Merge branch 'main' into luca/bevy_0.13

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

rmf_site_editor/Cargo.toml

@@ -50,6 +50,7 @@ pathdiff = "*"
 tera = "1.19.1"
 ehttp = { version = "0.4", features = ["native-async"] }
 nalgebra = "0.32.5"
+anyhow = "*"
 
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
 clap = { version = "4.0.10", features = ["color", "derive", "help", "usage", "suggestions"] }

rmf_site_editor/src/interaction/anchor.rs

@@ -23,6 +23,12 @@ use crate::{
 };
 use bevy::prelude::*;
 
+/// Use this resource to indicate whether anchors should be constantly highlighted.
+/// This is used during anchor selection modes to make it easier for users to know
+/// where selectable anchors are.
+#[derive(Clone, Copy, Debug, Resource)]
+pub struct HighlightAnchors(pub bool);
+
 #[derive(Component, Debug, Clone, Copy)]
 pub struct AnchorVisualization {
     pub body: Entity,
@@ -37,6 +43,7 @@ pub fn add_anchor_visual_cues(
     >,
     categories: Query<&Category>,
     site_assets: Res<SiteAssets>,
+    highlight: Res<HighlightAnchors>,
 ) {
     for (e, parent, subordinate, anchor) in &new_anchors {
         let body_mesh = match categories.get(parent.get()).unwrap() {
@@ -65,12 +72,29 @@ pub fn add_anchor_visual_cues(
             .insert(OutlineVisualization::Anchor { body })
             .add_child(body);
 
-        // 3D anchors should always be visible with arrow cue meshes
-        if anchor.is_3D() {
-            entity_commands.insert(VisualCue::outline());
+        let cue = if anchor.is_3D() {
+            // 3D anchors should always be visible with arrow cue meshes
+            VisualCue::outline()
         } else {
-            entity_commands.insert(VisualCue::outline().irregular());
-        }
+            let mut cue = VisualCue::outline().irregular();
+            cue.xray.set_always(highlight.0);
+            cue
+        };
+
+        entity_commands.insert(cue);
+    }
+}
+
+pub fn on_highlight_anchors_change(
+    highlight: Res<HighlightAnchors>,
+    mut anchor_visual_cues: Query<&mut VisualCue, With<Anchor>>,
+) {
+    if !highlight.is_changed() {
+        return;
+    }
+
+    for mut cue in &mut anchor_visual_cues {
+        cue.xray.set_always(highlight.0);
     }
 }
 
@@ -110,12 +134,12 @@ pub fn update_anchor_proximity_xray(
     }
 
     let p_c = match intersect_ground_params.ground_plane_intersection() {
-        Some(p) => p,
+        Some(p) => p.translation,
         None => return,
     };
 
     for (anchor_tf, mut cue) in &mut anchors {
-        // TODO(MXG): Make the proximity range configurable
+        // TODO(@mxgrey): Make the proximity range configurable
         let proximity = {
             // We make the xray effect a little "sticky" so that there isn't an
             // ugly flicker for anchors that are right at the edge of the
@@ -156,22 +180,6 @@ pub fn update_unassigned_anchor_cues(
     }
 }
 
-pub fn update_anchor_cues_for_mode(
-    mode: Res<InteractionMode>,
-    mut anchors: Query<&mut VisualCue, With<Anchor>>,
-) {
-    if !mode.is_changed() {
-        return;
-    }
-
-    let anchor_always_visible = mode.is_selecting_anchor();
-    for mut cue in &mut anchors {
-        if cue.xray.always() != anchor_always_visible {
-            cue.xray.set_always(anchor_always_visible);
-        }
-    }
-}
-
 pub fn update_anchor_visual_cues(
     mut commands: Commands,
     mut anchors: Query<
@@ -191,10 +199,11 @@ pub fn update_anchor_visual_cues(
     mut visibility: Query<&mut Visibility>,
     mut materials: Query<&mut Handle<StandardMaterial>>,
     deps: Query<&Dependents>,
-    cursor: Res<Cursor>,
+    mut cursor: ResMut<Cursor>,
     site_assets: Res<SiteAssets>,
     interaction_assets: Res<InteractionAssets>,
     debug_mode: Option<Res<DebugMode>>,
+    gizmo_blockers: Res<GizmoBlockers>,
 ) {
     for (
         a,
@@ -235,8 +244,10 @@ pub fn update_anchor_visual_cues(
                 .set_support_hovered(!hovered.support_hovering.is_empty());
         }
 
-        if hovered.is_hovered {
-            set_visibility(cursor.frame, &mut visibility, false);
+        if hovered.is_hovered && !gizmo_blockers.blocking() {
+            cursor.add_blocker(a, &mut visibility);
+        } else {
+            cursor.remove_blocker(a, &mut visibility);
         }
 
         if hovered.cue() && selected.cue() {
@@ -303,7 +314,7 @@ pub fn update_anchor_visual_cues(
 }
 
 // NOTE(MXG): Currently only anchors ever have support cues, so we filter down
-// to entities with AnchorVisualCues. We will need to broaden that if any other
+// to entities with AnchorVisualization. We will need to broaden that if any other
 // visual cue types ever have a supporting role.
 pub fn remove_deleted_supports_from_visual_cues(
     mut hovered: Query<&mut Hovered, With<AnchorVisualization>>,

rmf_site_editor/src/interaction/assets.rs

@@ -202,11 +202,14 @@ impl InteractionAssets {
 
         commands.entity(drag_parent).with_children(|parent| {
             for (polyline, material) in &self.centimeter_finite_grid {
-                parent.spawn(PolylineBundle {
-                    polyline: polyline.clone(),
-                    material: material.clone(),
-                    ..default()
-                });
+                parent.spawn((
+                    PolylineBundle {
+                        polyline: polyline.clone(),
+                        material: material.clone(),
+                        ..default()
+                    },
+                    DisableXray,
+                ));
             }
         });
 

rmf_site_editor/src/interaction/camera_controls/cursor.rs

@@ -20,7 +20,7 @@ use super::{
     CameraCommandType, CameraControls, ProjectionMode, MAX_FOV, MAX_SCALE, MIN_FOV, MIN_SCALE,
 };
 use crate::interaction::SiteRaycastSet;
-use bevy::input::mouse::MouseWheel;
+use bevy::input::mouse::{MouseScrollUnit, MouseWheel};
 use bevy::prelude::*;
 use bevy::window::PrimaryWindow;
 use bevy_mod_raycast::deferred::RaycastSource;
@@ -92,15 +92,10 @@ pub fn update_cursor_command(
         // Scroll input
         let mut scroll_motion = 0.0;
         for ev in mouse_wheel.read() {
-            #[cfg(not(target_arch = "wasm32"))]
-            {
-                scroll_motion += ev.y;
-            }
-            #[cfg(target_arch = "wasm32")]
-            {
-                // scrolling in wasm is a different beast
-                scroll_motion += 0.4 * ev.y / ev.y.abs();
-            }
+            scroll_motion += match ev.unit {
+                MouseScrollUnit::Line => ev.y,
+                MouseScrollUnit::Pixel => ev.y / 100.0,
+            };
         }
 
         // Command type, return if inactive

rmf_site_editor/src/interaction/camera_controls/keyboard.rs

@@ -187,14 +187,20 @@ pub fn update_keyboard_command(
 
         // Set camera selection as orbit center, discard once orbit operation complete
         let camera_selection = match keyboard_command.camera_selection {
-            Some(camera_selection) => camera_selection,
+            Some(camera_selection) => Some(camera_selection),
             None => get_camera_selected_point(
                 &camera,
                 &camera_global_transform,
                 uncovered_window_area,
                 immediate_raycast,
             ),
         };
+
+        let Some(camera_selection) = camera_selection else {
+            warn!("Point could not be calculated for camera");
+            return;
+        };
+
         if command_type == CameraCommandType::Orbit {
             camera_controls.orbit_center = Some(camera_selection);
         }

rmf_site_editor/src/interaction/camera_controls/utils.rs

@@ -71,12 +71,11 @@ pub fn get_camera_selected_point(
     camera_global_transform: &GlobalTransform,
     user_camera_display: Res<UserCameraDisplay>,
     mut immediate_raycast: Raycast,
-) -> Vec3 {
+) -> Option<Vec3> {
     // Assume that the camera spans the full window, covered by egui panels
     let available_viewport_center = user_camera_display.region.center();
-    let camera_ray = camera
-        .viewport_to_world(camera_global_transform, available_viewport_center)
-        .expect("Active camera does not have a valid ray from center of its viewport");
+    let camera_ray =
+        camera.viewport_to_world(camera_global_transform, available_viewport_center)?;
     let camera_ray = Ray3d::new(camera_ray.origin, *camera_ray.direction);
     let raycast_setting = RaycastSettings::default()
         .always_early_exit()
@@ -86,13 +85,13 @@ pub fn get_camera_selected_point(
     let intersections = immediate_raycast.cast_ray(camera_ray, &raycast_setting);
     if intersections.len() > 0 {
         let (_, intersection_data) = &intersections[0];
-        return intersection_data.position();
+        return Some(intersection_data.position());
     } else {
-        return get_groundplane_else_default_selection(
+        return Some(get_groundplane_else_default_selection(
             camera_ray.origin,
             *camera_ray.direction,
             *camera_ray.direction,
-        );
+        ));
     }
 }