allow ignore for occupancy calculation

Signed-off-by: Reuben Thomas <reubenthomas123@gmail.com>
open-rmf · Jul 31, 2024 · 94ccc5c · 94ccc5c
1 parent a944432
commit 94ccc5c
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diff --git a/rmf_site_editor/src/occupancy.rs b/rmf_site_editor/src/occupancy.rs
@@ -140,6 +140,8 @@ pub struct CalculateGrid {
     pub floor: f32,
     /// Ignore meshes above this height
     pub ceiling: f32,
+    // Ignore these entities
+    pub ignore: Option<HashSet<Entity>>,
 }
 
 enum Group {
@@ -180,6 +182,14 @@ fn calculate_grid(
         let physical_entities = collect_physical_entities(&bodies, &meta);
         info!("Checking {:?} physical entities", physical_entities.len());
         for e in &physical_entities {
+            if request
+                .ignore
+                .as_ref()
+                .is_some_and(|ignored_set| ignored_set.contains(e))
+            {
+                continue;
+            }
+
             let (_, mesh, aabb, tf) = match bodies.get(*e) {
                 Ok(body) => body,
                 Err(_) => continue,

diff --git a/rmf_site_editor/src/widgets/view_occupancy.rs b/rmf_site_editor/src/widgets/view_occupancy.rs
@@ -60,6 +60,7 @@ impl<'w> ViewOccupancy<'w> {
                     cell_size: self.display_occupancy.cell_size,
                     floor: 0.01,
                     ceiling: 1.5,
+                    ignore: None,
                 });
             }
             if ui
@@ -75,6 +76,7 @@ impl<'w> ViewOccupancy<'w> {
                         cell_size: self.display_occupancy.cell_size,
                         floor: 0.01,
                         ceiling: 1.5,
+                        ignore: None,
                     });
                 }
             }