Rework Resource Handling in Node Exports

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)).
     - Fixed a bug causing Webots to occasionally crash when unloading a world ([#6857](https://github.com/cyberbotics/webots/pull/6857)).
 
 ## Webots R2025a

src/webots/nodes/WbBackground.cpp

@@ -679,48 +679,26 @@ 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];
     for (int i = 0; i < 6; ++i) {
       if (mUrlFields[i]->size() == 0)
         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];
     for (int i = 0; i < 6; ++i) {
       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 << " ";
@@ -730,7 +708,19 @@ void WbBackground::exportNodeFields(WbWriter &writer) const {
       if (!irradianceFileNames[i].isEmpty())
         writer << gIrradianceUrlNames(i) << "='\"" << irradianceFileNames[i] << "\"' ";
     }
+  } else {
+    for (int i = 0; i < 6; ++i) {
+      exportMFResourceField(gUrlNames(i), mUrlFields[i], writer.relativeTexturesPath(), writer);
+      exportMFResourceField(gIrradianceUrlNames(i), mIrradianceUrlFields[i], writer.relativeTexturesPath(), writer);
+    }
   }
+}
 
-  WbBaseNode::exportNodeFields(writer);
+QStringList WbBackground::customExportedFields() const {
+  QStringList fields;
+  for (int i = 0; i < 6; ++i) {
+    fields << gUrlNames(i);
+    fields << gIrradianceUrlNames(i);
+  }
+  return fields;
 }

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;

src/webots/nodes/WbCadShape.cpp

@@ -568,46 +568,31 @@ 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;
 
-  WbBaseNode::exportNodeFields(writer);
+  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) {
-    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));
     }
   }
 
@@ -618,6 +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);
 }

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;
 

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 //
 /////////////////////

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;

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) {

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;

src/webots/nodes/WbImageTexture.cpp

@@ -528,39 +528,28 @@ 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) {
-    QString completeUrl = 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));
-    }
-  }
-
-  urlFieldCopy.write(writer);
+  exportMFResourceField("url", mUrl, writer.relativeTexturesPath(), writer);
 
   if (writer.isW3d()) {
     if (!mRole.isEmpty())
       writer << " role=\'" << mRole << "\'";
   }
 }
 
+QStringList WbImageTexture::customExportedFields() const {
+  QStringList fields;
+  fields << "url";
+  return fields;
+}
+
 void WbImageTexture::exportShallowNode(const WbWriter &writer) const {
   if (!writer.isW3d() || mUrl->size() == 0)
     return;
 
   // 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 {

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

src/webots/nodes/WbMesh.cpp

@@ -401,31 +401,15 @@ void WbMesh::updateMaterialIndex() {
 }
 
 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 &completeUrl = 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));
-    }
-  }
+  WbGeometry::exportNodeFields(writer);
 
-  urlFieldCopy.write(writer);
+  exportMFResourceField("url", mUrl, writer.relativeMeshesPath(), writer);
+}
 
-  WbGeometry::exportNodeFields(writer);
+QStringList WbMesh::customExportedFields() const {
+  QStringList fields;
+  fields << "url";
+  return fields;
 }
 
 QStringList WbMesh::fieldsToSynchronizeWithW3d() const {

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

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;
+}

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();

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();

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); }