Merge pull request #1360 from compas-dev/fix-transformations

Fix transformations

CHANGELOG.md

@@ -34,6 +34,9 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 * Changed `compas_ghpython/utilities/drawing.py` to remove `System` dependency.
 * Fixed bug in `compas.geometry.ic_numpy`, which was caused by returning only the last transformation of the iteration process.
+* Changed `compas.geometry.Geometry.scaled` to use `compas.geometry.Geometry.scale` on a copy.
+* Changed `compas.geometry.Geometry.translated` to use `compas.geometry.Geometry.translate` on a copy.
+* Changed `compas.geometry.Geometry.rotated` to use `compas.geometry.Geometry.rotate` on a copy.
 * Changed `VolMesh._plane` back to point to a cell for every triplet of vertices.
 * Fixed `VolMesh.add_halfface`, `VolMesh.add_cell`, `VolMesh.vertex_halffaces`, `VolMesh.vertex_cells`, `VolMesh.edge_halffaces`, `VolMesh.halfface_cell`, `VolMesh.halfface_opposite_cell`, `VolMesh.halfface_opposite_halfface`, `VolMesh.cell_neighbors`.
 * Changed ordering of `Volmesh.edges()` to be deterministic.

src/compas/geometry/_core/_algebra.py

@@ -1496,13 +1496,6 @@ def decompose_matrix(M):
         for j in range(4):
             Mt[i][j] /= Mt[3][3]
 
-    translation = [M[0][3], M[1][3], M[2][3]]
-
-    # scale, shear, angles
-    scale = [0.0, 0.0, 0.0]
-    shear = [0.0, 0.0, 0.0]
-    angles = [0.0, 0.0, 0.0]
-
     # copy Mt[:3, :3] into row
     row = [
         [0, 0, 0],
@@ -1513,6 +1506,14 @@ def decompose_matrix(M):
         for j in range(3):
             row[i][j] = Mt[i][j]
 
+    # translation
+    translation = [M[0][3], M[1][3], M[2][3]]
+
+    # scale, shear, angles
+    scale = [0.0, 0.0, 0.0]
+    shear = [0.0, 0.0, 0.0]
+    angles = [0.0, 0.0, 0.0]
+
     scale[0] = norm_vector(row[0])
     for i in range(3):
         row[0][i] /= scale[0]  # type: ignore

src/compas/geometry/geometry.py

@@ -169,15 +169,9 @@ def scaled(self, x, y=None, z=None):  # type: (...) -> G
         transformed
 
         """
-        from compas.geometry import Scale
-
-        if y is None:
-            y = x
-
-        if z is None:
-            z = x
-
-        return self.transformed(Scale.from_factors([x, y, z]))
+        geometry = self.copy()  # type: Geometry
+        geometry.scale(x=x, y=y, z=z)
+        return geometry  # type: ignore
 
     def translate(self, vector):
         """Translate the geometry.
@@ -224,9 +218,9 @@ def translated(self, vector):  # type: (...) -> G
         transformed
 
         """
-        from compas.geometry import Translation
-
-        return self.transformed(Translation.from_vector(vector))
+        geometry = self.copy()  # type: Geometry
+        geometry.translate(vector)
+        return geometry  # type: ignore
 
     def rotate(self, angle, axis=None, point=None):
         """Rotate the geometry.
@@ -288,9 +282,6 @@ def rotated(self, angle, axis=None, point=None):  # type: (...) -> G
         transformed
 
         """
-        from compas.geometry import Rotation
-
-        if axis is None:
-            axis = [0.0, 0.0, 1.0]
-
-        return self.transformed(Rotation.from_axis_and_angle(axis, angle, point))
+        geometry = self.copy()  # type: Geometry
+        geometry.rotate(angle=angle, axis=axis, point=point)
+        return geometry  # type: ignore