The plug-in programming feature allows you to extend the standard
capabilities of Webots by writting C++ extensions that are loaded
at runtime and used by Webots. Different kinds of plug-ins are available:
- physics: access the low level physics engine used by Webots to
modify the physics behavior of a simulation. For example it is possible to add
extra forces to simulate the effect of wind or more complex force schemes to
simulate custom hydrodynamics. With a physics plug-in, it is also
possible to control of the collision detection system and to modify the
friction model. Finally, the physics plug-in can be used to add simple OpenGL
graphics to a simulation in order, e.g., to draw forces, contacts points,
robot trajectories, etc.
- robot window: create your own custom robot window that will pop-up
when you double-click on a robot in the 3D view. This robot window could display
all the sensor and actuator information you need using Qt widgets. It may also
include a user interface allowing you to display graphs or interact with the user.
- remote control: create your own remote control library that will be
available to the user through the robot window. A remote control library allows
you to control a real robot from your Webots controller program, thus facilitating
the transfer of your simulation to the real world. It may communicate with real
robots using Wifi, Bluetooth, ZigBee, etc.
The plug-in programming capability is only available in Webots PRO.