From 52792ce74ca4b00cb6baaa52d885123645596c83 Mon Sep 17 00:00:00 2001
From: CoolSpy3 <coolspythree@gmail.com>
Date: Sat, 28 Jun 2025 15:31:53 -0700
Subject: [PATCH 01/14] unify existing export code

---
 src/webots/nodes/WbBackground.cpp   | 28 ++++-----------------
 src/webots/nodes/WbCadShape.cpp     | 29 +++++----------------
 src/webots/nodes/WbImageTexture.cpp | 15 +++--------
 src/webots/nodes/WbMesh.cpp         | 13 ++--------
 src/webots/vrml/WbNode.cpp          | 14 +++++++++++
 src/webots/vrml/WbNode.hpp          |  4 +++
 src/webots/vrml/WbUrl.cpp           | 39 +++++++----------------------
 src/webots/vrml/WbUrl.hpp           |  4 +--
 8 files changed, 44 insertions(+), 102 deletions(-)

diff --git a/src/webots/nodes/WbBackground.cpp b/src/webots/nodes/WbBackground.cpp
index 6b445a25665..d6ff9420954 100644
--- a/src/webots/nodes/WbBackground.cpp
+++ b/src/webots/nodes/WbBackground.cpp
@@ -691,17 +691,8 @@ void WbBackground::exportNodeFields(WbWriter &writer) const {
         continue;
 
       WbField urlFieldCopy(*findField(gUrlNames(i), true));
-      const QString &imagePath = WbUrl::computePath(this, gUrlNames(i), mUrlFields[i]->item(0));
-      if (WbUrl::isLocalUrl(imagePath))
-        backgroundFileNames[i] = WbUrl::computeLocalAssetUrl(imagePath, writer.isW3d());
-      else if (WbUrl::isWeb(imagePath))
-        backgroundFileNames[i] = imagePath;
-      else {
-        if (writer.isWritingToFile())
-          backgroundFileNames[i] = WbUrl::exportResource(this, imagePath, imagePath, writer.relativeTexturesPath(), writer);
-        else
-          backgroundFileNames[i] = WbUrl::expressRelativeToWorld(imagePath);
-      }
+      const QString &resolvedURL = WbUrl::computePath(this, gUrlNames(i), mUrlFields[i], 0);
+      backgroundFileNames[i] = exportResource(mUrlFields[i]->item(0), resolvedURL, writer.relativeTexturesPath(), writer);
     }
 
     QString irradianceFileNames[6];
@@ -709,18 +700,9 @@ void WbBackground::exportNodeFields(WbWriter &writer) const {
       if (mIrradianceUrlFields[i]->size() == 0)
         continue;
 
-      const QString &irradiancePath = WbUrl::computePath(this, gIrradianceUrlNames(i), mIrradianceUrlFields[i]->item(0));
-      if (WbUrl::isLocalUrl(irradiancePath))
-        irradianceFileNames[i] = WbUrl::computeLocalAssetUrl(irradiancePath, writer.isW3d());
-      else if (WbUrl::isWeb(irradiancePath))
-        irradianceFileNames[i] = irradiancePath;
-      else {
-        if (writer.isWritingToFile())
-          irradianceFileNames[i] =
-            WbUrl::exportResource(this, irradiancePath, irradiancePath, writer.relativeTexturesPath(), writer);
-        else
-          irradianceFileNames[i] = WbUrl::expressRelativeToWorld(irradiancePath);
-      }
+      const QString &resolvedURL = WbUrl::computePath(this, gIrradianceUrlNames(i), mIrradianceUrlFields[i], 0);
+      irradianceFileNames[i] = exportResource(mIrradianceUrlFields[i]->item(0), resolvedURL,
+                                              writer.relativeTexturesPath(), writer);
     }
 
     writer << " ";
diff --git a/src/webots/nodes/WbCadShape.cpp b/src/webots/nodes/WbCadShape.cpp
index aad3201001d..4026549e2c7 100644
--- a/src/webots/nodes/WbCadShape.cpp
+++ b/src/webots/nodes/WbCadShape.cpp
@@ -571,43 +571,26 @@ void WbCadShape::exportNodeFields(WbWriter &writer) const {
   if (!(writer.isW3d() || writer.isProto()))
     return;
 
+  WbBaseNode::exportNodeFields(writer);
+
   if (mUrl->size() == 0)
     return;
 
-  WbBaseNode::exportNodeFields(writer);
-
   // export model
   WbField urlFieldCopy(*findField("url", true));
   for (int i = 0; i < mUrl->size(); ++i) {
-    const QString &completeUrl = WbUrl::computePath(this, "url", mUrl, i);
+    const QString &resolvedURL = WbUrl::computePath(this, "url", mUrl, i);
     WbMFString *urlFieldValue = dynamic_cast<WbMFString *>(urlFieldCopy.value());
-    if (WbUrl::isLocalUrl(completeUrl))
-      urlFieldValue->setItem(i, WbUrl::computeLocalAssetUrl(completeUrl, writer.isW3d()));
-    else if (WbUrl::isWeb(completeUrl))
-      urlFieldValue->setItem(i, completeUrl);
-    else {
-      urlFieldValue->setItem(
-        i, writer.isWritingToFile() ? WbUrl::exportMesh(this, mUrl, i, writer) : WbUrl::expressRelativeToWorld(completeUrl));
-    }
+    urlFieldValue->setItem(i, exportResource(mUrl->item(i), resolvedURL, writer.relativeMeshesPath(), writer));
   }
 
   // export materials
   if (writer.isW3d()) {  // only needs to be included in the w3d, when converting to base node it shouldn't be included
-    const QString &parentUrl = WbUrl::computePath(this, "url", mUrl->item(0));
+    const QString &parentUrl = WbUrl::computePath(this, "url", mUrl, 0);
     for (const QString &material : objMaterialList(parentUrl)) {
       QString materialUrl = WbUrl::combinePaths(material, parentUrl);
       WbMFString *urlFieldValue = dynamic_cast<WbMFString *>(urlFieldCopy.value());
-      if (WbUrl::isLocalUrl(materialUrl))
-        urlFieldValue->addItem(WbUrl::computeLocalAssetUrl(materialUrl, writer.isW3d()));
-      else if (WbUrl::isWeb(materialUrl))
-        urlFieldValue->addItem(materialUrl);
-      else {
-        if (writer.isWritingToFile())
-          urlFieldValue->addItem(
-            WbUrl::exportResource(this, materialUrl, materialUrl, writer.relativeMeshesPath(), writer, false));
-        else
-          urlFieldValue->addItem(WbUrl::expressRelativeToWorld(materialUrl));
-      }
+      urlFieldValue->addItem(exportResource(material, materialUrl, writer.relativeMeshesPath(), writer));
     }
   }
 
diff --git a/src/webots/nodes/WbImageTexture.cpp b/src/webots/nodes/WbImageTexture.cpp
index be09007f51c..6c6fc7fd842 100644
--- a/src/webots/nodes/WbImageTexture.cpp
+++ b/src/webots/nodes/WbImageTexture.cpp
@@ -531,18 +531,9 @@ void WbImageTexture::exportNodeFields(WbWriter &writer) const {
   // export to ./textures folder relative to writer path
   WbField urlFieldCopy(*findField("url", true));
   for (int i = 0; i < mUrl->size(); ++i) {
-    QString completeUrl = WbUrl::computePath(this, "url", mUrl, i);
+    const QString &resolvedURL = WbUrl::computePath(this, "url", mUrl, i);
     WbMFString *urlFieldValue = dynamic_cast<WbMFString *>(urlFieldCopy.value());
-    if (WbUrl::isLocalUrl(completeUrl))
-      urlFieldValue->setItem(i, WbUrl::computeLocalAssetUrl(completeUrl, writer.isW3d()));
-    else if (WbUrl::isWeb(completeUrl))
-      urlFieldValue->setItem(i, completeUrl);
-    else {
-      if (writer.isWritingToFile())
-        urlFieldValue->setItem(i, WbUrl::exportTexture(this, mUrl, i, writer));
-      else
-        urlFieldValue->setItem(i, WbUrl::expressRelativeToWorld(completeUrl));
-    }
+    urlFieldValue->setItem(i, exportResource(mUrl->item(i), resolvedURL, writer.relativeTexturesPath(), writer));
   }
 
   urlFieldCopy.write(writer);
@@ -560,7 +551,7 @@ void WbImageTexture::exportShallowNode(const WbWriter &writer) const {
   // note: the texture of the shallow nodes needs to be exported only if the URL is locally defined but not of type
   // 'webots://' since this case would be converted to a remote one that targets the current branch
   if (!WbUrl::isWeb(mUrl->item(0)) && !WbUrl::isLocalUrl(mUrl->item(0)) && !WbWorld::isW3dStreaming())
-    WbUrl::exportTexture(this, mUrl, 0, writer);
+    WbUrl::exportResource(this, mUrl->item(0), WbUrl::computePath(this, "url", mUrl, 0), writer.relativeTexturesPath(), writer);
 }
 
 QStringList WbImageTexture::fieldsToSynchronizeWithW3d() const {
diff --git a/src/webots/nodes/WbMesh.cpp b/src/webots/nodes/WbMesh.cpp
index f2cc552c65d..ab5971aa786 100644
--- a/src/webots/nodes/WbMesh.cpp
+++ b/src/webots/nodes/WbMesh.cpp
@@ -409,18 +409,9 @@ void WbMesh::exportNodeFields(WbWriter &writer) const {
 
   WbField urlFieldCopy(*findField("url", true));
   for (int i = 0; i < mUrl->size(); ++i) {
-    const QString &completeUrl = WbUrl::computePath(this, "url", mUrl, i);
+    const QString &resolvedURL = WbUrl::computePath(this, "url", mUrl, i);
     WbMFString *urlFieldValue = dynamic_cast<WbMFString *>(urlFieldCopy.value());
-    if (WbUrl::isLocalUrl(completeUrl))
-      urlFieldValue->setItem(i, WbUrl::computeLocalAssetUrl(completeUrl, writer.isW3d()));
-    else if (WbUrl::isWeb(completeUrl))
-      urlFieldValue->setItem(i, completeUrl);
-    else {
-      if (writer.isWritingToFile())
-        urlFieldValue->setItem(i, WbUrl::exportMesh(this, mUrl, i, writer));
-      else
-        urlFieldValue->setItem(i, WbUrl::expressRelativeToWorld(completeUrl));
-    }
+    urlFieldValue->setItem(i, exportResource(mUrl->item(i), resolvedURL, writer.relativeMeshesPath(), writer));
   }
 
   urlFieldCopy.write(writer);
diff --git a/src/webots/vrml/WbNode.cpp b/src/webots/vrml/WbNode.cpp
index 17f0639efab..5050c80ea2a 100644
--- a/src/webots/vrml/WbNode.cpp
+++ b/src/webots/vrml/WbNode.cpp
@@ -1244,6 +1244,20 @@ void WbNode::writeExport(WbWriter &writer) const {
   }
 }
 
+QString WbNode::exportResource(const QString &rawURL, const QString &resolvedURL, const QString &relativeResourcePath,
+                        WbWriter &writer) const {
+  if (WbUrl::isLocalUrl(resolvedURL))
+    return WbUrl::computeLocalAssetUrl(resolvedURL, writer.isW3d());
+  else if (WbUrl::isWeb(resolvedURL))
+    return resolvedURL;
+  else {
+    if (writer.isWritingToFile())
+      return WbUrl::exportResource(this, rawURL, resolvedURL, relativeResourcePath, writer);
+    else
+      return WbUrl::expressRelativeToWorld(resolvedURL);
+  }
+}
+
 bool WbNode::operator==(const WbNode &other) const {
   if (mModel != other.mModel || isProtoInstance() != other.isProtoInstance() ||
       (mProto && mProto->url() != other.mProto->url()) || mDefName != other.mDefName)
diff --git a/src/webots/vrml/WbNode.hpp b/src/webots/vrml/WbNode.hpp
index c76e5dee527..42a0e9c6644 100644
--- a/src/webots/vrml/WbNode.hpp
+++ b/src/webots/vrml/WbNode.hpp
@@ -317,6 +317,10 @@ class WbNode : public QObject {
   virtual void exportNodeFooter(WbWriter &writer) const;
   virtual void exportExternalSubProto(WbWriter &writer) const;
 
+  // Helper to handle exporting fields with resources which reference external files
+  QString exportResource(const QString &rawURL, const QString &resolvedURL, const QString &relativeResourcePath,
+                          WbWriter &writer) const;
+
   // Methods related to URDF export
   const WbNode *findUrdfLinkRoot() const;  // Finds first upper Webots node that is considered as URDF link
   virtual bool isUrdfRootLink() const;     // Determines whether the Webots node is considered as URDF link as well
diff --git a/src/webots/vrml/WbUrl.cpp b/src/webots/vrml/WbUrl.cpp
index d126f6696e4..3f32a1e9491 100644
--- a/src/webots/vrml/WbUrl.cpp
+++ b/src/webots/vrml/WbUrl.cpp
@@ -58,17 +58,18 @@ QString WbUrl::missing(const QString &url) {
   return "";
 }
 
-QString WbUrl::computePath(const WbNode *node, const QString &field, const WbMFString *urlField, int index, bool showWarning) {
+QString WbUrl::computePath(const WbNode *node, const QString &field, const WbMFString *urlField, int index, bool showWarning,
+                          bool disableCache) {
   // check if mUrl is empty
   if (urlField->size() < 1)
     return "";
 
   // get the URL at specified index
   const QString &url = urlField->item(index);
-  return computePath(node, field, url, showWarning);
+  return computePath(node, field, url, showWarning, disableCache);
 }
 
-QString WbUrl::computePath(const WbNode *node, const QString &field, const QString &rawUrl, bool showWarning) {
+QString WbUrl::computePath(const WbNode *node, const QString &field, const QString &rawUrl, bool showWarning, bool disableCache) {
   QString url = resolveUrl(rawUrl);
   // check if the first URL is empty
   if (url.isEmpty()) {
@@ -85,6 +86,7 @@ QString WbUrl::computePath(const WbNode *node, const QString &field, const QStri
 
   if (QDir::isRelativePath(url)) {
     const WbField *f = node->findField(field, true);
+    assert(f);
     const WbNode *protoNode = node->containingProto(false);
 
     protoNode = WbVrmlNodeUtilities::findFieldProtoScope(f, protoNode);
@@ -94,7 +96,7 @@ QString WbUrl::computePath(const WbNode *node, const QString &field, const QStri
       // note: derived PROTO are a special case because instances of the intermediary ancestors from which it is defined don't
       // persist after the build process, hence why we keep track of the scope while building the node itself
       if (protoNode->proto()->isDerived()) {
-        if (WbFileUtil::isLocatedInDirectory(f->scope(), WbStandardPaths::cachedAssetsPath()))
+        if (!disableCache && WbFileUtil::isLocatedInDirectory(f->scope(), WbStandardPaths::cachedAssetsPath()))
           parentUrl = WbNetwork::instance()->getUrlFromEphemeralCache(f->scope());
         else
           parentUrl = f->scope();
@@ -132,7 +134,7 @@ QString WbUrl::resolveUrl(const QString &rawUrl) {
 }
 
 QString WbUrl::exportResource(const WbNode *node, const QString &url, const QString &sourcePath,
-                              const QString &relativeResourcePath, const WbWriter &writer, const bool isTexture) {
+                              const QString &relativeResourcePath, const WbWriter &writer) {
   const QFileInfo urlFileInfo(url);
   const QString fileName = urlFileInfo.fileName();
   const QString expectedRelativePath = relativeResourcePath + fileName;
@@ -155,11 +157,7 @@ QString WbUrl::exportResource(const WbNode *node, const QString &url, const QStr
       const QString extension = urlFileInfo.suffix();
 
       for (int i = 1; i < 100; ++i) {  // number of trials before failure
-        QString newRelativePath;
-        if (isTexture)
-          newRelativePath = writer.relativeTexturesPath() + baseName + '.' + QString::number(i) + '.' + extension;
-        else
-          newRelativePath = writer.relativeMeshesPath() + baseName + '.' + QString::number(i) + '.' + extension;
+        QString newRelativePath = relativeResourcePath + baseName + '.' + QString::number(i) + '.' + extension;
 
         const QString newAbsolutePath = writer.path() + "/" + newRelativePath;
         if (QFileInfo(newAbsolutePath).exists()) {
@@ -170,11 +168,8 @@ QString WbUrl::exportResource(const WbNode *node, const QString &url, const QStr
           return newRelativePath;
         }
       }
-      if (isTexture)
-        node->warn(QObject::tr("Failure exporting texture, too many textures share the same name: %1.").arg(url));
-      else
-        node->warn(QObject::tr("Failure exporting mesh, too many meshes share the same name: %1.").arg(url));
 
+      node->warn(QObject::tr("Failure exporting resource, too many resources share the same name: %1.").arg(url));
       return "";
     }
   } else {  // simple case
@@ -183,22 +178,6 @@ QString WbUrl::exportResource(const WbNode *node, const QString &url, const QStr
   }
 }
 
-QString WbUrl::exportTexture(const WbNode *node, const WbMFString *urlField, int index, const WbWriter &writer) {
-  // in addition to writing the node, we want to ensure that the texture file exists
-  // at the expected location. If not, we should copy it, possibly creating the expected
-  // directory structure.
-  return exportResource(node, QDir::fromNativeSeparators(urlField->item(index)), computePath(node, "url", urlField, index),
-                        writer.relativeTexturesPath(), writer);
-}
-
-QString WbUrl::exportMesh(const WbNode *node, const WbMFString *urlField, int index, const WbWriter &writer) {
-  // in addition to writing the node, we want to ensure that the mesh file exists
-  // at the expected location. If not, we should copy it, possibly creating the expected
-  // directory structure.
-  return exportResource(node, QDir::fromNativeSeparators(urlField->item(index)), computePath(node, "url", urlField, index),
-                        writer.relativeMeshesPath(), writer, false);
-}
-
 bool WbUrl::isWeb(const QString &url) {
   return url.startsWith("https://") || url.startsWith("http://");
 }
diff --git a/src/webots/vrml/WbUrl.hpp b/src/webots/vrml/WbUrl.hpp
index a52cf10a501..48fa8753b82 100644
--- a/src/webots/vrml/WbUrl.hpp
+++ b/src/webots/vrml/WbUrl.hpp
@@ -30,9 +30,7 @@ namespace WbUrl {
   QString combinePaths(const QString &rawUrl, const QString &rawParentUrl);
 
   QString exportResource(const WbNode *node, const QString &url, const QString &sourcePath, const QString &relativeResourcePath,
-                         const WbWriter &writer, const bool isTexture = true);
-  QString exportTexture(const WbNode *node, const WbMFString *urlField, int index, const WbWriter &writer);
-  QString exportMesh(const WbNode *node, const WbMFString *urlField, int index, const WbWriter &writer);
+                         const WbWriter &writer);
 
   QString missing(const QString &url);
   const QString &missingTexture();

From 884ef677975dd507a0a58f11dd4dfa50689b34d6 Mon Sep 17 00:00:00 2001
From: CoolSpy3 <coolspythree@gmail.com>
Date: Sat, 28 Jun 2025 15:50:25 -0700
Subject: [PATCH 02/14] add simplified normal use case helper

---
 src/webots/nodes/WbImageTexture.cpp | 10 +--------
 src/webots/nodes/WbMesh.cpp         | 12 +---------
 src/webots/vrml/WbNode.cpp          | 34 +++++++++++++++++++++++++++++
 src/webots/vrml/WbNode.hpp          |  5 +++++
 4 files changed, 41 insertions(+), 20 deletions(-)

diff --git a/src/webots/nodes/WbImageTexture.cpp b/src/webots/nodes/WbImageTexture.cpp
index 6c6fc7fd842..159029e5594 100644
--- a/src/webots/nodes/WbImageTexture.cpp
+++ b/src/webots/nodes/WbImageTexture.cpp
@@ -528,15 +528,7 @@ bool WbImageTexture::exportNodeHeader(WbWriter &writer) const {
 void WbImageTexture::exportNodeFields(WbWriter &writer) const {
   WbBaseNode::exportNodeFields(writer);
 
-  // export to ./textures folder relative to writer path
-  WbField urlFieldCopy(*findField("url", true));
-  for (int i = 0; i < mUrl->size(); ++i) {
-    const QString &resolvedURL = WbUrl::computePath(this, "url", mUrl, i);
-    WbMFString *urlFieldValue = dynamic_cast<WbMFString *>(urlFieldCopy.value());
-    urlFieldValue->setItem(i, exportResource(mUrl->item(i), resolvedURL, writer.relativeTexturesPath(), writer));
-  }
-
-  urlFieldCopy.write(writer);
+  exportMFResourceField("url", mUrl, writer.relativeTexturesPath(), writer);
 
   if (writer.isW3d()) {
     if (!mRole.isEmpty())
diff --git a/src/webots/nodes/WbMesh.cpp b/src/webots/nodes/WbMesh.cpp
index ab5971aa786..6927c8c9854 100644
--- a/src/webots/nodes/WbMesh.cpp
+++ b/src/webots/nodes/WbMesh.cpp
@@ -404,17 +404,7 @@ void WbMesh::exportNodeFields(WbWriter &writer) const {
   if (!(writer.isW3d() || writer.isProto()))
     return;
 
-  if (mUrl->size() == 0)
-    return;
-
-  WbField urlFieldCopy(*findField("url", true));
-  for (int i = 0; i < mUrl->size(); ++i) {
-    const QString &resolvedURL = WbUrl::computePath(this, "url", mUrl, i);
-    WbMFString *urlFieldValue = dynamic_cast<WbMFString *>(urlFieldCopy.value());
-    urlFieldValue->setItem(i, exportResource(mUrl->item(i), resolvedURL, writer.relativeMeshesPath(), writer));
-  }
-
-  urlFieldCopy.write(writer);
+  exportMFResourceField("url", mUrl, writer.relativeMeshesPath(), writer);
 
   WbGeometry::exportNodeFields(writer);
 }
diff --git a/src/webots/vrml/WbNode.cpp b/src/webots/vrml/WbNode.cpp
index 5050c80ea2a..573f02df35c 100644
--- a/src/webots/vrml/WbNode.cpp
+++ b/src/webots/vrml/WbNode.cpp
@@ -1258,6 +1258,40 @@ QString WbNode::exportResource(const QString &rawURL, const QString &resolvedURL
   }
 }
 
+void WbNode::exportMFResourceField(const QString &fieldName, const WbMFString* value, const QString &relativeResourcePath, WbWriter &writer) const {
+  if (value->size() == 0) return;
+
+  const WbField *originalField = findField(fieldName, true);
+  assert(originalField && originalField->type() == WB_MF_STRING);
+
+  WbField copiedField(*originalField);
+  WbMFString *newValue = dynamic_cast<WbMFString *>(copiedField.value());
+
+  for (int i = 0; i < value->size(); ++i) {
+    const QString &rawURL = value->item(i);
+    const QString &resolvedURL = WbUrl::computePath(this, fieldName, rawURL);
+    newValue->setItem(i, exportResource(rawURL, resolvedURL, relativeResourcePath, writer));
+  }
+
+  copiedField.write(writer);
+}
+
+void WbNode::exportSFResourceField(const QString &fieldName, const WbSFString* value, const QString &relativeResourcePath, WbWriter &writer) const {
+  const QString &rawURL = value->value();
+  if (rawURL.isEmpty()) return;
+
+  const WbField *originalField = findField(fieldName, true);
+  assert(originalField && originalField->type() == WB_SF_STRING);
+
+  WbField copiedField(*originalField);
+  WbSFString *newValue = dynamic_cast<WbSFString *>(copiedField.value());
+
+  const QString &resolvedURL = WbUrl::computePath(this, fieldName, rawURL);
+  newValue->setValue(exportResource(rawURL, resolvedURL, relativeResourcePath, writer));
+
+  copiedField.write(writer);
+}
+
 bool WbNode::operator==(const WbNode &other) const {
   if (mModel != other.mModel || isProtoInstance() != other.isProtoInstance() ||
       (mProto && mProto->url() != other.mProto->url()) || mDefName != other.mDefName)
diff --git a/src/webots/vrml/WbNode.hpp b/src/webots/vrml/WbNode.hpp
index 42a0e9c6644..79c98655616 100644
--- a/src/webots/vrml/WbNode.hpp
+++ b/src/webots/vrml/WbNode.hpp
@@ -320,6 +320,11 @@ class WbNode : public QObject {
   // Helper to handle exporting fields with resources which reference external files
   QString exportResource(const QString &rawURL, const QString &resolvedURL, const QString &relativeResourcePath,
                           WbWriter &writer) const;
+  // Wrappers for the most common use case (simply exporting a field with no additional processing)
+  void exportMFResourceField(const QString &fieldName, const WbMFString* value, const QString &relativeResourcePath,
+                              WbWriter &writer) const;
+  void exportSFResourceField(const QString &fieldName, const WbSFString* value, const QString &relativeResourcePath,
+                              WbWriter &writer) const;
 
   // Methods related to URDF export
   const WbNode *findUrdfLinkRoot() const;  // Finds first upper Webots node that is considered as URDF link

From 4813f9703ac5732b0bfb77cd66230e561d96cae2 Mon Sep 17 00:00:00 2001
From: CoolSpy3 <coolspythree@gmail.com>
Date: Sat, 28 Jun 2025 16:02:12 -0700
Subject: [PATCH 03/14] cleanup existing export methods

---
 src/webots/nodes/WbBackground.cpp | 18 +++++++++++-------
 src/webots/nodes/WbCadShape.cpp   |  8 +++++---
 src/webots/nodes/WbMesh.cpp       |  5 +----
 src/webots/vrml/WbNode.cpp        | 22 +++++++++++++++++-----
 4 files changed, 34 insertions(+), 19 deletions(-)

diff --git a/src/webots/nodes/WbBackground.cpp b/src/webots/nodes/WbBackground.cpp
index d6ff9420954..4b106b09b40 100644
--- a/src/webots/nodes/WbBackground.cpp
+++ b/src/webots/nodes/WbBackground.cpp
@@ -679,10 +679,7 @@ WbRgb WbBackground::skyColor() const {
 }
 
 void WbBackground::exportNodeFields(WbWriter &writer) const {
-  if (writer.isWebots()) {
-    WbBaseNode::exportNodeFields(writer);
-    return;
-  }
+  WbBaseNode::exportNodeFields(writer);
 
   if (writer.isW3d()) {
     QString backgroundFileNames[6];
@@ -690,7 +687,6 @@ void WbBackground::exportNodeFields(WbWriter &writer) const {
       if (mUrlFields[i]->size() == 0)
         continue;
 
-      WbField urlFieldCopy(*findField(gUrlNames(i), true));
       const QString &resolvedURL = WbUrl::computePath(this, gUrlNames(i), mUrlFields[i], 0);
       backgroundFileNames[i] = exportResource(mUrlFields[i]->item(0), resolvedURL, writer.relativeTexturesPath(), writer);
     }
@@ -712,7 +708,15 @@ void WbBackground::exportNodeFields(WbWriter &writer) const {
       if (!irradianceFileNames[i].isEmpty())
         writer << gIrradianceUrlNames(i) << "='\"" << irradianceFileNames[i] << "\"' ";
     }
+  } else if (writer.isProto()) {
+    for (int i = 0; i < 6; ++i) {
+      exportMFResourceField(gUrlNames(i), mUrlFields[i], writer.relativeTexturesPath(), writer);
+      exportMFResourceField(gIrradianceUrlNames(i), mIrradianceUrlFields[i], writer.relativeTexturesPath(), writer);
+    }
+  } else {
+    for (int i = 0; i < 6; ++i) {
+      findField(gUrlNames(i), true)->write(writer);
+      findField(gIrradianceUrlNames(i), true)->write(writer);
+    }
   }
-
-  WbBaseNode::exportNodeFields(writer);
 }
diff --git a/src/webots/nodes/WbCadShape.cpp b/src/webots/nodes/WbCadShape.cpp
index 4026549e2c7..f90d66d12fe 100644
--- a/src/webots/nodes/WbCadShape.cpp
+++ b/src/webots/nodes/WbCadShape.cpp
@@ -568,14 +568,16 @@ const WbVector3 WbCadShape::absoluteScale() const {
 }
 
 void WbCadShape::exportNodeFields(WbWriter &writer) const {
-  if (!(writer.isW3d() || writer.isProto()))
-    return;
-
   WbBaseNode::exportNodeFields(writer);
 
   if (mUrl->size() == 0)
     return;
 
+  if (!(writer.isW3d() || writer.isProto())) {
+    findField("url", true)->write(writer);
+    return;
+  }
+
   // export model
   WbField urlFieldCopy(*findField("url", true));
   for (int i = 0; i < mUrl->size(); ++i) {
diff --git a/src/webots/nodes/WbMesh.cpp b/src/webots/nodes/WbMesh.cpp
index 6927c8c9854..fc659fea979 100644
--- a/src/webots/nodes/WbMesh.cpp
+++ b/src/webots/nodes/WbMesh.cpp
@@ -401,12 +401,9 @@ void WbMesh::updateMaterialIndex() {
 }
 
 void WbMesh::exportNodeFields(WbWriter &writer) const {
-  if (!(writer.isW3d() || writer.isProto()))
-    return;
+  WbGeometry::exportNodeFields(writer);
 
   exportMFResourceField("url", mUrl, writer.relativeMeshesPath(), writer);
-
-  WbGeometry::exportNodeFields(writer);
 }
 
 QStringList WbMesh::fieldsToSynchronizeWithW3d() const {
diff --git a/src/webots/vrml/WbNode.cpp b/src/webots/vrml/WbNode.cpp
index 573f02df35c..d096a378d3b 100644
--- a/src/webots/vrml/WbNode.cpp
+++ b/src/webots/vrml/WbNode.cpp
@@ -1259,11 +1259,17 @@ QString WbNode::exportResource(const QString &rawURL, const QString &resolvedURL
 }
 
 void WbNode::exportMFResourceField(const QString &fieldName, const WbMFString* value, const QString &relativeResourcePath, WbWriter &writer) const {
-  if (value->size() == 0) return;
-
   const WbField *originalField = findField(fieldName, true);
   assert(originalField && originalField->type() == WB_MF_STRING);
 
+  // only w3c and proto exports need urls to be resolved
+  if (!(writer.isW3d() || writer.isProto())) {
+    originalField->write(writer);
+    return;
+  }
+
+  if (value->size() == 0) return;
+
   WbField copiedField(*originalField);
   WbMFString *newValue = dynamic_cast<WbMFString *>(copiedField.value());
 
@@ -1277,12 +1283,18 @@ void WbNode::exportMFResourceField(const QString &fieldName, const WbMFString* v
 }
 
 void WbNode::exportSFResourceField(const QString &fieldName, const WbSFString* value, const QString &relativeResourcePath, WbWriter &writer) const {
-  const QString &rawURL = value->value();
-  if (rawURL.isEmpty()) return;
-
   const WbField *originalField = findField(fieldName, true);
   assert(originalField && originalField->type() == WB_SF_STRING);
 
+  // only w3c and proto exports need urls to be resolved
+  if (!(writer.isW3d() || writer.isProto())) {
+    originalField->write(writer);
+    return;
+  }
+
+  const QString &rawURL = value->value();
+  if (rawURL.isEmpty()) return;
+
   WbField copiedField(*originalField);
   WbSFString *newValue = dynamic_cast<WbSFString *>(copiedField.value());
 

From 3846fbdd52807d23e12df83d23eee1e039d7abf6 Mon Sep 17 00:00:00 2001
From: CoolSpy3 <coolspythree@gmail.com>
Date: Sat, 28 Jun 2025 16:08:50 -0700
Subject: [PATCH 04/14] prevent duplicate exports

---
 src/webots/nodes/WbBackground.cpp   | 9 +++++++++
 src/webots/nodes/WbBackground.hpp   | 1 +
 src/webots/nodes/WbCadShape.cpp     | 6 ++++++
 src/webots/nodes/WbCadShape.hpp     | 1 +
 src/webots/nodes/WbImageTexture.cpp | 6 ++++++
 src/webots/nodes/WbImageTexture.hpp | 1 +
 src/webots/nodes/WbMesh.cpp         | 6 ++++++
 src/webots/nodes/WbMesh.hpp         | 1 +
 src/webots/vrml/WbNode.cpp          | 3 ++-
 src/webots/vrml/WbNode.hpp          | 3 +++
 10 files changed, 36 insertions(+), 1 deletion(-)

diff --git a/src/webots/nodes/WbBackground.cpp b/src/webots/nodes/WbBackground.cpp
index 4b106b09b40..37c2fe79569 100644
--- a/src/webots/nodes/WbBackground.cpp
+++ b/src/webots/nodes/WbBackground.cpp
@@ -720,3 +720,12 @@ void WbBackground::exportNodeFields(WbWriter &writer) const {
     }
   }
 }
+
+QStringList WbBackground::customExportedFields() const {
+  QStringList fields;
+  for (int i = 0; i < 6; ++i) {
+    fields << gUrlNames(i);
+    fields << gIrradianceUrlNames(i);
+  }
+  return fields;
+}
diff --git a/src/webots/nodes/WbBackground.hpp b/src/webots/nodes/WbBackground.hpp
index a90c9ad4b1b..c6340596215 100644
--- a/src/webots/nodes/WbBackground.hpp
+++ b/src/webots/nodes/WbBackground.hpp
@@ -59,6 +59,7 @@ class WbBackground : public WbBaseNode {
 
 protected:
   void exportNodeFields(WbWriter &writer) const override;
+  QStringList customExportedFields() const override;
 
 private:
   static QList<WbBackground *> cBackgroundList;
diff --git a/src/webots/nodes/WbCadShape.cpp b/src/webots/nodes/WbCadShape.cpp
index f90d66d12fe..9b5b4dbd2a3 100644
--- a/src/webots/nodes/WbCadShape.cpp
+++ b/src/webots/nodes/WbCadShape.cpp
@@ -603,6 +603,12 @@ void WbCadShape::exportNodeFields(WbWriter &writer) const {
   urlFieldCopy.write(writer);
 }
 
+QStringList WbCadShape::customExportedFields() const {
+  QStringList fields;
+  fields << "url";
+  return fields;
+}
+
 QString WbCadShape::cadPath() const {
   return WbUrl::computePath(this, "url", mUrl, 0);
 }
diff --git a/src/webots/nodes/WbCadShape.hpp b/src/webots/nodes/WbCadShape.hpp
index fd02124b011..924f4556541 100644
--- a/src/webots/nodes/WbCadShape.hpp
+++ b/src/webots/nodes/WbCadShape.hpp
@@ -56,6 +56,7 @@ class WbCadShape : public WbBaseNode {
 
 protected:
   void exportNodeFields(WbWriter &writer) const override;
+  QStringList customExportedFields() const override;
   WbBoundingSphere *boundingSphere() const override { return mBoundingSphere; }
   void recomputeBoundingSphere() const;
 
diff --git a/src/webots/nodes/WbImageTexture.cpp b/src/webots/nodes/WbImageTexture.cpp
index 159029e5594..026f5da5e3a 100644
--- a/src/webots/nodes/WbImageTexture.cpp
+++ b/src/webots/nodes/WbImageTexture.cpp
@@ -536,6 +536,12 @@ void WbImageTexture::exportNodeFields(WbWriter &writer) const {
   }
 }
 
+QStringList WbImageTexture::customExportedFields() const {
+  QStringList fields;
+  fields << "url";
+  return fields;
+}
+
 void WbImageTexture::exportShallowNode(const WbWriter &writer) const {
   if (!writer.isW3d() || mUrl->size() == 0)
     return;
diff --git a/src/webots/nodes/WbImageTexture.hpp b/src/webots/nodes/WbImageTexture.hpp
index 04bbde70135..b68e81e0073 100644
--- a/src/webots/nodes/WbImageTexture.hpp
+++ b/src/webots/nodes/WbImageTexture.hpp
@@ -80,6 +80,7 @@ class WbImageTexture : public WbBaseNode {
 protected:
   bool exportNodeHeader(WbWriter &writer) const override;
   void exportNodeFields(WbWriter &writer) const override;
+  QStringList customExportedFields() const override;
 
 private:
   // user accessible fields
diff --git a/src/webots/nodes/WbMesh.cpp b/src/webots/nodes/WbMesh.cpp
index fc659fea979..0d6623d5f10 100644
--- a/src/webots/nodes/WbMesh.cpp
+++ b/src/webots/nodes/WbMesh.cpp
@@ -406,6 +406,12 @@ void WbMesh::exportNodeFields(WbWriter &writer) const {
   exportMFResourceField("url", mUrl, writer.relativeMeshesPath(), writer);
 }
 
+QStringList WbMesh::customExportedFields() const {
+  QStringList fields;
+  fields << "url";
+  return fields;
+}
+
 QStringList WbMesh::fieldsToSynchronizeWithW3d() const {
   QStringList fields;
   fields << "url"
diff --git a/src/webots/nodes/WbMesh.hpp b/src/webots/nodes/WbMesh.hpp
index 2de1cdf027b..67acd664b05 100644
--- a/src/webots/nodes/WbMesh.hpp
+++ b/src/webots/nodes/WbMesh.hpp
@@ -48,6 +48,7 @@ class WbMesh : public WbTriangleMeshGeometry {
 
 protected:
   void exportNodeFields(WbWriter &writer) const override;
+  QStringList customExportedFields() const override;
 
 private:
   // user accessible fields
diff --git a/src/webots/vrml/WbNode.cpp b/src/webots/vrml/WbNode.cpp
index d096a378d3b..3987e1a87d3 100644
--- a/src/webots/vrml/WbNode.cpp
+++ b/src/webots/vrml/WbNode.cpp
@@ -1111,7 +1111,8 @@ void WbNode::exportNodeFields(WbWriter &writer) const {
     return;
 
   foreach (const WbField *f, fields()) {
-    if (!f->isDeprecated() && ((f->isW3d() || writer.isProto()) && f->singleType() != WB_SF_NODE))
+    if (!f->isDeprecated() && ((f->isW3d() || writer.isProto()) && f->singleType() != WB_SF_NODE) &&
+        !customExportedFields().contains(f->name()))
       f->write(writer);
   }
 }
diff --git a/src/webots/vrml/WbNode.hpp b/src/webots/vrml/WbNode.hpp
index 79c98655616..883d59300c4 100644
--- a/src/webots/vrml/WbNode.hpp
+++ b/src/webots/vrml/WbNode.hpp
@@ -317,6 +317,9 @@ class WbNode : public QObject {
   virtual void exportNodeFooter(WbWriter &writer) const;
   virtual void exportExternalSubProto(WbWriter &writer) const;
 
+  // fields which should not be handled by the default exportNodeFields function
+  virtual QStringList customExportedFields() const { return QStringList(); }
+
   // Helper to handle exporting fields with resources which reference external files
   QString exportResource(const QString &rawURL, const QString &resolvedURL, const QString &relativeResourcePath,
                           WbWriter &writer) const;

From d22d7c446b1dff5bdfd0266fc01e7abddc1b0a71 Mon Sep 17 00:00:00 2001
From: CoolSpy3 <coolspythree@gmail.com>
Date: Sat, 28 Jun 2025 16:26:57 -0700
Subject: [PATCH 05/14] add export support for resources that don't already
 have it

---
 src/webots/nodes/WbCamera.cpp            | 12 ++++++++++++
 src/webots/nodes/WbCamera.hpp            |  2 ++
 src/webots/nodes/WbContactProperties.cpp | 14 ++++++++++++++
 src/webots/nodes/WbContactProperties.hpp |  4 ++++
 src/webots/nodes/WbMotor.cpp             | 12 ++++++++++++
 src/webots/nodes/WbMotor.hpp             |  3 +++
 src/webots/nodes/WbSkin.cpp              | 12 ++++++++++++
 src/webots/nodes/WbSkin.hpp              |  4 ++++
 src/webots/nodes/WbTrackWheel.cpp        |  7 +++----
 src/webots/vrml/WbWriter.hpp             |  1 +
 10 files changed, 67 insertions(+), 4 deletions(-)

diff --git a/src/webots/nodes/WbCamera.cpp b/src/webots/nodes/WbCamera.cpp
index 63133128695..eaeb1384fb0 100644
--- a/src/webots/nodes/WbCamera.cpp
+++ b/src/webots/nodes/WbCamera.cpp
@@ -1017,6 +1017,18 @@ WbVector3 WbCamera::urdfRotation(const WbMatrix3 &rotationMatrix) const {
   return eulerRotation;
 }
 
+void WbCamera::exportNodeFields(WbWriter &writer) const {
+  WbAbstractCamera::exportNodeFields(writer);
+
+  exportSFResourceField("noiseMaskUrl", mNoiseMaskUrl, writer.relativeMeshesPath(), writer);
+}
+
+QStringList WbCamera::customExportedFields() const {
+  QStringList fields;
+  fields << "noiseMaskUrl";
+  return fields;
+}
+
 /////////////////////
 //  Update methods //
 /////////////////////
diff --git a/src/webots/nodes/WbCamera.hpp b/src/webots/nodes/WbCamera.hpp
index 456a6c09ca2..b3086d5f32e 100644
--- a/src/webots/nodes/WbCamera.hpp
+++ b/src/webots/nodes/WbCamera.hpp
@@ -67,6 +67,8 @@ class WbCamera : public WbAbstractCamera {
   void setup() override;
   void render() override;
   bool needToRender() const override;
+  void exportNodeFields(WbWriter &writer) const override;
+  QStringList customExportedFields() const override;
 
 private:
   WbSFNode *mFocus;
diff --git a/src/webots/nodes/WbContactProperties.cpp b/src/webots/nodes/WbContactProperties.cpp
index d179d00b829..b5a7fa07e9c 100644
--- a/src/webots/nodes/WbContactProperties.cpp
+++ b/src/webots/nodes/WbContactProperties.cpp
@@ -121,6 +121,20 @@ void WbContactProperties::postFinalize() {
   connect(mMaxContactJoints, &WbSFInt::changed, this, &WbContactProperties::updateMaxContactJoints);
 }
 
+void WbContactProperties::exportNodeFields(WbWriter &writer) const {
+  WbBaseNode::exportNodeFields(writer);
+
+  exportSFResourceField(gUrlNames[0], mBumpSound, writer.relativeSoundsPath(), writer);
+  exportSFResourceField(gUrlNames[1], mRollSound, writer.relativeSoundsPath(), writer);
+  exportSFResourceField(gUrlNames[2], mSlideSound, writer.relativeSoundsPath(), writer);
+}
+
+QStringList WbContactProperties::customExportedFields() const {
+  QStringList fields;
+  fields << "url";
+  return fields;
+}
+
 void WbContactProperties::updateCoulombFriction() {
   const int nbElements = mCoulombFriction->size();
   if (nbElements < 1 || nbElements > 4) {
diff --git a/src/webots/nodes/WbContactProperties.hpp b/src/webots/nodes/WbContactProperties.hpp
index 10b9386e41c..a3dce99978f 100644
--- a/src/webots/nodes/WbContactProperties.hpp
+++ b/src/webots/nodes/WbContactProperties.hpp
@@ -64,6 +64,10 @@ class WbContactProperties : public WbBaseNode {
   void valuesChanged();
   void needToEnableBodies();
 
+protected:
+  void exportNodeFields(WbWriter &writer) const override;
+  QStringList customExportedFields() const override;
+
 private:
   // user accessible fields
   WbSFString *mMaterial1;
diff --git a/src/webots/nodes/WbMotor.cpp b/src/webots/nodes/WbMotor.cpp
index d5b0dcfe4d0..19cfe3b2385 100644
--- a/src/webots/nodes/WbMotor.cpp
+++ b/src/webots/nodes/WbMotor.cpp
@@ -853,3 +853,15 @@ QList<const WbBaseNode *> WbMotor::findClosestDescendantNodesWithDedicatedWrenNo
     list << static_cast<WbBaseNode *>(it.next());
   return list;
 }
+
+void WbMotor::exportNodeFields(WbWriter &writer) const {
+  WbJointDevice::exportNodeFields(writer);
+
+  exportSFResourceField("sound", mSound, writer.relativeSoundsPath(), writer);
+}
+
+QStringList WbMotor::customExportedFields() const {
+  QStringList fields;
+  fields << "sound";
+  return fields;
+}
diff --git a/src/webots/nodes/WbMotor.hpp b/src/webots/nodes/WbMotor.hpp
index 9d7bc97a0c8..48f5452456a 100644
--- a/src/webots/nodes/WbMotor.hpp
+++ b/src/webots/nodes/WbMotor.hpp
@@ -100,6 +100,9 @@ class WbMotor : public WbJointDevice {
   void enableMotorFeedback(int rate);
   virtual double computeFeedback() const = 0;
 
+  void exportNodeFields(WbWriter &writer) const override;
+  QStringList customExportedFields() const override;
+
 protected slots:
   void updateMaxForceOrTorque();
   void updateMinAndMaxPosition();
diff --git a/src/webots/nodes/WbSkin.cpp b/src/webots/nodes/WbSkin.cpp
index e8d9be9825b..25a782c8c20 100644
--- a/src/webots/nodes/WbSkin.cpp
+++ b/src/webots/nodes/WbSkin.cpp
@@ -527,6 +527,18 @@ void WbSkin::reset(const QString &id) {
   }
 }
 
+void WbSkin::exportNodeFields(WbWriter &writer) const {
+  WbBaseNode::exportNodeFields(writer);
+
+  exportSFResourceField("modelUrl", mModelUrl, writer.relativeMeshesPath(), writer);
+}
+
+QStringList WbSkin::customExportedFields() const {
+  QStringList fields;
+  fields << "modelUrl";
+  return fields;
+}
+
 void WbSkin::updateModel() {
   applyTranslationToWren();
   applyRotationToWren();
diff --git a/src/webots/nodes/WbSkin.hpp b/src/webots/nodes/WbSkin.hpp
index 340a3a6c506..b39edaef082 100644
--- a/src/webots/nodes/WbSkin.hpp
+++ b/src/webots/nodes/WbSkin.hpp
@@ -67,6 +67,10 @@ class WbSkin : public WbBaseNode, public WbAbstractPose, public WbDevice {
 signals:
   void wrenMaterialChanged();
 
+protected:
+  void exportNodeFields(WbWriter &writer) const override;
+  QStringList customExportedFields() const override;
+
 private:
   WbSkin &operator=(const WbSkin &);  // non copyable
   WbNode *clone() const override { return new WbSkin(*this); }
diff --git a/src/webots/nodes/WbTrackWheel.cpp b/src/webots/nodes/WbTrackWheel.cpp
index a6288a6e642..9d26d3b5d54 100644
--- a/src/webots/nodes/WbTrackWheel.cpp
+++ b/src/webots/nodes/WbTrackWheel.cpp
@@ -106,9 +106,8 @@ QStringList WbTrackWheel::fieldsToSynchronizeWithW3d() const {
 }
 
 void WbTrackWheel::exportNodeFields(WbWriter &writer) const {
-  if (!writer.isW3d())
-    return;
-
   WbBaseNode::exportNodeFields(writer);
-  writer << " rotation=\'" << mRotation->value() << "\'";
+
+  if (!writer.isW3d())
+    writer << " rotation=\'" << mRotation->value() << "\'";
 }
diff --git a/src/webots/vrml/WbWriter.hpp b/src/webots/vrml/WbWriter.hpp
index 408e3d905d3..c766d9b383f 100644
--- a/src/webots/vrml/WbWriter.hpp
+++ b/src/webots/vrml/WbWriter.hpp
@@ -91,6 +91,7 @@ class WbWriter {
 
   static QString relativeTexturesPath() { return "textures/"; }
   static QString relativeMeshesPath() { return "meshes/"; }
+  static QString relativeSoundsPath() { return "sounds/"; }
 
 private:
   void setType();

From 86f23370b7674316a873cd049651c7be33de52e2 Mon Sep 17 00:00:00 2001
From: CoolSpy3 <coolspythree@gmail.com>
Date: Sat, 28 Jun 2025 16:27:46 -0700
Subject: [PATCH 06/14] remove old url resolution code

---
 src/webots/scene_tree/WbSceneTree.cpp | 14 --------------
 1 file changed, 14 deletions(-)

diff --git a/src/webots/scene_tree/WbSceneTree.cpp b/src/webots/scene_tree/WbSceneTree.cpp
index c04698b5306..71765c4def0 100644
--- a/src/webots/scene_tree/WbSceneTree.cpp
+++ b/src/webots/scene_tree/WbSceneTree.cpp
@@ -750,20 +750,6 @@ void WbSceneTree::convertProtoToBaseNode(bool rootOnly) {
       writer.setRootNode(NULL);
     currentNode->write(writer);
 
-    // relative urls that get exposed by the conversion need to be changed to remote ones
-    QRegularExpressionMatchIterator it = WbUrl::vrmlResourceRegex().globalMatch(nodeString);
-    while (it.hasNext()) {
-      const QRegularExpressionMatch match = it.next();
-      if (match.hasMatch()) {
-        QString asset = match.captured(0);
-        asset.replace("\"", "");
-        if (!WbUrl::isWeb(asset) && QDir::isRelativePath(asset)) {
-          QString newUrl = QString("\"%1\"").arg(WbUrl::combinePaths(asset, currentNode->proto()->url()));
-          nodeString.replace(QString("\"%1\"").arg(asset), newUrl.replace(WbStandardPaths::webotsHomePath(), "webots://"));
-        }
-      }
-    }
-
     const bool skipTemplateRegeneration =
       WbVrmlNodeUtilities::findUpperTemplateNeedingRegenerationFromField(parentField, parentNode);
     if (skipTemplateRegeneration)

From 9b9de47fc6f4300b169a621c7dfd642b6fcb05d3 Mon Sep 17 00:00:00 2001
From: CoolSpy3 <coolspythree@gmail.com>
Date: Sat, 28 Jun 2025 16:38:59 -0700
Subject: [PATCH 07/14] revert extraneous WbURL changes

---
 src/webots/vrml/WbUrl.cpp | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/src/webots/vrml/WbUrl.cpp b/src/webots/vrml/WbUrl.cpp
index 3f32a1e9491..c7f9098af4c 100644
--- a/src/webots/vrml/WbUrl.cpp
+++ b/src/webots/vrml/WbUrl.cpp
@@ -58,18 +58,17 @@ QString WbUrl::missing(const QString &url) {
   return "";
 }
 
-QString WbUrl::computePath(const WbNode *node, const QString &field, const WbMFString *urlField, int index, bool showWarning,
-                          bool disableCache) {
+QString WbUrl::computePath(const WbNode *node, const QString &field, const WbMFString *urlField, int index, bool showWarning) {
   // check if mUrl is empty
   if (urlField->size() < 1)
     return "";
 
   // get the URL at specified index
   const QString &url = urlField->item(index);
-  return computePath(node, field, url, showWarning, disableCache);
+  return computePath(node, field, url, showWarning);
 }
 
-QString WbUrl::computePath(const WbNode *node, const QString &field, const QString &rawUrl, bool showWarning, bool disableCache) {
+QString WbUrl::computePath(const WbNode *node, const QString &field, const QString &rawUrl, bool showWarning) {
   QString url = resolveUrl(rawUrl);
   // check if the first URL is empty
   if (url.isEmpty()) {
@@ -96,7 +95,7 @@ QString WbUrl::computePath(const WbNode *node, const QString &field, const QStri
       // note: derived PROTO are a special case because instances of the intermediary ancestors from which it is defined don't
       // persist after the build process, hence why we keep track of the scope while building the node itself
       if (protoNode->proto()->isDerived()) {
-        if (!disableCache && WbFileUtil::isLocatedInDirectory(f->scope(), WbStandardPaths::cachedAssetsPath()))
+        if (WbFileUtil::isLocatedInDirectory(f->scope(), WbStandardPaths::cachedAssetsPath()))
           parentUrl = WbNetwork::instance()->getUrlFromEphemeralCache(f->scope());
         else
           parentUrl = f->scope();

From e3b08725e29b7fb44e8bce3cbc1fd3f321116cc9 Mon Sep 17 00:00:00 2001
From: CoolSpy3 <coolspythree@gmail.com>
Date: Sat, 28 Jun 2025 19:30:46 -0700
Subject: [PATCH 08/14] restore comment

---
 src/webots/vrml/WbUrl.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/webots/vrml/WbUrl.cpp b/src/webots/vrml/WbUrl.cpp
index c7f9098af4c..e996024276f 100644
--- a/src/webots/vrml/WbUrl.cpp
+++ b/src/webots/vrml/WbUrl.cpp
@@ -134,6 +134,9 @@ QString WbUrl::resolveUrl(const QString &rawUrl) {
 
 QString WbUrl::exportResource(const WbNode *node, const QString &url, const QString &sourcePath,
                               const QString &relativeResourcePath, const WbWriter &writer) {
+  // in addition to writing the node, we want to ensure that the resource file exists
+  // at the expected location. If not, we should copy it, possibly creating the expected
+  // directory structure.
   const QFileInfo urlFileInfo(url);
   const QString fileName = urlFileInfo.fileName();
   const QString expectedRelativePath = relativeResourcePath + fileName;

From 1ca1455b096b6aeba6ee816fadbd4003aa140dbd Mon Sep 17 00:00:00 2001
From: CoolSpy3 <coolspythree@gmail.com>
Date: Sat, 28 Jun 2025 20:44:09 -0700
Subject: [PATCH 09/14] use WbNode helpers in WbBackground

---
 src/webots/nodes/WbBackground.cpp | 7 +------
 1 file changed, 1 insertion(+), 6 deletions(-)

diff --git a/src/webots/nodes/WbBackground.cpp b/src/webots/nodes/WbBackground.cpp
index 37c2fe79569..5f1454c394b 100644
--- a/src/webots/nodes/WbBackground.cpp
+++ b/src/webots/nodes/WbBackground.cpp
@@ -708,16 +708,11 @@ void WbBackground::exportNodeFields(WbWriter &writer) const {
       if (!irradianceFileNames[i].isEmpty())
         writer << gIrradianceUrlNames(i) << "='\"" << irradianceFileNames[i] << "\"' ";
     }
-  } else if (writer.isProto()) {
+  } else {
     for (int i = 0; i < 6; ++i) {
       exportMFResourceField(gUrlNames(i), mUrlFields[i], writer.relativeTexturesPath(), writer);
       exportMFResourceField(gIrradianceUrlNames(i), mIrradianceUrlFields[i], writer.relativeTexturesPath(), writer);
     }
-  } else {
-    for (int i = 0; i < 6; ++i) {
-      findField(gUrlNames(i), true)->write(writer);
-      findField(gIrradianceUrlNames(i), true)->write(writer);
-    }
   }
 }
 

From 6bc6a76de9183e368fdf78c02032c81fa239133f Mon Sep 17 00:00:00 2001
From: CoolSpy3 <coolspythree@gmail.com>
Date: Sat, 28 Jun 2025 20:45:02 -0700
Subject: [PATCH 10/14] fix WbTrackWheel if-condition

---
 src/webots/nodes/WbTrackWheel.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/webots/nodes/WbTrackWheel.cpp b/src/webots/nodes/WbTrackWheel.cpp
index 9d26d3b5d54..b10e3462766 100644
--- a/src/webots/nodes/WbTrackWheel.cpp
+++ b/src/webots/nodes/WbTrackWheel.cpp
@@ -108,6 +108,6 @@ QStringList WbTrackWheel::fieldsToSynchronizeWithW3d() const {
 void WbTrackWheel::exportNodeFields(WbWriter &writer) const {
   WbBaseNode::exportNodeFields(writer);
 
-  if (!writer.isW3d())
+  if (writer.isW3d())
     writer << " rotation=\'" << mRotation->value() << "\'";
 }

From e12c3ac6ae784797b52bcc30db602841702fd564 Mon Sep 17 00:00:00 2001
From: CoolSpy3 <55305038+CoolSpy3@users.noreply.github.com>
Date: Sat, 28 Jun 2025 21:12:04 -0700
Subject: [PATCH 11/14] run clang-format

---
 src/webots/nodes/WbBackground.cpp |  4 ++--
 src/webots/vrml/WbNode.cpp        | 14 +++++++++-----
 src/webots/vrml/WbNode.hpp        | 10 +++++-----
 3 files changed, 16 insertions(+), 12 deletions(-)

diff --git a/src/webots/nodes/WbBackground.cpp b/src/webots/nodes/WbBackground.cpp
index 5f1454c394b..e623cb0f79b 100644
--- a/src/webots/nodes/WbBackground.cpp
+++ b/src/webots/nodes/WbBackground.cpp
@@ -697,8 +697,8 @@ void WbBackground::exportNodeFields(WbWriter &writer) const {
         continue;
 
       const QString &resolvedURL = WbUrl::computePath(this, gIrradianceUrlNames(i), mIrradianceUrlFields[i], 0);
-      irradianceFileNames[i] = exportResource(mIrradianceUrlFields[i]->item(0), resolvedURL,
-                                              writer.relativeTexturesPath(), writer);
+      irradianceFileNames[i] =
+        exportResource(mIrradianceUrlFields[i]->item(0), resolvedURL, writer.relativeTexturesPath(), writer);
     }
 
     writer << " ";
diff --git a/src/webots/vrml/WbNode.cpp b/src/webots/vrml/WbNode.cpp
index 3987e1a87d3..695b2f1fd50 100644
--- a/src/webots/vrml/WbNode.cpp
+++ b/src/webots/vrml/WbNode.cpp
@@ -1246,7 +1246,7 @@ void WbNode::writeExport(WbWriter &writer) const {
 }
 
 QString WbNode::exportResource(const QString &rawURL, const QString &resolvedURL, const QString &relativeResourcePath,
-                        WbWriter &writer) const {
+                               WbWriter &writer) const {
   if (WbUrl::isLocalUrl(resolvedURL))
     return WbUrl::computeLocalAssetUrl(resolvedURL, writer.isW3d());
   else if (WbUrl::isWeb(resolvedURL))
@@ -1259,7 +1259,8 @@ QString WbNode::exportResource(const QString &rawURL, const QString &resolvedURL
   }
 }
 
-void WbNode::exportMFResourceField(const QString &fieldName, const WbMFString* value, const QString &relativeResourcePath, WbWriter &writer) const {
+void WbNode::exportMFResourceField(const QString &fieldName, const WbMFString *value, const QString &relativeResourcePath,
+                                   WbWriter &writer) const {
   const WbField *originalField = findField(fieldName, true);
   assert(originalField && originalField->type() == WB_MF_STRING);
 
@@ -1269,7 +1270,8 @@ void WbNode::exportMFResourceField(const QString &fieldName, const WbMFString* v
     return;
   }
 
-  if (value->size() == 0) return;
+  if (value->size() == 0)
+    return;
 
   WbField copiedField(*originalField);
   WbMFString *newValue = dynamic_cast<WbMFString *>(copiedField.value());
@@ -1283,7 +1285,8 @@ void WbNode::exportMFResourceField(const QString &fieldName, const WbMFString* v
   copiedField.write(writer);
 }
 
-void WbNode::exportSFResourceField(const QString &fieldName, const WbSFString* value, const QString &relativeResourcePath, WbWriter &writer) const {
+void WbNode::exportSFResourceField(const QString &fieldName, const WbSFString *value, const QString &relativeResourcePath,
+                                   WbWriter &writer) const {
   const WbField *originalField = findField(fieldName, true);
   assert(originalField && originalField->type() == WB_SF_STRING);
 
@@ -1294,7 +1297,8 @@ void WbNode::exportSFResourceField(const QString &fieldName, const WbSFString* v
   }
 
   const QString &rawURL = value->value();
-  if (rawURL.isEmpty()) return;
+  if (rawURL.isEmpty())
+    return;
 
   WbField copiedField(*originalField);
   WbSFString *newValue = dynamic_cast<WbSFString *>(copiedField.value());
diff --git a/src/webots/vrml/WbNode.hpp b/src/webots/vrml/WbNode.hpp
index 883d59300c4..ca166e2cc94 100644
--- a/src/webots/vrml/WbNode.hpp
+++ b/src/webots/vrml/WbNode.hpp
@@ -322,12 +322,12 @@ class WbNode : public QObject {
 
   // Helper to handle exporting fields with resources which reference external files
   QString exportResource(const QString &rawURL, const QString &resolvedURL, const QString &relativeResourcePath,
-                          WbWriter &writer) const;
+                         WbWriter &writer) const;
   // Wrappers for the most common use case (simply exporting a field with no additional processing)
-  void exportMFResourceField(const QString &fieldName, const WbMFString* value, const QString &relativeResourcePath,
-                              WbWriter &writer) const;
-  void exportSFResourceField(const QString &fieldName, const WbSFString* value, const QString &relativeResourcePath,
-                              WbWriter &writer) const;
+  void exportMFResourceField(const QString &fieldName, const WbMFString *value, const QString &relativeResourcePath,
+                             WbWriter &writer) const;
+  void exportSFResourceField(const QString &fieldName, const WbSFString *value, const QString &relativeResourcePath,
+                             WbWriter &writer) const;
 
   // Methods related to URDF export
   const WbNode *findUrdfLinkRoot() const;  // Finds first upper Webots node that is considered as URDF link

From 6d957d651e023bc3488351cd0cde3620740de147 Mon Sep 17 00:00:00 2001
From: CoolSpy3 <coolspythree@gmail.com>
Date: Sat, 28 Jun 2025 21:21:24 -0700
Subject: [PATCH 12/14] update the changelog

---
 docs/reference/changelog-r2025.md | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/docs/reference/changelog-r2025.md b/docs/reference/changelog-r2025.md
index 114982338d7..f84cecc3612 100644
--- a/docs/reference/changelog-r2025.md
+++ b/docs/reference/changelog-r2025.md
@@ -1,10 +1,15 @@
 # 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)).
   - 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 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)).
 
 ## Webots R2025a
 Released on January 31st, 2025.

From 18bf78554d1af0a449e995e7bfaaab2f432ba669 Mon Sep 17 00:00:00 2001
From: CoolSpy3 <coolspythree@gmail.com>
Date: Sat, 28 Jun 2025 21:26:30 -0700
Subject: [PATCH 13/14] use const reference in WbNode::exportResource

---
 src/webots/vrml/WbNode.cpp | 2 +-
 src/webots/vrml/WbNode.hpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/webots/vrml/WbNode.cpp b/src/webots/vrml/WbNode.cpp
index 695b2f1fd50..6dbda04220b 100644
--- a/src/webots/vrml/WbNode.cpp
+++ b/src/webots/vrml/WbNode.cpp
@@ -1246,7 +1246,7 @@ void WbNode::writeExport(WbWriter &writer) const {
 }
 
 QString WbNode::exportResource(const QString &rawURL, const QString &resolvedURL, const QString &relativeResourcePath,
-                               WbWriter &writer) const {
+                               const WbWriter &writer) const {
   if (WbUrl::isLocalUrl(resolvedURL))
     return WbUrl::computeLocalAssetUrl(resolvedURL, writer.isW3d());
   else if (WbUrl::isWeb(resolvedURL))
diff --git a/src/webots/vrml/WbNode.hpp b/src/webots/vrml/WbNode.hpp
index ca166e2cc94..0c38407a306 100644
--- a/src/webots/vrml/WbNode.hpp
+++ b/src/webots/vrml/WbNode.hpp
@@ -322,7 +322,7 @@ class WbNode : public QObject {
 
   // Helper to handle exporting fields with resources which reference external files
   QString exportResource(const QString &rawURL, const QString &resolvedURL, const QString &relativeResourcePath,
-                         WbWriter &writer) const;
+                         const WbWriter &writer) const;
   // Wrappers for the most common use case (simply exporting a field with no additional processing)
   void exportMFResourceField(const QString &fieldName, const WbMFString *value, const QString &relativeResourcePath,
                              WbWriter &writer) const;

From d2902059a5ed4382fa68bc1e12dc052b29b3e95b Mon Sep 17 00:00:00 2001
From: CoolSpy3 <coolspythree@gmail.com>
Date: Mon, 14 Jul 2025 01:50:05 -0700
Subject: [PATCH 14/14] fix bad merge

---
 docs/reference/changelog-r2025.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/docs/reference/changelog-r2025.md b/docs/reference/changelog-r2025.md
index ec465c36e5c..6aacb0f6b87 100644
--- a/docs/reference/changelog-r2025.md
+++ b/docs/reference/changelog-r2025.md
@@ -5,6 +5,7 @@
     - `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 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)).