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Benjamin Délèzestefaniapedrazzi
Benjamin Délèze
and
stefaniapedrazzi
authored
Fix flu vehicles (#6006)
* truck * fix flu scooter * truck trailers * wheel * fix tesla and wheel axis * prius wheel * motorbike * bus and tractor * truck * fix wheel center * logos * cleanup * remove hidden position --------- Co-authored-by: Stefania Pedrazzi <[email protected]>
1 parent 9f96b71 commit ac3d67f

40 files changed

+133
-12735
lines changed

‎projects/vehicles/protos/abstract/AckermannVehicle.proto‎

Lines changed: 6 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -71,7 +71,7 @@ PROTO AckermannVehicle [
7171
children [
7272
Transform {
7373
translation %<= wheelbase >% %<= frontTrack * 0.5 >% 0
74-
rotation 0 0 1 -1.5708
74+
rotation 0 0 1 3.14159
7575
children [
7676
DEF LEFT_STEER_HINGE2 Hinge2Joint {
7777
jointParameters HingeJointParameters {
@@ -81,7 +81,7 @@ PROTO AckermannVehicle [
8181
suspensionAxis 0 0 1
8282
}
8383
jointParameters2 JointParameters {
84-
axis -1 0 0
84+
axis 0 -1 0
8585
dampingConstant IS wheelsDampingConstant
8686
}
8787
device [
@@ -106,7 +106,6 @@ PROTO AckermannVehicle [
106106
}
107107
Transform {
108108
translation %<= wheelbase >% %<= -frontTrack * 0.5 >% 0
109-
rotation 0 0 1 1.5708
110109
children [
111110
DEF RIGHT_STEER_HINGE2 Hinge2Joint {
112111
jointParameters HingeJointParameters {
@@ -116,7 +115,7 @@ PROTO AckermannVehicle [
116115
suspensionAxis 0 0 1
117116
}
118117
jointParameters2 JointParameters {
119-
axis 1 0 0
118+
axis 0 1 0
120119
dampingConstant IS wheelsDampingConstant
121120
}
122121
device [
@@ -141,11 +140,11 @@ PROTO AckermannVehicle [
141140
}
142141
Transform {
143142
translation 0 %<= rearTrack * 0.5 >% 0
144-
rotation 0 0 1 -1.5708
143+
rotation 0 0 1 3.14159
145144
children [
146145
DEF LEFT_REAR_WHEEL_HINGE HingeJoint {
147146
jointParameters HingeJointParameters {
148-
axis -1 0 0
147+
axis 0 -1 0
149148
dampingConstant IS wheelsDampingConstant
150149
suspensionSpringConstant IS suspensionRearSpringConstant
151150
suspensionDampingConstant IS suspensionRearDampingConstant
@@ -161,11 +160,10 @@ PROTO AckermannVehicle [
161160
}
162161
Transform {
163162
translation 0 %<= -rearTrack * 0.5 >% 0
164-
rotation 0 0 1 1.5708
165163
children [
166164
DEF RIGHT_REAR_WHEEL_HINGE HingeJoint {
167165
jointParameters HingeJointParameters {
168-
axis 1 0 0
166+
axis 0 1 0
169167
dampingConstant IS wheelsDampingConstant
170168
suspensionSpringConstant IS suspensionRearSpringConstant
171169
suspensionDampingConstant IS suspensionRearDampingConstant

‎projects/vehicles/protos/abstract/VehicleWheel.proto‎

Lines changed: 22 additions & 22 deletions
Original file line numberDiff line numberDiff line change
@@ -156,27 +156,27 @@ PROTO VehicleWheel [
156156
for (let i = 0; i <= edgeSubdivision; ++i)
157157
circles[i + 1] = wbgeometry.circle(tireRadius - (thickness * 0.5) * curvatureFactor * (1 - Math.sin(beta * i)), subdivision, {x: 0, y: 0}, 0);
158158
>%
159-
159+
160160
# top inner
161161
%< for (let i = 0; i < circles[0].length; ++i) { >%
162-
%<= thickness * 0.5 >% %<= -circles[0][i].x >% %<= circles[0][i].y >%
162+
%<= circles[0][i].y >% %<= -thickness * 0.5 >% %<= circles[0][i].x >%
163163
%< } >%
164164

165165
%< for (let i = 0; i <= edgeSubdivision; ++i) { >%
166166
%< for (let j = 0; j < circles[i+1].length; ++j) { >%
167-
%<= thickness * 0.5 * (1 - curvatureFactor * (1 - Math.cos(beta * i))) >% %<= -circles[i+1][j].x >% %<= circles[i+1][j].y >%
167+
%<= circles[i+1][j].y >% %<= -thickness * 0.5 * (1 - curvatureFactor * (1 - Math.cos(beta * i))) >% %<= circles[i+1][j].x >%
168168
%< } >%
169169
%< } >%
170170

171171
%< for (let i = 0; i <= edgeSubdivision; ++i) { >%
172172
%< for (let j = 0; j < circles[(edgeSubdivision - i) + 1].length; ++j) { >%
173-
%<= - thickness * 0.5 * (1 - curvatureFactor * (1 - Math.sin(beta * i))) >% %<= -circles[(edgeSubdivision - i) + 1][j].x >% %<= circles[(edgeSubdivision - i) + 1][j].y >%
173+
%<= circles[(edgeSubdivision - i) + 1][j].y >% %<= thickness * 0.5 * (1 - curvatureFactor * (1 - Math.sin(beta * i))) >% %<= circles[(edgeSubdivision - i) + 1][j].x >%
174174
%< } >%
175175
%< } >%
176176

177177
# bottom inner
178178
%< for (let i = 0; i < circles[0].length; ++i) { >%
179-
%<= - thickness * 0.5 >% %<= -circles[0][i].x >% %<= circles[0][i].y >%
179+
%<= circles[0][i].y >% %<= thickness * 0.5 >% %<= circles[0][i].x >%
180180
%< } >%
181181

182182
]
@@ -247,22 +247,22 @@ PROTO VehicleWheel [
247247

248248
# top outer
249249
%< for (let i = 0; i < rimOuterCircle.length; ++i) { >%
250-
%<= -thickness * 0.5 >% %<= rimOuterCircle[i].x >% %<= rimOuterCircle[i].y >%
250+
%<= rimOuterCircle[i].y >% %<= -thickness * 0.5 >% %<= rimOuterCircle[i].x >%
251251
%< } >%
252252

253253
# top inner
254254
%< for (let i = 0; i < rimInnerCircle.length; ++i) { >%
255-
%<= -thickness * 0.5 >% %<= rimInnerCircle[i].x >% %<= rimInnerCircle[i].y >%
255+
%<= rimInnerCircle[i].y >% %<= -thickness * 0.5 >% %<= rimInnerCircle[i].x >%
256256
%< } >%
257257

258258
# bottom inner
259259
%< for (let i = 0; i < rimInnerCircle.length; ++i) { >%
260-
%<= thickness * 0.5 >% %<= rimInnerCircle[i].x >% %<= rimInnerCircle[i].y >%
260+
%<= rimInnerCircle[i].y >% %<= thickness * 0.5 >% %<= rimInnerCircle[i].x >%
261261
%< } >%
262262

263263
# bottom outer
264264
%< for (let i = 0; i < rimOuterCircle.length; ++i) { >%
265-
%<= thickness * 0.5 >% %<= rimOuterCircle[i].x >% %<= rimOuterCircle[i].y >%
265+
%<= rimOuterCircle[i].y >% %<= thickness * 0.5 >% %<= rimOuterCircle[i].x >%
266266
%< } >%
267267
]
268268
}
@@ -304,46 +304,46 @@ PROTO VehicleWheel [
304304
>%
305305
# Top part
306306
## Center
307-
%<= -rimBeamThickness / 2.5 - rimBeamOffset/2 >% 0 0
307+
0 %<= -rimBeamThickness / 2.5 - rimBeamOffset/2 >% 0
308308
%< for (let i = 0; i < centralCircles[0].length; ++i) { >%
309-
%<= -rimBeamThickness * 0.5 - rimBeamOffset/2 >% %<= centralCircles[0][i].x >% %<= centralCircles[0][i].y >%
309+
%<= centralCircles[0][i].y >% %<= -rimBeamThickness * 0.5 - rimBeamOffset/2 >% %<= centralCircles[0][i].x >%
310310
%< } >%
311311
## Between beams
312312
%< for (let i = 0; i < centralCircles[1].length; ++i) { >%
313-
%<= -rimBeamThickness / 2.5 - rimBeamOffset/2 >% %<= centralCircles[1][i].x >% %<= centralCircles[1][i].y >%
313+
%<= centralCircles[1][i].y >% %<= -rimBeamThickness / 2.5 - rimBeamOffset/2 >% %<= centralCircles[1][i].x >%
314314
%< } >%
315315
%< for (let i = 0; i < centralCircles[2].length; ++i) { >%
316-
%<= -rimBeamThickness / 2.5 - rimBeamOffset/2 >% %<= centralCircles[2][i].x >% %<= centralCircles[2][i].y >%
316+
%<= centralCircles[2][i].y >% %<= -rimBeamThickness / 2.5 - rimBeamOffset/2 >% %<= centralCircles[2][i].x >%
317317
%< } >%
318318
## Beams
319319
%< for (let i = 0; i < centralCircles[3].length; ++i) { >%
320-
%<= -rimBeamThickness * 0.5 - rimBeamOffset/2 >% %<= centralCircles[3][i].x >% %<= centralCircles[3][i].y >%
320+
%<= centralCircles[3][i].y >% %<= -rimBeamThickness * 0.5 - rimBeamOffset/2 >% %<= centralCircles[3][i].x >%
321321
%< } >%
322322
%< for (let i = 0; i < centralCircles[4].length; ++i) { >%
323-
%<= -rimBeamThickness / 2.5 - rimBeamOffset/2 >% %<= centralCircles[4][i].x >% %<= centralCircles[4][i].y >%
323+
%<= centralCircles[4][i].y >% %<= -rimBeamThickness / 2.5 - rimBeamOffset/2 >% %<= centralCircles[4][i].x >%
324324
%< } >%
325325
%< for (let i = 0; i < centralCircles[5].length; ++i) { >%
326-
%<= -rimBeamThickness / 2.5 - rimBeamOffset/2 >% %<= centralCircles[5][i].x >% %<= centralCircles[5][i].y >%
326+
%<= centralCircles[5][i].y >% %<= -rimBeamThickness / 2.5 - rimBeamOffset/2 >% %<= centralCircles[5][i].x >%
327327
%< } >%
328328

329329
# side
330330
## Between beams
331331
%< for (let i = 0; i < centralCircles[1].length; ++i) { >%
332-
%<= rimBeamThickness * 0.5 - rimBeamOffset/2 >% %<= centralCircles[1][i].x >% %<= centralCircles[1][i].y >%
332+
%<= centralCircles[1][i].y >% %<= rimBeamThickness * 0.5 - rimBeamOffset/2 >% %<= centralCircles[1][i].x >%
333333
%< } >%
334334
%< for (let i = 0; i < centralCircles[2].length; ++i) { >%
335-
%<= rimBeamThickness * 0.5 - rimBeamOffset/2 >% %<= centralCircles[2][i].x >% %<= centralCircles[2][i].y >%
335+
%<= centralCircles[2][i].y >% %<= rimBeamThickness * 0.5 - rimBeamOffset/2 >% %<= centralCircles[2][i].x >%
336336
%< } >%
337337
## Beams
338338
%< for (let i = 0; i < centralCircles[4].length; ++i) { >%
339-
%<= rimBeamThickness * 0.5 - rimBeamOffset/2 >% %<= centralCircles[4][i].x >% %<= centralCircles[4][i].y >%
339+
%<= centralCircles[4][i].y >% %<= rimBeamThickness * 0.5 - rimBeamOffset/2 >% %<= centralCircles[4][i].x >%
340340
%< } >%
341341
%< for (let i = 0; i < centralCircles[5].length; ++i) { >%
342-
%<= rimBeamThickness * 0.5 - rimBeamOffset/2 >% %<= centralCircles[5][i].x >% %<= centralCircles[5][i].y >%
342+
%<= centralCircles[5][i].y >% %<= rimBeamThickness * 0.5 - rimBeamOffset/2 >% %<= centralCircles[5][i].x >%
343343
%< } >%
344344

345345
# bottom
346-
%<= rimBeamThickness * 0.5 - rimBeamOffset/2 >% 0 0
346+
0 %<= rimBeamThickness * 0.5 - rimBeamOffset/2 >% 0
347347
]
348348
}
349349
coordIndex [
@@ -406,7 +406,7 @@ PROTO VehicleWheel [
406406
%< if (fields.boundingObject.value) { >%
407407
contactMaterial IS contactMaterial
408408
boundingObject Transform {
409-
rotation 0 1 0 1.570796
409+
rotation 1 0 0 1.570796
410410
children [
411411
Cylinder {
412412
height %<= thickness >%

‎projects/vehicles/protos/bmw/BmwX5Simple.proto‎

Lines changed: 2 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -63,7 +63,6 @@ PROTO BmwX5Simple [
6363
DEF FRONT_RIGHT_WHEEL Solid {
6464
angularVelocity IS frontRightWheelAngularVelocity
6565
translation 2.995 -0.814 0
66-
rotation 0 0 1 1.5708
6766
children [
6867
Slot {
6968
type "vehicle wheel"
@@ -77,7 +76,7 @@ PROTO BmwX5Simple [
7776
DEF FRONT_LEFT_WHEEL Solid {
7877
angularVelocity IS frontLeftWheelAngularVelocity
7978
translation 2.995 0.814 0
80-
rotation 0 0 1 -1.5708
79+
rotation 0 0 1 -3.14159
8180
children [
8281
Slot {
8382
type "vehicle wheel"
@@ -92,7 +91,6 @@ PROTO BmwX5Simple [
9291
DEF REAR_RIGHT_WHEEL Solid {
9392
angularVelocity IS rearRightWheelAngularVelocity
9493
translation 0 -0.814 0
95-
rotation 0 0 1 1.5708
9694
children [
9795
Slot {
9896
type "vehicle wheel"
@@ -106,7 +104,7 @@ PROTO BmwX5Simple [
106104
DEF REAR_LEFT_WHEEL Solid {
107105
angularVelocity IS rearLeftWheelAngularVelocity
108106
translation 0 0.814 0
109-
rotation 0 0 1 -1.5708
107+
rotation 0 0 1 -3.14159
110108
children [
111109
Slot {
112110
type "vehicle wheel"

‎projects/vehicles/protos/bmw/BmwX5Wheel.proto‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -36,8 +36,8 @@ PROTO BmwX5Wheel [
3636
boundingObject IS boundingObject
3737
logoSlot [
3838
Transform{
39-
translation 0.035 0 0
40-
rotation 0 1 0 -1.570796
39+
translation 0 0.035 0
40+
rotation 1 0 0 1.570796
4141
children [
4242
Shape {
4343
appearance PBRAppearance {

‎projects/vehicles/protos/citroen/CitroenCZeroFrontWheel.proto‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -35,8 +35,8 @@ PROTO CitroenCZeroFrontWheel [
3535
boundingObject IS boundingObject
3636
logoSlot [
3737
Transform{
38-
translation 0.006 0 0
39-
rotation -0.707 0 0.707 -3.14
38+
translation 0 0.011 0
39+
rotation 1 0 0 1.5708
4040
children [
4141
Shape {
4242
appearance PBRAppearance {

‎projects/vehicles/protos/citroen/CitroenCZeroRearWheel.proto‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -35,8 +35,8 @@ PROTO CitroenCZeroRearWheel [
3535
boundingObject IS boundingObject
3636
logoSlot [
3737
Transform{
38-
translation 0.006 0 0
39-
rotation -0.707 0 0.707 -3.14
38+
translation 0 0.011 0
39+
rotation 1 0 0 1.5708
4040
children [
4141
Shape {
4242
appearance PBRAppearance {

‎projects/vehicles/protos/citroen/CitroenCZeroSimple.proto‎

Lines changed: 2 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -81,7 +81,6 @@ PROTO CitroenCZeroSimple [
8181
DEF FRONT_RIGHT_WHEEL Solid {
8282
angularVelocity IS frontRightWheelAngularVelocity
8383
translation 2.55 -0.655 0
84-
rotation 0 0 1 1.5708
8584
children [
8685
Slot {
8786
type "vehicle wheel"
@@ -95,7 +94,7 @@ PROTO CitroenCZeroSimple [
9594
DEF FRONT_LEFT_WHEEL Solid {
9695
angularVelocity IS frontLeftWheelAngularVelocity
9796
translation 2.55 0.655 0
98-
rotation 0 0 1 -1.5708
97+
rotation 0 0 1 -3.14159
9998
children [
10099
Slot {
101100
type "vehicle wheel"
@@ -110,7 +109,6 @@ PROTO CitroenCZeroSimple [
110109
DEF REAR_RIGHT_WHEEL Solid {
111110
angularVelocity IS rearRightWheelAngularVelocity
112111
translation 0 -0.635 0
113-
rotation 0 0 1 1.5708
114112
children [
115113
Slot {
116114
type "vehicle wheel"
@@ -124,7 +122,7 @@ PROTO CitroenCZeroSimple [
124122
DEF REAR_LEFT_WHEEL Solid {
125123
angularVelocity IS rearLeftWheelAngularVelocity
126124
translation 0 0.635 0
127-
rotation 0 0 1 -1.5708
125+
rotation 0 0 1 -3.14159
128126
children [
129127
Slot {
130128
type "vehicle wheel"

‎projects/vehicles/protos/generic/BusSimple.proto‎

Lines changed: 2 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -88,7 +88,7 @@ PROTO BusSimple [
8888
DEF REAR_LEFT_WHEEL Solid {
8989
angularVelocity IS rearLeftWheelAngularVelocity
9090
translation 0 1.25 0
91-
rotation 0 0 1 -1.5708
91+
rotation 0 0 1 -3.14159
9292
children [
9393
Slot {
9494
type "vehicle wheel"
@@ -103,7 +103,7 @@ PROTO BusSimple [
103103
DEF FRONT_LEFT_WHEEL Solid {
104104
angularVelocity IS frontLeftWheelAngularVelocity
105105
translation 4.5 1.25 0
106-
rotation 0 0 1 -1.5708
106+
rotation 0 0 1 -3.14159
107107
children [
108108
Slot {
109109
type "vehicle wheel"
@@ -118,7 +118,6 @@ PROTO BusSimple [
118118
DEF REAR_RIGHT_WHEEL Solid {
119119
angularVelocity IS rearRightWheelAngularVelocity
120120
translation 0 -1.25 0
121-
rotation 0 0 1 1.5708
122121
children [
123122
Slot {
124123
type "vehicle wheel"
@@ -132,7 +131,6 @@ PROTO BusSimple [
132131
DEF FRONT_RIGHT_WHEEL Solid {
133132
angularVelocity IS frontRightWheelAngularVelocity
134133
translation 4.5 -1.25 0
135-
rotation 0 0 1 1.5708
136134
children [
137135
Slot {
138136
type "vehicle wheel"

‎projects/vehicles/protos/generic/MotorbikeBackwardsLight.proto‎

Lines changed: 1 addition & 52 deletions
Original file line numberDiff line numberDiff line change
@@ -15,58 +15,7 @@ PROTO MotorbikeBackwardsLight [
1515
geometry IndexedFaceSet {
1616
coord Coordinate {
1717
point [
18-
0.096268 0.246248 -0.283125
19-
0.08654 0.236526 -0.282795
20-
0.08654 0.194026 -0.281354
21-
0.14852 0.194026 -0.281354
22-
0.138792 0.184304 -0.281024
23-
0.096268 0.184304 -0.281024
24-
0.138792 0.246248 -0.283125
25-
0.14852 0.236526 -0.282795
26-
0.044784 0.185346 -0.281059
27-
0.044784 0.245205 -0.283089
28-
0.031083 0.171653 -0.280595
29-
0.031083 0.258898 -0.283554
30-
0.096268 0.246758 -0.268081
31-
0.08654 0.237036 -0.267752
32-
0.08654 0.194536 -0.26631
33-
0.14852 0.194536 -0.26631
34-
0.138792 0.184814 -0.265981
35-
0.096268 0.184814 -0.265981
36-
0.138792 0.246758 -0.268081
37-
0.14852 0.237036 -0.267752
38-
0.044784 0.185856 -0.266016
39-
0.044784 0.245715 -0.268046
40-
0.031083 0.172163 -0.265551
41-
0.031083 0.259408 -0.26851
42-
-0.096268 0.246248 -0.283125
43-
-0.08654 0.236526 -0.282795
44-
-0.08654 0.194026 -0.281354
45-
-0.14852 0.194026 -0.281354
46-
-0.138793 0.184304 -0.281024
47-
-0.096268 0.184304 -0.281024
48-
-0.138793 0.246248 -0.283125
49-
-0.14852 0.236526 -0.282795
50-
-0.044784 0.185346 -0.281059
51-
-0.044784 0.245205 -0.283089
52-
-0.031083 0.171653 -0.280595
53-
-0.031083 0.258898 -0.283554
54-
0 0.171653 -0.280595
55-
0 0.258898 -0.283554
56-
-0.096268 0.246758 -0.268081
57-
-0.08654 0.237036 -0.267752
58-
-0.08654 0.194536 -0.26631
59-
-0.14852 0.194536 -0.26631
60-
-0.138793 0.184814 -0.26598
61-
-0.096268 0.184814 -0.26598
62-
-0.138793 0.246758 -0.268081
63-
-0.14852 0.237036 -0.267752
64-
-0.044784 0.185856 -0.266016
65-
-0.044784 0.245715 -0.268046
66-
-0.031083 0.172163 -0.265551
67-
-0.031083 0.259408 -0.26851
68-
0 0.172163 -0.265551
69-
0 0.259408 -0.26851
18+
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‎projects/vehicles/protos/generic/MotorbikeDriver.proto‎

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