Making floor grid available to all edit modes

rmf_site_editor/src/floor_grid.rs

@@ -0,0 +1,49 @@
+/*
+ * 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 bevy::prelude::{Entity, Resource, World, FromWorld, Plugin, App};
+use bevy_infinite_grid::InfiniteGridPlugin;
+
+use crate::shapes::make_infinite_grid;
+
+#[derive(Resource)]
+pub struct FloorGrid {
+    entity: Entity,
+}
+
+impl FloorGrid {
+    pub fn get(&self) -> Entity {
+        self.entity
+    }
+}
+
+impl FromWorld for FloorGrid {
+    fn from_world(world: &mut World) -> Self {
+        let entity = world.spawn(make_infinite_grid(1.0, 100.0, None)).id();
+        Self { entity }
+    }
+}
+
+pub struct FloorGridPlugin;
+
+impl Plugin for FloorGridPlugin {
+    fn build(&self, app: &mut App) {
+        app
+            .add_plugins(InfiniteGridPlugin)
+            .init_resource::<FloorGrid>();
+    }
+}

rmf_site_editor/src/lib.rs

@@ -53,6 +53,9 @@ use view_menu::*;
 pub mod wireframe;
 use wireframe::*;
 
+pub mod floor_grid;
+use floor_grid::*;
+
 use aabb::AabbUpdatePlugin;
 use animate::AnimationPlugin;
 use interaction::InteractionPlugin;
@@ -190,6 +193,7 @@ impl Plugin for SiteEditor {
                 AnimationPlugin,
                 OccupancyPlugin,
                 WorkspacePlugin,
+                FloorGridPlugin,
             ))
             // Note order matters, plugins that edit the menus must be initialized after the UI
             .add_plugins((

rmf_site_editor/src/shapes.rs

@@ -1254,7 +1254,8 @@ pub(crate) fn make_infinite_grid(
     settings.fadeout_distance = fadeout_distance;
     settings.shadow_color = shadow_color;
     let transform = Transform::from_rotation(Quat::from_rotation_x(90_f32.to_radians()))
-        .with_scale(Vec3::splat(scale));
+        .with_scale(Vec3::splat(scale))
+        .with_translation(Vec3::new(0.0, 0.0, -0.005));
 
     InfiniteGridBundle {
         settings,

rmf_site_editor/src/view_menu.rs

@@ -20,9 +20,11 @@ use crate::site::{
     CollisionMeshMarker, DoorMarker, FiducialMarker, FloorMarker, LaneMarker, LiftCabin,
     LiftCabinDoorMarker, LocationTags, MeasurementMarker, VisualMeshMarker, WallMarker,
 };
-use crate::widgets::menu_bar::{MenuEvent, MenuItem, MenuVisualizationStates, ViewMenu};
-use crate::workcell::WorkcellVisualizationMarker;
-use crate::AppState;
+use crate::{
+    widgets::menu_bar::{MenuEvent, MenuItem, MenuVisualizationStates, ViewMenu},
+    workcell::WorkcellVisualizationMarker,
+    AppState, FloorGrid,
+};
 use bevy::ecs::system::SystemParam;
 use bevy::prelude::*;
 use std::collections::HashSet;
@@ -59,6 +61,7 @@ pub struct ViewMenuItems {
     visuals: Entity,
     walls: Entity,
     origin_axis: Entity,
+    floor_grid: Entity,
 }
 
 impl FromWorld for ViewMenuItems {
@@ -150,7 +153,7 @@ impl FromWorld for ViewMenuItems {
                 "Visual meshes".to_string(),
                 default_visibility.0,
             ))
-            .insert(MenuVisualizationStates(active_states))
+            .insert(MenuVisualizationStates(active_states.clone()))
             .set_parent(view_header)
             .id();
         let default_visibility = world.resource::<CategoryVisibility<WallMarker>>();
@@ -172,6 +175,14 @@ impl FromWorld for ViewMenuItems {
             .insert(MenuVisualizationStates(workcell_states))
             .set_parent(view_header)
             .id();
+        let floor_grid = world
+            .spawn(MenuItem::CheckBox(
+                "Floor grid".to_string(),
+                true,
+            ))
+            .insert(MenuVisualizationStates(active_states))
+            .set_parent(view_header)
+            .id();
 
         ViewMenuItems {
             doors,
@@ -185,6 +196,7 @@ impl FromWorld for ViewMenuItems {
             visuals,
             walls,
             origin_axis,
+            floor_grid,
         }
     }
 }
@@ -194,6 +206,8 @@ fn handle_view_menu_events(
     view_menu: Res<ViewMenuItems>,
     mut menu_items: Query<&mut MenuItem>,
     mut events: VisibilityEvents,
+    floor_grid: Res<FloorGrid>,
+    mut visibility: Query<&mut Visibility>,
 ) {
     let mut toggle = |entity| {
         let mut menu = menu_items.get_mut(entity).unwrap();
@@ -226,6 +240,15 @@ fn handle_view_menu_events(
             events.walls.send(toggle(event.source()).into());
         } else if event.clicked() && event.source() == view_menu.origin_axis {
             events.origin_axis.send(toggle(event.source()).into());
+        } else if event.clicked() && event.source() == view_menu.floor_grid {
+            let floor_grid_visible = toggle(event.source());
+            if let Ok(mut vis) = visibility.get_mut(floor_grid.get()) {
+                if floor_grid_visible {
+                    *vis = Visibility::Visible;
+                } else {
+                    *vis = Visibility::Hidden;
+                }
+            }
         }
     }
 }

rmf_site_editor/src/workcell/mod.rs

@@ -42,42 +42,26 @@ pub mod workcell;
 pub use workcell::*;
 
 use bevy::prelude::*;
-use bevy_infinite_grid::{InfiniteGrid, InfiniteGridPlugin};
 
 use crate::AppState;
-use crate::{
-    shapes::make_infinite_grid,
-    site::{
-        clear_model_trashcan, handle_model_loaded_events, handle_new_primitive_shapes,
-        handle_update_fuel_cache_requests, make_models_selectable, propagate_model_render_layers,
-        read_update_fuel_cache_results, reload_failed_models_with_new_api_key,
-        update_anchor_transforms, update_model_scales, update_model_scenes,
-        update_model_tentative_formats, update_transforms_for_changed_poses,
-    },
+use crate::site::{
+    clear_model_trashcan, handle_model_loaded_events, handle_new_primitive_shapes,
+    handle_update_fuel_cache_requests, make_models_selectable, propagate_model_render_layers,
+    read_update_fuel_cache_results, reload_failed_models_with_new_api_key,
+    update_anchor_transforms, update_model_scales, update_model_scenes,
+    update_model_tentative_formats, update_transforms_for_changed_poses,
 };
 
 #[derive(Default)]
 pub struct WorkcellEditorPlugin;
 
-fn spawn_grid(mut commands: Commands) {
-    commands.spawn(make_infinite_grid(1.0, 100.0, None));
-}
-
-fn delete_grid(mut commands: Commands, grids: Query<Entity, With<InfiniteGrid>>) {
-    for grid in grids.iter() {
-        commands.entity(grid).despawn_recursive();
-    }
-}
-
 impl Plugin for WorkcellEditorPlugin {
     fn build(&self, app: &mut App) {
-        app.add_plugins(InfiniteGridPlugin)
+        app
             .add_event::<CreateJoint>()
             .add_event::<SaveWorkcell>()
             .add_event::<LoadWorkcell>()
             .add_event::<ChangeCurrentWorkcell>()
-            .add_systems(OnEnter(AppState::WorkcellEditor), spawn_grid)
-            .add_systems(OnExit(AppState::WorkcellEditor), delete_grid)
             .add_systems(
                 Update,
                 (