1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
/*
* 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::site::*;
use bevy::{ecs::system::SystemParam, prelude::*};
#[derive(SystemParam)]
pub struct GraphSelect<'w, 's> {
graphs: Query<
'w,
's,
(
Entity,
&'static MeshMaterial3d<StandardMaterial>,
&'static DisplayColor,
&'static Visibility,
&'static RecencyRank<NavGraphMarker>,
),
With<NavGraphMarker>,
>,
assets: Res<'w, SiteAssets>,
}
impl<'w, 's> GraphSelect<'w, 's> {
// TODO(MXG): In the future we should consider using StandardMaterial's
// depth_bias to fix issues with rendering overlapping flat objects. That
// will have to wait until a future release where https://github.com/bevyengine/bevy/pull/7847
// has been merged. It will also require the picking algorithm to be
// sensitive to ranks.
pub fn display_style(
&self,
associated_graphs: &AssociatedGraphs<Entity>,
) -> (Handle<StandardMaterial>, Color, f32) {
match associated_graphs {
AssociatedGraphs::All => self
.graphs
.iter()
.filter(|(_, _, _, v, _)| !matches!(v, Visibility::Hidden))
.max_by(|(_, _, _, _, a), (_, _, _, _, b)| a.cmp(b))
.map(|(_, m, c, _, d)| (m.clone(), *c, *d)),
AssociatedGraphs::Only(set) => set
.iter()
.filter(|e| {
self.graphs
.get(**e)
.ok()
.filter(|(_, _, _, v, _)| !matches!(v, Visibility::Hidden))
.is_some()
})
.max_by(|a, b| {
self.graphs
.get(**a)
.unwrap()
.4
.cmp(self.graphs.get(**b).unwrap().4)
})
.map(|e| {
self.graphs
.get(*e)
.map(|(_, m, c, _, d)| (m.clone(), *c, *d))
.ok()
})
.flatten(),
AssociatedGraphs::AllExcept(set) => self
.graphs
.iter()
.filter(|(e, _, _, v, _)| !matches!(v, Visibility::Hidden) && !set.contains(e))
.max_by(|(_, _, _, _, a), (_, _, _, _, b)| a.cmp(b))
.map(|(_, m, c, _, d)| (m.clone(), *c, *d)),
}
.map(|(m, c, d)| (m.0, c.to_bevy(), d.proportion()))
.unwrap_or((
self.assets.unassigned_lane_material.clone(),
NAV_UNASSIGNED_COLOR,
0.99,
))
}
pub fn should_display(&self, associated_graphs: &AssociatedGraphs<Entity>) -> bool {
match associated_graphs {
AssociatedGraphs::All => {
self.graphs.is_empty()
|| self
.graphs
.iter()
.find(|(_, _, _, v, _)| !matches!(v, Visibility::Hidden))
.is_some()
}
AssociatedGraphs::Only(set) => {
self.graphs.is_empty()
|| set.is_empty()
|| set
.iter()
.find(|e| {
self.graphs
.get(**e)
.ok()
.filter(|(_, _, _, v, _)| !matches!(v, Visibility::Hidden))
.is_some()
})
.is_some()
}
AssociatedGraphs::AllExcept(set) => {
self.graphs.iter().find(|(e, _, _, v, _)| !matches!(v, Visibility::Hidden) && !set.contains(e)).is_some()
// If all graphs are excluded for this lane then we want it to remain
// visible but with the unassigned material
|| self.graphs.iter().find(|(e, _, _, _, _)| !set.contains(e)).is_none()
}
}
}
}
pub fn add_category_to_graphs(
mut commands: Commands,
new_graphs: Query<Entity, (With<NavGraphMarker>, Without<Category>)>,
) {
for e in &new_graphs {
commands.entity(e).insert(Category::NavigationGraph);
}
}