ball op• Data kinds: table × table → table
• Call: import fullseye as fs; fs.ledger.bounce(v, omega, normal, bp: 'dict', ip: 'dict') -> 'dict' (to call the implementation directly, import ballistics; ballistics.bounce(v, omega, normal, bp: 'dict', ip: 'dict') -> 'dict'; from the registry, opsdrive.get("bounce"))
Update of velocity and angular velocity at the instant a rigid sphere hits a plane (Coulomb friction, the 2 regimes of Cross 2002 / Garwin 1969).
Slip velocity at the contact point s = v_t − r(ω × n)_t. If the required tangential impulse is at most μJ_n, slipping stops and it transitions to rolling (grip); if it exceeds that, it keeps slipping (slip, tangential impulse = μJ_n). Normal: v_n' = −e v_n (e is a constant or a function of |v_n|). Return value {"v", "omega", "regime" ("grip"|"slip"|"none"), "J_n", "J_t", "slip_speed", "e"}. If v·n ≥ 0 (moving apart), nothing is done (regime "none"). Theorem: angular momentum about the contact point is conserved (contact_angular_momentum).
• Sample-data catalog (download URLs / licences) — 2-D uses skimage.data (BSD/public domain) plus synthetic images; 3-D lists download URLs for real data sources (Stanford, PDS, …).
• Operator provenance and references — the sources of the research/methods this op family came from.
• The canonical algorithm (author, year) and its uses are named in the family usage guide above.
• gallery_drive_ballistics — py -3.11 examples/gallery_drive_ballistics.py
• poc_ball_bounce — py -3.11 examples/poc_ball_bounce.py
• poc_table_tennis_bounce — py -3.11 examples/poc_table_tennis_bounce.py
table as input)course_layout · course_occupancy · course_contains · world_build · world_camera · world_move · lidar_scan · rss_longitudinal_same
ball)ball_params · impact_params · flight_vacuum · flight_ode · flight_simulate · flight_state_at · magnus_lift_coefficient · drag_coefficient_sphere
*Provenance: ballistics.py — DRIVE operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.