Fix crash when using muscles and animatedGeometry in sequential world…

…s. (#6661)

* Fix crash when using muscles and animatedGeometry in sequential worlds.

The issue was that WbWrenVertexArrayFrameListener thought that the frame had already been handled because it had been handled in the previous world.

* Add test case.

src/webots/nodes/utils/WbWorld.cpp

@@ -57,6 +57,7 @@
 #include "WbWorldInfo.hpp"
 #include "WbWrenOpenGlContext.hpp"
 #include "WbWrenRenderingContext.hpp"
+#include "WbWrenVertexArrayFrameListener.hpp"
 #include "WbWriter.hpp"
 
 #include <wren/scene.h>
@@ -92,6 +93,7 @@ WbWorld::WbWorld(WbTokenizer *tokenizer) :
   mIsLoading(true),
   mIsCleaning(false),
   mIsVideoRecording(false) {
+  WbWrenVertexArrayFrameListener::resetLastUpdateTime();
   gInstance = this;
   WbNode::setInstantiateMode(true);
   WbNode::setGlobalParentNode(NULL);

src/webots/nodes/utils/WbWrenVertexArrayFrameListener.cpp

@@ -21,9 +21,13 @@
 #include <wren/scene.h>
 
 WbWrenVertexArrayFrameListener *WbWrenVertexArrayFrameListener::cInstance = NULL;
+static double lastUpdateTime = -1.0;
+
+void WbWrenVertexArrayFrameListener::resetLastUpdateTime() {
+  lastUpdateTime = -1.0;
+}
 
 static void processEvent() {
-  static double lastUpdateTime = -1.0;
   const double currentTime = WbSimulationState::instance()->time();
   if (currentTime == lastUpdateTime)
     return;

src/webots/nodes/utils/WbWrenVertexArrayFrameListener.hpp

@@ -24,6 +24,7 @@ class WbWrenVertexArrayFrameListener {
 public:
   static WbWrenVertexArrayFrameListener *instance();
   static void clear();
+  static void resetLastUpdateTime();
 
   void subscribeTrack(WbTrack *track);
   void unsubscribeTrack(WbTrack *track);

tests/api/controllers/track_animated_geometry_muscles/.gitignore

@@ -0,0 +1 @@
+/track_animated_geometry_muscles

tests/api/controllers/track_animated_geometry_muscles/Makefile

@@ -0,0 +1,25 @@
+# Copyright 1996-2023 Cyberbotics Ltd.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# Webots Makefile system 
+#
+# You may add some variable definitions hereafter to customize the build process
+# See documentation in $(WEBOTS_HOME_PATH)/resources/Makefile.include
+
+
+# Do not modify the following: this includes Webots global Makefile.include
+null :=
+space := $(null) $(null)
+WEBOTS_HOME_PATH?=$(subst $(space),\ ,$(strip $(subst \,/,$(WEBOTS_HOME))))
+include $(WEBOTS_HOME_PATH)/resources/Makefile.include

tests/api/controllers/track_animated_geometry_muscles/track_animated_geometry_muscles.c

@@ -0,0 +1,21 @@
+#include <stdio.h>
+#include <webots/brake.h>
+#include <webots/motor.h>
+#include <webots/position_sensor.h>
+#include <webots/robot.h>
+#include <webots/supervisor.h>
+
+#include "../../../lib/ts_assertion.h"
+#include "../../../lib/ts_utils.h"
+
+#define TIME_STEP 32
+
+int main(int argc, char **argv) {
+  ts_setup(argv[0]);
+  wb_robot_step(TIME_STEP);
+  // Test that a world with a Muscle node will load. See issue #6659.
+  wb_supervisor_world_load("../../worlds/supervisor_set_hinge_position_dynamic.wbt");
+
+  ts_send_success();
+  return EXIT_SUCCESS;
+}

tests/api/worlds/track_animated_geometry_muscles.wbt

@@ -0,0 +1,27 @@
+#VRML_SIM R2024a utf8
+
+EXTERNPROTO "webots://tests/default/protos/TestSuiteEmitter.proto"
+EXTERNPROTO "webots://tests/default/protos/TestSuiteSupervisor.proto"
+
+WorldInfo {
+}
+Viewpoint {
+}
+Background {
+}
+Robot {
+  children [
+    Track {
+      children [
+        TrackWheel {
+        }
+      ]
+      animatedGeometry Shape {
+      }
+    }
+  ]
+  controller "track_animated_geometry_muscles"
+  supervisor TRUE
+}
+TestSuiteSupervisor {
+}