Add configurable wireframe visualization

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

rmf_site_editor/src/lib.rs

@@ -56,6 +56,9 @@ pub mod site_asset_io;
 pub mod urdf_loader;
 use sdf_loader::*;
 
+pub mod wireframe;
+use wireframe::*;
+
 use aabb::AabbUpdatePlugin;
 use animate::AnimationPlugin;
 use interaction::InteractionPlugin;
@@ -222,6 +225,7 @@ impl Plugin for SiteEditor {
             .add_plugin(InteractionPlugin)
             .add_plugin(StandardUiLayout)
             .add_plugin(AnimationPlugin)
+            .add_plugin(SiteWireframePlugin)
             .add_plugin(OccupancyPlugin)
             .add_plugin(WorkspacePlugin)
             // Note order matters, issue and OSMView plugins must be initialized after the UI

rmf_site_editor/src/wireframe.rs

@@ -0,0 +1,92 @@
+/*
+ * Copyright (C) 2023 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 crate::menu_bar::{MenuEvent, MenuItem, ViewMenu};
+use bevy::pbr::wireframe::{Wireframe, WireframePlugin};
+use bevy::prelude::*;
+
+use rmf_site_format::ModelMarker;
+
+#[derive(Default)]
+pub struct SiteWireframePlugin;
+
+/// Keeps track of which entity is associated to the toggle menu button
+#[derive(Resource)]
+pub struct WireframeMenu {
+    toggle_wireframe: Entity,
+}
+
+impl FromWorld for WireframeMenu {
+    fn from_world(world: &mut World) -> Self {
+        // Tools menu
+        let toggle_wireframe = world
+            .spawn(MenuItem::CheckBox("View wireframe".to_string(), false))
+            .id();
+
+        let view_header = world.resource::<ViewMenu>().get();
+        world
+            .entity_mut(view_header)
+            .push_children(&[toggle_wireframe]);
+
+        WireframeMenu { toggle_wireframe }
+    }
+}
+
+fn handle_wireframe_menu_events(
+    mut commands: Commands,
+    mut menu_events: EventReader<MenuEvent>,
+    mut menu_items: Query<&mut MenuItem>,
+    wireframe_menu: Res<WireframeMenu>,
+    meshes: Query<Entity, With<Handle<Mesh>>>,
+    parents: Query<&Parent>,
+    children: Query<&Children>,
+    models: Query<Entity, With<ModelMarker>>,
+) {
+    for event in menu_events.iter() {
+        if event.clicked() && event.source() == wireframe_menu.toggle_wireframe {
+            let Ok(mut checkbox) = menu_items.get_mut(wireframe_menu.toggle_wireframe) else {
+                error!("Wireframe button not found");
+                return;
+            };
+            let MenuItem::CheckBox(_, ref mut enable) = *checkbox else {
+                error!("Mismatch for wireframe toggle menu type, expected checkbox");
+                return;
+            };
+            *enable = !*enable;
+            for model in models.iter() {
+                // Now go through all the model children and toggle wireframe on meshes
+                for c in DescendantIter::new(&children, model) {
+                    if meshes.get(c).is_ok() {
+                        if *enable {
+                            commands.entity(c).insert(Wireframe);
+                        } else {
+                            commands.entity(c).remove::<Wireframe>();
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
+
+impl Plugin for SiteWireframePlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<WireframeMenu>()
+            .add_plugin(WireframePlugin)
+            .add_system(handle_wireframe_menu_events);
+    }
+}

rmf_site_editor/src/workcell/mod.rs

@@ -33,7 +33,6 @@ pub use workcell::*;
 pub mod urdf;
 pub use urdf::*;
 
-use bevy::pbr::wireframe::{Wireframe, WireframePlugin};
 use bevy::render::{render_resource::WgpuFeatures, settings::WgpuSettings};
 use bevy::{prelude::*, render::view::visibility::VisibilitySystems, transform::TransformSystem};
 use bevy_infinite_grid::{InfiniteGrid, InfiniteGridBundle, InfiniteGridPlugin};
@@ -68,29 +67,13 @@ fn delete_grid(mut commands: Commands, grids: Query<Entity, With<InfiniteGrid>>)
     }
 }
 
-fn add_wireframe_to_meshes(
-    mut commands: Commands,
-    new_meshes: Query<Entity, Added<Handle<Mesh>>>,
-    parents: Query<&Parent>,
-    models: Query<Entity, With<ModelMarker>>,
-) {
-    for e in new_meshes.iter() {
-        for ancestor in AncestorIter::new(&parents, e) {
-            if let Ok(_) = models.get(ancestor) {
-                commands.entity(e).insert(Wireframe);
-            }
-        }
-    }
-}
-
 impl Plugin for WorkcellEditorPlugin {
     fn build(&self, app: &mut App) {
         app.add_plugin(InfiniteGridPlugin)
             .insert_resource(WgpuSettings {
                 features: WgpuFeatures::POLYGON_MODE_LINE,
                 ..default()
             })
-            .add_plugin(WireframePlugin)
             .add_plugin(RapierPhysicsPlugin::<NoUserData>::default())
             .add_plugin(RapierDebugRenderPlugin::default())
             .add_event::<SaveWorkcell>()
@@ -100,7 +83,6 @@ impl Plugin for WorkcellEditorPlugin {
             .add_system_set(SystemSet::on_exit(AppState::WorkcellEditor).with_system(delete_grid))
             .add_system_set(
                 SystemSet::on_update(AppState::WorkcellEditor)
-                    .with_system(add_wireframe_to_meshes)
                     .with_system(update_constraint_dependents)
                     .with_system(handle_model_loaded_events)
                     .with_system(update_model_scenes)