Fix hinge2 joint and windows distro

docs/reference/changelog-r2024.md

@@ -14,3 +14,4 @@ Released on December **th, 2023.
     - Fixed length of arrays returned by `getPose()` in Java ([#6556](https://github.com/cyberbotics/webots/pull/6556)).
     - Fixed length of arrays returned by `CameraRecognitionObject.getColors()` in Java ([#6564](https://github.com/cyberbotics/webots/pull/6564)).
     - Fixed handling of device objects with the same name in the controller API ([#6579](https://github.com/cyberbotics/webots/pull/6579)).
+    - 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)).

scripts/packaging/files_msys64.txt

@@ -33,7 +33,6 @@
 /mingw64/share/qt6/plugins/imageformats/qjpeg.dll
 /mingw64/bin/libjpeg-8.dll
 /mingw64/share/qt6/plugins/platforms/qwindows.dll
-/mingw64/share/qt6/plugins/styles/qwindowsvistastyle.dll
 /mingw64/share/qt6/plugins/tls/qcertonlybackend.dll
 /mingw64/share/qt6/plugins/tls/qopensslbackend.dll
 /mingw64/share/qt6/plugins/tls/qschannelbackend.dll

scripts/packaging/publish_release.py

@@ -47,9 +47,6 @@
 if now.hour <= 5:
     # Publish nightly build with previous day date even if it completes in the morning
     now = now - datetime.timedelta(hours=6)
-if now.weekday() >= 5:
-    print('Skipping nightly build for Saturday and Sunday.')
-    sys.exit(0)
 
 warningMessage = '\nIt might be unstable, for a stable version of Webots, please use the [latest official release]' \
                  '(https://github.com/cyberbotics/webots/releases/latest).'

scripts/packaging/windows_distro.py

@@ -205,7 +205,9 @@ def create_webots_bundle(self, include_commit_file):
         else:
             INNO_SETUP_HOME = "/C/Program Files (x86)/Inno Setup 6"
         print('creating webots_setup.exe (takes long)\n')
-        subprocess.run([INNO_SETUP_HOME + '/iscc', '-Q', 'webots.iss'])
+        subprocess.run(
+            [INNO_SETUP_HOME + "/iscc", "-Q", "webots.iss"]
+        ).check_returncode()
 
         print('Done.')
 

src/webots/maths/WbMathsUtilities.cpp

@@ -107,7 +107,13 @@ int WbMathsUtilities::convexHull(const QVector<WbVector2> &points, QVector<int>
       iMin = i;
   }
 
+  // Ignore false positive warning produced by some versions of GCC.
+#pragma GCC diagnostic push
+#if __GNUC__ >= 7
+#pragma GCC diagnostic ignored "-Wstringop-overflow"
+#endif
   QVector<int> index(size);
+#pragma GCC diagnostic pop
   for (i = 0; i < size; ++i)
     index[i] = i;
 

src/webots/nodes/WbHinge2Joint.cpp

@@ -197,20 +197,20 @@ void WbHinge2Joint::applyToOdeAxis() {
       if (mSpringAndDampingConstantsAxis1On && mSpringAndDampingConstantsAxis2On) {
         // axes 0 and 1 of the AMotorAngle are enabled
         dJointSetAMotorAxis(mSpringAndDamperMotor, 0, 1, a1.x(), a1.y(), a1.z());
-        dJointSetAMotorAxis(mSpringAndDamperMotor, 1, 1, a2.x(), a2.y(), a2.z());
+        dJointSetAMotorAxis(mSpringAndDamperMotor, 1, 2, a2.x(), a2.y(), a2.z());
       } else if (mSpringAndDampingConstantsAxis1On) {
         // only axis 0 of the AMotorAngle is enabled
         dJointSetAMotorAxis(mSpringAndDamperMotor, 0, 1, a1.x(), a1.y(), a1.z());
       } else
-        dJointSetAMotorAxis(mSpringAndDamperMotor, 0, 1, a2.x(), a2.y(), a2.z());
+        dJointSetAMotorAxis(mSpringAndDamperMotor, 0, 2, a2.x(), a2.y(), a2.z());
     }
   } else {
     parsingWarn(tr("Hinge axes are aligned: using x and z axes instead."));
     dJointSetHinge2Axis1(mJoint, 1.0, 0.0, 0.0);
     dJointSetHinge2Axis2(mJoint, 0.0, 0.0, 1.0);
     if (mSpringAndDamperMotor) {
       dJointSetAMotorAxis(mSpringAndDamperMotor, 0, 1, 1.0, 0.0, 0.0);
-      dJointSetAMotorAxis(mSpringAndDamperMotor, 1, 1, 0.0, 0.0, 1.0);
+      dJointSetAMotorAxis(mSpringAndDamperMotor, 1, 2, 0.0, 0.0, 1.0);
     }
   }
 }
@@ -295,12 +295,11 @@ void WbHinge2Joint::applyToOdeSpringAndDampingConstants(dBodyID body, dBodyID pa
   dJointSetAMotorNumAxes(mSpringAndDamperMotor, numberOfAxes);
   dJointSetAMotorMode(mSpringAndDamperMotor, dAMotorUser);
 
+  applyToOdeAxis();
+
   // Axis dependent settings
-  const WbMatrix4 &m4 = upperPose()->matrix();
   if (mSpringAndDampingConstantsAxis1On) {
     const double clamped = WbMathsUtilities::normalizeAngle(mOdePositionOffset);
-    const WbVector3 &a1 = m4.sub3x3MatrixDot(axis());
-    dJointSetAMotorAxis(mSpringAndDamperMotor, 0, 1, a1.x(), a1.y(), a1.z());
     dJointSetAMotorAngle(mSpringAndDamperMotor, 0, 0.0);
     dJointSetAMotorParam(mSpringAndDamperMotor, dParamLoStop, clamped);
     dJointSetAMotorParam(mSpringAndDamperMotor, dParamHiStop, clamped);
@@ -310,16 +309,13 @@ void WbHinge2Joint::applyToOdeSpringAndDampingConstants(dBodyID body, dBodyID pa
 
   if (mSpringAndDampingConstantsAxis2On) {
     const double clamped2 = WbMathsUtilities::normalizeAngle(mOdePositionOffset2);
-    const WbVector3 &a2 = m4.sub3x3MatrixDot(axis2());
     if (bothAxes) {  // axes 0 and 1 of the AMotorAngle are enabled
-      dJointSetAMotorAxis(mSpringAndDamperMotor, 1, 1, a2.x(), a2.y(), a2.z());
       dJointSetAMotorAngle(mSpringAndDamperMotor, 1, 0.0);
       dJointSetAMotorParam(mSpringAndDamperMotor, dParamLoStop2, clamped2);
       dJointSetAMotorParam(mSpringAndDamperMotor, dParamHiStop2, clamped2);
       dJointSetAMotorParam(mSpringAndDamperMotor, dParamStopCFM2, cfm2);
       dJointSetAMotorParam(mSpringAndDamperMotor, dParamStopERP2, erp2);
     } else {  // only axis 0 of the AMotorAngle is enabled
-      dJointSetAMotorAxis(mSpringAndDamperMotor, 0, 1, a2.x(), a2.y(), a2.z());
       dJointSetAMotorAngle(mSpringAndDamperMotor, 0, 0.0);
       dJointSetAMotorParam(mSpringAndDamperMotor, dParamLoStop, clamped2);
       dJointSetAMotorParam(mSpringAndDamperMotor, dParamHiStop, clamped2);

tests/physics/controllers/hinge_2_joint_damping_axis/.gitignore

@@ -0,0 +1 @@
+/hinge_2_joint_damping_axis

tests/physics/controllers/hinge_2_joint_damping_axis/Makefile

@@ -0,0 +1,25 @@
+# Copyright 1996-2023 Cyberbotics Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# Webots Makefile system 
+#
+# You may add some variable definitions hereafter to customize the build process
+# See documentation in $(WEBOTS_HOME_PATH)/resources/Makefile.include
+
+
+# Do not modify the following: this includes Webots global Makefile.include
+null :=
+space := $(null) $(null)
+WEBOTS_HOME_PATH?=$(subst $(space),\ ,$(strip $(subst \,/,$(WEBOTS_HOME))))
+include $(WEBOTS_HOME_PATH)/resources/Makefile.include

tests/physics/controllers/hinge_2_joint_damping_axis/hinge_2_joint_damping_axis.c

@@ -0,0 +1,77 @@
+#include <webots/brake.h>
+#include <webots/motor.h>
+#include <webots/nodes.h>
+#include <webots/robot.h>
+#include <webots/supervisor.h>
+
+#include "../../../lib/ts_assertion.h"
+#include "../../../lib/ts_utils.h"
+
+#include <math.h>
+#include <stdio.h>
+
+#define TIME_STEP 32
+
+double angular_speed_of(WbNodeRef node) {
+  const double *v = wb_supervisor_node_get_velocity(node);
+  return sqrt(v[3] * v[3] + v[4] * v[4] + v[5] * v[5]);
+}
+
+struct HingeJoint2Data {
+  WbDeviceTag driveMotor;
+  WbNodeRef shaftNode;
+};
+
+void init(struct HingeJoint2Data *jd, char *driveMotorName, char *shaftDef) {
+  jd->driveMotor = wb_robot_get_device(driveMotorName);
+  wb_motor_set_position(jd->driveMotor, INFINITY);
+  wb_motor_set_velocity(jd->driveMotor, 0.0);
+  wb_brake_set_damping_constant(wb_motor_get_brake(jd->driveMotor), 28.0);
+  jd->shaftNode = wb_supervisor_node_get_from_def(shaftDef);
+}
+
+void assert_same_speed_for_secs(struct HingeJoint2Data j1, struct HingeJoint2Data j2, double durationSecs) {
+  const double tolerance = 0.001;
+
+  double t = 0;
+  while (wb_robot_step(TIME_STEP) != -1 && t < durationSecs) {
+    t += (double)TIME_STEP / 1000.0;
+    double expSpeed = angular_speed_of(j1.shaftNode);
+    double actSpeed = angular_speed_of(j2.shaftNode);
+    ts_assert_double_in_delta(actSpeed, expSpeed, tolerance, "Unexpected angle rate (expected = %lf, measured = %lf)", expSpeed,
+                              actSpeed);
+    printf("angle_rate: %lf expected: %lf\n", actSpeed, expSpeed);
+  }
+}
+
+int main(int argc, char **argv) {
+  ts_setup(argv[0]);
+
+  struct HingeJoint2Data joint1, joint2;
+
+  init(&joint1, "joint1motor", "HINGE2JOINT1_SHAFT");
+  init(&joint2, "joint2motor", "HINGE2JOINT2_SHAFT");
+
+  // Rotate the first axis of the second joint by 90 degrees
+  // (takes about 1 second)
+  wb_motor_set_position(wb_robot_get_device("joint2turnmotor"), 1.57);
+  double t = 0.0;  // elapsed simulation time
+  while (wb_robot_step(TIME_STEP) != -1 && t < 1.0) {
+    t += (double)TIME_STEP / 1000.0;
+  }
+
+  // Accerate toward max velocity for 1 second.
+  wb_motor_set_velocity(joint1.driveMotor, 6.28);
+  wb_motor_set_velocity(joint2.driveMotor, 6.28);
+  assert_same_speed_for_secs(joint1, joint2, 1.0);
+
+  // Coast to a stop
+  wb_motor_set_velocity(joint1.driveMotor, 0.0);
+  wb_motor_set_available_torque(joint1.driveMotor, 0.0);
+  wb_motor_set_velocity(joint2.driveMotor, 0.0);
+  wb_motor_set_available_torque(joint2.driveMotor, 0.0);
+  assert_same_speed_for_secs(joint1, joint2, 1.0);
+
+  ts_send_success();
+  return EXIT_SUCCESS;
+}

tests/physics/worlds/hinge_2_joint_damping_axis.wbt

@@ -0,0 +1,159 @@
+#VRML_SIM R2024a utf8
+
+EXTERNPROTO "webots://projects//objects/backgrounds/protos/TexturedBackground.proto"
+EXTERNPROTO "webots://projects//objects/backgrounds/protos/TexturedBackgroundLight.proto"
+EXTERNPROTO "webots://projects//objects/floors/protos/RectangleArena.proto"
+EXTERNPROTO "webots://tests/default/protos/TestSuiteEmitter.proto"
+EXTERNPROTO "webots://tests/default/protos/TestSuiteSupervisor.proto"
+
+WorldInfo {
+}
+Viewpoint {
+  orientation -0.21603302555552628 0.4161981327199255 0.8832377065036189 1.0896384095552925
+  position -4.162691183645749 -6.376519530609339 5.213071959373613
+}
+TexturedBackground {
+}
+TexturedBackgroundLight {
+}
+RectangleArena {
+  floorSize 10 10
+}
+DEF ROBOT Robot {
+  translation 0 0 0.06
+  children [
+    DEF HINGE2JOINT1 Solid {
+      translation -1 0 0
+      rotation 0 1 0 0
+      children [
+        DEF HINGE2JOINT_BASE Pose {
+          children [
+            Shape {
+              appearance PBRAppearance {
+              }
+              geometry Box {
+                size 1 1 0.1
+              }
+            }
+          ]
+        }
+        Hinge2Joint {
+          jointParameters HingeJointParameters {
+            axis 0 1 0
+            anchor 0 0 2
+          }
+          jointParameters2 JointParameters {
+            axis 1 0 0
+          }
+          device2 [
+            Brake {
+              name "joint1brake"
+            }
+            RotationalMotor {
+              name "joint1motor"
+              maxVelocity 6.28
+              maxTorque 137
+            }
+          ]
+          endPoint DEF HINGE2JOINT1_SHAFT Solid {
+            translation 0 0 2
+            children [
+              DEF HINGE2JOINT_SHAFT_GEOM Pose {
+                rotation 0 1 0 1.5701
+                children [
+                  Shape {
+                    appearance PBRAppearance {
+                    }
+                    geometry Box {
+                      size 1 1 0.215
+                    }
+                  }
+                ]
+              }
+            ]
+            boundingObject USE HINGE2JOINT_SHAFT_GEOM
+            physics Physics {
+            }
+          }
+        }
+      ]
+      name "solid(3)"
+      boundingObject USE HINGE2JOINT_BASE
+      physics Physics {
+      }
+    }
+    DEF HINGE2JOINT2 Solid {
+      translation 1 0 0
+      rotation 0 1 0 0
+      children [
+        DEF HINGE2JOINT_BASE Pose {
+          children [
+            Shape {
+              appearance PBRAppearance {
+              }
+              geometry Box {
+                size 1 1 0.1
+              }
+            }
+          ]
+        }
+        Hinge2Joint {
+          jointParameters HingeJointParameters {
+            axis 0 1 0
+            anchor 0 0 2
+          }
+          jointParameters2 JointParameters {
+            axis 1 0 0
+          }
+          device [
+            RotationalMotor {
+              name "joint2turnmotor"
+              maxPosition 1.5707
+              maxTorque 10000
+            }
+          ]
+          device2 [
+            Brake {
+              name "joint2brake"
+            }
+            RotationalMotor {
+              name "joint2motor"
+              maxVelocity 6.28
+              maxTorque 137
+            }
+          ]
+          endPoint DEF HINGE2JOINT2_SHAFT Solid {
+            translation 0 0 2
+            children [
+              DEF HINGE2JOINT_SHAFT_GEOM Pose {
+                rotation 0 1 0 1.5701
+                children [
+                  Shape {
+                    appearance PBRAppearance {
+                    }
+                    geometry Box {
+                      size 1 1 0.215
+                    }
+                  }
+                ]
+              }
+            ]
+            boundingObject USE HINGE2JOINT_SHAFT_GEOM
+            physics Physics {
+            }
+          }
+        }
+      ]
+      name "solid(1)"
+      boundingObject USE HINGE2JOINT_BASE
+      physics Physics {
+      }
+    }
+    TestSuiteEmitter {
+    }
+  ]
+  controller "hinge_2_joint_damping_axis"
+  supervisor TRUE
+}
+TestSuiteSupervisor {
+}