--add access to com correction vector; cleanup outdated comments (#2333)

src/esp/bindings/PhysicsObjectBindings.cpp

@@ -298,6 +298,12 @@ void declareRigidBaseWrapper(py::module& m,
                               ".  To change the values, use the object's "
                               "'intertia_diagonal' property.")
                                  .c_str())
+      .def_property_readonly(
+          "com_correction", &RigidBaseWrapper::getCOMCorrection,
+          ("Get the COM correction vector for this " + objType +
+           ". This tracks the local change in translation from the original "
+           "frame to center the COM locally.")
+              .c_str())
       .def_property("linear_damping", &RigidBaseWrapper::getLinearDamping,
                     &RigidBaseWrapper::setLinearDamping,
                     ("Get or set this " + objType +

src/esp/physics/PhysicsObjectBase.h

@@ -487,15 +487,16 @@ class PhysicsObjectBase : public Magnum::SceneGraph::AbstractFeature3D {
 
   /**
    * @brief Reverses the COM correction transformation for objects that require
-   * it. Currently a simple passthrough for stages and Articulated Objects.
+   * it. Currently a simple passthrough for stages and articulated objects.
    */
   virtual Magnum::Vector3 getUncorrectedTranslation() const {
     return getTranslation();
   }
 
   /** @brief Accessed internally. Get an appropriately cast copy of the @ref
    * metadata::attributes::SceneObjectInstanceAttributes used to place the
-   * object within the scene, updated to have the c.
+   * object within the scene, updated to have the current transformation and
+   * status of the object.
    * @return A copy of the initialization template used to create this object
    * instance or nullptr if no template exists.
    */

src/esp/physics/RigidObject.h

@@ -7,8 +7,7 @@
 
 /** @file
  * @brief Class @ref esp::physics::RigidObject, enum @ref
- * esp::physics::MotionType, enum @ref esp::physics::RigidObjectType, struct
- * @ref VelocityControl
+ * esp::physics::MotionType, struct @ref esp::physics::VelocityControl
  */
 
 #include <Corrade/Containers/Optional.h>
@@ -162,27 +161,37 @@ class RigidObject : public RigidBase {
 
   /**
    * @brief Reverses the COM correction transformation for objects that require
-   * it. Currently a simple passthrough for stages and Articulated Objects.
+   * it.
    */
   Magnum::Vector3 getUncorrectedTranslation() const override {
     auto translation = getTranslation();
-    auto rotation = getRotation();
     if (isCOMCorrected_) {
+      auto rotation = getRotation();
       translation += rotation.transformVector(visualNode_->translation());
     }
     return translation;
   }
 
   /**
-   * @brief Set the @ref MotionType of the object. If the object is @ref
-   * ObjectType::SCENE it can only be @ref esp::physics::MotionType::STATIC. If
-   * the object is
-   * @ref ObjectType::OBJECT is can also be set to @ref
-   * esp::physics::MotionType::KINEMATIC. Only if a dervied @ref PhysicsManager
-   * implementing dynamics is in use can the object be set to @ref
-   * esp::physics::MotionType::DYNAMIC.
-   * @param mt The desirved @ref MotionType.
-   * @return true if successfully set, false otherwise.
+   * @brief Retrieves the COM correction translation for objects that require
+   * it.
+   */
+  Magnum::Vector3 getCOMCorrection() const {
+    if (isCOMCorrected_) {
+      return visualNode_->translation();
+    }
+    return Magnum::Vector3();
+  }  // getCOMCorrection
+
+  /**
+   * @brief Set the @ref MotionType of the object. If the construct is a @ref
+   * physics::RigidStage, it can only be @ref
+   * physics::MotionType::STATIC. If the object is
+   * @ref physics::RigidObject it can also be set to @ref
+   * physics::MotionType::KINEMATIC. Only if a dervied @ref
+   * physics::PhysicsManager implementing dynamics is in use can the object
+   * be set to @ref physics::MotionType::DYNAMIC.
+   * @param mt The desired @ref MotionType.
    */
   void setMotionType(MotionType mt) override;
 

src/esp/physics/bullet/BulletRigidObject.h

@@ -29,8 +29,7 @@ namespace physics {
 
 /**
  * @brief An individual rigid object instance implementing an interface with
- * Bullet physics to enable dynamic objects. See @ref btRigidBody for @ref
- * esp::physics::RigidObjectType::OBJECT.
+ * Bullet physics to enable dynamic objects. See @ref btRigidBody.
  *
  * Utilizes Magnum::BulletIntegration::MotionState to synchronize SceneNode
  * state with internal btRigidBody states
@@ -482,7 +481,7 @@ class BulletRigidObject : public BulletBase,
    */
   Magnum::Range3D getCollisionShapeAabb() const override;
 
-  /** @brief Object data: All components of a @ref esp::physics::RigidObjectType::OBJECT are
+  /** @brief Object data: All @ref BulletRigidObject components are
    * wrapped into one @ref btRigidBody.
    */
   std::unique_ptr<btRigidBody> bObjectRigidBody_;

src/esp/physics/objectWrappers/ManagedRigidBase.h

@@ -105,6 +105,13 @@ class AbstractManagedRigidBase
     }
   }  // setCOM
 
+  Magnum::Vector3 getCOMCorrection() const {
+    if (auto sp = this->getObjectReference()) {
+      return sp->getCOMCorrection();
+    }
+    return Magnum::Vector3();
+  }  // getCOMCorrection
+
   double getFrictionCoefficient() const {
     if (auto sp = this->getObjectReference()) {
       return sp->getFrictionCoefficient();