Texture groups

assets/textures/attribution.md

@@ -6,6 +6,7 @@
 * [`empty.png`](https://thenounproject.com/icon/empty-194055/)
 * [`add.png`](https://thenounproject.com/icon/plus-1809810/)
 * [`search.png`](https://thenounproject.com/icon/search-3743008/)
+* [`merge.png`](https://thenounproject.com/icon/merge-3402180/)
 * `trash.png`: @mxgrey
 * `selected.png`: @mxgrey
 * `alignment.png`: @mxgrey

rmf_site_editor/src/interaction/select_anchor.rs

@@ -19,7 +19,7 @@ use crate::{
     interaction::*,
     site::{
         drawing_editor::CurrentEditDrawing, Anchor, AnchorBundle, Category, Dependents,
-        DrawingMarker, Original, PathBehavior, Pending,
+        DrawingMarker, Original, PathBehavior, Pending, TextureNeedsAssignment,
     },
     CurrentWorkspace,
 };
@@ -377,6 +377,25 @@ impl EdgePlacement {
         })
     }
 
+    fn with_extra<F>(self: Arc<Self>, f: F) -> Arc<Self>
+    where
+        F: Fn(&mut SelectAnchorPlacementParams, Entity) + Send + Sync + 'static,
+    {
+        let mut result = match Arc::try_unwrap(self) {
+            Ok(r) => r,
+            Err(r) => (*r).clone(),
+        };
+        let base = result.create;
+        result.create = Arc::new(
+            move |params: &mut SelectAnchorPlacementParams, edge: Edge<Entity>| {
+                let entity = base(params, edge);
+                f(params, entity);
+                entity
+            },
+        );
+        Arc::new(result)
+    }
+
     fn update_dependencies(
         mut anchor_selection: Option<&mut AnchorSelection>,
         target: Entity,
@@ -812,6 +831,25 @@ impl PathPlacement {
         })
     }
 
+    fn with_extra<F>(self: Arc<Self>, f: F) -> Arc<Self>
+    where
+        F: Fn(&mut SelectAnchorPlacementParams, Entity) + Send + Sync + 'static,
+    {
+        let mut result = match Arc::try_unwrap(self) {
+            Ok(r) => r,
+            Err(r) => (*r).clone(),
+        };
+        let base = result.create;
+        result.create = Arc::new(
+            move |params: &mut SelectAnchorPlacementParams, path: Path<Entity>| {
+                let entity = base(params, path);
+                f(params, entity);
+                entity
+            },
+        );
+        Arc::new(result)
+    }
+
     fn at_index(&self, index: usize) -> Arc<Self> {
         Arc::new(Self {
             index: Some(index),
@@ -1188,7 +1226,14 @@ impl SelectAnchorEdgeBuilder {
     pub fn for_wall(self) -> SelectAnchor {
         SelectAnchor {
             target: self.for_element,
-            placement: EdgePlacement::new::<Wall<Entity>>(self.placement),
+            placement: EdgePlacement::new::<Wall<Entity>>(self.placement).with_extra(
+                |params, entity| {
+                    params
+                        .commands
+                        .entity(entity)
+                        .insert(TextureNeedsAssignment);
+                },
+            ),
             continuity: self.continuity,
             scope: Scope::General,
         }
@@ -1304,7 +1349,14 @@ impl SelectAnchorPathBuilder {
     pub fn for_floor(self) -> SelectAnchor {
         SelectAnchor {
             target: self.for_element,
-            placement: PathPlacement::new::<Floor<Entity>>(self.placement),
+            placement: PathPlacement::new::<Floor<Entity>>(self.placement).with_extra(
+                |params, entity| {
+                    params
+                        .commands
+                        .entity(entity)
+                        .insert(TextureNeedsAssignment);
+                },
+            ),
             continuity: self.continuity,
             scope: Scope::General,
         }

rmf_site_editor/src/log.rs

@@ -141,7 +141,7 @@ impl Default for LogHistory {
         {
             let fmt_layer = tracing_subscriber::fmt::Layer::default();
             let subscriber = subscriber.with(fmt_layer);
-            tracing::subscriber::set_global_default(subscriber);
+            tracing::subscriber::set_global_default(subscriber).ok();
         }
         #[cfg(target_arch = "wasm32")]
         {

rmf_site_editor/src/save.rs

@@ -102,7 +102,7 @@ pub fn dispatch_save_events(
                     if let Some(file) = default_files.get(ws_root).ok().map(|f| f.0.clone()) {
                         file
                     } else {
-                        let Some(file) =  FileDialog::new().save_file() else {
+                        let Some(file) = FileDialog::new().save_file() else {
                             continue;
                         };
                         file

rmf_site_editor/src/sdf_loader.rs

@@ -75,7 +75,7 @@ async fn load_model<'a, 'b>(
     match root {
         Ok(root) => {
             if let Some(model) = root.model {
-                let path = load_context.path().clone().to_str().unwrap().to_string();
+                let path = load_context.path().to_str().unwrap().to_string();
                 let sdf_root = SdfRoot { model, path };
                 load_context.set_default_asset(LoadedAsset::new(sdf_root));
                 Ok(())

rmf_site_editor/src/shapes.rs

@@ -1111,14 +1111,8 @@ pub(crate) fn make_closed_path_outline(mut initial_positions: Vec<[f32; 3]>) ->
         let p0 = Vec3::new(p0[0], p0[1], 0.0);
         let p1 = Vec3::new(p1[0], p1[1], 0.0);
         let p2 = Vec3::new(p2[0], p2[1], 0.0);
-        let v0 = match (p1 - p0).try_normalize() {
-            Some(v) => v,
-            None => continue,
-        };
-        let v1 = match (p2 - p1).try_normalize() {
-            Some(v) => v,
-            None => continue,
-        };
+        let v0 = (p1 - p0).normalize_or_zero();
+        let v1 = (p2 - p1).normalize_or_zero();
 
         // n: normal
         let n = Vec3::Z;
@@ -1279,7 +1273,9 @@ pub(crate) fn make_finite_grid(
 
     let mut polylines: HashMap<u32, Polyline> = HashMap::new();
     let mut result = {
-        let Some(width) = weights.values().last().copied() else { return Vec::new() };
+        let Some(width) = weights.values().last().copied() else {
+            return Vec::new();
+        };
         let mut axes: Vec<(Polyline, PolylineMaterial)> = Vec::new();
 
         for (sign, x_axis_color, y_axis_color) in [
@@ -1308,7 +1304,9 @@ pub(crate) fn make_finite_grid(
     for n in 1..=count {
         let d = n as f32 * scale;
         let polylines = {
-            let Some(weight_key) = weights.keys().rev().find(|k| n % **k == 0) else { continue };
+            let Some(weight_key) = weights.keys().rev().find(|k| n % **k == 0) else {
+                continue;
+            };
             polylines.entry(*weight_key).or_default()
         };
 

rmf_site_editor/src/site/drawing_editor/alignment.rs

@@ -59,10 +59,16 @@ pub fn align_site_drawings(
 ) {
     for AlignSiteDrawings(site) in events.iter() {
         let mut site_variables = SiteVariables::<Entity>::default();
-        let Ok(children) = sites.get(*site) else { continue };
+        let Ok(children) = sites.get(*site) else {
+            continue;
+        };
         for child in children {
-            let Ok((group, point)) = params.fiducials.get(*child) else { continue };
-            let Ok(anchor) = params.anchors.get(point.0) else { continue };
+            let Ok((group, point)) = params.fiducials.get(*child) else {
+                continue;
+            };
+            let Ok(anchor) = params.anchors.get(point.0) else {
+                continue;
+            };
             let Some(group) = group.0 else { continue };
             let p = anchor.translation_for_category(Category::Fiducial);
             site_variables.fiducials.push(FiducialVariables {
@@ -72,17 +78,23 @@ pub fn align_site_drawings(
         }
 
         for child in children {
-            let Ok(level_children) = levels.get(*child) else { continue };
+            let Ok(level_children) = levels.get(*child) else {
+                continue;
+            };
             for level_child in level_children {
-                let Ok((drawing_children, pose, ppm)) = params.drawings.get(*level_child) else { continue };
+                let Ok((drawing_children, pose, ppm)) = params.drawings.get(*level_child) else {
+                    continue;
+                };
                 let mut drawing_variables = DrawingVariables::<Entity>::new(
                     Vec2::from_slice(&pose.trans).as_dvec2(),
                     pose.rot.yaw().radians() as f64,
                     (1.0 / ppm.0) as f64,
                 );
                 for child in drawing_children {
                     if let Ok((group, point)) = params.fiducials.get(*child) {
-                        let Ok(anchor) = params.anchors.get(point.0) else { continue };
+                        let Ok(anchor) = params.anchors.get(point.0) else {
+                            continue;
+                        };
                         let Some(group) = group.0 else { continue };
                         let p = anchor.translation_for_category(Category::Fiducial);
                         drawing_variables.fiducials.push(FiducialVariables {
@@ -92,8 +104,12 @@ pub fn align_site_drawings(
                     }
 
                     if let Ok((edge, distance)) = params.measurements.get(*child) {
-                        let Ok([anchor0, anchor1]) = params.anchors.get_many(edge.array()) else { continue };
-                        let Some(in_meters) = distance.0 else { continue };
+                        let Ok([anchor0, anchor1]) = params.anchors.get_many(edge.array()) else {
+                            continue;
+                        };
+                        let Some(in_meters) = distance.0 else {
+                            continue;
+                        };
                         let in_meters = in_meters as f64;
                         let p0 =
                             Vec2::from_slice(anchor0.translation_for_category(Category::Fiducial));
@@ -117,7 +133,9 @@ pub fn align_site_drawings(
         // undo operation for this set of changes.
         let alignments = align_site(&site_variables);
         for (e, alignment) in alignments {
-            let Ok((_, mut pose, mut ppm)) = params.drawings.get_mut(e) else { continue };
+            let Ok((_, mut pose, mut ppm)) = params.drawings.get_mut(e) else {
+                continue;
+            };
             pose.trans[0] = alignment.translation.x as f32;
             pose.trans[1] = alignment.translation.y as f32;
             pose.rot =

rmf_site_editor/src/site/fiducial.rs

@@ -102,18 +102,26 @@ pub fn update_fiducial_usage_tracker(
         .iter()
         .chain(changed_fiducial.iter().map(|p| p.get()))
     {
-        let Ok((_, mut tracker)) = unused_fiducial_trackers.get_mut(e) else { continue };
+        let Ok((_, mut tracker)) = unused_fiducial_trackers.get_mut(e) else {
+            continue;
+        };
         reset_fiducial_usage(e, &mut tracker, &fiducials, &fiducial_groups, &children);
     }
 
     for changed_group in &changed_fiducial_groups {
-        let Ok((_, name, site)) = fiducial_groups.get(changed_group) else { continue };
+        let Ok((_, name, site)) = fiducial_groups.get(changed_group) else {
+            continue;
+        };
         for (e, mut tracker) in &mut unused_fiducial_trackers {
             if tracker.site == site.get() {
                 tracker.unused.insert(changed_group, name.0.clone());
-                let Ok(scope_children) = children.get(e) else { continue };
+                let Ok(scope_children) = children.get(e) else {
+                    continue;
+                };
                 for child in scope_children {
-                    let Ok(affiliation) = fiducials.get(*child) else { continue };
+                    let Ok(affiliation) = fiducials.get(*child) else {
+                        continue;
+                    };
                     if let Some(group) = affiliation.0 {
                         if changed_group == group {
                             tracker.unused.remove(&changed_group);
@@ -132,7 +140,9 @@ pub fn update_fiducial_usage_tracker(
     }
 
     for (changed_fiducial, parent) in &changed_fiducials {
-        let Ok((e, mut tracker)) = unused_fiducial_trackers.get_mut(parent.get()) else { continue };
+        let Ok((e, mut tracker)) = unused_fiducial_trackers.get_mut(parent.get()) else {
+            continue;
+        };
         reset_fiducial_usage(e, &mut tracker, &fiducials, &fiducial_groups, &children);
     }
 
@@ -177,9 +187,13 @@ fn reset_fiducial_usage(
         }
     }
 
-    let Ok(scope_children) = children.get(entity) else { return };
+    let Ok(scope_children) = children.get(entity) else {
+        return;
+    };
     for child in scope_children {
-        let Ok(affiliation) = fiducials.get(*child) else { continue };
+        let Ok(affiliation) = fiducials.get(*child) else {
+            continue;
+        };
         if let Some(group) = affiliation.0 {
             tracker.unused.remove(&group);
             if let Ok((_, name, _)) = fiducial_groups.get(group) {
@@ -192,6 +206,7 @@ fn reset_fiducial_usage(
 pub fn add_fiducial_visuals(
     mut commands: Commands,
     fiducials: Query<(Entity, &Point<Entity>, Option<&Transform>), Added<FiducialMarker>>,
+    fiducial_groups: Query<Entity, (Added<FiducialMarker>, With<Group>)>,
     mut dependents: Query<&mut Dependents, With<Anchor>>,
     assets: Res<SiteAssets>,
 ) {
@@ -213,6 +228,10 @@ pub fn add_fiducial_visuals(
             .insert(Category::Fiducial)
             .insert(VisualCue::outline());
     }
+
+    for e in &fiducial_groups {
+        commands.entity(e).insert(Category::FiducialGroup);
+    }
 }
 
 pub fn assign_orphan_fiducials_to_parent(