Add multiplier support for web protos

projects/robots/a4/portal/protos/Portal.proto

@@ -1,7 +1,7 @@
 #VRML_SIM R2023b utf8
 # license: Copyright Cyberbotics Ltd. Licensed for use only with Webots.
 # license url: https://cyberbotics.com/webots_assets_license
-# documentation url: https://www.cyberbotics.com/doc/guide/portal
+# documentation url: https://proto.webots.cloud/run?url=https://github.com/cyberbotics/webots/blob/released/projects/robots/a4/portal/protos/Portal.proto
 # Portal PICAXE-28X2 (A4 TECHNOLOGIE)
 # This small portal model is used for education with PICAXE programming tools
 
@@ -314,7 +314,7 @@ PROTO Portal [
           }
           DEF GEAR_JOINT HingeJoint {
             jointParameters HingeJointParameters {
-              position 0.12
+              position 1,2
               axis 0 0 1
               anchor -0.0058 0.057 0.012
             }

projects/robots/a4/portal/protos/docs/portal.md

@@ -0,0 +1,36 @@
+The [A4 Portal](http://www.a4.fr/automatisme-et-robotique/maquettes-automatisees/portail-coulissant-automatise.html) is a sliding portal designed for teaching automatized systems.
+It uses the PICAXE programming kit.
+
+### Movie Presentation
+
+![youtube video](https://www.youtube.com/watch?v=vBS7t1eQINs)
+
+### Portal PROTO
+
+Derived from [Robot](https://cyberbotics.com/doc/reference/robot).
+
+```
+Portal {
+  SFVec3f    translation     0 0 0
+  SFRotation rotation        0 0 1 0
+  SFString   name            "Portal"
+  SFString   controller      "<generic>"
+  MFString   controllerArgs  []
+  SFString   customData      ""
+  SFBool     supervisor      FALSE
+  SFBool     synchronization TRUE
+  MFNode     extensionSlot   []
+}
+```
+
+#### Portal Field Summary
+
+- `extensionSlot`: Extends the robot with new nodes in the extension slot.
+
+### Samples
+
+You will find the following sample in this folder: "WEBOTS\_HOME/projects/robots/a4/portal/worlds".
+
+#### portal\_pe.wbt
+
+![portal_pe.wbt.png](images/portal/portal_pe.wbt.thumbnail.jpg) This simulation shows the portal model.

projects/robots/a4/portal/webots.yaml

@@ -0,0 +1 @@
+publish: true

resources/web/wwi/FloatingProtoParameterWindow.js

@@ -1505,11 +1505,11 @@ export default class FloatingProtoParameterWindow extends FloatingWindow {
 
         div.appendChild(this.#createJointInfo(jointType, endPointName, joint.device));
         const parameters = joint.jointParameters;
-        this.#createSlider(parameters, joint.device, div, _ => {
+        this.#createSlider(parameters, joint.device, div, value => {
           if (parameters)
-            parameters.position = _.target.value;
+            parameters.position = value;
           else
-            joint.position = _.target.value;
+            joint.position = value;
           this.#view.x3dScene.render();
         });
 
@@ -1709,14 +1709,15 @@ export default class FloatingProtoParameterWindow extends FloatingWindow {
 
     slider.addEventListener('input', _ => {
       if (typeof callback === 'function')
-        callback(_);
+        callback(_.target.value);
 
       if (slider.motorName?.includes('::')) {
         const coupledMotorName = slider.motorName.split('::')[0];
         for (let i = 0; i < this.coupledSlidersList.length; i++) {
           if (this.coupledSlidersList[i].motorName.startsWith(coupledMotorName)) {
-            this.coupledSlidersList[i].value = slider.value;
-            this.coupledSlidersList[i].callback(_);
+            const newValue = slider.value * this.coupledSlidersList[i].multiplier / slider.multiplier;
+            this.coupledSlidersList[i].value = newValue;
+            this.coupledSlidersList[i].callback(newValue);
           }
         }
       }
@@ -1730,6 +1731,7 @@ export default class FloatingProtoParameterWindow extends FloatingWindow {
       if (motor.deviceName.includes('::')) {
         slider.motorName = motor.deviceName;
         slider.callback = callback;
+        slider.multiplier = motor.multiplier;
 
         this.coupledSlidersList.push(slider);
       }

resources/web/wwi/Parser.js

@@ -869,10 +869,11 @@ export default class Parser {
     else if (node.tagName === 'RotationalMotor' || node.tagName === 'LinearMotor') {
       const minPosition = parseFloat(getNodeAttribute(node, 'minPosition', '0'));
       const maxPosition = parseFloat(getNodeAttribute(node, 'maxPosition', '0'));
+      const multiplier = parseFloat(getNodeAttribute(node, 'multiplier', '1'));
       if (node.tagName === 'RotationalMotor')
-        logicalDevice = new WbRotationalMotor(id, name, minPosition, maxPosition);
+        logicalDevice = new WbRotationalMotor(id, name, minPosition, maxPosition, multiplier);
       else
-        logicalDevice = new WbLinearMotor(id, name, minPosition, maxPosition);
+        logicalDevice = new WbLinearMotor(id, name, minPosition, maxPosition, multiplier);
     }
 
     WbWorld.instance.nodes.set(logicalDevice.id, logicalDevice);

resources/web/wwi/nodes/WbMotor.js

@@ -3,10 +3,12 @@ import WbLogicalDevice from './WbLogicalDevice.js';
 export default class WbMotor extends WbLogicalDevice {
   #minPosition;
   #maxPosition;
-  constructor(id, deviceName, minPosition, maxPosition) {
+  #multiplier;
+  constructor(id, deviceName, minPosition, maxPosition, multiplier) {
     super(id, deviceName);
     this.#minPosition = minPosition;
     this.#maxPosition = maxPosition;
+    this.#multiplier = multiplier;
   }
 
   get minPosition() {
@@ -16,4 +18,8 @@ export default class WbMotor extends WbLogicalDevice {
   get maxPosition() {
     return this.#maxPosition;
   }
+
+  get multiplier() {
+    return this.#multiplier;
+  }
 }