Merge branch 'main' into luca/new_floor_panic

open-rmf · Aug 17, 2023 · 6043e37 · 6043e37
2 parents 5389ea1 + e45f497
commit 6043e37
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Showing 85 changed files with 5,445 additions and 1,428 deletions.
diff --git a/assets/textures/add.png b/assets/textures/add.png
diff --git a/assets/textures/alignment.png b/assets/textures/alignment.png
diff --git a/assets/textures/alignment.svg b/assets/textures/alignment.svg
diff --git a/assets/textures/attribution.md b/assets/textures/attribution.md
@@ -1,4 +1,11 @@
 * [`select.png`](https://thenounproject.com/icon/select-3324735/)
 * [`edit.png`](https://thenounproject.com/icon/edit-2162449/)
+* [`exit.png`](https://thenounproject.com/icon/exit-1826632/)
+* [`confirm.png`](https://thenounproject.com/icon/confirm-2261637/)
+* [`reject.png`](https://thenounproject.com/icon/x-2289933/)
+* [`empty.png`](https://thenounproject.com/icon/empty-194055/)
+* [`add.png`](https://thenounproject.com/icon/plus-1809810/)
+* [`search.png`](https://thenounproject.com/icon/search-3743008/)
 * `trash.png`: @mxgrey
-
+* `selected.png`: @mxgrey
+* `alignment.png`: @mxgrey
diff --git a/assets/textures/confirm.png b/assets/textures/confirm.png
diff --git a/assets/textures/empty.png b/assets/textures/empty.png
diff --git a/assets/textures/exit.png b/assets/textures/exit.png
diff --git a/assets/textures/reject.png b/assets/textures/reject.png
diff --git a/assets/textures/search.png b/assets/textures/search.png
diff --git a/assets/textures/selected.png b/assets/textures/selected.png
diff --git a/assets/textures/selected.svg b/assets/textures/selected.svg
diff --git a/rmf_site_editor/Cargo.toml b/rmf_site_editor/Cargo.toml
@@ -43,8 +43,8 @@ tracing = "0.1.37"
 tracing-subscriber = "0.3.1"
 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"}
+sdformat_rs = { git = "https://github.com/open-rmf/sdf_rust_experimental", rev = "a5daef0"}
+pathdiff = "*"
 
 # 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]

diff --git a/rmf_site_editor/src/interaction/anchor.rs b/rmf_site_editor/src/interaction/anchor.rs
@@ -38,7 +38,6 @@ pub fn add_anchor_visual_cues(
     >,
     categories: Query<&Category>,
     site_assets: Res<SiteAssets>,
-    interaction_assets: Res<InteractionAssets>,
 ) {
     for (e, parent, subordinate, anchor) in &new_anchors {
         let body_mesh = match categories.get(parent.get()).unwrap() {

diff --git a/rmf_site_editor/src/interaction/camera_controls.rs b/rmf_site_editor/src/interaction/camera_controls.rs
@@ -78,6 +78,18 @@ impl ProjectionMode {
     }
 }
 
+pub struct ChangeProjectionMode(pub ProjectionMode);
+
+impl ChangeProjectionMode {
+    pub fn to_perspective() -> ChangeProjectionMode {
+        ChangeProjectionMode(ProjectionMode::Perspective)
+    }
+
+    pub fn to_orthographic() -> ChangeProjectionMode {
+        ChangeProjectionMode(ProjectionMode::Orthographic)
+    }
+}
+
 #[derive(Debug, Clone, Reflect, Resource)]
 pub struct CameraControls {
     mode: ProjectionMode,
@@ -152,6 +164,23 @@ impl CameraControls {
         self.use_perspective(!choice, cameras, visibilities, headlights_on);
     }
 
+    pub fn use_mode(
+        &mut self,
+        mode: ProjectionMode,
+        cameras: &mut Query<&mut Camera>,
+        visibilities: &mut Query<&mut Visibility>,
+        headlights_on: bool,
+    ) {
+        match mode {
+            ProjectionMode::Perspective => {
+                self.use_perspective(true, cameras, visibilities, headlights_on);
+            }
+            ProjectionMode::Orthographic => {
+                self.use_orthographic(true, cameras, visibilities, headlights_on);
+            }
+        }
+    }
+
     pub fn mode(&self) -> ProjectionMode {
         self.mode
     }
@@ -329,10 +358,21 @@ fn camera_controls(
     mut previous_mouse_location: ResMut<MouseLocation>,
     mut controls: ResMut<CameraControls>,
     mut cameras: Query<(&mut Projection, &mut Transform)>,
+    mut bevy_cameras: Query<&mut Camera>,
     mut visibility: Query<&mut Visibility>,
     headlight_toggle: Res<HeadlightToggle>,
     picking_blockers: Res<PickingBlockers>,
+    mut change_mode: EventReader<ChangeProjectionMode>,
 ) {
+    if let Some(mode) = change_mode.iter().last() {
+        controls.use_mode(
+            mode.0,
+            &mut bevy_cameras,
+            &mut visibility,
+            headlight_toggle.0,
+        );
+    }
+
     if headlight_toggle.is_changed() {
         controls.toggle_lights(headlight_toggle.0, &mut visibility);
     }
@@ -488,6 +528,7 @@ impl Plugin for CameraControlsPlugin {
         app.insert_resource(MouseLocation::default())
             .init_resource::<CameraControls>()
             .init_resource::<HeadlightToggle>()
+            .add_event::<ChangeProjectionMode>()
             .add_system(camera_controls);
     }
 }