diff --git a/.gitignore b/.gitignore
index 333e6dfb634..17cfba3db0c 100644
--- a/.gitignore
+++ b/.gitignore
@@ -20,6 +20,7 @@ webots_catkin_ws
 *.hex
 *.pyc
 *.gch
+*.def
 
 # Packages
 *.7z
diff --git a/include/controller/c/webots/supervisor.h b/include/controller/c/webots/supervisor.h
index c2b71a6e1a6..5ae8f985c56 100644
--- a/include/controller/c/webots/supervisor.h
+++ b/include/controller/c/webots/supervisor.h
@@ -215,10 +215,10 @@ void wb_supervisor_simulation_revert() WB_DEPRECATED;               // please us
 void wb_supervisor_load_world(const char *filename) WB_DEPRECATED;  // please use wb_supervisor_world_load() instead
 bool wb_supervisor_save_world(const char *filename) WB_DEPRECATED;  // please use wb_supervisor_world_save() instead
 
-// deprecated since Webots 8.6.0, plesae use wb_supervisor_field_remove_mf_item() instead
+// deprecated since Webots 8.6.0, please use wb_supervisor_field_remove_mf() instead
 void wb_supervisor_field_remove_mf_node(WbFieldRef field, int position) WB_DEPRECATED;
 
-// deprecated since Webots 8.0.0, plesae use wb_supervisor_simulation_reset_physics() instead
+// deprecated since Webots 8.0.0, pleaae use wb_supervisor_simulation_reset_physics() instead
 void wb_supervisor_simulation_physics_reset() WB_DEPRECATED;
 
 // deprecated since Webots 8.4.0 please use wb_supervisor_movie_is_ready and wb_supervisor_movie_failed
diff --git a/projects/default/libraries/vehicle/c/car/car.def b/projects/default/libraries/vehicle/c/car/car.def
deleted file mode 100644
index 1c3e82018d5..00000000000
--- a/projects/default/libraries/vehicle/c/car/car.def
+++ /dev/null
@@ -1,28 +0,0 @@
-EXPORTS
-wbu_car_init
-wbu_car_cleanup
-wbu_car_get_type
-wbu_car_get_engine_type
-wbu_car_set_indicator_period
-wbu_car_get_indicator_period
-wbu_car_get_backwards_lights
-wbu_car_get_brake_lights
-wbu_car_get_track_front
-wbu_car_get_track_rear
-wbu_car_get_wheelbase
-wbu_car_get_front_wheel_radius
-wbu_car_get_rear_wheel_radius
-wbu_car_get_wheel_encoder
-wbu_car_get_wheel_speed
-wbu_car_set_right_steering_angle
-wbu_car_get_right_steering_angle
-wbu_car_set_left_steering_angle
-wbu_car_get_left_steering_angle
-wbu_car_enable_limited_slip_differential
-wbu_car_enable_indicator_auto_disabling
-_wbu_car_get_instance
-_wbu_car_set_led_state_if_exist
-_wbu_car_get_led_state_if_exist
-_wbu_car_check_initialisation
-_wbu_car_initialization_is_possible
-
diff --git a/projects/default/libraries/vehicle/c/driver/driver.def b/projects/default/libraries/vehicle/c/driver/driver.def
deleted file mode 100644
index 20a14276f50..00000000000
--- a/projects/default/libraries/vehicle/c/driver/driver.def
+++ /dev/null
@@ -1,30 +0,0 @@
-EXPORTS
-wbu_driver_init
-wbu_driver_initialization_is_possible
-wbu_driver_cleanup
-wbu_driver_step
-wbu_driver_set_steering_angle
-wbu_driver_get_steering_angle
-wbu_driver_set_cruising_speed
-wbu_driver_get_target_cruising_speed
-wbu_driver_get_current_speed
-wbu_driver_set_throttle
-wbu_driver_get_throttle
-wbu_driver_set_brake_intensity
-wbu_driver_get_brake_intensity
-wbu_driver_set_indicator
-wbu_driver_set_hazard_flashers
-wbu_driver_get_indicator
-wbu_driver_get_hazard_flashers
-wbu_driver_set_dipped_beams
-wbu_driver_set_antifog_lights
-wbu_driver_get_dipped_beams
-wbu_driver_get_antifog_lights
-wbu_driver_get_rpm
-wbu_driver_get_gear
-wbu_driver_set_gear
-wbu_driver_get_gear_number
-wbu_driver_get_control_mode
-wbu_driver_set_wiper_mode
-wbu_driver_get_wiper_mode
-
diff --git a/projects/robots/kuka/youbot/libraries/youbot_control/youbot_control.def b/projects/robots/kuka/youbot/libraries/youbot_control/youbot_control.def
deleted file mode 100644
index c31e921477d..00000000000
--- a/projects/robots/kuka/youbot/libraries/youbot_control/youbot_control.def
+++ /dev/null
@@ -1,34 +0,0 @@
-EXPORTS
-arm_init
-arm_reset
-arm_set_height
-arm_increase_height
-arm_decrease_height
-arm_set_orientation
-arm_increase_orientation
-arm_decrease_orientation
-arm_set_sub_arm_rotation
-arm_get_sub_arm_length
-arm_ik
-base_init
-base_reset
-base_forwards
-base_backwards
-base_turn_left
-base_turn_right
-base_strafe_left
-base_strafe_right
-base_forwards_increment
-base_backwards_increment
-base_turn_left_increment
-base_turn_right_increment
-base_strafe_left_increment
-base_strafe_right_increment
-base_goto_init
-base_goto_set_target
-base_goto_run
-base_goto_reached
-gripper_init
-gripper_grip
-gripper_release
-gripper_set_gap
diff --git a/resources/Makefile.include b/resources/Makefile.include
index b55fecfb20c..47b20a63d72 100644
--- a/resources/Makefile.include
+++ b/resources/Makefile.include
@@ -395,10 +395,9 @@ endif
 ifeq ($(OSTYPE),windows)
  ifdef BUILD_SHARED_LIBRARY
   ifndef USE_CXX
-    ifneq ($(wildcard /C/Program\ Files\ */Microsoft\ Visual\ Studio/2017),)
-      VISUAL_STUDIO_PATH?=/C/Program Files (x86)/Microsoft Visual Studio/2017
-    endif
-   VS_DEF_NAME = $(NAME).def
+   ifneq ($(wildcard /C/Program\ Files\ */Microsoft\ Visual\ Studio/2017),)
+     VISUAL_STUDIO_PATH?=/C/Program Files (x86)/Microsoft Visual Studio/2017
+   endif
   endif
  endif
 endif
@@ -478,15 +477,22 @@ clean: $(EXTRA_TARGETS)
 ifdef MAIN_TARGET
 
 MAIN_TARGET_WINDOWS_LIB = $(MAIN_TARGET:.dll=.lib)
+MAIN_TARGET_MINGW_LIB_NAME = lib$(MAIN_TARGET:.dll=.a)
 ifdef WEBOTS_LIBRARY
 MAIN_TARGET_COPY = "$(subst $(space),\ ,$(WEBOTS_CONTROLLER_LIB_PATH))/$(MAIN_TARGET)"
 MAIN_TARGET_WINDOWS64_LIB = $(WEBOTS_CONTROLLER_LIB_PATH)/$(MAIN_TARGET_WINDOWS_LIB)
+MAIN_TARGET_MINGW_LIB = $(WEBOTS_CONTROLLER_LIB_PATH)/$(MAIN_TARGET_MINGW_LIB_NAME)
 else
 MAIN_TARGET_COPY ?= $(MAIN_TARGET)
 MAIN_TARGET_WINDOWS64_LIB = $(MAIN_TARGET:.dll=.lib)
+MAIN_TARGET_MINGW_LIB = $(MAIN_TARGET_MINGW_LIB_NAME)
 endif
 ifeq ($(OSTYPE),windows)
 FILES_TO_REMOVE += $(MAIN_TARGET_WINDOWS64_LIB)
+ifdef BUILD_SHARED_LIBRARY
+	VS_DEF_NAME = $(BUILD_GOAL_DIR)/$(MAIN_TARGET:.dll=.def)
+	DYNAMIC_LINK_FLAGS += -Wl,--out-implib,$(MAIN_TARGET_MINGW_LIB)
+endif
 endif
 
 ###-----------------------------------------------------------------------------
@@ -508,15 +514,13 @@ ifdef TARGET_LIB_DIR
 $(MAIN_TARGET): $(TARGET_LIB_DIR)/$(MAIN_TARGET)
 ifdef VS_DEF_NAME
 	@# Generate the .lib libraries to facilitate the integration with Visual Studio
-	@# if the .def file is existing.
-	@if [ -f $(VS_DEF_NAME) ]; then \
-		if [ -d "$(VISUAL_STUDIO_PATH)" ]; then \
-			PATH="$(VISUAL_STUDIO_PATH)/BuildTools/VC/Tools/MSVC/14.16.27023/bin/Hostx64/x64":$PATH lib /machine:X64 /def:$(VS_DEF_NAME) /out:out.lib > /dev/null; \
-			mv out.lib $(MAIN_TARGET_WINDOWS64_LIB); \
-			rm -f *.exp; \
-		else \
-			$(ECHO) "\033[0;33m'VISUAL_STUDIO_PATH' environmental variable not set or Microsoft Visual Studio not installed, skipping $(NAME).lib\033[0m"; \
-		fi \
+	@dlltool --export-all-symbols -z $(VS_DEF_NAME) $(TARGET_LIB_DIR)/$(MAIN_TARGET)
+	@if [ -d "$(VISUAL_STUDIO_PATH)" ]; then \
+		PATH="$(VISUAL_STUDIO_PATH)/BuildTools/VC/Tools/MSVC/14.16.27023/bin/Hostx64/x64":$PATH lib /machine:X64 /def:$(VS_DEF_NAME) /out:out.lib > /dev/null; \
+		mv out.lib $(MAIN_TARGET_WINDOWS64_LIB); \
+		rm -f *.exp; \
+	else \
+		$(ECHO) "\033[0;33m'VISUAL_STUDIO_PATH' environmental variable not set or Microsoft Visual Studio not installed, skipping $(NAME).lib\033[0m"; \
 	fi
 endif
 
@@ -530,15 +534,13 @@ $(MAIN_TARGET): $(BUILD_GOAL_DIR)/$(MAIN_TARGET)
 	@rm -f $(MAIN_TARGET) > /dev/null 2>&1 && echo "# copying to" $(MAIN_TARGET_COPY) && cp $(BUILD_GOAL_DIR)/$(MAIN_TARGET) $(MAIN_TARGET_COPY) > /dev/null 2>&1
 ifdef VS_DEF_NAME
 	@# Generate the .lib libraries to facilitate the integration with Visual Studio
-	@# if the .def file is existing.
-	@if [ -f $(VS_DEF_NAME) ]; then \
-		if [ -d "$(VISUAL_STUDIO_PATH)" ]; then \
-			PATH="$(VISUAL_STUDIO_PATH)/BuildTools/VC/Tools/MSVC/14.16.27023/bin/Hostx64/x64":$PATH lib /machine:X64 /def:$(VS_DEF_NAME) /out:out.lib > /dev/null; \
-			mv out.lib $(MAIN_TARGET_WINDOWS64_LIB); \
-			rm -f *.exp; \
-		else \
-			$(ECHO) "\033[0;33m'VISUAL_STUDIO_PATH' environmental variable not set or Microsoft Visual Studio not installed, skipping $(NAME).lib\033[0m"; \
-		fi \
+	@dlltool --export-all-symbols -z $(VS_DEF_NAME) $(BUILD_GOAL_DIR)/$(MAIN_TARGET)
+	@if [ -d "$(VISUAL_STUDIO_PATH)" ]; then \
+		PATH="$(VISUAL_STUDIO_PATH)/BuildTools/VC/Tools/MSVC/14.16.27023/bin/Hostx64/x64":$PATH lib /machine:X64 /def:$(VS_DEF_NAME) /out:out.lib > /dev/null; \
+		mv out.lib $(MAIN_TARGET_WINDOWS64_LIB); \
+		rm -f *.exp; \
+	else \
+		$(ECHO) "\033[0;33m'VISUAL_STUDIO_PATH' environmental variable not set or Microsoft Visual Studio not installed, skipping $(NAME).lib\033[0m"; \
 	fi
 endif
 
diff --git a/src/controller/c/Controller.def b/src/controller/c/Controller.def
deleted file mode 100644
index 4d895a30aa2..00000000000
--- a/src/controller/c/Controller.def
+++ /dev/null
@@ -1,635 +0,0 @@
-EXPORTS
-wb_ANSI_RESET
-wb_ANSI_BOLD
-wb_ANSI_UNDERLINE
-wb_ANSI_BLACK_BACKGROUND
-wb_ANSI_RED_BACKGROUND
-wb_ANSI_GREEN_BACKGROUND
-wb_ANSI_YELLOW_BACKGROUND
-wb_ANSI_BLUE_BACKGROUND
-wb_ANSI_MAGENTA_BACKGROUND
-wb_ANSI_CYAN_BACKGROUND
-wb_ANSI_WHITE_BACKGROUND
-wb_ANSI_BLACK_FOREGROUND
-wb_ANSI_RED_FOREGROUND
-wb_ANSI_GREEN_FOREGROUND
-wb_ANSI_YELLOW_FOREGROUND
-wb_ANSI_BLUE_FOREGROUND
-wb_ANSI_MAGENTA_FOREGROUND
-wb_ANSI_CYAN_FOREGROUND
-wb_ANSI_WHITE_FOREGROUND
-wb_ANSI_CLEAR_SCREEN
-wb_KEYBOARD_END
-wb_KEYBOARD_HOME
-wb_KEYBOARD_LEFT
-wb_KEYBOARD_UP
-wb_KEYBOARD_RIGHT
-wb_KEYBOARD_DOWN
-wb_KEYBOARD_PAGEUP
-wb_KEYBOARD_PAGEDOWN
-wb_KEYBOARD_NUMPAD_HOME
-wb_KEYBOARD_NUMPAD_LEFT
-wb_KEYBOARD_NUMPAD_UP
-wb_KEYBOARD_NUMPAD_RIGHT
-wb_KEYBOARD_NUMPAD_DOWN
-wb_KEYBOARD_NUMPAD_END
-wb_KEYBOARD_KEY
-wb_KEYBOARD_SHIFT
-wb_KEYBOARD_CONTROL
-wb_KEYBOARD_ALT
-wb_LINEAR
-wb_MF
-wb_MF_BOOL
-wb_MF_INT32
-wb_MF_FLOAT
-wb_MF_VEC2F
-wb_MF_VEC3F
-wb_MF_ROTATION
-wb_MF_COLOR
-wb_MF_STRING
-wb_MF_NODE
-wb_NODE_NO_NODE
-wb_NODE_APPEARANCE
-wb_NODE_BACKGROUND
-wb_NODE_BILLBOARD
-wb_NODE_BOX
-wb_NODE_CAD_SHAPE
-wb_NODE_CAPSULE
-wb_NODE_COLOR
-wb_NODE_CONE
-wb_NODE_COORDINATE
-wb_NODE_CYLINDER
-wb_NODE_DIRECTIONAL_LIGHT
-wb_NODE_ELEVATION_GRID
-wb_NODE_FOG
-wb_NODE_GROUP
-wb_NODE_IMAGE_TEXTURE
-wb_NODE_INDEXED_FACE_SET
-wb_NODE_INDEXED_LINE_SET
-wb_NODE_MATERIAL
-wb_NODE_MESH
-wb_NODE_MUSCLE
-wb_NODE_NORMAL
-wb_NODE_PBR_APPEARANCE
-wb_NODE_PLANE
-wb_NODE_POINT_LIGHT
-wb_NODE_POINT_SET
-wb_NODE_POSE
-wb_NODE_SHAPE
-wb_NODE_SPHERE
-wb_NODE_SPOT_LIGHT
-wb_NODE_TEXTURE_COORDINATE
-wb_NODE_TEXTURE_TRANSFORM
-wb_NODE_TRANSFORM
-wb_NODE_VIEWPOINT
-wb_NODE_ROBOT
-wb_NODE_ACCELEROMETER
-wb_NODE_ALTIMETER
-wb_NODE_BRAKE
-wb_NODE_CAMERA
-wb_NODE_COMPASS
-wb_NODE_CONNECTOR
-wb_NODE_DISPLAY
-wb_NODE_DISTANCE_SENSOR
-wb_NODE_EMITTER
-wb_NODE_GPS
-wb_NODE_GYRO
-wb_NODE_INERTIAL_UNIT
-wb_NODE_LED
-wb_NODE_LIDAR
-wb_NODE_LIGHT_SENSOR
-wb_NODE_LINEAR_MOTOR
-wb_NODE_PEN
-wb_NODE_POSITION_SENSOR
-wb_NODE_PROPELLER
-wb_NODE_RADAR
-wb_NODE_RANGE_FINDER
-wb_NODE_RECEIVER
-wb_NODE_ROTATIONAL_MOTOR
-wb_NODE_SKIN
-wb_NODE_SPEAKER
-wb_NODE_TOUCH_SENSOR
-wb_NODE_VACUUM_GRIPPER
-wb_NODE_BALL_JOINT
-wb_NODE_BALL_JOINT_PARAMETERS
-wb_NODE_CHARGER
-wb_NODE_CONTACT_PROPERTIES
-wb_NODE_DAMPING
-wb_NODE_FLUID
-wb_NODE_FOCUS
-wb_NODE_HINGE_JOINT
-wb_NODE_HINGE_JOINT_PARAMETERS
-wb_NODE_HINGE_2_JOINT
-wb_NODE_IMMERSION_PROPERTIES
-wb_NODE_JOINT_PARAMETERS
-wb_NODE_LENS
-wb_NODE_LENS_FLARE
-wb_NODE_PHYSICS
-wb_NODE_RECOGNITION
-wb_NODE_SLIDER_JOINT
-wb_NODE_SLOT
-wb_NODE_SOLID
-wb_NODE_SOLID_REFERENCE
-wb_NODE_TRACK
-wb_NODE_TRACK_WHEEL
-wb_NODE_WORLD_INFO
-wb_NODE_ZOOM
-wb_NODE_MICROPHONE
-wb_NODE_RADIO
-wb_ROTATIONAL
-wb_SF_BOOL
-wb_SF_INT32
-wb_SF_FLOAT
-wb_SF_VEC2F
-wb_SF_VEC3F
-wb_SF_ROTATION
-wb_SF_COLOR
-wb_SF_STRING
-wb_SF_NODE
-wb_accelerometer_disable
-wb_accelerometer_enable
-wb_accelerometer_get_sampling_period
-wb_accelerometer_get_values
-wb_accelerometer_get_lookup_table_size
-wb_accelerometer_get_lookup_table
-wb_altimeter_disable
-wb_altimeter_enable
-wb_altimeter_get_sampling_period
-wb_altimeter_get_value
-wb_brake_get_motor
-wb_brake_get_position_sensor
-wb_brake_get_type
-wb_brake_set_damping_constant
-wb_camera_disable
-wb_camera_enable
-wb_camera_get_exposure
-wb_camera_get_focal_distance
-wb_camera_get_focal_length
-wb_camera_get_fov
-wb_camera_get_height
-wb_camera_get_image
-wb_camera_get_max_focal_distance
-wb_camera_get_max_fov
-wb_camera_get_min_focal_distance
-wb_camera_get_min_fov
-wb_camera_get_near
-wb_camera_get_sampling_period
-wb_camera_get_width
-wb_camera_has_recognition
-wb_camera_recognition_disable
-wb_camera_recognition_disable_segmentation
-wb_camera_recognition_enable
-wb_camera_recognition_enable_segmentation
-wb_camera_recognition_get_number_of_objects
-wb_camera_recognition_get_objects
-wb_camera_recognition_get_sampling_period
-wb_camera_recognition_get_segmentation_image
-wb_camera_recognition_has_segmentation
-wb_camera_recognition_is_segmentation_enabled
-wb_camera_recognition_save_segmentation_image
-wb_camera_save_image
-wb_camera_set_exposure
-wb_camera_set_focal_distance
-wb_camera_set_fov
-wb_compass_disable
-wb_compass_enable
-wb_compass_get_sampling_period
-wb_compass_get_values
-wb_compass_get_lookup_table_size
-wb_compass_get_lookup_table
-wb_connector_disable_presence
-wb_connector_enable_presence
-wb_connector_get_presence
-wb_connector_get_presence_sampling_period
-wb_connector_is_locked
-wb_connector_lock
-wb_connector_unlock
-wb_console_print
-wb_device_get_model
-wb_device_get_name
-wb_device_get_type
-wb_device_get_node_type
-wb_display_attach_camera
-wb_display_detach_camera
-wb_display_draw_line
-wb_display_draw_oval
-wb_display_draw_pixel
-wb_display_draw_polygon
-wb_display_draw_rectangle
-wb_display_draw_text
-wb_display_fill_oval
-wb_display_fill_polygon
-wb_display_fill_rectangle
-wb_display_get_height
-wb_display_get_width
-wb_display_image_copy
-wb_display_image_delete
-wb_display_image_load
-wb_display_image_new
-wb_display_image_paste
-wb_display_image_save
-wb_display_set_alpha
-wb_display_set_color
-wb_display_set_font
-wb_display_set_opacity
-wb_distance_sensor_disable
-wb_distance_sensor_enable
-wb_distance_sensor_get_aperture
-wb_distance_sensor_get_max_value
-wb_distance_sensor_get_min_value
-wb_distance_sensor_get_sampling_period
-wb_distance_sensor_get_type
-wb_distance_sensor_get_value
-wb_distance_sensor_get_lookup_table_size
-wb_distance_sensor_get_lookup_table
-wb_emitter_get_buffer_size
-wb_emitter_get_channel
-wb_emitter_get_range
-wb_emitter_send
-wb_emitter_set_channel
-wb_emitter_set_range
-wb_gps_disable
-wb_gps_convert_to_degrees_minutes_seconds
-wb_gps_enable
-wb_gps_get_coordinate_system
-wb_gps_get_sampling_period
-wb_gps_get_speed
-wb_gps_get_speed_vector
-wb_gps_get_values
-wb_gyro_disable
-wb_gyro_enable
-wb_gyro_get_sampling_period
-wb_gyro_get_values
-wb_gyro_get_lookup_table_size
-wb_gyro_get_lookup_table
-wb_inertial_unit_disable
-wb_inertial_unit_enable
-wb_inertial_unit_get_roll_pitch_yaw
-wb_inertial_unit_get_quaternion
-wb_inertial_unit_get_sampling_period
-wb_inertial_unit_get_noise
-wb_joystick_disable
-wb_joystick_enable
-wb_joystick_get_axis_value
-wb_joystick_get_model
-wb_joystick_get_number_of_axes
-wb_joystick_get_number_of_povs
-wb_joystick_get_pov_value
-wb_joystick_get_pressed_button
-wb_joystick_get_sampling_period
-wb_joystick_is_connected
-wb_joystick_set_auto_centering_gain
-wb_joystick_set_constant_force
-wb_joystick_set_constant_force_duration
-wb_joystick_set_force_axis
-wb_joystick_set_resistance_gain
-wb_keyboard_disable
-wb_keyboard_enable
-wb_keyboard_get_key
-wb_keyboard_get_sampling_period
-wb_led_get
-wb_led_set
-wb_lidar_disable
-wb_lidar_disable_point_cloud
-wb_lidar_enable
-wb_lidar_enable_point_cloud
-wb_lidar_get_fov
-wb_lidar_get_frequency
-wb_lidar_get_horizontal_resolution
-wb_lidar_get_layer_point_cloud
-wb_lidar_get_layer_range_image
-wb_lidar_get_max_frequency
-wb_lidar_get_max_range
-wb_lidar_get_min_frequency
-wb_lidar_get_min_range
-wb_lidar_get_number_of_layers
-wb_lidar_get_number_of_points
-wb_lidar_get_point_cloud
-wb_lidar_get_range_image
-wb_lidar_get_sampling_period
-wb_lidar_get_vertical_fov
-wb_lidar_is_point_cloud_enabled
-wb_lidar_set_frequency
-wb_light_sensor_disable
-wb_light_sensor_enable
-wb_light_sensor_get_sampling_period
-wb_light_sensor_get_value
-wb_light_sensor_get_lookup_table_size
-wb_light_sensor_get_lookup_table
-wb_microphone_enable
-wb_microphone_get_sample_data
-wb_microphone_get_sample_size
-wb_microphone_get_sampling_period
-wb_motor_disable_force_feedback
-wb_motor_disable_torque_feedback
-wb_motor_enable_force_feedback
-wb_motor_enable_torque_feedback
-wb_motor_get_acceleration
-wb_motor_get_available_force
-wb_motor_get_available_torque
-wb_motor_get_force_feedback
-wb_motor_get_force_feedback_sampling_period
-wb_motor_get_max_force
-wb_motor_get_max_torque
-wb_motor_get_max_position
-wb_motor_get_max_velocity
-wb_motor_get_min_position
-wb_motor_get_multiplier
-wb_motor_get_target_position
-wb_motor_get_torque_feedback
-wb_motor_get_torque_feedback_sampling_period
-wb_motor_get_type
-wb_motor_get_velocity
-wb_motor_get_brake
-wb_motor_get_position_sensor
-wb_motor_set_acceleration
-wb_motor_set_available_force
-wb_motor_set_available_torque
-wb_motor_set_control_pid
-wb_motor_set_force
-wb_motor_set_position
-wb_motor_set_torque
-wb_motor_set_velocity
-wb_mouse_disable
-wb_mouse_disable_3d_position
-wb_mouse_enable
-wb_mouse_enable_3d_position
-wb_mouse_get_sampling_period
-wb_mouse_get_state
-wb_mouse_is_3d_position_enabled
-wb_node_get_name
-wb_pen_set_ink_color
-wb_pen_write
-wb_position_sensor_enable
-wb_position_sensor_disable
-wb_position_sensor_get_value
-wb_position_sensor_get_sampling_period
-wb_position_sensor_get_type
-wb_position_sensor_get_brake
-wb_position_sensor_get_motor
-wb_radar_disable
-wb_radar_enable
-wb_radar_get_horizontal_fov
-wb_radar_get_max_range
-wb_radar_get_min_range
-wb_radar_get_number_of_targets
-wb_radar_get_sampling_period
-wb_radar_get_targets
-wb_radar_get_vertical_fov
-wb_range_finder_enable
-wb_range_finder_disable
-wb_range_finder_get_sampling_period
-wb_range_finder_get_range_image
-wb_range_finder_get_width
-wb_range_finder_get_height
-wb_range_finder_get_fov
-wb_range_finder_get_min_range
-wb_range_finder_get_max_range
-wb_range_finder_save_image
-wb_range_finder_image_get_depth
-wb_remote_control_custom_function
-wb_receiver_disable
-wb_receiver_enable
-wb_receiver_get_channel
-wb_receiver_get_data
-wb_receiver_get_data_size
-wb_receiver_get_emitter_direction
-wb_receiver_get_queue_length
-wb_receiver_get_sampling_period
-wb_receiver_get_signal_strength
-wb_receiver_next_packet
-wb_receiver_set_channel
-wb_robot_battery_sensor_disable
-wb_robot_battery_sensor_enable
-wb_robot_battery_sensor_get_value
-wb_robot_battery_sensor_get_sampling_period
-wb_robot_cleanup
-wb_robot_get_basic_time_step
-wb_robot_get_controller_name
-wb_robot_get_custom_data
-wb_robot_get_data
-wb_robot_get_device
-wb_robot_get_device_by_index
-wb_robot_get_mode
-wb_robot_get_model
-wb_robot_get_name
-wb_robot_get_number_of_devices
-wb_robot_get_project_path
-wb_robot_get_supervisor
-wb_robot_get_synchronization
-wb_robot_get_time
-wb_robot_get_urdf
-wb_robot_get_world_path
-wb_robot_init
-wb_robot_init_msvc
-wb_robot_mutex_delete
-wb_robot_mutex_lock
-wb_robot_mutex_new
-wb_robot_mutex_unlock
-wb_robot_pin_to_static_environment
-wb_robot_set_custom_data
-wb_robot_set_data
-wb_robot_set_mode
-wb_robot_step
-wb_robot_step_begin
-wb_robot_step_end
-wb_robot_task_new
-wb_robot_wait_for_user_input_event
-wb_robot_window_custom_function
-wb_robot_wwi_send
-wb_robot_wwi_receive
-wb_robot_wwi_receive_text
-wb_skin_get_bone_count
-wb_skin_get_bone_name
-wb_skin_get_bone_orientation
-wb_skin_get_bone_position
-wb_skin_set_bone_orientation
-wb_skin_set_bone_position
-wb_speaker_get_engine
-wb_speaker_get_language
-wb_speaker_is_sound_playing
-wb_speaker_is_speaking
-wb_speaker_play_sound
-wb_speaker_set_engine
-wb_speaker_set_language
-wb_speaker_speak
-wb_speaker_stop
-wb_supervisor_node_add_force
-wb_supervisor_node_add_force_with_offset
-wb_supervisor_node_add_torque
-wb_supervisor_animation_start_recording
-wb_supervisor_animation_stop_recording
-wb_supervisor_export_image
-wb_supervisor_field_disable_sf_tracking
-wb_supervisor_field_enable_sf_tracking
-wb_supervisor_field_get_count
-wb_supervisor_field_get_name
-wb_supervisor_field_get_mf_bool
-wb_supervisor_field_get_mf_color
-wb_supervisor_field_get_mf_float
-wb_supervisor_field_get_mf_int32
-wb_supervisor_field_get_mf_node
-wb_supervisor_field_get_mf_rotation
-wb_supervisor_field_get_mf_string
-wb_supervisor_field_get_mf_vec2f
-wb_supervisor_field_get_mf_vec3f
-wb_supervisor_field_get_sf_bool
-wb_supervisor_field_get_sf_color
-wb_supervisor_field_get_sf_float
-wb_supervisor_field_get_sf_int32
-wb_supervisor_field_get_sf_node
-wb_supervisor_field_get_sf_rotation
-wb_supervisor_field_get_sf_string
-wb_supervisor_field_get_sf_vec2f
-wb_supervisor_field_get_sf_vec3f
-wb_supervisor_field_get_type
-wb_supervisor_field_get_type_name
-wb_supervisor_field_import_mf_node_from_string
-wb_supervisor_field_import_sf_node_from_string
-wb_supervisor_field_insert_mf_bool
-wb_supervisor_field_insert_mf_color
-wb_supervisor_field_insert_mf_float
-wb_supervisor_field_insert_mf_int32
-wb_supervisor_field_insert_mf_rotation
-wb_supervisor_field_insert_mf_string
-wb_supervisor_field_insert_mf_vec2f
-wb_supervisor_field_insert_mf_vec3f
-wb_supervisor_field_remove_mf
-wb_supervisor_field_remove_mf_node
-wb_supervisor_field_remove_sf
-wb_supervisor_field_set_mf_bool
-wb_supervisor_field_set_mf_color
-wb_supervisor_field_set_mf_float
-wb_supervisor_field_set_mf_int32
-wb_supervisor_field_set_mf_rotation
-wb_supervisor_field_set_mf_string
-wb_supervisor_field_set_mf_vec2f
-wb_supervisor_field_set_mf_vec3f
-wb_supervisor_field_set_sf_bool
-wb_supervisor_field_set_sf_color
-wb_supervisor_field_set_sf_float
-wb_supervisor_field_set_sf_int32
-wb_supervisor_field_set_sf_rotation
-wb_supervisor_field_set_sf_string
-wb_supervisor_field_set_sf_vec2f
-wb_supervisor_field_set_sf_vec3f
-wb_supervisor_movie_failed
-wb_supervisor_movie_is_ready
-wb_supervisor_movie_start_recording
-wb_supervisor_movie_stop_recording
-wb_supervisor_movie_get_status
-wb_supervisor_node_disable_contact_point_tracking
-wb_supervisor_node_disable_contact_points_tracking
-wb_supervisor_node_disable_pose_tracking
-wb_supervisor_node_enable_contact_point_tracking
-wb_supervisor_node_enable_contact_points_tracking
-wb_supervisor_node_enable_pose_tracking
-wb_supervisor_node_export_string
-wb_supervisor_node_get_base_type_name
-wb_supervisor_node_get_def
-wb_supervisor_node_get_field
-wb_supervisor_node_get_field_by_index
-wb_supervisor_node_get_from_def
-wb_supervisor_node_get_from_id
-wb_supervisor_node_get_from_proto_def
-wb_supervisor_node_get_from_device
-wb_supervisor_node_get_center_of_mass
-wb_supervisor_node_get_contact_point
-wb_supervisor_node_get_contact_points
-wb_supervisor_node_get_contact_point_node
-wb_supervisor_node_get_id
-wb_supervisor_node_get_number_of_fields
-wb_supervisor_node_get_number_of_contact_points
-wb_supervisor_node_get_orientation
-wb_supervisor_node_get_parent_node
-wb_supervisor_node_get_pose
-wb_supervisor_node_get_position
-wb_supervisor_node_get_proto_field
-wb_supervisor_node_get_proto_field_by_index
-wb_supervisor_node_get_proto_number_of_fields
-wb_supervisor_node_get_root
-wb_supervisor_node_get_selected
-wb_supervisor_node_get_self
-wb_supervisor_node_get_static_balance
-wb_supervisor_node_get_type
-wb_supervisor_node_get_type_name
-wb_supervisor_node_get_velocity
-wb_supervisor_node_is_proto
-wb_supervisor_node_load_state
-wb_supervisor_node_move_viewpoint
-wb_supervisor_node_remove
-wb_supervisor_node_reset_physics
-wb_supervisor_node_restart_controller
-wb_supervisor_node_save_state
-wb_supervisor_node_set_joint_position
-wb_supervisor_node_set_velocity
-wb_supervisor_node_set_visibility
-wb_supervisor_set_label
-wb_supervisor_simulation_get_mode
-wb_supervisor_simulation_physics_reset
-wb_supervisor_simulation_quit
-wb_supervisor_simulation_reset
-wb_supervisor_simulation_reset_physics
-wb_supervisor_simulation_revert
-wb_supervisor_simulation_set_mode
-wb_supervisor_start_movie
-wb_supervisor_stop_movie
-wb_supervisor_get_movie_status
-wb_supervisor_virtual_reality_headset_get_position
-wb_supervisor_virtual_reality_headset_get_orientation
-wb_supervisor_virtual_reality_headset_is_used
-wb_supervisor_world_load
-wb_supervisor_world_save
-wb_supervisor_world_reload
-wb_touch_sensor_disable
-wb_touch_sensor_enable
-wb_touch_sensor_get_sampling_period
-wb_touch_sensor_get_type
-wb_touch_sensor_get_value
-wb_touch_sensor_get_values
-wb_touch_sensor_get_lookup_table_size
-wb_touch_sensor_get_lookup_table
-wb_vacuum_gripper_disable_presence
-wb_vacuum_gripper_enable_presence
-wb_vacuum_gripper_get_presence
-wb_vacuum_gripper_get_presence_sampling_period
-wb_vacuum_gripper_is_on
-wb_vacuum_gripper_turn_on
-wb_vacuum_gripper_turn_off
-wbr_accelerometer_set_values
-wbr_camera_get_image_buffer
-wbr_camera_set_image
-wbr_camera_set_focal_distance
-wbr_camera_set_fov
-wbr_compass_set_values
-wbr_display_save_image
-wbr_distance_sensor_set_value
-wbr_gps_set_values
-wbr_gyro_set_values
-wbr_light_sensor_set_value
-wbr_microphone_set_buffer
-wbr_motor_set_force_feedback
-wbr_motor_set_torque_feedback
-wbr_position_sensor_set_value
-wbr_robot_battery_sensor_set_value
-wbr_touch_sensor_set_value
-wbr_touch_sensor_set_values
-wbu_default_robot_window_configure
-wbu_default_robot_window_update
-wbu_default_robot_window_set_images_max_size
-wbu_motion_delete
-wbu_motion_get_duration
-wbu_motion_get_time
-wbu_motion_is_over
-wbu_motion_new
-wbu_motion_play
-wbu_motion_set_loop
-wbu_motion_set_reverse
-wbu_motion_set_time
-wbu_motion_stop
-wbu_robot_window_configure
-wbu_robot_window_update
-wbu_string_replace
-wbu_string_strsep
-wbu_system_getenv
-wbu_system_short_path
diff --git a/src/controller/c/Makefile b/src/controller/c/Makefile
index 00ea8b16b26..636b985d47c 100644
--- a/src/controller/c/Makefile
+++ b/src/controller/c/Makefile
@@ -61,7 +61,7 @@ endif
 ifeq ($(OSTYPE),windows)
 CFLAGS      = -Wall -mwindows -frandom-seed=0 -D LIBCONTROLLER_VERSION='$(LIBCONTROLLER_VERSION)'
 INCLUDE     = -I$(WEBOTS_HOME_PATH)/include/controller/c -I$(WEBOTS_HOME_PATH)/include -I/mingw64/include
-LD_FLAGS    = -shared -mwindows --def Controller.def -lws2_32
+LD_FLAGS    = -shared -mwindows -lws2_32 -Wl,--out-implib,$(WEBOTS_CONTROLLER_LIB_PATH)/libController.a
 PLATFORM    = win32
 CC          = gcc
 TARGET      = $(WEBOTS_CONTROLLER_LIB_PATH)/Controller.dll $(WEBOTS_CONTROLLER_LIB_PATH)/Controller.lib
@@ -126,12 +126,16 @@ ifeq ($(OSTYPE),windows)
 
 MINGW64_OBJECTS = $(addprefix $(OBJDIR)/, $(OBJECTS))
 
-$(WEBOTS_CONTROLLER_LIB_PATH)/Controller.dll: $(MINGW64_OBJECTS) Controller.def
+$(WEBOTS_CONTROLLER_LIB_PATH)/Controller.dll: $(MINGW64_OBJECTS)
 	@echo "# linking  "$@
 	@echo "# linking  "$(WEBOTS_CONTROLLER_LIB_PATH)"/libController.a"
-	@$(CC) -o $@ $(addprefix $(OBJDIR)/, $(OBJECTS)) $(LD_FLAGS) -Wl,--out-implib,$(WEBOTS_CONTROLLER_LIB_PATH)/libController.a
+	@$(CC) -o $@ $(addprefix $(OBJDIR)/, $(OBJECTS)) $(LD_FLAGS)
 
-$(WEBOTS_CONTROLLER_LIB_PATH)/Controller.lib: $(WEBOTS_CONTROLLER_LIB_PATH)/Controller.dll Controller.def
+Controller.def: $(WEBOTS_CONTROLLER_LIB_PATH)/Controller.dll
+	@echo "# generating "$@
+	@dlltool --export-all-symbols -z Controller.def $(WEBOTS_CONTROLLER_LIB_PATH)/Controller.dll
+
+$(WEBOTS_CONTROLLER_LIB_PATH)/Controller.lib: Controller.def
 ifeq ($(VISUAL_STUDIO_PATH),)
 	@$(ECHO) "# \033[0;33m'VISUAL_STUDIO_PATH' not set, skipping Controller.lib\033[0m"
 else
@@ -195,3 +199,4 @@ $(OBJDIR)/%.d:%.c
 FILES_TO_REMOVE = $(TARGET)
 FILES_TO_REMOVE += $(WEBOTS_CONTROLLER_LIB_PATH)/libController.a
 FILES_TO_REMOVE += $(WEBOTS_CONTROLLER_LIB_PATH)/libController.lib
+FILES_TO_REMOVE += Controller.def
diff --git a/src/controller/cpp/Makefile b/src/controller/cpp/Makefile
index 89ccd7da9a2..85d40582377 100644
--- a/src/controller/cpp/Makefile
+++ b/src/controller/cpp/Makefile
@@ -90,7 +90,7 @@ LIBCONTROLLER = $(WEBOTS_CONTROLLER_LIB_PATH)/Controller.dll
 SHAREDLIBS    = $(LIBCONTROLLER)
 CPPFLAGS      = -c -Wall -mwindows
 CPPINCLUDES   = -I$(WEBOTS_HOME_PATH)/include/controller/c -I$(WEBOTS_HOME_PATH)/include/controller/cpp
-TARGET        = $(WEBOTS_CONTROLLER_LIB_PATH)/CppController.dll
+TARGET        = $(WEBOTS_CONTROLLER_LIB_PATH)/CppController.dll $(WEBOTS_CONTROLLER_LIB_PATH)/CppController.lib
 endif
 
 ifeq ($(OSTYPE),darwin)
@@ -136,7 +136,9 @@ $(BUILD_GOAL_DIR)/arm64/libCppController.dylib: $(ARM64_OBJECTS)
 	@echo "# linking" $@ "(arm64)"
 	@$(CXX) -target arm64-apple-macos12 $(LDFLAGS) $(ARM64_OBJECTS) $(SHAREDLIBS) -o "$@"
 
-else
+endif
+
+ifeq ($(OSTYPE),linux)
 
 $(TARGET):$(CPPOBJS) $(LIBCONTROLLER)
 	@echo "# linking" $@
@@ -144,6 +146,28 @@ $(TARGET):$(CPPOBJS) $(LIBCONTROLLER)
 
 endif
 
+ifeq ($(OSTYPE),windows)
+
+$(WEBOTS_CONTROLLER_LIB_PATH)/CppController.dll:$(CPPOBJS) $(LIBCONTROLLER)
+	@echo "# linking" $@
+	@$(CXX) $(LDFLAGS) $(CPPOBJS) $(SHAREDLIBS) -o "$@"
+
+CppController.def: $(WEBOTS_CONTROLLER_LIB_PATH)/CppController.dll
+	@echo "# generating "$@
+	@dlltool --export-all-symbols -z CppController.def $(WEBOTS_CONTROLLER_LIB_PATH)/CppController.dll
+
+$(WEBOTS_CONTROLLER_LIB_PATH)/CppController.lib: CppController.def
+ifeq ($(VISUAL_STUDIO_PATH),)
+	@$(ECHO) "# \033[0;33m'VISUAL_STUDIO_PATH' not set, skipping CppController.lib\033[0m"
+else
+	@echo "# creating "$@
+	@PATH="$(VISUAL_STUDIO_PATH)/BuildTools/VC/Tools/MSVC/14.16.27023/bin/Hostx64/x64":$PATH lib /machine:X64 /def:CppController.def /out:CppController.lib > /dev/null
+	@mv CppController.lib "$(WEBOTS_CONTROLLER_LIB_PATH)"
+	@rm CppController.exp
+endif
+
+endif
+
 $(LIBCONTROLLER):
 	@echo "Warning: $(LIBCONTROLLER) doesn't exist, rebuild it first."
 
diff --git a/src/ode/ode.def b/src/ode/ode.def
deleted file mode 100644
index 17ba86a738d..00000000000
--- a/src/ode/ode.def
+++ /dev/null
@@ -1,649 +0,0 @@
-EXPORTS
-dAlloc
-dAllocateODEDataForThread
-dAreConnected
-dAreConnectedExcluding
-dAreGeomsSame
-dAreLinked
-dBodyAddForce
-dBodyAddForceAtPos
-dBodyAddForceAtRelPos
-dBodyAddRelForce
-dBodyAddRelForceAtPos
-dBodyAddRelForceAtRelPos
-dBodyAddRelTorque
-dBodyAddTorque
-dBodyCopyPosition
-dBodyCopyQuaternion
-dBodyCopyRotation
-dBodyCreate
-dBodyDestroy
-dBodyDisable
-dBodyEnable
-dBodyGetAngularDamping
-dBodyGetAngularDampingThreshold
-dBodyGetAngularVel
-dBodyGetAutoDisableAngularThreshold
-dBodyGetAutoDisableAverageSamplesCount
-dBodyGetAutoDisableFlag
-dBodyGetAutoDisableLinearThreshold
-dBodyGetAutoDisableSteps
-dBodyGetAutoDisableTime
-dBodyGetData
-dBodyGetFiniteRotationAxis
-dBodyGetFiniteRotationMode
-dBodyGetFirstGeom
-dBodyGetForce
-dBodyGetGravityMode
-dBodyGetGyroscopicMode
-dBodyGetImmersionLink
-dBodyGetJoint
-dBodyGetLinearDamping
-dBodyGetLinearDampingThreshold
-dBodyGetLinearVel
-dBodyGetMass
-dBodyGetMaxAngularSpeed
-dBodyGetNextGeom
-dBodyGetNumImmersionLinks
-dBodyGetNumJoints
-dBodyGetPointVel
-dBodyGetPosRelPoint
-dBodyGetPosition
-dBodyGetQuaternion
-dBodyGetRelPointPos
-dBodyGetRelPointVel
-dBodyGetRotation
-dBodyGetTorque
-dBodyGetWorld
-dBodyIsEnabled
-dBodyIsKinematic
-dBodySetAngularDamping
-dBodySetAngularDampingThreshold
-dBodySetAngularVel
-dBodySetAutoDisableAngularThreshold
-dBodySetAutoDisableAverageSamplesCount
-dBodySetAutoDisableDefaults
-dBodySetAutoDisableFlag
-dBodySetAutoDisableLinearThreshold
-dBodySetAutoDisableSteps
-dBodySetAutoDisableTime
-dBodySetDamping
-dBodySetDampingDefaults
-dBodySetData
-dBodySetDynamic
-dBodySetFiniteRotationAxis
-dBodySetFiniteRotationMode
-dBodySetForce
-dBodySetGravityMode
-dBodySetGyroscopicMode
-dBodySetKinematic
-dBodySetLinearDamping
-dBodySetLinearDampingThreshold
-dBodySetLinearVel
-dBodySetMass
-dBodySetMaxAngularSpeed
-dBodySetMovedCallback
-dBodySetPosition
-dBodySetQuaternion
-dBodySetRotation
-dBodySetTorque
-dBodyVectorFromWorld
-dBodyVectorToWorld
-dBoxBox
-dBoxTouchesBox
-dCheckConfiguration
-dCleanupODEAllDataForThread
-dClearUpperTriangle
-dCloseODE
-dClosestLineSegmentPoints
-dClusterGetCenter
-dClusterGetClusterAABBs
-dClusterGetCount
-dClusterGetGridStep
-dCollide
-dConnectingJoint
-dConnectingJointList
-dCreateBox
-dCreateCapsule
-dCreateConvex
-dCreateCylinder
-dCreateGeom
-dCreateGeomClass
-dCreateGeomTransform
-dCreateHeightfield
-dCreatePlane
-dCreateRay
-dCreateSphere
-dCreateTriMesh
-dDQfromW
-dDebug
-dDot
-dError
-dFactorCholesky
-dFactorLDLT
-dFluidCreate
-dFluidDestroy
-dFluidDisable
-dFluidDynamicsStep
-dFluidEnable
-dFluidGetData
-dFluidGetDensity
-dFluidGetFirstGeom
-dFluidGetImmersionLink
-dFluidGetNextGeom
-dFluidGetNumImmersionLinks
-dFluidGetStreamVel
-dFluidGetViscosity
-dFluidGetWorld
-dFluidIsEnabled
-dFluidSetData
-dFluidSetDensity
-dFluidSetStreamVel
-dFluidSetViscosity
-dFree
-dGeomBoxGetArea
-dGeomBoxGetFacePlane
-dGeomBoxGetImmersionPlane
-dGeomBoxGetLengths
-dGeomBoxGetTangentPlane
-dGeomBoxGetVolume
-dGeomBoxPointDepth
-dGeomBoxSetLengths
-dGeomCapsuleGetArea
-dGeomCapsuleGetImmersionPlane
-dGeomCapsuleGetParams
-dGeomCapsuleGetTangentPlane
-dGeomCapsuleGetVolume
-dGeomCapsulePointDepth
-dGeomCapsuleSetParams
-dGeomClearOffset
-dGeomCopyOffsetPosition
-dGeomCopyOffsetRotation
-dGeomCopyPosition
-dGeomCopyRotation
-dGeomCylinderGetArea
-dGeomCylinderGetDiskPlane
-dGeomCylinderGetImmersionPlane
-dGeomCylinderGetParams
-dGeomCylinderGetTangentPlane
-dGeomCylinderGetVolume
-dGeomCylinderPointDepth
-dGeomCylinderSetParams
-dGeomDestroy
-dGeomDisable
-dGeomEnable
-dGeomGetAABB
-dGeomGetArea
-dGeomGetBody
-dGeomGetBodyNext
-dGeomGetCategoryBits
-dGeomGetClass
-dGeomGetClassData
-dGeomGetCollideBits
-dGeomGetData
-dGeomGetFlags
-dGeomGetFluid
-dGeomGetFluidNext
-dGeomGetImmersionPlane
-dGeomGetOffsetPosition
-dGeomGetOffsetQuaternion
-dGeomGetOffsetRotation
-dGeomGetPosRelPoint
-dGeomGetPosition
-dGeomGetQuaternion
-dGeomGetRelPointPos
-dGeomGetRotation
-dGeomGetSpace
-dGeomGetVolume
-dGeomHeightfieldDataBuildByte
-dGeomHeightfieldDataBuildCallback
-dGeomHeightfieldDataBuildDouble
-dGeomHeightfieldDataBuildShort
-dGeomHeightfieldDataBuildSingle
-dGeomHeightfieldDataCreate
-dGeomHeightfieldDataDestroy
-dGeomHeightfieldDataSetBounds
-dGeomHeightfieldGetHeightfieldData
-dGeomHeightfieldSetHeightfieldData
-dGeomIsBelowImmersionPlane
-dGeomIsEnabled
-dGeomIsInside
-dGeomIsOffset
-dGeomIsSpace
-dGeomLowLevelControl
-dGeomMoved
-dGeomPlaneGetParams
-dGeomPlanePointDepth
-dGeomPlaneSetParams
-dGeomRayGet
-dGeomRayGetClosestHit
-dGeomRayGetLength
-dGeomRayGetParams
-dGeomRaySet
-dGeomRaySetClosestHit
-dGeomRaySetLength
-dGeomRaySetParams
-dGeomSetBody
-dGeomSetCategoryBits
-dGeomSetCollideBits
-dGeomSetConvex
-dGeomSetData
-dGeomSetDynamicFlag
-dGeomSetFluid
-dGeomSetOffsetPosition
-dGeomSetOffsetQuaternion
-dGeomSetOffsetRotation
-dGeomSetOffsetWorldPosition
-dGeomSetOffsetWorldQuaternion
-dGeomSetOffsetWorldRotation
-dGeomSetPosition
-dGeomSetQuaternion
-dGeomSetRotation
-dGeomSphereGetArea
-dGeomSphereGetImmersionPlane
-dGeomSphereGetRadius
-dGeomSphereGetTangentPlane
-dGeomSphereGetVolume
-dGeomSpherePointDepth
-dGeomSphereSetRadius
-dGeomTransformGetCleanup
-dGeomTransformGetGeom
-dGeomTransformGetInfo
-dGeomTransformSetCleanup
-dGeomTransformSetGeom
-dGeomTransformSetInfo
-dGeomTriMeshClearTCCache
-dGeomTriMeshDataBuildDouble
-dGeomTriMeshDataBuildDouble1
-dGeomTriMeshDataBuildSimple
-dGeomTriMeshDataBuildSimple1
-dGeomTriMeshDataBuildSingle
-dGeomTriMeshDataBuildSingle1
-dGeomTriMeshDataCreate
-dGeomTriMeshDataDestroy
-dGeomTriMeshDataGet
-dGeomTriMeshDataGetBuffer
-dGeomTriMeshDataPreprocess
-dGeomTriMeshDataSet
-dGeomTriMeshDataSetBuffer
-dGeomTriMeshDataUpdate
-dGeomTriMeshEnableTC
-dGeomTriMeshGetArea
-dGeomTriMeshGetArrayCallback
-dGeomTriMeshGetBoundingPlane
-dGeomTriMeshGetCallback
-dGeomTriMeshGetCenterOfMass
-dGeomTriMeshGetData
-dGeomTriMeshGetImmersionPlane
-dGeomTriMeshGetInertiaMatrix
-dGeomTriMeshGetLastTransform
-dGeomTriMeshGetPoint
-dGeomTriMeshGetRayCallback
-dGeomTriMeshGetRelCenterOfMass
-dGeomTriMeshGetTriMergeCallback
-dGeomTriMeshGetTriMeshDataID
-dGeomTriMeshGetTriangle
-dGeomTriMeshGetTriangleCount
-dGeomTriMeshGetVolume
-dGeomTriMeshIsTCEnabled
-dGeomTriMeshPointDepth
-dGeomTriMeshSetArrayCallback
-dGeomTriMeshSetCallback
-dGeomTriMeshSetData
-dGeomTriMeshSetLastTransform
-dGeomTriMeshSetRayCallback
-dGeomTriMeshSetTriMergeCallback
-dGeomVectorFromWorld
-dGeomVectorToWorld
-dGetAllocHandler
-dGetConfiguration
-dGetDebugHandler
-dGetErrorHandler
-dGetFreeHandler
-dGetMessageHandler
-dGetReallocHandler
-dHashSpaceCreate
-dHashSpaceGetLevels
-dHashSpaceSetLevels
-dImmerse
-dImmersionLinkAttach
-dImmersionLinkCreate
-dImmersionLinkDestroy
-dImmersionLinkDisable
-dImmersionLinkEnable
-dImmersionLinkGroupCreate
-dImmersionLinkGroupDestroy
-dImmersionLinkGroupEmpty
-dImmersionLinkSetData
-dImmersionOutlineCreate
-dImmersionOutlineDestroy
-dImmersionOutlineGetCurvedEdge
-dImmersionOutlineGetCurvedEdgesSize
-dImmersionOutlineGetStraightEdge
-dImmersionOutlineGetStraightEdgeEnd
-dImmersionOutlineGetStraightEdgeOrigin
-dImmersionOutlineGetStraightEdgesSize
-dInfiniteAABB
-dInitODE
-dInitODE2
-dInvertPDMatrix
-dIsPositiveDefinite
-dJointAddAMotorTorques
-dJointAddHinge2Torques
-dJointAddHingeTorque
-dJointAddPRTorque
-dJointAddPistonForce
-dJointAddSliderForce
-dJointAddUniversalTorques
-dJointAttach
-dJointCreateAMotor
-dJointCreateBall
-dJointCreateContact
-dJointCreateFixed
-dJointCreateHinge
-dJointCreateHinge2
-dJointCreateLMotor
-dJointCreateNull
-dJointCreatePR
-dJointCreatePU
-dJointCreatePiston
-dJointCreatePlane2D
-dJointCreateSlider
-dJointCreateUniversal
-dJointDestroy
-dJointDisable
-dJointEnable
-dJointGetAMotorAngle
-dJointGetAMotorAngleRate
-dJointGetAMotorAxis
-dJointGetAMotorAxisRel
-dJointGetAMotorMode
-dJointGetAMotorNumAxes
-dJointGetAMotorParam
-dJointGetBallAnchor
-dJointGetBallAnchor2
-dJointGetBallParam
-dJointGetBody
-dJointGetData
-dJointGetFeedback
-dJointGetFixedParam
-dJointGetHinge2Anchor
-dJointGetHinge2Anchor2
-dJointGetHinge2Angle1
-dJointGetHinge2Angle1Rate
-dJointGetHinge2Angle2
-dJointGetHinge2Angle2Rate
-dJointGetHinge2Axis1
-dJointGetHinge2Axis2
-dJointGetHinge2Param
-dJointGetHinge2SuspensionAxis
-dJointGetHingeAnchor
-dJointGetHingeAnchor2
-dJointGetHingeAngle
-dJointGetHingeAngleRate
-dJointGetHingeAxis
-dJointGetHingeParam
-dJointGetHingeSuspensionAxis
-dJointGetLMotorAxis
-dJointGetLMotorNumAxes
-dJointGetLMotorParam
-dJointGetLMotorPosition
-dJointGetNumBodies
-dJointGetPRAnchor
-dJointGetPRAngle
-dJointGetPRAngleRate
-dJointGetPRAxis1
-dJointGetPRAxis2
-dJointGetPRParam
-dJointGetPRPosition
-dJointGetPRPositionRate
-dJointGetPUAnchor
-dJointGetPUAngle1
-dJointGetPUAngle1Rate
-dJointGetPUAngle2
-dJointGetPUAngle2Rate
-dJointGetPUAngles
-dJointGetPUAxis1
-dJointGetPUAxis2
-dJointGetPUAxis3
-dJointGetPUAxisP
-dJointGetPUParam
-dJointGetPUPosition
-dJointGetPUPositionRate
-dJointGetPistonAnchor
-dJointGetPistonAnchor2
-dJointGetPistonAngle
-dJointGetPistonAngleRate
-dJointGetPistonAxis
-dJointGetPistonParam
-dJointGetPistonPosition
-dJointGetPistonPositionRate
-dJointGetSliderAxis
-dJointGetSliderParam
-dJointGetSliderPosition
-dJointGetSliderPositionRate
-dJointGetType
-dJointGetUniversalAnchor
-dJointGetUniversalAnchor2
-dJointGetUniversalAngle1
-dJointGetUniversalAngle1Rate
-dJointGetUniversalAngle2
-dJointGetUniversalAngle2Rate
-dJointGetUniversalAngles
-dJointGetUniversalAxis1
-dJointGetUniversalAxis2
-dJointGetUniversalParam
-dJointGroupCreate
-dJointGroupDestroy
-dJointGroupEmpty
-dJointGroupGetCount
-dJointIsEnabled
-dJointSetAMotorAngle
-dJointSetAMotorAxis
-dJointSetAMotorMode
-dJointSetAMotorNumAxes
-dJointSetAMotorParam
-dJointSetBallAnchor
-dJointSetBallAnchor2
-dJointSetBallParam
-dJointSetData
-dJointSetFeedback
-dJointSetFixed
-dJointSetFixedParam
-dJointSetHinge2Anchor
-dJointSetHinge2Axis1
-dJointSetHinge2Axis2
-dJointSetHinge2Param
-dJointSetHinge2SuspensionAxis
-dJointSetHingeAnchor
-dJointSetHingeAnchorDelta
-dJointSetHingeAxis
-dJointSetHingeAxisOffset
-dJointSetHingeParam
-dJointSetHingeSuspensionAxis
-dJointSetLMotorAxis
-dJointSetLMotorNumAxes
-dJointSetLMotorParam
-dJointSetLMotorPosition
-dJointSetPRAnchor
-dJointSetPRAxis1
-dJointSetPRAxis2
-dJointSetPRParam
-dJointSetPUAnchor
-dJointSetPUAnchorDelta
-dJointSetPUAnchorOffset
-dJointSetPUAxis1
-dJointSetPUAxis2
-dJointSetPUAxis3
-dJointSetPUAxisP
-dJointSetPUParam
-dJointSetPistonAnchor
-dJointSetPistonAnchorOffset
-dJointSetPistonAxis
-dJointSetPistonAxisDelta
-dJointSetPistonParam
-dJointSetPlane2DAngleParam
-dJointSetPlane2DXParam
-dJointSetPlane2DYParam
-dJointSetSliderAxis
-dJointSetSliderAxisDelta
-dJointSetSliderParam
-dJointSetUniversalAnchor
-dJointSetUniversalAxis1
-dJointSetUniversalAxis1Offset
-dJointSetUniversalAxis2
-dJointSetUniversalAxis2Offset
-dJointSetUniversalParam
-dLDLTAddTL
-dLDLTRemove
-dMakeRandomMatrix
-dMakeRandomVector
-dMassAdd
-dMassAdjust
-dMassCheck
-dMassRotate
-dMassSetBox
-dMassSetBoxTotal
-dMassSetCappedCylinder
-dMassSetCappedCylinderTotal
-dMassSetCapsule
-dMassSetCapsuleTotal
-dMassSetCylinder
-dMassSetCylinderTotal
-dMassSetParameters
-dMassSetSphere
-dMassSetSphereTotal
-dMassSetTrimesh
-dMassSetTrimeshTotal
-dMassSetZero
-dMassTranslate
-dMaxDifference
-dMaxDifferenceLowerTriangle
-dMessage
-dMultiply0
-dMultiply1
-dMultiply2
-dNormalize3
-dNormalize4
-dOrthogonalizeR
-dPlaneSpace
-dPrintMatrix
-dQFromAxisAndAngle
-dQMultiply0
-dQMultiply1
-dQMultiply2
-dQMultiply3
-dQSetIdentity
-dQfromR
-dQuadTreeSpaceCreate
-dRFrom2Axes
-dRFromAxisAndAngle
-dRFromEulerAngles
-dRFromZAxis
-dRSetIdentity
-dRand
-dRandGetSeed
-dRandInt
-dRandReal
-dRandSetSeed
-dRealloc
-dRemoveRowCol
-dRfromQ
-dSafeNormalize3
-dSafeNormalize4
-dSetAllocHandler
-dSetColliderOverride
-dSetDebugHandler
-dSetErrorHandler
-dSetFreeHandler
-dSetMessageHandler
-dSetReallocHandler
-dSetValue
-dSetZero
-dSimpleSpaceCreate
-dSolveCholesky
-dSolveL1
-dSolveL1T
-dSolveLDLT
-dSpaceAdd
-dSpaceClean
-dSpaceCollide
-dSpaceCollide2
-dSpaceCollideAndWorldStep
-dSpaceDestroy
-dSpaceGetClass
-dSpaceGetCleanup
-dSpaceGetGeom
-dSpaceGetManualCleanup
-dSpaceGetNumGeoms
-dSpaceGetSublevel
-dSpaceQuery
-dSpaceRemove
-dSpaceSetCleanup
-dSpaceSetManualCleanup
-dSpaceSetSublevel
-dStopwatchReset
-dStopwatchStart
-dStopwatchStop
-dStopwatchTime
-dSweepAndPruneSpaceCreate
-dTestDataStructures
-dTestRand
-dTestSolveLCP
-dTimerEnd
-dTimerNow
-dTimerReport
-dTimerResolution
-dTimerStart
-dTimerTicksPerSecond
-dToggleODE_MT
-dVectorScale
-dWorldCleanupWorkingMemory
-dWorldCreate
-dWorldDestroy
-dWorldExportDIF
-dWorldGetAngularDamping
-dWorldGetAngularDampingThreshold
-dWorldGetAutoDisableAngularThreshold
-dWorldGetAutoDisableAverageSamplesCount
-dWorldGetAutoDisableFlag
-dWorldGetAutoDisableLinearThreshold
-dWorldGetAutoDisableSteps
-dWorldGetAutoDisableTime
-dWorldGetCFM
-dWorldGetContactMaxCorrectingVel
-dWorldGetContactSurfaceLayer
-dWorldGetERP
-dWorldGetGravity
-dWorldGetLinearDamping
-dWorldGetLinearDampingThreshold
-dWorldGetMaxAngularSpeed
-dWorldGetQuickStepNumIterations
-dWorldGetQuickStepW
-dWorldImpulseToForce
-dWorldQuickStep
-dWorldRefreshParameters
-dWorldSetAngularDamping
-dWorldSetAngularDampingThreshold
-dWorldSetAutoDisableAngularThreshold
-dWorldSetAutoDisableAverageSamplesCount
-dWorldSetAutoDisableFlag
-dWorldSetAutoDisableLinearThreshold
-dWorldSetAutoDisableSteps
-dWorldSetAutoDisableTime
-dWorldSetCFM
-dWorldSetContactMaxCorrectingVel
-dWorldSetContactSurfaceLayer
-dWorldSetDamping
-dWorldSetERP
-dWorldSetGravity
-dWorldSetLinearDamping
-dWorldSetLinearDampingThreshold
-dWorldSetMaxAngularSpeed
-dWorldSetQuickStepNumIterations
-dWorldSetQuickStepW
-dWorldSetStepMemoryManager
-dWorldSetStepMemoryReservationPolicy
-dWorldStep
-dWorldStepAndSpaceCollide
-dWorldUseSharedWorkingMemory
diff --git a/tests/sources/test_matlab_functions.py b/tests/sources/test_matlab_functions.py
old mode 100755
new mode 100644
index 78cd55e9201..8f1f9c9aec1
--- a/tests/sources/test_matlab_functions.py
+++ b/tests/sources/test_matlab_functions.py
@@ -16,8 +16,12 @@
 
 """Test that all the required Matlab functions are defined."""
 import unittest
+import glob
 import os
+import re
+import subprocess
 import sys
+
 WEBOTS_HOME = os.path.normpath(os.environ['WEBOTS_HOME'])
 sys.path.append(os.path.join(WEBOTS_HOME, 'src', 'controller', 'matlab'))
 import mgenerate  # noqa: E402
@@ -30,38 +34,68 @@ def setUp(self):
         if sys.version_info[0] >= 3:
             mgenerate.UPDATE = False
             mgenerate.main()
-            """Get all the required function."""
+            """Get all the required functions."""
             skippedLines = [
-                'wbr',
-                'microphone',
-                'remote_control',
-                'robot',
-                'wb_device_get_type',
-                'wb_node_get_name',
-                'wbu_string',
-                'lookup_table_size',
-                'EXPORTS'
+                # Patterns
+                '.*_H',  # Header Guards
+                '.*_',  # Some comments use the ..._* pattern to refer to a group of functions ;
+                        # grep will filter the *, but no function should end with _
+                'wb_camera_image_get_.*',  # The Matlab API exposes the image data as a multidimensional array,
+                                           # so these functions are not needed
+                'wb_(microphone|radio)_.*',  # Experimental Node Types
+                'wb_remote_control_.*', 'wbr_.*',  # Remote Control Plugin
+                'wb_robot_.*',  # Many robot functions are used internally by the C API (e.x. wb_robot_mutex_*)
+                '.*_lookup_table_size',  # Matlab lets you get the size of an array, so these functions are not needed
+                'wbu_string_.*',  # String manipulation functions are not needed
+
+                # Specific Functions
+
+                # Non-Function Macros
+                'WB_ALLOW_MIXING_C_AND_CPP_API',
+                'WB_DEPRECATED',
+                'WB_MATLAB_LOADLIBRARY',
+                'WB_USING_C(PP)?_API',
+
+                # These functions are used internally by the Matlab API
+                'wb_camera_recognition_get_object',
+                'wb_lidar_get_point',
+                'wb_mouse_get_state_pointer',
+                'wb_radar_get_target',
+
+                'wb_device_get_type',  # Deprecated since 8.0.0
+                'wb_node_get_name',  # C API Only
+
+                # Not Yet Implemented
+                'wbu_system_tmpdir',
+                'wbu_system_webots_instance_path',
             ]
             self.functions = []
-            filename = os.path.join(WEBOTS_HOME, 'src', 'controller', 'c', 'Controller.def')
-            self.assertTrue(
-                os.path.isfile(filename),
-                msg='Missing "%s" file.' % filename
-            )
-            with open(filename) as file:
-                for line in file:
-                    if not any(skippedLine in line for skippedLine in skippedLines) and not line[3:].isupper():
-                        self.functions.append(line.replace('\n', ''))
+
+            symbolSearch = subprocess.run([
+                # Search for webots definitions
+                'grep', '-Ehio', r'\bwb_\w+\b',
+                # In the controller headers
+                *glob.glob(os.path.join(WEBOTS_HOME, 'include', 'controller', 'c', 'webots', '*.h')),
+                *glob.glob(os.path.join(WEBOTS_HOME, 'include', 'controller', 'c', 'webots', 'utils', '*.h'))
+                ], capture_output=True, text=True)
+            if symbolSearch.returncode != 0:
+                self.fail(f'Failed to generate function list:\n{symbolSearch.stdout}')
+
+            for line in symbolSearch.stdout.splitlines():
+                if not any(re.match(f'^{skippedLine}$', line) for skippedLine in skippedLines) and line not in self.functions:
+                    self.functions.append(line)
 
     @unittest.skipIf(sys.version_info[0] < 3, "not supported by Python 2.7")
     def test_matlab_function_exists(self):
         """Test that the function file exists."""
-        for function in self.functions:
-            filename = os.path.join(WEBOTS_HOME, 'lib', 'controller', 'matlab', function + '.m')
-            self.assertTrue(
-                os.path.isfile(filename),
-                msg='Missing "%s" file.' % filename
-            )
+        expectedFiles = (os.path.join(WEBOTS_HOME, 'lib', 'controller', 'matlab', function + '.m')
+                         for function in self.functions)
+        missingFiles = [file for file in expectedFiles if not os.path.isfile(file)]
+
+        self.assertTrue(
+            not missingFiles,
+            msg='Missing files: %s' % ', '.join(missingFiles)
+        )
 
 
 if __name__ == '__main__':