Rename Basis get_axis to get_column, remove redundant methods

7 files changed, 79 insertions, 79 deletions

diff --git a/servers/physics_3d/godot_collision_solver_3d.cpp b/servers/physics_3d/godot_collision_solver_3d.cpp
index afc74df166..b2d3e4d876 100644
--- a/servers/physics_3d/godot_collision_solver_3d.cpp
+++ b/servers/physics_3d/godot_collision_solver_3d.cpp
@@ -94,7 +94,7 @@ bool GodotCollisionSolver3D::solve_separation_ray(const GodotShape3D *p_shape_A,
 	const GodotSeparationRayShape3D *ray = static_cast<const GodotSeparationRayShape3D *>(p_shape_A);
 
 	Vector3 from = p_transform_A.origin;
-	Vector3 to = from + p_transform_A.basis.get_axis(2) * (ray->get_length() + p_margin);
+	Vector3 to = from + p_transform_A.basis.get_column(2) * (ray->get_length() + p_margin);
 	Vector3 support_A = to;
 
 	Transform3D ai = p_transform_B.affine_inverse();
@@ -252,7 +252,7 @@ bool GodotCollisionSolver3D::solve_soft_body(const GodotShape3D *p_shape_A, cons
 		// Calculate AABB for internal concave shape query (in local space).
 		AABB local_aabb;
 		for (int i = 0; i < 3; i++) {
-			Vector3 axis(p_transform_A.basis.get_axis(i));
+			Vector3 axis(p_transform_A.basis.get_column(i));
 			real_t axis_scale = 1.0 / axis.length();
 
 			real_t smin = soft_body_aabb.position[i];
@@ -333,7 +333,7 @@ bool GodotCollisionSolver3D::solve_concave(const GodotShape3D *p_shape_A, const
 
 	AABB local_aabb;
 	for (int i = 0; i < 3; i++) {
-		Vector3 axis(p_transform_B.basis.get_axis(i));
+		Vector3 axis(p_transform_B.basis.get_column(i));
 		real_t axis_scale = 1.0 / axis.length();
 		axis *= axis_scale;
 
@@ -542,7 +542,7 @@ bool GodotCollisionSolver3D::solve_distance(const GodotShape3D *p_shape_A, const
 
 		AABB local_aabb;
 		for (int i = 0; i < 3; i++) {
-			Vector3 axis(p_transform_B.basis.get_axis(i));
+			Vector3 axis(p_transform_B.basis.get_column(i));
 			real_t axis_scale = ((real_t)1.0) / axis.length();
 			axis *= axis_scale;
 
diff --git a/servers/physics_3d/godot_collision_solver_3d_sat.cpp b/servers/physics_3d/godot_collision_solver_3d_sat.cpp
index 7b7a09f31d..20e9300778 100644
--- a/servers/physics_3d/godot_collision_solver_3d_sat.cpp
+++ b/servers/physics_3d/godot_collision_solver_3d_sat.cpp
@@ -792,7 +792,7 @@ static void _collision_sphere_box(const GodotShape3D *p_a, const Transform3D &p_
 	// test faces
 
 	for (int i = 0; i < 3; i++) {
-		Vector3 axis = p_transform_b.basis.get_axis(i).normalized();
+		Vector3 axis = p_transform_b.basis.get_column(i).normalized();
 
 		if (!separator.test_axis(axis)) {
 			return;
@@ -819,7 +819,7 @@ static void _collision_sphere_box(const GodotShape3D *p_a, const Transform3D &p_
 	// test edges
 
 	for (int i = 0; i < 3; i++) {
-		Vector3 axis = point_axis.cross(p_transform_b.basis.get_axis(i)).cross(p_transform_b.basis.get_axis(i)).normalized();
+		Vector3 axis = point_axis.cross(p_transform_b.basis.get_column(i)).cross(p_transform_b.basis.get_column(i)).normalized();
 
 		if (!separator.test_axis(axis)) {
 			return;
@@ -842,7 +842,7 @@ static void _collision_sphere_capsule(const GodotShape3D *p_a, const Transform3D
 
 	//capsule sphere 1, sphere
 
-	Vector3 capsule_axis = p_transform_b.basis.get_axis(1) * (capsule_B->get_height() * 0.5 - capsule_B->get_radius());
+	Vector3 capsule_axis = p_transform_b.basis.get_column(1) * (capsule_B->get_height() * 0.5 - capsule_B->get_radius());
 
 	Vector3 capsule_ball_1 = p_transform_b.origin + capsule_axis;
 
@@ -883,7 +883,7 @@ static void _collision_sphere_cylinder(const GodotShape3D *p_a, const Transform3
 	}
 
 	// Cylinder B end caps.
-	Vector3 cylinder_B_axis = p_transform_b.basis.get_axis(1).normalized();
+	Vector3 cylinder_B_axis = p_transform_b.basis.get_column(1).normalized();
 	if (!separator.test_axis(cylinder_B_axis)) {
 		return;
 	}
@@ -897,8 +897,8 @@ static void _collision_sphere_cylinder(const GodotShape3D *p_a, const Transform3
 
 	// Closest point to cylinder caps.
 	const Vector3 &sphere_center = p_transform_a.origin;
-	Vector3 cyl_axis = p_transform_b.basis.get_axis(1);
-	Vector3 cap_axis = p_transform_b.basis.get_axis(0);
+	Vector3 cyl_axis = p_transform_b.basis.get_column(1);
+	Vector3 cap_axis = p_transform_b.basis.get_column(0);
 	real_t height_scale = cyl_axis.length();
 	real_t cap_dist = cylinder_B->get_height() * 0.5 * height_scale;
 	cyl_axis /= height_scale;
@@ -1063,7 +1063,7 @@ static void _collision_box_box(const GodotShape3D *p_a, const Transform3D &p_tra
 	// test faces of A
 
 	for (int i = 0; i < 3; i++) {
-		Vector3 axis = p_transform_a.basis.get_axis(i).normalized();
+		Vector3 axis = p_transform_a.basis.get_column(i).normalized();
 
 		if (!separator.test_axis(axis)) {
 			return;
@@ -1073,7 +1073,7 @@ static void _collision_box_box(const GodotShape3D *p_a, const Transform3D &p_tra
 	// test faces of B
 
 	for (int i = 0; i < 3; i++) {
-		Vector3 axis = p_transform_b.basis.get_axis(i).normalized();
+		Vector3 axis = p_transform_b.basis.get_column(i).normalized();
 
 		if (!separator.test_axis(axis)) {
 			return;
@@ -1083,7 +1083,7 @@ static void _collision_box_box(const GodotShape3D *p_a, const Transform3D &p_tra
 	// test combined edges
 	for (int i = 0; i < 3; i++) {
 		for (int j = 0; j < 3; j++) {
-			Vector3 axis = p_transform_a.basis.get_axis(i).cross(p_transform_b.basis.get_axis(j));
+			Vector3 axis = p_transform_a.basis.get_column(i).cross(p_transform_b.basis.get_column(j));
 
 			if (Math::is_zero_approx(axis.length_squared())) {
 				continue;
@@ -1129,14 +1129,14 @@ static void _collision_box_box(const GodotShape3D *p_a, const Transform3D &p_tra
 
 		for (int i = 0; i < 3; i++) {
 			//a ->b
-			Vector3 axis_a = p_transform_a.basis.get_axis(i);
+			Vector3 axis_a = p_transform_a.basis.get_column(i);
 
 			if (!separator.test_axis(axis_ab.cross(axis_a).cross(axis_a).normalized())) {
 				return;
 			}
 
 			//b ->a
-			Vector3 axis_b = p_transform_b.basis.get_axis(i);
+			Vector3 axis_b = p_transform_b.basis.get_column(i);
 
 			if (!separator.test_axis(axis_ab.cross(axis_b).cross(axis_b).normalized())) {
 				return;
@@ -1160,20 +1160,20 @@ static void _collision_box_capsule(const GodotShape3D *p_a, const Transform3D &p
 
 	// faces of A
 	for (int i = 0; i < 3; i++) {
-		Vector3 axis = p_transform_a.basis.get_axis(i).normalized();
+		Vector3 axis = p_transform_a.basis.get_column(i).normalized();
 
 		if (!separator.test_axis(axis)) {
 			return;
 		}
 	}
 
-	Vector3 cyl_axis = p_transform_b.basis.get_axis(1).normalized();
+	Vector3 cyl_axis = p_transform_b.basis.get_column(1).normalized();
 
 	// edges of A, capsule cylinder
 
 	for (int i = 0; i < 3; i++) {
 		// cylinder
-		Vector3 box_axis = p_transform_a.basis.get_axis(i);
+		Vector3 box_axis = p_transform_a.basis.get_column(i);
 		Vector3 axis = box_axis.cross(cyl_axis);
 		if (Math::is_zero_approx(axis.length_squared())) {
 			continue;
@@ -1196,7 +1196,7 @@ static void _collision_box_capsule(const GodotShape3D *p_a, const Transform3D &p
 				he.z *= (k * 2 - 1);
 				Vector3 point = p_transform_a.origin;
 				for (int l = 0; l < 3; l++) {
-					point += p_transform_a.basis.get_axis(l) * he[l];
+					point += p_transform_a.basis.get_column(l) * he[l];
 				}
 
 				//Vector3 axis = (point - cyl_axis * cyl_axis.dot(point)).normalized();
@@ -1212,7 +1212,7 @@ static void _collision_box_capsule(const GodotShape3D *p_a, const Transform3D &p
 	// capsule balls, edges of A
 
 	for (int i = 0; i < 2; i++) {
-		Vector3 capsule_axis = p_transform_b.basis.get_axis(1) * (capsule_B->get_height() * 0.5 - capsule_B->get_radius());
+		Vector3 capsule_axis = p_transform_b.basis.get_column(1) * (capsule_B->get_height() * 0.5 - capsule_B->get_radius());
 
 		Vector3 sphere_pos = p_transform_b.origin + ((i == 0) ? capsule_axis : -capsule_axis);
 
@@ -1234,7 +1234,7 @@ static void _collision_box_capsule(const GodotShape3D *p_a, const Transform3D &p
 		// test edges of A
 
 		for (int j = 0; j < 3; j++) {
-			Vector3 axis = point_axis.cross(p_transform_a.basis.get_axis(j)).cross(p_transform_a.basis.get_axis(j)).normalized();
+			Vector3 axis = point_axis.cross(p_transform_a.basis.get_column(j)).cross(p_transform_a.basis.get_column(j)).normalized();
 
 			if (!separator.test_axis(axis)) {
 				return;
@@ -1258,14 +1258,14 @@ static void _collision_box_cylinder(const GodotShape3D *p_a, const Transform3D &
 
 	// Faces of A.
 	for (int i = 0; i < 3; i++) {
-		Vector3 axis = p_transform_a.basis.get_axis(i).normalized();
+		Vector3 axis = p_transform_a.basis.get_column(i).normalized();
 
 		if (!separator.test_axis(axis)) {
 			return;
 		}
 	}
 
-	Vector3 cyl_axis = p_transform_b.basis.get_axis(1).normalized();
+	Vector3 cyl_axis = p_transform_b.basis.get_column(1).normalized();
 
 	// Cylinder end caps.
 	{
@@ -1276,7 +1276,7 @@ static void _collision_box_cylinder(const GodotShape3D *p_a, const Transform3D &
 
 	// Edges of A, cylinder lateral surface.
 	for (int i = 0; i < 3; i++) {
-		Vector3 box_axis = p_transform_a.basis.get_axis(i);
+		Vector3 box_axis = p_transform_a.basis.get_column(i);
 		Vector3 axis = box_axis.cross(cyl_axis);
 		if (Math::is_zero_approx(axis.length_squared())) {
 			continue;
@@ -1300,7 +1300,7 @@ static void _collision_box_cylinder(const GodotShape3D *p_a, const Transform3D &
 				Vector3 &point = vertices_A[i * 2 * 2 + j * 2 + k];
 				point = p_transform_a.origin;
 				for (int l = 0; l < 3; l++) {
-					point += p_transform_a.basis.get_axis(l) * extent[l];
+					point += p_transform_a.basis.get_column(l) * extent[l];
 				}
 			}
 		}
@@ -1380,7 +1380,7 @@ static void _collision_box_convex_polygon(const GodotShape3D *p_a, const Transfo
 
 	// faces of A
 	for (int i = 0; i < 3; i++) {
-		Vector3 axis = p_transform_a.basis.get_axis(i).normalized();
+		Vector3 axis = p_transform_a.basis.get_column(i).normalized();
 
 		if (!separator.test_axis(axis)) {
 			return;
@@ -1401,7 +1401,7 @@ static void _collision_box_convex_polygon(const GodotShape3D *p_a, const Transfo
 
 	// A<->B edges
 	for (int i = 0; i < 3; i++) {
-		Vector3 e1 = p_transform_a.basis.get_axis(i);
+		Vector3 e1 = p_transform_a.basis.get_column(i);
 
 		for (int j = 0; j < edge_count; j++) {
 			Vector3 e2 = p_transform_b.basis.xform(vertices[edges[j].a]) - p_transform_b.basis.xform(vertices[edges[j].b]);
@@ -1438,7 +1438,7 @@ static void _collision_box_convex_polygon(const GodotShape3D *p_a, const Transfo
 
 			for (int i = 0; i < 3; i++) {
 				//a ->b
-				Vector3 axis_a = p_transform_a.basis.get_axis(i);
+				Vector3 axis_a = p_transform_a.basis.get_column(i);
 
 				if (!separator.test_axis(axis_ab.cross(axis_a).cross(axis_a).normalized())) {
 					return;
@@ -1456,7 +1456,7 @@ static void _collision_box_convex_polygon(const GodotShape3D *p_a, const Transfo
 					he.z *= (k * 2 - 1);
 					Vector3 point = p_transform_a.origin;
 					for (int l = 0; l < 3; l++) {
-						point += p_transform_a.basis.get_axis(l) * he[l];
+						point += p_transform_a.basis.get_column(l) * he[l];
 					}
 
 					for (int e = 0; e < edge_count; e++) {
@@ -1497,7 +1497,7 @@ static void _collision_box_face(const GodotShape3D *p_a, const Transform3D &p_tr
 
 	// faces of A
 	for (int i = 0; i < 3; i++) {
-		Vector3 axis = p_transform_a.basis.get_axis(i).normalized();
+		Vector3 axis = p_transform_a.basis.get_column(i).normalized();
 		if (axis.dot(normal) < 0.0) {
 			axis *= -1.0;
 		}
@@ -1513,7 +1513,7 @@ static void _collision_box_face(const GodotShape3D *p_a, const Transform3D &p_tr
 		Vector3 e = vertex[i] - vertex[(i + 1) % 3];
 
 		for (int j = 0; j < 3; j++) {
-			Vector3 axis = e.cross(p_transform_a.basis.get_axis(j)).normalized();
+			Vector3 axis = e.cross(p_transform_a.basis.get_column(j)).normalized();
 			if (axis.dot(normal) < 0.0) {
 				axis *= -1.0;
 			}
@@ -1550,7 +1550,7 @@ static void _collision_box_face(const GodotShape3D *p_a, const Transform3D &p_tr
 
 			for (int i = 0; i < 3; i++) {
 				//a ->b
-				Vector3 axis_a = p_transform_a.basis.get_axis(i);
+				Vector3 axis_a = p_transform_a.basis.get_column(i);
 
 				Vector3 axis = axis_ab.cross(axis_a).cross(axis_a).normalized();
 				if (axis.dot(normal) < 0.0) {
@@ -1573,7 +1573,7 @@ static void _collision_box_face(const GodotShape3D *p_a, const Transform3D &p_tr
 					he.z *= (k * 2 - 1);
 					Vector3 point = p_transform_a.origin;
 					for (int l = 0; l < 3; l++) {
-						point += p_transform_a.basis.get_axis(l) * he[l];
+						point += p_transform_a.basis.get_column(l) * he[l];
 					}
 
 					for (int e = 0; e < 3; e++) {
@@ -1623,8 +1623,8 @@ static void _collision_capsule_capsule(const GodotShape3D *p_a, const Transform3
 
 	// some values
 
-	Vector3 capsule_A_axis = p_transform_a.basis.get_axis(1) * (capsule_A->get_height() * 0.5 - capsule_A->get_radius());
-	Vector3 capsule_B_axis = p_transform_b.basis.get_axis(1) * (capsule_B->get_height() * 0.5 - capsule_B->get_radius());
+	Vector3 capsule_A_axis = p_transform_a.basis.get_column(1) * (capsule_A->get_height() * 0.5 - capsule_A->get_radius());
+	Vector3 capsule_B_axis = p_transform_b.basis.get_column(1) * (capsule_B->get_height() * 0.5 - capsule_B->get_radius());
 
 	Vector3 capsule_A_ball_1 = p_transform_a.origin + capsule_A_axis;
 	Vector3 capsule_A_ball_2 = p_transform_a.origin - capsule_A_axis;
@@ -1686,14 +1686,14 @@ static void _collision_capsule_cylinder(const GodotShape3D *p_a, const Transform
 	}
 
 	// Cylinder B end caps.
-	Vector3 cylinder_B_axis = p_transform_b.basis.get_axis(1).normalized();
+	Vector3 cylinder_B_axis = p_transform_b.basis.get_column(1).normalized();
 	if (!separator.test_axis(cylinder_B_axis)) {
 		return;
 	}
 
 	// Cylinder edge against capsule balls.
 
-	Vector3 capsule_A_axis = p_transform_a.basis.get_axis(1);
+	Vector3 capsule_A_axis = p_transform_a.basis.get_column(1);
 
 	Vector3 capsule_A_ball_1 = p_transform_a.origin + capsule_A_axis * (capsule_A->get_height() * 0.5 - capsule_A->get_radius());
 	Vector3 capsule_A_ball_2 = p_transform_a.origin - capsule_A_axis * (capsule_A->get_height() * 0.5 - capsule_A->get_radius());
@@ -1772,7 +1772,7 @@ static void _collision_capsule_convex_polygon(const GodotShape3D *p_a, const Tra
 	for (int i = 0; i < edge_count; i++) {
 		// cylinder
 		Vector3 edge_axis = p_transform_b.basis.xform(vertices[edges[i].a]) - p_transform_b.basis.xform(vertices[edges[i].b]);
-		Vector3 axis = edge_axis.cross(p_transform_a.basis.get_axis(1)).normalized();
+		Vector3 axis = edge_axis.cross(p_transform_a.basis.get_column(1)).normalized();
 
 		if (!separator.test_axis(axis)) {
 			return;
@@ -1784,7 +1784,7 @@ static void _collision_capsule_convex_polygon(const GodotShape3D *p_a, const Tra
 	for (int i = 0; i < 2; i++) {
 		// edges of B, capsule cylinder
 
-		Vector3 capsule_axis = p_transform_a.basis.get_axis(1) * (capsule_A->get_height() * 0.5 - capsule_A->get_radius());
+		Vector3 capsule_axis = p_transform_a.basis.get_column(1) * (capsule_A->get_height() * 0.5 - capsule_A->get_radius());
 
 		Vector3 sphere_pos = p_transform_a.origin + ((i == 0) ? capsule_axis : -capsule_axis);
 
@@ -1824,7 +1824,7 @@ static void _collision_capsule_face(const GodotShape3D *p_a, const Transform3D &
 
 	// edges of B, capsule cylinder
 
-	Vector3 capsule_axis = p_transform_a.basis.get_axis(1) * (capsule_A->get_height() * 0.5 - capsule_A->get_radius());
+	Vector3 capsule_axis = p_transform_a.basis.get_column(1) * (capsule_A->get_height() * 0.5 - capsule_A->get_radius());
 
 	for (int i = 0; i < 3; i++) {
 		// edge-cylinder
@@ -1895,8 +1895,8 @@ static void _collision_cylinder_cylinder(const GodotShape3D *p_a, const Transfor
 
 	SeparatorAxisTest<GodotCylinderShape3D, GodotCylinderShape3D, withMargin> separator(cylinder_A, p_transform_a, cylinder_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
 
-	Vector3 cylinder_A_axis = p_transform_a.basis.get_axis(1);
-	Vector3 cylinder_B_axis = p_transform_b.basis.get_axis(1);
+	Vector3 cylinder_A_axis = p_transform_a.basis.get_column(1);
+	Vector3 cylinder_B_axis = p_transform_b.basis.get_column(1);
 
 	if (!separator.test_previous_axis()) {
 		return;
@@ -1983,7 +1983,7 @@ static void _collision_cylinder_face(const GodotShape3D *p_a, const Transform3D
 		return;
 	}
 
-	Vector3 cyl_axis = p_transform_a.basis.get_axis(1).normalized();
+	Vector3 cyl_axis = p_transform_a.basis.get_column(1).normalized();
 	if (cyl_axis.dot(normal) < 0.0) {
 		cyl_axis *= -1.0;
 	}
diff --git a/servers/physics_3d/godot_shape_3d.cpp b/servers/physics_3d/godot_shape_3d.cpp
index 63ba28258f..2efc11a4c0 100644
--- a/servers/physics_3d/godot_shape_3d.cpp
+++ b/servers/physics_3d/godot_shape_3d.cpp
@@ -662,7 +662,7 @@ GodotCapsuleShape3D::GodotCapsuleShape3D() {}
 /********** CYLINDER *************/
 
 void GodotCylinderShape3D::project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const {
-	Vector3 cylinder_axis = p_transform.basis.get_axis(1).normalized();
+	Vector3 cylinder_axis = p_transform.basis.get_column(1).normalized();
 	real_t axis_dot = cylinder_axis.dot(p_normal);
 
 	Vector3 local_normal = p_transform.basis.xform_inv(p_normal);
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;