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Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
open-rmf · Sep 4, 2023 · 1fec468 · 1fec468
1 parent 25c74fe
commit 1fec468
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Showing 6 changed files with 40 additions and 19 deletions.
diff --git a/rmf_site_editor/src/interaction/select_anchor.rs b/rmf_site_editor/src/interaction/select_anchor.rs
@@ -2295,12 +2295,15 @@ pub fn handle_select_anchor_3d_mode(
                         {
                             let pose = compute_parent_inverse_pose(&cursor_tf, &transforms, parent);
                             let element = find_mesh_element(&params, &cursor_tf, parent);
-                            params.commands.entity(id).insert(MeshConstraint {
-                                entity: parent,
-                                element: element,
-                                relative_pose: pose,
-                            })
-                            .insert(FrameMarker);
+                            params
+                                .commands
+                                .entity(id)
+                                .insert(MeshConstraint {
+                                    entity: parent,
+                                    element: element,
+                                    relative_pose: pose,
+                                })
+                                .insert(FrameMarker);
                             // Add constraint dependent
                             if let Ok(mut parent_deps) =
                                 params.constraint_dependents.get_mut(parent)
@@ -2328,7 +2331,9 @@ pub fn handle_select_anchor_3d_mode(
                     }
                     PlaceableObject::Model(ref a) => {
                         let mut model = a.clone();
-                        let parent = request.parent.unwrap_or(workspace.root.expect("No workspace"));
+                        let parent = request
+                            .parent
+                            .unwrap_or(workspace.root.expect("No workspace"));
                         model.pose = compute_parent_inverse_pose(&cursor_tf, &transforms, parent);
                         params.commands.entity(id).insert(model);
                         parent

diff --git a/rmf_site_editor/src/widgets/inspector/inspect_mesh_primitive.rs b/rmf_site_editor/src/widgets/inspector/inspect_mesh_primitive.rs
@@ -48,7 +48,8 @@ impl<'a> InspectMeshPrimitive<'a> {
                     ui.label(size[2].to_string());
                 });
             }
-            MeshPrimitive::Cylinder { radius, length } | MeshPrimitive::Capsule { radius, length }=> {
+            MeshPrimitive::Cylinder { radius, length }
+            | MeshPrimitive::Capsule { radius, length } => {
                 ui.horizontal(|ui| {
                     ui.label("Radius:");
                     ui.label(radius.to_string());

diff --git a/rmf_site_editor/src/workcell/keyboard.rs b/rmf_site_editor/src/workcell/keyboard.rs
@@ -15,9 +15,9 @@
  *
 */
 
+use crate::{ExportFormat, SaveWorkspace, SaveWorkspaceDestination};
 use bevy::prelude::*;
 use bevy_egui::EguiContext;
-use crate::{SaveWorkspace, SaveWorkspaceDestination, ExportFormat};
 
 pub fn handle_workcell_keyboard_input(
     keyboard_input: Res<Input<KeyCode>>,

diff --git a/rmf_site_editor/src/workcell/model.rs b/rmf_site_editor/src/workcell/model.rs
@@ -15,16 +15,24 @@
  *
 */
 
+use crate::site::{Dependents, ModelTrashcan, Pending};
 use bevy::prelude::*;
-use crate::site::{Dependents, Pending, ModelTrashcan};
-use rmf_site_format::{MeshPrimitive, ModelMarker, NameInSite, NameInWorkcell, Pose, WorkcellProperties};
+use rmf_site_format::{
+    MeshPrimitive, ModelMarker, NameInSite, NameInWorkcell, Pose, WorkcellProperties,
+};
 
 /// SDFs loaded through site editor wrap all the collisions and visuals into a single Model entity.
 /// This doesn't quite work for URDF / workcells since we need to export and edit single visuals
 /// and collisions, hence we process the loaded models to flatten them here
 pub fn flatten_loaded_models_hierarchy(
     mut commands: Commands,
-    new_models: Query<(Entity, &Parent), (Without<Pending>, Or<(Added<ModelMarker>, Added<MeshPrimitive>)>)>,
+    new_models: Query<
+        (Entity, &Parent),
+        (
+            Without<Pending>,
+            Or<(Added<ModelMarker>, Added<MeshPrimitive>)>,
+        ),
+    >,
     all_model_parents: Query<(Entity, &Parent), (With<ModelMarker>, Without<Pending>)>,
     mut poses: Query<&mut Pose>,
     mut dependents: Query<&mut Dependents>,
@@ -33,7 +41,9 @@ pub fn flatten_loaded_models_hierarchy(
 ) {
     for (e, parent) in &new_models {
         // Traverse up the hierarchy to find the first model parent and reassign it
-        if let Some((parent_entity, model_parent)) = AncestorIter::new(&parents, **parent).find_map(|e| all_model_parents.get(e).ok()) {
+        if let Some((parent_entity, model_parent)) =
+            AncestorIter::new(&parents, **parent).find_map(|e| all_model_parents.get(e).ok())
+        {
             let Ok(parent_pose) = poses.get(parent_entity).cloned() else {
                 continue;
             };
@@ -61,7 +71,10 @@ pub fn replace_name_in_site_components(
 ) {
     for (e, name) in &new_names {
         if AncestorIter::new(&parents, e).any(|p| workcells.get(p).is_ok()) {
-            commands.entity(e).insert(NameInWorkcell(name.0.clone())).remove::<NameInSite>();
+            commands
+                .entity(e)
+                .insert(NameInWorkcell(name.0.clone()))
+                .remove::<NameInSite>();
         }
     }
 }
diff --git a/rmf_site_editor/src/workspace.rs b/rmf_site_editor/src/workspace.rs
@@ -331,7 +331,9 @@ fn handle_workspace_data(
                                 focus: true,
                                 default_file: file,
                             });
-                            if let Err(err) = interaction_state.overwrite_set(InteractionState::Enable) {
+                            if let Err(err) =
+                                interaction_state.overwrite_set(InteractionState::Enable)
+                            {
                                 error!("Failed to turn on interaction: {err}");
                             }
                         }

diff --git a/rmf_site_format/src/workcell.rs b/rmf_site_format/src/workcell.rs
@@ -286,7 +286,7 @@ impl Recall for RecallMeshPrimitive {
 
 impl RecallMeshPrimitive {
     pub fn assume_box(&self, current: &MeshPrimitive) -> MeshPrimitive {
-        if matches!(current, MeshPrimitive::Box{..}) {
+        if matches!(current, MeshPrimitive::Box { .. }) {
             current.clone()
         } else {
             MeshPrimitive::Box {
@@ -296,7 +296,7 @@ impl RecallMeshPrimitive {
     }
 
     pub fn assume_cylinder(&self, current: &MeshPrimitive) -> MeshPrimitive {
-        if matches!(current, MeshPrimitive::Cylinder{..}) {
+        if matches!(current, MeshPrimitive::Cylinder { .. }) {
             current.clone()
         } else {
             MeshPrimitive::Cylinder {
@@ -307,7 +307,7 @@ impl RecallMeshPrimitive {
     }
 
     pub fn assume_capsule(&self, current: &MeshPrimitive) -> MeshPrimitive {
-        if matches!(current, MeshPrimitive::Capsule{..}) {
+        if matches!(current, MeshPrimitive::Capsule { .. }) {
             current.clone()
         } else {
             MeshPrimitive::Capsule {
@@ -318,7 +318,7 @@ impl RecallMeshPrimitive {
     }
 
     pub fn assume_sphere(&self, current: &MeshPrimitive) -> MeshPrimitive {
-        if matches!(current, MeshPrimitive::Sphere{..}) {
+        if matches!(current, MeshPrimitive::Sphere { .. }) {
             current.clone()
         } else {
             MeshPrimitive::Sphere {