Update to Bevy 0.11 (#180)

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Michael X. Grey <grey@openrobotics.org>
Co-authored-by: Grey <grey@openrobotics.org>

rmf_site_editor/Cargo.toml

@@ -16,25 +16,23 @@ name = "extending_site_editor"
 path = "examples/extending_menu.rs"
 
 [dependencies]
-bevy_egui = "0.19"
-bevy_mod_picking = "0.11"
-bevy_mod_raycast = "0.7"
-bevy_mod_outline = "0.3.3"
-bevy_infinite_grid = "0.6"
-bevy_polyline = "0.4"
-bevy_stl = "0.7.0"
-bevy_obj = { git = "https://github.com/luca-della-vedova/bevy_obj", branch = "luca/scene_0.9", features = ["scene"]}
-bevy_rapier3d = "0.20.0"
+bevy_egui = "0.21"
+bevy_mod_raycast = "0.13"
+bevy_mod_outline = "0.5"
+bevy_infinite_grid = "0.8"
+bevy_polyline = "0.7"
+bevy_stl = "0.11"
+bevy_obj = { version = "0.11", features = ["scene"] }
+bevy_rapier3d = "0.22.0"
 smallvec = "*"
 serde = { version = "1.0", features = ["derive"] }
 serde_yaml = "0.8.23"
 serde_json = "1.0"
 # wasm-bindgen 0.2.85 introduces a compile error in stdweb
 wasm-bindgen = "=0.2.84"
-web-sys = { version = "0.3.56", features = ["console"] }
 futures-lite = "1.12.0"
-bevy = "0.9"
-bevy_utils = "0.9"
+bevy = { version = "0.11", features = ["pnm", "jpeg", "tga"] }
+bevy_utils = "0.11"
 dirs = "4.0"
 thread_local = "*"
 lyon = "1"
@@ -52,17 +50,15 @@ sdformat_rs = { git = "https://github.com/open-rmf/sdf_rust_experimental", rev =
 gz-fuel = { git = "https://github.com/open-rmf/gz-fuel-rs", branch = "first_implementation" }
 pathdiff = "*"
 
-# only enable the 'dynamic' feature if we're not building for web or windows
+# only enable the 'dynamic_linking' feature if we're not building for web or windows
+# TODO(luca) it seems this can be enabled on windows, check
+# https://bevyengine.org/learn/book/getting-started/setup/#enable-fast-compiles-optional
 [target.'cfg(all(not(target_arch = "wasm32"), not(target_os = "windows")))'.dependencies]
-bevy = { version = "0.9", features = ["dynamic", "jpeg", "tga"] }
+bevy = { version = "0.11", features = ["dynamic_linking"] }
 surf = { version = "2.3" }
 
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
 clap = { version = "4.0.10", features = ["color", "derive", "help", "usage", "suggestions"] }
-
-# windows doesnt work well with dynamic feature yet
-[target.'cfg(target_os = "windows")'.dependencies]
-bevy = { version = "0.9", features = ["jpeg", "tga"] }
 surf = { version = "2.3" }
 
 [target.'cfg(target_arch = "wasm32")'.dependencies]

rmf_site_editor/src/aabb.rs

@@ -89,7 +89,7 @@ pub fn update_bounds(
     mut mesh_reassigned: Query<(Entity, &Handle<Mesh>, &mut Aabb), Changed<Handle<Mesh>>>,
     mut entity_mesh_map: ResMut<EntityMeshMap>,
     mut mesh_events: EventReader<AssetEvent<Mesh>>,
-    entities_lost_mesh: RemovedComponents<Handle<Mesh>>,
+    mut entities_lost_mesh: RemovedComponents<Handle<Mesh>>,
 ) {
     for entity in entities_lost_mesh.iter() {
         entity_mesh_map.deregister(entity);
@@ -127,10 +127,10 @@ pub struct AabbUpdatePlugin;
 impl Plugin for AabbUpdatePlugin {
     fn build(&self, app: &mut App) {
         app.init_resource::<EntityMeshMap>()
-            .add_system_to_stage(
-                CoreStage::PostUpdate,
+            .add_systems(
+                PostUpdate,
                 register_bounds.after(VisibilitySystems::CalculateBounds),
             )
-            .add_system_to_stage(CoreStage::PostUpdate, update_bounds);
+            .add_systems(PostUpdate, update_bounds);
     }
 }

rmf_site_editor/src/animate.rs

@@ -109,7 +109,9 @@ pub struct AnimationPlugin;
 
 impl Plugin for AnimationPlugin {
     fn build(&self, app: &mut App) {
-        app.add_system(update_spinning_animations)
-            .add_system(update_bobbing_animations);
+        app.add_systems(
+            Update,
+            (update_spinning_animations, update_bobbing_animations),
+        );
     }
 }

rmf_site_editor/src/interaction/anchor.rs

@@ -46,25 +46,25 @@ pub fn add_anchor_visual_cues(
             _ => site_assets.site_anchor_mesh.clone(),
         };
 
-        let mut entity_commands = commands.entity(e);
-        let body = entity_commands.add_children(|parent| {
-            let mut body = parent.spawn(PbrBundle {
+        let body = commands
+            .spawn(PbrBundle {
                 mesh: body_mesh,
                 material: site_assets.passive_anchor_material.clone(),
                 ..default()
-            });
-            body.insert(Selectable::new(e));
-            if subordinate.is_none() {
-                body.insert(DragPlaneBundle::new(e, Vec3::Z));
-            }
-            let body = body.id();
-
-            body
-        });
+            })
+            .insert(Selectable::new(e))
+            .id();
+        if subordinate.is_none() {
+            commands
+                .entity(body)
+                .insert(DragPlaneBundle::new(e, Vec3::Z));
+        }
 
+        let mut entity_commands = commands.entity(e);
         entity_commands
             .insert(AnchorVisualization { body, drag: None })
-            .insert(OutlineVisualization::Anchor { body });
+            .insert(OutlineVisualization::Anchor { body })
+            .add_child(body);
 
         // 3D anchors should always be visible with arrow cue meshes
         if anchor.is_3D() {
@@ -184,8 +184,8 @@ pub fn update_anchor_visual_cues(
             &mut AnchorVisualization,
             &mut VisualCue,
             Option<&Subordinate>,
-            ChangeTrackers<Hovered>,
-            ChangeTrackers<Selected>,
+            Ref<Hovered>,
+            Ref<Selected>,
         ),
         Or<(Changed<Hovered>, Changed<Selected>, Changed<Dependents>)>,
     >,

rmf_site_editor/src/interaction/assets.rs

@@ -63,7 +63,7 @@ impl InteractionAssets {
 
     pub fn make_axis(
         &self,
-        command: &mut Commands,
+        commands: &mut Commands,
         // What entity will be moved when this gizmo is dragged
         for_entity_opt: Option<Entity>,
         // What entity should be the parent frame of this gizmo
@@ -73,22 +73,24 @@ impl InteractionAssets {
         rotation: Quat,
         scale: f32,
     ) -> Entity {
-        return command.entity(parent).add_children(|parent| {
-            let mut child_entity = parent.spawn(PbrBundle {
+        let child_entity = commands
+            .spawn(PbrBundle {
                 transform: Transform::from_rotation(rotation)
                     .with_translation(offset)
                     .with_scale(Vec3::splat(scale)),
                 mesh: self.arrow_mesh.clone(),
                 material: material_set.passive.clone(),
                 ..default()
-            });
+            })
+            .set_parent(parent)
+            .id();
 
-            if let Some(for_entity) = for_entity_opt {
-                child_entity
-                    .insert(DragAxisBundle::new(for_entity, Vec3::Z).with_materials(material_set));
-            }
-            child_entity.id()
-        });
+        if let Some(for_entity) = for_entity_opt {
+            commands
+                .entity(child_entity)
+                .insert(DragAxisBundle::new(for_entity, Vec3::Z).with_materials(material_set));
+        }
+        child_entity
     }
 
     pub fn make_draggable_axis(
@@ -121,12 +123,11 @@ impl InteractionAssets {
         anchor: Entity,
         cue: &mut AnchorVisualization,
     ) {
-        let drag_parent = commands.entity(anchor).add_children(|parent| {
-            parent
-                .spawn(SpatialBundle::default())
-                .insert(VisualCue::no_outline().irregular().always_xray())
-                .id()
-        });
+        let drag_parent = commands
+            .spawn(SpatialBundle::default())
+            .insert(VisualCue::no_outline().irregular().always_xray())
+            .set_parent(anchor)
+            .id();
 
         let height = 0.0;
         let scale = 0.2;
@@ -167,12 +168,11 @@ impl InteractionAssets {
         cue: &mut AnchorVisualization,
         draggable: bool,
     ) {
-        let drag_parent = commands.entity(anchor).add_children(|parent| {
-            parent
-                .spawn(SpatialBundle::default())
-                .insert(VisualCue::no_outline().irregular().always_xray())
-                .id()
-        });
+        let drag_parent = commands
+            .spawn(SpatialBundle::default())
+            .insert(VisualCue::no_outline().irregular().always_xray())
+            .id();
+        commands.entity(anchor).add_child(drag_parent);
 
         let for_entity = if draggable { Some(anchor) } else { None };
         let scale = 0.2;
@@ -197,7 +197,7 @@ impl InteractionAssets {
             self.make_axis(commands, for_entity, drag_parent, m, p, r, scale);
         }
 
-        commands.entity(drag_parent).add_children(|parent| {
+        commands.entity(drag_parent).with_children(|parent| {
             for (polyline, material) in &self.centimeter_finite_grid {
                 parent.spawn(PolylineBundle {
                     polyline: polyline.clone(),
@@ -292,20 +292,28 @@ impl FromWorld for InteractionAssets {
             base_color: Color::WHITE,
             alpha_mode: AlphaMode::Blend,
             unlit: true,
+            perceptual_roughness: 0.089,
+            metallic: 0.01,
             ..default()
         });
         let dagger_material = materials.add(StandardMaterial {
             base_color: Color::WHITE,
+            perceptual_roughness: 0.089,
+            metallic: 0.01,
             ..default()
         });
         let light_cover_color = Color::rgb(0.6, 0.7, 0.8);
         let physical_light_cover_material = materials.add(StandardMaterial {
             base_color: light_cover_color,
+            perceptual_roughness: 0.089,
+            metallic: 0.01,
             ..default()
         });
         let direction_light_cover_material = materials.add(StandardMaterial {
             base_color: light_cover_color,
             unlit: true,
+            perceptual_roughness: 0.089,
+            metallic: 0.01,
             ..default()
         });
         let x_axis_materials = GizmoMaterialSet::make_x_axis(&mut materials);
@@ -317,18 +325,24 @@ impl FromWorld for InteractionAssets {
                 base_color: Color::rgba(0.1, 0.9, 0.1, 0.1),
                 alpha_mode: AlphaMode::Blend,
                 unlit: true,
+                perceptual_roughness: 0.089,
+                metallic: 0.01,
                 ..default()
             }),
             hover: materials.add(StandardMaterial {
                 base_color: Color::rgba(0.1, 0.9, 0.1, 0.9),
                 alpha_mode: AlphaMode::Blend,
                 unlit: true,
+                perceptual_roughness: 0.089,
+                metallic: 0.01,
                 ..default()
             }),
             drag: materials.add(StandardMaterial {
                 base_color: Color::rgba(0.1, 0.9, 0.1, 0.9),
                 alpha_mode: AlphaMode::Blend,
                 unlit: true,
+                perceptual_roughness: 0.089,
+                metallic: 0.01,
                 ..default()
             }),
         };
@@ -337,18 +351,24 @@ impl FromWorld for InteractionAssets {
                 base_color: Color::rgba(0.9, 0.1, 0.1, 0.1),
                 alpha_mode: AlphaMode::Blend,
                 unlit: true,
+                perceptual_roughness: 0.089,
+                metallic: 0.01,
                 ..default()
             }),
             hover: materials.add(StandardMaterial {
                 base_color: Color::rgba(0.9, 0.1, 0.1, 0.9),
                 alpha_mode: AlphaMode::Blend,
                 unlit: true,
+                perceptual_roughness: 0.089,
+                metallic: 0.01,
                 ..default()
             }),
             drag: materials.add(StandardMaterial {
                 base_color: Color::rgba(0.9, 0.1, 0.1, 0.9),
                 alpha_mode: AlphaMode::Blend,
                 unlit: true,
+                perceptual_roughness: 0.089,
+                metallic: 0.01,
                 ..default()
             }),
         };