Improve webotsJS

[BenjaminDeleze]

Description

• Add tracks to the surveyor
  • create new controller
• Fix errors related with tracks in webotsJS
• Remove vrmlField and replace the field we want to export to the web (without modification or correction) by w3dField
  • change wrl and webots parsing
  • harmonize .wrl style
  • change exports functions
    • WorldInfo
    • Gyro
    • DistanceSensor
    • TouchSensor
    • TextureCoordinate
    • Color
    • Camera
    • Accelerometer
    • Slot
    • Radar
    • Transform
    • RangeFinder
    • PointSet
    • Capsule
    • Speaker
    • Viewpoint
    • IndexedFaceSet
    • Solid
    • Pose
    • Group
    • Lidar
    • InertialUnit
    • DirectionalLight
    • Compass
    • Normal
    • Propeller
    • Microphone
    • ImageTexture
    • Fog
    • Mesh
    • Track
    • Background
    • LED
    • Material
    • Box
    • PointLight
    • Cylinder
    • GPS
    • Pen
    • Cone
    • SpotLight
    • TextureTransform
    • Receiver
    • Coordinate
    • CadShape
    • TrackWheel
    • PBRAppearance
    • Shape
    • Altimeter
    • PositionSensor
    • Connector
    • HingeJoint
    • Plane
    • Appearance
    • ElevationGrid
    • VacuumGripper
    • Fluid
    • Robot
    • Sphere
    • IndexedLineSet
    • SliderJoint
    • Emitter
    • Hinge2Joint
    • BallJoint
    • LightSensor
    • Display
    • Billboard
    • Charger
    • Recognition
    • Focus
    • ImmersionProperties
    • JointParameters
    • Skin
    • SolidReference
    • BallJointParameters
    • Brake
    • LensFlare
    • Hinge2JointParameters
    • LinearMotor
    • Radio
    • Damping
    • Physics
    • RotationalMotor
    • HingeJointParameters
    • Muscle
    • Lens
    • Zoom
    • ContactProperties
• Replace .x3d format with .w3d
  • webots side
  • webotsJS side
  • webots.cloud
  • documentation
• Remove the function to generate meta.json

We decided to replace x3d because the x3d used by webots is so extended that it is not really x3d anymore (see #3615 ) by our own format: w3d. In practice only the name and file extension will change, the content will remain the same.

Concerning the vrmlField, we do not support vrml import/export anymore. Moreover, currently, only the vrmlField are exported to webotsJS. It induces a lot of custom export to get some fields that we need in webotsJS but that are currently not vrmlField.

You cant test it on https://proto.webots.cloud (scene, animation and proto)

[stefaniapedrazzi]

I tested and I could find only one issue with the visualization of the TrackWheel and the Track.animatedGeometries:
the initial position of the TrackWheel and Track.animatedGeometries doesn't match the one in Webots at load, but at least for the TrackWheel nodes the position is adjusted after the first simulation step.

Steps to reproduce:

1. Run track.wbt
2. Reduce the Track.geometriesCount to 10 (in order to better visualize the position)
3. Save the simulation at time step != 0
4. Restart Webots in pause mode and with streaming option
5. Connect from the streaming viewer -> the orientation of the track wheels and the position/orientation of the animatedGeometries in WebotsJS differs from the one in Webots
6. Run one simulation step
   -> the TrackWheel geometry jumps to the correct position, but the animated geometries still differ in Webots and WebotsJS

[BenjaminDeleze]

I tested and I could find only one issue with the visualization of the TrackWheel and the Track.animatedGeometries: the initial position of the TrackWheel and Track.animatedGeometries doesn't match the one in Webots at load, but at least for the TrackWheel nodes the position is adjusted after the first simulation step.

Steps to reproduce:

1. Run track.wbt
2. Reduce the Track.geometriesCount to 10 (in order to better visualize the position)
3. Save the simulation at time step != 0
4. Restart Webots in pause mode and with streaming option
5. Connect from the streaming viewer -> the orientation of the track wheels and the position/orientation of the animatedGeometries in WebotsJS differs from the one in Webots
6. Run one simulation step
   -> the TrackWheel geometry jumps to the correct position, but the animated geometries still differ in Webots and WebotsJS

I fixed it for TrackWheels, it was because the rotation field is an hiddenField so it was not initially exported to w3d so I had to manually do it.

For the animated geometries, I think it is normal and we can let it like that because we send to webotsJS only the following information:

• The animatedGeometry
• The geometriesCount

And webotsJS build all the track animated geometries from that.
So it has no idea of where are the animated geometires on Webots side.

[omichel]

Thank you.

[BenjaminDeleze]

I just changed the X3D to X3d in function name

[omichel]

Thank you.

Inactive