Merge remote-tracking branch 'upstream/develop' into feature-improve-…

…node-field-query-api

docs/reference/changelog-r2024.md

@@ -5,6 +5,7 @@ Released on December **th, 2023.
   - New Features
     - **Change the name of the web scene format from `X3D` to `W3D` ([#6280](https://github.com/cyberbotics/webots/pull/6280)).**
     - Removed support for macOS 11 "Big Sur" and added support for macOS 14 "Sonoma" ([#6580](https://github.com/cyberbotics/webots/pull/6580)).
+    - Added the `indirectFieldAccess` tag to allow the `fields` variable to be used in proto templates without referencing a specific field ([#6614](https://github.com/cyberbotics/webots/pull/6614)).
     - Added a method to include all subtypes of a node type in a PROTO field restriction ([#6574](https://github.com/cyberbotics/webots/pull/6574)).
   - Enhancements
     - Improved the image range of the rotating [Lidar](lidar.md) ([#6324](https://github.com/cyberbotics/webots/pull/6324)).
@@ -18,5 +19,8 @@ Released on December **th, 2023.
     - Fixed crashes (with some graphics cards) caused by references to unused GLSL uniforms ([#6587](https://github.com/cyberbotics/webots/pull/6587)).
     - Fixed `Brake`s added to the second axis of a `Hinge2Joint` being applied to the non-transformed axis ([#6584](https://github.com/cyberbotics/webots/pull/6584)).
     - Fixed invalid absolute sound file path resulted in crash ([#6593](https://github.com/cyberbotics/webots/pull/6593))
+    - Fixed Speaker relative sound file path not working with external controller ([#6605](https://github.com/cyberbotics/webots/pull/6605)).
     - Fixed the bug that when the language is Python, getTargets() cannot correctly obtain the multi-target data detected by the radar ([#6606](https://github.com/cyberbotics/webots/pull/6606))
+    - Fixed incomplete loading while minimized under some windowing systems ([#6617](https://github.com/cyberbotics/webots/pull/6617)).
+    - Fixed unitialized sliding friction when using asymmetric rolling friction ([#6618](https://github.com/cyberbotics/webots/pull/6618)).
     - Fixed handling of remote assets from unofficial sources ([#6585](https://github.com/cyberbotics/webots/pull/6585)).

docs/reference/javascript-procedural-proto.md

@@ -27,6 +27,8 @@ The first represents the effective value of the field (for instance the one defi
 - As shown in [this table](#vrml97-type-to-javascript-type-conversion), the conversion of a VRML97 node is an object.
 This object contains the following keys: "node\_name" containing the VRML97 node name and "fields" which is in turn an object containing the JavaScript representation of the VRML97 node fields.
 This object is equal to `undefined` if the VRML97 node is not defined (`NULL`).
+- By default, the parser only detects fields that are accessed directly in the template statements (i.e. `fields.appearance`).
+If you would like to access the `fields` object without referencing a specific field, you can add the following line at the beginning of the PROTO file: `# tags: indirectFieldAccess`.
 - Objects that are part of [ECMA-262](http://www.ecma-international.org/publications/standards/Ecma-262.htm) are built-in and globally accessible, such as `Math`, `Date` and `String`.
 - The `context` object provides contextual information about the PROTO.
 Table [this table](#content-of-the-context-object) shows the available information and the corresponding keys.
@@ -823,6 +825,14 @@ The location of this path can be retrieved from the `context` field object, see
 
 %end
 
+### PROTO Regeneration
+When a field used in a template statement is modified, the PROTO node is regenerated.
+This means that the template statements are re-evaluated and the PROTO node is reloaded in the world.
+For most nodes, this behavior should not affect the simulation.
+However, special care should be taken when using PROTOs that have side effects (e.g. writing to a file).
+Additionally, Robot nodes will restart their controllers when regenerated.
+Using `tags: indirectFieldAccess` in the PROTO file will cause the PROTO to be regenerated whenever any field is modified, even if it is not used in a template statement.
+
 ### Optimization
 
 By default, PROTO files are considered to be deterministic.

docs/reference/lua-procedural-proto.md

@@ -24,6 +24,8 @@ The conversion between the VRML97 types and the Lua types is detailed in [this t
 This dictionary contains the following keys: "node\_name" containing the VRML97 node name and "fields" which is a dictionary containing the Lua representation of the VRML97 node fields.
 This dictionary is equal to `nil` if the VRML97 node is not defined (`NULL`).
 For example, in the SimpleStairs example below, the `fields.appearance.node_name` key contains the `'Appearance'` string.
+- By default, the parser only detects fields that are accessed directly in the template statements (i.e. `fields.appearance`).
+If you would like to access the `fields` object without referencing a specific field, you can add the following line at the beginning of the PROTO file: `# tags: indirectFieldAccess`.
 - The `context` dictionary provides contextual information about the PROTO.
 Table [this table](#content-of-the-context-dictionary) shows the available information and its corresponding keys.
 - The VRML97 comment ("#") prevails over the Lua statements.
@@ -88,6 +90,14 @@ The following standard fonts are available to write on the texture:
 
 In addition to these fonts, it is possible to add other TrueType fonts file in your `PROJECT_HOME/fonts` directory.
 
+### PROTO Regeneration
+When a field used in a template statement is modified, the PROTO node is regenerated.
+This means that the template statements are re-evaluated and the PROTO node is reloaded in the world.
+For most nodes, this behavior should not affect the simulation.
+However, special care should be taken when using PROTOs that have side effects (e.g. writing to a file).
+Additionally, Robot nodes will restart their controllers when regenerated.
+Using `tags: indirectFieldAccess` in the PROTO file will cause the PROTO to be regenerated whenever any field is modified, even if it is not used in a template statement.
+
 ### Optimization
 
 By default, PROTO files are considered to be deterministic.

docs/reference/speaker.md

@@ -111,9 +111,11 @@ Finally, the boolean `loop` argument defines if the sound will be played only on
 
 It is possible to change the volume, pitch, balance, and loop parameters of a sound currently playing by calling again the `wb_speaker_play_sound` function with the same speakers and `sound` arguments.
 
-> **Note**: The path to the sound file should be defined either absolutely or relatively.
-If defined relatively, it will be searched first relatively to the robot controller folder.
-If not found there and if the robot is a PROTO, it will be searched relatively to the PROTO folder of the robot.
+> **Note**: The path to the sound file can be defined either absolutely or relatively.
+If the file path is accessible by the robot controller either absolutely or relative to its working directory, it is loaded by the controller and its contents are streamed to Webots.
+If the file is not found by the controller, the given path is passed to Webots.
+Webots will first search for the path relative to the robot controller folder.
+If the file is not found relative to the controller folder and the robot is a PROTO, Webots will search for the sound file relative to the folder of the PROTO file.
 
 ---
 

include/wren/scene.h

@@ -42,8 +42,9 @@ void wr_scene_apply_pending_updates(WrScene *scene);
 
 /* The 'materialName' parameter is optional (can be set to NULL for default), and if set, force
 the renderables to use the named material */
-void wr_scene_render(WrScene *scene, const char *material_name, bool culling);
-void wr_scene_render_to_viewports(WrScene *scene, int count, WrViewport **viewports, const char *material_name, bool culling);
+void wr_scene_render(WrScene *scene, const char *material_name, bool culling, bool offScreen);
+void wr_scene_render_to_viewports(WrScene *scene, int count, WrViewport **viewports, const char *material_name, bool culling,
+                                  bool offScreen);
 
 void wr_scene_set_ambient_light(const float *ambient_light);
 

src/controller/c/speaker.c

@@ -40,6 +40,8 @@ struct Sound {
   bool need_update;
   bool need_stop;
   bool is_playing;
+  unsigned char *upload_data;  // sound data for uploading to webots
+  int upload_size;             // size of sound data
   struct Sound *next;
 };
 
@@ -257,6 +259,18 @@ static void speaker_write_request(WbDevice *d, WbRequest *r) {
         else
           request_write_char(r, 0);
       }
+
+      request_write_int32(r, sound->upload_size);
+      if (sound->upload_size) {
+        /* Sound data available to stream, send it one time and discard it.
+         * Webots will cache the data inside the device.
+         */
+        request_write_data(r, sound->upload_data, sound->upload_size);
+        free(sound->upload_data);
+        sound->upload_data = NULL;
+        sound->upload_size = 0;
+      }
+
       sound->need_update = false;
       sound = sound->next;
     }
@@ -298,6 +312,43 @@ static void speaker_toggle_remote(WbDevice *d, WbRequest *r) {
   // nothing to do.
 }
 
+/* Try to read sound file contents if it is found by given path. */
+static void speaker_try_load_sound_local(Sound *sound, const char *sound_file_name) {
+  FILE *fp;
+
+  sound->upload_data = NULL;
+  sound->upload_size = 0;
+
+  if ((fp = fopen(sound_file_name, "rb")) != NULL) {
+    if (fseek(fp, 0L, SEEK_END) == 0) {
+      const long file_size = ftell(fp);
+      if (file_size != -1) {
+        if (fseek(fp, 0L, SEEK_SET) == 0) {
+          size_t consumed = 0U;
+          sound->upload_data = malloc(file_size);
+          sound->upload_size = (int)file_size;
+          while (consumed < file_size) {
+            const size_t read = fread(&sound->upload_data[consumed], sizeof(unsigned char), file_size - consumed, fp);
+            if (ferror(fp)) {
+              free(sound->upload_data);
+              sound->upload_data = NULL;
+              sound->upload_size = 0;
+              break;
+            }
+            consumed += read;
+          }
+        }
+      }
+    }
+
+    if (sound->upload_data == NULL) {
+      fprintf(stderr, "Warning: %s() failed to read sound file '%s' :", __FUNCTION__, sound_file_name);
+      perror(NULL);
+    }
+    fclose(fp);
+  }
+}
+
 static void speaker_play_sound(WbDevice *device, const char *sound_name, double volume, double pitch, double balance, bool loop,
                                int side) {
   Sound *sound = speaker_get_sound_if_exist(device, sound_name);
@@ -309,6 +360,8 @@ static void speaker_play_sound(WbDevice *device, const char *sound_name, double
     memcpy(sound->sound_file, sound_name, l);
     sound->next = ((Speaker *)device->pdata)->sound_list;
     ((Speaker *)device->pdata)->sound_list = sound;
+
+    speaker_try_load_sound_local(sound, sound_name);
   }
   sound->volume = volume;
   sound->pitch = pitch;

src/webots/engine/WbSimulationCluster.cpp

@@ -320,8 +320,15 @@ void WbSimulationCluster::fillSurfaceParameters(const WbContactProperties *cp, c
   // handle rolling friction
   if (rho[0] > 0 || rho[1] > 0 || rho[2] > 0) {
     contact->surface.mode = contact->surface.mode | dContactRolling;
-    if (rho[1] > 0 || rho[2] > 0)
+    if (rho[1] > 0 || rho[2] > 0) {
+      // ODE will use asymmetric sliding friction if we set dContactAxisDep (because dContactAxisDep
+      // == dContactMu2), so we need to make sure mu2 is set. If it wasn't already set above, we
+      // want symmetric sliding friction which means setting mu2 = mu (like ODE would do if
+      // dContactMu2 was not set.)
+      if (!(contact->surface.mode & dContactMu2))
+        contact->surface.mu2 = contact->surface.mu;
       contact->surface.mode = contact->surface.mode | dContactAxisDep;
+    }
 
     contact->surface.rho = rho[0];
     contact->surface.rho2 = rho[1];

src/webots/gui/WbView3D.cpp

@@ -1111,8 +1111,9 @@ void WbView3D::setWorld(WbSimulationWorld *w) {
 
   WbWrenOpenGlContext::doneWren();
 
-  // first rendering without culling to make sure every meshes/textures are actually loaded on the GPU
-  renderNow(false);
+  // first rendering is offscreen without culling to make sure every meshes/textures are actually
+  // loaded on the GPU
+  renderNow(false, true);
 }
 
 void WbView3D::restoreOptionalRendering(const QStringList &enabledCenterOfMassNodeNames,
@@ -1441,7 +1442,7 @@ void WbView3D::resizeWren(int width, int height) {
   emit resized();
 }
 
-void WbView3D::renderNow(bool culling) {
+void WbView3D::renderNow(bool culling, bool offScreen) {
   if (!wr_gl_state_is_initialized())
     initialize();
 
@@ -1461,7 +1462,7 @@ void WbView3D::renderNow(bool culling) {
       WbWrenOpenGlContext::doneWren();
     } else
 #endif
-      WbWrenWindow::renderNow(culling);
+      WbWrenWindow::renderNow(culling, offScreen);
     mLastRefreshTimer.start();
     emit mainRenderingEnded(mPhysicsRefresh);
 

src/webots/gui/WbView3D.hpp

@@ -97,7 +97,7 @@ public slots:
 
 protected slots:
   // cppcheck-suppress virtualCallInConstructor
-  void renderNow(bool culling = true) override;
+  void renderNow(bool culling = true, bool offScreen = false) override;
 
 protected:
   void initialize() override;

src/webots/gui/WbWrenWindow.cpp

@@ -200,8 +200,8 @@ void WbWrenWindow::renderLater() {
   }
 }
 
-void WbWrenWindow::renderNow(bool culling) {
-  if (!isExposed() || !wr_gl_state_is_initialized())
+void WbWrenWindow::renderNow(bool culling, bool offScreen) {
+  if ((!isExposed() && !offScreen) || !wr_gl_state_is_initialized())
     return;
 
   static int first = true;
@@ -225,9 +225,10 @@ void WbWrenWindow::renderNow(bool culling) {
 
   WbWrenOpenGlContext::makeWrenCurrent();
 
-  wr_scene_render(wr_scene_get_instance(), NULL, culling);
+  wr_scene_render(wr_scene_get_instance(), NULL, culling, offScreen);
 
-  WbWrenOpenGlContext::instance()->swapBuffers(this);
+  if (!offScreen)
+    WbWrenOpenGlContext::instance()->swapBuffers(this);
   WbWrenOpenGlContext::doneWren();
 
   if (mVideoStreamingServer && mVideoStreamingServer->isNewFrameNeeded() && !first)

src/webots/gui/WbWrenWindow.hpp

@@ -65,7 +65,7 @@ public slots:
 
 protected:
   virtual void initialize();
-  virtual void renderNow(bool culling = true);
+  virtual void renderNow(bool culling = true, bool offScreen = false);
   virtual void resizeWren(int width, int height);
   bool event(QEvent *event) override;
 

src/webots/nodes/WbSpeaker.cpp

@@ -27,6 +27,7 @@
 
 #include "../../controller/c/messages.h"
 
+#include <QtCore/QBuffer>
 #include <QtCore/QDataStream>
 #include <QtCore/QDir>
 
@@ -61,6 +62,10 @@ WbSpeaker::~WbSpeaker() {
   }
   mSoundSourcesMap.clear();
   mPlayingSoundSourcesMap.clear();
+
+  foreach (QByteArray *buffer, mStreamedSoundDataMap)
+    delete buffer;
+  mStreamedSoundDataMap.clear();
 }
 
 void WbSpeaker::postFinalize() {
@@ -79,21 +84,8 @@ void WbSpeaker::handleMessage(QDataStream &stream) {
       int numberOfSound = 0;
       stream >> numberOfSound;
       for (int i = 0; i < numberOfSound; ++i) {
-        short size;
-        short side;
-        double volume;
-        double pitch;
-        double balance;
-        unsigned char loop;
-        stream >> size;
-        char soundFile[size];
-        stream.readRawData(soundFile, size);
-        stream >> volume;
-        stream >> pitch;
-        stream >> balance;
-        stream >> side;
-        stream >> loop;
-        playSound(soundFile, volume, pitch, balance, (bool)loop, (int)side);
+        SoundPlayData playData(stream);
+        playSound(playData);
       }
       return;
     }
@@ -194,18 +186,28 @@ void WbSpeaker::playText(const char *text, double volume) {
   }
 }
 
-void WbSpeaker::playSound(const char *file, double volume, double pitch, double balance, bool loop, int side) {
-  QString filename = QString(file);
-  QString key = filename;
-  if (side == -1)
+void WbSpeaker::playSound(SoundPlayData &playData) {
+  const QString filename(playData.file());
+  QString key(filename);
+  if (playData.side() == -1)
     key += "_left";
-  else if (side == 1)
+  else if (playData.side() == 1)
     key += "_right";
 
+  // Controller streamed sound data available ?
+  if (playData.rawLength() && !mStreamedSoundDataMap.contains(filename))
+    mStreamedSoundDataMap[filename] = new QByteArray(playData.rawData());
+  QByteArray *cachedSoundData = NULL;
+  if (mStreamedSoundDataMap.contains(key))
+    cachedSoundData = mStreamedSoundDataMap[key];
+
   if (!mSoundSourcesMap.contains(key)) {  // this sound was never played
     QString path;
+    // check if sound data was streamed from controller
+    if (cachedSoundData)
+      path = filename;
     // check if the path is absolute
-    if (QDir::isAbsolutePath(filename) && QFile::exists(filename))
+    if (path.isEmpty() && QDir::isAbsolutePath(filename) && QFile::exists(filename))
       path = filename;
     // check if the path is relative to the controller
     if (path.isEmpty() && QFile::exists(mControllerDir + filename))
@@ -221,7 +223,18 @@ void WbSpeaker::playSound(const char *file, double volume, double pitch, double
     WbSoundSource *source = WbSoundEngine::createSource();
     updateSoundSource(source);
     const QString extension = filename.mid(filename.lastIndexOf('.') + 1).toLower();
-    const WbSoundClip *soundClip = WbSoundEngine::sound(path, extension, NULL, balance, side);
+
+    // Use controller streamed sound data if available.
+    QBuffer *device = NULL;
+    if (cachedSoundData) {
+      device = new QBuffer(cachedSoundData);
+      device->open(QBuffer::ReadOnly);
+    }
+
+    const WbSoundClip *soundClip = WbSoundEngine::sound(path, extension, device, playData.balance(), playData.side());
+    delete device;
+    device = NULL;
+
     if (!soundClip) {
       this->warn(tr("Impossible to play '%1'. Make sure the file format is supported (8 or 16 bits, mono or stereo wave).\n")
                    .arg(filename));
@@ -237,9 +250,9 @@ void WbSpeaker::playSound(const char *file, double volume, double pitch, double
     mPlayingSoundSourcesMap[key] = source;
     if (!source->isPlaying())  // this sound was already played but is over
       source->play();
-    source->setLooping(loop);
-    source->setGain(volume);
-    source->setPitch(pitch);
+    source->setLooping(playData.loop());
+    source->setGain(playData.volume());
+    source->setPitch(playData.pitch());
     if (WbSimulationState::instance()->isPaused() || WbSimulationState::instance()->isStep())
       source->pause();
   }
@@ -280,3 +293,24 @@ void WbSpeaker::updateSoundSource(WbSoundSource *source) {
   source->setVelocity(linearVelocity());
   source->setDirection(rotationMatrix() * WbVector3(0, 1, 0));
 }
+
+WbSpeaker::SoundPlayData::SoundPlayData(QDataStream &stream) : mFile(), mRawData() {
+  short size;
+  unsigned char loopByte;
+  stream >> size;
+  char soundFile[size];
+  stream.readRawData(soundFile, size);
+  mFile = QString(soundFile);
+
+  stream >> mVolume;
+  stream >> mPitch;
+  stream >> mBalance;
+  stream >> mSide;
+  stream >> loopByte;
+  mLoop = (bool)loopByte;
+  stream >> mRawLength;
+  if (mRawLength) {
+    mRawData.resize(mRawLength);
+    stream.readRawData(mRawData.data(), mRawLength);
+  }
+}