From 8da227aca6745243935d1d695c5e9ad221bedc91 Mon Sep 17 00:00:00 2001
From: Arnaud TANGUY <arn.tanguy@gmail.com>
Date: Fri, 2 Feb 2024 09:29:31 +0100
Subject: [PATCH] [visual] Fully remove scale, adapt python bindings

---
 binding/python/rbdyn/parsers/c_parsers.pxd | 2 +-
 binding/python/rbdyn/parsers/parsers.pyx   | 8 ++++----
 src/parsers/yaml.cpp                       | 4 +---
 3 files changed, 6 insertions(+), 8 deletions(-)

diff --git a/binding/python/rbdyn/parsers/c_parsers.pxd b/binding/python/rbdyn/parsers/c_parsers.pxd
index d44bb446..cf24accc 100644
--- a/binding/python/rbdyn/parsers/c_parsers.pxd
+++ b/binding/python/rbdyn/parsers/c_parsers.pxd
@@ -21,7 +21,7 @@ cdef extern from "<RBDyn/parsers/common.h>" namespace "rbd::parsers":
 
     cdef cppclass GeometryMesh "rbd::parsers::Geometry::Mesh":
         string filename
-        double scale
+        Vector3d scaleV
 
     cdef cppclass GeometryBox "rbd::parsers::Geometry::Box":
         Vector3d size
diff --git a/binding/python/rbdyn/parsers/parsers.pyx b/binding/python/rbdyn/parsers/parsers.pyx
index ad77f0e2..aa1e2a95 100644
--- a/binding/python/rbdyn/parsers/parsers.pyx
+++ b/binding/python/rbdyn/parsers/parsers.pyx
@@ -40,20 +40,20 @@ cdef class GeometryMesh(object):
     property filename:
         def __get__(self):
             return self.impl.filename
-    property scale:
+    property scaleV:
         def __get__(self):
-            return self.impl.scale
+            return eigen.Vector3dFromC(self.impl.scaleV)
 
     def __richcmp__(GeometryMesh self, GeometryMesh other, int op):
         if op == 2:
             return (
                 self.impl.filename == other.impl.filename
-                and self.impl.scale == other.impl.scale
+                and self.impl.scaleV == other.impl.scaleV
             )
         elif op == 3:
             return (
                 self.impl.filename != other.impl.filename
-                and self.impl.scale != other.impl.scale
+                and self.impl.scaleV != other.impl.scaleV
             )
         else:
             raise NotImplementedError("This comparison is not supported")
diff --git a/src/parsers/yaml.cpp b/src/parsers/yaml.cpp
index c774cd5d..c31dc038 100644
--- a/src/parsers/yaml.cpp
+++ b/src/parsers/yaml.cpp
@@ -317,13 +317,11 @@ bool RBDynFromYAML::parseGeometry(const YAML::Node & geometry, Geometry & data)
         if(maybeScaleV.size() == 3)
         {
           mesh_data.scaleV = Eigen::Map<Eigen::Vector3d>(maybeScaleV.data(), 3);
-          mesh_data.scale = mesh_data.scaleV(2);
         }
         else
         {
           assert(maybeScaleV.size() == 1);
-          mesh_data.scale = maybeScaleV[0];
-          mesh_data.scaleV.setConstant(mesh_data.scale);
+          mesh_data.scaleV.setConstant(maybeScaleV[0]);
         }
         has_geometry = true;
         data.data = mesh_data;