Add better entity exclusion

Signed-off-by: Aleksander Kamiński <[email protected]>

Author: alek-kam-robotec-ai

Code/Include/RGL/RGLBus.h

@@ -36,6 +36,10 @@ namespace RGL
         //! Updates scene to the RGL
         virtual void UpdateScene() = 0;
 
+        //! Forces a reevaluation of entity presence conditions.
+        //! Results of this condition reevaluation influence entity's inclusion in raycasting.
+        virtual void ReviseEntityPresence(AZ::EntityId entityId) = 0;
+
     protected:
         ~RGLRequests() = default;
     };

Code/Include/RGL/SceneConfiguration.h

@@ -16,6 +16,8 @@
 
 #include <Atom/RPI.Reflect/Image/StreamingImageAsset.h>
 #include <AzCore/Asset/AssetCommon.h>
+#include <AzCore/std/containers/vector.h>
+#include <AzCore/std/string/string.h>
 
 namespace RGL
 {
@@ -37,6 +39,7 @@ namespace RGL
         static void Reflect(AZ::ReflectContext* context);
 
         TerrainIntensityConfiguration m_terrainIntensityConfig;
+        AZStd::vector<AZStd::string> m_excludedTagNames;
         // clang-format off
         bool m_isSkinnedMeshUpdateEnabled{ true }; //!< If set to true, all skinned meshes will be updated. Otherwise they will remain unchanged.
         // clang-format on

Code/Source/Entity/EntityTagListener.cpp

@@ -0,0 +1,58 @@
+/* Copyright 2024, Robotec.ai sp. z o.o.
+ *
+ * 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.
+ */
+#include <Entity/EntityTagListener.h>
+#include <RGL/RGLBus.h>
+
+namespace RGL
+{
+    EntityTagListener::EntityTagListener(AZ::EntityId entityId)
+        : m_entityId(entityId)
+    {
+        AZ::EntityBus::Handler::BusConnect(m_entityId);
+    }
+
+    EntityTagListener::~EntityTagListener()
+    {
+        AZ::EntityBus::Handler::BusDisconnect(m_entityId);
+    }
+
+    void EntityTagListener::OnEntityActivated([[maybe_unused]] const AZ::EntityId& entityId)
+    {
+        LmbrCentral::Tags entityTags;
+        LmbrCentral::TagComponentRequestBus::EventResult(entityTags, m_entityId, &LmbrCentral::TagComponentRequests::GetTags);
+
+        if (!entityTags.empty())
+        {
+            RGLInterface::Get()->ReviseEntityPresence(m_entityId);
+        }
+
+        LmbrCentral::TagComponentNotificationsBus::Handler::BusConnect(m_entityId);
+    }
+
+    void EntityTagListener::OnEntityDeactivated(const AZ::EntityId& entity_id)
+    {
+        LmbrCentral::TagComponentNotificationsBus::Handler::BusDisconnect(m_entityId);
+    }
+
+    void EntityTagListener::OnTagAdded(const LmbrCentral::Tag& crc32)
+    {
+        RGLInterface::Get()->ReviseEntityPresence(m_entityId);
+    }
+
+    void EntityTagListener::OnTagRemoved(const LmbrCentral::Tag& crc32)
+    {
+        RGLInterface::Get()->ReviseEntityPresence(m_entityId);
+    }
+} // namespace RGL

Code/Source/Entity/EntityTagListener.h

@@ -0,0 +1,40 @@
+/* Copyright 2024, Robotec.ai sp. z o.o.
+ *
+ * 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.
+ */
+#pragma once
+
+#include <AzCore/Component/EntityBus.h>
+#include <LmbrCentral/Scripting/TagComponentBus.h>
+
+namespace RGL
+{
+    class EntityTagListener
+        : AZ::EntityBus::Handler
+        , LmbrCentral::TagComponentNotificationsBus::Handler
+    {
+    public:
+        EntityTagListener(AZ::EntityId entityId);
+        ~EntityTagListener();
+
+        void OnEntityActivated(const AZ::EntityId&) override;
+        void OnEntityDeactivated(const AZ::EntityId&) override;
+
+        // TagComponentNotificationsBus overrides
+        void OnTagAdded(const LmbrCentral::Tag&) override;
+        void OnTagRemoved(const LmbrCentral::Tag&) override;
+
+    private:
+        AZ::EntityId m_entityId;
+    };
+} // namespace RGL

Code/Source/RGLSystemComponent.cpp

@@ -87,13 +87,15 @@ namespace RGL
 
         AzFramework::EntityContextEventBus::Handler::BusConnect(gameEntityContextId);
         LidarSystemNotificationBus::Handler::BusConnect();
+        AZ::TickBus::Handler::BusConnect();
 
         m_rglLidarSystem.Activate();
     }
 
     void RGLSystemComponent::Deactivate()
     {
         m_rglLidarSystem.Deactivate();
+        AZ::TickBus::Handler::BusDisconnect();
         LidarSystemNotificationBus::Handler::BusDisconnect();
         AzFramework::EntityContextEventBus::Handler::BusDisconnect();
 
@@ -113,6 +115,18 @@ namespace RGL
     void RGLSystemComponent::SetSceneConfiguration(const SceneConfiguration& config)
     {
         m_sceneConfig = config;
+
+        m_excludedTags.resize(config.m_excludedTagNames.size());
+        AZStd::transform(
+            config.m_excludedTagNames.begin(),
+            config.m_excludedTagNames.end(),
+            m_excludedTags.begin(),
+            [](const AZStd::string& tagName) -> LmbrCentral::Tag
+            {
+                return LmbrCentral::Tag(tagName);
+            });
+        UpdateTagExcludedEntities();
+
         RGLNotificationBus::Broadcast(&RGLNotifications::OnSceneConfigurationSet, config);
     }
 
@@ -121,14 +135,37 @@ namespace RGL
         return m_sceneConfig;
     }
 
+    static bool HasExcludedTag(AZ::EntityId entityId, const AZStd::vector<LmbrCentral::Tag>& excludedTags)
+    {
+        LmbrCentral::Tags entityTags;
+        LmbrCentral::TagComponentRequestBus::EventResult(entityTags, entityId, &LmbrCentral::TagComponentRequests::GetTags);
+
+        if (entityTags.empty())
+        {
+            return false;
+        }
+
+        for (const auto tag : excludedTags)
+        {
+            if (entityTags.contains(tag))
+            {
+                return true;
+            }
+        }
+
+        return false;
+    }
+
     void RGLSystemComponent::OnEntityContextCreateEntity(AZ::Entity& entity)
     {
-        if (m_excludedEntities.contains(entity.GetId()))
+        if (!HasVisuals(entity))
         {
             return;
         }
 
-        if (m_activeLidarCount < 1U)
+        m_entityTagListeners.emplace_back(entity.GetId());
+
+        if (m_activeLidarCount < 1U || ShouldEntityBeExcluded(entity.GetId()))
         {
             m_unprocessedEntities.emplace(entity.GetId());
             return;
@@ -163,6 +200,12 @@ namespace RGL
         RGLNotificationBus::Broadcast(&RGLNotifications::OnAnyLidarExists);
         for (auto entityIdIt = m_unprocessedEntities.begin(); entityIdIt != m_unprocessedEntities.end();)
         {
+            if (ShouldEntityBeExcluded(*entityIdIt))
+            {
+                ++entityIdIt;
+                continue;
+            }
+
             AZ::Entity* entity = nullptr;
             AZ::ComponentApplicationBus::BroadcastResult(entity, &AZ::ComponentApplicationRequests::FindEntity, *entityIdIt);
             AZ_Assert(entity, "Failed to find entity with provided id!");
@@ -189,6 +232,26 @@ namespace RGL
         m_modelLibrary.Clear();
     }
 
+    void RGLSystemComponent::OnTick(float deltaTime, AZ::ScriptTimePoint time)
+    {
+        for (auto entityId : m_managersToBeRemoved)
+        {
+            m_entityManagers.erase(entityId);
+            m_unprocessedEntities.insert(entityId);
+        }
+        m_managersToBeRemoved.clear();
+    }
+
+    bool RGLSystemComponent::HasVisuals(const AZ::Entity& entity)
+    {
+        return entity.FindComponent<EMotionFX::Integration::ActorComponent>() || entity.FindComponent(AZ::Render::MeshComponentTypeId);
+    }
+
+    bool RGLSystemComponent::ShouldEntityBeExcluded(AZ::EntityId entityId) const
+    {
+        return m_excludedEntities.contains(entityId) || HasExcludedTag(entityId, m_excludedTags);
+    }
+
     void RGLSystemComponent::ProcessEntity(const AZ::Entity& entity)
     {
         AZStd::unique_ptr<EntityManager> entityManager;
@@ -209,6 +272,27 @@ namespace RGL
         AZ_Error(__func__, inserted, "Object with provided entityId already exists.");
     }
 
+    void RGLSystemComponent::UpdateTagExcludedEntities()
+    {
+        if (m_excludedTags.empty())
+        {
+            return;
+        }
+
+        for (auto entityManagerIt = m_entityManagers.begin(); entityManagerIt != m_entityManagers.end();)
+        {
+            if (HasExcludedTag(entityManagerIt->first, m_excludedTags))
+            {
+                m_unprocessedEntities.insert(entityManagerIt->first);
+                entityManagerIt = m_entityManagers.erase(entityManagerIt);
+            }
+            else
+            {
+                ++entityManagerIt;
+            }
+        }
+    }
+
     void RGLSystemComponent::UpdateScene()
     {
         AZ::ScriptTimePoint currentTime;
@@ -225,4 +309,33 @@ namespace RGL
             entityManager->Update();
         }
     }
+
+    void RGLSystemComponent::ReviseEntityPresence(AZ::EntityId entityId)
+    {
+        if (m_activeLidarCount < 1U)
+        {
+            return; // No lidars exist. Every entity should stay as unprocessed until they do.
+        }
+
+        if (m_excludedEntities.contains(entityId))
+        {
+            return; // Already not included.
+        }
+
+        if (HasExcludedTag(entityId, m_excludedTags))
+        {
+            if (m_entityManagers.contains(entityId))
+            {
+                m_managersToBeRemoved.push_back(entityId);
+            }
+        }
+        else if (const auto it = m_unprocessedEntities.find(entityId); it != m_unprocessedEntities.end())
+        {
+            m_unprocessedEntities.erase(it);
+            AZ::Entity* entity = nullptr;
+            AZ::ComponentApplicationBus::BroadcastResult(entity, &AZ::ComponentApplicationRequests::FindEntity, entityId);
+            AZ_Assert(entity, "Failed to find entity with provided id!");
+            ProcessEntity(*entity);
+        }
+    }
 } // namespace RGL

Code/Source/RGLSystemComponent.h

@@ -15,11 +15,14 @@
 #pragma once
 
 #include <AzCore/Component/Component.h>
+#include <AzCore/Component/TickBus.h>
 #include <AzCore/Math/Vector3.h>
 #include <AzCore/Script/ScriptTimePoint.h>
 #include <AzFramework/Entity/EntityContextBus.h>
+#include <Entity/EntityTagListener.h>
 #include <Lidar/LidarSystem.h>
 #include <Lidar/LidarSystemNotificationBus.h>
+#include <LmbrCentral/Scripting/TagComponentBus.h>
 #include <Model/ModelLibrary.h>
 #include <RGL/RGLBus.h>
 
@@ -32,6 +35,7 @@ namespace RGL
         , protected RGLRequestBus::Handler
         , protected AzFramework::EntityContextEventBus::Handler
         , protected LidarSystemNotificationBus::Handler
+        , protected AZ::TickBus::Handler
     {
     public:
         AZ_COMPONENT(RGL::RGLSystemComponent, "{dbd5b1c5-249f-4eca-a142-2533ebe7f680}");
@@ -56,6 +60,7 @@ namespace RGL
         void SetSceneConfiguration(const SceneConfiguration& config) override;
         [[nodiscard]] const SceneConfiguration& GetSceneConfiguration() const override;
         void UpdateScene() override;
+        void ReviseEntityPresence(AZ::EntityId entityId) override;
 
         // AzFramework::EntityContextEventBus overrides
         void OnEntityContextCreateEntity(AZ::Entity& entity) override;
@@ -66,18 +71,28 @@ namespace RGL
         void OnLidarCreated() override;
         void OnLidarDestroyed() override;
 
+        // AZ::TickBus overrides
+        void OnTick(float deltaTime, AZ::ScriptTimePoint time) override;
+
     private:
+        static bool HasVisuals(const AZ::Entity& entity);
+        bool ShouldEntityBeExcluded(AZ::EntityId entityId) const;
         void ProcessEntity(const AZ::Entity& entity);
+        void UpdateTagExcludedEntities();
 
+        SceneConfiguration m_sceneConfig;
         LidarSystem m_rglLidarSystem;
-
         ModelLibrary m_modelLibrary;
+
         AZStd::set<AZ::EntityId> m_excludedEntities;
         AZStd::set<AZ::EntityId> m_unprocessedEntities;
-        SceneConfiguration m_sceneConfig;
+        AZStd::vector<AZ::EntityId> m_managersToBeRemoved;
         AZStd::unordered_map<AZ::EntityId, AZStd::unique_ptr<EntityManager>> m_entityManagers;
-        AZ::ScriptTimePoint m_sceneUpdateLastTime{};
+        AZStd::vector<EntityTagListener> m_entityTagListeners;
 
+        AZStd::vector<LmbrCentral::Tag> m_excludedTags;
+
+        AZ::ScriptTimePoint m_sceneUpdateLastTime{};
         size_t m_activeLidarCount{};
     };
 } // namespace RGL

Code/Source/SceneConfiguration.cpp

@@ -61,13 +61,19 @@ namespace RGL
             serializeContext->Class<SceneConfiguration>()
                 ->Version(0)
                 ->Field("TerrainIntensityConfig", &SceneConfiguration::m_terrainIntensityConfig)
+                ->Field("excludedTagNames", &SceneConfiguration::m_excludedTagNames)
                 ->Field("SkinnedMeshUpdate", &SceneConfiguration::m_isSkinnedMeshUpdateEnabled);
 
             if (auto* editContext = serializeContext->GetEditContext())
             {
                 editContext->Class<SceneConfiguration>("RGL Scene Configuration", "")
                     ->DataElement(
                         AZ::Edit::UIHandlers::Default, &SceneConfiguration::m_terrainIntensityConfig, "Terrain Intensity Configuration", "")
+                    ->DataElement(
+                        AZ::Edit::UIHandlers::Default,
+                        &SceneConfiguration::m_excludedTagNames,
+                        "Raycast excluded Tag names",
+                        "Entities tagged with names present in this list will not be included in raycasting.")
                     ->DataElement(
                         AZ::Edit::UIHandlers::Default,
                         &SceneConfiguration::m_isSkinnedMeshUpdateEnabled,

Code/rgl_files.cmake

@@ -18,6 +18,8 @@ set(FILES
         Source/Entity/MeshEntityManager.h
         Source/Entity/EntityManager.cpp
         Source/Entity/EntityManager.h
+        Source/Entity/EntityTagListener.cpp
+        Source/Entity/EntityTagListener.h
         Source/Entity/MaterialEntityManager.cpp
         Source/Entity/MaterialEntityManager.h
         Source/Entity/Terrain/TerrainData.cpp