Workcell editor mode (#120)

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Co-authored-by: Michael X. Grey <mxgrey@intrinsic.ai>
Co-authored-by: Arjo Chakravarty <arjoc@google.com>

.github/workflows/ci_web.yaml

@@ -18,8 +18,6 @@ jobs:
 
     - name: rust-wasm-target
       run: |
-        rustup toolchain install nightly
-        rustup default nightly
         rustup target add wasm32-unknown-unknown
 
     - name: apt-deps
@@ -29,7 +27,7 @@ jobs:
 
     - name: cargo-deps
       run: |
-        cargo install wasm-bindgen-cli
+        cargo install wasm-bindgen-cli --vers =0.2.84
 
     - uses: actions/checkout@v3
 

assets/demo_workcells/demo.workcell.json

@@ -0,0 +1,79 @@
+{
+  "name": "test_workcell",
+  "id": 0,
+  "frames": {
+    "1": {
+      "parent": 0,
+      "Pose3D": {
+        "trans": [
+          5.0,
+          0.0,
+          0.0
+        ],
+        "rot": {
+          "euler_xyz": [
+            {
+              "deg": 45.0
+            },
+            {
+              "deg": 30.0
+            },
+            {
+              "deg": 90.0
+            }
+          ]
+        }
+      }
+    },
+    "2": {
+      "parent": 0,
+      "Pose3D": {
+        "trans": [
+          0.0,
+          5.0,
+          0.0
+        ],
+        "rot": {
+          "euler_xyz": [
+            {
+              "deg": 45.0
+            },
+            {
+              "deg": 30.0
+            },
+            {
+              "deg": 90.0
+            }
+          ]
+        }
+      }
+    },
+    "3": {
+      "parent": 1,
+      "Pose3D": {
+        "trans": [
+          1.0,
+          0.31817698,
+          0.60250926
+        ],
+        "rot": {
+          "euler_xyz": [
+            {
+              "deg": 92.758385
+            },
+            {
+              "deg": -73.071754
+            },
+            {
+              "deg": -171.64337
+            }
+          ]
+        }
+      }
+    }
+  },
+  "visuals": {
+  },
+  "collisions": {
+  }
+}

rmf_site_editor/.cargo/config.toml

@@ -1,2 +1,3 @@
 [target.x86_64-pc-windows-msvc]
-rustflags = ["-Zshare-generics=off"]
+linker = "clang"
+rustflags = ["-C", "link-arg=-fuse-ld=/usr/bin/mold", "-Zshare-generics=off"]

rmf_site_editor/Cargo.toml

@@ -13,14 +13,21 @@ name = "rmf_site_editor"
 
 [dependencies]
 bevy_egui = "0.19"
-bevy_mod_picking = "0.10"
+bevy_mod_picking = "0.11"
 bevy_mod_raycast = "0.7"
 bevy_mod_outline = "0.3.3"
+bevy_infinite_grid = "0.6"
+bevy_polyline = "0.4"
+bevy_stl = "0.7.0"
+bevy_obj = { git = "https://github.com/luca-della-vedova/bevy_obj", branch = "luca/scene_0.9", features = ["scene"]}
+bevy_rapier3d = "0.20.0"
+crossbeam-channel = "0.5.0"
 smallvec = "*"
 serde = { version = "1.0", features = ["derive"] }
 serde_yaml = "0.8.23"
 serde_json = "1.0"
-wasm-bindgen = "0.2"
+# wasm-bindgen 0.2.85 introduces a compile error in stdweb
+wasm-bindgen = "=0.2.84"
 web-sys = { version = "0.3.56", features = ["console"] }
 futures-lite = "1.12.0"
 bevy = "0.9"
@@ -31,19 +38,22 @@ thiserror = "*"
 rmf_site_format = { path = "../rmf_site_format", features = ["bevy"] }
 itertools = "*"
 bitfield = "*"
+rfd = "0.11"
+urdf-rs = "0.7"
+# sdformat_rs = { path = "../../sdf_rust_experimental/sdformat_rs"}
+sdformat_rs = { git = "https://github.com/open-rmf/sdf_rust_experimental", rev = "f86344f"}
 
 # only enable the 'dynamic' feature if we're not building for web or windows
 [target.'cfg(all(not(target_arch = "wasm32"), not(target_os = "windows")))'.dependencies]
-bevy = { version = "0.9", features = ["dynamic"] }
+bevy = { version = "0.9", features = ["dynamic", "jpeg", "tga"] }
 surf = { version = "2.3" }
 
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-rfd = "0.8.2"
 clap = { version = "4.0.10", features = ["color", "derive", "help", "usage", "suggestions"] }
 
 # windows doesnt work well with dynamic feature yet
 [target.'cfg(target_os = "windows")'.dependencies]
-bevy = "0.9"
+bevy = { version = "0.9", features = ["jpeg", "tga"] }
 surf = { version = "2.3" }
 
 [target.'cfg(target_arch = "wasm32")'.dependencies]

rmf_site_editor/rust-toolchain.toml

@@ -1,2 +1,2 @@
 [toolchain]
-channel = "nightly"
+channel = "stable"

rmf_site_editor/src/demo_world.rs

@@ -1,3 +1,11 @@
-pub fn demo_office() -> String {
-    return include_str!("../../assets/demo_maps/office.building.yaml").to_string();
+pub fn demo_office() -> Vec<u8> {
+    return include_str!("../../assets/demo_maps/office.building.yaml")
+        .as_bytes()
+        .to_vec();
+}
+
+pub fn demo_workcell() -> Vec<u8> {
+    return include_str!("../../assets/demo_workcells/demo.workcell.json")
+        .as_bytes()
+        .to_vec();
 }

rmf_site_editor/src/interaction/anchor.rs

@@ -32,20 +32,23 @@ pub struct AnchorVisualization {
 
 pub fn add_anchor_visual_cues(
     mut commands: Commands,
-    new_anchors: Query<(Entity, &Parent, Option<&Subordinate>), (Added<Anchor>, Without<Preview>)>,
+    new_anchors: Query<
+        (Entity, &Parent, Option<&Subordinate>, &Anchor),
+        (Added<Anchor>, Without<Preview>),
+    >,
     categories: Query<&Category>,
     site_assets: Res<SiteAssets>,
     interaction_assets: Res<InteractionAssets>,
 ) {
-    for (e, parent, subordinate) in &new_anchors {
+    for (e, parent, subordinate, anchor) in &new_anchors {
         let body_mesh = match categories.get(parent.get()).unwrap() {
             Category::Level => site_assets.level_anchor_mesh.clone(),
             Category::Lift => site_assets.lift_anchor_mesh.clone(),
             _ => site_assets.site_anchor_mesh.clone(),
         };
 
-        let mut commands = commands.entity(e);
-        let body = commands.add_children(|parent| {
+        let mut entity_commands = commands.entity(e);
+        let body = entity_commands.add_children(|parent| {
             let mut body = parent.spawn(PbrBundle {
                 mesh: body_mesh,
                 material: site_assets.passive_anchor_material.clone(),
@@ -60,10 +63,16 @@ pub fn add_anchor_visual_cues(
             body
         });
 
-        commands
+        entity_commands
             .insert(AnchorVisualization { body, drag: None })
-            .insert(OutlineVisualization::Anchor)
-            .insert(VisualCue::outline().irregular());
+            .insert(OutlineVisualization::Anchor { body });
+
+        // 3D anchors should always be visible with arrow cue meshes
+        if anchor.is_3D() {
+            entity_commands.insert(VisualCue::outline());
+        } else {
+            entity_commands.insert(VisualCue::outline().irregular());
+        }
     }
 }
 
@@ -166,15 +175,17 @@ pub fn update_anchor_cues_for_mode(
 }
 
 pub fn update_anchor_visual_cues(
-    mut command: Commands,
+    mut commands: Commands,
     mut anchors: Query<
         (
             Entity,
+            &Anchor,
             &Hovered,
             &Selected,
             &mut AnchorVisualization,
             &mut VisualCue,
             Option<&Subordinate>,
+            ChangeTrackers<Hovered>,
             ChangeTrackers<Selected>,
         ),
         Or<(Changed<Hovered>, Changed<Selected>, Changed<Dependents>)>,
@@ -187,7 +198,18 @@ pub fn update_anchor_visual_cues(
     interaction_assets: Res<InteractionAssets>,
     debug_mode: Option<Res<DebugMode>>,
 ) {
-    for (a, hovered, selected, mut shapes, mut cue, subordinate, select_tracker) in &mut anchors {
+    for (
+        a,
+        anchor,
+        hovered,
+        selected,
+        mut shapes,
+        mut cue,
+        subordinate,
+        hover_tracker,
+        select_tracker,
+    ) in &mut anchors
+    {
         if debug_mode.as_ref().filter(|d| d.0).is_some() {
             // NOTE(MXG): I have witnessed a scenario where a lane is deleted
             // and then the anchors that supported it are permanently stuck as
@@ -247,20 +269,36 @@ pub fn update_anchor_visual_cues(
             );
         }
 
-        if select_tracker.is_changed() {
-            if selected.cue() {
-                if shapes.drag.is_none() && subordinate.is_none() {
-                    interaction_assets.add_anchor_draggable_arrows(
-                        &mut command,
-                        a,
-                        shapes.as_mut(),
-                    );
+        if anchor.is_3D() {
+            if select_tracker.is_changed() || hover_tracker.is_changed() {
+                if selected.cue() || hovered.cue() {
+                    if shapes.drag.is_none() {
+                        interaction_assets.add_anchor_gizmos_3D(
+                            &mut commands,
+                            a,
+                            shapes.as_mut(),
+                            subordinate.is_none(),
+                        );
+                    }
+                } else {
+                    if let Some(drag) = shapes.drag {
+                        commands.entity(drag).despawn_recursive();
+                    }
+                    shapes.drag = None;
                 }
-            } else {
-                if let Some(drag) = shapes.drag {
-                    command.entity(drag).despawn_recursive();
+            }
+        } else {
+            if select_tracker.is_changed() {
+                if selected.cue() {
+                    if shapes.drag.is_none() && subordinate.is_none() {
+                        interaction_assets.add_anchor_gizmos_2D(&mut commands, a, shapes.as_mut());
+                    }
+                } else {
+                    if let Some(drag) = shapes.drag {
+                        commands.entity(drag).despawn_recursive();
+                    }
+                    shapes.drag = None;
                 }
-                shapes.drag = None;
             }
         }
     }