Merge branch 'main' into arjo/feat/offscreen_rendering

rmf_site_editor/src/interaction/outline.rs

@@ -81,17 +81,20 @@ impl OutlineVisualization {
         }
     }
 
-    // A strange issue is causing outlines to diverge at certain camera angles
-    // for objects that use the Flat depth. The issue doesn't seem to happen
-    // for objects with Real depth, so we are switching most objects to use the
-    // Real outline setting. However, I don't think this looks good for certain
-    // types of objects so we will keep the Flat setting for them and accept
-    // that certain camera angles can make their outline look strange.
-    //
-    // The relevant upstream issue is being tracked here: https://github.com/komadori/bevy_mod_outline/issues/14
+    // Flat outlines look better but are subject to glitches in wasm, use a feature flag to use
+    // Real outline depth in wasm and flat in other platforms.
+    // Tracking issue here https://github.com/komadori/bevy_mod_outline/issues/19
+    // TODO(luca) revisit once issue is solved
     pub fn depth(&self) -> SetOutlineDepth {
-        SetOutlineDepth::Flat {
-            model_origin: Vec3::ZERO,
+        #[cfg(target_arch = "wasm32")]
+        {
+            SetOutlineDepth::Real
+        }
+        #[cfg(not(target_arch = "wasm32"))]
+        {
+            SetOutlineDepth::Flat {
+                model_origin: Vec3::ZERO,
+            }
         }
     }
 

rmf_site_format/src/legacy/lift.rs

@@ -45,8 +45,14 @@ impl Lift {
         // TODO(MXG): Rewrite this with glam now that we've accepted it as a dependency
         let x = self.x as f32;
         let y = self.y as f32;
-        let d = self.depth as f32 / 2.0;
-        let w = self.width as f32 / 2.0;
+        // NOTE: Coordinate axes changed between the legacy format and the
+        // new format. Width used to be along the local x axis, and depth
+        // used to be along the local y axis, but now that is flipped to
+        // better align with the robotics convention of the local x axis
+        // being forward/backward while the local y axis is the lateral
+        // direction (side-to-side).
+        let d = self.width as f32 / 2.0;
+        let w = self.depth as f32 / 2.0;
         let theta = self.yaw as f32;
         let rotate = |x, y| {
             (
@@ -95,8 +101,14 @@ impl Lift {
 
             let dx = door.x as f32;
             let dy = door.y as f32;
-            let half_width = self.width as f32 / 2.0;
-            let half_depth = self.depth as f32 / 2.0;
+            // NOTE: Coordinate axes changed between the legacy format and the
+            // new format. Width used to be along the local x axis, and depth
+            // used to be along the local y axis, but now that is flipped to
+            // better align with the robotics convention of the local x axis
+            // being forward/backward while the local y axis is the lateral
+            // direction (side-to-side).
+            let half_width = self.depth as f32 / 2.0;
+            let half_depth = self.width as f32 / 2.0;
 
             let cabin_face = if dx.abs() < 1e-3 {
                 // Very small x value means the door must be on the left or right face
@@ -208,8 +220,14 @@ impl Lift {
             }
         }
 
-        let width = self.width as f32;
-        let depth = self.depth as f32;
+        // NOTE: Coordinate axes changed between the legacy format and the
+        // new format. Width used to be along the local x axis, and depth
+        // used to be along the local y axis, but now that is flipped to
+        // better align with the robotics convention of the local x axis
+        // being forward/backward while the local y axis is the lateral
+        // direction (side-to-side).
+        let width = self.depth as f32;
+        let depth = self.width as f32;
         let cabin = RectangularLiftCabin {
             width,
             depth,