Merge pull request cyberbotics#6807 from cyberbotics/sync-master-a77cb1933

Merge master into develop

Author: omichel

docs/reference/changelog-r2025.md

@@ -4,6 +4,8 @@
 Released on ??.
   - New Features
     - Added the `wbenv` Javascript module for procedural protos to get environment variables ([#6793](https://github.com/cyberbotics/webots/pull/6793)).
+  - Bug Fixes
+    - Fixed a bug preventing the `webots-controller` executable from running on arm-based mac devices ([#6806](https://github.com/cyberbotics/webots/pull/6806)).
 
 ## Webots R2025a
 Released on January 31st, 2025.
@@ -29,7 +31,7 @@ Released on January 31st, 2025.
     - Improved the image range of the rotating [Lidar](lidar.md) ([#6324](https://github.com/cyberbotics/webots/pull/6324)).
     - Show box-plane contact point normals when showing contact points ([#6678](https://github.com/cyberbotics/webots/pull/6678)).
     - Improved the speed and accuracy of box-plane collisions ([#6688](https://github.com/cyberbotics/webots/pull/6688)).
-    - Enabled the launching of MATLAB desktop from the extern launcher ([#6366](https://github.com/cyberbotics/webots/pull/6366)). 
+    - Enabled the launching of MATLAB desktop from the extern launcher ([#6366](https://github.com/cyberbotics/webots/pull/6366)).
     - Improved overlays visible in Overlays menu by adding all the robots in the menu list ([#6297](https://github.com/cyberbotics/webots/pull/6297)).
   - Cleanup
     - Removed deprecated `windowPosition`, `pixelSize` fields of [Display](display.md) node ([#6327](https://github.com/cyberbotics/webots/pull/6327)).

src/controller/launcher/Makefile

@@ -41,8 +41,30 @@ endif
 
 release debug profile: $(CONTROLLER_LAUNCHER)
 
+ifeq ($(OSTYPE),darwin)
+
+OBJDIR = build/$(MAKECMDGOALS)
+BUILD_PATH_SETUP := $(shell mkdir -p $(OBJDIR)/x86_64 $(OBJDIR)/arm64)
+
+$(CONTROLLER_LAUNCHER): $(OBJDIR)/x86_64/webots-controller $(OBJDIR)/arm64/webots-controller
+	@echo "# creating fat " $(notdir $@)
+	@lipo -create -output $@ $(OBJDIR)/x86_64/webots-controller $(OBJDIR)/arm64/webots-controller
+	@codesign -s - $@
+
+$(OBJDIR)/x86_64/webots-controller: webots_controller.c
+	@echo "# compiling " $@ "(x64_64)"
+	@gcc $(CFLAGS) -target x86_64-apple-macos12 webots_controller.c -o $@
+
+$(OBJDIR)/arm64/webots-controller: webots_controller.c
+	@echo "# compiling " $@ "(arm64)"
+	@gcc $(CFLAGS) -target arm64-apple-macos12 webots_controller.c -o $@
+
+else
+
 $(CONTROLLER_LAUNCHER): webots_controller.c
 	@echo "# compiling" $<
 	@gcc $(CFLAGS) webots_controller.c -o $@
 
+endif
+
 FILES_TO_REMOVE += $(CONTROLLER_LAUNCHER)