setters for worldtransformation and frame

CHANGELOG.md

@@ -8,6 +8,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ## Unreleased
 
 ### Added
+
 * Implemented `to_points` method in `compas.datastructures.Mesh`, which before raised a `NotImplementedError`.
 * Implemented `compute_aabb` method in `compas.datastructures.Datastructure`, which before raised a `NotImplementedError`. Made use of the `compas.geometry.bbox.bounding_box` function.
 * Implemented `compute_obb` method in `compas.datastructures.Datastructure`, which before raised a `NotImplementedError`. Made use of the `compas.geometry.bbox_numpy.oriented_bounding_box_numpy` function.
@@ -17,6 +18,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 * Added test function `test_to_points` in `test_graph.py`.
 * Added test function `test_to_points` in `test_volmesh.py`.
 * Added test functions `test_to_points`, `test_compute_aabb`, and `test_compute_obb` in `test_mesh.py`.
+* Added setters for `SceneObject.worldtransformation` and `SceneObject.frame`, which automatically handles the parent transformations.
 
 ### Changed
 

src/compas/scene/sceneobject.py

@@ -95,7 +95,6 @@ def __init__(
         color=None,  # type: compas.colors.Color | None
         opacity=1.0,  # type: float
         show=True,  # type: bool
-        frame=None,  # type: compas.geometry.Frame | None
         transformation=None,  # type: compas.geometry.Transformation | None
         context=None,  # type: str | None
         **kwargs  # type: dict
@@ -157,6 +156,11 @@ def frame(self):
         # type: () -> compas.geometry.Frame | None
         return Frame.from_transformation(self.worldtransformation)
 
+    @frame.setter
+    def frame(self, frame):
+        # type: (compas.geometry.Frame) -> None
+        self.worldtransformation = Transformation.from_frame(frame)
+
     @property
     def transformation(self):
         # type: () -> compas.geometry.Transformation | None
@@ -183,6 +187,14 @@ def worldtransformation(self):
 
         return worldtransformation
 
+    @worldtransformation.setter
+    def worldtransformation(self, worldtransformation):
+        # type: (compas.geometry.Transformation) -> None
+        if isinstance(self.parent, SceneObject):
+            self.transformation = self.parent.worldtransformation.inverse() * worldtransformation
+        else:
+            self.transformation = worldtransformation
+
     @property
     def contrastcolor(self):
         # type: () -> compas.colors.Color | None

tests/compas/scene/test_scene.py

@@ -11,6 +11,7 @@
     from compas.geometry import Box
     from compas.geometry import Frame
     from compas.geometry import Translation
+    from compas.geometry import Transformation
     from compas.scene import Group
 
     @pytest.fixture(autouse=True)
@@ -104,6 +105,42 @@ def test_sceneobject_transform():
         assert sceneobj3.frame == Frame([30.0, 20.0, 10.0], [1.0, 0.0, 0.0], [0.0, 1.0, 0.0])
         assert sceneobj3.frame.to_transformation() == Translation.from_vector([30.0, 20.0, 10.0])
 
+    def test_sceneobject_frame_and_worldtransformation_setters():
+        """Test that frame and worldtransformation setters work correctly."""
+        scene = Scene()
+
+        # Test on root object
+        root_obj = scene.add(Box())
+        test_frame = Frame([10.0, 20.0, 30.0], [1.0, 0.0, 0.0], [0.0, 1.0, 0.0])
+        root_obj.frame = test_frame
+        assert root_obj.frame == test_frame
+        assert root_obj.worldtransformation == Transformation.from_frame(test_frame)
+
+        # Test worldtransformation setter on root object
+        test_transform = Translation.from_vector([5.0, 10.0, 15.0])
+        root_obj.worldtransformation = test_transform
+        assert root_obj.worldtransformation == test_transform
+        assert root_obj.transformation == test_transform
+
+        # Test with parent-child relationship
+        parent_obj = scene.add(Box())
+        child_obj = scene.add(Box(), parent=parent_obj)
+        parent_obj.transformation = Translation.from_vector([10.0, 0.0, 0.0])
+
+        # Test frame setter with parent
+        child_frame = Frame([30.0, 20.0, 10.0], [1.0, 0.0, 0.0], [0.0, 1.0, 0.0])
+        child_obj.frame = child_frame
+        assert child_obj.frame == child_frame
+        expected_local = parent_obj.worldtransformation.inverse() * Transformation.from_frame(child_frame)
+        assert child_obj.transformation == expected_local
+
+        # Test worldtransformation setter with parent
+        child_world_transform = Translation.from_vector([50.0, 30.0, 20.0])
+        child_obj.worldtransformation = child_world_transform
+        assert child_obj.worldtransformation == child_world_transform
+        expected_local = parent_obj.worldtransformation.inverse() * child_world_transform
+        assert child_obj.transformation == expected_local
+
     def test_scene_clear():
         scene = Scene()
         sceneobj1 = scene.add(Box())