Introducing model descriptions and instances

rmf_site_editor/src/interaction/assets.rs

@@ -55,7 +55,7 @@ impl InteractionAssets {
         // The arrows should originate in the mesh origin
         let pos = Vec3::splat(0.0);
         let rot_x = Quat::from_rotation_y(90_f32.to_radians());
-        let rot_y = Quat::from_rotation_x(-90_f32.to_radians());
+        let rot_y = Quat::from_rotation_x((-90_f32).to_radians());
         let rot_z = Quat::default();
         let x_mat = self.x_axis_materials.clone();
         let y_mat = self.y_axis_materials.clone();
@@ -145,12 +145,12 @@ impl InteractionAssets {
             (
                 self.x_axis_materials.clone(),
                 Vec3::new(-offset, 0., height),
-                Quat::from_rotation_y(-90_f32.to_radians()),
+                Quat::from_rotation_y(-(90_f32).to_radians()),
             ),
             (
                 self.y_axis_materials.clone(),
                 Vec3::new(0., offset, height),
-                Quat::from_rotation_x(-90_f32.to_radians()),
+                Quat::from_rotation_x(-(90_f32).to_radians()),
             ),
             (
                 self.y_axis_materials.clone(),
@@ -190,7 +190,7 @@ impl InteractionAssets {
             (
                 self.y_axis_materials.clone(),
                 Vec3::new(0., offset, 0.),
-                Quat::from_rotation_x(-90_f32.to_radians()),
+                Quat::from_rotation_x(-(90_f32).to_radians()),
             ),
             (
                 self.z_axis_materials.clone(),

rmf_site_editor/src/interaction/cursor.rs

@@ -22,7 +22,9 @@ use crate::{
 };
 use bevy::{ecs::system::SystemParam, prelude::*, window::PrimaryWindow};
 use bevy_mod_raycast::{deferred::RaycastMesh, deferred::RaycastSource, primitives::rays::Ray3d};
-use rmf_site_format::{FloorMarker, Model, ModelMarker, PrimitiveShape, WallMarker, WorkcellModel};
+use rmf_site_format::{
+    FloorMarker, ModelInstance, ModelMarker, PrimitiveShape, WallMarker, WorkcellModel,
+};
 use std::collections::HashSet;
 
 /// A resource that keeps track of the unique entities that play a role in
@@ -113,7 +115,11 @@ impl Cursor {
     }
 
     // TODO(luca) reduce duplication here
-    pub fn set_model_preview(&mut self, commands: &mut Commands, model: Option<Model>) {
+    pub fn set_model_instance_preview(
+        &mut self,
+        commands: &mut Commands,
+        model: Option<ModelInstance<Entity>>,
+    ) {
         self.remove_preview(commands);
         self.preview_model = if let Some(model) = model {
             let e = commands.spawn(model).insert(Pending).id();

rmf_site_editor/src/interaction/mod.rs

@@ -58,6 +58,9 @@ pub use light::*;
 pub mod mode;
 pub use mode::*;
 
+pub mod model;
+pub use model::*;
+
 pub mod model_preview;
 pub use model_preview::*;
 
@@ -215,6 +218,7 @@ impl Plugin for InteractionPlugin {
                 Update,
                 (
                     make_model_previews_not_selectable,
+                    update_model_instance_visual_cues.after(maintain_hovered_entities),
                     update_lane_visual_cues.after(maintain_selected_entities),
                     update_edge_visual_cues.after(maintain_selected_entities),
                     update_point_visual_cues.after(maintain_selected_entities),

rmf_site_editor/src/interaction/model.rs

@@ -0,0 +1,96 @@
+/*
+ * Copyright (C) 2024 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+use crate::{interaction::*, site::*};
+use bevy::prelude::*;
+
+pub fn update_model_instance_visual_cues(
+    model_descriptions: Query<
+        (Entity, &Selected, &Hovered),
+        (
+            With<ModelMarker>,
+            With<Group>,
+            Or<(Changed<Hovered>, Changed<Selected>)>,
+        ),
+    >,
+    mut model_instances: Query<
+        (
+            Entity,
+            &mut Selected,
+            &mut Hovered,
+            &mut Affiliation<Entity>,
+            Option<Ref<Tasks<Entity>>>,
+        ),
+        (With<ModelMarker>, Without<Group>),
+    >,
+    mut locations: Query<&mut Selected, (With<LocationTags>, Without<ModelMarker>)>,
+    mut removed_components: RemovedComponents<Tasks<Entity>>,
+) {
+    for (instance_entity, mut instance_selected, mut instance_hovered, affiliation, tasks) in
+        &mut model_instances
+    {
+        // By clearing instance supports for selected / hovered, we assume instances will never
+        // be supporting select / hovering for anything else
+        let mut is_description_selected = false;
+        if let Some(description_entity) = affiliation.0 {
+            if let Ok((_, description_selected, description_hovered)) =
+                model_descriptions.get(description_entity)
+            {
+                if description_selected.cue() {
+                    instance_selected
+                        .support_selected
+                        .insert(description_entity);
+                    is_description_selected = true;
+                } else {
+                    instance_selected.support_selected.clear();
+                }
+                if description_hovered.cue() {
+                    instance_hovered.support_hovering.insert(description_entity);
+                } else {
+                    instance_hovered.support_hovering.clear();
+                }
+            }
+        }
+
+        // When an instance is selected, select all locations supporting it
+        if let Some(tasks) = tasks {
+            // When tasks for an instance have changed, reset all locations from supporting this instance
+            if tasks.is_changed() {
+                for mut location_selected in locations.iter_mut() {
+                    location_selected.support_selected.remove(&instance_entity);
+                }
+            }
+
+            if let Some(task_location) = tasks.0.first().and_then(|t| t.location()) {
+                if let Ok(mut location_selected) = locations.get_mut(task_location.0) {
+                    if instance_selected.cue() && !is_description_selected {
+                        location_selected.support_selected.insert(instance_entity);
+                    } else {
+                        location_selected.support_selected.remove(&instance_entity);
+                    }
+                }
+            }
+        }
+    }
+
+    // When instances are removed, prevent any location from supporting them
+    for removed in removed_components.read() {
+        for mut location_selected in locations.iter_mut() {
+            location_selected.support_selected.remove(&removed);
+        }
+    }
+}

rmf_site_editor/src/interaction/select_anchor.rs

@@ -26,8 +26,9 @@ use crate::{
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
 use rmf_site_format::{
-    Door, Edge, Fiducial, Floor, FrameMarker, Lane, LiftProperties, Location, Measurement, Model,
-    NameInWorkcell, NameOfSite, Path, PixelsPerMeter, Point, Pose, Side, Wall, WorkcellModel,
+    Door, Edge, Fiducial, Floor, FrameMarker, Lane, LiftProperties, Location, Measurement,
+    ModelInstance, NameInWorkcell, NameOfSite, Path, PixelsPerMeter, Point, Pose, Side, Wall,
+    WorkcellModel,
 };
 use std::collections::HashSet;
 use std::sync::Arc;
@@ -1186,7 +1187,8 @@ impl<'w, 's> SelectAnchorPlacementParams<'w, 's> {
             false,
         );
         set_visibility(self.cursor.frame_placement, &mut self.visibility, false);
-        self.cursor.set_model_preview(&mut self.commands, None);
+        self.cursor
+            .set_model_instance_preview(&mut self.commands, None);
         for e in self.hidden_entities.drawing_anchors.drain() {
             set_visibility(e, &mut self.visibility, true);
         }
@@ -1297,9 +1299,9 @@ impl SelectAnchorPointBuilder {
         }
     }
 
-    pub fn for_model(self, model: Model) -> SelectAnchor3D {
+    pub fn for_model_instance(self, model: ModelInstance<Entity>) -> SelectAnchor3D {
         SelectAnchor3D {
-            bundle: PlaceableObject::Model(model),
+            bundle: PlaceableObject::ModelInstance(model),
             parent: None,
             target: self.for_element,
             continuity: self.continuity,
@@ -1686,7 +1688,7 @@ impl SelectAnchor {
 
 #[derive(Clone)]
 enum PlaceableObject {
-    Model(Model),
+    ModelInstance(ModelInstance<Entity>),
     Anchor,
     VisualMesh(WorkcellModel),
     CollisionMesh(WorkcellModel),
@@ -2151,11 +2153,11 @@ pub fn handle_select_anchor_3d_mode(
             PlaceableObject::Anchor => {
                 set_visibility(params.cursor.frame_placement, &mut params.visibility, true);
             }
-            PlaceableObject::Model(ref m) => {
+            PlaceableObject::ModelInstance(ref m) => {
                 // Spawn the model as a child of the cursor
                 params
                     .cursor
-                    .set_model_preview(&mut params.commands, Some(m.clone()));
+                    .set_model_instance_preview(&mut params.commands, Some(m.clone()));
             }
             PlaceableObject::VisualMesh(ref m) | PlaceableObject::CollisionMesh(ref m) => {
                 // Spawn the model as a child of the cursor
@@ -2200,7 +2202,7 @@ pub fn handle_select_anchor_3d_mode(
                             NameInWorkcell("Unnamed".to_string()),
                         ))
                         .id(),
-                    PlaceableObject::Model(ref a) => {
+                    PlaceableObject::ModelInstance(ref a) => {
                         let mut model = a.clone();
                         // If we are in workcell mode, add a "base link" frame to the model
                         if matches!(**app_state, AppState::WorkcellEditor) {

rmf_site_editor/src/occupancy.rs

@@ -140,6 +140,8 @@ pub struct CalculateGrid {
     pub floor: f32,
     /// Ignore meshes above this height
     pub ceiling: f32,
+    // Ignore these entities
+    pub ignore: Option<HashSet<Entity>>,
 }
 
 enum Group {
@@ -180,6 +182,14 @@ fn calculate_grid(
         let physical_entities = collect_physical_entities(&bodies, &meta);
         info!("Checking {:?} physical entities", physical_entities.len());
         for e in &physical_entities {
+            if request
+                .ignore
+                .as_ref()
+                .is_some_and(|ignored_set| ignored_set.contains(e))
+            {
+                continue;
+            }
+
             let (_, mesh, aabb, tf) = match bodies.get(*e) {
                 Ok(body) => body,
                 Err(_) => continue,

rmf_site_editor/src/shapes.rs

@@ -876,7 +876,7 @@ pub(crate) fn make_physical_camera_mesh() -> Mesh {
     )
     .transform_by(
         Affine3A::from_translation([lens_hood_protrusion * scale, 0., 0.].into())
-            * Affine3A::from_rotation_y(-90_f32.to_radians())
+            * Affine3A::from_rotation_y(-(90_f32).to_radians())
             * Affine3A::from_rotation_z(45_f32.to_radians()),
     )
     .merge_into(&mut mesh);

rmf_site_editor/src/site/deletion.rs

@@ -20,12 +20,14 @@ use crate::{
     log::Log,
     site::{
         Category, CurrentLevel, Dependents, LevelElevation, LevelProperties, NameInSite,
-        SiteUpdateSet,
+        RemoveInstance, SiteUpdateSet,
     },
     AppState, Issue,
 };
 use bevy::{ecs::system::SystemParam, prelude::*};
-use rmf_site_format::{ConstraintDependents, Edge, MeshConstraint, Path, Point};
+use rmf_site_format::{
+    Affiliation, ConstraintDependents, Edge, Group, InstanceMarker, MeshConstraint, Path, Point,
+};
 use std::collections::HashSet;
 
 // TODO(MXG): Use this module to implement the deletion buffer. The role of the
@@ -82,6 +84,7 @@ struct DeletionParams<'w, 's> {
     edges: Query<'w, 's, &'static Edge<Entity>>,
     points: Query<'w, 's, &'static Point<Entity>>,
     paths: Query<'w, 's, &'static Path<Entity>>,
+    instances: Query<'w, 's, &'static Affiliation<Entity>, (With<InstanceMarker>, Without<Group>)>,
     parents: Query<'w, 's, &'static mut Parent>,
     dependents: Query<'w, 's, &'static mut Dependents>,
     constraint_dependents: Query<'w, 's, &'static mut ConstraintDependents>,
@@ -90,6 +93,7 @@ struct DeletionParams<'w, 's> {
     selection: Res<'w, Selection>,
     current_level: ResMut<'w, CurrentLevel>,
     levels: Query<'w, 's, Entity, With<LevelElevation>>,
+    remove_instance: EventWriter<'w, RemoveInstance>,
     select: EventWriter<'w, Select>,
     log: EventWriter<'w, Log>,
     issues: Query<'w, 's, (Entity, &'static mut Issue)>,
@@ -137,6 +141,14 @@ fn cautious_delete(element: Entity, params: &mut DeletionParams) {
         }
     }
 
+    if let Ok(_) = params.instances.get(element) {
+        params.remove_instance.send(RemoveInstance(element));
+        if **params.selection == Some(element) {
+            params.select.send(Select(None));
+        }
+        return;
+    }
+
     for descendent in &all_descendents {
         if let Ok(prevent) = params.preventions.get(*descendent) {
             if *descendent == element {

rmf_site_editor/src/site/group.rs

@@ -27,15 +27,9 @@ pub struct MergeGroups {
     pub into_group: Entity,
 }
 
-#[derive(Component, Deref)]
+#[derive(Component, Deref, DerefMut)]
 pub struct Members(Vec<Entity>);
 
-impl Members {
-    pub fn iter(&self) -> impl Iterator<Item = &Entity> {
-        self.0.iter()
-    }
-}
-
 #[derive(Component, Clone, Copy)]
 struct LastAffiliation(Option<Entity>);
 

rmf_site_editor/src/site/level.rs

@@ -16,7 +16,7 @@
 */
 
 use crate::site::*;
-use crate::{interaction::CameraControls, CurrentWorkspace};
+use crate::CurrentWorkspace;
 use bevy::prelude::*;
 
 pub fn update_level_visibility(