Update forest firefighters to R2023b

projects/forest_firefighters/README.md

@@ -4,7 +4,7 @@ This simulation features a small forest wildfire and a few firefighter robots: a
 Users can run the wildfire simulation and program the behavior of the robots to fight the fire.
 They can also improve the models of the robot and even design new ones.
 
-**Warning**: This project works only with Webots R2021b.
+**Updates**: - 01/02/2024 updated for version R2023b.
 
 
 ![fire](https://user-images.githubusercontent.com/12995815/131650395-876f5ce5-ecdc-4eb7-83bc-a86f94709e32.png)

projects/forest_firefighters/controllers/fire/fire.py

@@ -41,22 +41,22 @@ def __init__(self, node):
         self.smoke = None
         self.fire_count = 0
         self.translation = node.getField('translation').getSFVec3f()
-        self.scale = node.getField('size').getSFFloat() / 10
+        self.scale = node.getField('scale').getSFFloat()
         self.robustness = random.uniform(self.ROBUSTNESS_VARIATION, self.ROBUSTNESS_VARIATION)
+        node.getField('burnt').setSFBool(False)  # Ensure normal tree as initial state
 
     def stopFire(self):
         if self.fire:
             fire_translation_field = self.fire.getField('translation')
             fire_translation = fire_translation_field.getSFVec3f()
             t = [fire_translation[0], fire_translation[1], fire_translation[2]]
-            t[1] = 10000000
             fire_translation_field.setSFVec3f(t)
             self.fire = None
         if self.smoke:
             smoke_translation_field = self.smoke.getField('translation')
             smoke_translation = smoke_translation_field.getSFVec3f()
             t = [smoke_translation[0], smoke_translation[1], smoke_translation[2]]
-            t[1] = 10000000
+            t[2] = 1000000
             smoke_translation_field.setSFVec3f(t)
             self.smoke = None
 
@@ -100,6 +100,7 @@ def cleanWater(self):
             if altitude < 0:
                 self.waterBalls.remove(waterBall)
                 waterBall.remove()
+
     def altitude(self):
         return self.node.getField('translation').getSFVec3f()[2]
 
@@ -111,6 +112,8 @@ class Wind():
     def __init__(self):
         self.intensity = random.random()
         self.angle = random.uniform(0, 2 * math.pi)
+        print('Wind angle:', self.angle)
+        print('Wind intensity:', self.intensity)
 
     def evolve(self):
         if self.RANDOM_EVOLUTION:
@@ -131,10 +134,17 @@ def correctedDistance(self, tree1, tree2, propagation_radius):  # distance betwe
         x_wind = self.intensity * math.cos(self.angle)
         y_wind = self.intensity * math.sin(self.angle)
         dx = tree1.translation[0] + propagation_radius * x_wind - tree2.translation[0]
-        dy = tree1.translation[1] + propagation_radius * y_wind - tree2.translation[1]
-        dz = tree1.translation[2] - tree2.translation[2]
+        dy = tree1.translation[1] - tree2.translation[1]
+        dz = tree1.translation[2] + propagation_radius * y_wind - tree2.translation[2]
         return math.sqrt(dx * dx + dy * dy + dz * dz)
 
+def fire_shape_url(shape_node):
+    if shape_node.getBaseTypeName() == 'Shape':
+        appr_node = shape_node.getField('appearance').getSFNode()
+        return appr_node.getField('url').getMFString(0)
+    else:
+        print('Node is not an instance of Shape, nothing to return')
+        return None
 
 class Fire(Supervisor):
     FLAME_CYCLE = 13        # there are 13 images in the flame animation
@@ -157,6 +167,7 @@ def __init__(self):
         self.trees = []
 
         self.robots = []
+        self.fire_sprites = []
 
         n = self.children.getCount()
         for i in range(n):
@@ -189,6 +200,7 @@ def __init__(self):
     def ignite(self, tree):
         if tree.fire_count > 1:  # already burnt
             return
+        print('Starting fire in:', tree.translation)
         tree.fire_scale = tree.scale
         fire = f'Fire {{ translation {tree.translation[0]} {tree.translation[1]} {tree.translation[2]} ' \
                f'scale {tree.fire_scale} {tree.fire_scale} {tree.fire_scale} }}'
@@ -198,6 +210,19 @@ def ignite(self, tree):
         tree.fire_scale_field = tree.fire.getField('scale')
         tree.fire_translation = tree.fire_translation_field.getSFVec3f()
 
+        node_child = tree.fire.getProtoField('children').getMFNode(0)
+        if node_child.getBaseTypeName() == 'Shape':
+            appr_node = node_child.getField('appearance').getSFNode()
+            tree.fire_shape_field = appr_node.getField('url')
+
+        if len(self.fire_sprites) == 0:
+            self.fire_sprites.append(fire_shape_url(node_child))
+            for i in range(self.FLAME_CYCLE):
+                node_child = tree.fire.getProtoField('children').getMFNode(i)
+                if node_child.getBaseTypeName() == 'Pose':
+                    txr_node = node_child.getField('children').getMFNode(0)
+                    self.fire_sprites.append(fire_shape_url(txr_node))
+
     def burn(self, tree):
         if self.update_fire:
             tree.fire_count += 1
@@ -206,11 +231,14 @@ def burn(self, tree):
                 if tree.fire_count == self.FLAME_PEAK * self.FLAME_CYCLE:
                     tree.node.getField('burnt').setSFBool(True)
                 tree.fire_scale_field.setSFVec3f([tree.fire_scale, tree.fire_scale, tree.fire_scale])
+
                 if tree.fire_scale < tree.scale:
                     tree.stopFire()
             t = [tree.fire_translation[0], tree.fire_translation[1], tree.fire_translation[2]]
-            t[1] -= 100000 * tree.fire_scale * (tree.fire_count % 13)
             tree.fire_translation_field.setSFVec3f(t)
+            if tree.fire:
+                sprite_field = tree.fire.getField('spriteBase')
+                sprite_field.setMFString(0, '../protos/' + self.fire_sprites[tree.fire_count % self.FLAME_CYCLE])
             self.propagate(tree)
             if tree.fire_count == 1:
                 smoke = f'Smoke {{ translation {tree.translation[0]} {tree.translation[1]} {tree.translation[2]} ' \
@@ -246,7 +274,7 @@ def checkExtinction(self, tree):  # check and extinct the fire if there is water
                     if water_radius / robot.MAX_WATER_RADIUS > fire_size:
                         tree.stopFire()
                         return True
-        return False                    
+        return False
 
     def run(self):
         start_fire_now = False
@@ -257,9 +285,10 @@ def run(self):
 
             message = self.wwiReceiveText()
             if message:
+                print('Message:', message)
                 self.wind.update(message)
             self.wind.evolve()
-            
+
             self.wwiSendText('{"angle":%f, "intensity":%f}' % (self.wind.angle, self.wind.intensity))
 
             for robot in self.robots:
@@ -279,18 +308,17 @@ def run(self):
                     self.update_fire = False
                     self.fire_clock += 1
 
-                extinction = [] 
+                extinction = []
                 for tree in self.trees:
                     if tree.fire:
                         self.burn(tree)
                         extinction.append(self.checkExtinction(tree))
-                
+
                 if True in extinction:
-                        self.ignite(random.choice(self.trees))
+                    self.ignite(random.choice(self.trees))
             else:
                 for robot in self.robots: # the simulation starts when the mavic got an altitude > 40
                     if not start_fire_now and robot.name == "Mavic 2 PRO" and robot.altitude() > 40:
-                            start_fire_now = True
-
+                        start_fire_now = True
 controller = Fire()
 controller.run()

projects/forest_firefighters/plugins/robot_windows/fire/fire.js

@@ -78,7 +78,7 @@ function drawDial() {
 
   // x and y axis
   drawAxis('red', Math.PI / 2, 'x')
-  drawAxis('green', 0, 'y')
+  drawAxis('blue', 0, 'z')
 }
 
 function drawAxis(color, angle, letter) {

projects/forest_firefighters/protos/Fire.proto

@@ -1,12 +1,15 @@
-#VRML_SIM R2021b utf8
+#VRML_SIM R2023b utf8 
 # license: Creative Commons Attribution 4.0 International License.
 # license url: https://creativecommons.org/licenses/by/4.0/legalcode
 # A fire with flame animation
 
+EXTERNPROTO  "Fire/FlameAppearance.proto"
+
 PROTO Fire [
   field SFVec3f    translation       0 0 0
   field SFRotation rotation          0 0 1 0
   field SFVec3f    scale             1 1 1
+  field MFString   spriteBase       "Fire/textures/fire_00.png"
 ]
 {
   Transform {
@@ -15,7 +18,7 @@ PROTO Fire [
     scale IS scale
     children [
       DEF FLAME Shape {
-        appearance FlameAppearance {}
+        appearance FlameAppearance { url IS spriteBase }
         geometry DEF FLAME_GEOMETRY IndexedFaceSet {
           coord Coordinate {
             point [
@@ -52,86 +55,86 @@ PROTO Fire [
         }
       }
       Transform {
-        translation 0 100000 0
+        translation 0 0 100000.0
         children Shape {
-          appearance FlameAppearance { url "textures/fire_01.png" }
+          appearance FlameAppearance { url "Fire/textures/fire_01.png" }
           geometry USE FLAME_GEOMETRY
         }
       }
       Transform {
-        translation 0 200000 0
+        translation 0 0 200000.0
         children Shape {
-          appearance FlameAppearance { url "textures/fire_02.png" }
+          appearance FlameAppearance { url "Fire/textures/fire_02.png" }
           geometry USE FLAME_GEOMETRY
         }
       }
       Transform {
-        translation 0 300000 0
+        translation 0 0 300000.0
         children Shape {
-          appearance FlameAppearance { url "textures/fire_03.png" }
+          appearance FlameAppearance { url "Fire/textures/fire_03.png" }
           geometry USE FLAME_GEOMETRY
         }
       }
       Transform {
-        translation 0 400000 0
+        translation 0 0 400000.0
         children Shape {
-          appearance FlameAppearance { url "textures/fire_04.png" }
+          appearance FlameAppearance { url "Fire/textures/fire_04.png" }
           geometry USE FLAME_GEOMETRY
         }
       }
       Transform {
-        translation 0 500000 0
+        translation 0 0 500000.0
         children Shape {
-          appearance FlameAppearance { url "textures/fire_05.png" }
+          appearance FlameAppearance { url "Fire/textures/fire_05.png" }
           geometry USE FLAME_GEOMETRY
         }
       }
       Transform {
-        translation 0 600000 0
+        translation 0 0 600000.0
         children Shape {
-          appearance FlameAppearance { url "textures/fire_06.png" }
+          appearance FlameAppearance { url "Fire/textures/fire_06.png" }
           geometry USE FLAME_GEOMETRY
         }
       }
       Transform {
-        translation 0 700000 0
+        translation 0 0 700000.0
         children Shape {
-          appearance FlameAppearance { url "textures/fire_07.png" }
+          appearance FlameAppearance { url "Fire/textures/fire_07.png" }
           geometry USE FLAME_GEOMETRY
         }
       }
       Transform {
-        translation 0 800000 0
+        translation 0 0 800000.0
         children Shape {
-          appearance FlameAppearance { url "textures/fire_08.png" }
+          appearance FlameAppearance { url "Fire/textures/fire_08.png" }
           geometry USE FLAME_GEOMETRY
         }
       }
       Transform {
-        translation 0 900000 0
+        translation 0 0 900000.0
         children Shape {
-          appearance FlameAppearance { url "textures/fire_09.png" }
+          appearance FlameAppearance { url "Fire/textures/fire_09.png" }
           geometry USE FLAME_GEOMETRY
         }
       }
       Transform {
-        translation 0 1000000 0
+        translation 0 0 1000000.0
         children Shape {
-          appearance FlameAppearance { url "textures/fire_10.png" }
+          appearance FlameAppearance { url "Fire/textures/fire_10.png" }
           geometry USE FLAME_GEOMETRY
         }
       }
       Transform {
-        translation 0 1100000 0
+        translation 0 0 1100000.0
         children Shape {
-          appearance FlameAppearance { url "textures/fire_11.png" }
+          appearance FlameAppearance { url "Fire/textures/fire_11.png" }
           geometry USE FLAME_GEOMETRY
         }
       }
       Transform {
-        translation 0 1200000 0
+        translation 0 0 1200000.0
         children Shape {
-          appearance FlameAppearance { url "textures/fire_12.png" }
+          appearance FlameAppearance { url "Fire/textures/fire_12.png" }
           geometry USE FLAME_GEOMETRY
         }
       }

projects/forest_firefighters/protos/Fire/FlameAppearance.proto

@@ -1,4 +1,4 @@
-#VRML_SIM R2021b utf8
+#VRML_SIM R2023b utf8 
 # license: Creative Commons Attribution 4.0 International License.
 # license url: https://creativecommons.org/licenses/by/4.0/legalcode
 # A flame appearance

projects/forest_firefighters/protos/Fire/SmokeAppearance.proto

@@ -1,4 +1,4 @@
-#VRML_SIM R2021b utf8
+#VRML_SIM R2022a utf8 
 # license: Creative Commons Attribution 4.0 International License.
 # license url: https://creativecommons.org/licenses/by/4.0/legalcode
 # A flame appearance

projects/forest_firefighters/protos/Smoke.proto

@@ -1,46 +1,48 @@
-#VRML_SIM R2021b utf8
-# license: Creative Commons Attribution 4.0 International License.
-# license url: https://creativecommons.org/licenses/by/4.0/legalcode
-# A smoke of a fire from the top
-
-PROTO Smoke [
-  field SFVec3f    translation       0 0 0
-  field SFRotation rotation          0 0 1 0
-  field SFVec3f    scale             1 1 1
-]
-{
-  Transform {
-    translation IS translation
-    rotation IS rotation
-    scale IS scale
-    children [
-      DEF SMOKE Shape {
-        appearance SmokeAppearance {}
-        geometry DEF SMOKE_GEOMETRY IndexedFaceSet {
-          coord Coordinate {
-            point [
-              -1 -1 15
-              1 -1 15
-              -1 1 15
-              1 1 15
-            ]
-          }
-          texCoord TextureCoordinate {
-            point [
-              0 0
-              1 0
-              0 1
-              1 1
-            ]
-          }
-          coordIndex [
-            2 0 1 3 -1
-          ]
-          texCoordIndex [
-            2 0 1 3 -1
-          ]
-        }
-      }
-    ]
-  }
-}
+#VRML_SIM R2023b utf8 
+# license: Creative Commons Attribution 4.0 International License.
+# license url: https://creativecommons.org/licenses/by/4.0/legalcode
+# A smoke of a fire from the top
+
+EXTERNPROTO  "Fire/SmokeAppearance.proto"
+
+PROTO Smoke [
+  field SFVec3f    translation       0 0 0
+  field SFRotation rotation          0 0 1 0
+  field SFVec3f    scale             1 1 1
+]
+{
+  Transform {
+    translation IS translation
+    rotation IS rotation
+    scale IS scale
+    children [
+      DEF SMOKE Shape {
+        appearance SmokeAppearance {}
+        geometry DEF SMOKE_GEOMETRY IndexedFaceSet {
+          coord Coordinate {
+            point [
+              -1 -1 15
+              1 -1 15
+              -1 1 15
+              1 1 15
+            ]
+          }
+          texCoord TextureCoordinate {
+            point [
+              0 0
+              1 0
+              0 1
+              1 1
+            ]
+          }
+          coordIndex [
+            2 0 1 3 -1
+          ]
+          texCoordIndex [
+            2 0 1 3 -1
+          ]
+        }
+      }
+    ]
+  }
+}

projects/forest_firefighters/protos/Water.proto

@@ -1,40 +1,40 @@
-#VRML_SIM R2021b utf8
-# license: Creative Commons Attribution 4.0 International License.
-# license url: https://creativecommons.org/licenses/by/4.0/legalcode
-# A fire with flame animation
-
-PROTO Water [
-  field SFVec3f    translation       0 0 0
-  field SFFloat    radius            0.1
-  field SFString   name              "water"
-]
-{
-  Solid {
-    translation IS translation
-    name IS name
-    children [
-      Shape {
-        appearance PBRAppearance {
-          baseColor 0.447059 0.623529 0.811765
-          transparency 0.5
-          metalness 0
-        }
-        geometry Sphere {
-          radius IS radius
-        }
-      }
-    ]
-    physics Physics {
-      density -1
-      mass 1
-      centerOfMass [
-        0 0 0
-      ]
-      inertiaMatrix [
-        1 1 1
-        0 0 0
-      ]
-    }
-  }
-}
-
+#VRML_SIM R2023b utf8 
+# license: Creative Commons Attribution 4.0 International License.
+# license url: https://creativecommons.org/licenses/by/4.0/legalcode
+# A fire with flame animation
+
+PROTO Water [
+  field SFVec3f    translation       0 0 0
+  field SFFloat    radius            0.1
+  field SFString   name              "water"
+]
+{
+  Solid {
+    translation IS translation
+    name IS name
+    children [
+      Shape {
+        appearance PBRAppearance {
+          baseColor 0.447059 0.623529 0.811765
+          transparency 0.5
+          metalness 0
+        }
+        geometry Sphere {
+          radius IS radius
+        }
+      }
+    ]
+    physics Physics {
+      density -1
+      mass 1
+      centerOfMass [
+        0 0 0
+      ]
+      inertiaMatrix [
+        1 1 1
+        0 0 0
+      ]
+    }
+  }
+}
+

projects/forest_firefighters/worlds/.forest_firefighters.wbproj

@@ -1,17 +1,18 @@
-Webots Project File version R2021b
-perspectives: 000000ff00000000fd000000030000000000000188000003ccfc0100000003fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770100000000000001880000006900fffffffb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f007700000001a0000000830000000000000000fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f007700000001ba000000690000000000000000000000010000011c000002f1fc0200000001fb0000001400540065007800740045006400690074006f00720100000016000002f10000003f00ffffff00000003000005ae000000d9fc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c010000018a000005ae0000006900ffffff00000490000002f100000001000000020000000100000008fc00000000
-simulationViewPerspectives: 000000ff0000000100000002000001000000051a0100000002010000000100
-sceneTreePerspectives: 000000ff0000000100000002000000c0000000fa0100000002010000000200
+Webots Project File version R2023b
+perspectives: 000000ff00000000fd000000030000000000000188000003ccfc0100000003fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f00770100000000000001880000000000000000fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f007700000001a0000000830000000000000000fb0000001e00480074006d006c0052006f0062006f007400570069006e0064006f007700000001ba00000069000000000000000000000001000001df0000017bfc0200000001fb0000001400540065007800740045006400690074006f007200000000170000017b0000003f00ffffff00000003000002ca00000154fc0100000001fb0000001a0043006f006e0073006f006c00650041006c006c0041006c006c0100000000000002ca0000006900ffffff000002ca0000022900000001000000020000000100000008fc00000000
+simulationViewPerspectives: 000000ff0000000100000002000000fc000002c20100000002010000000100
+sceneTreePerspectives: 000000ff00000001000000030000001f000000c0000000fa0100000002010000000200
 maximizedDockId: -1
 centralWidgetVisible: 1
 orthographicViewHeight: 1
 textFiles: -1
 robotWindow: robot
+globalOptionalRendering: CoordinateSystem
 consoles: Console:All:All
-renderingDevicePerspectives: Mavic 2 PRO(2):camera;1;1.245;0;0
-renderingDevicePerspectives: Mavic 2 PRO:camera;1;1.235;5.67493e-10;0.402092
-renderingDevicePerspectives: Spot:left flank camera;0;0.141667;0;0.633802
-renderingDevicePerspectives: Spot:left head camera;0;0.12963;0;0
-renderingDevicePerspectives: Spot:rear camera;0;0.141667;0;0.633802
-renderingDevicePerspectives: Spot:right flank camera;0;0.125926;0.0734597;0.673709
-renderingDevicePerspectives: Spot:right head camera;0;0.141667;0;0.00496278
+renderingDevicePerspectives: Mavic 2 PRO(2):camera;0;1;0;0
+renderingDevicePerspectives: Mavic 2 PRO:camera;0;1;0.0217391;0.498986
+renderingDevicePerspectives: Spot:left flank camera;0;0.24537;0;0
+renderingDevicePerspectives: Spot:left head camera;0;0.24537;0;0
+renderingDevicePerspectives: Spot:rear camera;0;0.24537;0;0
+renderingDevicePerspectives: Spot:right flank camera;0;0.24537;0;0
+renderingDevicePerspectives: Spot:right head camera;0;0.24537;0;0