Add MultiSelection Resource to enable selecting multiple entities. Up…

crates/rmf_site_editor/src/interaction/select_impl/mod.rs

@@ -21,7 +21,9 @@ use replace_side::*;
 
 pub mod select_anchor;
 use rmf_site_format::{LiftCabin, Pending};
-use rmf_site_picking::{CommonNodeErrors, Hover, Select, Selectable, SelectionFilter};
+use rmf_site_picking::{
+    CommonNodeErrors, Hover, InspectionSettings, Select, Selectable, SelectionFilter,
+};
 pub use select_anchor::*;
 
 use anyhow::Error as Anyhow;
@@ -37,6 +39,7 @@ pub const SELECT_ANCHOR_MODE_LABEL: &'static str = "select_anchor";
 #[derive(SystemParam)]
 pub struct InspectorFilter<'w, 's> {
     selectables: Query<'w, 's, &'static Selectable, (Without<Preview>, Without<Pending>)>,
+    inspection_settings: Res<'w, InspectionSettings>,
 }
 
 impl<'w, 's> SelectionFilter for InspectorFilter<'w, 's> {
@@ -50,7 +53,7 @@ impl<'w, 's> SelectionFilter for InspectorFilter<'w, 's> {
         Some(target)
     }
     fn on_click(&mut self, hovered: Hover) -> Option<Select> {
-        Some(Select::new(hovered.0))
+        Some(Select::new(hovered.0).multi_select(self.inspection_settings.multi_select))
     }
 }
 

crates/rmf_site_editor/src/interaction/select_impl/select_anchor.rs

@@ -432,7 +432,7 @@ pub fn build_anchor_selection_workflow<State: 'static + Send + Sync>(
             .streams
             .select
             .chain(builder)
-            .map_block(|s| s.0)
+            .map_block(|s| s.candidate)
             .dispose_on_none()
             .with_access(buffer)
             .then(update_current)

crates/rmf_site_editor/src/keyboard.rs

@@ -75,8 +75,10 @@ fn handle_keyboard_input(
     if keyboard_input.just_pressed(KeyCode::Delete)
         || keyboard_input.just_pressed(KeyCode::Backspace)
     {
-        if let Some(selection) = selection.0 {
-            delete.write(Delete::new(selection));
+        if !selection.selected.is_empty() {
+            for e in &selection.selected {
+                delete.write(Delete::new(*e));
+            }
         } else {
             warn!("No selected entity to delete");
         }

crates/rmf_site_editor/src/site/deletion.rs

@@ -309,8 +309,8 @@ fn cautious_delete(element: Entity, params: &mut DeletionParams) {
             }
         }
 
-        if **params.selection == Some(e) {
-            params.select.write(Select(None));
+        if params.selection.get_single() == Some(e) {
+            params.select.write(Select::new(None));
         }
     }
 
@@ -422,8 +422,8 @@ fn perform_deletions(all_to_delete: HashSet<Entity>, params: &mut DeletionParams
             }
         }
 
-        if **params.selection == Some(e) {
-            params.select.write(Select(None));
+        if params.selection.get_single() == Some(e) {
+            params.select.write(Select::new(None));
         }
 
         if **params.current_level == Some(e) {

crates/rmf_site_editor/src/site/drawing_editor/mod.rs

@@ -230,10 +230,10 @@ fn make_drawing_default_selected(
     current: Res<CurrentEditDrawing>,
 ) {
     if selection.is_changed() {
-        if selection.0.is_none() {
+        if selection.get_single().is_none() {
             if let Some(c) = current.target() {
                 let drawing_entity = c.drawing;
-                selection.0 = Some(drawing_entity);
+                selection.selected.insert(drawing_entity);
             } else {
                 error!("No drawing while spawning drawing anchor");
             };

crates/rmf_site_editor/src/site/inclusion.rs

@@ -123,7 +123,7 @@ pub fn check_selected_is_included(
     selection: Res<Selection>,
     inclusion: Query<&Inclusion>,
 ) {
-    if selection.0.is_some_and(|e| {
+    if selection.get_single().is_some_and(|e| {
         inclusion.get(e).is_ok_and(|v| match v {
             Inclusion::Hidden => true,
             _ => false,

crates/rmf_site_editor/src/widgets/icons.rs

@@ -86,6 +86,7 @@ pub struct Icons {
     pub hide: Icon,
     pub show: Icon,
     pub home: Icon,
+    pub deselect: Icon,
 }
 
 impl FromWorld for Icons {
@@ -115,6 +116,7 @@ impl FromWorld for Icons {
         let hide = IconBuilder::new("widgets/icons/hide.png", &asset_server);
         let show = IconBuilder::new("widgets/icons/show.png", &asset_server);
         let home = IconBuilder::new("widgets/icons/home.png", &asset_server);
+        let deselect = IconBuilder::new("widgets/icons/deselect.png", &asset_server);
 
         // Note: Building the icons is a two-stage process because we cannot
         // get the mutable EguiContext resource at the same time as the
@@ -146,6 +148,7 @@ impl FromWorld for Icons {
             hide: hide.build(&mut egui_context),
             show: show.build(&mut egui_context),
             home: home.build(&mut egui_context),
+            deselect: deselect.build(&mut egui_context),
         }
     }
 }
@@ -182,6 +185,7 @@ fn add_widgets_icons(app: &mut App) {
     embedded_asset!(app, "src/", "icons/alignment.png");
     embedded_asset!(app, "src/", "icons/alpha.png");
     embedded_asset!(app, "src/", "icons/confirm.png");
+    embedded_asset!(app, "src/", "icons/deselect.png");
     embedded_asset!(app, "src/", "icons/down.png");
     embedded_asset!(app, "src/", "icons/edit.png");
     embedded_asset!(app, "src/", "icons/empty.png");

crates/rmf_site_editor/src/widgets/icons/attribution.md

@@ -8,6 +8,7 @@
 * [`search.png`](https://thenounproject.com/icon/search-3743008/)
 * [`merge.png`](https://thenounproject.com/icon/merge-3402180/)
 * [`hide.png`](https://thenounproject.com/icon/hide-eye-796162/)
+* [`deselect.png`](https://thenounproject.com/icon/delete-2261639/)
 * `trash.png`: @mxgrey
 * `selected.png`: @mxgrey
 * `alignment.png`: @mxgrey

crates/rmf_site_editor/src/widgets/inspector/inspect_multi_selection.rs

@@ -0,0 +1,106 @@
+/*
+ * Copyright (C) 2025 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::{Delete, NameInSite},
+    widgets::{prelude::*, MultiEditPoseWidget},
+    Icons,
+};
+use bevy::{ecs::system::SystemParam, prelude::*};
+use bevy_egui::egui::{Button, ImageButton, ScrollArea, Ui};
+use rmf_site_egui::WidgetSystem;
+use rmf_site_format::{InstanceMarker, SiteID};
+use rmf_site_picking::{Hover, Select};
+
+use smallvec::SmallVec;
+
+const INSTANCES_VIEWER_HEIGHT: f32 = 200.0;
+
+#[derive(SystemParam)]
+pub struct InspectMultiSelection<'w, 's> {
+    icons: Res<'w, Icons>,
+    model_instances:
+        Query<'w, 's, (Entity, &'static NameInSite, &'static SiteID), With<InstanceMarker>>,
+    delete: EventWriter<'w, Delete>,
+    select: EventWriter<'w, Select>,
+    multi_edit_pose_widget: MultiEditPoseWidget<'w, 's>,
+    hover: EventWriter<'w, Hover>,
+}
+
+impl<'w, 's> WidgetSystem<SmallVec<[Entity; 16]>, ()> for InspectMultiSelection<'w, 's> {
+    fn show(
+        instances: SmallVec<[Entity; 16]>,
+        ui: &mut Ui,
+        state: &mut SystemState<Self>,
+        world: &mut World,
+    ) -> () {
+        let mut params = state.get_mut(world);
+
+        params.show_widget(instances, ui);
+    }
+}
+
+impl<'w, 's> InspectMultiSelection<'w, 's> {
+    pub fn show_widget(&mut self, instances: SmallVec<[Entity; 16]>, ui: &mut Ui) {
+        ScrollArea::vertical()
+            .max_height(INSTANCES_VIEWER_HEIGHT)
+            .show(ui, |ui| {
+                for instance in &instances {
+                    let Ok((instance_entity, instance_name, site_id)) =
+                        self.model_instances.get(*instance)
+                    else {
+                        continue;
+                    };
+
+                    ui.horizontal(|ui| {
+                        // Button for deselecting instance from current selection
+                        let response = ui
+                            .add(Button::image_and_text(
+                                self.icons.deselect.egui(),
+                                format!("#{}", site_id.0),
+                            ))
+                            .on_hover_text("Deselect instance from current selections");
+
+                        if response.clicked() {
+                            self.select
+                                .write(Select::new(Some(instance_entity)).multi_select(true));
+                        } else if response.hovered() {
+                            self.hover.write(Hover(Some(instance_entity)));
+                        }
+
+                        // Button for deleting instance from this site (all scenarios)
+                        let response = ui
+                            .add(ImageButton::new(self.icons.trash.egui()))
+                            .on_hover_text("Remove instance from all scenarios");
+
+                        if response.clicked() {
+                            self.delete.write(Delete::new(instance_entity));
+                        } else if response.hovered() {
+                            self.hover.write(Hover(Some(instance_entity)));
+                        }
+
+                        // Name of selected model instance
+                        ui.label(format!("{}", instance_name.0));
+                    });
+                }
+
+                ui.separator();
+
+                self.multi_edit_pose_widget.show_widget(instances, ui);
+            });
+    }
+}

crates/rmf_site_editor/src/widgets/inspector/mod.rs

@@ -81,6 +81,9 @@ pub use inspect_model_description::*;
 pub mod inspect_motion;
 pub use inspect_motion::*;
 
+pub mod inspect_multi_selection;
+pub use inspect_multi_selection::*;
+
 pub mod inspect_mutex;
 pub use inspect_mutex::*;
 
@@ -325,6 +328,7 @@ pub struct Inspector<'w, 's> {
     children: Query<'w, 's, &'static Children>,
     heading: Query<'w, 's, (Option<&'static Category>, Option<&'static SiteID>)>,
     inspect_for_query: Query<'w, 's, &'static InspectFor>,
+    inspect_multi_selection: InspectMultiSelection<'w, 's>,
 }
 
 impl<'w, 's> WidgetSystem<Tile> for Inspector<'w, 's> {
@@ -350,8 +354,16 @@ impl<'w, 's> WidgetSystem<Tile> for Inspector<'w, 's> {
                     return;
                 };
 
-                let Some(mut selection) = selection.0 else {
-                    ui.label("Nothing selected");
+                if selection.selected.len() > 1 {
+                    let instances: SmallVec<[Entity; 16]> =
+                        selection.selected.iter().cloned().collect();
+
+                    let mut inspect_multi_selection = state.get_mut(world).inspect_multi_selection;
+                    inspect_multi_selection.show_widget(instances, ui);
+                    return;
+                }
+
+                let Some(mut selection) = selection.get_single() else {
                     return;
                 };
 
@@ -361,7 +373,7 @@ impl<'w, 's> WidgetSystem<Tile> for Inspector<'w, 's> {
                     selection = inspect_for.entity;
                 }
 
-                let params = state.get(world);
+                let params = state.get_mut(world);
 
                 let (label, site_id) =
                     if let Ok((category, site_id)) = params.heading.get(selection) {

crates/rmf_site_editor/src/widgets/mod.rs

@@ -97,6 +97,9 @@ use view_levels::*;
 pub mod view_model_instances;
 use view_model_instances::*;
 
+pub mod multi_edit_pose;
+use multi_edit_pose::*;
+
 pub mod view_scenarios;
 use view_scenarios::*;