function is intended to replace the simulator state; the old state is cleared by automatically calling "resetToDefaults()" (only if "resetonexpdef" is enabled). Use "import" if you don't want to loose the old simulator state.]]></description>
3979	<arguments>
3980	<argument name="filename" type="string"/>
3981	</arguments>
3982	</element>
3983	<element name="loadexpdef" function="true" type="void"><arguments/></element>
3984	<element name="loadNeurons" function="true" type="void">
3985	<arguments>
3986	<argument name="directory path" type="string"/>
3987	</arguments>
3988	</element>
3989	<element name="message" function="true" type="void">
3990	<description><![CDATA[The second argument can be:
3991	-1 = debugging message
3992	0 = information
3993	1 = warning
3994	2 = error
3995	3 = critical error]]></description>
3996	<arguments>
3997	<argument name="text" type="string"/>
3998	<argument name="level" type="integer"/>
3999	</arguments>
4000	</element>
4001	<element name="new" function="true" type="Simulator"><arguments/></element>
4002	<element name="print" function="true" type="void">
4003	<description><![CDATA[One argument: message to be printed]]></description>
4004	<arguments>
4005	<argument name="text" type="string"/>
4006	</arguments>
4007	</element>
4008	<element name="resetToDefaults" function="true" type="void">
4009	<description><![CDATA[Clears groups and loads default values for simulator parameters, then calls onExpDefLoad() of the current experiment definition.]]></description>
4010	<arguments/></element>
4011	<element name="save" function="true" type="void">
4012	<description><![CDATA[Save experiment file (calls onExpSave() in the current experiment definition)]]></description>
4013	<arguments>
4014	<argument name="filename" type="string"/>
4015	</arguments>
4016	</element>
4017	<element name="sleep" function="true" type="void">
4018	<description><![CDATA[Suspends the execution for a specified interval]]></description>
4019	<arguments>
4020	<argument name="milliseconds" type="integer"/>
4021	</arguments>
4022	</element>
4023	<element name="sound" function="true" type="void">
4024	<description><![CDATA[Generates a simple tone on the speaker]]></description>
4025	<arguments>
4026	<argument name="freqency in Hz" type="integer"/>
4027	<argument name="length in milliseconds" type="integer"/>
4028	</arguments>
4029	</element>
4030	<element name="start" function="true" type="void">
4031	<description><![CDATA[called by the user interface]]></description>
4032	<arguments/></element>
4033	<element name="step" function="true" type="void"><arguments/></element>
4034	<element name="stop" function="true" type="void">
4035	<description><![CDATA[the expdef script calls this to stop simulation]]></description>
4036	<arguments/></element>
4037	</type>
4038	<type name="stats" context="Global context">
4039	<element name="changedProperty" type="integer"/>
4040	<element name="changedPropertyId" type="string"/>
4041	<element name="gen_count" type="integer">
4042	<description><![CDATA[]]></description>
4043	</element>
4044	<element name="gen_mfailed" type="integer">
4045	<description><![CDATA[couldn't be performed]]></description>
4046	</element>
4047	<element name="gen_minvalid" type="integer">
4048	<description><![CDATA[couldn't be repaired]]></description>
4049	</element>
4050	<element name="gen_mutimpr" type="float">
4051	<description><![CDATA[total cumulative mutation change]]></description>
4052	</element>
4053	<element name="gen_mvalid" type="integer">
4054	<description><![CDATA[]]></description>
4055	</element>
4056	<element name="gen_mvalidated" type="integer">
4057	<description><![CDATA[]]></description>
4058	</element>
4059	<element name="gen_xofailed" type="integer">
4060	<description><![CDATA[couldn't be performed]]></description>
4061	</element>
4062	<element name="gen_xoimpr" type="float">
4063	<description><![CDATA[total cumulative crossover change]]></description>
4064	</element>
4065	<element name="gen_xoinvalid" type="integer">
4066	<description><![CDATA[couldn't be repaired]]></description>
4067	</element>
4068	<element name="gen_xovalid" type="integer">
4069	<description><![CDATA[]]></description>
4070	</element>
4071	<element name="gen_xovalidated" type="integer">
4072	<description><![CDATA[]]></description>
4073	</element>
4074	<element name="st_avg_c_velocity" type="float"/>
4075	<element name="st_avg_c_vertpos" type="float"/>
4076	<element name="st_avg_c_vertvelocity" type="float"/>
4077	<element name="st_avg_center_x" type="float"/>
4078	<element name="st_avg_center_y" type="float"/>
4079	<element name="st_avg_center_z" type="float"/>
4080	<element name="st_avg_distance" type="float"/>
4081	<element name="st_avg_fit" type="float"/>
4082	<element name="st_avg_fit2" type="float"/>
4083	<element name="st_avg_gnum" type="float"/>
4084	<element name="st_avg_instances" type="float"/>
4085	<element name="st_avg_lifespan" type="float"/>
4086	<element name="st_avg_num" type="float"/>
4087	<element name="st_avg_numconnections" type="float"/>
4088	<element name="st_avg_numjoints" type="float"/>
4089	<element name="st_avg_numneurons" type="float"/>
4090	<element name="st_avg_numparts" type="float"/>
4091	<element name="st_avg_pos_x" type="float"/>
4092	<element name="st_avg_pos_y" type="float"/>
4093	<element name="st_avg_pos_z" type="float"/>
4094	<element name="st_avg_size_x" type="float"/>
4095	<element name="st_avg_size_y" type="float"/>
4096	<element name="st_avg_size_z" type="float"/>
4097	<element name="st_avg_velocity" type="float"/>
4098	<element name="st_avg_vertpos" type="float"/>
4099	<element name="st_avg_vertvel" type="float"/>
4100	<element name="st_count" type="integer"/>
4101	<element name="st_max_c_velocity" type="float"/>
4102	<element name="st_max_c_vertpos" type="float"/>
4103	<element name="st_max_c_vertvelocity" type="float"/>
4104	<element name="st_max_center_x" type="float"/>
4105	<element name="st_max_center_y" type="float"/>
4106	<element name="st_max_center_z" type="float"/>
4107	<element name="st_max_distance" type="float"/>
4108	<element name="st_max_fit" type="float"/>
4109	<element name="st_max_fit2" type="float"/>
4110	<element name="st_max_gnum" type="float"/>
4111	<element name="st_max_instances" type="float"/>
4112	<element name="st_max_lifespan" type="float"/>
4113	<element name="st_max_num" type="float"/>
4114	<element name="st_max_numconnections" type="float"/>
4115	<element name="st_max_numjoints" type="float"/>
4116	<element name="st_max_numneurons" type="float"/>
4117	<element name="st_max_numparts" type="float"/>
4118	<element name="st_max_pos_x" type="float"/>
4119	<element name="st_max_pos_y" type="float"/>
4120	<element name="st_max_pos_z" type="float"/>
4121	<element name="st_max_size_x" type="float"/>
4122	<element name="st_max_size_y" type="float"/>
4123	<element name="st_max_size_z" type="float"/>
4124	<element name="st_max_velocity" type="float"/>
4125	<element name="st_max_vertpos" type="float"/>
4126	<element name="st_max_vertvel" type="float"/>
4127	<element name="st_min_c_velocity" type="float"/>
4128	<element name="st_min_c_vertpos" type="float"/>
4129	<element name="st_min_c_vertvelocity" type="float"/>
4130	<element name="st_min_center_x" type="float"/>
4131	<element name="st_min_center_y" type="float"/>
4132	<element name="st_min_center_z" type="float"/>
4133	<element name="st_min_distance" type="float"/>
4134	<element name="st_min_fit" type="float"/>
4135	<element name="st_min_fit2" type="float"/>
4136	<element name="st_min_gnum" type="float"/>
4137	<element name="st_min_instances" type="float"/>
4138	<element name="st_min_lifespan" type="float"/>
4139	<element name="st_min_num" type="float"/>
4140	<element name="st_min_numconnections" type="float"/>
4141	<element name="st_min_numjoints" type="float"/>
4142	<element name="st_min_numneurons" type="float"/>
4143	<element name="st_min_numparts" type="float"/>
4144	<element name="st_min_pos_x" type="float"/>
4145	<element name="st_min_pos_y" type="float"/>
4146	<element name="st_min_pos_z" type="float"/>
4147	<element name="st_min_size_x" type="float"/>
4148	<element name="st_min_size_y" type="float"/>
4149	<element name="st_min_size_z" type="float"/>
4150	<element name="st_min_velocity" type="float"/>
4151	<element name="st_min_vertpos" type="float"/>
4152	<element name="st_min_vertvel" type="float"/>
4153	<element name="add" function="true"/>
4154	<element name="addGroup" function="true"/>
4155	<element name="clear" function="true"/>
4156	<element name="clrstats" function="true" type="void">
4157	<description><![CDATA[]]></description>
4158	<arguments/></element>
4159	<element name="remove" function="true"/>
4160	<element name="removeGroup" function="true"/>
4161	</type>
4162	<type name="String" context="Global context">
4163	<description><![CDATA[String functions library.]]></description>
4164	<element name="char" function="true" type="string">
4165	<arguments>
4166	<argument type="integer"/>
4167	</arguments>
4168	</element>
4169	<element name="code" function="true" type="integer">
4170	<arguments>
4171	<argument type="string"/>
4172	</arguments>
4173	</element>
4174	<element name="format" function="true" type="string">
4175	<description><![CDATA[Works like the standard C library "sprintf()" but only one %-argument is accepted.
4176	Format string: %[-][+][0][width[.precision]]type
4177	-: left adjust (default is right adjust)
4178	+: place a sign (+ or -) before a number
4179	0: the value should be zero padded
4180	width: minimum field width
4181	precision: minimum number of decimal digits
4182	type: d=decimal integer, x/X=hexadecimal integer, f/g=floating point number, e="scientific" style floating point, t=time
4183	Examples:
4184	String.format("\|%07.2f\|",Math.pi) -> ="\|0003.14\|"
4185	String.format("\|%04x\|",255) -> ="\|00ff\|"
4186	String.format("\|%7s\|","text") -> ="\| text\|"
4187	String.format("\|%-7d\|",12345) -> ="\|12345 \|"
4188	String.format("%t",Math.time) -> ="Sun Apr 29 19:22:02 2007"
4189	String.format("%T",Math.time) -> ="2007-05-29 19:22:02"
4190	]]></description>
4191	<arguments>
4192	<argument name="format" type="string"/>
4193	<argument name="value" type="untyped"/>
4194	</arguments>
4195	</element>
4196	<element name="indexOf" function="true" type="integer">
4197	<description><![CDATA[String.indexOf("abcdef","cd") -> 2
4198	String.indexOf("abcdef","dc") -> -1
4199	]]></description>
4200	<arguments>
4201	<argument type="string"/>
4202	<argument name="substring" type="string"/>
4203	</arguments>
4204	</element>
4205	<element name="indexOfStart" function="true" type="integer">
4206	<description><![CDATA[String.indexOfStart("abcdef","cd",1) -> 2
4207	String.indexOfStart("abcdef","cd",3) -> -1
4208	]]></description>
4209	<arguments>
4210	<argument type="string"/>
4211	<argument name="substring" type="string"/>
4212	<argument name="start index" type="integer"/>
4213	</arguments>
4214	</element>
4215	<element name="left" function="true" type="string">
4216	<description><![CDATA[String.left("abcdef",3) -> ="abc"]]></description>
4217	<arguments>
4218	<argument type="string"/>
4219	<argument name="number of characters" type="integer"/>
4220	</arguments>
4221	</element>
4222	<element name="len" function="true" type="integer">
4223	<description><![CDATA[String.len("abcdef") -> 6]]></description>
4224	<arguments>
4225	<argument type="string"/>
4226	</arguments>
4227	</element>
4228	<element name="parseFloat" function="true" type="float">
4229	<arguments>
4230	<argument type="string"/>
4231	</arguments>
4232	</element>
4233	<element name="parseInt" function="true" type="integer">
4234	<arguments>
4235	<argument type="string"/>
4236	</arguments>
4237	</element>
4238	<element name="replace" function="true" type="string">
4239	<description><![CDATA[String.replace("abcdef","cd","X") -> "abXef"]]></description>
4240	<arguments>
4241	<argument name="search" type="string"/>
4242	<argument name="substitute" type="string"/>
4243	</arguments>
4244	</element>
4245	<element name="right" function="true" type="string">
4246	<description><![CDATA[String.right("abcdef",3) -> ="def"]]></description>
4247	<arguments>
4248	<argument type="string"/>
4249	<argument name="number of characters" type="integer"/>
4250	</arguments>
4251	</element>
4252	<element name="split" function="true" type="Vector">
4253	<description><![CDATA[return the vector of substrings, cut at separator positions.
4254	subsequent separators give empty words: split("word1---word2-word3","-") -> ["word1","","","word2","word3"]]]></description>
4255	<arguments>
4256	<argument type="string"/>
4257	<argument name="word separator" type="string"/>
4258	</arguments>
4259	</element>
4260	<element name="split2" function="true" type="Vector">
4261	<description><![CDATA[return the vector of substrings, cut at separator positions.
4262	subsequent separators are treated as one: split2("word1---word2-word3","-") -> ["word1","word2","word3"]]]></description>
4263	<arguments>
4264	<argument type="string"/>
4265	<argument name="word separator" type="string"/>
4266	</arguments>
4267	</element>
4268	<element name="substr" function="true" type="string">
4269	<description><![CDATA[String.substr("abcdef",3,2) -> ="de"]]></description>
4270	<arguments>
4271	<argument type="string"/>
4272	<argument name="first character" type="integer"/>
4273	<argument name="number of characters" type="integer"/>
4274	</arguments>
4275	</element>
4276	<element name="toLower" function="true" type="string">
4277	<arguments>
4278	<argument type="string"/>
4279	</arguments>
4280	</element>
4281	<element name="toUpper" function="true" type="string">
4282	<arguments>
4283	<argument type="string"/>
4284	</arguments>
4285	</element>
4286	</type>
4287	<type name="Symmetry" context="Global context">
4288	<element name="symAlphaSteps" type="integer" min="2" max="50" default="20">
4289	<description><![CDATA[Default number of samples per full angle (#1)]]></description>
4290	</element>
4291	<element name="symBetaSteps" type="integer" min="2" max="50" default="20">
4292	<description><![CDATA[Default number of samples per full angle (#2)]]></description>
4293	</element>
4294	<element name="symPosSteps" type="integer" min="2" max="50" default="10">
4295	<description><![CDATA[Default number of samples per stick length]]></description>
4296	</element>
4297	<element name="symResultA" type="float"/>
4298	<element name="symResultB" type="float"/>
4299	<element name="symResultC" type="float"/>
4300	<element name="symResultD" type="float"/>
4301	<element name="calculateSymmetry" function="true" type="float">
4302	<description><![CDATA[Returns bilateral symmetry (0.0 .. 1.0) for a given Model using default precision parameters (symPosSteps,symAlphaSteps,symBetaSteps). Returns the symmetry plane, too (sets symResultA,B,C,D).
4303	Note: may take a long time for large creatures.]]></description>
4304	<arguments>
4305	<argument name="model" type="Model"/>
4306	</arguments>
4307	</element>
4308	<element name="calculateSymmetry2" function="true" type="float">
4309	<description><![CDATA[Returns bilateral symmetry (0.0 .. 1.0) for a given Model using specified precision parameters. Returns the symmetry plane, too (sets symResultA,B,C,D).
4310	Note: may take a long time for large creatures.]]></description>
4311	<arguments>
4312	<argument name="model" type="Model"/>
4313	<argument name="posSteps" type="integer"/>
4314	<argument name="alphaSteps" type="integer"/>
4315	<argument name="betaSteps" type="integer"/>
4316	</arguments>
4317	</element>
4318	<element name="calculateSymmetryForPlane" function="true" type="float">
4319	<description><![CDATA[Returns bilateral symmetry (0.0 .. 1.0) for a given Model and given a specific plane defined by coefficients A, B, C, D.]]></description>
4320	<arguments>
4321	<argument name="model" type="Model"/>
4322	<argument name="A" type="float"/>
4323	<argument name="B" type="float"/>
4324	<argument name="C" type="float"/>
4325	<argument name="D" type="float"/>
4326	</arguments>
4327	</element>
4328	</type>
4329	<type name="UserScripts" context="Global context">
4330	<element name="changedProperty" type="integer"/>
4331	<element name="changedPropertyId" type="string"/>
4332	<element name="add" function="true"/>
4333	<element name="addGroup" function="true"/>
4334	<element name="clear" function="true"/>
4335	<element name="remove" function="true"/>
4336	<element name="removeGroup" function="true"/>
4337	</type>
4338	<type name="Vector" context="Global context">
4339	<description><![CDATA[Vector is 1-dimensional array, indexed by integer value (starting from 0). Multidimensional arrays can be simulated by putting other Vector objects into the Vector.
4340	Example:
4341	var v=Vector.new();
4342	v.add(123); v.add("string");]]></description>
4343	<element name="avg" type="float"/>
4344	<element name="size" type="integer"/>
4345	<element name="stdev" type="float">
4346	<description><![CDATA[=sqrt(sum((element[i]-avg)^2)/(size-1)) which is estimated population std.dev. from sample std.dev.]]></description>
4347	</element>
4348	<element name="toString" type="string"/>
4349	<element name="add" function="true" type="void">
4350	<arguments>
4351	<argument name="value" type="untyped"/>
4352	</arguments>
4353	</element>
4354	<element name="clear" function="true" type="void"><arguments/></element>
4355	<element name="find" function="true" type="integer">
4356	<description><![CDATA[returns the element index or -1 if not found]]></description>
4357	<arguments>
4358	<argument name="value" type="untyped"/>
4359	</arguments>
4360	</element>
4361	<element name="get" function="true" type="untyped">
4362	<arguments>
4363	<argument name="position" type="integer"/>
4364	</arguments>
4365	</element>
4366	<element name="new" function="true" type="Vector"><arguments/></element>
4367	<element name="remove" function="true" type="void">
4368	<arguments>
4369	<argument name="position" type="integer"/>
4370	</arguments>
4371	</element>
4372	<element name="set" function="true" type="void">
4373	<arguments>
4374	<argument name="position" type="integer"/>
4375	<argument name="value" type="untyped"/>
4376	</arguments>
4377	</element>
4378	</type>
4379	<type name="World" context="Global context">
4380	<description><![CDATA[Environment properties.]]></description>
4381	<element name="nnspeed" type="float" min="0" max="1000" default="1">
4382	<description><![CDATA[Number of neural network simulation steps in each physics simulation step]]></description>
4383	</element>
4384	<element name="signals" type="WorldSignals"/>
4385	<element name="simtype" type="integer" min="0" max="1" default="0">
4386	<description><![CDATA[MechaStick is a fast and simple primary Framsticks simulation engine.
4387	ODE is Open Dynamics Engine by Russel Smith et al.
4388
4389	NOTE: switching between simulation engines causes removal of all objects in the world (e.g. creatures).]]></description>
4390	</element>
4391	<element name="wrldbnd" type="integer" min="0" max="2" default="1"/>
4392	<element name="wrldg" type="float" min="0" max="10" default="1">
4393	<description><![CDATA[You can adjust gravity for your experiments.
4394	The "official" setting used to evaluate and compare creatures is 1.]]></description>
4395	</element>
4396	<element name="wrldmap" type="string">
4397	<description><![CDATA[Description of the world (Type: Blocks or Heighfield). Enter
4398	r <sizex> <sizey> [seed]
4399	to generate a random landscape, or
4400	m <sizex> <sizey> digits
4401	M <sizex> <sizey> numbers
4402	to provide height values.
4403
4404	See also the WorldMap object.]]></description>
4405	</element>
4406	<element name="wrldsiz" type="float" min="10" max="1000" default="20">
4407	<description><![CDATA[Side length of the world]]></description>
4408	</element>
4409	<element name="wrldtyp" type="integer" min="0" max="2" default="0"/>
4410	<element name="wrldwat" type="float" min="-20" max="30" default="-1"/>
4411	<element name="wrldchg" function="true" type="void"><arguments/></element>
4412	</type>
4413	<type name="WorldMap" context="Global context">
4414	<description><![CDATA[Environment details for "Blocks" and "Heightfield" world type. The most important concept is a "Map", which is the array of Map elements. Internally, Maps have more elements than could be deduced from the user-supplied World.wrldsiz, as additional rows of element are added to provide smooth transitions to the flat surroundings.
4415
4416	Blocks: x/ysize=World.wrldsiz+4 rows of blocks (from which only 2+World.wrldsiz rows are placed within the world boundaries)
4417
4418	Smooth: x/ysize=World.wrldsiz+2 rows of vertices (creating World.wrldsiz+1 rows of triangles, everything within the world boundaries)
4419	]]></description>
4420	<element name="xsize" type="integer"/>
4421	<element name="ysize" type="integer"/>
4422	<element name="getHeight" function="true" type="float">
4423	<description><![CDATA[Height at any 2d coordinate]]></description>
4424	<arguments>
4425	<argument name="x" type="float"/>
4426	<argument name="y" type="float"/>
4427	</arguments>
4428	</element>
4429	<element name="getMap" function="true" type="Object">
4430	<description><![CDATA[retrieve map cell object]]></description>
4431	<arguments>
4432	<argument name="x" type="integer"/>
4433	<argument name="y" type="integer"/>
4434	</arguments>
4435	</element>
4436	<element name="intersect" function="true" type="Vector">
4437	<description><![CDATA[Calculate the intersection point between the world surface and the ray projected from "3d point" towards the given direction. 3D points are actually 3-elements Vector objects. The resulting vector contains the additional fourth element - the intersection point distance. The function returns null if there is no intersection.
4438
4439	See "standard_events.inc" file, which uses "intersect" for calculating the world coordinates corresponding to the user-clicked screen location.
4440	Bugs: This function does not currently handle the heightfield environment correctly (works as if it was flat)]]></description>
4441	<arguments>
4442	<argument name="3d point" type="Vector"/>
4443	<argument name="3d direction" type="Vector"/>
4444	<argument name="range" type="float"/>
4445	</arguments>
4446	</element>
4447	</type>
4448	<type name="WorldSignals" context="Global context">
4449	<description><![CDATA[Use this object to create stationary signals, not associated with any moving object and receive signals from any location in the world. There are Creature and Neuro-based variants of this object that automatically operate from the creature's or neuron's position.
4450
4451	See also: Signal]]></description>
4452	<element name="size" type="integer">
4453	<description><![CDATA[Number of signals in this set.]]></description>
4454	</element>
4455	<element name="add" function="true" type="Signal">
4456	<description><![CDATA[Create a new signal]]></description>
4457	<arguments>
4458	<argument name="position" type="XYZ"/>
4459	<argument name="channel" type="string"/>
4460	</arguments>
4461	</element>
4462	<element name="clear" function="true" type="void">
4463	<description><![CDATA[Delete all signals]]></description>
4464	<arguments/></element>
4465	<element name="get" function="true" type="Signal">
4466	<description><![CDATA[Access individual signals (index=0 .. size-1)]]></description>
4467	<arguments>
4468	<argument name="index" type="integer"/>
4469	</arguments>
4470	</element>
4471	<element name="receive" function="true" type="float">
4472	<description><![CDATA[Receive the aggregated signal power in a given channel.]]></description>
4473	<arguments>
4474	<argument name="position" type="XYZ"/>
4475	<argument name="channel" type="string"/>
4476	</arguments>
4477	</element>
4478	<element name="receiveFilter" function="true" type="float">
4479	<description><![CDATA[Receive the aggregated signal power in a given channel.
4480
4481	Additional filtering options:
4482	- Max distance only receives the neighbor signals (based on their physical location)
4483	- Flavor filtering: only signals having the flavor close to the specified one will be received. The filter value is the maximum allowed difference.]]></description>
4484	<arguments>
4485	<argument name="position" type="XYZ"/>
4486	<argument name="channel" type="string"/>
4487	<argument name="max distance" type="float"/>
4488	<argument name="flavor" type="float"/>
4489	<argument name="filter" type="float"/>
4490	</arguments>
4491	</element>
4492	<element name="receiveSet" function="true" type="Vector">
4493	<description><![CDATA[Get all signals in the specified range. Returns a readonly vector object containing Signal objects (individual signals can be accessed as result[0] throught result[result.size-1]).]]></description>
4494	<arguments>
4495	<argument name="position" type="XYZ"/>
4496	<argument name="channel" type="string"/>
4497	<argument name="max distance" type="float"/>
4498	</arguments>
4499	</element>
4500	<element name="receiveSingle" function="true" type="Signal">
4501	<description><![CDATA[Find the signal source having the highest signal power (including the distance)]]></description>
4502	<arguments>
4503	<argument name="position" type="XYZ"/>
4504	<argument name="channel" type="string"/>
4505	<argument name="max distance" type="float"/>
4506	</arguments>
4507	</element>
4508	</type>
4509	<type name="XYZ" context="Global context">
4510	<description><![CDATA[3D vector]]></description>
4511	<element name="length" type="float"/>
4512	<element name="toString" type="string"/>
4513	<element name="x" type="float"/>
4514	<element name="y" type="float"/>
4515	<element name="z" type="float"/>
4516	<element name="add" function="true" type="void">
4517	<description><![CDATA[Note: it does not return a new object, just modifies the existing one]]></description>
4518	<arguments>
4519	<argument type="XYZ"/>
4520	</arguments>
4521	</element>
4522	<element name="clone" function="true" type="XYZ">
4523	<description><![CDATA[Note: copying object references does not create new objects. Use clone() if a new object is needed.
4524
4525	Example:
4526	var o1=(1,2,3), o2=o1, o3=o1.clone();
4527	o1.y=9999;
4528	//o2 is now (1,9999,3) but o3 is still (1,2,3)]]></description>
4529	<arguments/></element>
4530	<element name="get" function="true" type="float">
4531	<description><![CDATA[this function makes the XYZ objects "indexable" (so you can use [] for accessing subsequent fields, like in Vector)]]></description>
4532	<arguments>
4533	<argument name="index" type="integer"/>
4534	</arguments>
4535	</element>
4536	<element name="new" function="true" type="XYZ">
4537	<description><![CDATA[3D vectors objects can be also created using the (x,y,z) notation, i.e. var v=(1,2,3) is the same as var v=XYZ.new(1,2,3);]]></description>
4538	<arguments>
4539	<argument name="x" type="float"/>
4540	<argument name="y" type="float"/>
4541	<argument name="z" type="float"/>
4542	</arguments>
4543	</element>
4544	<element name="normalize" function="true" type="void">
4545	<description><![CDATA[scales the vector length to 1.0]]></description>
4546	<arguments/></element>
4547	<element name="revRotate" function="true" type="void">
4548	<arguments>
4549	<argument type="Orient"/>
4550	</arguments>
4551	</element>
4552	<element name="rotate" function="true" type="void">
4553	<arguments>
4554	<argument type="Orient"/>
4555	</arguments>
4556	</element>
4557	<element name="scale" function="true" type="void">
4558	<arguments>
4559	<argument type="float"/>
4560	</arguments>
4561	</element>
4562	<element name="set" function="true" type="void">
4563	<arguments>
4564	<argument type="XYZ"/>
4565	</arguments>
4566	</element>
4567	<element name="set3" function="true" type="void">
4568	<arguments>
4569	<argument name="x" type="float"/>
4570	<argument name="y" type="float"/>
4571	<argument name="z" type="float"/>
4572	</arguments>
4573	</element>
4574	<element name="sub" function="true" type="void">
4575	<description><![CDATA[Note: it does not return a new object, just modifies the existing one]]></description>
4576	<arguments>
4577	<argument type="XYZ"/>
4578	</arguments>
4579	</element>
4580	</type>
4581	<type name="ExpParams" context="Experiment definition">
4582	<element name="changedProperty" type="integer"/>
4583	<element name="changedPropertyId" type="string"/>
4584	<element name="add" function="true"/>
4585	<element name="addGroup" function="true"/>
4586	<element name="clear" function="true"/>
4587	<element name="remove" function="true"/>
4588	<element name="removeGroup" function="true"/>
4589	</type>
4590	<type name="ExpState" context="Experiment definition">
4591	<element name="changedProperty" type="integer"/>
4592	<element name="changedPropertyId" type="string"/>
4593	<element name="add" function="true"/>
4594	<element name="addGroup" function="true"/>
4595	<element name="clear" function="true"/>
4596	<element name="remove" function="true"/>
4597	<element name="removeGroup" function="true"/>
4598	</type>
4599	<type name="n" context="Neuron definitions">
4600	<element name="d" type="string"/>
4601	<element name="getInputCount" type="integer"/>
4602	<element name="i" type="string"/>
4603	<element name="j" type="integer" min="-1" max="999999" default="-1"/>
4604	<element name="p" type="integer" min="-1" max="999999" default="-1"/>
4605	<element name="Vstyle" type="string"/>
4606	<element name="getInputNeuroDef" function="true" type="NeuroDef">
4607	<arguments>
4608	<argument type="integer"/>
4609	</arguments>
4610	</element>
4611	<element name="getInputNeuroIndex" function="true" type="integer">
4612	<arguments>
4613	<argument type="integer"/>
4614	</arguments>
4615	</element>
4616	<element name="getInputWeight" function="true" type="float">
4617	<arguments>
4618	<argument type="integer"/>
4619	</arguments>
4620	</element>
4621	</type>
4622	<type name="Neuro" context="Neuron definitions">
4623	<description><![CDATA[Live Neuron object.]]></description>
4624	<element name="channelCount" type="integer"/>
4625	<element name="creature" type="Creature"/>
4626	<element name="currState" type="float">
4627	<description><![CDATA[The only difference from the "state" field is that currState, when written, changes the internal neuron state immediately (which disturbs the regular synchronous NN operation). This feature should only be used while controlling the neuron 'from outside' (like a neuro probe) and not in the neuron definition. See also: Neuro.hold]]></description>
4628	</element>
4629	<element name="def" type="NeuroDef"/>
4630	<element name="fields" type="Fields">
4631	<description><![CDATA[Neurons can have different fields depending on their class. Script neurons have their fields defined using the "prop:" syntax. If you develop a custom neuron script you should use the Fields object for accessing your own neuron fields. The Neuro.fields property is meant for accessing the neuron fields from the outside script.
4632	Examples:
4633	var c=Populations.createFromString("X[N]");
4634	Simulator.print("standard neuron inertia="+c.getNeuro(0).fields.in);
4635	c=Populations.createFromString("X[Nn,e:0.1]");
4636	Simulator.print("noisy neuron error rate="+c.getNeuro(0).fields.e);
4637
4638	The Interface object can be used to discover which fields are available for a certain neuron object:
4639	c=Populations.createFromString("X[N]");
4640	var iobj=Interface.makeFrom(c.getNeuro(0).fields);
4641	var i;
4642	for(i=0;i<iobj.properties;i++)
4643	Simulator.print(iobj.getId(i)+" ("+iobj.getName(i)+")");]]></description>
4644	</element>
4645	<element name="getInputCount" type="integer"/>
4646	<element name="hold" type="integer" min="0" max="1">
4647	<description><![CDATA["Holding" means keeping the neuron state as is, blocking the regular neuron operation. This is useful when your script needs to inject some control signals into the NN. Without "holding", live neurons would be constantly overwriting your changes, and the rest of the NN could see inconsistent states, depending on the connections. Setting hold=1 ensures the neuron state will be only set by you, and not by the neuron. The enforced signal value can be set using Neuro.currState before or after setting hold=1. Set hold=0 to resume normal operation.]]></description>
4648	</element>
4649	<element name="inputSum" type="float"/>
4650	<element name="joint" type="MechJoint"/>
4651	<element name="part" type="MechPart"/>
4652	<element name="position_x" type="float"/>
4653	<element name="position_y" type="float"/>
4654	<element name="position_z" type="float"/>
4655	<element name="signals" type="NeuroSignals"/>
4656	<element name="state" type="float">
4657	<description><![CDATA[When read, returns the current neuron state.
4658	When written, sets the next neuron state (for use in the neuron definition)]]></description>
4659	</element>
4660	<element name="weightedInputSum" type="float"/>
4661	<element name="getInputChannelCount" function="true" type="integer">
4662	<arguments>
4663	<argument name="input" type="integer"/>
4664	</arguments>
4665	</element>
4666	<element name="getInputState" function="true" type="float">
4667	<arguments>
4668	<argument name="input" type="integer"/>
4669	</arguments>
4670	</element>
4671	<element name="getInputStateChannel" function="true" type="float">
4672	<arguments>
4673	<argument name="input" type="integer"/>
4674	<argument name="channel" type="integer"/>
4675	</arguments>
4676	</element>
4677	<element name="getInputSum" function="true" type="float">
4678	<arguments>
4679	<argument name="input" type="integer"/>
4680	</arguments>
4681	</element>
4682	<element name="getInputWeight" function="true" type="float">
4683	<arguments>
4684	<argument name="input" type="integer"/>
4685	</arguments>
4686	</element>
4687	<element name="getStateChannel" function="true" type="float">
4688	<arguments>
4689	<argument name="channel" type="integer"/>
4690	</arguments>
4691	</element>
4692	<element name="getWeightedInputState" function="true" type="float">
4693	<arguments>
4694	<argument name="input" type="integer"/>
4695	</arguments>
4696	</element>
4697	<element name="getWeightedInputStateChannel" function="true" type="float">
4698	<arguments>
4699	<argument name="input" type="integer"/>
4700	<argument name="channel" type="integer"/>
4701	</arguments>
4702	</element>
4703	<element name="getWeightedInputSum" function="true" type="float">
4704	<description><![CDATA[Uses any number of inputs starting with the specified input. getWeightedInputSum(0)=weightedInputSum]]></description>
4705	<arguments>
4706	<argument name="input" type="integer"/>
4707	</arguments>
4708	</element>
4709	<element name="setCurrStateChannel" function="true" type="void">
4710	<description><![CDATA[Analogous to "currState".]]></description>
4711	<arguments>
4712	<argument name="channel" type="integer"/>
4713	<argument name="value" type="float"/>
4714	</arguments>
4715	</element>
4716	<element name="setStateChannel" function="true" type="void">
4717	<arguments>
4718	<argument name="channel" type="integer"/>
4719	<argument name="value" type="float"/>
4720	</arguments>
4721	</element>
4722	</type>
4723	<type name="this" context="Fitness formula">
4724	<description><![CDATA[A Genotype with the associated performance information. All but one Genotype objects are placed in Genotype Groups. There is also a single static Genotype object not associated with a group, which is used as a temporary storage by genetic operators and some functions from GenePools.]]></description>
4725	<element name="convtrace1" type="string"/>
4726	<element name="distance" type="float"/>
4727	<element name="energ0" type="float"/>
4728	<element name="f0genotype" type="string">
4729	<description><![CDATA[converted to f0 genotype]]></description>
4730	</element>
4731	<element name="fit" type="float"/>
4732	<element name="fit2" type="float">
4733	<description><![CDATA[Fitness shifted by (avg-n*stddev)]]></description>
4734	</element>
4735	<element name="geno" type="Geno">
4736	<description><![CDATA[Geno object for this Genotype]]></description>
4737	</element>
4738	<element name="genotype" type="string"/>
4739	<element name="gnum" type="integer"/>
4740	<element name="info" type="string">
4741	<description><![CDATA[Additional information or comments]]></description>
4742	</element>
4743	<element name="instances" type="integer">
4744	<description><![CDATA[Copies of this genotype]]></description>
4745	</element>
4746	<element name="isValid" type="integer" min="0" max="1"/>
4747	<element name="lifespan" type="float">
4748	<description><![CDATA[Average life span]]></description>
4749	</element>
4750	<element name="name" type="string"/>
4751	<element name="nncon" type="float"/>
4752	<element name="nnsiz" type="float"/>
4753	<element name="num" type="integer"/>
4754	<element name="numconnections" type="float"/>
4755	<element name="numjoints" type="float"/>
4756	<element name="numneurons" type="float"/>
4757	<element name="numparts" type="float"/>
4758	<element name="popsiz" type="integer"/>
4759	<element name="simi" type="float"/>
4760	<element name="strjoints" type="float"/>
4761	<element name="strsiz" type="float"/>
4762	<element name="uid" type="string">
4763	<description><![CDATA[Unique identifier]]></description>
4764	</element>
4765	<element name="user1" type="untyped"/>
4766	<element name="user2" type="untyped"/>
4767	<element name="user3" type="untyped"/>
4768	<element name="velocity" type="float">
4769	<description><![CDATA[Average velocity]]></description>
4770	</element>
4771	<element name="vertpos" type="float"/>
4772	<element name="vertvel" type="float"/>
4773	<element name="getModel" function="true" type="Model"><arguments/></element>
4774	<element name="getNormalized" function="true" type="float">
4775	<arguments>
4776	<argument name="property name or index" type="untyped"/>
4777	</arguments>
4778	</element>
4779	<element name="mutate" function="true" type="void"><arguments/></element>
4780	</type>
4781	<type name="Creature" context="Visual style definition">
4782	<description><![CDATA[The object inside the simulated world, including its physical structure, neural network and performance data. Food pieces, obstacles and other movable objects can be implemented as Creatures even though the are not "alive". See also: Population.]]></description>
4783	<element name="bodysim" type="integer" min="0" max="1" default="1">
4784	<description><![CDATA[(Physical) body simulation can be disabled for individual objects which makes them immovable. Disabled objects can still participate in collisions depending on their collisions masks.
4785
4786	Bugs: the standard collision handler does not work for disabled objects when ODE simulation is used. It means that these objects won't physically interact with other objects. The custom (scripting) handlers work as expected.]]></description>
4787	</element>
4788	<element name="buildproblems" type="integer"/>
4789	<element name="c_velocity" type="float"/>
4790	<element name="c_vertpos" type="float"/>
4791	<element name="c_vertvelocity" type="float"/>
4792	<element name="center_x" type="float">
4793	<description><![CDATA[Center of gravity]]></description>
4794	</element>
4795	<element name="center_y" type="float">
4796	<description><![CDATA[Center of gravity]]></description>
4797	</element>
4798	<element name="center_z" type="float">
4799	<description><![CDATA[Center of gravity]]></description>
4800	</element>
4801	<element name="distance" type="float"/>
4802	<element name="drive" type="XYZ">
4803	<description><![CDATA[Measured in global coordinates]]></description>
4804	</element>
4805	<element name="energ0" type="float"/>
4806	<element name="energy" type="float"/>
4807	<element name="energy_b" type="float"/>
4808	<element name="energy_m" type="float"/>
4809	<element name="energy_p" type="float"/>
4810	<element name="geno" type="Geno">
4811	<description><![CDATA[Source genotype for this creature]]></description>
4812	</element>
4813	<element name="genotype" type="string"/>
4814	<element name="gnum" type="integer"/>
4815	<element name="group" type="untyped"/>
4816	<element name="idleen" type="float"/>
4817	<element name="index" type="integer">
4818	<description><![CDATA[Index of this Creature in its Population.]]></description>
4819	</element>
4820	<element name="info" type="string">
4821	<description><![CDATA[Additional info or comments]]></description>
4822	</element>
4823	<element name="lifespan" type="integer"/>
4824	<element name="liveModel" type="Model">
4825	<description><![CDATA[A Model object that is a copy of the current (temporary) geometry of this creature]]></description>
4826	</element>
4827	<element name="localDrive" type="XYZ">
4828	<description><![CDATA[Measured in local coordinates, that is, with respect to the current orientation of the creature.
4829	See also: Creature.orient]]></description>
4830	</element>
4831	<element name="model" type="Model">
4832	<description><![CDATA[Source Model for this creature]]></description>
4833	</element>
4834	<element name="name" type="string"/>
4835	<element name="nnenabled" type="integer" min="0" max="1"/>
4836	<element name="numjoints" type="integer"/>
4837	<element name="numneurons" type="integer"/>
4838	<element name="numparts" type="integer"/>
4839	<element name="orient" type="Orient">
4840	<description><![CDATA[By convention, the orientation of the creature is equal to the orientation of its first Part]]></description>
4841	</element>
4842	<element name="othermask" type="integer" min="0" max="2147483647" default="0"/>
4843	<element name="perf" type="integer" min="0" max="2">
4844	<description><![CDATA[Initial value of this property is taken from Population.enableperf]]></description>
4845	</element>
4846	<element name="pos_x" type="float">
4847	<description><![CDATA[(pos_x,pos_y,pos_z) is the point of minimal coordinates ("bottom left corner") of the creature, including imaginary Part sizes (Part.s, usually 1.0). See also: Creature.moveAbs]]></description>
4848	</element>
4849	<element name="pos_y" type="float">
4850	<description><![CDATA[See Creature.pos_x]]></description>
4851	</element>
4852	<element name="pos_z" type="float">
4853	<description><![CDATA[See Creature.pos_x]]></description>
4854	</element>
4855	<element name="selfcol" type="integer" min="0" max="1">
4856	<description><![CDATA[Enable/disable detection of self-collisions (within a creature body). They can only occur when using the ODE simulation engine. If enabled, the creature will have its sticks collide during lifespan.]]></description>
4857	</element>
4858	<element name="selfcolstate" type="integer" min="0" max="1">
4859	<description><![CDATA[Current self-collision state]]></description>
4860	</element>
4861	<element name="selfmask" type="integer" min="0" max="2147483647" default="0"/>
4862	<element name="signals" type="CreatureSignals"/>
4863	<element name="size_x" type="float">
4864	<description><![CDATA[(size_x,size_y,size_z) are dimensions of the axis-aligned bounding box of the creature, including the imaginary part sizes (Part.s, usually 1.0). A creature consisting of a single default Part has the size of (2.0,2.0,2.0) - twice the Part.s value (like a sphere diameter is twice its radius).
4865	See also: Creature.moveAbs]]></description>
4866	</element>
4867	<element name="size_y" type="float">
4868	<description><![CDATA[See Creature.size_x]]></description>
4869	</element>
4870	<element name="size_z" type="float">
4871	<description><![CDATA[See Creature.size_x]]></description>
4872	</element>
4873	<element name="uid" type="string"/>
4874	<element name="user1" type="untyped"/>
4875	<element name="user2" type="untyped"/>
4876	<element name="user3" type="untyped"/>
4877	<element name="velocity" type="float"/>
4878	<element name="vertpos" type="float"/>
4879	<element name="vertvel" type="float"/>
4880	<element name="currentGeometryAsF0" function="true" type="string"><arguments/></element>
4881	<element name="getJoint" function="true" type="Joint">
4882	<arguments>
4883	<argument name="index" type="integer"/>
4884	</arguments>
4885	</element>
4886	<element name="getMechJoint" function="true" type="MechJoint">
4887	<arguments>
4888	<argument name="index" type="integer"/>
4889	</arguments>
4890	</element>
4891	<element name="getMechPart" function="true" type="MechPart">
4892	<arguments>
4893	<argument name="index" type="integer"/>
4894	</arguments>
4895	</element>
4896	<element name="getNeuro" function="true" type="Neuro">
4897	<arguments>
4898	<argument name="index" type="integer"/>
4899	</arguments>
4900	</element>
4901	<element name="getNeuroDef" function="true" type="NeuroDef">
4902	<arguments>
4903	<argument name="index" type="integer"/>
4904	</arguments>
4905	</element>
4906	<element name="getPart" function="true" type="Part">
4907	<arguments>
4908	<argument name="index" type="integer"/>
4909	</arguments>
4910	</element>
4911	<element name="localToWorld" function="true" type="XYZ">
4912	<description><![CDATA[Local coordinates are measured with respect to the position and orientation of the first Part]]></description>
4913	<arguments>
4914	<argument name="x" type="float"/>
4915	<argument name="y" type="float"/>
4916	<argument name="z" type="float"/>
4917	</arguments>
4918	</element>
4919	<element name="move" function="true" type="void">
4920	<description><![CDATA[Shift the creature by a given vector.]]></description>
4921	<arguments>
4922	<argument name="x" type="float"/>
4923	<argument name="y" type="float"/>
4924	<argument name="z" type="float"/>
4925	</arguments>
4926	</element>
4927	<element name="moveAbs" function="true" type="void">
4928	<description><![CDATA[Moves the creature so that its origin (pos_x,pos_y,pos_z) is placed at the given location. The origin is the point of minimal coordinates ("bottom left corner"), including imaginary part sizes (Part.s, usually 1.0).
4929	Assuming a simple single-stick creature "X" having parts at (0,0,0) and (1,0,0),
4930
4931	origin (pos_x,pos_y,pos_z) = (-1,-1,-1)
4932	size (size_x,size_y,size_z) = (3,2,2)
4933
4934	The following example places the bottom of a creature at a given location (x,y,z):
4935	Creature.moveAbs(x-(Creature.size_x/2),y-(Creature.size_y/2),z-1.0)
4936	(assuming that the part size is 1.0)]]></description>
4937	<arguments>
4938	<argument name="x" type="float"/>
4939	<argument name="y" type="float"/>
4940	<argument name="z" type="float"/>
4941	</arguments>
4942	</element>
4943	<element name="moveLocal" function="true" type="void">
4944	<description><![CDATA[Local coordinates are measured with respect to the position and orientation of the first Part]]></description>
4945	<arguments>
4946	<argument name="x" type="float"/>
4947	<argument name="y" type="float"/>
4948	<argument name="z" type="float"/>
4949	</arguments>
4950	</element>
4951	<element name="rotate" function="true" type="void">
4952	<description><![CDATA[Rotate the creature around X, Y and Z axes. Should only be used immediately after creating a new creature (before the first simulation step is performed for this creature), otherwise further simulation can be disturbed.]]></description>
4953	<arguments>
4954	<argument name="x" type="float"/>
4955	<argument name="y" type="float"/>
4956	<argument name="z" type="float"/>
4957	</arguments>
4958	</element>
4959	<element name="rotateLocal" function="true" type="void">
4960	<description><![CDATA[Rotate the creature around (local) X, Y and Z axes. Should only be used immediately after creating a new creature (before the first simulation step is performed for this creature), otherwise further simulation can be disturbed.]]></description>
4961	<arguments>
4962	<argument name="x" type="float"/>
4963	<argument name="y" type="float"/>
4964	<argument name="z" type="float"/>
4965	</arguments>
4966	</element>
4967	<element name="worldToLocal" function="true" type="XYZ">
4968	<description><![CDATA[Local coordinates are measured with respect to the position and orientation of the first Part]]></description>
4969	<arguments>
4970	<argument name="x" type="float"/>
4971	<argument name="y" type="float"/>
4972	<argument name="z" type="float"/>
4973	</arguments>
4974	</element>
4975	</type>
4976	<type name="Element" context="Visual style definition">
4977	<description><![CDATA[Information about current visual element: Part, Joint or Neuro. To be used in _build() or _update() functions.
4978
4979	This is a link between a creature's element (part/joint/neuron) and the geometry object (Element.node).
4980	Calling Element.useXXX() functions connects the static object references (Creature, Model, Part, Joint, Neuro, MechPart, MechJoint) to the proper creature elements. All these objects are invalid before doing that! E.g. you have to call "Element.useCreature()" before referring to "Creature.energy" in your _build() and _update() functions.]]></description>
4981	<element name="node" type="integer"/>
4982	<element name="useCreature" function="true"/>
4983	<element name="useJoint" function="true"/>
4984	<element name="useJointPart1" function="true"/>
4985	<element name="useJointPart2" function="true"/>
4986	<element name="useMechJoint" function="true"/>
4987	<element name="useMechJointPart1" function="true"/>
4988	<element name="useMechJointPart2" function="true"/>
4989	<element name="useMechPart" function="true"/>
4990	<element name="useModel" function="true"/>
4991	<element name="useNeuro" function="true"/>
4992	<element name="useNeuroJoint" function="true"/>
4993	<element name="useNeuroPart" function="true"/>
4994	<element name="usePart" function="true"/>
4995	</type>
4996	<type name="GeomBuilder" context="Visual style definition">
4997	<description><![CDATA[Scene graph access (build and manipulate the 3d object tree)]]></description>
4998	<element name="code" type="string"/>
4999	<element name="currentNode" type="integer"/>
5000	<element name="defaultStyle" type="string"/>
5001	<element name="matrix00" type="float"/>
5002	<element name="matrix01" type="float"/>
5003	<element name="matrix02" type="float"/>
5004	<element name="matrix03" type="float"/>
5005	<element name="matrix10" type="float"/>
5006	<element name="matrix11" type="float"/>
5007	<element name="matrix12" type="float"/>
5008	<element name="matrix13" type="float"/>
5009	<element name="matrix20" type="float"/>
5010	<element name="matrix21" type="float"/>
5011	<element name="matrix22" type="float"/>
5012	<element name="matrix23" type="float"/>
5013	<element name="matrix30" type="float"/>
5014	<element name="matrix31" type="float"/>
5015	<element name="matrix32" type="float"/>
5016	<element name="matrix33" type="float"/>
5017	<element name="rootNode" type="integer"/>
5018	<element name="updatingNode" type="integer"/>
5019	<element name="add" function="true" type="void">
5020	<description><![CDATA[add a child node to the current node]]></description>
5021	<arguments>
5022	<argument name="node" type="integer"/>
5023	</arguments>
5024	</element>
5025	<element name="addBranch" function="true">
5026	<description><![CDATA[create the branch node as a child of the current node and make it the new current node]]></description>
5027	</element>
5028	<element name="addTransform" function="true">
5029	<description><![CDATA[create the transform node as a child of the current node and make it the new current node.]]></description>
5030	</element>
5031	<element name="dump" function="true" type="void">
5032	<arguments>
5033	<argument name="node" type="integer"/>
5034	<argument name="level" type="integer"/>
5035	</arguments>
5036	</element>
5037	<element name="getBranch" function="true" type="integer">
5038	<arguments>
5039	<argument name="branch node" type="integer"/>
5040	<argument name="branch index" type="integer"/>
5041	</arguments>
5042	</element>
5043	<element name="matrixMove" function="true" type="void">
5044	<arguments>
5045	<argument name="x" type="float"/>
5046	<argument name="y" type="float"/>
5047	<argument name="z" type="float"/>
5048	</arguments>
5049	</element>
5050	<element name="matrixMove1" function="true" type="void">
5051	<description><![CDATA[MechPart.pos can be used here]]></description>
5052	<arguments>
5053	<argument name="xyz" type="integer"/>
5054	</arguments>
5055	</element>
5056	<element name="matrixOrient" function="true" type="void">
5057	<arguments>
5058	<argument name="x" type="float"/>
5059	<argument name="y" type="float"/>
5060	<argument name="z" type="float"/>
5061	</arguments>
5062	</element>
5063	<element name="matrixOrient1" function="true" type="void">
5064	<description><![CDATA[MechPart.orient can be used here]]></description>
5065	<arguments>
5066	<argument name="xyz" type="integer"/>
5067	</arguments>
5068	</element>
5069	<element name="matrixReset" function="true"/>
5070	<element name="matrixRotate" function="true" type="void">
5071	<arguments>
5072	<argument name="x" type="float"/>
5073	<argument name="y" type="float"/>
5074	<argument name="z" type="float"/>
5075	</arguments>
5076	</element>
5077	<element name="matrixRotate1" function="true" type="void">
5078	<arguments>
5079	<argument name="xyz" type="integer"/>
5080	</arguments>
5081	</element>
5082	<element name="matrixScale" function="true" type="void">
5083	<arguments>
5084	<argument name="x" type="float"/>
5085	<argument name="y" type="float"/>
5086	<argument name="z" type="float"/>
5087	</arguments>
5088	</element>
5089	<element name="setMatrix" function="true" type="void">
5090	<description><![CDATA[copy current matrix into specified node]]></description>
5091	<arguments>
5092	<argument name="transform node" type="integer"/>
5093	</arguments>
5094	</element>
5095	</type>
5096	<type name="GL" context="Visual style definition">
5097	<description><![CDATA[OpenGL constants used in GeomBuilder and Material functions.]]></description>
5098	<element name="ALPHA_TEST" type="integer"/>
5099	<element name="AMBIENT" type="integer"/>
5100	<element name="AMBIENT_AND_DIFFUSE" type="integer"/>
5101	<element name="BLEND" type="integer"/>
5102	<element name="COLOR_MATERIAL" type="integer"/>
5103	<element name="CULL_FACE" type="integer"/>
5104	<element name="DIFFUSE" type="integer"/>
5105	<element name="EMISSION" type="integer"/>
5106	<element name="LIGHTING" type="integer"/>
5107	<element name="LINE_LOOP" type="integer"/>
5108	<element name="LINE_STRIP" type="integer"/>
5109	<element name="LINES" type="integer"/>
5110	<element name="POINTS" type="integer"/>
5111	<element name="QUAD_STRIP" type="integer"/>
5112	<element name="QUADS" type="integer"/>
5113	<element name="SPECULAR" type="integer"/>
5114	<element name="TEXTURE_2D" type="integer"/>
5115	<element name="TRIANGLE_FAN" type="integer"/>
5116	<element name="TRIANGLE_STRIP" type="integer"/>
5117	<element name="TRIANGLES" type="integer"/>
5118	</type>
5119	<type name="j" context="Visual style definition">
5120	<element name="dx" type="float" min="-2" max="2" default="0"/>
5121	<element name="dy" type="float" min="-2" max="2" default="0"/>
5122	<element name="dz" type="float" min="-2" max="2" default="0"/>
5123	<element name="i" type="string"/>
5124	<element name="p1" type="integer" min="-1" max="999999" default="-1"/>
5125	<element name="p2" type="integer" min="-1" max="999999" default="-1"/>
5126	<element name="rotstif" type="float" min="0" max="1" default="1"/>
5127	<element name="rx" type="float"/>
5128	<element name="ry" type="float"/>
5129	<element name="rz" type="float"/>
5130	<element name="stam" type="float" min="0" max="1" default="0.25"/>
5131	<element name="stif" type="float" min="0" max="1" default="1"/>
5132	<element name="Vstyle" type="string"/>
5133	</type>
5134	<type name="Loader" context="Visual style definition">
5135	<description><![CDATA[Loads 3d objects files.
5136	Visual styles placed in subdirectories (like "matrix") automatically access the parent directory if the file is not found in their subdirectory.]]></description>
5137	<element name="loaded" type="integer"/>
5138	<element name="load" function="true"/>
5139	</type>
5140	<type name="m" context="Visual style definition">
5141	<element name="se" type="float"/>
5142	<element name="Vstyle" type="string"/>
5143	</type>
5144	<type name="Material" context="Visual style definition">
5145	<description><![CDATA[Manipulate 3d objects surface properties (Material objects can be associated with geometry nodes).]]></description>
5146	<element name="ambient" type="integer"/>
5147	<element name="colormat" type="integer"/>
5148	<element name="diffuse" type="integer"/>
5149	<element name="emission" type="integer"/>
5150	<element name="object" type="Object"/>
5151	<element name="shininess" type="float"/>
5152	<element name="specular" type="integer"/>
5153	<element name="texture" type="string"/>
5154	<element name="translucent" type="integer"/>
5155	<element name="care" function="true"/>
5156	<element name="disable" function="true"/>
5157	<element name="dontcare" function="true"/>
5158	<element name="enable" function="true"/>
5159	<element name="new" function="true"/>
5160	<element name="setFlat" function="true"/>
5161	<element name="setSmooth" function="true"/>
5162	</type>
5163	<type name="MechJoint" context="Visual style definition">
5164	<description><![CDATA[Current joint properties during the simulation]]></description>
5165	<element name="absorient" type="integer"/>
5166	<element name="calcorient" type="integer"/>
5167	<element name="dx" type="float"/>
5168	<element name="dy" type="float"/>
5169	<element name="dz" type="float"/>
5170	<element name="length" type="float"/>
5171	<element name="orient" type="integer"/>
5172	<element name="rotstif" type="float"/>
5173	<element name="rotstress" type="float"/>
5174	<element name="rx" type="float"/>
5175	<element name="ry" type="float"/>
5176	<element name="rz" type="float"/>
5177	<element name="stif" type="float"/>
5178	<element name="stress" type="float"/>
5179	</type>
5180	<type name="MechPart" context="Visual style definition">
5181	<description><![CDATA[Current part properties during the simulation]]></description>
5182	<element name="fr" type="float"/>
5183	<element name="m" type="float"/>
5184	<element name="orient" type="integer"/>
5185	<element name="pos" type="integer"/>
5186	<element name="s" type="float"/>
5187	<element name="vol" type="float"/>
5188	<element name="x" type="float"/>
5189	<element name="y" type="float"/>
5190	<element name="z" type="float"/>
5191	</type>
5192	<type name="n" context="Visual style definition">
5193	<element name="class" type="string"/>
5194	<element name="d" type="string"/>
5195	<element name="getInputCount" type="integer"/>
5196	<element name="i" type="string"/>
5197	<element name="j" type="integer" min="-1" max="999999" default="-1"/>
5198	<element name="p" type="integer" min="-1" max="999999" default="-1"/>
5199	<element name="state" type="float"/>
5200	<element name="Vstyle" type="string"/>
5201	<element name="getInputNeuroDef" function="true" type="NeuroDef">
5202	<arguments>
5203	<argument type="integer"/>
5204	</arguments>
5205	</element>
5206	<element name="getInputNeuroIndex" function="true" type="integer">
5207	<arguments>
5208	<argument type="integer"/>
5209	</arguments>
5210	</element>
5211	<element name="getInputWeight" function="true" type="float">
5212	<arguments>
5213	<argument type="integer"/>
5214	</arguments>
5215	</element>
5216	</type>
5217	<type name="p" context="Visual style definition">
5218	<element name="as" type="float" min="0" max="1" default="0.25"/>
5219	<element name="dn" type="float" min="0.2" max="5" default="1"/>
5220	<element name="fr" type="float" min="0" max="4" default="0.4"/>
5221	<element name="i" type="string"/>
5222	<element name="ing" type="float" min="0" max="1" default="0.25"/>
5223	<element name="m" type="float" min="0.1" max="999" default="1"/>
5224	<element name="rx" type="float"/>
5225	<element name="ry" type="float"/>
5226	<element name="rz" type="float"/>
5227	<element name="s" type="float" min="0.1" max="10" default="1"/>
5228	<element name="Vstyle" type="string"/>
5229	<element name="x" type="float"/>
5230	<element name="y" type="float"/>
5231	<element name="z" type="float"/>
5232	</type>
5233	<type name="Scene" context="Visual style definition">
5234	<description><![CDATA[Additional properties to be used in the current view, currently only the background settings]]></description>
5235	<element name="backcolor" type="integer"/>
5236	<element name="worldtexture" type="string"/>
5237	</type>
5238	<type name="VertexBuilder" context="Visual style definition">
5239	<element name="material" type="Object"/>
5240	<element name="node" type="integer">
5241	<description><![CDATA[This field returns the geometry node for use in GeomBuilder. You have to set all relevant geometry properties before using this field. The usual sequence:
5242	1. newXXX - selects the geometry type (see your OpenGL manual for explanation)
5243	2. Set all properties (add vertices, normals, colors, texture coordinates, material). All unspecified properties are assumed to have default values.
5244	3. Use the resulting node ( GeomBuilder.add(VertexBuilder.node) )]]></description>
5245	</element>
5246	<element name="twosided" type="integer" min="0" max="1"/>
5247	<element name="addCalculatedNormal" function="true">
5248	<description><![CDATA[calculate the normal vector from 3 coordinates. integer arguments are the vertices' indices. 0,1,2... = first, second, third vertex, -1,-2,-3,... = last, last-1, last-2 vertex]]></description>
5249	</element>
5250	<element name="addColor" function="true"/>
5251	<element name="addNormal" function="true"/>
5252	<element name="addNormal_1" function="true">
5253	<description><![CDATA[use addNormal instead of this function]]></description>
5254	</element>
5255	<element name="addTexCoord" function="true"/>
5256	<element name="addVertex" function="true"/>
5257	<element name="genTexCoords" function="true"/>
5258	<element name="genTexCoordsXY" function="true"/>
5259	<element name="genTexCoordsXZ" function="true"/>
5260	<element name="genTexCoordsYZ" function="true"/>
5261	<element name="new" function="true" type="void">
5262	<arguments>
5263	<argument name="type" type="integer"/>
5264	</arguments>
5265	</element>
5266	<element name="newLineLoop" function="true"/>
5267	<element name="newLines" function="true"/>
5268	<element name="newLineStrip" function="true"/>
5269	<element name="newPoints" function="true"/>
5270	<element name="newPolygon" function="true"/>
5271	<element name="newQuads" function="true"/>
5272	<element name="newQuadStrip" function="true"/>
5273	<element name="newTriangleFan" function="true"/>
5274	<element name="newTriangles" function="true"/>
5275	<element name="newTriangleStrip" function="true"/>
5276	</type>
5277	<type name="VisParams" context="Visual style definition">
5278	<element name="changedProperty" type="integer"/>
5279	<element name="changedPropertyId" type="string"/>
5280	<element name="modelpan" type="integer" min="0" max="3">
5281	<description><![CDATA[]]></description>
5282	</element>
5283	<element name="shownames" type="integer" min="0" max="1">
5284	<description><![CDATA[]]></description>
5285	</element>
5286	<element name="worldpan" type="integer" min="0" max="3">
5287	<description><![CDATA[]]></description>
5288	</element>
5289	<element name="add" function="true"/>
5290	<element name="addGroup" function="true"/>
5291	<element name="clear" function="true"/>
5292	<element name="remove" function="true"/>
5293	<element name="removeGroup" function="true"/>
5294	</type>
5295	<type name="VisualModel" context="Visual style definition">
5296	<description><![CDATA[Visual representation of the Creature object.]]></description>
5297	<element name="args" type="string">
5298	<description><![CDATA[style parameters: Vstyle=name(args)]]></description>
5299	</element>
5300	<element name="color" type="integer">
5301	<description><![CDATA[0xBBGGRR, 0x808080=normal, 0x000000=black, 0xffffff=extra bright]]></description>
5302	</element>
5303	<element name="jointshadow" type="float"/>
5304	<element name="partshadow" type="float"/>
5305	<element name="rootNode" type="integer"/>
5306	<element name="style" type="string">
5307	<description><![CDATA[visual style applied to this object]]></description>
5308	</element>
5309	<element name="getArg" function="true" type="string">
5310	<description><![CDATA[retrieve single style argument, as in:
5311	Vstyle=name(a=1,b=3)
5312	VisualModel.getArg("a") returns 1]]></description>
5313	<arguments>
5314	<argument name="name" type="string"/>
5315	</arguments>
5316	</element>
5317	</type>
5318	<type name="VisualStyle" context="Visual style definition">
5319	<element name="changedProperty" type="integer"/>
5320	<element name="changedPropertyId" type="string"/>
5321	<element name="code" type="string"/>
5322	<element name="info" type="string"/>
5323	<element name="modelpan" type="integer" min="0" max="3">
5324	<description><![CDATA[]]></description>
5325	</element>
5326	<element name="name" type="string"/>
5327	<element name="neurons" type="integer" min="0" max="1"/>
5328	<element name="shownames" type="integer" min="0" max="1">
5329	<description><![CDATA[]]></description>
5330	</element>
5331	<element name="smooth" type="integer" min="0" max="1"/>
5332	<element name="style" type="string"/>
5333	<element name="tex" type="integer" min="0" max="2"/>
5334	<element name="worldpan" type="integer" min="0" max="3">
5335	<description><![CDATA[]]></description>
5336	</element>
5337	<element name="add" function="true"/>
5338	<element name="addGroup" function="true"/>
5339	<element name="clear" function="true"/>
5340	<element name="rebuild" function="true"/>
5341	<element name="remove" function="true"/>
5342	<element name="removeGroup" function="true"/>
5343	<element name="streload" function="true"/>
5344	</type>
5345	<type name="World" context="Visual style definition">
5346	<description><![CDATA[Environment properties.]]></description>
5347	<element name="nnspeed" type="float" min="0" max="1000" default="1">
5348	<description><![CDATA[Number of neural network simulation steps in each physics simulation step]]></description>
5349	</element>
5350	<element name="signals" type="WorldSignals"/>
5351	<element name="simtype" type="integer" min="0" max="1" default="0">
5352	<description><![CDATA[MechaStick is a fast and simple primary Framsticks simulation engine.
5353	ODE is Open Dynamics Engine by Russel Smith et al.
5354
5355	NOTE: switching between simulation engines causes removal of all objects in the world (e.g. creatures).]]></description>
5356	</element>
5357	<element name="wrldbnd" type="integer" min="0" max="2" default="1"/>
5358	<element name="wrldg" type="float" min="0" max="10" default="1">
5359	<description><![CDATA[You can adjust gravity for your experiments.
5360	The "official" setting used to evaluate and compare creatures is 1.]]></description>
5361	</element>
5362	<element name="wrldmap" type="string">
5363	<description><![CDATA[Description of the world (Type: Blocks or Heighfield). Enter
5364	r <sizex> <sizey> [seed]
5365	to generate a random landscape, or
5366	m <sizex> <sizey> digits
5367	M <sizex> <sizey> numbers
5368	to provide height values.
5369
5370	See also the WorldMap object.]]></description>
5371	</element>
5372	<element name="wrldsiz" type="float" min="10" max="1000" default="20">
5373	<description><![CDATA[Side length of the world]]></description>
5374	</element>
5375	<element name="wrldtyp" type="integer" min="0" max="2" default="0"/>
5376	<element name="wrldwat" type="float" min="-20" max="30" default="-1"/>
5377	<element name="wrldchg" function="true" type="void"><arguments/></element>
5378	</type>
5379	<type name="WorldMap" context="Visual style definition">
5380	<description><![CDATA[Environment details for "Blocks" and "Heightfield" world type. The most important concept is a "Map", which is the array of Map elements. Internally, Maps have more elements than could be deduced from the user-supplied World.wrldsiz, as additional rows of element are added to provide smooth transitions to the flat surroundings.
5381
5382	Blocks: x/ysize=World.wrldsiz+4 rows of blocks (from which only 2+World.wrldsiz rows are placed within the world boundaries)
5383
5384	Smooth: x/ysize=World.wrldsiz+2 rows of vertices (creating World.wrldsiz+1 rows of triangles, everything within the world boundaries)
5385	]]></description>
5386	<element name="xsize" type="integer"/>
5387	<element name="ysize" type="integer"/>
5388	<element name="getHeight" function="true" type="float">
5389	<description><![CDATA[Height at any 2d coordinate]]></description>
5390	<arguments>
5391	<argument name="x" type="float"/>
5392	<argument name="y" type="float"/>
5393	</arguments>
5394	</element>
5395	<element name="getMap" function="true" type="Object">
5396	<description><![CDATA[retrieve map cell object]]></description>
5397	<arguments>
5398	<argument name="x" type="integer"/>
5399	<argument name="y" type="integer"/>
5400	</arguments>
5401	</element>
5402	<element name="intersect" function="true" type="Vector">
5403	<description><![CDATA[Calculate the intersection point between the world surface and the ray projected from "3d point" towards the given direction. 3D points are actually 3-elements Vector objects. The resulting vector contains the additional fourth element - the intersection point distance. The function returns null if there is no intersection.
5404
5405	See "standard_events.inc" file, which uses "intersect" for calculating the world coordinates corresponding to the user-clicked screen location.
5406	Bugs: This function does not currently handle the heightfield environment correctly (works as if it was flat)]]></description>
5407	<arguments>
5408	<argument name="3d point" type="Vector"/>
5409	<argument name="3d direction" type="Vector"/>
5410	<argument name="range" type="float"/>
5411	</arguments>
5412	</element>
5413	</type>
5414	<type name="Signal" context="Signal label formula">
5415	<element name="channel" type="string">
5416	<description><![CDATA[Channel name, readonly.]]></description>
5417	</element>
5418	<element name="flavor" type="float">
5419	<description><![CDATA[Signal flavor is can be used to differentiate between signals in a single channel. ]]></description>
5420	</element>
5421	<element name="pos" type="XYZ">
5422	<description><![CDATA[Signal position, readonly.]]></description>
5423	</element>
5424	<element name="power" type="float">
5425	<description><![CDATA[Signal power affects the aggregated signal value returned from receive() and receiveFilter().]]></description>
5426	</element>
5427	<element name="value" type="untyped">
5428	<description><![CDATA[Signal value can be any type. On the receiver side it is only available by accessing the individual Signal objects, i.e. after calling receiveSet() or receiveSingle(). The aggregating function receive() and receiveFilter() ignore this attribute.]]></description>
5429	</element>
5430	</type>
5431	<type name="ClassBrowser" context="Command line interface">
5432	<description><![CDATA[Object reference, can be used to provide online hints.]]></description>
5433	<element name="resultCount" type="integer"/>
5434	<element name="getLabel" function="true" type="string">
5435	<description><![CDATA[Short texual label of the search result.]]></description>
5436	<arguments>
5437	<argument name="item" type="integer"/>
5438	</arguments>
5439	</element>
5440	<element name="getText" function="true" type="string">
5441	<description><![CDATA[Complete result text.]]></description>
5442	<arguments>
5443	<argument name="item" type="integer"/>
5444	</arguments>
5445	</element>
5446	<element name="getType" function="true" type="integer">
5447	<description><![CDATA[0 = Unknown
5448	1 = Context
5449	2 = Class
5450	3 = Member
5451	4 = Integer field
5452	5 = Float field
5453	6 = String field
5454	7 = Object field
5455	8 = Function]]></description>
5456	<arguments>
5457	<argument name="item" type="integer"/>
5458	</arguments>
5459	</element>
5460	<element name="getTypeName" function="true" type="string">
5461	<arguments>
5462	<argument name="item" type="integer"/>
5463	</arguments>
5464	</element>
5465	<element name="search" function="true" type="integer">
5466	<description><![CDATA[Searches the class reference and returns the number of hits (results). getXXX(item) function can be used to retrieve the results.]]></description>
5467	<arguments>
5468	<argument name="Text" type="string"/>
5469	</arguments>
5470	</element>
5471	</type>
5472	<type name="CLI" context="Command line interface">
5473	<description><![CDATA[Commandline support functions.]]></description>
5474	<element name="cmdhandler" type="string"/>
5475	<element name="msgtype" type="integer" min="0" max="1"/>
5476	<element name="script" type="string"/>
5477	<element name="stdin" type="Object"/>
5478	<element name="stdout" type="Object"/>
5479	<element name="addMacro" function="true" type="void">
5480	<arguments>
5481	<argument name="name" type="string"/>
5482	<argument name="numargs" type="integer"/>
5483	<argument name="definition" type="string"/>
5484	<argument name="helptext" type="string"/>
5485	</arguments>
5486	</element>
5487	<element name="execute" function="true" type="void">
5488	<arguments>
5489	<argument name="command" type="string"/>
5490	</arguments>
5491	</element>
5492	<element name="listMacros" function="true" type="void"><arguments/></element>
5493	<element name="print" function="true" type="void">
5494	<arguments>
5495	<argument name="text" type="string"/>
5496	</arguments>
5497	</element>
5498	<element name="println" function="true" type="void">
5499	<arguments>
5500	<argument name="text" type="string"/>
5501	</arguments>
5502	</element>
5503	<element name="quit" function="true"/>
5504	<element name="removeMacro" function="true" type="void">
5505	<description><![CDATA[(numargs==-2) means remove all macros matching the name, otherwise only one definition is removed]]></description>
5506	<arguments>
5507	<argument name="name" type="string"/>
5508	<argument name="numargs" type="integer"/>
5509	</arguments>
5510	</element>
5511	</type>
5512	<type name="CreatureCharts" context="Command line interface">
5513	<description><![CDATA[Manages charts for monitoring creatures performance.
5514	This class has no corresponding static object. If you want to use it, you have to create an object or get a reference to the existing object.]]></description>
5515	<element name="creature" type="untyped"/>
5516	<element name="selected" type="integer"/>
5517	<element name="add" function="true">
5518	<description><![CDATA[return the new Window object with chart as its client
5519	arguments: property to be tracked]]></description>
5520	</element>
5521	<element name="addSelected" function="true">
5522	<description><![CDATA[Add the chart for currenly selected property]]></description>
5523	</element>
5524	<element name="createChart" function="true">
5525	<description><![CDATA[return the new chart object (can be client for Window)
5526	arguments: property to be tracked]]></description>
5527	</element>
5528	<element name="removeAll" function="true"/>
5529	<element name="resetAll" function="true">
5530	<description><![CDATA[Removes all data from the chart windows.]]></description>
5531	</element>
5532	</type>
5533	<type name="CreatureSelection" context="Command line interface">
5534	<element name="count" type="integer"/>
5535	<element name="add" function="true"/>
5536	<element name="clear" function="true"/>
5537	<element name="get" function="true"/>
5538	<element name="remove" function="true"/>
5539	</type>
5540	<type name="DynaChart" context="Command line interface">
5541	<description><![CDATA[Line chart (visual object). Can be used as the client object in the Window.]]></description>
5542	<element name="xscale" type="integer" min="1" max="20"/>
5543	<element name="add" function="true">
5544	<description><![CDATA[add new value]]></description>
5545	</element>
5546	<element name="clear" function="true" type="void"><arguments/></element>
5547	<element name="new" function="true" type="DynaChart"><arguments/></element>
5548	</type>
5549	<type name="DynaChart2D" context="Command line interface">
5550	<description><![CDATA[2D Line chart (visual object). Can be used as the client object in the Window.]]></description>
5551	<element name="memory" type="integer" min="1" max="1000" default="100">
5552	<description><![CDATA[maximum number of (x,y) pairs drawn in the graph.]]></description>
5553	</element>
5554	<element name="add" function="true" type="void">
5555	<description><![CDATA[add (x,y) values for the next graph point]]></description>
5556	<arguments>
5557	<argument name="x coordinate" type="float"/>
5558	<argument name="y coordinate" type="float"/>
5559	</arguments>
5560	</element>
5561	<element name="clear" function="true" type="void"><arguments/></element>
5562	<element name="new" function="true" type="DynaChart2D"><arguments/></element>
5563	</type>
5564	<type name="GLDisplay" context="Command line interface">
5565	<description><![CDATA[OpenGL display for the Framsticks Theater application.]]></description>
5566	<element name="active" type="integer" min="0" max="1"/>
5567	<element name="banner" type="string"/>
5568	<element name="desiredsimspeed" type="float" min="0" max="999999" default="0">
5569	<description><![CDATA[Desired simulation speed in steps/second. 0 = simulation is disabled.]]></description>
5570	</element>
5571	<element name="fps" type="float">
5572	<description><![CDATA[Frames Per Second (measured)]]></description>
5573	</element>
5574	<element name="fpsvisible" type="integer" min="0" max="1"/>
5575	<element name="maxfps" type="integer" min="1" max="100" default="30"/>
5576	<element name="messagesVisible" type="integer" min="0" max="1"/>
5577	<element name="messagesWindow" type="Object">
5578	<description><![CDATA[get window object (class Window)]]></description>
5579	</element>
5580	<element name="minfps" type="integer" min="1" max="100" default="5"/>
5581	<element name="simsteps" type="integer" min="0" max="999999" default="0">
5582	<description><![CDATA[0 = simulation is disabled. In most cases you should use desiredsimspeed as it ensures automatic throttle control.]]></description>
5583	</element>
5584	<element name="size_x" type="integer"/>
5585	<element name="size_y" type="integer"/>
5586	<element name="userspeed" type="float" min="0" max="100" default="1">
5587	<description><![CDATA[User interface sets this property to adjust simulation speed.]]></description>
5588	</element>
5589	<element name="clearMessages" function="true"/>
5590	<element name="createWindow" function="true" type="Window">
5591	<description><![CDATA[create and return the new window object.]]></description>
5592	<arguments>
5593	<argument name="style" type="integer"/>
5594	<argument name="title" type="string"/>
5595	<argument name="client" type="Object"/>
5596	</arguments>
5597	</element>
5598	<element name="deleteWindow" function="true" type="void">
5599	<arguments>
5600	<argument type="Window"/>
5601	</arguments>
5602	</element>
5603	<element name="draw" function="true"/>
5604	<element name="newCreatureCharts" function="true"/>
5605	<element name="newSimStatsCharts" function="true"/>
5606	<element name="quit" function="true"/>
5607	<element name="resume" function="true"/>
5608	<element name="stop" function="true"/>
5609	</type>
5610	<type name="NeuroDiagram" context="Command line interface">
5611	<description><![CDATA[Can be used as the client object in the Window.]]></description>
5612	<element name="hide" function="true" type="void"><arguments/></element>
5613	<element name="new" function="true"/>
5614	<element name="showCreature" function="true" type="void">
5615	<arguments>
5616	<argument type="Creature"/>
5617	</arguments>
5618	</element>
5619	<element name="showModel" function="true" type="void">
5620	<arguments>
5621	<argument type="Model"/>
5622	</arguments>
5623	</element>
5624	</type>
5625	<type name="RowFormat" context="Command line interface">
5626	<description><![CDATA[Used for creating simple listings of objects (in command line applications). There is only one shared RowFormat object. In order to use RowFormat you should first configure it, by adding column definitions (prepare or addColumn), i.e. defining column names and widths. Then, the "format" method can be invoked on a number of objects (of the same class) returning the formatted rows of the table.
5627
5628	Example:
5629	RowFormat.clear();
5630	RowFormat.prepare(Genotype.*,"name/20,strsiz/5,nnsiz/5,fit/6");
5631	CLI.println(RowFormat.format(Genotype.*));]]></description>
5632	<element name="fieldsep" type="string">
5633	<description><![CDATA[The character used for separating columns]]></description>
5634	</element>
5635	<element name="fillchar" type="string">
5636	<description><![CDATA[The characted used for padding the columns contents]]></description>
5637	</element>
5638	<element name="header" type="string">
5639	<description><![CDATA[Contains the field names with the same formatting applied (i.e. with fill and separators)]]></description>
5640	</element>
5641	<element name="addColumn" function="true" type="void">
5642	<description><![CDATA[Low level call, adds a single column. "prepare" is better.]]></description>
5643	<arguments>
5644	<argument name="Field#" type="integer"/>
5645	<argument name="Column width" type="integer"/>
5646	</arguments>
5647	</element>
5648	<element name="clear" function="true" type="void">
5649	<description><![CDATA[Remove all existing column definitions.]]></description>
5650	<arguments/></element>
5651	<element name="format" function="true" type="string">
5652	<description><![CDATA[Returns the formatted string taking data from the supplied object.]]></description>
5653	<arguments>
5654	<argument name="Object" type="Object"/>
5655	</arguments>
5656	</element>
5657	<element name="prepare" function="true" type="void">
5658	<description><![CDATA[Adds a number of columns, described as FIELD_NAME/WIDTH, columns are separated by "," (comma). Existing column definitions are not removed. Usually you will need to call "clear()" before "prepare".]]></description>
5659	<arguments>
5660	<argument name="Object" type="Object"/>
5661	<argument name="Column Descriptions" type="string"/>
5662	</arguments>
5663	</element>
5664	</type>
5665	<type name="ShowManager" context="Command line interface">
5666	<element name="changedProperty" type="integer"/>
5667	<element name="changedPropertyId" type="string"/>
5668	<element name="code" type="string"/>
5669	<element name="dispinfo" type="integer" min="0" max="2"/>
5670	<element name="expdef" type="string"/>
5671	<element name="info" type="string"/>
5672	<element name="mode" type="integer" min="0" max="2"/>
5673	<element name="name" type="string"/>
5674	<element name="regname" type="string"/>
5675	<element name="show" type="string"/>
5676	<element name="showlog" type="integer" min="0" max="1"/>
5677	<element name="switchmode" type="integer" min="0" max="2"/>
5678	<element name="switchshows" type="string">
5679	<description><![CDATA[names of the shows participating in automatic switching (comma separated). Use * as a wildcard.]]></description>
5680	</element>
5681	<element name="switchtime" type="integer" min="0" max="9999">
5682	<description><![CDATA[time between switching (seconds)]]></description>
5683	</element>
5684	<element name="userspeed" type="integer" min="0" max="5" default="3"/>
5685	<element name="about" function="true"/>
5686	<element name="add" function="true"/>
5687	<element name="addGroup" function="true"/>
5688	<element name="clear" function="true"/>
5689	<element name="dummy" function="true">
5690	<description><![CDATA[This is the empty item in the Theater's menu]]></description>
5691	</element>
5692	<element name="reload" function="true"/>
5693	<element name="remove" function="true"/>
5694	<element name="removeGroup" function="true"/>
5695	</type>
5696	<type name="SimStatsCharts" context="Command line interface">
5697	<description><![CDATA[Manages charts for monitoring simulator statistics.
5698	This class has no corresponding static object. If you want to use it, you have to create an object or get a reference to the existing object.]]></description>
5699	<element name="selected" type="integer"/>
5700	<element name="add" function="true"/>
5701	<element name="createChart" function="true"/>
5702	<element name="removeAll" function="true"/>
5703	<element name="resetAll" function="true">
5704	<description><![CDATA[Removes all data from the chart windows.]]></description>
5705	</element>
5706	<element name="sscAddSelected" function="true"/>
5707	</type>
5708	<type name="TrackingCam" context="Command line interface">
5709	<description><![CDATA[Camera object with the automatic target tracking ability.]]></description>
5710	<element name="cam_change" type="integer" min="0" max="5" default="3"/>
5711	<element name="cam_chspeed" type="float" min="0.1" max="10" default="1"/>
5712	<element name="cam_dir" type="float" min="0" max="360" default="30"/>
5713	<element name="cam_distrac" type="integer" min="0" max="1" default="0">
5714	<description><![CDATA[Suspend automatic tracking when the camera is moved manually]]></description>
5715	</element>
5716	<element name="cam_h" type="float" min="0" max="360" default="45">
5717	<description><![CDATA[0=side view, 90=top view]]></description>
5718	</element>
5719	<element name="cam_restrac" type="integer" min="0" max="100" default="10">
5720	<description><![CDATA[Restore automatic tracking after some period of time
5721	(0 to never restore automatic tracking)]]></description>
5722	</element>
5723	<element name="cam_tracking" type="integer" min="0" max="3" default="1"/>
5724	<element name="cam_trspeed" type="float" min="0.1" max="10" default="5"/>
5725	<element name="cam_zoom" type="float" min="0.2" max="3" default="0.8"/>
5726	<element name="cam_restore" function="true" type="void">
5727	<description><![CDATA[Update camera position and restore automatic tracking]]></description>
5728	<arguments/></element>
5729	<element name="moveTarget" function="true" type="void">
5730	<description><![CDATA[notify about the target location/size change]]></description>
5731	<arguments>
5732	<argument name="location x" type="float"/>
5733	<argument name="location y" type="float"/>
5734	<argument name="location z" type="float"/>
5735	<argument name="target size" type="float"/>
5736	</arguments>
5737	</element>
5738	<element name="setTarget" function="true" type="void">
5739	<description><![CDATA[select a new target for the camera]]></description>
5740	<arguments>
5741	<argument name="location x" type="float"/>
5742	<argument name="location y" type="float"/>
5743	<argument name="location z" type="float"/>
5744	<argument name="target size" type="float"/>
5745	</arguments>
5746	</element>
5747	<element name="setViewDir" function="true" type="void">
5748	<description><![CDATA[heading: 0..360, height: -90..+90]]></description>
5749	<arguments>
5750	<argument name="heading angle" type="float"/>
5751	<argument name="height angle" type="float"/>
5752	</arguments>
5753	</element>
5754	</type>
5755	<type name="VisualStyle" context="Command line interface">
5756	<element name="changedProperty" type="integer"/>
5757	<element name="changedPropertyId" type="string"/>
5758	<element name="code" type="string"/>
5759	<element name="info" type="string"/>
5760	<element name="modelpan" type="integer" min="0" max="3">
5761	<description><![CDATA[]]></description>
5762	</element>
5763	<element name="name" type="string"/>
5764	<element name="neurons" type="integer" min="0" max="1"/>
5765	<element name="shownames" type="integer" min="0" max="1">
5766	<description><![CDATA[]]></description>
5767	</element>
5768	<element name="smooth" type="integer" min="0" max="1"/>
5769	<element name="style" type="string"/>
5770	<element name="tex" type="integer" min="0" max="2"/>
5771	<element name="worldpan" type="integer" min="0" max="3">
5772	<description><![CDATA[]]></description>
5773	</element>
5774	<element name="add" function="true"/>
5775	<element name="addGroup" function="true"/>
5776	<element name="clear" function="true"/>
5777	<element name="rebuild" function="true"/>
5778	<element name="remove" function="true"/>
5779	<element name="removeGroup" function="true"/>
5780	<element name="streload" function="true"/>
5781	</type>
5782	<type name="Window" context="Command line interface">
5783	<description><![CDATA[Window object, used in the Framsticks Theater application.
5784	This class has no corresponding static object. If you want to use it, you have to create an object or get a reference to the existing object.
5785	See also: GLDisplay]]></description>
5786	<element name="backcolor" type="integer">
5787	<description><![CDATA[format: 0xAABBGGRR (alpha,blue,green,red)]]></description>
5788	</element>
5789	<element name="client" type="Object">
5790	<description><![CDATA[what is displayed in the window]]></description>
5791	</element>
5792	<element name="pos_x" type="integer"/>
5793	<element name="pos_y" type="integer"/>
5794	<element name="size_x" type="integer"/>
5795	<element name="size_y" type="integer"/>
5796	<element name="style" type="integer">
5797	<description><![CDATA[bitfield:
5798	1 - border
5799	2 - title
5800	4 - Opaque background
5801	8 - Close button
5802	16 - resizable]]></description>
5803	</element>
5804	<element name="title" type="string"/>
5805	</type>
5806	</framscript>

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