Add polylines and spheres for handling large worlds

rmf_site_editor/Cargo.toml

@@ -19,7 +19,7 @@ path = "examples/extending_menu.rs"
 bevy_egui = "0.19"
 bevy_mod_picking = "0.11"
 bevy_mod_raycast = "0.7"
-bevy_mod_outline = "0.3.3"
+bevy_mod_outline = { git = "https://github.com/arjo129/bevy_mod_outline.git", branch= "09_compatibility"}
 bevy_infinite_grid = "0.6"
 bevy_polyline = "0.4"
 bevy_stl = "0.7.0"
@@ -49,6 +49,12 @@ rfd = "0.11"
 urdf-rs = "0.7"
 utm = "0.1.6"
 sdformat_rs = { git = "https://github.com/open-rmf/sdf_rust_experimental", rev = "f86344f"}
+pollster = "0.3.0"
+futures-intrusive = "0.5.0"
+wgpu="0.14.2"
+image = "0.24.6"
+rand = "0.8.5"
+bevy_points = "0.1.3"
 gz-fuel = { git = "https://github.com/open-rmf/gz-fuel-rs", branch = "first_implementation" }
 pathdiff = "*"
 

rmf_site_editor/src/interaction/anchor.rs

@@ -20,7 +20,7 @@ use crate::{
     interaction::IntersectGroundPlaneParams,
     interaction::*,
     keyboard::DebugMode,
-    site::{Anchor, Category, Delete, Dependents, SiteAssets, Subordinate},
+    site::{Anchor, Category, Delete, Dependents, PointAsset, SiteAssets, Subordinate},
 };
 use bevy::prelude::*;
 
@@ -38,6 +38,8 @@ pub fn add_anchor_visual_cues(
     >,
     categories: Query<&Category>,
     site_assets: Res<SiteAssets>,
+    point_assets: Res<PointAsset>,
+    interaction_assets: Res<InteractionAssets>,
 ) {
     for (e, parent, subordinate, anchor) in &new_anchors {
         let body_mesh = match categories.get(parent.get()).unwrap() {
@@ -47,13 +49,23 @@ pub fn add_anchor_visual_cues(
         };
 
         let mut entity_commands = commands.entity(e);
+        entity_commands.insert(LimitScaleFactor {
+            distance_to_start_scaling: 10.0,
+            original_scale: 1.0,
+        });
         let body = entity_commands.add_children(|parent| {
             let mut body = parent.spawn(PbrBundle {
                 mesh: body_mesh,
                 material: site_assets.passive_anchor_material.clone(),
                 ..default()
             });
             body.insert(Selectable::new(e));
+            body.insert(MaterialMeshBundle {
+                mesh: point_assets.bevy_point_mesh.clone(),
+                material: point_assets.bevy_point_material.clone(),
+                ..default()
+            });
+            body.insert(ScreenSpaceSelection::Point(e));
             if subordinate.is_none() {
                 body.insert(DragPlaneBundle::new(e, Vec3::Z));
             }

rmf_site_editor/src/interaction/camera_controls.rs

@@ -49,13 +49,19 @@ pub const HOVERED_OUTLINE_LAYER: u8 = 4;
 /// The X-Ray layer is used to show visual cues that need to be rendered
 /// above anything that would be obstructing them.
 pub const XRAY_RENDER_LAYER: u8 = 5;
+/// The Line Picking layer contains an entity based color map for picking
+/// polylines which are drawn in screen space.
+pub const LINE_PICKING_LAYER: u8 = 6;
+/// The Line Picking layer contains an entity based color map for picking
+/// points which are drawn in screen space.
+pub const POINT_PICKING_LAYER: u8 = 7;
 /// The Model Preview layer is used by model previews to spawn and render
 /// models in the engine without having them being visible to general cameras
-pub const MODEL_PREVIEW_LAYER: u8 = 6;
+pub const MODEL_PREVIEW_LAYER: u8 = 8;
 
 #[derive(Resource)]
-struct MouseLocation {
-    previous: Vec2,
+pub struct MouseLocation {
+    pub previous: Vec2,
 }
 
 impl Default for MouseLocation {