From 74df4a840557cad213416aaaa3c16f1fe6fe8f93 Mon Sep 17 00:00:00 2001
From: Filip Parag <filip@parag.rs>
Date: Wed, 30 Mar 2022 23:22:26 +0200
Subject: [PATCH 1/5] change global illumination

---
 .../webots_data/worlds/eurobot_2022.wbt           | 15 ++++++++++++---
 1 file changed, 12 insertions(+), 3 deletions(-)

diff --git a/mep3_simulation/webots_data/worlds/eurobot_2022.wbt b/mep3_simulation/webots_data/worlds/eurobot_2022.wbt
index 46b5e1665..725b928db 100644
--- a/mep3_simulation/webots_data/worlds/eurobot_2022.wbt
+++ b/mep3_simulation/webots_data/worlds/eurobot_2022.wbt
@@ -12,12 +12,21 @@ WorldInfo {
   ]
 }
 Viewpoint {
-  orientation -0.33 0.33 1 1.67
-  position 0 -4.2 3.5
+  orientation -0.23395027886156236 0.19082464399239296 0.9533379370746627 1.820797763114211
+  position 1.534118181877195 -5.911031110672554 3.750039005510929
 }
 TexturedBackground {
+  texture "stadium_dry"
+  luminosity 0.5
+  skybox FALSE
+  skyColor [
+    0.2 0.2 0.2
+  ]
 }
-TexturedBackgroundLight {
+DirectionalLight {
+  ambientIntensity 1
+  direction 0 0.5 -1
+  castShadows TRUE
 }
 Floor {
   name "table"

From ea2f99d91cc49d7dc97691b0896d7158bb4e88ca Mon Sep 17 00:00:00 2001
From: Filip Parag <filip@parag.rs>
Date: Wed, 30 Mar 2022 23:33:01 +0200
Subject: [PATCH 2/5] spotlight photographer robot

---
 .../webots_data/worlds/eurobot_2022.wbt       | 19 +++++++++++++++++--
 1 file changed, 17 insertions(+), 2 deletions(-)

diff --git a/mep3_simulation/webots_data/worlds/eurobot_2022.wbt b/mep3_simulation/webots_data/worlds/eurobot_2022.wbt
index 725b928db..fcb8edf9a 100644
--- a/mep3_simulation/webots_data/worlds/eurobot_2022.wbt
+++ b/mep3_simulation/webots_data/worlds/eurobot_2022.wbt
@@ -12,8 +12,8 @@ WorldInfo {
   ]
 }
 Viewpoint {
-  orientation -0.23395027886156236 0.19082464399239296 0.9533379370746627 1.820797763114211
-  position 1.534118181877195 -5.911031110672554 3.750039005510929
+  orientation -0.1972188166046791 0.5693524854592154 0.7980867657582501 0.8202556647934598
+  position -4.802608740478956 -4.1884309058873495 3.4720109962621604
 }
 TexturedBackground {
   texture "stadium_dry"
@@ -28,6 +28,21 @@ DirectionalLight {
   direction 0 0.5 -1
   castShadows TRUE
 }
+Robot {
+  translation 0 -1.5 1
+  rotation -0.35740681862788 0.3574058186283875 0.8628565621288802 1.71777
+  children [
+    SpotLight {
+      attenuation 0 0 1
+      beamWidth 0.2
+      cutOffAngle 0.7
+      direction 1 0 0
+      intensity 8
+      castShadows TRUE
+    }
+  ]
+  name "photographer"
+}
 Floor {
   name "table"
   contactMaterial "floor"

From 21acf64c9c1b7f902010fdfae0faa652687c91e0 Mon Sep 17 00:00:00 2001
From: Filip Parag <filip@parag.rs>
Date: Wed, 30 Mar 2022 23:36:57 +0200
Subject: [PATCH 3/5] fix viewpoint

---
 mep3_simulation/webots_data/worlds/eurobot_2022.wbt | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/mep3_simulation/webots_data/worlds/eurobot_2022.wbt b/mep3_simulation/webots_data/worlds/eurobot_2022.wbt
index fcb8edf9a..0c9245daf 100644
--- a/mep3_simulation/webots_data/worlds/eurobot_2022.wbt
+++ b/mep3_simulation/webots_data/worlds/eurobot_2022.wbt
@@ -12,8 +12,8 @@ WorldInfo {
   ]
 }
 Viewpoint {
-  orientation -0.1972188166046791 0.5693524854592154 0.7980867657582501 0.8202556647934598
-  position -4.802608740478956 -4.1884309058873495 3.4720109962621604
+  orientation -0.33 0.33 1 1.67
+  position 0 -4.2 3.5
 }
 TexturedBackground {
   texture "stadium_dry"

From 2c5956ca2cb6ebaaf2e4cc50bda652f9255eb945 Mon Sep 17 00:00:00 2001
From: Marija <marijagolubovic16@gmail.com>
Date: Sat, 10 Dec 2022 10:42:29 +0100
Subject: [PATCH 4/5] Create a spotlight effect

---
 .../webots_data/worlds/eurobot_2023.wbt       | 28 +++++++++++++++++--
 1 file changed, 25 insertions(+), 3 deletions(-)

diff --git a/mep3_simulation/webots_data/worlds/eurobot_2023.wbt b/mep3_simulation/webots_data/worlds/eurobot_2023.wbt
index 0f189558f..b4e2850af 100644
--- a/mep3_simulation/webots_data/worlds/eurobot_2023.wbt
+++ b/mep3_simulation/webots_data/worlds/eurobot_2023.wbt
@@ -27,12 +27,34 @@ WorldInfo {
   ]
 }
 Viewpoint {
-  orientation 0 1 0 1.57
-  position 0 0 5
+  orientation 0.0009397627823254917 0.9999982707847171 -0.0016047658671805225 0.4664968021668588
+  position -4.400743369286459 0.06767583834754654 2.2624112851598936
 }
 TexturedBackground {
 }
 TexturedBackgroundLight {
+  texture "stadium_dry"
+  luminosity 0.5
+}
+SpotLight {
+  attenuation 0 0 1
+  beamWidth 0.7
+  direction -0.1 1.8 -1.5
+  location 0 -1.4 0.5
+}
+SpotLight {
+  attenuation 0 0 1
+  beamWidth 0.785398
+  cutOffAngle 1.5
+  direction 0.9 0.8 -0.5
+  intensity 2.5
+  location -0.8 0.3 1
+}
+DirectionalLight {
+  ambientIntensity 1
+  direction 10 -5 10
+  intensity 2
+  castShadows TRUE
 }
 StaticObjects {
 }
@@ -435,7 +457,7 @@ GenericRobot {
   arucoNumber 6
 }
 GenericRobot {
-  translation 0 0.3 0
   name "robot_big"
+  translation 0 0.3 0
   arucoNumber 7
 }

From 6ff15de42bc79115b2be6d0ca9ad39c8f5a1bda0 Mon Sep 17 00:00:00 2001
From: Marija <marijagolubovic16@gmail.com>
Date: Sat, 10 Dec 2022 11:14:43 +0100
Subject: [PATCH 5/5] Increase luminosity

---
 mep3_simulation/webots_data/worlds/eurobot_2023.wbt | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/mep3_simulation/webots_data/worlds/eurobot_2023.wbt b/mep3_simulation/webots_data/worlds/eurobot_2023.wbt
index 0e53e7402..60326dffe 100644
--- a/mep3_simulation/webots_data/worlds/eurobot_2023.wbt
+++ b/mep3_simulation/webots_data/worlds/eurobot_2023.wbt
@@ -1,4 +1,4 @@
-#VRML_SIM R2023a utf8
+#VRML_SIM R2022b utf8
 
 EXTERNPROTO "../protos/Cake.proto"
 EXTERNPROTO "../protos/Cherry.proto"
@@ -31,6 +31,7 @@ Viewpoint {
   position -4.400743369286459 0.06767583834754654 2.2624112851598936
 }
 TexturedBackground {
+  luminosity 4
 }
 TexturedBackgroundLight {
   texture "stadium_dry"
@@ -454,7 +455,6 @@ Cherry {
 }
 GenericRobot {
   name "robot_small"
-  controller "<extern>"
   arucoNumber 6
 }
 GenericRobot {