bodysim
default=1
Body simulation
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.
colmask
default=0
Collision mask (deprecated)
DEPRECATED. You should use selfmask and othermask (these masks are also much easier to understand than the old colmask field).
death
default=1
Death
Do creatures die when no energy?
em_dyn
default=0
Muscle dynamic work
Energy requirements for a muscle
moving a stick
em_stat
default=0
Muscle static work
Energy requirements for a muscle
resisting an external force
en_assim
default=0
Assimilation productivity
Maximal energy gain produced by a vertical specialized stick.
Horizontal specialized sticks get half of this value.
enableperf
Performance calculation
Stabilization means no significant movement during a specified period of time.
energy
default=1
Energy calculation
If turned off, creature's energy will be constant
index
group index
killnostable
default=1000000
Kill if no stabilization after
Creatures that fail to stabilize after the specified waiting period (e.g. because they are continuously rolling) will be killed. 0 disables this feature.
name
Group name
nnsim
Neural net simulation
Stabilization means no significant movement during a specified period of time.
othermask
default=0
Collision mask (other)
See selfmask.
perfperiod
default=100
Performance sampling period
Defines how often onUpdate() events are called. Also used to compute partial performance of creatures (distance, speed, etc.) and to determine stabilization.
selfcol
default=0
Detect self-collisions
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.
selfmask
default=0
Collision mask (self)
Collisions between objects can be handled in two ways:
- standard 'mechanical' collision (simple 'rebound' effect)
- special script handler (On[GROUPNAME]Collision function)
In the script handler function, use the Collision object to access the two colliding parts of two creatures.
The first part in the Collision object (i.e. Collision.Creature1) always concerns the creature that belongs to [GROUPNAME].
The handler is called once for each creature that collides with the creature from [GROUPNAME].
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.
Examples:
1.With one group, all possible combinations of the collision handlers are as follows:
- ignore collisions (e.g. selfmask=othermask=0)
- use standard handling (e.g. selfmask=othermask=1)
- use custom handling (e.g. selfmask=othermask=0x10000)
- use standard and custom handling (e.g. selfmask=othermask=0x10001)
2.Two groups yield more interesting cases. Let us consider the 'standard.expdef' setting:
Creatures: selfmask=0x10001, othermask=0x20001
Food colmask = selfmask=0x20002, othermask=0x10002
There are three possible scenarios:
- creature and creature: collision value = 0x10001 & 0x20001 = 1 -> Standard handling will be used (1 is one of the lower 16 bits)
- food and food: collision value = 0x20002 & 0x10002 = 2 -> As above.
- creature and food: collision value = (0x10001 & 0x10002) or (0x20002 & 0x20001) = 0x10000 or 0x20000 -> Custom handling will be used (higher 16 bits).
size
Number of creatures
stabilperiod
default=100
Sampling period while waiting
"Performance sampling period" for the stabilization phase.
stabledist
default=0.01
Allowed distance to be stable
A creature is considered stabilized when its center of gravity stays within the specified distance after the "Sampling period while waiting" has elapsed.
createFromGeno
function createFromGeno(Geno)uses the supplied Geno object
createFromGenotype
function createFromGenotype()uses the selected Genotype object
createFromString
function createFromString(string genotype)uses the supplied string argument
delete
function delete(integer creature_index)delete creature
findCreatureAt
function findCreatureAt(Vector point, Vector vector) findUID
find creature by UID
function findUID(string uid) get
get creature object
function get(integer index) kill
function kill(integer creature_index)kill creature
senseCreaturesProperty
senseCreaturesProperty
function senseCreaturesProperty(float x, float y, float z, string propertyname, Creature exclude)arguments:
- x,y,z (sensor position)
- property (name, name[index] or Class:id). name[index] can be used for Vector objects inside the user fields, eg "user2[10]"
- exclude (creature object)
works like a smell sensor for a given property (for all creatures in this group except "exclude").
The following function reproduces the "classic" framsticks "S" sensor:
function smellReceptorValue(x,y,z,exclude)
{
var i,s=0; for(i=0;i<Populations.size;i++)
s+=Populations[0].senseCreaturesProperty(x,y,z,"energy",exclude);
return s;
}