Merge master into develop

.github/workflows/test_suite_windows.yml

@@ -59,18 +59,15 @@ jobs:
     - uses: actions/setup-python@v4
       with:
         python-version: '3.11'
-    - name: Install Visual Studio 10 and OpenJDK 18
+    - name: Install OpenJDK 18
       shell: powershell
-      run: |
-        choco install -y openjdk --version=18.0.2
-        choco install -y visualcpp-build-tools
+      run: choco install -y openjdk --version=18.0.2
     - name: Install Webots Compilation Dependencies
       run: |
         export PYTHON_INSTALLATION_FOLDER=/C/hostedtoolcache/windows/Python
         export PYTHON_HOME=$PYTHON_INSTALLATION_FOLDER/3.11.`ls $PYTHON_INSTALLATION_FOLDER | grep '^3\.11\.[0-9]\+$' | cut -c6- | sort -n | tail -n1`/x64
         echo 'export JAVA_HOME=/C/Program\ Files/OpenJDK/`ls /C/Program\ Files/OpenJDK`' >> ~/.bash_profile
         echo 'export PYTHON_HOME='$PYTHON_HOME >> ~/.bash_profile
-        echo 'export VISUAL_STUDIO_PATH="/C/Program Files (x86)/Microsoft Visual Studio/2017"' >> ~/.bash_profile
         echo 'export INNO_SETUP_HOME="/C/Program Files (x86)/Inno Setup 6"' >> ~/.bash_profile
         echo 'export PATH=$PYTHON_HOME:$PYTHON_HOME/Scripts:$GITHUB_WORKSPACE/msys64/mingw64/bin:$GITHUB_WORKSPACE/bin/node:/mingw64/bin:/usr/bin:$JAVA_HOME/bin:$PATH' >> ~/.bash_profile
         export WEBOTS_HOME=$GITHUB_WORKSPACE
@@ -110,18 +107,15 @@ jobs:
     - uses: msys2/setup-msys2@v2
       with:
         update: false
-    - name: Install Visual Studio 10 and OpenJDK 18
+    - name: Install OpenJDK 18
       shell: powershell
-      run: |
-        choco install -y openjdk --version=18.0.2
-        choco install -y visualcpp-build-tools
+      run: choco install -y openjdk --version=18.0.2
     - name: Install Webots Compilation Dependencies
       run: |
         export PYTHON_INSTALLATION_FOLDER=/C/hostedtoolcache/windows/Python
         export PYTHON_HOME=$PYTHON_INSTALLATION_FOLDER/3.11.`ls $PYTHON_INSTALLATION_FOLDER | grep '^3\.11\.[0-9]\+$' | cut -c6- | sort -n | tail -n1`/x64
         echo 'export JAVA_HOME=/C/Program\ Files/OpenJDK/`ls /C/Program\ Files/OpenJDK`' >> ~/.bash_profile
         echo 'export PYTHON_HOME='$PYTHON_HOME >> ~/.bash_profile
-        echo 'export VISUAL_STUDIO_PATH="/C/Program Files (x86)/Microsoft Visual Studio/2017"' >> ~/.bash_profile
         echo 'export INNO_SETUP_HOME="/C/Program Files (x86)/Inno Setup 6"' >> ~/.bash_profile
         echo 'export PATH=$PYTHON_HOME:$PYTHON_HOME/Scripts:$GITHUB_WORKSPACE/msys64/mingw64/bin:$GITHUB_WORKSPACE/bin/node:/mingw64/bin:/usr/bin:$JAVA_HOME/bin:$PATH' >> ~/.bash_profile
         export WEBOTS_HOME=$GITHUB_WORKSPACE

.github/workflows/test_suite_windows_develop.yml

@@ -55,18 +55,15 @@ jobs:
     - uses: actions/setup-python@v4
       with:
         python-version: '3.11'
-    - name: Install Visual Studio 10 and OpenJDK 18
+    - name: Install OpenJDK 18
       shell: powershell
-      run: |
-        choco install -y openjdk --version=18.0.2
-        choco install -y visualcpp-build-tools
+      run: choco install -y openjdk --version=18.0.2
     - name: Install Webots Compilation Dependencies
       run: |
         export PYTHON_INSTALLATION_FOLDER=/C/hostedtoolcache/windows/Python
         export PYTHON_HOME=$PYTHON_INSTALLATION_FOLDER/3.11.`ls $PYTHON_INSTALLATION_FOLDER | grep '^3\.11\.[0-9]\+$' | cut -c6- | sort -n | tail -n1`/x64
         echo 'export JAVA_HOME=/C/Program\ Files/OpenJDK/`ls /C/Program\ Files/OpenJDK`' >> ~/.bash_profile
         echo 'export PYTHON_HOME='$PYTHON_HOME >> ~/.bash_profile
-        echo 'export VISUAL_STUDIO_PATH="/C/Program Files (x86)/Microsoft Visual Studio/2017"' >> ~/.bash_profile
         echo 'export INNO_SETUP_HOME="/C/Program Files (x86)/Inno Setup 6"' >> ~/.bash_profile
         echo 'export PATH=$PYTHON_HOME:$PYTHON_HOME/Scripts:$GITHUB_WORKSPACE/msys64/mingw64/bin:$GITHUB_WORKSPACE/bin/node:/mingw64/bin:/usr/bin:$JAVA_HOME/bin:$PATH' >> ~/.bash_profile
         export WEBOTS_HOME=$GITHUB_WORKSPACE

.github/workflows/tests_sources.yml

@@ -34,14 +34,14 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-22.04, macos-14, windows-2019]
+        os: [ubuntu-22.04, macos-14, windows-2022]
         python: [3.9]
         include:
           - os: ubuntu-22.04
             DEPENDENCIES_INSTALLATION: "wget https://github.com/danmar/cppcheck/archive/refs/tags/2.14.2.tar.gz; tar -xf 2.14.2.tar.gz -C ~/; mkdir -p ~/cppcheck-2.14.2/build; cd ~/cppcheck-2.14.2/build; cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ..; cmake --build . --config RelWithDebInfo; export PATH=~/cppcheck-2.14.2/build/bin:$PATH"
           - os: macos-14
             DEPENDENCIES_INSTALLATION: "brew tap-new --no-git $USER/local-cppcheck; brew extract --version=2.14.2 cppcheck $USER/local-cppcheck; brew install [email protected]; brew tap-new --no-git $USER/local-clang-format; brew extract --version=14.0.0 clang-format $USER/local-clang-format; brew install [email protected]"
-          - os: windows-2019
+          - os: windows-2022
             DEPENDENCIES_INSTALLATION: "curl -LJO https://github.com/danmar/cppcheck/releases/download/2.14.1/cppcheck-2.14.1-x64-Setup.msi; powershell 'Start-Process msiexec -ArgumentList \"/quiet\",\"/passive\",\"/qn\",\"/i\",\"cppcheck-2.14.1-x64-Setup.msi\" -Wait'; choco uninstall -y llvm; choco install -y llvm --version=14.0.0; export PATH=$PATH:\"/c/Program Files/Cppcheck:/c/Program Files/LLVM/bin\""
     runs-on: ${{ matrix.os }}
     if: needs.job-skipper.outputs.should_skip != 'true'
@@ -52,7 +52,7 @@ jobs:
         echo "job_needed=true" >> "$GITHUB_OUTPUT"
       id: os_check
     - name: Set git to use LF
-      if: matrix.os == 'windows-2019'
+      if: matrix.os == 'windows-2022'
       run: |
         git config --global core.autocrlf false
         git config --global core.eol lf

.github/workflows/tests_sources_with_latest_cppcheck.yml

@@ -30,14 +30,14 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-22.04, macos-14, windows-2019]
+        os: [ubuntu-22.04, macos-14, windows-2022]
         python: [3.9]
         include:
           - os: ubuntu-22.04
             DEPENDENCIES_INSTALLATION: "sudo apt -y install cppcheck"
           - os: macos-14
             DEPENDENCIES_INSTALLATION: "brew install cppcheck; brew tap-new --no-git $USER/local-clang-format; brew extract --version=14.0.0 clang-format $USER/local-clang-format; brew install [email protected]"
-          - os: windows-2019
+          - os: windows-2022
             DEPENDENCIES_INSTALLATION: "choco install -y cppcheck || true; choco uninstall -y llvm; choco install -y llvm --version=14.0.0; export PATH=$PATH:\"/c/Program Files/Cppcheck:/c/Program Files/LLVM/bin\""
     runs-on: ${{ matrix.os }}
     if: needs.job-skipper.outputs.should_skip != 'true'
@@ -48,7 +48,7 @@ jobs:
         echo "job_needed=true" >> "$GITHUB_OUTPUT"
       id: os_check
     - name: Set git to use LF
-      if: matrix.os == 'windows-2019'
+      if: matrix.os == 'windows-2022'
       run: |
         git config --global core.autocrlf false
         git config --global core.eol lf

docs/css/webots-doc.css

@@ -917,6 +917,13 @@ body {
 .webots-doc g foreignObject div a {
   font-family: Tahoma, Arial, sans-serif;  /* mermaidjs is quite sensitive to the font used and it's size */
   font-size: 100%;
+  text-decoration: underline;
+}
+
+.webots-doc g foreignObject div a:active,
+.webots-doc g foreignObject div a:focus,
+.webots-doc g foreignObject div a:hover {
+  text-decoration: underline;
 }
 
 .webots-doc .mermaid {

docs/reference/camera.md

@@ -791,16 +791,16 @@ namespace webots {
 from controller import Camera
 
 class Camera (Device):
-    def getImage(self):
-    def getImageArray(self):
+    def getImage(self) -> bytes:
+    def getImageArray(self) -> list[list[list[int]]]:
     @staticmethod
-    def imageGetRed(image, width, x, y):
+    def imageGetRed(image: bytes, width: int, x: int, y: int) -> int:
     @staticmethod
-    def imageGetGreen(image, width, x, y):
+    def imageGetGreen(image: bytes, width: int, x: int, y: int) -> int:
     @staticmethod
-    def imageGetBlue(image, width, x, y):
+    def imageGetBlue(image: bytes, width: int, x: int, y: int) -> int:
     @staticmethod
-    def imageGetGray(image, width, x, y):
+    def imageGetGray(image: bytes, width: int, x: int, y: int) -> int:
     # ...
 ```
 
@@ -895,8 +895,8 @@ Here is an example:
 
 <!-- -->
 
-> **Note** [Python]: The `getImage` function returns a `string`.
-This `string` is closely related to the `const char *` of the C API.
+> **Note** [Python]: The `getImage` function returns a byte array (`bytes`).
+This `bytes` is closely related to the `const char *` of the C API.
 `imageGet*`-like functions can be used to get the channels of the camera Here is an example:
 
 > ```python

docs/reference/changelog-r2025.md

@@ -1,8 +1,26 @@
 # Webots R2025 Change Log
 
 ## Webots R2025b
+  - Enhancements
+    - `WbCamera`, `WbContactProperties`, `WbMotor`, and `WbSkin` will now locally-download their resources if-necessary (like other nodes) when steaming or exporting to `w3d` ([#6856](https://github.com/cyberbotics/webots/pull/6856)).
+    - Added implementations of `wbu_system_tmpdir` and `wbu_system_webots_instance_path` to the MATLAB API ([#6756](https://github.com/cyberbotics/webots/pull/6756)).
+    - Added missing import libraries on Windows ([#6753](https://github.com/cyberbotics/webots/pull/6753)).
+    - Added some missing function definitions to the existing Windows libraries ([#6753](https://github.com/cyberbotics/webots/pull/6753)).
+  - Cleanup
+    - **Removed `libController.a` and `libCppController.a` libraries on Windows. Please use `Controller.lib` and `CppController.lib` instead ([#6753](https://github.com/cyberbotics/webots/pull/6753)).**
   - Bug Fixes
     - Fixed a bug preventing the `webots-controller` executable from running on arm-based mac devices ([#6806](https://github.com/cyberbotics/webots/pull/6806)).
+    - Fixed a typo in the `controller.PositionSensor` Python class: the `motor` property code was calling the wrong method ([#6825](https://github.com/cyberbotics/webots/pull/6825)).
+    - Fixed a bug causing Webots to crash when multiple sounds were used with a [Speaker](speaker.md) node ([#6843](https://github.com/cyberbotics/webots/pull/6843)).
+    - Fixed a bug causing the "Reload/Reset" buttons in the controller recompilation popup to not work on Windows ([#6844](https://github.com/cyberbotics/webots/pull/6844)).
+    - Fixed resolution of relative paths when converting protos to their base nodes ([#6856](https://github.com/cyberbotics/webots/pull/6856)).
+      - **As a result of this change, relative paths that are not within a Webots-recognized resource field (ex. `url`) will no longer be updated when a proto is converted to its base nodes.** This should not affect most users.
+    - Fixed a bug causing `TrackWheel` nodes to lose their field values when used in a proto converted to a base node ([#6856](https://github.com/cyberbotics/webots/pull/6856)).
+    - Fixed a bug causing supervisors to occasionally read stale field values after the simulation was reset ([#6758](https://github.com/cyberbotics/webots/pull/6758)).
+    - Fixed a bug causing Webots to occasionally crash when unloading a world ([#6857](https://github.com/cyberbotics/webots/pull/6857)).
+    - Fixed a crash occurring when Python was not found on Windows ([#6870](https://github.com/cyberbotics/webots/pull/6870)).
+    - Fixed detection of physics plugins in extra projects ([#6880](https://github.com/cyberbotics/webots/pull/6880)).
+    - Fixed `addForceWithOffset` and `addTorque` doing the same thing as `addForce` in Python ([#6881](https://github.com/cyberbotics/webots/pull/6881)).
 
 ## Webots R2025a
 Released on January 31st, 2025.

include/controller/c/webots/supervisor.h

@@ -224,10 +224,10 @@ void wb_supervisor_simulation_revert() WB_DEPRECATED;               // please us
 void wb_supervisor_load_world(const char *filename) WB_DEPRECATED;  // please use wb_supervisor_world_load() instead
 bool wb_supervisor_save_world(const char *filename) WB_DEPRECATED;  // please use wb_supervisor_world_save() instead
 
-// deprecated since Webots 8.6.0, plesae use wb_supervisor_field_remove_mf_item() instead
+// deprecated since Webots 8.6.0, please use wb_supervisor_field_remove_mf() instead
 void wb_supervisor_field_remove_mf_node(WbFieldRef field, int position) WB_DEPRECATED;
 
-// deprecated since Webots 8.0.0, plesae use wb_supervisor_simulation_reset_physics() instead
+// deprecated since Webots 8.0.0, please use wb_supervisor_simulation_reset_physics() instead
 void wb_supervisor_simulation_physics_reset() WB_DEPRECATED;
 
 // deprecated since Webots 8.4.0 please use wb_supervisor_movie_is_ready and wb_supervisor_movie_failed

lib/controller/matlab/.gitignore

@@ -371,6 +371,8 @@ wbu_motion_set_time.m
 wbu_motion_stop.m
 wbu_system_getenv.m
 wbu_system_short_path.m
+wbu_system_tmpdir.m
+wbu_system_webots_instance_path.m
 WB_STDOUT.m
 WB_STDERR.m
 WB_CHANNEL_BROADCAST.m

lib/controller/python/controller/node.py

@@ -218,11 +218,11 @@ def addForce(self, force: typing.List[float], relative: bool):
         wb.wb_supervisor_node_add_force(self._ref, (ctypes.c_double * 3)(*force), 1 if relative else 0)
 
     def addForceWithOffset(self, force: typing.List[float], offset: typing.List[float], relative: bool):
-        wb.wb_supervisor_node_add_force(self._ref, (ctypes.c_double * 3)(*force), (ctypes.c_double * 3)(*offset),
-                                        1 if relative else 0)
+        wb.wb_supervisor_node_add_force_with_offset(self._ref, (ctypes.c_double * 3)(*force), (ctypes.c_double * 3)(*offset),
+                                                    1 if relative else 0)
 
     def addTorque(self, torque: typing.List[float], relative: bool):
-        wb.wb_supervisor_node_add_force(self._ref, (ctypes.c_double * 4)(*torque), 1 if relative else 0)
+        wb.wb_supervisor_node_add_torque(self._ref, (ctypes.c_double * 3)(*torque), 1 if relative else 0)
 
     @property
     def DEF(self) -> str:

lib/controller/python/controller/position_sensor.py

@@ -51,7 +51,7 @@ def brake(self):
     @property
     def motor(self):
         from .motor import Motor
-        tag = wb.wb_brake_get_motor(self._tag)
+        tag = wb.wb_position_sensor_get_motor(self._tag)
         return None if tag == 0 else Motor(tag)
 
     @property

projects/samples/contests/ratslife/controllers/contest_manager/maze_definition.h

@@ -21,7 +21,7 @@
 #ifndef MAZE_DEFINITION_H
 #define MAZE_DEFINITION_H
 
-#include "boolean.h"
+#include <stdbool.h>
 #include "linked_list.h"
 // enum
 typedef enum { North, South, East, West, None } Orientation;

projects/samples/contests/ratslife/controllers/contest_manager/round_manager.c

@@ -20,7 +20,7 @@
 
 #include "round_manager.h"
 
-#include "boolean.h"
+#include <stdbool.h>
 #include "helper.h"
 
 #include <math.h>

projects/samples/contests/ratslife/controllers/contest_manager/texture_generator.c

@@ -22,7 +22,7 @@
 #include <stdlib.h>
 #include <string.h>
 
-#include "boolean.h"
+#include <stdbool.h>
 #include "helper.h"
 #include "parameters.h"
 #include "texture_generator.h"