From 7bb7fa0a1b1535b8fbdc60c198b49a0c2a0a38f7 Mon Sep 17 00:00:00 2001 From: Angel Ayala Date: Thu, 1 Feb 2024 21:43:21 -0300 Subject: [PATCH 1/3] update to R2023b --- projects/forest_firefighters/README.md | 2 +- .../autonomous_mavic/fire_detection.jpg | Bin 0 -> 23400 bytes .../controllers/fire/fire.py | 50 +- .../plugins/robot_windows/fire/fire.js | 2 +- .../forest_firefighters/protos/Fire.proto | 55 +-- .../protos/Fire/FlameAppearance.proto | 2 +- .../protos/Fire/SmokeAppearance.proto | 2 +- .../protos/Sassafras.proto | 218 +++++---- .../forest_firefighters/protos/Smoke.proto | 94 ++-- .../protos/UnevenForest.proto | 440 +++++++++--------- .../forest_firefighters/protos/Water.proto | 80 ++-- .../worlds/.forest_firefighters.jpg | Bin 0 -> 88391 bytes .../worlds/.forest_firefighters.wbproj | 23 +- .../worlds/forest_firefighters.wbt | 141 +++--- 14 files changed, 575 insertions(+), 534 deletions(-) create mode 100644 projects/forest_firefighters/controllers/autonomous_mavic/fire_detection.jpg create mode 100644 projects/forest_firefighters/worlds/.forest_firefighters.jpg diff --git a/projects/forest_firefighters/README.md b/projects/forest_firefighters/README.md index 217cae0..47a498a 100644 --- a/projects/forest_firefighters/README.md +++ b/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) diff --git a/projects/forest_firefighters/controllers/autonomous_mavic/fire_detection.jpg b/projects/forest_firefighters/controllers/autonomous_mavic/fire_detection.jpg new file mode 100644 index 0000000000000000000000000000000000000000..e9dcdcbc50a9b77aac1f28c43b6d093130276c95 GIT binary patch literal 23400 zcmbTdbx<8o^gZ}+354M8?(Xgu+}-5?4|fj)2n2VB;O-BCySuwvfB+A7vV6Y3t=+Ay z{bP6U)V(!R(=&BW^-NFqxp)4p{M!M1QIL_B0YE_k08k$r;NLnx5&#YLpZyo1|1(&a z{~{bLEDS6>96bF0I06zPJOUB|JUrqjL?q<@>|+n*6Eezw2mjsVe_aX<2Ll6#i~x`D zKTZBWg?~K&bVR@iU<3w=0sxH;1%nRtZva60ffMe3;C+DoUj_vY0}BU_@B!n~M+5Me z5BM-JAE4nr5P!4|_&5)MMTf&6XBUUZR5L@MaKYmEmhcOaQlh>WTYVNn#cA#uf`p8N 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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 +308,19 @@ 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)) 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 + print('waiting altitude', start_fire_now) controller = Fire() controller.run() diff --git a/projects/forest_firefighters/plugins/robot_windows/fire/fire.js b/projects/forest_firefighters/plugins/robot_windows/fire/fire.js index d8e5e97..8d95013 100644 --- a/projects/forest_firefighters/plugins/robot_windows/fire/fire.js +++ b/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) { diff --git a/projects/forest_firefighters/protos/Fire.proto b/projects/forest_firefighters/protos/Fire.proto index 81197c6..38f0770 100644 --- a/projects/forest_firefighters/protos/Fire.proto +++ b/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 } } diff --git a/projects/forest_firefighters/protos/Fire/FlameAppearance.proto b/projects/forest_firefighters/protos/Fire/FlameAppearance.proto index 61cd4e1..959133e 100644 --- a/projects/forest_firefighters/protos/Fire/FlameAppearance.proto +++ b/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 diff --git a/projects/forest_firefighters/protos/Fire/SmokeAppearance.proto b/projects/forest_firefighters/protos/Fire/SmokeAppearance.proto index 96acd6b..52d9a08 100644 --- a/projects/forest_firefighters/protos/Fire/SmokeAppearance.proto +++ b/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 diff --git a/projects/forest_firefighters/protos/Sassafras.proto b/projects/forest_firefighters/protos/Sassafras.proto index 88a30f2..edd098b 100644 --- a/projects/forest_firefighters/protos/Sassafras.proto +++ b/projects/forest_firefighters/protos/Sassafras.proto @@ -1,110 +1,108 @@ -#VRML_SIM R2021b utf8 -# license: Creative Commons Attribution 4.0 International License. -# license url: https://creativecommons.org/licenses/by/4.0/legalcode -# A sassafras tree with optional boundingObject. -# template language: javascript - -PROTO Sassafras [ - field SFVec3f translation 0 0 0 - field SFRotation rotation 0 1 0 0 - field SFFloat size 10 # Defines the size of the tree in meter. - field SFString name "sassafras tree" - field SFBool burnt FALSE # Defines whether the tree is burnt (after a wildfire). - field SFBool enableBoundingObject TRUE # Defines whether the tree should have a bounding object. -] -{ - - Solid { - translation IS translation - rotation IS rotation - name IS name - model "sassafras tree" - %< let scale = fields.size.value / 10; >% - scale %<= scale >% %<= scale >% %<= scale >% - recognitionColors [ - 0 0.16470588235294117 0 - 0.30196078431372547 0.2196078431372549 0.12156862745098039 - ] - children [ - Shape { - appearance PBRAppearance { - %< if (fields.burnt.value) { >% - baseColor 0.2 0.15 0.05 - %< } >% - baseColorMap ImageTexture { - url [ - "textures/sassafras_trunk.jpg" - ] - } - metalness 0 - roughness 1 - } - geometry IndexedFaceSet { - coord Coordinate { - point [ - -0.481609 0 0, 0 0 0, -0.518562 0 0.299392, -0.267813 0 0.463865, -0.156991 0 0.585899, 0 0 0.527756, 0.225057 0 0.38981, 0.510495 0 0.294735, 0.553228 0 0.148237, 0.434705 0 0, 0.461681 0 -0.266552, 0.236231 0 -0.409165, 0.148767 0 -0.555205, 0 0 -0.588188, -0.231151 0 -0.400366, -0.432716 0 -0.249829, -0.468459 10.11641 -0.019503, -0.454436 10.099774 -0.008086, -0.443993 10.11865 -0.01985, -0.42997 10.102015 -0.008434, -0.421771 10.11034 -0.013459, -0.420599 10.112874 -0.01505, -0.419826 10.115507 -0.016722, -0.419527 10.120891 -0.020198, -0.43355 10.137526 -0.031614, -0.458016 10.135285 -0.031267, -0.462754 10.131563 -0.029068, -0.466214 10.126962 -0.026241, -0.46816 10.121793 -0.022979, -0.449157 10.143579 -0.044745, -0.447803 10.138792 -0.033231, -0.457847 10.134762 -0.026895, -0.436404 10.138037 -0.028055, -2.010341 11.156582 0.249563, -2.014014 11.14581 0.262159, -2.011053 11.154653 0.259146, -2.008804 11.16157 0.265717, 2.269468 4.436779 0.071955, 2.274833 4.412611 0.027219, 2.298963 4.442787 0.043029, 2.265523 4.462876 0.028165, -2.816319 5.671241 0.484931, -1.553109 5.498182 0.31907, -2.807654 5.600682 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1905, 1906, 1907, -1 - ] - } - } - %< } >% - ] - %< if (fields.enableBoundingObject.value) { >% - boundingObject Transform { - translation 0 5 0 - children [ - Cylinder { - height 10 - radius 0.4 - } - ] - } - %< } >% - } -} +#VRML_SIM R2023b utf8 +# license: Creative Commons Attribution 4.0 International License. +# license url: https://creativecommons.org/licenses/by/4.0/legalcode +# A sassafras tree with optional boundingObject. +# template language: javascript + +PROTO Sassafras [ + field SFVec3f translation 0 0 0 + field SFRotation rotation 0 1 0 0 + field SFFloat scale 1 # Defines the size of the trees scale in meter. + field SFString name "sassafras tree" + field SFBool burnt FALSE # Defines whether the tree is burnt (after a wildfire). + field SFBool enableBoundingObject TRUE # Defines whether the tree should have a bounding object. +] +{ + + Solid { + translation IS translation + rotation IS rotation + name IS name + model "sassafras tree" + recognitionColors [ + 0 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1077, 1078, 1079, -1, 1080, 1081, 1082, -1, 1083, 1084, 1085, -1, 1086, 1087, 1088, -1, 1089, 1090, 1091, -1, 1092, 1093, 1094, -1, 1095, 1096, 1097, -1, 1098, 1099, 1100, -1, 1101, 1102, 1103, -1, 1104, 1105, 1106, -1, 1107, 1108, 1109, -1, 1110, 1111, 1112, -1, 1113, 1114, 1115, -1, 1116, 1117, 1118, -1, 1119, 1120, 1121, -1, 1122, 1123, 1124, -1, 1125, 1126, 1127, -1, 1128, 1129, 1130, -1, 1131, 1132, 1133, -1, 1134, 1135, 1136, -1, 1137, 1138, 1139, -1, 1140, 1141, 1142, -1, 1143, 1144, 1145, -1, 1146, 1147, 1148, -1, 1149, 1150, 1151, -1, 1152, 1153, 1154, -1, 1155, 1156, 1157, -1, 1158, 1159, 1160, -1, 1161, 1162, 1163, -1, 1164, 1165, 1166, -1, 1167, 1168, 1169, -1, 1170, 1171, 1172, -1, 1173, 1174, 1175, -1, 1176, 1177, 1178, -1, 1179, 1180, 1181, -1, 1182, 1183, 1184, -1, 1185, 1186, 1187, -1, 1188, 1189, 1190, -1, 1191, 1192, 1193, -1, 1194, 1195, 1196, -1, 1197, 1198, 1199, -1, 1200, 1201, 1202, -1, 1203, 1204, 1205, -1, 1206, 1207, 1208, -1, 1209, 1210, 1211, -1, 1212, 1213, 1214, -1, 1215, 1216, 1217, -1, 1218, 1219, 1220, -1, 1221, 1222, 1223, -1, 1224, 1225, 1226, -1, 1227, 1228, 1229, -1, 1230, 1231, 1232, -1, 1233, 1234, 1235, -1, 1236, 1237, 1238, -1, 1239, 1240, 1241, -1, 1242, 1243, 1244, -1, 1245, 1246, 1247, -1, 1248, 1249, 1250, -1, 1251, 1252, 1253, -1, 1254, 1255, 1256, -1, 1257, 1258, 1259, -1, 1260, 1261, 1262, -1, 1263, 1264, 1265, -1, 1266, 1267, 1268, -1, 1269, 1270, 1271, -1, 1272, 1273, 1274, -1, 1275, 1276, 1277, -1, 1278, 1279, 1280, -1, 1281, 1282, 1283, -1, 1284, 1285, 1286, -1, 1287, 1288, 1289, -1, 1290, 1291, 1292, -1, 1293, 1294, 1295, -1, 1296, 1297, 1298, -1, 1299, 1300, 1301, -1, 1302, 1303, 1304, -1, 1305, 1306, 1307, -1, 1308, 1309, 1310, -1, 1311, 1312, 1313, -1, 1314, 1315, 1316, -1, 1317, 1318, 1319, -1, 1320, 1321, 1322, -1, 1323, 1324, 1325, -1, 1326, 1327, 1328, -1, 1329, 1330, 1331, -1, 1332, 1333, 1334, -1, 1335, 1336, 1337, -1, 1338, 1339, 1340, -1, 1341, 1342, 1343, -1, 1344, 1345, 1346, -1, 1347, 1348, 1349, -1, 1350, 1351, 1352, -1, 1353, 1354, 1355, -1, 1356, 1357, 1358, -1, 1359, 1360, 1361, -1, 1362, 1363, 1364, -1, 1365, 1366, 1367, -1, 1368, 1369, 1370, -1, 1371, 1372, 1373, -1, 1374, 1375, 1376, -1, 1377, 1378, 1379, -1, 1380, 1381, 1382, -1, 1383, 1384, 1385, -1, 1386, 1387, 1388, -1, 1389, 1390, 1391, -1, 1392, 1393, 1394, -1, 1395, 1396, 1397, -1, 1398, 1399, 1400, -1, 1401, 1402, 1403, -1, 1404, 1405, 1406, -1, 1407, 1408, 1409, -1, 1410, 1411, 1412, -1, 1413, 1414, 1415, -1, 1416, 1417, 1418, -1, 1419, 1420, 1421, -1, 1422, 1423, 1424, -1, 1425, 1426, 1427, -1, 1428, 1429, 1430, -1, 1431, 1432, 1433, -1, 1434, 1435, 1436, -1, 1437, 1438, 1439, -1, 1440, 1441, 1442, -1, 1443, 1444, 1445, -1, 1446, 1447, 1448, -1, 1449, 1450, 1451, -1, 1452, 1453, 1454, -1, 1455, 1456, 1457, -1, 1458, 1459, 1460, -1, 1461, 1462, 1463, -1, 1464, 1465, 1466, -1, 1467, 1468, 1469, -1, 1470, 1471, 1472, -1, 1473, 1474, 1475, -1, 1476, 1477, 1478, -1, 1479, 1480, 1481, -1, 1482, 1483, 1484, -1, 1485, 1486, 1487, -1, 1488, 1489, 1490, -1, 1491, 1492, 1493, -1, 1494, 1495, 1496, -1, 1497, 1498, 1499, -1, 1500, 1501, 1502, -1, 1503, 1504, 1505, -1, 1506, 1507, 1508, -1, 1509, 1510, 1511, -1, 1512, 1513, 1514, -1, 1515, 1516, 1517, -1, 1518, 1519, 1520, -1, 1521, 1522, 1523, -1, 1524, 1525, 1526, -1, 1527, 1528, 1529, -1, 1530, 1531, 1532, -1, 1533, 1534, 1535, -1, 1536, 1537, 1538, -1, 1539, 1540, 1541, -1, 1542, 1543, 1544, -1, 1545, 1546, 1547, -1, 1548, 1549, 1550, -1, 1551, 1552, 1553, -1, 1554, 1555, 1556, -1, 1557, 1558, 1559, -1, 1560, 1561, 1562, -1, 1563, 1564, 1565, -1, 1566, 1567, 1568, -1, 1569, 1570, 1571, -1, 1572, 1573, 1574, -1, 1575, 1576, 1577, -1, 1578, 1579, 1580, -1, 1581, 1582, 1583, -1, 1584, 1585, 1586, -1, 1587, 1588, 1589, -1, 1590, 1591, 1592, -1, 1593, 1594, 1595, -1, 1596, 1597, 1598, -1, 1599, 1600, 1601, -1, 1602, 1603, 1604, -1, 1605, 1606, 1607, -1, 1608, 1609, 1610, -1, 1611, 1612, 1613, -1, 1614, 1615, 1616, -1, 1617, 1618, 1619, -1, 1620, 1621, 1622, -1, 1623, 1624, 1625, -1, 1626, 1627, 1628, -1, 1629, 1630, 1631, -1, 1632, 1633, 1634, -1, 1635, 1636, 1637, -1, 1638, 1639, 1640, -1, 1641, 1642, 1643, -1, 1644, 1645, 1646, -1, 1647, 1648, 1649, -1, 1650, 1651, 1652, -1, 1653, 1654, 1655, -1, 1656, 1657, 1658, -1, 1659, 1660, 1661, -1, 1662, 1663, 1664, -1, 1665, 1666, 1667, -1, 1668, 1669, 1670, -1, 1671, 1672, 1673, -1, 1674, 1675, 1676, -1, 1677, 1678, 1679, -1, 1680, 1681, 1682, -1, 1683, 1684, 1685, -1, 1686, 1687, 1688, -1, 1689, 1690, 1691, -1, 1692, 1693, 1694, -1, 1695, 1696, 1697, -1, 1698, 1699, 1700, -1, 1701, 1702, 1703, -1, 1704, 1705, 1706, -1, 1707, 1708, 1709, -1, 1710, 1711, 1712, -1, 1713, 1714, 1715, -1, 1716, 1717, 1718, -1, 1719, 1720, 1721, -1, 1722, 1723, 1724, -1, 1725, 1726, 1727, -1, 1728, 1729, 1730, -1, 1731, 1732, 1733, -1, 1734, 1735, 1736, -1, 1737, 1738, 1739, -1, 1740, 1741, 1742, -1, 1743, 1744, 1745, -1, 1746, 1747, 1748, -1, 1749, 1750, 1751, -1, 1752, 1753, 1754, -1, 1755, 1756, 1757, -1, 1758, 1759, 1760, -1, 1761, 1762, 1763, -1, 1764, 1765, 1766, -1, 1767, 1768, 1769, -1, 1770, 1771, 1772, -1, 1773, 1774, 1775, -1, 1776, 1777, 1778, -1, 1779, 1780, 1781, -1, 1782, 1783, 1784, -1, 1785, 1786, 1787, -1, 1788, 1789, 1790, -1, 1791, 1792, 1793, -1, 1794, 1795, 1796, -1, 1797, 1798, 1799, -1, 1800, 1801, 1802, -1, 1803, 1804, 1805, -1, 1806, 1807, 1808, -1, 1809, 1810, 1811, -1, 1812, 1813, 1814, -1, 1815, 1816, 1817, -1, 1818, 1819, 1820, -1, 1821, 1822, 1823, -1, 1824, 1825, 1826, -1, 1827, 1828, 1829, -1, 1830, 1831, 1832, -1, 1833, 1834, 1835, -1, 1836, 1837, 1838, -1, 1839, 1840, 1841, -1, 1842, 1843, 1844, -1, 1845, 1846, 1847, -1, 1848, 1849, 1850, -1, 1851, 1852, 1853, -1, 1854, 1855, 1856, -1, 1857, 1858, 1859, -1, 1860, 1861, 1862, -1, 1863, 1864, 1865, -1, 1866, 1867, 1868, -1, 1869, 1870, 1871, -1, 1872, 1873, 1874, -1, 1875, 1876, 1877, -1, 1878, 1879, 1880, -1, 1881, 1882, 1883, -1, 1884, 1885, 1886, -1, 1887, 1888, 1889, -1, 1890, 1891, 1892, -1, 1893, 1894, 1895, -1, 1896, 1897, 1898, -1, 1899, 1900, 1901, -1, 1902, 1903, 1904, -1, 1905, 1906, 1907, -1 + ] + } + } + %< } >% + ] + %< if (fields.enableBoundingObject.value) { >% + boundingObject Transform { + translation 0 0 %<= 10.0 * fields.scale.value / 2.0 >% + children [ + Cylinder { + height %<= 10.0 * fields.scale.value >% + radius %<= 0.4 * fields.scale.value >% + } + ] + } + %< } >% + } +} diff --git a/projects/forest_firefighters/protos/Smoke.proto b/projects/forest_firefighters/protos/Smoke.proto index 7010c24..09e20cb 100644 --- a/projects/forest_firefighters/protos/Smoke.proto +++ b/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 + ] + } + } + ] + } +} diff --git a/projects/forest_firefighters/protos/UnevenForest.proto b/projects/forest_firefighters/protos/UnevenForest.proto index bff3778..871b4e6 100644 --- a/projects/forest_firefighters/protos/UnevenForest.proto +++ b/projects/forest_firefighters/protos/UnevenForest.proto @@ -1,219 +1,221 @@ -#VRML_SIM R2021b utf8 -# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots. -# license url: https://cyberbotics.com/webots_assets_license -# tags: nonDeterministic -# Randomly generated uneven forest based on Perlin noise. -# template language: javascript - -PROTO UnevenForest [ - field SFVec3f translation 0 0 0 - field SFRotation rotation 0 1 0 0 - field SFString name "uneven forest" - field SFVec3f size 50 50 30 # Defines the size of the terrain. - field SFInt32 xDimension 15 # Defines the number of points in the grid height array in the x direction. - field SFInt32 yDimension 15 # Defines the number of points in the grid height array in the y direction. - field SFFloat density 0.02 # Defines the density of trees to be generated (in trees per meter square). - field SFFloat margin 5 # Defines a margin without trees on each edge of the terrain. - field SFFloat maxTreeSize 10 # Defines the maximum size of the trees in meter. - field SFFloat minTreeSize 5 # Defines the minimum size of the trees in meter. - field SFNode appearance Grass { textureTransform TextureTransform { scale 20 20 } } # Defines the appearance of the terrain. - field SFInt32 randomSeed 1 # Defines the seed of the random number generator. A value smaller or equal to 0 sets a random seed. - field SFBool flatCenter FALSE # Defines whether the center of the terrain should be flat. - field SFBool flatBounds FALSE # Defines whether the bounds of the terrain should be flat. - field SFInt32 perlinNOctaves 3 # Defines the number of octaves of the perlin noise. -] -{ - %< - // reference: https://stackoverflow.com/a/42543313/2210777 - import * as wbrandom from 'wbrandom.js'; - import * as wbrotation from 'wbrotation.js'; - - if (fields.randomSeed.value <= 0) - wbrandom.seed(Date.now()); - else - wbrandom.seed(fields.randomSeed.value); - - function gaussian2d(x, y, amp, cx, cy, sx, sy) { - return amp * Math.exp( - ( ( Math.pow(x - cx, 2) / (2.0 * Math.pow(sx, 2)) ) + (Math.pow(y - cy, 2) / (2.0 * Math.pow(sy, 2)) ) )); - } - - // create 256 shuffled numbers repeated twice. - let perm = []; - for (let i = 1; i <= 256; ++i) - perm.splice(wbrandom.integer(i) -1, 0, i); - - for (let i = 0; i < 256; ++i) - perm.push(perm[i]); - - // generate 256 directions - let dirs = []; - for (let a = 0; a < 256; ++a) - dirs.push([Math.cos(a * 2.0 * Math.PI / 256), Math.sin(a * 2.0 * Math.PI / 256)]); - - function noise (x, y, per, dirs, perm) { - function surflet (grid_x, grid_y, dirs, perm) { - const dist_x = Math.abs(x - grid_x); - const dist_y = Math.abs(y - grid_y); - const poly_x = 1 - 6 * Math.pow(dist_x, 5) + 15 * Math.pow(dist_x, 4) - 10 * Math.pow(dist_x, 3); - const poly_y = 1 - 6 * Math.pow(dist_y, 5) + 15 * Math.pow(dist_y, 4) - 10 * Math.pow(dist_y, 3); - const hashed = perm[(perm[(Math.floor(grid_x) % per)] + Math.floor(grid_y) % per)]; - const grad = (x - grid_x) * dirs[hashed-1][0] + (y - grid_y) * dirs[hashed-1][1]; - - return poly_x * poly_y * grad; - } - - let int_x = Math.floor(x); - let int_y = Math.floor(y); - - return surflet(int_x + 0, int_y + 0, dirs, perm) + surflet(int_x + 1, int_y + 0, dirs, perm) + surflet(int_x + 0, int_y + 1, dirs, perm) + surflet(int_x + 1, int_y + 1, dirs, perm); - } - - function fBm (x, y, per, octs, dirs, perm) { // Fractional Brownian motion - let val = 0; - for (let o = 0; o <= octs - 1; ++o) - val = val + (Math.pow(0.5, o) * noise(x * Math.pow(2, o), y * Math.pow(2, o), per * Math.pow(2, o), dirs, perm)); - - return val; - } - - const perlinSize = 128; - let nOctave = fields.perlinNOctaves.value; - if (nOctave < 0 || nOctave >= 10) { - nOctave = fields.perlinNOctaves.defaultValue; - console.error('\'perlinNOctaves\' must be in the range [0, 10[. Value reset to ' + nOctave + '.'); - } - - let size = fields.size.value; - - let xDimension = fields.xDimension.value; - if (xDimension < 2) { - xDimension = fields.xDimension.defaultValue; - console.error('\'xDimension\' must be bigger than 2. Value reset to ' + xDimension + '.'); - } - - let yDimension = fields.yDimension.value; - if (yDimension < 2) { - yDimension = fields.yDimension.defaultValue; - console.error('\'yDimension\' must be bigger than 2. Value reset to ' + yDimension + '.'); - } - - let heights = [] - - // compute the height of each point in the elevation grid - for (let i = 0; i <= xDimension - 1; ++i) { - let heightsLine = [] - for (let j = 0; j <= yDimension - 1; ++j) { - let height = 1.0; - const x = i / xDimension; - const z = j / yDimension; - if (nOctave > 0) - height = 0.5 * (1.0 + fBm(x, z, perlinSize, nOctave, dirs, perm)); - - if (fields.flatCenter.value) - height = height * (1.0 - gaussian2d(x - 0.5, z - 0.5, 1, 0, 0, 0.2, 0.2)); - - if (fields.flatBounds.value) - height = height * gaussian2d(x - 0.5, z - 0.5, 1, 0, 0, 0.2, 0.2); - - height = height * size.z - heightsLine.push(height) - } - heights.push(heightsLine) - } - - let density = fields.density.value; - if (density < 0) { - density = fields.density.defaultValue; - console.error('\'density\' must be greater or equal to 0. Value reset to ' + density + '.'); - } - - let margin = fields.margin.value; - if (margin < 0) { - density = fields.density.defaultValue; - console.error('\'margin\' must be greater or equal to 0. Value reset to ' + margin + '.'); - } - - let numberOfTree = Math.round(fields.size.value.x * fields.size.value.y * density); - let maxTreeSize = fields.maxTreeSize.value; - let minTreeSize = fields.minTreeSize.value; - let trees = []; - - // generate the list of trees - for (let i = 0; i < numberOfTree; ++i) { - let xTree = wbrandom.real(margin, size.x - margin); - let yTree = wbrandom.real(margin, size.y - margin); - let treeSize = wbrandom.real(minTreeSize, maxTreeSize); - - // compute the exact z translation needed - let xIndex = xTree / size.x * (xDimension - 1); - let yIndex = yTree / size.y * (yDimension - 1); - - let x1 = Math.floor(xIndex); - let y1 = Math.floor(yIndex); - let x2 = Math.ceil(xIndex); - let y2 = Math.ceil(yIndex); - - let dx1 = xIndex - x1; - let dy1 = yIndex - y1; - let dx2 = x2 - xIndex; - let dy2 = y2 - yIndex; - - let h11 = heights[x1][y1]; - let h12 = heights[x1][y2]; - let h21 = heights[x2][y1]; - let h22 = heights[x2][y2]; - - let h1 = h11 * (1 - dy1) + h12 * (1 - dy2); - let h2 = h21 * (1 - dy1) + h22 * (1 - dy2); - let h = h1 * (1 - dx1) + h2 * (1 - dx2); - - trees.push({x: xTree, y: yTree, z: h, angle: wbrandom.real(2 * Math.PI), size: treeSize}); - } - >% - Solid { - translation IS translation - rotation IS rotation - children [ - DEF UNEVEN_TERRAIN_ELEVATION_GRID Transform { - translation 0 0 0 - rotation 0.5773509358554485 0.5773489358556708 0.5773509358554485 2.0944 - children [ - Shape { - appearance IS appearance - geometry ElevationGrid { - %< if (xDimension > 2 && yDimension > 2) { >% - xDimension IS yDimension - xSpacing %<= size.y / (yDimension - 1) >% - zDimension IS xDimension - zSpacing %<= size.x / (xDimension - 1) >% - - height [ - %< for (let i = 0; i <= heights.length - 1; ++i) { >% - %< for (let j = 0; j <= heights[0].length - 1; ++j) { >% - %<= heights[i][j] >% - %< } >% - %< } >% - ] - %< } >% - } - } - ] - } - %< for (let i = 0; i < numberOfTree; ++i) { >% - Sassafras { - translation %<= trees[i].x >% %<= trees[i].y >% %<= trees[i].z>% - %< - const rA = {x: 0, y: 0, z: 1, a: trees[i].angle} - const rB = {x: 1, y: 0, z: 0, a: Math.PI / 2} - const rotation = wbrotation.combine(rA, rB); - >% - rotation %<= rotation.x >% %<= rotation.y >% %<= rotation.z >% %<= rotation.a >% - size %<= trees[i].size >% - name %<= `"Sassafras ${i}"` >% - } - %< } >% - ] - name IS name - boundingObject USE UNEVEN_TERRAIN_ELEVATION_GRID - } -} +#VRML_SIM R2023b utf8 +# license: Copyright Cyberbotics Ltd. Licensed for use only with Webots. +# license url: https://cyberbotics.com/webots_assets_license +# tags: nonDeterministic +# Randomly generated uneven forest based on Perlin noise. +# template language: javascript + +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/master/projects/appearances/protos/Grass.proto" + +PROTO UnevenForest [ + field SFVec3f translation 0 0 0 + field SFRotation rotation 0 1 0 0 + field SFString name "uneven forest" + field SFVec3f size 50 50 30 # Defines the size of the terrain. + field SFInt32 xDimension 15 # Defines the number of points in the grid height array in the x direction. + field SFInt32 yDimension 15 # Defines the number of points in the grid height array in the y direction. + field SFFloat density 0.02 # Defines the density of trees to be generated (in trees per meter square). + field SFFloat margin 5 # Defines a margin without trees on each edge of the terrain. + field SFFloat maxTreeSize 10 # Defines the maximum size of the trees in meter. + field SFFloat minTreeSize 5 # Defines the minimum size of the trees in meter. + field SFNode appearance Grass { textureTransform TextureTransform { scale 20 20 } } # Defines the appearance of the terrain. + field SFInt32 randomSeed 1 # Defines the seed of the random number generator. A value smaller or equal to 0 sets a random seed. + field SFBool flatCenter FALSE # Defines whether the center of the terrain should be flat. + field SFBool flatBounds FALSE # Defines whether the bounds of the terrain should be flat. + field SFInt32 perlinNOctaves 3 # Defines the number of octaves of the perlin noise. +] +{ + %< + // reference: https://stackoverflow.com/a/42543313/2210777 + import * as wbrandom from 'wbrandom.js'; + import * as wbrotation from 'wbrotation.js'; + + if (fields.randomSeed.value <= 0) + wbrandom.seed(Date.now()); + else + wbrandom.seed(fields.randomSeed.value); + + function gaussian2d(x, y, amp, cx, cy, sx, sy) { + return amp * Math.exp( - ( ( Math.pow(x - cx, 2) / (2.0 * Math.pow(sx, 2)) ) + (Math.pow(y - cy, 2) / (2.0 * Math.pow(sy, 2)) ) )); + } + + // create 256 shuffled numbers repeated twice. + let perm = []; + for (let i = 1; i <= 256; ++i) + perm.splice(wbrandom.integer(i) -1, 0, i); + + for (let i = 0; i < 256; ++i) + perm.push(perm[i]); + + // generate 256 directions + let dirs = []; + for (let a = 0; a < 256; ++a) + dirs.push([Math.cos(a * 2.0 * Math.PI / 256), Math.sin(a * 2.0 * Math.PI / 256)]); + + function noise (x, y, per, dirs, perm) { + function surflet (grid_x, grid_y, dirs, perm) { + const dist_x = Math.abs(x - grid_x); + const dist_y = Math.abs(y - grid_y); + const poly_x = 1 - 6 * Math.pow(dist_x, 5) + 15 * Math.pow(dist_x, 4) - 10 * Math.pow(dist_x, 3); + const poly_y = 1 - 6 * Math.pow(dist_y, 5) + 15 * Math.pow(dist_y, 4) - 10 * Math.pow(dist_y, 3); + const hashed = perm[(perm[(Math.floor(grid_x) % per)] + Math.floor(grid_y) % per)]; + const grad = (x - grid_x) * dirs[hashed-1][0] + (y - grid_y) * dirs[hashed-1][1]; + + return poly_x * poly_y * grad; + } + + let int_x = Math.floor(x); + let int_y = Math.floor(y); + + return surflet(int_x + 0, int_y + 0, dirs, perm) + surflet(int_x + 1, int_y + 0, dirs, perm) + surflet(int_x + 0, int_y + 1, dirs, perm) + surflet(int_x + 1, int_y + 1, dirs, perm); + } + + function fBm (x, y, per, octs, dirs, perm) { // Fractional Brownian motion + let val = 0; + for (let o = 0; o <= octs - 1; ++o) + val = val + (Math.pow(0.5, o) * noise(x * Math.pow(2, o), y * Math.pow(2, o), per * Math.pow(2, o), dirs, perm)); + + return val; + } + + const perlinSize = 128; + let nOctave = fields.perlinNOctaves.value; + if (nOctave < 0 || nOctave >= 10) { + nOctave = fields.perlinNOctaves.defaultValue; + console.error('\'perlinNOctaves\' must be in the range [0, 10[. Value reset to ' + nOctave + '.'); + } + + let size = fields.size.value; + + let xDimension = fields.xDimension.value; + if (xDimension < 2) { + xDimension = fields.xDimension.defaultValue; + console.error('\'xDimension\' must be bigger than 2. Value reset to ' + xDimension + '.'); + } + + let yDimension = fields.yDimension.value; + if (yDimension < 2) { + yDimension = fields.yDimension.defaultValue; + console.error('\'yDimension\' must be bigger than 2. Value reset to ' + yDimension + '.'); + } + + let heights = [] + + // compute the height of each point in the elevation grid + for (let i = 0; i <= xDimension - 1; ++i) { + let heightsLine = [] + for (let j = 0; j <= yDimension - 1; ++j) { + let height = 1.0; + const x = i / xDimension; + const z = j / yDimension; + if (nOctave > 0) + height = 0.5 * (1.0 + fBm(x, z, perlinSize, nOctave, dirs, perm)); + + if (fields.flatCenter.value) + height = height * (1.0 - gaussian2d(x - 0.5, z - 0.5, 1, 0, 0, 0.2, 0.2)); + + if (fields.flatBounds.value) + height = height * gaussian2d(x - 0.5, z - 0.5, 1, 0, 0, 0.2, 0.2); + + height = height * size.z + heightsLine.push(height) + } + heights.push(heightsLine) + } + + let density = fields.density.value; + if (density < 0) { + density = fields.density.defaultValue; + console.error('\'density\' must be greater or equal to 0. Value reset to ' + density + '.'); + } + + let margin = fields.margin.value; + if (margin < 0) { + density = fields.density.defaultValue; + console.error('\'margin\' must be greater or equal to 0. Value reset to ' + margin + '.'); + } + + let numberOfTree = Math.round(fields.size.value.x * fields.size.value.y * density); + let maxTreeSize = fields.maxTreeSize.value; + let minTreeSize = fields.minTreeSize.value; + let trees = []; + + // generate the list of trees + for (let i = 0; i < numberOfTree; ++i) { + let xTree = wbrandom.real(margin, size.x - margin); + let yTree = wbrandom.real(margin, size.y - margin); + let treeSize = wbrandom.real(minTreeSize, maxTreeSize); + + // compute the exact z translation needed + let xIndex = xTree / size.x * (xDimension - 1); + let yIndex = yTree / size.y * (yDimension - 1); + + let x1 = Math.floor(xIndex); + let y1 = Math.floor(yIndex); + let x2 = Math.ceil(xIndex); + let y2 = Math.ceil(yIndex); + + let dx1 = xIndex - x1; + let dy1 = yIndex - y1; + let dx2 = x2 - xIndex; + let dy2 = y2 - yIndex; + + let h11 = heights[x1][y1]; + let h12 = heights[x1][y2]; + let h21 = heights[x2][y1]; + let h22 = heights[x2][y2]; + + let h1 = h11 * (1 - dy1) + h12 * (1 - dy2); + let h2 = h21 * (1 - dy1) + h22 * (1 - dy2); + let h = h1 * (1 - dx1) + h2 * (1 - dx2); + + trees.push({x: xTree, y: yTree, z: h, angle: wbrandom.real(2 * Math.PI), size: treeSize}); + } + >% + Solid { + translation IS translation + rotation IS rotation + children [ + DEF UNEVEN_TERRAIN_ELEVATION_GRID Transform { + translation 0 0 0 + rotation -0.5773509358554485 -0.5773509358554485 0.5773489358556708 2.0944 + children [ + Shape { + appearance IS appearance + geometry ElevationGrid { + %< if (xDimension > 2 && yDimension > 2) { >% + xDimension IS yDimension + xSpacing %<= size.y / (yDimension - 1) >% + yDimension IS xDimension + ySpacing %<= siye.x / (xDimension - 1) >% + + height [ + %< for (let i = 0; i <= heights.length - 1; ++i) { >% + %< for (let j = 0; j <= heights[0].length - 1; ++j) { >% + %<= heights[i][j] >% + %< } >% + %< } >% + ] + %< } >% + } + } + ] + } + %< for (let i = 0; i < numberOfTree; ++i) { >% + Sassafras { + translation %<= trees[i].x >% %<= trees[i].y >% %<= trees[i].z>% + %< + const rA = {x: 0, y: 0, z: 1, a: trees[i].angle} + const rB = {x: 1, y: 0, z: 0, a: Math.PI / 2} + const rotation = wbrotation.combine(rA, rB); + >% + rotation %<= rotation.x >% %<= rotation.y >% %<= rotation.z >% %<= rotation.a >% + size + name %<= `"Sassafras ${i}"` >% + } + %< } >% + ] + name IS name + boundingObject USE UNEVEN_TERRAIN_ELEVATION_GRID + } +} diff --git a/projects/forest_firefighters/protos/Water.proto b/projects/forest_firefighters/protos/Water.proto index 866718b..77bd9f7 100644 --- a/projects/forest_firefighters/protos/Water.proto +++ b/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 + ] + } + } +} + diff --git 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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;1;1;0;0 +renderingDevicePerspectives: Mavic 2 PRO:camera;1;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 diff --git a/projects/forest_firefighters/worlds/forest_firefighters.wbt b/projects/forest_firefighters/worlds/forest_firefighters.wbt index fed3789..4b16a89 100644 --- a/projects/forest_firefighters/worlds/forest_firefighters.wbt +++ b/projects/forest_firefighters/worlds/forest_firefighters.wbt @@ -1,4 +1,16 @@ -#VRML_SIM R2021b utf8 +#VRML_SIM R2023b utf8 + +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/master/projects/appearances/protos/Grass.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/master/projects/robots/dji/mavic/protos/Mavic2Pro.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/master/projects/robots/boston_dynamics/spot/protos/Spot.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/master/projects/objects/factory/manhole/protos/SquareManhole.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/master/projects/objects/backgrounds/protos/TexturedBackground.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/master/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" +EXTERNPROTO "../protos/Sassafras.proto" +IMPORTABLE EXTERNPROTO "../protos/Fire.proto" +IMPORTABLE EXTERNPROTO "../protos/Smoke.proto" +IMPORTABLE EXTERNPROTO "../protos/Water.proto" + WorldInfo { info [ "Uneven terrain demo using an ElevationGrid to model the terrain and a" @@ -13,8 +25,8 @@ WorldInfo { } } Viewpoint { - orientation 0.567261792493613 -0.4114308185698906 -0.7133994255028825 1.587329358437873 - position -7.3520103077810575 3.056583670009892 25.98290708040411 + orientation -0.2326372225944304 0.765590932468676 0.5997920029354278 0.9378580724060753 + position -1.335846720240565 -0.1894245760890323 24.522465705383002 near 0.001 } TexturedBackground { @@ -23,15 +35,13 @@ TexturedBackgroundLight { luminosity 0.8 } Robot { - rotation 0 0 1 0 controller "fire" supervisor TRUE window "fire" } Solid { children [ - DEF UNEVEN_TERRAIN_ELEVATION_GRID Transform { - rotation 0.5773509358554485 0.5773489358556708 0.5773509358554485 2.0944 + DEF UNEVEN_TERRAIN_ELEVATION_GRID Pose { children [ Shape { appearance Grass { @@ -43,176 +53,176 @@ Solid { } geometry ElevationGrid { height [ - 15, 13.441443147257559, 12.86367908381069, 12.499641092209563, 12.68752071999476, 12.48848581182917, 12.009911685288355, 12.679141813165808, 14.011849857249336, 14.548997717557215, 13.621198024917197, 12.879807968806373, 12.825023758328093, 13.232495022137597, 14.73236654562222, 15.500790951979717, 16.449167211718766, 17.74876948641754, 17.173671020178418, 16.258765428099117, 17.125473252897756, 15.666268974154915, 15.41689556947879, 15.0704482295645, 15.013927092025805, 14.709741822662924, 14.18753832368809, 14.495566358602941, 15.480504322400085, 16.153469279272027, 15.492141859405182, 15.084920579807102, 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0.6895274269102809 0.689527426910281 2.7054524354866913 - size 6.12236864104084 + rotation 0 0 1 0 + scale 0.612236864104084 name "Sassafras 20" } Sassafras { translation 10.321796257602944 18.484918682868404 21.543304787283642 - rotation 0.394140570119622 -0.6498666059222381 -0.6498666059222382 2.390702731519959 - size 9.386034273268836 + rotation 0 0 1 0 + scale 0.9386034273268836 name "Sassafras 21" } Sassafras { translation 24.914580578480994 7.912135297783333 11.908429955324491 - rotation 0.7030842157585444 -0.5028282935312971 -0.5028282935312972 1.9160068336274407 - size 7.9830406894112045 + rotation 0 0 1 0 + scale 0.7983040689411205 name "Sassafras 22" } Sassafras { translation 18.497386783205677 8.223285867171636 16.24728792098636 - rotation 0.3296777638138355 -0.6675749291453016 -0.6675749291453017 2.504678770156543 - size 8.205000055134299 + rotation 0 0 1 0 + scale 0.8205000055134299 name "Sassafras 23" } Sassafras { translation 14.271126346059225 6.727260454133776 14.496828504294522 - rotation 0.7870084475782196 -0.4362440277187302 -0.43624402771873033 1.8080548331172497 - size 6.261528209538949 + rotation 0 0 1 0 + scale 0.6261528209538949 name "Sassafras 24" } Sassafras { translation 10.268063859228125 7.491330056865815 16.1491774080284 - rotation 0.7259334280100526 -0.48632327627699135 -0.4863232762769914 1.885753145363453 - size 5.372313879270189 + rotation 0 0 1 0 + scale 0.5372313879270189 name "Sassafras 25" } Sassafras { translation 10.492678015987755 15.962995944201705 21.780466846370363 - rotation 0.18757017572387413 -0.6945564876879758 -0.694556487687976 2.770761170527212 - size 8.409434760179208 + rotation 0 0 1 0 + scale 0.8409434760179209 name "Sassafras 26" } ] @@ -221,22 +231,18 @@ Solid { } SquareManhole { translation 4 4 17.3 - rotation -0.5773502691896258 0.5773502691896258 0.5773502691896258 -2.094395307179586 } SquareManhole { translation 4 3 17.3 - rotation -0.5773502691896258 0.5773502691896258 0.5773502691896258 -2.094395307179586 name "manhole(1)" } Spot { translation 6.5 3.254 17.12 - rotation 1 0 0 1.5708 controller "spot" customData "0" } Mavic2Pro { translation 4 4 17.4 - rotation 0 0 1 0 controller "autonomous_mavic" controllerArgs [ "--target_altitude=45" @@ -252,7 +258,6 @@ Mavic2Pro { } Mavic2Pro { translation 4 3 17.43 - rotation 0 0 1 0 name "Mavic 2 PRO(2)" controller "autonomous_mavic" controllerArgs [ From 88196031de54e8d94bfabb247cc62a2cf50732ae Mon Sep 17 00:00:00 2001 From: Angel Ayala Date: Fri, 2 Feb 2024 13:58:52 -0300 Subject: [PATCH 2/3] code cleanup --- .../autonomous_mavic/fire_detection.jpg | Bin 23400 -> 25467 bytes .../controllers/fire/fire.py | 14 ++++++-------- projects/forest_firefighters/forest_fire.png | Bin 1808537 -> 0 bytes .../worlds/.forest_firefighters.wbproj | 4 ++-- 4 files changed, 8 insertions(+), 10 deletions(-) delete mode 100644 projects/forest_firefighters/forest_fire.png diff --git 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mB9K8NF}HWdSwj`)9A_Yd^s2N`Uc6gq^kUmVMHE#OfB)H@Uz_m& diff --git a/projects/forest_firefighters/controllers/fire/fire.py b/projects/forest_firefighters/controllers/fire/fire.py index dfb72a2..65cd99c 100644 --- a/projects/forest_firefighters/controllers/fire/fire.py +++ b/projects/forest_firefighters/controllers/fire/fire.py @@ -50,7 +50,6 @@ def stopFire(self): fire_translation_field = self.fire.getField('translation') fire_translation = fire_translation_field.getSFVec3f() t = [fire_translation[0], fire_translation[1], fire_translation[2]] - # t[2] = 1000000 fire_translation_field.setSFVec3f(t) self.fire = None if self.smoke: @@ -113,8 +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) + print('Wind angle:', self.angle) + print('Wind intensity:', self.intensity) def evolve(self): if self.RANDOM_EVOLUTION: @@ -201,6 +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} }}' @@ -285,7 +285,7 @@ def run(self): message = self.wwiReceiveText() if message: - print('message', message) + print('Message:', message) self.wind.update(message) self.wind.evolve() @@ -315,12 +315,10 @@ def run(self): 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 - print('waiting altitude', start_fire_now) - + start_fire_now = True controller = Fire() controller.run() 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