Merge branch 'main' into emilk/better-redo-shortcut

crates/store/re_types/src/components/pose_rotation_axis_angle_ext.rs

@@ -17,6 +17,11 @@ impl PoseRotationAxisAngle {
 impl From<PoseRotationAxisAngle> for glam::Affine3A {
     #[inline]
     fn from(val: PoseRotationAxisAngle) -> Self {
-        Self::from_axis_angle(val.0.axis.into(), val.0.angle.radians())
+        if let Some(normalized) = glam::Vec3::from(val.0.axis).try_normalize() {
+            Self::from_axis_angle(normalized, val.0.angle.radians())
+        } else {
+            // If the axis is zero length, we can't normalize it, so we just use the identity rotation.
+            Self::IDENTITY
+        }
     }
 }

crates/store/re_types/src/components/rotation_axis_angle_ext.rs

@@ -17,6 +17,11 @@ impl RotationAxisAngle {
 impl From<RotationAxisAngle> for glam::Affine3A {
     #[inline]
     fn from(val: RotationAxisAngle) -> Self {
-        Self::from_axis_angle(val.0.axis.into(), val.0.angle.radians())
+        if let Some(normalized) = glam::Vec3::from(val.0.axis).try_normalize() {
+            Self::from_axis_angle(normalized, val.0.angle.radians())
+        } else {
+            // If the axis is zero length, we can't normalize it, so we just use the identity rotation.
+            Self::IDENTITY
+        }
     }
 }

crates/viewer/re_renderer/src/renderer/mesh_renderer.rs

@@ -220,8 +220,15 @@ impl MeshDrawData {
                     count_with_outlines += instance.outline_mask_ids.is_some() as u32;
 
                     let world_from_mesh_mat3 = instance.world_from_mesh.matrix3;
+                    // If the matrix is not invertible the draw result is likely invalid as well.
+                    // However, at this point it's really hard to bail out!
+                    // Also, by skipping drawing here, we'd make the result worse as there would be no mesh draw calls that could be debugged.
                     let world_from_mesh_normal =
-                        instance.world_from_mesh.matrix3.inverse().transpose();
+                        if instance.world_from_mesh.matrix3.determinant() != 0.0 {
+                            instance.world_from_mesh.matrix3.inverse().transpose()
+                        } else {
+                            glam::Mat3A::ZERO
+                        };
                     instance_buffer_staging.push(gpu_data::InstanceData {
                         world_from_mesh_row_0: world_from_mesh_mat3
                             .row(0)

crates/viewer/re_space_view_graph/src/layout/provider.rs

@@ -27,115 +27,86 @@ impl<'a> From<&'a NodeTemplate> for fj::Node {
 
 pub struct ForceLayoutProvider {
     simulation: fj::Simulation,
-    node_index: ahash::HashMap<NodeId, usize>,
     pub request: LayoutRequest,
 }
 
+fn considered_edges(request: &LayoutRequest) -> Vec<(usize, usize)> {
+    let node_index: ahash::HashMap<NodeId, usize> = request
+        .all_nodes()
+        .enumerate()
+        .map(|(i, (id, _))| (id, i))
+        .collect();
+    request
+        .all_edges()
+        .filter(|(id, _)| !id.is_self_edge())
+        .map(|(id, _)| (node_index[&id.source], node_index[&id.target]))
+        .collect()
+}
+
 impl ForceLayoutProvider {
     pub fn new(request: LayoutRequest) -> Self {
-        Self::new_impl(request, None)
-    }
-
-    pub fn new_with_previous(request: LayoutRequest, layout: &Layout) -> Self {
-        Self::new_impl(request, Some(layout))
-    }
-
-    // TODO(grtlr): Consider consuming the old layout to avoid re-allocating the extents.
-    // That logic has to be revised when adding the blueprints anyways.
-    fn new_impl(request: LayoutRequest, layout: Option<&Layout>) -> Self {
-        let nodes = request.graphs.iter().flat_map(|(_, graph_template)| {
-            graph_template.nodes.iter().map(|n| {
-                let mut fj_node = fj::Node::from(n.1);
-                if let Some(rect) = layout.and_then(|l| l.get_node(n.0)) {
-                    let pos = rect.center();
-                    fj_node = fj_node.position(pos.x as f64, pos.y as f64);
-                }
-
-                (n.0, fj_node)
-            })
-        });
-
-        let mut node_index = ahash::HashMap::default();
-        let all_nodes: Vec<fj::Node> = nodes
-            .enumerate()
-            .map(|(i, n)| {
-                node_index.insert(*n.0, i);
-                n.1
-            })
-            .collect();
-
-        let all_edges_iter = request
-            .graphs
-            .iter()
-            .flat_map(|(_, graph_template)| graph_template.edges.iter());
-
-        // Looking at self-edges does not make sense in a force-based layout, so we filter those out.
-        let considered_edges = all_edges_iter
-            .clone()
-            .filter(|(id, _)| !id.is_self_edge())
-            .map(|(id, _)| (node_index[&id.source], node_index[&id.target]));
+        let nodes = request.all_nodes().map(|(_, v)| fj::Node::from(v));
+        let edges = considered_edges(&request);
 
         // TODO(grtlr): Currently we guesstimate good forces. Eventually these should be exposed as blueprints.
         let simulation = fj::SimulationBuilder::default()
             .with_alpha_decay(0.01) // TODO(grtlr): slows down the simulation for demo
-            .build(all_nodes)
-            .add_force(
-                "link",
-                fj::Link::new(considered_edges).distance(50.0).iterations(2),
-            )
+            .build(nodes)
+            .add_force("link", fj::Link::new(edges).distance(50.0).iterations(2))
             .add_force("charge", fj::ManyBody::new())
             // TODO(grtlr): This is a small stop-gap until we have blueprints to prevent nodes from flying away.
             .add_force("x", fj::PositionX::new().strength(0.01))
             .add_force("y", fj::PositionY::new().strength(0.01));
 
         Self {
             simulation,
-            node_index,
             request,
         }
     }
 
-    pub fn init(&self) -> Layout {
-        let positions = self.simulation.positions().collect::<Vec<_>>();
-        let mut extents = ahash::HashMap::default();
-
-        for graph in self.request.graphs.values() {
-            for (id, node) in &graph.nodes {
-                let i = self.node_index[id];
-                let [x, y] = positions[i];
-                let pos = Pos2::new(x as f32, y as f32);
-                extents.insert(*id, Rect::from_center_size(pos, node.size));
+    pub fn new_with_previous(request: LayoutRequest, layout: &Layout) -> Self {
+        let nodes = request.all_nodes().map(|(id, v)| {
+            if let Some(rect) = layout.get_node(&id) {
+                let pos = rect.center();
+                fj::Node::from(v).position(pos.x as f64, pos.y as f64)
+            } else {
+                fj::Node::from(v)
             }
-        }
+        });
+        let edges = considered_edges(&request);
+
+        // TODO(grtlr): Currently we guesstimate good forces. Eventually these should be exposed as blueprints.
+        let simulation = fj::SimulationBuilder::default()
+            .with_alpha_decay(0.01) // TODO(grtlr): slows down the simulation for demo
+            .build(nodes)
+            .add_force("link", fj::Link::new(edges).distance(50.0).iterations(2))
+            .add_force("charge", fj::ManyBody::new())
+            // TODO(grtlr): This is a small stop-gap until we have blueprints to prevent nodes from flying away.
+            .add_force("x", fj::PositionX::new().strength(0.01))
+            .add_force("y", fj::PositionY::new().strength(0.01));
 
-        Layout {
-            nodes: extents,
-            // Without any real node positions, we probably don't want to draw edges either.
-            edges: ahash::HashMap::default(),
-            entities: Vec::new(),
+        Self {
+            simulation,
+            request,
         }
     }
 
-    /// Returns `true` if finished.
-    pub fn tick(&mut self, layout: &mut Layout) -> bool {
-        self.simulation.tick(1);
-
-        let positions = self.simulation.positions().collect::<Vec<_>>();
+    fn layout(&self) -> Layout {
+        // We make use of the fact here that the simulation is stable, i.e. the
+        // order of the nodes is the same as in the `request`.
+        let mut positions = self.simulation.positions();
 
-        // We clear all unnecessary data from the previous layout, but keep its space allocated.
-        layout.entities.clear();
-        layout.edges.clear();
+        let mut layout = Layout::empty();
 
         for (entity, graph) in &self.request.graphs {
             let mut current_rect = Rect::NOTHING;
 
-            for node in graph.nodes.keys() {
-                let extent = layout.nodes.get_mut(node).expect("node has to be present");
-                let i = self.node_index[node];
-                let [x, y] = positions[i];
+            for (node, template) in &graph.nodes {
+                let [x, y] = positions.next().expect("positions has to match the layout");
                 let pos = Pos2::new(x as f32, y as f32);
-                extent.set_center(pos);
-                current_rect = current_rect.union(*extent);
+                let extent = Rect::from_center_size(pos, template.size);
+                current_rect = current_rect.union(extent);
+                layout.nodes.insert(*node, extent);
             }
 
             layout.entities.push((entity.clone(), current_rect));
@@ -248,6 +219,16 @@ impl ForceLayoutProvider {
             }
         }
 
+        layout
+    }
+
+    /// Returns `true` if finished.
+    pub fn tick(&mut self) -> Layout {
+        self.simulation.tick(1);
+        self.layout()
+    }
+
+    pub fn is_finished(&self) -> bool {
         self.simulation.finished()
     }
 }

crates/viewer/re_space_view_graph/src/layout/request.rs

@@ -78,4 +78,18 @@ impl LayoutRequest {
 
         request
     }
+
+    /// Returns all nodes from all graphs in this request.
+    pub(super) fn all_nodes(&self) -> impl Iterator<Item = (NodeId, &NodeTemplate)> + '_ {
+        self.graphs
+            .iter()
+            .flat_map(|(_, graph)| graph.nodes.iter().map(|(k, v)| (*k, v)))
+    }
+
+    /// Returns all edges from all graphs in this request.
+    pub(super) fn all_edges(&self) -> impl Iterator<Item = (EdgeId, &[EdgeTemplate])> + '_ {
+        self.graphs
+            .iter()
+            .flat_map(|(_, graph)| graph.edges.iter().map(|(k, v)| (*k, v.as_slice())))
+    }
 }

crates/viewer/re_space_view_graph/src/layout/result.rs

@@ -19,6 +19,15 @@ fn bounding_rect_from_iter(rectangles: impl Iterator<Item = egui::Rect>) -> egui
 }
 
 impl Layout {
+    /// Creates an empty layout
+    pub fn empty() -> Self {
+        Self {
+            nodes: ahash::HashMap::default(),
+            edges: ahash::HashMap::default(),
+            entities: Vec::new(),
+        }
+    }
+
     /// Returns the bounding rectangle of the layout.
     pub fn bounding_rect(&self) -> Rect {
         // TODO(grtlr): We mostly use this for debugging, but we should probably

crates/viewer/re_space_view_graph/src/ui/state.rs

@@ -105,34 +105,33 @@ impl LayoutState {
             }
             // We need to recompute the layout.
             Self::None => {
-                let provider = ForceLayoutProvider::new(new_request);
-                let layout = provider.init();
-
+                let mut provider = ForceLayoutProvider::new(new_request);
+                let layout = provider.tick();
                 Self::InProgress { layout, provider }
             }
             Self::Finished { layout, .. } => {
                 let mut provider = ForceLayoutProvider::new_with_previous(new_request, &layout);
-                let mut layout = provider.init();
-                provider.tick(&mut layout);
-
+                let layout = provider.tick();
                 Self::InProgress { layout, provider }
             }
             Self::InProgress {
                 layout, provider, ..
             } if provider.request != new_request => {
                 let mut provider = ForceLayoutProvider::new_with_previous(new_request, &layout);
-                let mut layout = provider.init();
-                provider.tick(&mut layout);
+                let layout = provider.tick();
 
                 Self::InProgress { layout, provider }
             }
             // We keep iterating on the layout until it is stable.
             Self::InProgress {
-                mut layout,
                 mut provider,
-            } => match provider.tick(&mut layout) {
+                layout,
+            } => match provider.is_finished() {
                 true => Self::Finished { layout, provider },
-                false => Self::InProgress { layout, provider },
+                false => Self::InProgress {
+                    layout: provider.tick(),
+                    provider,
+                },
             },
         }
     }

crates/viewer/re_space_view_spatial/src/contexts/transform_context.rs

@@ -555,8 +555,14 @@ fn query_and_resolve_tree_transform_at_entity(
     if let Some(mat3x3) = result.component_instance::<TransformMat3x3>(0) {
         transform *= glam::Affine3A::from(mat3x3);
     }
+
     if result.component_instance::<TransformRelation>(0) == Some(TransformRelation::ChildFromParent)
     {
+        if transform.matrix3.determinant() != 0.0 {
+            // TODO(andreas): Should we warn? This might be intentionally caused by zero scale.
+            transform = transform.inverse();
+        }
+
         transform = transform.inverse();
     }
 

crates/viewer/re_ui/Cargo.toml

@@ -36,23 +36,21 @@ re_log.workspace = true
 re_log_types.workspace = true # syntax-highlighting for EntityPath
 re_tracing.workspace = true
 
-egui.workspace = true
+eframe = { workspace = true, default-features = false, features = ["wgpu"] }
 egui_commonmark = { workspace = true, features = ["pulldown_cmark"] }
 egui_extras.workspace = true
+egui_tiles.workspace = true
+egui.workspace = true
 once_cell.workspace = true
 parking_lot.workspace = true
+rand.workspace = true
 serde = { workspace = true, features = ["derive"] }
 serde_json.workspace = true
-strum.workspace = true
+smallvec.workspace = true
 strum_macros.workspace = true
+strum.workspace = true
 sublime_fuzzy.workspace = true
 
 
-eframe = { workspace = true, default-features = false, features = ["wgpu"] }
-egui_tiles.workspace = true
-rand.workspace = true
-smallvec.workspace = true
-
-
 [dev-dependencies]
 egui_kittest.workspace = true