simplify tree "rebalancing"

We now unconditionally ensure that the graph is a tree (as it should),
by always removing the parent from the target node, and reconnecting
said node to the new transformation.

The very complex implementation currently there did not seem to be needed.

Author: doudou

src/TransformerGraph.cpp

@@ -485,43 +485,6 @@ static void invertOSGTransform(osg::Vec3d& trans, osg::Quat& quat,
     std::swap(source_frame, target_frame);
 }
 
-static void makeRoot(osg::Node& _transformer,
-        osg::ref_ptr<osg::PositionAttitudeTransform> desiredRoot,
-        std::set<osg::Node*> ancestors)
-{
-    PositionAttitudeTransform* transformer = getTransform(&_transformer);
-
-    osg::Vec3d trans = osg::Vec3d(0, 0, 0);
-    osg::Quat  rot   = osg::Quat(0, 0, 0, 1);
-
-    ref_ptr<PositionAttitudeTransform> currentNode(desiredRoot);
-    ref_ptr<PositionAttitudeTransform> lastNode(transformer);
-    while(currentNode != transformer && !ancestors.count(currentNode))
-    {
-        osg::Vec3d nextTrans = currentNode->getPosition();
-        osg::Quat  nextRot   = currentNode->getAttitude();
-        currentNode->setPosition(trans);
-        currentNode->setAttitude(rot);
-        rot   = nextRot.inverse();
-        trans = -(rot * nextTrans);
-
-        ref_ptr<PositionAttitudeTransform> parent(getTransform(currentNode->getParent(0)));
-        parent->removeChild(currentNode);
-        lastNode->addChild(currentNode);
-        lastNode = currentNode;
-        currentNode = parent;
-    }
-}
-
-void TransformerGraph::makeRoot(osg::Node& _transformer, std::string const& frame)
-{
-    ref_ptr<PositionAttitudeTransform> desiredRoot(FindFrame::find(_transformer, frame));
-    if (!desiredRoot)
-        return;
-
-    return ::makeRoot(_transformer, desiredRoot, std::set<osg::Node*>());
-}
-
 bool TransformerGraph::setTransformation(osg::Node &transformer,const std::string &_source_frame,const std::string &_target_frame,
         const osg::Quat &_quat, const osg::Vec3d &_trans)
 {
@@ -549,36 +512,14 @@ bool TransformerGraph::setTransformation(osg::Node &transformer,const std::strin
     }
     else if (target->getParent(0) != source)
     {
-        if (target == &transformer || (source->getParent(0) == &transformer && target->getParent(0) != &transformer))
+        if (target == &transformer)
         {
             invertOSGTransform(trans, quat, source, target, source_frame, target_frame);
         }
 
-        if (target->getParent(0) != &transformer)
-        {
-            std::set<osg::Node*> ancestors;
-            osg::ref_ptr<osg::Node> sourceAncestor = source;
-            while (sourceAncestor != &transformer)
-            {
-                ancestors.insert(sourceAncestor);
-                if (sourceAncestor->getParent(0) == target)
-                {
-                    target->removeChild(sourceAncestor);
-                    getTransform(&transformer)->addChild(sourceAncestor);
-                    ancestors.clear();
-                    break;
-                }
-                else
-                    sourceAncestor = sourceAncestor->getParent(0);
-            }
-
-            ::makeRoot(transformer, getTransform(target), ancestors);
-
-        }
-
-	osg::ref_ptr<osg::Node> node = target; //insures that node is not deleted
-        removeFrame(transformer,target_frame);
-        source->addChild(node);
+        osg::ref_ptr<osg::Node> node = target; //insures that node is not deleted
+        target->getParent(0)->removeChild(target);
+        source->addChild(target);
     }
 
     target->setAttitude(quat);

src/TransformerGraph.hpp

@@ -133,11 +133,6 @@ namespace vizkit3d
         static bool setTransformation(osg::Node &transformer,const std::string &source_frame,const std::string &target_frame,
                                       const osg::Quat &quat, const osg::Vec3d &trans);
 
-        /** Ensures that the transform node for the given frame is a direct
-         * child of the transformer node
-         */
-        static void makeRoot(osg::Node& transformer, std::string const& desiredRoot);
-
         /**
          * Gets the transformation between two coordinate frames. Thereby unlike setTransformation the frames do not have to be subsequently.
          *