Fix mesh bounding object (#6047)

* Fix when object is already in the world

* Fix insert

* test sources

* import order

* Update changelog-r2023.md

---------

Co-authored-by: Olivier Michel <[email protected]>

Author: Benjamin Délèze

docs/reference/changelog-r2023.md

@@ -53,6 +53,7 @@ Released on ??
     - Fixed unwanted altitude change when reaching a target waypoint in `mavic2pro_patrol.c` ([#5981](https://github.com/cyberbotics/webots/pull/5981)).
     - Fixed the extern controller connection to a target Webots instance when a snap one is running ([#6002](https://github.com/cyberbotics/webots/pull/6002)).
     - Fixed the double downloading of meshes ([#6034](https://github.com/cyberbotics/webots/pull/6034)).
+    - Fixed the loading of remote mesh bounding objects ([#6047](https://github.com/cyberbotics/webots/pull/6047)).
 
 ## Webots R2023a
 Released on November 29th, 2022.

src/webots/nodes/WbFluid.hpp

@@ -47,6 +47,7 @@ class WbFluid : public WbMatter {
 public slots:
   // recursions through solid children with bounding objects for material updates
   void propagateBoundingObjectMaterialUpdate(bool onSelection = false) override;
+  void updateBoundingObject() override;
 
 protected:
   // this constructor is reserved for derived classes only
@@ -81,7 +82,6 @@ public slots:
 
 private slots:
   void createOdeGeomFromInsertedGroupItem(WbBaseNode *node) override;
-  void updateBoundingObject() override;
   void updateStreamVelocity();
   void updateDensity();
   void updateViscosity();

src/webots/nodes/WbMatter.hpp

@@ -89,6 +89,7 @@ class WbMatter : public WbTransform {
 public slots:
   // recursions through bounding objects for material updates
   virtual void propagateBoundingObjectMaterialUpdate(bool onSelection = false) = 0;
+  virtual void updateBoundingObject() = 0;
 
 protected:
   // Abstract class: constructors are reserved for derived classes only
@@ -179,7 +180,6 @@ protected slots:
   static bool cShowMatterCenter;
 
 private slots:
-  virtual void updateBoundingObject() = 0;
   virtual void createOdeGeomFromInsertedGroupItem(WbBaseNode *node) = 0;
   void createOdeGeomFromInsertedTransformItem();
   void createOdeGeomFromInsertedShapeItem();

src/webots/nodes/WbMesh.cpp

@@ -20,7 +20,9 @@
 #include "WbField.hpp"
 #include "WbGroup.hpp"
 #include "WbMFString.hpp"
+#include "WbMatter.hpp"
 #include "WbNetwork.hpp"
+#include "WbNodeUtilities.hpp"
 #include "WbResizeManipulator.hpp"
 #include "WbTriangleMesh.hpp"
 #include "WbUrl.hpp"
@@ -84,6 +86,12 @@ void WbMesh::downloadUpdate() {
   WbGroup *group = dynamic_cast<WbGroup *>(const_cast<WbNode *>(ancestor));
   if (group)
     group->recomputeBoundingSphere();
+
+  if (isInBoundingObject()) {
+    WbMatter *boundingObjectAncestor = WbNodeUtilities::findBoundingObjectAncestor(this);
+    if (boundingObjectAncestor)
+      boundingObjectAncestor->updateBoundingObject();
+  }
 }
 
 void WbMesh::preFinalize() {

src/webots/nodes/WbSolid.cpp

@@ -259,6 +259,12 @@ void WbSolid::validateProtoNode() {
   }
 }
 
+void WbSolid::downloadAssets() {
+  WbGroup::downloadAssets();
+  if (boundingObject())
+    boundingObject()->downloadAssets();
+}
+
 void WbSolid::preFinalize() {
   mHasNoSolidAncestor = false;
 

src/webots/nodes/WbSolid.hpp

@@ -54,6 +54,7 @@ class WbSolid : public WbMatter {
 
   // reimplemented public functions
   int nodeType() const override { return WB_NODE_SOLID; }
+  void downloadAssets() override;
   void createWrenObjects() override;
   void preFinalize() override;
   void validateProtoNode() override;
@@ -245,6 +246,7 @@ public slots:
   void updateGraphicalGlobalCenterOfMass();
   void resetPhysicsIfRequired(bool changedFromSupervisor);
   virtual void updateChildren();
+  void updateBoundingObject() override;
 
 protected:
   // this constructor is reserved for derived classes only
@@ -459,7 +461,6 @@ private slots:
   void updatePhysics();
   void updateRadarCrossSection();
   void updateRecognitionColors();
-  void updateBoundingObject() override;
   void updateOdeMass();
   void applyToOdeMass();
   void updateOdeInertiaMatrix();