Fix web proto issues related to vehicles

projects/vehicles/protos/tesla/TeslaModel3.proto

@@ -91,18 +91,18 @@ PROTO TeslaModel3 [
                     attenuation 0 0 1
                     beamWidth 0.3
                     cutOffAngle 0.6
-                    direction -0.05 -1 -0.5
+                    direction -1 -0.5 -0.05
                     intensity 60
-                    location -0.72 -2.03 0.72
+                    location -2.03 0.72 -0.72
                     radius 40
                   }
                   SpotLight {
                     attenuation 0 0 1
                     beamWidth 0.3
                     cutOffAngle 0.6
-                    direction 0.05 -1 -0.5
+                    direction -1 -0.5 0.05
                     intensity 60
-                    location 0.72 -2.03 0.72
+                    location -2.03 0.72 0.72
                     radius 40
                   }
                   %< } >%

resources/web/wwi/FloatingProtoParameterWindow.js

@@ -1544,7 +1544,7 @@ export default class FloatingProtoParameterWindow extends FloatingWindow {
         let div = document.createElement('div');
         div.className = 'proto-joint';
 
-        const endPointName = joint.endPoint ? joint.endPoint.name : numberOfJoint;
+        const endPointName = joint.solidEndPoint() ? joint.solidEndPoint().name : numberOfJoint;
         let jointType;
         if (joint instanceof WbBallJoint)
           jointType = 'BallJoint 1: ';

resources/web/wwi/NodeSelectorWindow.js

@@ -307,8 +307,15 @@ export default class NodeSelectorWindow {
       throw new Error('The parameter has no IS.');
 
     let baseType = [];
-    const fieldName = this.parameter.aliasLinks[0].name;
-    const parentNode = this.parameter.aliasLinks[0].node;
+    // get the field name linked to the parameter (full-depth)
+    let p = this.parameter;
+    while (p instanceof Parameter && p.aliasLinks.length > 0)
+      p = p.aliasLinks[0];
+    const fieldName = p.name;
+    const parentNode = p.node;
+
+    const ff = this.parameter.aliasLinks;
+    console.log(fieldName, parentNode.name, ff)
     if (fieldName === 'appearance')
       baseType = ['Appearance', 'PBRAppearance'];
     else if (fieldName === 'geometry') {

resources/web/wwi/Parser.js

@@ -1086,11 +1086,10 @@ export default class Parser {
     const radius = parseFloat(getNodeAttribute(node, 'radius', '100'));
     const ambientIntensity = parseFloat(getNodeAttribute(node, 'ambientIntensity', '0'));
     const castShadows = getNodeAttribute(node, 'castShadows', 'false').toLowerCase() === 'true';
-
     const spotLight = new WbSpotLight(id, on, attenuation, beamWidth, color, cutOffAngle, direction, intensity, location,
       radius, ambientIntensity, castShadows, parentNode);
 
-    if (typeof parentNode !== 'undefined' && typeof spotLight !== 'undefined')
+    if (typeof parentNode !== 'undefined')
       parentNode.children.push(spotLight);
 
     WbWorld.instance.nodes.set(spotLight.id, spotLight);

resources/web/wwi/ProtoManager.js

@@ -49,6 +49,8 @@ export default class ProtoManager {
 
     function listExternProto(node, list) {
       for (const parameter of node.parameters.values()) {
+        if (parameter.isDefault())
+          continue;
         const currentValue = parameter.value;
         if (currentValue instanceof SFNode && currentValue.value !== null) {
           if (currentValue.value.isProto && !list.includes(currentValue.value.url)) {

resources/web/wwi/X3dScene.js

@@ -305,8 +305,16 @@ export default class X3dScene {
         if (object instanceof WbMesh)
           object.materialIndex = parseInt(update[key]);
       } else if (key === 'url') {
-        if (object instanceof WbMesh || object instanceof WbCadShape)
-          object.url = update[key][0];
+        if (object instanceof WbMesh || object instanceof WbCadShape || object instanceof WbImageTexture) {
+          let urlString = update[key];
+          if (urlString === '[]') {
+            object.url = undefined;
+            return;
+          }
+          if (urlString.startsWith('[') && urlString.endsWith(']'))
+            urlString = urlString.substring(1, urlString.length - 1);
+          object.url = urlString.split('"').filter(element => { if (element !== ' ') return element; })[0];
+        }
       } else if (key === 'point') {
         if (object instanceof WbCoordinate)
           object.point = convertStringToVec3Array(update[key]);

resources/web/wwi/nodes/WbBallJoint.js

@@ -112,11 +112,12 @@ export default class WbBallJoint extends WbHinge2Joint {
   }
 
   _updateEndPointZeroTranslationAndRotation() {
-    if (typeof this.endPoint === 'undefined')
+    if (typeof this.solidEndPoint() === 'undefined')
       return;
 
-    const ir = this.endPoint.rotation;
-    const it = this.endPoint.translation;
+    const solid = this.solidEndPoint();
+    const ir = solid.rotation;
+    const it = solid.translation;
 
     let qp = new WbQuaternion();
     if (isZeroAngle(this.position) && isZeroAngle(this.position2) && isZeroAngle(this.#position3))
@@ -152,9 +153,10 @@ export default class WbBallJoint extends WbHinge2Joint {
     this.#position3 = position3;
     let rotation = new WbVector4();
     const translation = this.#computeEndPointSolidPositionFromParameters(rotation);
-    if (!translation.almostEquals(this.endPoint.translation) || !rotation.almostEquals(this.endPoint.rotation)) {
-      this.endPoint.translation = translation;
-      this.endPoint.rotation = rotation;
+    const solid = this.solidEndPoint();
+    if (!translation.almostEquals(solid.translation) || !rotation.almostEquals(solid.rotation)) {
+      solid.translation = translation;
+      solid.rotation = rotation;
     }
   }
 

resources/web/wwi/nodes/WbHinge2Joint.js

@@ -81,11 +81,12 @@ export default class WbHinge2Joint extends WbHingeJoint {
   }
 
   _updateEndPointZeroTranslationAndRotation() {
-    if (typeof this.endPoint === 'undefined')
+    if (typeof this.solidEndPoint() === 'undefined')
       return;
 
-    const ir = this.endPoint.rotation;
-    const it = this.endPoint.translation;
+    const solid = this.solidEndPoint();
+    const ir = solid.rotation;
+    const it = solid.translation;
 
     let qp = new WbQuaternion();
     if (isZeroAngle(this.position) && isZeroAngle(this.#position2))
@@ -119,9 +120,10 @@ export default class WbHinge2Joint extends WbHingeJoint {
 
     let rotation = new WbVector4();
     const translation = this.#computeEndPointSolidPositionFromParameters(rotation);
-    if (!translation.almostEquals(this.endPoint.translation) || !rotation.almostEquals(this.endPoint.rotation)) {
-      this.endPoint.translation = translation;
-      this.endPoint.rotation = rotation;
+    const solid = this.solidEndPoint();
+    if (!translation.almostEquals(solid.translation) || !rotation.almostEquals(solid.rotation)) {
+      solid.translation = translation;
+      solid.rotation = rotation;
     }
   }
 

resources/web/wwi/nodes/WbHingeJoint.js

@@ -6,7 +6,6 @@ import {isZeroAngle} from './utils/math_utilities.js';
 
 export default class WbHingeJoint extends WbJoint {
   #device;
-  #position;
   constructor(id) {
     super(id);
     this.#device = [];
@@ -20,19 +19,6 @@ export default class WbHingeJoint extends WbJoint {
     this.#device = device;
   }
 
-  get position() {
-    return this.#position;
-  }
-
-  set position(newPosition) {
-    if (this.#position === newPosition)
-      return;
-
-    this.#position = newPosition;
-    if (typeof this.jointParameters === 'undefined')
-      this._updatePosition();
-  }
-
   preFinalize() {
     super.preFinalize();
     this.#device.forEach(child => child.preFinalize());
@@ -56,24 +42,25 @@ export default class WbHingeJoint extends WbJoint {
 
   _updatePosition() {
     if (typeof this.endPoint !== 'undefined')
-      this.#updatePosition(typeof this.jointParameters !== 'undefined' ? this.jointParameters.position : this.#position);
+      this.#updatePosition(typeof this.jointParameters !== 'undefined' ? this.jointParameters.position : this.position);
   }
 
   #updatePosition(position) {
     // called after an artificial move
-    this.#position = position;
+    this.position = position;
     let rotation = new WbVector4();
     const translation = this.#computeEndPointSolidPositionFromParameters(rotation);
-    if (!translation.almostEquals(this.endPoint.translation) || !rotation.almostEquals(this.endPoint.rotation)) {
-      this.endPoint.translation = translation;
-      this.endPoint.rotation = rotation;
+    const solid = this.solidEndPoint();
+    if (!translation.almostEquals(solid.translation) || !rotation.almostEquals(solid.rotation)) {
+      solid.translation = translation;
+      solid.rotation = rotation;
     }
   }
 
   #computeEndPointSolidPositionFromParameters(rotation) {
     const axis = this.axis().normalized();
     const q = new WbQuaternion();
-    q.fromAxisAngle(axis.x, axis.y, axis.z, this.#position);
+    q.fromAxisAngle(axis.x, axis.y, axis.z, this.position);
     const iq = this._endPointZeroRotation.toQuaternion();
     const qp = q.mul(iq);
     if (qp.w !== 1)
@@ -87,14 +74,15 @@ export default class WbHingeJoint extends WbJoint {
   }
 
   _updateEndPointZeroTranslationAndRotation() {
-    if (typeof this.endPoint === 'undefined')
+    if (typeof this.solidEndPoint() === 'undefined')
       return;
 
-    const ir = this.endPoint.rotation;
-    const it = this.endPoint.translation;
+    const solid = this.solidEndPoint();
+    const ir = solid.rotation;
+    const it = solid.translation;
 
     let qMinus;
-    const angle = this.#position;
+    const angle = this.position;
     if (isZeroAngle(angle)) {
       // In case of a zero angle, the quaternion axis is undefined, so we keep track of the original one
       this._endPointZeroRotation = ir;

resources/web/wwi/nodes/WbImageTexture.js

@@ -154,7 +154,7 @@ export default class WbImageTexture extends WbBaseNode {
     this.#updateWrenTexture();
   }
 
-  // Private fonctions
+  // Private functions
 
   #destroyWrenTexture() {
     _wr_texture_delete(this.wrenTexture);
@@ -194,6 +194,11 @@ export default class WbImageTexture extends WbBaseNode {
   }
 
   #updateUrl() {
+    if (typeof this.#url === 'undefined') {
+      this.#destroyWrenTexture();
+      return;
+    }
+
     ImageLoader.loadImageTextureInWren(this, WbWorld.instance.prefix, this.#url)
       .then(() => {
         this.#updateWrenTexture();

resources/web/wwi/nodes/WbJoint.js

@@ -1,9 +1,12 @@
 import WbBaseNode from './WbBaseNode.js';
+import WbSlot from './WbSlot.js';
+import WbSolid from './WbSolid.js';
 import WbWorld from './WbWorld.js';
 
 export default class WbJoint extends WbBaseNode {
   #endPoint;
   #jointParameters;
+  #position;
 
   get endPoint() {
     return this.#endPoint;
@@ -24,8 +27,22 @@ export default class WbJoint extends WbBaseNode {
       this.#jointParameters.onChange = () => this._updatePosition();
   }
 
+  get position() {
+    return this.#position;
+  }
+
+  set position(newPosition) {
+    if (this.#position === newPosition)
+      return;
+
+    this.#position = newPosition;
+    if (typeof this.jointParameters !== 'undefined')
+      this._updatePosition();
+  }
+
   boundingSphere() {
-    return this.#endPoint?.boundingSphere();
+    const solid = this.solidEndPoint();
+    return solid?.boundingSphere();
   }
 
   createWrenObjects() {
@@ -53,11 +70,12 @@ export default class WbJoint extends WbBaseNode {
 
   preFinalize() {
     super.preFinalize();
-    this.#jointParameters?.preFinalize();
-    this.#endPoint?.preFinalize();
 
-    this.position = typeof this.jointParameters === 'undefined' ? 0 : this.jointParameters.position;
+    this.#position = typeof this.jointParameters === 'undefined' ? 0 : this.jointParameters.position;
     this._updateEndPointZeroTranslationAndRotation();
+
+    this.#jointParameters?.preFinalize();
+    this.#endPoint?.preFinalize();
   }
 
   postFinalize() {
@@ -67,6 +85,17 @@ export default class WbJoint extends WbBaseNode {
     this.#endPoint?.postFinalize();
   }
 
+  solidEndPoint() {
+    if (typeof this.endPoint === 'undefined')
+      return;
+
+    if (this.endPoint instanceof WbSlot) {
+      const childrenSlot = this.endPoint.slotEndPoint();
+      return childrenSlot?.solidEndPoint();
+    } else if (this.endPoint instanceof WbSolid)
+      return this.endPoint;
+  }
+
   updateBoundingObjectVisibility() {
     this.#endPoint?.updateBoundingObjectVisibility();
   }

resources/web/wwi/nodes/WbSliderJoint.js

@@ -44,10 +44,11 @@ export default class WbSliderJoint extends WbJoint {
   }
 
   _updateEndPointZeroTranslationAndRotation() {
-    if (typeof this.endPoint === 'undefined')
+    if (typeof this.solidEndPoint() === 'undefined')
       return;
 
-    this.#endPointZeroTranslation = this.endPoint.translation.sub(this.#axis().mul(this.position));
+    const solid = this.solidEndPoint();
+    this.#endPointZeroTranslation = solid.translation.sub(this.#axis().mul(this.position));
   }
 
   #axis() {
@@ -58,8 +59,9 @@ export default class WbSliderJoint extends WbJoint {
     // called after an artificial move
     this.position = position;
     const translation = this.#computeEndPointSolidPositionFromParameters();
-    if (!translation.almostEquals(this.endPoint.translation))
-      this.endPoint.translation = translation;
+    const solid = this.solidEndPoint();
+    if (!translation.almostEquals(solid.translation))
+      solid.translation = translation;
   }
 
   #computeEndPointSolidPositionFromParameters() {

resources/web/wwi/nodes/WbSlot.js

@@ -1,4 +1,5 @@
 import WbBaseNode from './WbBaseNode.js';
+import WbSolid from './WbSolid.js';
 import WbWorld from './WbWorld.js';
 import {getAnId} from './utils/id_provider.js';
 
@@ -59,6 +60,16 @@ export default class WbSlot extends WbBaseNode {
     this.endPoint?.postFinalize();
   }
 
+  solidEndPoint() {
+    if (typeof this.endPoint !== 'undefined' && this.endPoint instanceof WbSolid)
+      return this.endPoint;
+  }
+
+  slotEndPoint() {
+    if (typeof this.endPoint !== 'undefined' && this.endPoint instanceof WbSlot)
+      return this.endPoint;
+  }
+
   updateBoundingObjectVisibility() {
     this.endPoint?.updateBoundingObjectVisibility();
   }

resources/web/wwi/nodes/WbTransform.js

@@ -17,6 +17,8 @@ export default class WbTransform extends WbGroup {
   #upperTransformFirstTimeSearch;
   #vrmlMatrix;
   #vrmlMatrixNeedUpdate;
+  #boundingObjectFirstTimeSearch;
+  #isInBoundingObject;
   constructor(id, translation, scale, rotation) {
     super(id);
     this.#translation = translation;
@@ -142,6 +144,16 @@ export default class WbTransform extends WbGroup {
     return this.#vrmlMatrix;
   }
 
+  isInBoundingObject() {
+    if (this.#boundingObjectFirstTimeSearch) {
+      this.#isInBoundingObject = nodeIsInBoundingObject(this);
+      if (this.wrenObjectsCreatedCalled)
+        this.#boundingObjectFirstTimeSearch = false;
+    }
+
+    return this.#isInBoundingObject;
+  }
+
   #applyRotationToWren() {
     const rotation = _wrjs_array4(this.#rotation.w, this.#rotation.x, this.#rotation.y, this.#rotation.z);
     _wr_transform_set_orientation(this.wrenNode, rotation);