Merge pull request #2185 from cyberbotics/fix.uneven-terrain-size

Fix UnevenTerrain Size
cyberbotics · Sep 1, 2020 · de32005 · de32005
2 parents 67457b7 + cb03c91
commit de32005
Show file tree

Hide file tree

Showing 7 changed files with 29 additions and 29 deletions.
diff --git a/docs/reference/changelog-r2020.md b/docs/reference/changelog-r2020.md
@@ -16,6 +16,8 @@ Released on September 1st, 2020.
  - Fixed crash when inserting an empty [PointSet](pointset.md) node ([#2182](https://github.com/cyberbotics/webots/pull/2182)).
  - Fixed crash occurring when selecting a [Robot](robot.md) with mechanical closed-loop ([#2117](https://github.com/cyberbotics/webots/pull/2117)).
  - Fixed various issues when an extern [Robot](robot.md) controller exits and then a new one connects to the same [Robot](robot.md) ([#2152](https://github.com/cyberbotics/webots/pull/2152)).
+ - Fixed size of the [UnevenTerrain](../guide/object-floors.md#uneventerrain) PROTO node ([#2185](https://github.com/cyberbotics/webots/pull/2185)).
+ - Fixed texture mapping of the [ElevationGrid](elevationgrid.md) node ([#2185](https://github.com/cyberbotics/webots/pull/2185)).
  - macOS: Fixed crash of the `animated_skin` simulation ([#2141](https://github.com/cyberbotics/webots/pull/2141)).
  - Remove scaling factor in matrix returned by [`wb_supervisor_node_get_orientation`](supervisor.md#wb_supervisor_node_get_orientation) ([#2112](https://github.com/cyberbotics/webots/pull/2112)).
  - Fixed conversion of identity matrix to quaternion in ROS API ([#2112](https://github.com/cyberbotics/webots/pull/2112)).

diff --git a/projects/objects/floors/protos/UnevenTerrain.proto b/projects/objects/floors/protos/UnevenTerrain.proto
@@ -81,8 +81,18 @@ PROTO UnevenTerrain [
  local nOctave = fields.perlinNOctaves.value
 
  local size = fields.size.value
+
  local xDimension = fields.xDimension.value
+ if xDimension < 2 then
+ xDimension = fields.xDimension.defaultValue
+ io.stderr:write("'xDimension' should be at least equalt to 2.\n")
+ end
+
  local zDimension = fields.zDimension.value
+ if zDimension < 2 then
+ zDimension = fields.zDimension.defaultValue
+ io.stderr:write("'zDimension' should be at least equalt to 2.\n")
+ end
  }%
  Solid {
  translation IS translation
@@ -96,9 +106,9 @@ PROTO UnevenTerrain [
  geometry ElevationGrid {
  %{ if xDimension > 2 and zDimension > 2 then }%
  xDimension IS xDimension
- xSpacing %{= size.x / xDimension }%
+ xSpacing %{= size.x / (xDimension - 1) }%
  zDimension IS zDimension
- zSpacing %{= size.z / zDimension }%
+ zSpacing %{= size.z / (zDimension - 1) }%
 
  height [
  %{ for i=0, xDimension - 1 do }%

diff --git a/projects/robots/micromagic/mantis/worlds/mantis.wbt b/projects/robots/micromagic/mantis/worlds/mantis.wbt
@@ -38,6 +38,6 @@ UnevenTerrain {
  perlinNOctaves 8
 }
 Mantis {
- translation -24.12 61.31 -6.15
+ translation -24.12 61.42 -6.15
  rotation 0 1 0 1.3
 }
diff --git a/projects/robots/sphero/bb8/worlds/bb-8.wbt b/projects/robots/sphero/bb8/worlds/bb-8.wbt
@@ -31,7 +31,7 @@ UnevenTerrain {
  perlinNOctaves 6
 }
 BB-8 {
- translation -16.19 36.5 -4.36
+ translation -16.19 36.68 -4.36
  rotation 0 1 0 5.75959
  headSlot [
  Camera {

diff --git a/projects/samples/demos/worlds/anaglyph.wbt b/projects/samples/demos/worlds/anaglyph.wbt
@@ -26,16 +26,10 @@ DEF GROUND Solid {
  translation -8 0 -8
  children [
  Shape {
- appearance PBRAppearance {
- baseColorMap ImageTexture {
- url [
- "textures/grass.jpg"
- ]
- }
- roughness 1
- metalness 0
+ appearance Grass {
+ type "mossy"
  textureTransform TextureTransform {
- scale 10 10
+ scale 8.5 8.5
  }
  }
  geometry ElevationGrid {
@@ -49,16 +43,10 @@ DEF GROUND Solid {
  ]
  }
  Shape {
- appearance PBRAppearance {
- baseColorMap ImageTexture {
- url [
- "textures/grass.jpg"
- ]
- }
- roughness 1
- metalness 0
+ appearance Grass {
+ type "mossy"
  textureTransform TextureTransform {
- scale 50 50
+ scale 250 250
  }
  }
  geometry Plane {

diff --git a/src/webots/nodes/WbElevationGrid.cpp b/src/webots/nodes/WbElevationGrid.cpp
@@ -482,15 +482,15 @@ bool WbElevationGrid::isAValidBoundingObject(bool checkOde, bool warning) const
 
 bool WbElevationGrid::pickUVCoordinate(WbVector2 &uv, const WbRay &ray, int textureCoordSet) const {
  WbVector3 localCollisionPoint;
- double collisionDistance = computeLocalCollisionPoint(ray, localCollisionPoint);
+ const double collisionDistance = computeLocalCollisionPoint(ray, localCollisionPoint);
  if (collisionDistance < 0)
  return false;
 
- double sizeX = scaledWidth();
- double sizeZ = scaledDepth();
+ const double sizeX = scaledWidth();
+ const double sizeZ = scaledDepth();
 
- double u = (double)localCollisionPoint.x() / sizeX;
- double v = 1 - (double)localCollisionPoint.z() / sizeZ;
+ const double u = (double)localCollisionPoint.x() / sizeX;
+ const double v = (double)localCollisionPoint.z() / sizeZ;
 
  // result
  uv.setXy(u, v);

diff --git a/src/wren/StaticMesh.cpp b/src/wren/StaticMesh.cpp
@@ -623,8 +623,8 @@ namespace wren {
  for (int zi = 0; zi < dimensionZ; ++zi) {
  for (int xi = 0; xi < dimensionX; ++xi) {
  mesh->addCoord(glm::vec3(spacingX * xi, heightData[dimensionX * zi + xi], spacingZ * zi));
- mesh->addTexCoord(glm::vec2(du * xi, dv * (stepsZ - zi)));
- mesh->addUnwrappedTexCoord(glm::vec2(du * xi, dv * (stepsZ - zi)));
+ mesh->addTexCoord(glm::vec2(du * xi, dv * zi));
+ mesh->addUnwrappedTexCoord(glm::vec2(du * xi, dv * zi));
  }
  }