Update frame and transform getters

rickertm · rickertm · commit 11f17dd0b3b1 · 2020-07-26T17:06:48.000+02:00
diff --git a/demos/rlCollisionDemo/BodyModel.cpp b/demos/rlCollisionDemo/BodyModel.cpp
@@ -60,8 +60,7 @@ BodyModel::data(const QModelIndex& index, int role) const
 		return QVariant();
 	}
 	
-	rl::math::Transform transform;
-	this->collision->getFrame(transform);
+	rl::math::Transform transform = this->collision->getFrame();
 	rl::math::Transform::TranslationPart position = transform.translation();
 	rl::math::Vector3 orientation = transform.rotation().eulerAngles(2, 1, 0).reverse();
 	
@@ -190,8 +189,7 @@ BodyModel::setData(const QModelIndex& index, const QVariant& value, int role)
 	
 	if (index.isValid() && Qt::EditRole == role)
 	{
-		rl::math::Transform transform;
-		this->collision->getFrame(transform);
+		rl::math::Transform transform = this->collision->getFrame();
 		rl::math::Transform::TranslationPart position = transform.translation();
 		rl::math::Vector3 orientation = transform.linear().eulerAngles(2, 1, 0).reverse();
 		
diff --git a/src/rl/sg/Body.cpp b/src/rl/sg/Body.cpp
@@ -92,6 +92,12 @@ namespace rl
 			}
 		}
 		
+		void
+		Body::getFrame(::rl::math::Transform& frame)
+		{
+			frame = this->getFrame();
+		}
+		
 		Model*
 		Body::getModel() const
 		{
diff --git a/src/rl/sg/Body.h b/src/rl/sg/Body.h
@@ -62,6 +62,10 @@ namespace rl
 			
 			void getBoundingBoxPoints(const ::rl::math::Transform& frame, ::std::vector<::rl::math::Vector3>& p) const;
 			
+			RL_SG_DEPRECATED virtual void getFrame(::rl::math::Transform& frame);
+			
+			virtual ::rl::math::Transform getFrame() const = 0;
+			
 			Model* getModel() const;
 			
 			virtual ::std::string getName() const;
@@ -72,8 +76,6 @@ namespace rl
 			
 			Shape* getShape(const ::std::size_t& i) const;
 			
-			virtual void getFrame(::rl::math::Transform& frame) = 0;
-			
 			virtual void remove(Shape* shape);
 			
 			virtual void setFrame(const ::rl::math::Transform& frame) = 0;
diff --git a/src/rl/sg/Shape.cpp b/src/rl/sg/Shape.cpp
@@ -54,6 +54,12 @@ namespace rl
 			return this->name;
 		}
 		
+		void
+		Shape::getTransform(::rl::math::Transform& transform)
+		{
+			transform = this->getTransform();
+		}
+		
 		void
 		Shape::setName(const ::std::string& name)
 		{
diff --git a/src/rl/sg/Shape.h b/src/rl/sg/Shape.h
@@ -49,7 +49,9 @@ namespace rl
 			
 			virtual ::std::string getName() const;
 			
-			virtual void getTransform(::rl::math::Transform& transform) = 0;
+			RL_SG_DEPRECATED virtual void getTransform(::rl::math::Transform& transform);
+			
+			virtual ::rl::math::Transform getTransform() const = 0;
 			
 			virtual void setName(const ::std::string& name);
 			
diff --git a/src/rl/sg/bullet/Body.cpp b/src/rl/sg/bullet/Body.cpp
@@ -66,9 +66,11 @@ namespace rl
 				return new Shape(shape, this);
 			}
 			
-			void
-			Body::getFrame(::rl::math::Transform& frame)
+			::rl::math::Transform
+			Body::getFrame() const
 			{
+				::rl::math::Transform frame;
+				
 				for (int i = 0; i < 3; ++i)
 				{
 					frame(0, i) = this->object.getWorldTransform().getBasis().getRow(i).getX();
@@ -84,6 +86,8 @@ namespace rl
 				frame(3, 1) = 0;
 				frame(3, 2) = 0;
 				frame(3, 3) = 1;
+				
+				return frame;
 			}
 			
 			void
diff --git a/src/rl/sg/bullet/Body.h b/src/rl/sg/bullet/Body.h
@@ -48,7 +48,9 @@ namespace rl
 				
 				::rl::sg::Shape* create(::SoVRMLShape* shape);
 				
-				void getFrame(::rl::math::Transform& frame);
+				using ::rl::sg::Body::getFrame;
+				
+				::rl::math::Transform getFrame() const;
 				
 				void setFrame(const ::rl::math::Transform& frame);
 				
diff --git a/src/rl/sg/bullet/Shape.cpp b/src/rl/sg/bullet/Shape.cpp
@@ -133,11 +133,13 @@ namespace rl
 				this->getBody()->remove(this);
 			}
 			
-			void
-			Shape::getTransform(::rl::math::Transform& transform)
+			::rl::math::Transform
+			Shape::getTransform() const
 			{
 				Body* body = static_cast<Body*>(this->getBody());
 				
+				::rl::math::Transform transform;
+				
 				for (int i = 0; i < body->shape.getNumChildShapes(); ++i)
 				{
 					if (this->shape.get() == body->shape.getChildList()[i].m_childShape)
@@ -161,6 +163,8 @@ namespace rl
 						break;
 					}
 				}
+				
+				return transform;
 			}
 			
 			void
diff --git a/src/rl/sg/bullet/Shape.h b/src/rl/sg/bullet/Shape.h
@@ -47,7 +47,9 @@ namespace rl
 				
 				virtual ~Shape();
 				
-				void getTransform(::rl::math::Transform& transform);
+				using ::rl::sg::Shape::getTransform;
+				
+				::rl::math::Transform getTransform() const;
 				
 				void setTransform(const ::rl::math::Transform& transform);
 				
diff --git a/src/rl/sg/fcl/Body.cpp b/src/rl/sg/fcl/Body.cpp
@@ -70,10 +70,10 @@ namespace rl
 				return new Shape(shape, this);
 			}
 			
-			void
-			Body::getFrame(::rl::math::Transform& frame)
+			::rl::math::Transform
+			Body::getFrame() const
 			{
-				frame = this->frame;
+				return this->frame;
 			}
 			
 			void
diff --git a/src/rl/sg/fcl/Body.h b/src/rl/sg/fcl/Body.h
@@ -62,7 +62,9 @@ namespace rl
 				
 				::rl::sg::Shape* create(::SoVRMLShape* shape);
 				
-				void getFrame(::rl::math::Transform& frame);
+				using ::rl::sg::Body::getFrame;
+				
+				::rl::math::Transform getFrame() const;
 				
 				void remove(::rl::sg::Shape* shape);
 				
diff --git a/src/rl/sg/fcl/Shape.cpp b/src/rl/sg/fcl/Shape.cpp
@@ -282,10 +282,10 @@ namespace rl
 				return this->object.get();
 			}
 			
-			void
-			Shape::getTransform(::rl::math::Transform& transform)
+			::rl::math::Transform
+			Shape::getTransform() const
 			{
-				transform = this->transform;
+				return this->transform;
 			}
 			
 			void
diff --git a/src/rl/sg/fcl/Shape.h b/src/rl/sg/fcl/Shape.h
@@ -73,7 +73,9 @@ namespace rl
 				
 				CollisionObject* getCollisionObject() const;
 				
-				void getTransform(::rl::math::Transform& transform);
+				using ::rl::sg::Shape::getTransform;
+				
+				::rl::math::Transform getTransform() const;
 				
 				void setTransform(const ::rl::math::Transform& transform);
 				
diff --git a/src/rl/sg/ode/Body.cpp b/src/rl/sg/ode/Body.cpp
@@ -62,9 +62,11 @@ namespace rl
 				return new Shape(shape, this);
 			}
 			
-			void
-			Body::getFrame(::rl::math::Transform& frame)
+			::rl::math::Transform
+			Body::getFrame() const
 			{
+				::rl::math::Transform frame;
+				
 				const ::dReal* position = ::dBodyGetPosition(this->body);
 				
 				frame(0, 3) = position[0];
@@ -80,6 +82,8 @@ namespace rl
 						frame(i, j) = rotation[i * 4 + j];
 					}
 				}
+				
+				return frame;
 			}
 			
 			void
diff --git a/src/rl/sg/ode/Body.h b/src/rl/sg/ode/Body.h
@@ -48,7 +48,9 @@ namespace rl
 				
 				::rl::sg::Shape* create(::SoVRMLShape* shape);
 				
-				void getFrame(::rl::math::Transform& frame);
+				using ::rl::sg::Body::getFrame;
+				
+				::rl::math::Transform getFrame() const;
 				
 				void setFrame(const ::rl::math::Transform& frame);
 				
diff --git a/src/rl/sg/ode/Shape.cpp b/src/rl/sg/ode/Shape.cpp
@@ -123,10 +123,10 @@ namespace rl
 				::dGeomDestroy(this->geom);
 			}
 			
-			void
-			Shape::getTransform(::rl::math::Transform& transform)
+			::rl::math::Transform
+			Shape::getTransform() const
 			{
-				transform = this->transform;
+				return this->transform;
 			}
 			
 			void
diff --git a/src/rl/sg/ode/Shape.h b/src/rl/sg/ode/Shape.h
@@ -48,7 +48,9 @@ namespace rl
 				
 				virtual ~Shape();
 				
-				void getTransform(::rl::math::Transform& transform);
+				using ::rl::sg::Shape::getTransform;
+				
+				::rl::math::Transform getTransform() const;
 				
 				void setTransform(const ::rl::math::Transform& transform);
 				
diff --git a/src/rl/sg/pqp/Body.cpp b/src/rl/sg/pqp/Body.cpp
@@ -57,10 +57,10 @@ namespace rl
 				return new Shape(shape, this);
 			}
 			
-			void
-			Body::getFrame(::rl::math::Transform& frame)
+			::rl::math::Transform
+			Body::getFrame() const
 			{
-				frame = this->frame;
+				return this->frame;
 			}
 			
 			void
diff --git a/src/rl/sg/pqp/Body.h b/src/rl/sg/pqp/Body.h
@@ -48,7 +48,9 @@ namespace rl
 				
 				::rl::sg::Shape* create(::SoVRMLShape* shape);
 				
-				void getFrame(::rl::math::Transform& frame);
+				using ::rl::sg::Body::getFrame;
+				
+				::rl::math::Transform getFrame() const;
 				
 				void setFrame(const ::rl::math::Transform& frame);
 				
diff --git a/src/rl/sg/pqp/Shape.cpp b/src/rl/sg/pqp/Shape.cpp
@@ -85,10 +85,10 @@ namespace rl
 				this->getBody()->remove(this);
 			}
 			
-			void
-			Shape::getTransform(::rl::math::Transform& transform)
+			::rl::math::Transform
+			Shape::getTransform() const
 			{
-				transform = this->transform;
+				return this->transform;
 			}
 			
 			void
diff --git a/src/rl/sg/pqp/Shape.h b/src/rl/sg/pqp/Shape.h
@@ -51,7 +51,9 @@ namespace rl
 				
 				virtual ~Shape();
 				
-				void getTransform(::rl::math::Transform& transform);
+				using ::rl::sg::Shape::getTransform;
+				
+				::rl::math::Transform getTransform() const;
 				
 				void setTransform(const ::rl::math::Transform& transform);
 				
diff --git a/src/rl/sg/so/Body.cpp b/src/rl/sg/so/Body.cpp
@@ -75,8 +75,8 @@ namespace rl
 				return new Shape(shape, this);
 			}
 			
-			void
-			Body::getFrame(::rl::math::Transform& frame)
+			::rl::math::Transform
+			Body::getFrame() const
 			{
 				::SoSearchAction searchAction;
 				searchAction.setNode(this->root);
@@ -87,13 +87,17 @@ namespace rl
 				getMatrixAction.apply(searchAction.getPath());
 				::SbMatrix matrix = getMatrixAction.getMatrix();
 				
+				::rl::math::Transform frame;
+				
 				for (int i = 0; i < 4; ++i)
 				{
 					for (int j = 0; j < 4; ++j)
 					{
 						frame(i, j) = matrix[j][i];
 					}
 				}
+				
+				return frame;
 			}
 			
 			::std::string
diff --git a/src/rl/sg/so/Body.h b/src/rl/sg/so/Body.h
@@ -50,7 +50,9 @@ namespace rl
 				
 				::rl::sg::Shape* create(::SoVRMLShape* shape);
 				
-				void getFrame(::rl::math::Transform& frame);
+				using ::rl::sg::Body::getFrame;
+				
+				::rl::math::Transform getFrame() const;
 				
 				::std::string getName() const;
 				
diff --git a/src/rl/sg/so/Shape.cpp b/src/rl/sg/so/Shape.cpp
@@ -65,8 +65,8 @@ namespace rl
 				return this->root->getName().getString();
 			}
 			
-			void
-			Shape::getTransform(::rl::math::Transform& transform)
+			::rl::math::Transform
+			Shape::getTransform() const
 			{
 				::SoSearchAction searchAction;
 				searchAction.setNode(this->shape);
@@ -77,13 +77,17 @@ namespace rl
 				getMatrixAction.apply(searchAction.getPath());
 				::SbMatrix matrix = getMatrixAction.getMatrix();
 				
+				::rl::math::Transform transform;
+				
 				for (int i = 0; i < 4; ++i)
 				{
 					for (int j = 0; j < 4; ++j)
 					{
 						transform(i, j) = matrix[j][i];
 					}
 				}
+				
+				return transform;
 			}
 			
 			void
diff --git a/src/rl/sg/so/Shape.h b/src/rl/sg/so/Shape.h
@@ -49,7 +49,9 @@ namespace rl
 				
 				::std::string getName() const;
 				
-				void getTransform(::rl::math::Transform& transform);
+				using ::rl::sg::Shape::getTransform;
+				
+				::rl::math::Transform getTransform() const;
 				
 				void setName(const ::std::string& name);
 				
diff --git a/src/rl/sg/solid/Body.cpp b/src/rl/sg/solid/Body.cpp
@@ -57,10 +57,10 @@ namespace rl
 				return new Shape(shape, this);
 			}
 			
-			void
-			Body::getFrame(::rl::math::Transform& frame)
+			::rl::math::Transform
+			Body::getFrame() const
 			{
-				frame = this->frame;
+				return this->frame;
 			}
 			
 			void
diff --git a/src/rl/sg/solid/Body.h b/src/rl/sg/solid/Body.h
diff --git a/src/rl/sg/solid/Shape.cpp b/src/rl/sg/solid/Shape.cpp
diff --git a/src/rl/sg/solid/Shape.h b/src/rl/sg/solid/Shape.h

Original file line number	Diff line number	Diff line change
`@@ -92,6 +92,12 @@ namespace rl`
`92`	`92`	`}`
`93`	`93`	`}`
`94`	`94`
	`95`	`+ void`
	`96`	`+ Body::getFrame(::rl::math::Transform& frame)`
	`97`	`+ {`
	`98`	`+ frame = this->getFrame();`
	`99`	`+ }`
	`100`	`+`
`95`	`101`	`Model*`
`96`	`102`	`Body::getModel() const`
`97`	`103`	`{`
Original file line number	Diff line number	Diff line change
`@@ -54,6 +54,12 @@ namespace rl`
`54`	`54`	`return this->name;`
`55`	`55`	`}`
`56`	`56`
	`57`	`+ void`
	`58`	`+ Shape::getTransform(::rl::math::Transform& transform)`
	`59`	`+ {`
	`60`	`+ transform = this->getTransform();`
	`61`	`+ }`
	`62`	`+`
`57`	`63`	`void`
`58`	`64`	`Shape::setName(const ::std::string& name)`
`59`	`65`	`{`
Original file line number	Diff line number	Diff line change
`@@ -66,9 +66,11 @@ namespace rl`
`66`	`66`	`return new Shape(shape, this);`
`67`	`67`	`}`
`68`	`68`
`69`		`- void`
`70`		`- Body::getFrame(::rl::math::Transform& frame)`
	`69`	`+ ::rl::math::Transform`
	`70`	`+ Body::getFrame() const`
`71`	`71`	`{`
	`72`	`+ ::rl::math::Transform frame;`
	`73`	`+`
`72`	`74`	`for (int i = 0; i < 3; ++i)`
`73`	`75`	`{`
`74`	`76`	`frame(0, i) = this->object.getWorldTransform().getBasis().getRow(i).getX();`
`@@ -84,6 +86,8 @@ namespace rl`
`84`	`86`	`frame(3, 1) = 0;`
`85`	`87`	`frame(3, 2) = 0;`
`86`	`88`	`frame(3, 3) = 1;`
	`89`	`+`
	`90`	`+ return frame;`
`87`	`91`	`}`
`88`	`92`
`89`	`93`	`void`
Original file line number	Diff line number	Diff line change
`@@ -133,11 +133,13 @@ namespace rl`
`133`	`133`	`this->getBody()->remove(this);`
`134`	`134`	`}`
`135`	`135`
`136`		`- void`
`137`		`- Shape::getTransform(::rl::math::Transform& transform)`
	`136`	`+ ::rl::math::Transform`
	`137`	`+ Shape::getTransform() const`
`138`	`138`	`{`
`139`	`139`	`Body* body = static_cast<Body*>(this->getBody());`
`140`	`140`
	`141`	`+ ::rl::math::Transform transform;`
	`142`	`+`
`141`	`143`	`for (int i = 0; i < body->shape.getNumChildShapes(); ++i)`
`142`	`144`	`{`
`143`	`145`	`if (this->shape.get() == body->shape.getChildList()[i].m_childShape)`
`@@ -161,6 +163,8 @@ namespace rl`
`161`	`163`	`break;`
`162`	`164`	`}`
`163`	`165`	`}`
	`166`	`+`
	`167`	`+ return transform;`
`164`	`168`	`}`
`165`	`169`
`166`	`170`	`void`
Original file line number	Diff line number	Diff line change
`@@ -70,10 +70,10 @@ namespace rl`
`70`	`70`	`return new Shape(shape, this);`
`71`	`71`	`}`
`72`	`72`
`73`		`- void`
`74`		`- Body::getFrame(::rl::math::Transform& frame)`
	`73`	`+ ::rl::math::Transform`
	`74`	`+ Body::getFrame() const`
`75`	`75`	`{`
`76`		`- frame = this->frame;`
	`76`	`+ return this->frame;`
`77`	`77`	`}`
`78`	`78`
`79`	`79`	`void`