Fix fiducial and location transforms

Signed-off-by: Michael X. Grey <grey@openrobotics.org>
open-rmf · Aug 10, 2023 · 3bd5657 · 3bd5657
1 parent aa44f41
commit 3bd5657
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Showing 3 changed files with 10 additions and 7 deletions.
diff --git a/rmf_site_editor/src/interaction/popup.rs b/rmf_site_editor/src/interaction/popup.rs
@@ -36,9 +36,9 @@ pub fn add_popups(
 ) {
     for e in &new_poppers {
         commands.entity(e).insert(Popup {
-            regular: LOCATION_LAYER_HEIGHT,
-            hovered: LOCATION_LAYER_HEIGHT + HOVERED_LANE_OFFSET,
-            selected: LOCATION_LAYER_HEIGHT + SELECTED_LANE_OFFSET,
+            regular: 0.,
+            hovered: HOVERED_LANE_OFFSET,
+            selected: SELECTED_LANE_OFFSET,
         });
     }
 }

diff --git a/rmf_site_editor/src/site/assets.rs b/rmf_site_editor/src/site/assets.rs
@@ -194,15 +194,19 @@ impl FromWorld for SiteAssets {
         let location_mesh = meshes.add(
             Mesh::from(
                 make_icon_halo(1.1 * LANE_WIDTH / 2.0, 0.01, 6)
-                    .transform_by(Affine3A::from_translation(0.00125 * Vec3::Z)),
+                    .transform_by(Affine3A::from_translation(
+                        (0.00125 + LOCATION_LAYER_HEIGHT) * Vec3::Z)
+                    ),
             )
             .with_generated_outline_normals()
             .unwrap(),
         );
         let fiducial_mesh = meshes.add(
             Mesh::from(
                 make_icon_halo(1.1 * LANE_WIDTH / 2.0, 0.01, 4)
-                    .transform_by(Affine3A::from_translation(0.00125 * Vec3::Z)),
+                    .transform_by(Affine3A::from_translation(
+                        (0.00125 + LOCATION_LAYER_HEIGHT) * Vec3::Z)
+                    ),
             )
             .with_generated_outline_normals()
             .unwrap(),

diff --git a/rmf_site_editor/src/site/location.rs b/rmf_site_editor/src/site/location.rs
@@ -68,8 +68,7 @@ pub fn add_location_visuals(
 
         let position = anchors
             .point_in_parent_frame_of(point.0, Category::Location, e)
-            .unwrap()
-            + LOCATION_LAYER_HEIGHT * Vec3::Z;
+            .unwrap();
         // TODO(MXG): Put icons on the different visual squares based on the location tags
         commands
             .entity(e)