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model.rs
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model.rs
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/*
* Copyright (C) 2022 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::{
interaction::{DragPlaneBundle, Selectable, MODEL_PREVIEW_LAYER},
site::{Category, PreventDeletion, SiteAssets},
site_asset_io::MODEL_ENVIRONMENT_VARIABLE,
};
use bevy::{
asset::{LoadState, LoadedUntypedAsset},
gltf::Gltf,
prelude::*,
render::view::RenderLayers,
};
use bevy_mod_outline::OutlineMeshExt;
use rmf_site_format::{AssetSource, ModelMarker, Pending, Pose, Scale};
use smallvec::SmallVec;
use std::any::TypeId;
#[derive(Component, Debug, Clone)]
pub struct ModelScene {
source: AssetSource,
format: TentativeModelFormat,
entity: Option<Entity>,
}
/// Stores a sequence of model formats to try loading, the site editor will try them in a sequence
/// until one is successful, or all fail
#[derive(Component, Debug, Default, Clone, PartialEq)]
pub enum TentativeModelFormat {
#[default]
Plain,
GlbFlat,
Obj,
Stl,
GlbFolder,
Sdf,
}
impl TentativeModelFormat {
pub fn next(&self) -> Option<Self> {
use TentativeModelFormat::*;
match self {
Plain => Some(GlbFlat),
GlbFlat => Some(Obj),
Obj => Some(Stl),
Stl => Some(GlbFolder),
GlbFolder => Some(Sdf),
Sdf => None,
}
}
// Returns what should be appended to the asset source to make it work with the bevy asset
// loader matching the format
pub fn to_string(&self, model_name: &str) -> String {
use TentativeModelFormat::*;
match self {
Plain => "".to_owned(),
Obj => ("/".to_owned() + model_name + ".obj").into(),
GlbFlat => ".glb".into(),
Stl => ".stl".into(),
GlbFolder => ("/".to_owned() + model_name + ".glb").into(),
Sdf => "/model.sdf".to_owned(),
}
}
}
#[derive(Debug, Component, Deref, DerefMut)]
pub struct PendingSpawning(Handle<LoadedUntypedAsset>);
/// A unit component to mark where a scene begins
#[derive(Component, Debug, Clone, Copy)]
pub struct ModelSceneRoot;
pub fn handle_model_loaded_events(
mut commands: Commands,
loading_models: Query<
(Entity, &PendingSpawning, &Scale, Option<&RenderLayers>),
With<ModelMarker>,
>,
mut current_scenes: Query<&mut ModelScene>,
asset_server: Res<AssetServer>,
site_assets: Res<SiteAssets>,
gltfs: Res<Assets<Gltf>>,
untyped_assets: Res<Assets<LoadedUntypedAsset>>,
) {
// For each model that is loading, check if its scene has finished loading
// yet. If the scene has finished loading, then insert it as a child of the
// model entity and make it selectable.
for (e, h, scale, render_layer) in loading_models.iter() {
if asset_server.is_loaded_with_dependencies(h.id()) {
let Some(h) = untyped_assets.get(&**h) else {
warn!("Broken reference to untyped asset, this should not happen!");
continue;
};
let h = &h.handle;
let type_id = h.type_id();
let model_id = if type_id == TypeId::of::<Gltf>() {
// Guaranteed to be safe in this scope
// Note we can't do an `if let Some()` because get(Handle) panics if the type is
// not the stored type
let gltf = gltfs.get(&*h).unwrap();
// Get default scene if present, otherwise index 0
let scene = gltf
.default_scene
.as_ref()
.map(|s| s.clone())
.unwrap_or(gltf.scenes.get(0).unwrap().clone());
Some(
commands
.spawn(SceneBundle {
scene,
transform: Transform::from_scale(**scale),
..default()
})
.id(),
)
} else if type_id == TypeId::of::<Scene>() {
let scene = h.clone().typed::<Scene>();
Some(
commands
.spawn(SceneBundle {
scene,
transform: Transform::from_scale(**scale),
..default()
})
.id(),
)
} else if type_id == TypeId::of::<Mesh>() {
let mesh = h.clone().typed::<Mesh>();
Some(
commands
.spawn(PbrBundle {
mesh,
material: site_assets.default_mesh_grey_material.clone(),
transform: Transform::from_scale(**scale),
..default()
})
.id(),
)
} else {
None
};
if let Some(id) = model_id {
let mut cmd = commands.entity(e);
cmd.insert(ModelSceneRoot).add_child(id);
if !render_layer.is_some_and(|l| l.iter().all(|l| l == MODEL_PREVIEW_LAYER)) {
cmd.insert(Selectable::new(e));
}
current_scenes.get_mut(e).unwrap().entity = Some(id);
}
commands
.entity(e)
.remove::<(PreventDeletion, PendingSpawning)>();
}
}
}
pub fn update_model_scenes(
mut commands: Commands,
changed_models: Query<
(
Entity,
&AssetSource,
&Pose,
&TentativeModelFormat,
Option<&Visibility>,
),
(Changed<TentativeModelFormat>, With<ModelMarker>),
>,
asset_server: Res<AssetServer>,
mut current_scenes: Query<&mut ModelScene>,
trashcan: Res<ModelTrashcan>,
) {
fn spawn_model(
e: Entity,
source: &AssetSource,
pose: &Pose,
asset_server: &AssetServer,
tentative_format: &TentativeModelFormat,
has_visibility: bool,
commands: &mut Commands,
) {
let mut commands = commands.entity(e);
commands
.insert(ModelScene {
source: source.clone(),
format: tentative_format.clone(),
entity: None,
})
.insert(TransformBundle::from_transform(pose.transform()))
.insert(Category::Model);
if !has_visibility {
// NOTE: We separate this out because for CollisionMeshMarker
// entities their visibility will be set by the CategoryVisibility
// plugin, which will (usually) set visibility to false. If we
// always inserted a true Visibiltiy then we would override the
// CategoryVisibility setting. This kind of multiple-source-of-truth
// conflict should be resolved by having a more sound way of building
// new entities and/or using a dependency tracker as proposed here:
// https://github.com/open-rmf/rmf_site/issues/173
commands.insert(VisibilityBundle {
visibility: Visibility::Inherited,
..default()
});
}
// For search assets, look at subfolders and iterate through file formats
// TODO(luca) This will also iterate for non search assets, fix
let asset_source = match source {
AssetSource::Search(name) => {
let model_name = name.split('/').last().unwrap();
AssetSource::Search(name.to_owned() + &tentative_format.to_string(model_name))
}
_ => source.clone(),
};
let handle = asset_server.load_untyped(&String::from(&asset_source));
commands
.insert(PreventDeletion::because(
"Waiting for model to spawn".to_string(),
))
.insert(PendingSpawning(handle));
}
// update changed models
for (e, source, pose, tentative_format, vis_option) in changed_models.iter() {
if let Ok(current_scene) = current_scenes.get_mut(e) {
// Avoid respawning if spurious change detection was triggered
if current_scene.source != *source || current_scene.format != *tentative_format {
if let Some(scene_entity) = current_scene.entity {
commands.entity(scene_entity).set_parent(trashcan.0);
commands.entity(e).remove::<ModelSceneRoot>();
}
// Updated model
spawn_model(
e,
source,
pose,
&asset_server,
tentative_format,
vis_option.is_some(),
&mut commands,
);
}
} else {
// New model
spawn_model(
e,
source,
pose,
&asset_server,
tentative_format,
vis_option.is_some(),
&mut commands,
);
}
}
}
pub fn update_model_tentative_formats(
mut commands: Commands,
changed_models: Query<Entity, (Changed<AssetSource>, With<ModelMarker>)>,
mut loading_models: Query<
(
Entity,
&mut TentativeModelFormat,
&PendingSpawning,
&AssetSource,
),
With<ModelMarker>,
>,
asset_server: Res<AssetServer>,
) {
static SUPPORTED_EXTENSIONS: &[&str] = &["obj", "stl", "sdf", "glb", "gltf"];
for e in changed_models.iter() {
// Reset to the first format
commands.entity(e).insert(TentativeModelFormat::default());
}
// Check from the asset server if any format failed, if it did try the next
for (e, mut tentative_format, h, source) in loading_models.iter_mut() {
if matches!(asset_server.get_load_state(h.id()), Some(LoadState::Failed)) {
let mut cmd = commands.entity(e);
cmd.remove::<PreventDeletion>();
// We want to iterate only for search asset types, for others just print an error
if matches!(source, AssetSource::Search(_)) {
if let Some(fmt) = tentative_format.next() {
*tentative_format = fmt;
cmd.remove::<PendingSpawning>();
continue;
}
}
let path = String::from(source);
let model_ext = path
.rsplit_once('.')
.map(|s| s.1.to_owned())
.unwrap_or_else(|| tentative_format.to_string(""));
let reason = if !SUPPORTED_EXTENSIONS.iter().any(|e| model_ext.ends_with(e)) {
"Format not supported".to_owned()
} else {
match source {
AssetSource::Search(_) | AssetSource::Remote(_) => format!(
"Model not found, try using an API key if it belongs to \
a private organization, or add its path to the {} \
environment variable",
MODEL_ENVIRONMENT_VARIABLE
),
_ => "Failed parsing file".to_owned(),
}
};
warn!("Failed loading Model with source {}: {}", path, reason);
cmd.remove::<TentativeModelFormat>();
}
}
}
pub fn update_model_scales(
changed_scales: Query<(&Scale, &ModelScene), Changed<Scale>>,
mut transforms: Query<&mut Transform>,
) {
for (scale, scene) in changed_scales.iter() {
if let Some(scene) = scene.entity {
if let Ok(mut tf) = transforms.get_mut(scene) {
tf.scale = **scale;
}
}
}
}
#[derive(Component)]
pub struct Trashcan;
/// The current data structures of models may have nested structures where we
/// spawn "models" within the descendant tree of another model. This can lead to
/// situations where we might try to delete the descendant tree of a model while
/// also modifying one of those descendants. Bevy's current implementation of
/// such commands leads to panic when attempting to modify a despawned entity.
/// To deal with this we defer deleting model descendants by placing them in the
/// trash can and waiting to despawn them during a later stage after any
/// modifier commands have been flushed.
#[derive(Resource)]
pub struct ModelTrashcan(pub Entity);
impl FromWorld for ModelTrashcan {
fn from_world(world: &mut World) -> Self {
Self(world.spawn(Trashcan).id())
}
}
pub fn clear_model_trashcan(
mut commands: Commands,
trashcans: Query<&Children, (With<Trashcan>, Changed<Children>)>,
) {
for trashcan in &trashcans {
for trash in trashcan {
commands.entity(*trash).despawn_recursive();
}
}
}
pub fn make_models_selectable(
mut commands: Commands,
new_scene_roots: Query<Entity, (Added<ModelSceneRoot>, Without<Pending>)>,
parents: Query<&Parent>,
scene_roots: Query<(&Selectable, Option<&RenderLayers>), With<ModelMarker>>,
all_children: Query<&Children>,
mesh_handles: Query<&Handle<Mesh>>,
mut mesh_assets: ResMut<Assets<Mesh>>,
) {
// We use adding of scene root as a marker of models being spawned, the component is added when
// the scene fininshed loading and is spawned
for model_scene_root in &new_scene_roots {
// Use a small vec here to try to dodge heap allocation if possible.
// TODO(MXG): Run some tests to see if an allocation of 16 is typically
// sufficient.
let mut queue: SmallVec<[Entity; 16]> = SmallVec::new();
// A root might be a child of another root, for example for SDF models that have multiple
// submeshes. We need to traverse up to find the highest level scene to use for selecting
// behavior
let Some((selectable, render_layers)) = AncestorIter::new(&parents, model_scene_root)
.filter_map(|p| scene_roots.get(p).ok())
.last()
.or_else(|| scene_roots.get(model_scene_root).ok())
else {
continue;
};
// If layer should not be visible, don't make it selectable
if render_layers.is_some_and(|r| r.iter().all(|l| l == MODEL_PREVIEW_LAYER)) {
continue;
}
queue.push(model_scene_root);
while let Some(e) = queue.pop() {
commands
.entity(e)
.insert(selectable.clone())
.insert(DragPlaneBundle::new(selectable.element, Vec3::Z));
if let Ok(mesh_handle) = mesh_handles.get(e) {
if let Some(mesh) = mesh_assets.get_mut(mesh_handle) {
if mesh.generate_outline_normals().is_err() {
warn!(
"WARNING: Unable to generate outline normals for \
a model mesh"
);
}
}
}
if let Ok(children) = all_children.get(e) {
for child in children {
queue.push(*child);
}
}
}
}
}
/// Assigns the render layer of the root, if present, to all the children
pub fn propagate_model_render_layers(
mut commands: Commands,
new_scene_roots: Query<Entity, Added<ModelSceneRoot>>,
render_layers: Query<&RenderLayers>,
parents: Query<&Parent>,
mesh_entities: Query<Entity, With<Handle<Mesh>>>,
children: Query<&Children>,
) {
for e in &new_scene_roots {
let Some(render_layers) = AncestorIter::new(&parents, e)
.filter_map(|p| render_layers.get(p).ok())
.last()
else {
continue;
};
for c in DescendantIter::new(&children, e) {
if mesh_entities.get(c).is_ok() {
commands.entity(c).insert(render_layers.clone());
}
}
}
}