Rename Basis get_axis to get_column, remove redundant methods

4 files changed, 35 insertions, 35 deletions

diff --git a/servers/physics_3d/joints/godot_cone_twist_joint_3d.cpp b/servers/physics_3d/joints/godot_cone_twist_joint_3d.cpp
index dc4858ff9a..28cc064a1e 100644
--- a/servers/physics_3d/joints/godot_cone_twist_joint_3d.cpp
+++ b/servers/physics_3d/joints/godot_cone_twist_joint_3d.cpp
@@ -147,8 +147,8 @@ bool GodotConeTwistJoint3D::setup(real_t p_timestep) {
 	Vector3 b1Axis1, b1Axis2, b1Axis3;
 	Vector3 b2Axis1, b2Axis2;
 
-	b1Axis1 = A->get_transform().basis.xform(this->m_rbAFrame.basis.get_axis(0));
-	b2Axis1 = B->get_transform().basis.xform(this->m_rbBFrame.basis.get_axis(0));
+	b1Axis1 = A->get_transform().basis.xform(this->m_rbAFrame.basis.get_column(0));
+	b2Axis1 = B->get_transform().basis.xform(this->m_rbBFrame.basis.get_column(0));
 
 	real_t swing1 = real_t(0.), swing2 = real_t(0.);
 
@@ -158,7 +158,7 @@ bool GodotConeTwistJoint3D::setup(real_t p_timestep) {
 
 	// Get Frame into world space
 	if (m_swingSpan1 >= real_t(0.05f)) {
-		b1Axis2 = A->get_transform().basis.xform(this->m_rbAFrame.basis.get_axis(1));
+		b1Axis2 = A->get_transform().basis.xform(this->m_rbAFrame.basis.get_column(1));
 		//swing1  = btAtan2Fast( b2Axis1.dot(b1Axis2),b2Axis1.dot(b1Axis1) );
 		swx = b2Axis1.dot(b1Axis1);
 		swy = b2Axis1.dot(b1Axis2);
@@ -169,7 +169,7 @@ bool GodotConeTwistJoint3D::setup(real_t p_timestep) {
 	}
 
 	if (m_swingSpan2 >= real_t(0.05f)) {
-		b1Axis3 = A->get_transform().basis.xform(this->m_rbAFrame.basis.get_axis(2));
+		b1Axis3 = A->get_transform().basis.xform(this->m_rbAFrame.basis.get_column(2));
 		//swing2 = btAtan2Fast( b2Axis1.dot(b1Axis3),b2Axis1.dot(b1Axis1) );
 		swx = b2Axis1.dot(b1Axis1);
 		swy = b2Axis1.dot(b1Axis3);
@@ -199,7 +199,7 @@ bool GodotConeTwistJoint3D::setup(real_t p_timestep) {
 
 	// Twist limits
 	if (m_twistSpan >= real_t(0.)) {
-		Vector3 b2Axis22 = B->get_transform().basis.xform(this->m_rbBFrame.basis.get_axis(1));
+		Vector3 b2Axis22 = B->get_transform().basis.xform(this->m_rbBFrame.basis.get_column(1));
 		Quaternion rotationArc = Quaternion(b2Axis1, b1Axis1);
 		Vector3 TwistRef = rotationArc.xform(b2Axis22);
 		real_t twist = atan2fast(TwistRef.dot(b1Axis3), TwistRef.dot(b1Axis2));
diff --git a/servers/physics_3d/joints/godot_generic_6dof_joint_3d.cpp b/servers/physics_3d/joints/godot_generic_6dof_joint_3d.cpp
index 41e9bf06bb..e0fa940104 100644
--- a/servers/physics_3d/joints/godot_generic_6dof_joint_3d.cpp
+++ b/servers/physics_3d/joints/godot_generic_6dof_joint_3d.cpp
@@ -249,8 +249,8 @@ void GodotGeneric6DOFJoint3D::calculateAngleInfo() {
 	// easier to take the euler rate expression for d(angle[2])/dt with respect
 	// to the components of w and set that to 0.
 
-	Vector3 axis0 = m_calculatedTransformB.basis.get_axis(0);
-	Vector3 axis2 = m_calculatedTransformA.basis.get_axis(2);
+	Vector3 axis0 = m_calculatedTransformB.basis.get_column(0);
+	Vector3 axis2 = m_calculatedTransformA.basis.get_column(2);
 
 	m_calculatedAxis[1] = axis2.cross(axis0);
 	m_calculatedAxis[0] = m_calculatedAxis[1].cross(axis2);
@@ -345,9 +345,9 @@ bool GodotGeneric6DOFJoint3D::setup(real_t p_timestep) {
 	for (i = 0; i < 3; i++) {
 		if (m_linearLimits.enable_limit[i] && m_linearLimits.isLimited(i)) {
 			if (m_useLinearReferenceFrameA) {
-				normalWorld = m_calculatedTransformA.basis.get_axis(i);
+				normalWorld = m_calculatedTransformA.basis.get_column(i);
 			} else {
-				normalWorld = m_calculatedTransformB.basis.get_axis(i);
+				normalWorld = m_calculatedTransformB.basis.get_column(i);
 			}
 
 			buildLinearJacobian(
@@ -388,9 +388,9 @@ void GodotGeneric6DOFJoint3D::solve(real_t p_timestep) {
 			jacDiagABInv = real_t(1.) / m_jacLinear[i].getDiagonal();
 
 			if (m_useLinearReferenceFrameA) {
-				linear_axis = m_calculatedTransformA.basis.get_axis(i);
+				linear_axis = m_calculatedTransformA.basis.get_column(i);
 			} else {
-				linear_axis = m_calculatedTransformB.basis.get_axis(i);
+				linear_axis = m_calculatedTransformB.basis.get_column(i);
 			}
 
 			m_linearLimits.solveLinearAxis(
diff --git a/servers/physics_3d/joints/godot_hinge_joint_3d.cpp b/servers/physics_3d/joints/godot_hinge_joint_3d.cpp
index 1c4d5dec23..01c59395c8 100644
--- a/servers/physics_3d/joints/godot_hinge_joint_3d.cpp
+++ b/servers/physics_3d/joints/godot_hinge_joint_3d.cpp
@@ -92,16 +92,16 @@ GodotHingeJoint3D::GodotHingeJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const V
 	m_rbAFrame.origin = pivotInA;
 
 	// since no frame is given, assume this to be zero angle and just pick rb transform axis
-	Vector3 rbAxisA1 = rbA->get_transform().basis.get_axis(0);
+	Vector3 rbAxisA1 = rbA->get_transform().basis.get_column(0);
 
 	Vector3 rbAxisA2;
 	real_t projection = axisInA.dot(rbAxisA1);
 	if (projection >= 1.0f - CMP_EPSILON) {
-		rbAxisA1 = -rbA->get_transform().basis.get_axis(2);
-		rbAxisA2 = rbA->get_transform().basis.get_axis(1);
+		rbAxisA1 = -rbA->get_transform().basis.get_column(2);
+		rbAxisA2 = rbA->get_transform().basis.get_column(1);
 	} else if (projection <= -1.0f + CMP_EPSILON) {
-		rbAxisA1 = rbA->get_transform().basis.get_axis(2);
-		rbAxisA2 = rbA->get_transform().basis.get_axis(1);
+		rbAxisA1 = rbA->get_transform().basis.get_column(2);
+		rbAxisA2 = rbA->get_transform().basis.get_column(1);
 	} else {
 		rbAxisA2 = axisInA.cross(rbAxisA1);
 		rbAxisA1 = rbAxisA2.cross(axisInA);
@@ -171,11 +171,11 @@ bool GodotHingeJoint3D::setup(real_t p_step) {
 	Vector3 jointAxis0local;
 	Vector3 jointAxis1local;
 
-	plane_space(m_rbAFrame.basis.get_axis(2), jointAxis0local, jointAxis1local);
+	plane_space(m_rbAFrame.basis.get_column(2), jointAxis0local, jointAxis1local);
 
 	Vector3 jointAxis0 = A->get_transform().basis.xform(jointAxis0local);
 	Vector3 jointAxis1 = A->get_transform().basis.xform(jointAxis1local);
-	Vector3 hingeAxisWorld = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(2));
+	Vector3 hingeAxisWorld = A->get_transform().basis.xform(m_rbAFrame.basis.get_column(2));
 
 	memnew_placement(
 			&m_jacAng[0],
@@ -226,7 +226,7 @@ bool GodotHingeJoint3D::setup(real_t p_step) {
 	}
 
 	//Compute K = J*W*J' for hinge axis
-	Vector3 axisA = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(2));
+	Vector3 axisA = A->get_transform().basis.xform(m_rbAFrame.basis.get_column(2));
 	m_kHinge = 1.0f / (A->compute_angular_impulse_denominator(axisA) + B->compute_angular_impulse_denominator(axisA));
 
 	return true;
@@ -271,8 +271,8 @@ void GodotHingeJoint3D::solve(real_t p_step) {
 		///solve angular part
 
 		// get axes in world space
-		Vector3 axisA = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(2));
-		Vector3 axisB = B->get_transform().basis.xform(m_rbBFrame.basis.get_axis(2));
+		Vector3 axisA = A->get_transform().basis.xform(m_rbAFrame.basis.get_column(2));
+		Vector3 axisB = B->get_transform().basis.xform(m_rbBFrame.basis.get_column(2));
 
 		const Vector3 &angVelA = A->get_angular_velocity();
 		const Vector3 &angVelB = B->get_angular_velocity();
@@ -384,9 +384,9 @@ static _FORCE_INLINE_ real_t atan2fast(real_t y, real_t x) {
 }
 
 real_t GodotHingeJoint3D::get_hinge_angle() {
-	const Vector3 refAxis0 = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(0));
-	const Vector3 refAxis1 = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(1));
-	const Vector3 swingAxis = B->get_transform().basis.xform(m_rbBFrame.basis.get_axis(1));
+	const Vector3 refAxis0 = A->get_transform().basis.xform(m_rbAFrame.basis.get_column(0));
+	const Vector3 refAxis1 = A->get_transform().basis.xform(m_rbAFrame.basis.get_column(1));
+	const Vector3 swingAxis = B->get_transform().basis.xform(m_rbBFrame.basis.get_column(1));
 
 	return atan2fast(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1));
 }
diff --git a/servers/physics_3d/joints/godot_slider_joint_3d.cpp b/servers/physics_3d/joints/godot_slider_joint_3d.cpp
index f175421304..4539be21e3 100644
--- a/servers/physics_3d/joints/godot_slider_joint_3d.cpp
+++ b/servers/physics_3d/joints/godot_slider_joint_3d.cpp
@@ -102,7 +102,7 @@ bool GodotSliderJoint3D::setup(real_t p_step) {
 	m_calculatedTransformB = B->get_transform() * m_frameInB;
 	m_realPivotAInW = m_calculatedTransformA.origin;
 	m_realPivotBInW = m_calculatedTransformB.origin;
-	m_sliderAxis = m_calculatedTransformA.basis.get_axis(0); // along X
+	m_sliderAxis = m_calculatedTransformA.basis.get_column(0); // along X
 	m_delta = m_realPivotBInW - m_realPivotAInW;
 	m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis;
 	m_relPosA = m_projPivotInW - A->get_transform().origin;
@@ -111,7 +111,7 @@ bool GodotSliderJoint3D::setup(real_t p_step) {
 	int i;
 	//linear part
 	for (i = 0; i < 3; i++) {
-		normalWorld = m_calculatedTransformA.basis.get_axis(i);
+		normalWorld = m_calculatedTransformA.basis.get_column(i);
 		memnew_placement(
 				&m_jacLin[i],
 				GodotJacobianEntry3D(
@@ -130,7 +130,7 @@ bool GodotSliderJoint3D::setup(real_t p_step) {
 	testLinLimits();
 	// angular part
 	for (i = 0; i < 3; i++) {
-		normalWorld = m_calculatedTransformA.basis.get_axis(i);
+		normalWorld = m_calculatedTransformA.basis.get_column(i);
 		memnew_placement(
 				&m_jacAng[i],
 				GodotJacobianEntry3D(
@@ -141,7 +141,7 @@ bool GodotSliderJoint3D::setup(real_t p_step) {
 						B->get_inv_inertia()));
 	}
 	testAngLimits();
-	Vector3 axisA = m_calculatedTransformA.basis.get_axis(0);
+	Vector3 axisA = m_calculatedTransformA.basis.get_column(0);
 	m_kAngle = real_t(1.0) / (A->compute_angular_impulse_denominator(axisA) + B->compute_angular_impulse_denominator(axisA));
 	// clear accumulator for motors
 	m_accumulatedLinMotorImpulse = real_t(0.0);
@@ -206,8 +206,8 @@ void GodotSliderJoint3D::solve(real_t p_step) {
 	}
 	// angular
 	// get axes in world space
-	Vector3 axisA = m_calculatedTransformA.basis.get_axis(0);
-	Vector3 axisB = m_calculatedTransformB.basis.get_axis(0);
+	Vector3 axisA = m_calculatedTransformA.basis.get_column(0);
+	Vector3 axisB = m_calculatedTransformB.basis.get_column(0);
 
 	const Vector3 &angVelA = A->get_angular_velocity();
 	const Vector3 &angVelB = B->get_angular_velocity();
@@ -297,14 +297,14 @@ void GodotSliderJoint3D::calculateTransforms() {
 	m_calculatedTransformB = B->get_transform() * m_frameInB;
 	m_realPivotAInW = m_calculatedTransformA.origin;
 	m_realPivotBInW = m_calculatedTransformB.origin;
-	m_sliderAxis = m_calculatedTransformA.basis.get_axis(0); // along X
+	m_sliderAxis = m_calculatedTransformA.basis.get_column(0); // along X
 	m_delta = m_realPivotBInW - m_realPivotAInW;
 	m_projPivotInW = m_realPivotAInW + m_sliderAxis.dot(m_delta) * m_sliderAxis;
 	Vector3 normalWorld;
 	int i;
 	//linear part
 	for (i = 0; i < 3; i++) {
-		normalWorld = m_calculatedTransformA.basis.get_axis(i);
+		normalWorld = m_calculatedTransformA.basis.get_column(i);
 		m_depth[i] = m_delta.dot(normalWorld);
 	}
 }
@@ -335,9 +335,9 @@ void GodotSliderJoint3D::testAngLimits() {
 	m_angDepth = real_t(0.);
 	m_solveAngLim = false;
 	if (m_lowerAngLimit <= m_upperAngLimit) {
-		const Vector3 axisA0 = m_calculatedTransformA.basis.get_axis(1);
-		const Vector3 axisA1 = m_calculatedTransformA.basis.get_axis(2);
-		const Vector3 axisB0 = m_calculatedTransformB.basis.get_axis(1);
+		const Vector3 axisA0 = m_calculatedTransformA.basis.get_column(1);
+		const Vector3 axisA1 = m_calculatedTransformA.basis.get_column(2);
+		const Vector3 axisB0 = m_calculatedTransformB.basis.get_column(1);
 		real_t rot = atan2fast(axisB0.dot(axisA1), axisB0.dot(axisA0));
 		if (rot < m_lowerAngLimit) {
 			m_angDepth = rot - m_lowerAngLimit;