From 9069d7f24917a044f37d77135eb0f46671d89882 Mon Sep 17 00:00:00 2001 From: Derek McBlane Date: Tue, 7 Jan 2025 11:43:26 -0500 Subject: [PATCH 1/2] Fix Error in Ball-Ball Frictional Inelastic No-Slip Velocity Calculation (Again) (#177) * clean up ball_ball/frictional_inelastic * fix frictional inelastic no-slip case (hopefully for the last time) * add tests for ball-ball frictional inelastic no-slip fix --- .../frictional_inelastic/__init__.py | 28 +--- .../resolve/ball_ball/test_ball_ball.py | 139 ++++++++++++++++-- 2 files changed, 136 insertions(+), 31 deletions(-) diff --git a/pooltool/physics/resolve/ball_ball/frictional_inelastic/__init__.py b/pooltool/physics/resolve/ball_ball/frictional_inelastic/__init__.py index 0f14f6fe..342e35c7 100644 --- a/pooltool/physics/resolve/ball_ball/frictional_inelastic/__init__.py +++ b/pooltool/physics/resolve/ball_ball/frictional_inelastic/__init__.py @@ -22,28 +22,17 @@ def _resolve_ball_ball(rvw1, rvw2, R, u_b, e_b): rvw2[1] = ptmath.coordinate_rotation(rvw2[1], -theta) rvw2[2] = ptmath.coordinate_rotation(rvw2[2], -theta) - rvw1_f = rvw1.copy() - rvw2_f = rvw2.copy() - # velocity normal component, same for both slip and no-slip after collison cases v1_n_f = 0.5 * ((1.0 - e_b) * rvw1[1][0] + (1.0 + e_b) * rvw2[1][0]) v2_n_f = 0.5 * ((1.0 + e_b) * rvw1[1][0] + (1.0 - e_b) * rvw2[1][0]) D_v_n_magnitude = abs(v2_n_f - v1_n_f) - # angular velocity normal component, unchanged - w1_n_f = rvw1[2][0] - w2_n_f = rvw2[2][0] - - # discard normal components for now + # discard velocity normal components for now # so that surface velocities are tangent rvw1[1][0] = 0.0 - rvw1[2][0] = 0.0 rvw2[1][0] = 0.0 - rvw2[2][0] = 0.0 - rvw1_f[1][0] = 0.0 - rvw1_f[2][0] = 0.0 - rvw2_f[1][0] = 0.0 - rvw2_f[2][0] = 0.0 + rvw1_f = rvw1.copy() + rvw2_f = rvw2.copy() v1_c = ptmath.surface_velocity(rvw1, unit_x, R) v2_c = ptmath.surface_velocity(rvw2, -unit_x, R) @@ -71,12 +60,11 @@ def _resolve_ball_ball(rvw1, rvw2, R, u_b, e_b): # then slip condition is invalid so we need to calculate no-slip condition if not has_relative_velocity or np.dot(v12_c, v12_c_slip) <= 0: # type: ignore # velocity tangent component for no-slip condition - D_v1_t = -(1.0 / 9.0) * ( - 2.0 * (rvw1[1] - rvw2[1]) - + R * ptmath.cross(2.0 * rvw1[2] + 7.0 * rvw2[2], unit_x) + D_v1_t = -(1.0 / 7.0) * ( + rvw1[1] - rvw2[1] + R * ptmath.cross(rvw1[2] + rvw2[2], unit_x) ) - D_w1 = (5.0 / 9.0) * ( - rvw2[2] - rvw1[2] + ptmath.cross(unit_x, rvw2[1] - rvw1[1]) / R + D_w1 = -(5.0 / 14.0) * ( + ptmath.cross(unit_x, rvw1[1] - rvw2[1]) / R + rvw1[2] + rvw2[2] ) rvw1_f[1] = rvw1[1] + D_v1_t rvw1_f[2] = rvw1[2] + D_w1 @@ -86,8 +74,6 @@ def _resolve_ball_ball(rvw1, rvw2, R, u_b, e_b): # reintroduce the final normal components rvw1_f[1][0] = v1_n_f rvw2_f[1][0] = v2_n_f - rvw1_f[2][0] = w1_n_f - rvw2_f[2][0] = w2_n_f # rotate everything back to the original frame rvw1_f[1] = ptmath.coordinate_rotation(rvw1_f[1], theta) diff --git a/tests/physics/resolve/ball_ball/test_ball_ball.py b/tests/physics/resolve/ball_ball/test_ball_ball.py index 2e843916..2623d291 100644 --- a/tests/physics/resolve/ball_ball/test_ball_ball.py +++ b/tests/physics/resolve/ball_ball/test_ball_ball.py @@ -1,3 +1,4 @@ +import math from typing import Tuple import attrs @@ -12,27 +13,55 @@ from pooltool.physics.resolve.ball_ball.frictionless_elastic import FrictionlessElastic -def head_on() -> Tuple[Ball, Ball]: - cb = Ball.create("cue", xy=(0, 0)) +def velocity_from_speed_and_xy_direction(speed: float, angle_radians: float): + """Convert speed and angle to a velocity vector + + Angle is defined CCW from the x-axis in the xy-plane + """ + return speed * np.array([math.cos(angle_radians), math.sin(angle_radians), 0.0]) + + +def gearing_z_spin_for_incoming_ball(incoming_ball): + """Calculate the amount of sidespin (z-axis spin) required for gearing contact + with no relative surface velocity. + + Assumes line of centers from incoming ball to object ball is along the x-axis. + + In order for gearing contact to occur, the sidespin must cancel out any + velocity in the tangential (y-axis) direction. + + And from angular velocity equations where + 'r' is distance from the rotation center + 'w' is angular velocity + 'v' is tangential velocity at a distance from the rotation center + + v = w * R + + So, v_y + w_z * R = 0, and therefore w_z = -v_y / R + """ + return -incoming_ball.vel[1] / incoming_ball.params.R - # Cue ball makes head-on collision with object ball at 1 m/s in +x direction - cb.state.rvw[1] = np.array([1, 0, 0]) +def ball_collision() -> Tuple[Ball, Ball]: + cb = Ball.create("cue", xy=(0, 0)) ob = Ball.create("cue", xy=(2 * cb.params.R, 0)) assert cb.params.m == ob.params.m, "Balls expected to be equal mass" return cb, ob -def translating_head_on() -> Tuple[Ball, Ball]: - cb = Ball.create("cue", xy=(0, 0)) - ob = Ball.create("cue", xy=(2 * cb.params.R, 0)) +def head_on() -> Tuple[Ball, Ball]: + cb, ob = ball_collision() + # Cue ball makes head-on collision with object ball at 1 m/s in +x direction + cb.state.rvw[1] = np.array([1, 0, 0]) + return cb, ob + +def translating_head_on() -> Tuple[Ball, Ball]: + cb, ob = ball_collision() # Cue ball makes head-on collision with object ball at 1 m/s in +x direction # while both balls move together at 1 m/s in +y direction cb.state.rvw[1] = np.array([1, 1, 0]) ob.state.rvw[1] = np.array([0, 1, 0]) - - assert cb.params.m == ob.params.m, "Balls expected to be equal mass" return cb, ob @@ -90,7 +119,7 @@ def test_translating_head_on_zero_spin_inelastic( cb_f, ob_f = model.resolve(cb_i, ob_i, inplace=False) # Balls should still be moving together in +y direction - assert np.isclose(cb_f.vel[1], ob_f.vel[1], atol=1e-10) + assert abs(cb_f.vel[1] - ob_f.vel[1]) < 1e-10 @pytest.mark.parametrize("model", [FrictionalInelastic(), FrictionalMathavan()]) @@ -111,3 +140,93 @@ def test_head_on_z_spin(model: BallBallCollisionStrategy, cb_wz_i: float): cb_wz_f = cb_f.state.rvw[2][2] assert cb_wz_f > 0, "Spin direction shouldn't reverse" assert cb_wz_f < cb_wz_i, "Spin should be decay" + + +@pytest.mark.parametrize( + "model", [FrictionalInelastic(), FrictionalMathavan(num_iterations=int(1e5))] +) +@pytest.mark.parametrize("speed", np.logspace(-1, 1, 5)) +@pytest.mark.parametrize( + "cut_angle_radians", np.linspace(0, math.pi / 2.0, 8, endpoint=False) +) +def test_gearing_z_spin( + model: BallBallCollisionStrategy, speed: float, cut_angle_radians: float +): + """Ensure that a gearing collision causes no throw or induced spin. + + A gearing collision is one where the relative surface speed between the balls is 0. + In other words, the velocity of each ball at the contact point is identical, and there is no + slip at the contact point. + """ + + unit_x = np.array([1.0, 0.0, 0.0]) + cb_i, ob_i = ball_collision() + + cb_i.state.rvw[1] = velocity_from_speed_and_xy_direction(speed, cut_angle_radians) + cb_i.state.rvw[2][2] = gearing_z_spin_for_incoming_ball(cb_i) + + # sanity check the initial conditions + v_c = ( + ptmath.surface_velocity( + cb_i.state.rvw, np.array([1.0, 0.0, 0.0]), cb_i.params.R + ) + - cb_i.vel[0] * unit_x + ) + assert ptmath.norm3d(v_c) < 1e-10, "Relative surface contact speed should be zero" + + cb_f, ob_f = model.resolve(cb_i, ob_i, inplace=False) + + assert ( + abs(math.atan2(ob_f.vel[1], ob_f.vel[0])) < 1e-3 + ), "Gearing english shouldn't cause throw" + assert abs(ob_f.avel[2]) < 1e-3, "Gearing english shouldn't cause induced side-spin" + + +@pytest.mark.parametrize("model", [FrictionalInelastic()]) +@pytest.mark.parametrize("speed", np.logspace(0, 1, 5)) +@pytest.mark.parametrize( + "cut_angle_radians", np.linspace(0, math.pi / 2.0, 8, endpoint=False) +) +@pytest.mark.parametrize("relative_surface_speed", np.linspace(0, 0.05, 5)) +def test_low_relative_surface_velocity( + model: BallBallCollisionStrategy, + speed: float, + cut_angle_radians: float, + relative_surface_speed: float, +): + """Ensure that collisions with a "small" relative surface velocity end with 0 relative surface velocity. + In other words, that the balls are gearing after the collision. + + Note that how small the initial relative surface velocity needs to be for this condition to be met is dependent + on model parameters and initial conditions such as ball-ball friction and the collision speed along the line of centers. + """ + + unit_x = np.array([1.0, 0.0, 0.0]) + cb_i, ob_i = ball_collision() + + cb_i.state.rvw[1] = velocity_from_speed_and_xy_direction(speed, cut_angle_radians) + cb_i.state.rvw[2][2] = gearing_z_spin_for_incoming_ball(cb_i) + cb_i.state.rvw[2][2] += ( + relative_surface_speed / cb_i.params.R + ) # from v = w * R -> w = v / R + + # sanity check the initial conditions + v_c = ( + ptmath.surface_velocity(cb_i.state.rvw, unit_x, cb_i.params.R) + - cb_i.vel[0] * unit_x + ) + assert ( + abs(relative_surface_speed - ptmath.norm3d(v_c)) < 1e-10 + ), f"Relative surface contact speed should be {relative_surface_speed}" + + cb_f, ob_f = model.resolve(cb_i, ob_i, inplace=False) + + cb_v_c_f = ptmath.surface_velocity( + cb_f.state.rvw, unit_x, cb_f.params.R + ) - np.array([cb_f.vel[0], 0.0, 0.0]) + ob_v_c_f = ptmath.surface_velocity( + ob_f.state.rvw, -unit_x, ob_f.params.R + ) - np.array([ob_f.vel[0], 0.0, 0.0]) + assert ( + ptmath.norm3d(cb_v_c_f - ob_v_c_f) < 1e-3 + ), "Final relative contact velocity should be zero" From f5bd153a453d1f4d4d3d98ee13267e4e50b33886 Mon Sep 17 00:00:00 2001 From: Evan Kiefl Date: Wed, 8 Jan 2025 00:13:02 -0800 Subject: [PATCH 2/2] Refactor Resolver serialization + ball ball friction sub models (#171) * add TP A-14 speed-dependent ball-ball friction; still needs configurable friction parameters * Remove ResolverConfig, directly serialize/deserialize Resolver instead * Update doc up to creating your own model * Cattrs structuring failure leads to default fallback with warning --------- Co-authored-by: Derek McBlane --- docs/examples/30_degree_rule.pct.py | 14 +- docs/resources/custom_physics.md | 267 +- poetry.lock | 2286 +++++++++-------- pooltool/physics/__init__.py | 33 +- pooltool/physics/resolve/__init__.py | 74 +- .../physics/resolve/ball_ball/__init__.py | 58 +- .../physics/resolve/ball_ball/friction.py | 66 + .../frictional_inelastic/__init__.py | 17 +- .../ball_ball/frictional_mathavan/__init__.py | 17 +- .../frictionless_elastic/__init__.py | 7 + .../physics/resolve/ball_cushion/__init__.py | 104 +- .../resolve/ball_cushion/han_2005/model.py | 12 + .../ball_cushion/unrealistic/__init__.py | 20 +- .../physics/resolve/ball_pocket/__init__.py | 51 +- pooltool/physics/resolve/models.py | 85 + pooltool/physics/resolve/resolver.py | 205 +- pooltool/physics/resolve/serialize.py | 67 + .../physics/resolve/stick_ball/__init__.py | 49 +- .../instantaneous_point/__init__.py | 5 + .../physics/resolve/transition/__init__.py | 53 +- pooltool/physics/resolve/types.py | 12 - pooltool/serialize/convert.py | 20 + pooltool/serialize/serializers.py | 2 +- .../resolve/ball_cushion/test_ball_cushion.py | 4 +- 24 files changed, 1840 insertions(+), 1688 deletions(-) create mode 100644 pooltool/physics/resolve/ball_ball/friction.py create mode 100644 pooltool/physics/resolve/models.py create mode 100644 pooltool/physics/resolve/serialize.py delete mode 100644 pooltool/physics/resolve/types.py diff --git a/docs/examples/30_degree_rule.pct.py b/docs/examples/30_degree_rule.pct.py index a92e21f0..4c4789a7 100644 --- a/docs/examples/30_degree_rule.pct.py +++ b/docs/examples/30_degree_rule.pct.py @@ -7,7 +7,7 @@ # extension: .py # format_name: percent # format_version: '1.3' -# jupytext_version: 1.16.4 +# jupytext_version: 1.16.6 # kernelspec: # display_name: Python 3 (ipykernel) # language: python @@ -122,10 +122,10 @@ # %% [markdown] # Now, we [simulate](../autoapi/pooltool/index.rst#pooltool.simulate) the shot and then [continuize](../autoapi/pooltool/evolution/continuize/index.html#pooltool.evolution.continuize.continuize) it to store ball state data (like coordinates) in $10\text{ms}$ timestep intervals. -# %% -# Create a default physics engine and overwrite ball-ball model with frictionless, elastic model. +# %% trusted=true +# Create a default physics engine, then overwrite ball-ball model with frictionless, elastic model. engine = pt.physics.PhysicsEngine() -engine.resolver.ball_ball = pt.physics.get_ball_ball_model(pt.physics.BallBallModel.FRICTIONLESS_ELASTIC) +engine.resolver.ball_ball = pt.physics.ball_ball_models[pt.physics.BallBallModel.FRICTIONLESS_ELASTIC]() pt.simulate(system, engine=engine, inplace=True) pt.continuize(system, dt=0.01, inplace=True) @@ -268,10 +268,8 @@ def get_carom_angle(system: pt.System) -> float: pt.events.by_type(pt.EventType.SLIDING_ROLLING), )[0] - velocity_final = transition.agents[0].final.state.rvw[1, :2] - for agent in collision.agents: - if agent.id == "cue": - velocity_initial = agent.initial.state.rvw[1, :2] + velocity_final = transition.get_ball("cue", initial=False).state.rvw[1, :2] + velocity_initial = transition.get_ball("cue", initial=True).state.rvw[1, :2] return pt.ptmath.utils.angle_between_vectors(velocity_final, velocity_initial) diff --git a/docs/resources/custom_physics.md b/docs/resources/custom_physics.md index 50c4f1cc..cb455abe 100644 --- a/docs/resources/custom_physics.md +++ b/docs/resources/custom_physics.md @@ -27,77 +27,87 @@ Below details how you can either **(a)** plug in models that already exist in th This section guides you on how to switch between existing models within the codebase. -The handling of events is determined by the resolver configuration file, which is located at `~/.config/pooltool/physics/resolver.yaml`. Here's an example of what that looks like: +By default, events are resolved according to the default resolver file, which is located at `~/.config/pooltool/physics/resolver.yaml`. Here's an example of what that looks like: ```yaml -ball_ball: frictionless_elastic -ball_ball_params: {} -ball_circular_cushion: han_2005 -ball_circular_cushion_params: {} -ball_linear_cushion: han_2005 -ball_linear_cushion_params: {} -ball_pocket: canonical -ball_pocket_params: {} -stick_ball: instantaneous_point -stick_ball_params: - throttle_english: true -transition: canonical -transition_params: {} +ball_ball: + friction: + a: 0.009951 + b: 0.108 + c: 1.088 + model: alciatore + num_iterations: 1000 + model: frictional_mathavan +ball_linear_cushion: + model: han_2005 +ball_circular_cushion: + model: han_2005 +ball_pocket: + model: canonical +stick_ball: + english_throttle: 1.0 + squirt_throttle: 1.0 + model: instantaneous_point +transition: + model: canonical +version: 6 ``` +:::{note} The resolver configuration file is automatically generated during the initial execution. If you don't have one yet, execute pooltool with the command `run-pooltool`, start a new game, and take a shot--one will be generated. +::: -Models are identified by their names. You can view the names of all available models by executing the following command: +You can modify this file to change the physics. You can view available model names and their associated parameter values by executing the following command: ```python -from pooltool.physics.resolve.ball_ball import BallBallModel -from pooltool.physics.resolve.ball_cushion import BallCCushionModel, BallLCushionModel -from pooltool.physics.resolve.ball_pocket import BallPocketModel -from pooltool.physics.resolve.stick_ball import StickBallModel -from pooltool.physics.resolve.transition import BallTransitionModel - -print("ball-ball models:") -for model in BallBallModel: print(f"\t{model}") -print("ball-linear cushion models:") -for model in BallLCushionModel: print(f"\t{model}") -print("ball-circular cushion models:") -for model in BallCCushionModel: print(f"\t{model}") -print("stick-ball models:") -for model in StickBallModel: print(f"\t{model}") -print("ball-pocket models:") -for model in BallPocketModel: print(f"\t{model}") -print("ball-transition models:") -for model in BallTransitionModel: print(f"\t{model}") +python -c 'from pooltool.physics.resolve import display_models; display_models()' ``` -Each model lives in its own directory. For example, the `frictionless_elastic` **ball-ball** collision model is found in `pooltool/physics/resolve/ball_ball/frictionless_elastic/__init__.py` with the class name `FrictionlessElastic`. `FrictionlessElastic` doesn't take any parameters, so in the resolver config the parameter field is empty: +Here is the output (January 5th, 2025): ``` -ball_ball: frictionless_elastic -ball_ball_params: {} +ball_ball models: + frictionless_elastic (/Users/evan/Software/pooltool_ml/pooltool/pooltool/physics/resolve/ball_ball/frictionless_elastic/__init__.py) + frictional_inelastic (/Users/evan/Software/pooltool_ml/pooltool/pooltool/physics/resolve/ball_ball/frictional_inelastic/__init__.py) + - friction: type=, default=AlciatoreBallBallFriction(a=0.009951, b=0.108, c=1.088) + frictional_mathavan (/Users/evan/Software/pooltool_ml/pooltool/pooltool/physics/resolve/ball_ball/frictional_mathavan/__init__.py) + - friction: type=, default=AlciatoreBallBallFriction(a=0.009951, b=0.108, c=1.088) + - num_iterations: type=, default=1000 + +ball_linear_cushion models: + han_2005 (/Users/evan/Software/pooltool_ml/pooltool/pooltool/physics/resolve/ball_cushion/han_2005/model.py) + unrealistic (/Users/evan/Software/pooltool_ml/pooltool/pooltool/physics/resolve/ball_cushion/unrealistic/__init__.py) + - restitution: type=, default=True + +ball_circular_cushion models: + han_2005 (/Users/evan/Software/pooltool_ml/pooltool/pooltool/physics/resolve/ball_cushion/han_2005/model.py) + unrealistic (/Users/evan/Software/pooltool_ml/pooltool/pooltool/physics/resolve/ball_cushion/unrealistic/__init__.py) + - restitution: type=, default=True + +stick_ball models: + instantaneous_point (/Users/evan/Software/pooltool_ml/pooltool/pooltool/physics/resolve/stick_ball/instantaneous_point/__init__.py) + - english_throttle: type=, default=1.0 + - squirt_throttle: type=, default=1.0 + +ball_pocket models: + canonical (/Users/evan/Software/pooltool_ml/pooltool/pooltool/physics/resolve/ball_pocket/__init__.py) + +ball_transition models: + canonical (/Users/evan/Software/pooltool_ml/pooltool/pooltool/physics/resolve/transition/__init__.py) ``` -But some models do take parameters: The **stick-ball** collision model `instantaneous_point` has a parameter `throttle_english`, which you can see is an initialization parameter of the class `InstantaneousPoint` housed in `pooltool/physics/resolve/stick_ball/instantaneous_point/__init__.py`: +Next to each model name is the filepath where the model is defined. For example, the **stick-ball** collision model `instantaneous_point` is defined at `pooltool/physics/resolve/stick_ball/instantaneous_point/__init__.py`. As you can see in the output above, it has two parameters, `english_throttle` and `squirt_throttle`. If you look at the corresponding class `InstantaneousPoint` housed in that file, you can see that these are initialization parameters of the model: ```python @attrs.define class InstantaneousPoint(CoreStickBallCollision): - throttle_english: bool + english_throttle: bool + squirt_throttle: bool def solve(self, cue: Cue, ball: Ball) -> Tuple[Cue, Ball]: (...) ``` -To set this parameter to `False`, modify `stick_ball_params`: - -``` -stick_ball: instantaneous_point -stick_ball_params: - throttle_english: false -``` - -Currently, the easiest way to see which parameters are available for a model is to dig through the source code, specifically in `pooltool/physics/resolve/*`. - ### What happens at runtime? This may be a useful section for you if you want to learn more about how this all works. @@ -120,34 +130,7 @@ class Resolver: Each attribute is a _physics strategy_ (or model) for each event class: [ball-ball collisions](https://ekiefl.github.io/2020/12/20/pooltool-alg/#ball-ball-collision), [ball-linear cushion collisions](https://ekiefl.github.io/2020/12/20/pooltool-alg/#ball-cushion-collision), [ball-circular cushion collisions](https://ekiefl.github.io/2020/12/20/pooltool-alg/#ball-cushion-collision), [ball-pocket "collisions"](https://ekiefl.github.io/2020/12/20/pooltool-alg/#ball-pocket-collision), and [ball motion transitions](https://ekiefl.github.io/2020/12/20/pooltool-alg/#transition-events). -While it's possible to create a `Resolver` object by instantiating physics strategies for each event class, this programmatic interface is complex to replicate. A more user-friendly approach would be to serialize the desired physics strategies into a configuration file. This is the function of `ResolverConfig`. As a dataclass, it supports seamless serialization and deserialization, allowing all information needed to create a `Resolver` object to be conveniently stored in a YAML file. - -The structure of `ResolverConfig` is as follows: - -```python -class ResolverConfig: - ball_ball: BallBallModel - ball_ball_params: ModelArgs - ball_linear_cushion: BallLCushionModel - ball_linear_cushion_params: ModelArgs - ball_circular_cushion: BallCCushionModel - ball_circular_cushion_params: ModelArgs - ball_pocket: BallPocketModel - ball_pocket_params: ModelArgs - stick_ball: StickBallModel - stick_ball_params: ModelArgs - transition: BallTransitionModel - transition_params: ModelArgs - - def save(self, path: Pathish) -> Path: - # Code to serialize the object to YAML and save it to a file... - - @classmethod - def load(cls, path: Pathish) -> ResolverConfig: - # Code to load a YAML file and deserialize it into a ResolverConfig object... -``` - -You might observe that this closely resembles the YAML configuration file. That's because the `resolver.yaml` file is simply a serialization of this class. When you modify `resolver.yaml`, a `ResolverConfig` is created from the `resolver.yaml` file using `ResolverConfig.load(...)` during runtime. This configuration is then used to build the `Resolver` object employed by the shot evolution algorithm, using `Resolver.from_config(resolver_config)`. +You might observe that this closely resembles the YAML configuration file. That's because the `resolver.yaml` file is simply a serialization of this class. During runtime, a `Resolver` class is created from the `resolver.yaml`. ### Creating new physics models @@ -155,9 +138,15 @@ To demonstrate how you can integrate your own physics model into pooltool, I'll Ok let's get started. +#### Create a name for your model + +Figure out a name for your model, then open up `pooltool/physics/resolve/models.py`. You'll see a bunch of [Enum](https://docs.python.org/3/howto/enum.html) classes. Find the one corresponding to your event class and add your model as an attribute of the class. + +Here's the example code: [d7ab8531424b62e1786506245b46715a607305ee](https://github.com/ekiefl/pooltool/commit/d7ab8531424b62e1786506245b46715a607305ee) + #### Create a directory -First, we need to establish a model within its own dedicated directory. This directory should be named after the model. As I'm using a simple toy example, I'll name mine `unrealistic`. The directory should be located in one of the `pooltool/physics/resolve/*` folders, depending on the event class your model manages. Since I'm constructing a ball-cushion model, I'll create the `unrealistic` folder in `pooltool/physics/resolve/ball_cushion/`. +Now, we need to establish the model within its own dedicated directory. This directory should be named after the model. The directory should be located in one of the `pooltool/physics/resolve/*` folders, depending on the event class your model manages. Since I'm constructing a ball-cushion model, I'll create the `unrealistic` folder in `pooltool/physics/resolve/ball_cushion/`. Within your model directory, create an `__init__.py` file. If your model is simple, all your model logic can be contained within this single file. However, if your model grows complex, feel free to expand it across multiple files, provided they're kept within your model directory. @@ -170,7 +159,9 @@ Regardless of how you choose to structure your code, it must eventually lead to 1. Contains a method named `solve`. 1. Inherits from the core model. -The call signature of your `solve` method and the core model from which you inherit will depend on the event class for which you're developing a model. +There's two other requirements but let's deal with these two first. + +The call signature of your `solve` method and the core model from which you inherit will depend on the event class you're developing a model for. Since I'm developing a ball-cushion model, I'll refer to `pooltool/physics/resolve/ball_cushion/core.py` for this information. Below is the required call signature for my `solve` method: @@ -192,50 +183,59 @@ class CoreBallLCushionCollision(ABC): (...) ``` -With these, we can create our template: - -```python -"""An unrealistic ball-cushion model""" +With these, we can draft our template by following the example code: [5ecddb2c0c010e3f058e666fd5a7fc1f10117638](https://github.com/ekiefl/pooltool/commit/5ecddb2c0c010e3f058e666fd5a7fc1f10117638) -from typing import Tuple +It's just missing two things. First, the class must be an attrs class. Pooltool requires that all the resolver models are [attrs](https://www.attrs.org/en/stable/) classes. If you've never used attrs before, stick close to the example and you'll have no problems. Second, the class must have an attribute called `model`, and this attribute should be the Enum member that you had previously added to `pooltool/physics/resolve/models.py`. -from pooltool.objects.ball.datatypes import Ball -from pooltool.objects.table.components import LinearCushionSegment -from pooltool.physics.resolve.ball_cushion.core import CoreBallLCushionCollision +To apply these changes, follow the example code: [9c12a6efa2b9d201d8cedfc75b1a83b8134dd7ec](https://github.com/ekiefl/pooltool/commit/9c12a6efa2b9d201d8cedfc75b1a83b8134dd7ec). Since I added `UNREALISTIC` to the `BallLCushionModel` model, I added the following attribute to my class: - -class UnrealisticLinear(CoreBallLCushionCollision): - def solve( - self, ball: Ball, cushion: LinearCushionSegment - ) -> Tuple[Ball, LinearCushionSegment]: - return ball, cushion +```python +model: BallLCushionModel = attrs.field(default=BallLCushionModel.UNREALISTIC, init=False, repr=False) ``` -Here's the example code: [af507032217914629e53954965c982d21fdc8094](https://github.com/ekiefl/pooltool/commit/af507032217914629e53954965c982d21fdc8094) - -As you can see, `resolve` currently does *nothing*, it just returns what is handed to it. +Great, now we are done with the boilerplate code. But `resolve` currently does *nothing*, it just returns what is handed to it. Let's change that. #### Implement the logic :::{note} -You may prefer **registering** and **activating** your model before you start implementing the logic. Even though your model doesn't do anything at this point, you may prefer registering and activating it now, so that you can make changes, and immediately see how your implementation affects a test case. +You may prefer **registering** and **activating** your model before you start implementing the logic (below). Even though your model doesn't do anything at this point, you may prefer registering and activating it now, so that you can make changes, and immediately see how your implementation affects a test case. ::: This is where you come in, but there are a few points to make. First, I really like type hints, but I remember a time when I didn't. If that's you, don't worry about them--or any other conventions I follow, for that matter. This is your code, just do your thing and don't get overwhelmed in my conventions. Second, since you'll be working with the core pooltool objects `Cue`, `Ball`, `LinearCushionSegment`, `CircularCushionSegment`, and `Pocket`, it is worth scanning their source code to determine what parameters they have, and therefore what tools you have at your disposal. -Anyways, here's my preliminary implementation: [17510e7d014c8aa5e60d6556db2e5b0dea36f2f0](https://github.com/ekiefl/pooltool/commit/17510e7d014c8aa5e60d6556db2e5b0dea36f2f0) +Anyways, here's my preliminary implementation: [f5cf3734a026508c8767e8937b5dccb4e3a87682](https://github.com/ekiefl/pooltool/commit/f5cf3734a026508c8767e8937b5dccb4e3a87682) -Then I added a parameter to the model to add some flavor and complexity. Note that the model parameters should not be things like mass or friction coefficients. Those are properties of the passed objects. If you think a property is missing for an object, we can add it to the object. Model parameters are more meta/behavioral (see the below example). +Then I added a parameter to the model to add some complexity. Specifically, here's how I added a model parameter that dictates whether or not the outgoing speed should be dampened with the ball's restitution coefficient: [3c898c72832421aa6226cd40574a1b9b38550737](https://github.com/ekiefl/pooltool/commit/3c898c72832421aa6226cd40574a1b9b38550737). -Please note that the resolver config can only handle strings, booleans, floats, and integers for model parameters due to serialization requirements. If you have more complex model types like functions, try and simplify the passed argument to a string by string-lookup dictionary. +:::{note} +Model parameters should not be things like mass or friction coefficients. Those are properties of the passed objects. If you think a property is missing for an object, we can add it to the object. Model parameters are more meta/behavioral (see the above commit, where `restitution` is added). +::: -Here's me adding a model parameter that dictates whether or not the outgoing speed should be dampened with the ball's restitution coefficient: [ec42752f381edf3d576a66a9178a27d6054ff437](https://github.com/ekiefl/pooltool/commit/ec42752f381edf3d576a66a9178a27d6054ff437) +:::{note} +Attributes are defined differently for attrs classes than they are for standard Python classes. For example, if you had a standard class, you could add a restitution boolean like this: + +```python +class UnrealisticLinear(CoreBallLCushionCollision): + def __init__(self, restitution: bool = True): + self.restitution = restitution +``` + +But since pooltool uses attrs classes for model definitions, you must define the equivalent like this: + +```python +@attrs.define +class UnrealisticLinear(CoreBallLCushionCollision): + restitution: bool = True +``` + +Keep this in mind if you are adding parameters to your model. +::: #### Register the model -Your model is in the codebase, but no other part of the codebase knows about it yet. Changing that is simple. +Your model is in the codebase, but it needs to be added to collection of *available* models. Changing that is simple. Open the `__init__.py` file corresponding to your event class: @@ -247,40 +247,21 @@ pooltool/physics/resolve/stick_ball/__init__.py pooltool/physics/resolve/transition/__init__.py ``` -You'll need to modify two objects. - -First, is an [Enum](https://docs.python.org/3/library/enum.html) that holds the collection of all model names for a given event-class. You can find it by searching for a class that inherits from `StrEnum`. Here is the ball linear cushion Enum: +In it you'll find a variable that defines the model registry for your event class. Since I'm adding a ball linear cushion model, I opened up `pooltool/physics/resolve/ball_cushion/__init__.py` where I found the model registry `_ball_lcushion_model_registry` that looked like this: ```python -class BallLCushionModel(StrEnum): - HAN_2005 = auto() +_ball_lcushion_model_registry: Tuple[Type[BallLCushionCollisionStrategy], ...] = ( + Han2005Linear, +) ``` -Add a new element to this Enum that will correspond to your model, like I've done here: +Now add your model. My model is called `UnrealisticLinear`, so I added it to the registry: ```python -class BallLCushionModel(StrEnum): - HAN_2005 = auto() - UNREALISTIC = auto() -``` - -Technically the name here is arbitrary, but it makes good sense to have it match your model name. - -Second, you'll have to modify a dictionary that associates model names to model classes. It's in the same file. Mine was this: - -```python -_ball_lcushion_models: Dict[BallLCushionModel, Type[BallLCushionCollisionStrategy]] = { - BallLCushionModel.HAN_2005: Han2005Linear, -} -``` - -And I made it this: - -```python -_ball_lcushion_models: Dict[BallLCushionModel, Type[BallLCushionCollisionStrategy]] = { - BallLCushionModel.HAN_2005: Han2005Linear, - BallLCushionModel.UNREALISTIC: UnrealisticLinear, -} +_ball_lcushion_model_registry: Tuple[Type[BallLCushionCollisionStrategy], ...] = ( + Han2005Linear, + UnrealisticLinear, +) ``` I needed to import my new model, so I put this at the top of the file: @@ -289,33 +270,39 @@ I needed to import my new model, so I put this at the top of the file: from pooltool.physics.resolve.ball_cushion.unrealistic import UnrealisticLinear ``` -Here are the full changes: [9c4d9ad2dc6bae3848bfc9973f150b864e07db06](https://github.com/ekiefl/pooltool/commit/9c4d9ad2dc6bae3848bfc9973f150b864e07db06) +Here are the full changes: [bb787a43d276d1b4f887c52e7bc5b5b1d079efd7](https://github.com/ekiefl/pooltool/commit/bb787a43d276d1b4f887c52e7bc5b5b1d079efd7) #### Activate the model -In order to apply your new model using pooltool, you'll need to modify the resolver configuration file, which is found at `~/.config/pooltool/physics/resolver.yaml`. This file is automatically generated **upon the first run-time**. Therefore, if it's missing, simply execute the command `python sandbox/break.py` from the pooltool root directory to generate it. +In order to apply your new model using pooltool, you'll need to modify the default resolver file (`~/.config/pooltool/physics/resolver.yaml`). This file is automatically generated **upon the first run-time**. Therefore, if it's missing, simply execute the command `python sandbox/break.py` from the pooltool root directory to generate it. + +Next, you need to replace the existing model name with the name of your new model. My default entry for the linear cushion model looked like this: -Next, you need to replace the existing model name with the name of your new model. It's important to note that the model name should be the **lower case version of the Enum attribute**. For instance, if my Enum attribute is `UNREALISTIC`, I would input `unrealistic` for `ball_linear_cushion`. +``` +ball_linear_cushion: + model: han_2005 +``` -If your model doesn't require parameters, you should set the `_params` key to `{}`. However, if your model does have parameters, you should list them, along with their corresponding values. For example, if my model includes a parameter, I would specify its value as follows: +So I replaced it with my model: ``` -ball_linear_cushion: unrealistic -ball_linear_cushion_params: +ball_linear_cushion: restitution: true + model: unrealistic ``` +It's important to note that the model value should be the **lower case version of the Enum attribute**. For instance, my Enum attribute is `UNREALISTIC`, so I put `unrealistic`. Since my model accepts the parameter `restitution`, I also supply a value for that parameter. + That's it. If everything runs without error, your model is active. Note, there is no git commit to show you here, because `~/.config/pooltool/physics/resolver.yaml` isn't part of the project--it's part of your personal workspace. #### Addendum: ball-cushion models -This is instructions for taking your ball-linear cushion model and creating a corresponding ball-circular cushion model. - -The ball-cushion collision has two event classes: collision of the ball with (1) linear cushion segments and (2) circular cushion segments. I developed circular cushion segments to smoothly join two linear cushion segments, _e.g._ to create the jaws of a pocket. +These are instructions for taking your ball-linear cushion model and creating a corresponding ball-circular cushion model. +The ball-cushion collision has two event classes: collision of the ball with (1) linear cushion segments and (2) circular cushion segments. Circular cushion segments exist to smoothly join two linear cushion segments, _e.g._ to create the jaws of a pocket. -You could have separate models for circular and linear cushion segment collisions, or if you're lazy they could mimic each other. In this git commit, I illustrate how you can use the same model for both collision types, assuming you've already implemented the linear cushion segment: [f4b91e436976fb857bf7681fcb6458c3ae1e6377](https://github.com/ekiefl/pooltool/commit/f4b91e436976fb857bf7681fcb6458c3ae1e6377) +You could have separate models for circular and linear cushion segment collisions, or if you're lazy they could mimic each other. In this git commit, I illustrate how you can use the same model for both collision types, assuming you've already implemented the linear cushion segment: [e99b77d73ddbd6979bfa24797f8dfca25dd1cbe8](https://github.com/ekiefl/pooltool/commit/e99b77d73ddbd6979bfa24797f8dfca25dd1cbe8) -If you want to activate the model, don't forget to modify the resolver config. +If you want to activate the model, don't forget to activate it in `~/.config/pooltool/physics/resolver.yaml`. diff --git a/poetry.lock b/poetry.lock index f3a87b3d..043c4039 100644 --- a/poetry.lock +++ b/poetry.lock @@ -13,25 +13,25 @@ files = [ [[package]] name = "anyio" -version = "4.4.0" +version = "4.8.0" description = "High level compatibility layer for multiple asynchronous event loop implementations" optional = false -python-versions = ">=3.8" +python-versions = ">=3.9" files = [ - {file = "anyio-4.4.0-py3-none-any.whl", hash = "sha256:c1b2d8f46a8a812513012e1107cb0e68c17159a7a594208005a57dc776e1bdc7"}, - {file = "anyio-4.4.0.tar.gz", hash = "sha256:5aadc6a1bbb7cdb0bede386cac5e2940f5e2ff3aa20277e991cf028e0585ce94"}, + {file = "anyio-4.8.0-py3-none-any.whl", hash = "sha256:b5011f270ab5eb0abf13385f851315585cc37ef330dd88e27ec3d34d651fd47a"}, + {file = "anyio-4.8.0.tar.gz", hash = "sha256:1d9fe889df5212298c0c0723fa20479d1b94883a2df44bd3897aa91083316f7a"}, ] [package.dependencies] exceptiongroup = {version = ">=1.0.2", markers = "python_version < \"3.11\""} idna = ">=2.8" sniffio = ">=1.1" -typing-extensions = {version = ">=4.1", markers = "python_version < \"3.11\""} +typing_extensions = {version = ">=4.5", markers = "python_version < \"3.13\""} [package.extras] -doc = ["Sphinx (>=7)", "packaging", "sphinx-autodoc-typehints (>=1.2.0)", "sphinx-rtd-theme"] -test = ["anyio[trio]", "coverage[toml] (>=7)", "exceptiongroup (>=1.2.0)", "hypothesis (>=4.0)", "psutil (>=5.9)", "pytest (>=7.0)", "pytest-mock (>=3.6.1)", "trustme", "uvloop (>=0.17)"] -trio = ["trio (>=0.23)"] +doc = ["Sphinx (>=7.4,<8.0)", "packaging", "sphinx-autodoc-typehints (>=1.2.0)", "sphinx_rtd_theme"] +test = ["anyio[trio]", "coverage[toml] (>=7)", "exceptiongroup (>=1.2.0)", "hypothesis (>=4.0)", "psutil (>=5.9)", "pytest (>=7.0)", "trustme", "truststore (>=0.9.1)", "uvloop (>=0.21)"] +trio = ["trio (>=0.26.1)"] [[package]] name = "appnope" @@ -122,13 +122,13 @@ test = ["dateparser (==1.*)", "pre-commit", "pytest", "pytest-cov", "pytest-mock [[package]] name = "astroid" -version = "3.3.2" +version = "3.3.8" description = "An abstract syntax tree for Python with inference support." optional = false python-versions = ">=3.9.0" files = [ - 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1acb6d66..c8fe53c6 100644 --- a/pooltool/physics/__init__.py +++ b/pooltool/physics/__init__.py @@ -5,37 +5,35 @@ from pooltool.physics.resolve.ball_ball import ( BallBallCollisionStrategy, BallBallModel, - get_ball_ball_model, + ball_ball_models, ) from pooltool.physics.resolve.ball_cushion import ( BallCCushionCollisionStrategy, BallCCushionModel, BallLCushionCollisionStrategy, BallLCushionModel, - get_ball_circ_cushion_model, - get_ball_lin_cushion_model, + ball_ccushion_models, + ball_lcushion_models, ) from pooltool.physics.resolve.ball_pocket import ( BallPocketModel, BallPocketStrategy, - get_ball_pocket_model, + ball_pocket_models, ) from pooltool.physics.resolve.resolver import ( - RESOLVER_CONFIG_PATH, + RESOLVER_PATH, Resolver, - ResolverConfig, ) from pooltool.physics.resolve.stick_ball import ( StickBallCollisionStrategy, StickBallModel, - get_stick_ball_model, + stick_ball_models, ) from pooltool.physics.resolve.transition import ( BallTransitionModel, BallTransitionStrategy, - get_transition_model, + ball_transition_models, ) -from pooltool.physics.resolve.types import ArgType, ModelArgs __all__ = [ "BallBallCollisionStrategy", @@ -48,20 +46,17 @@ "evolve", "resolve", "Resolver", - "RESOLVER_CONFIG_PATH", - "ResolverConfig", + "RESOLVER_PATH", "BallBallModel", - "get_ball_ball_model", "BallCCushionModel", "BallLCushionModel", - "get_ball_circ_cushion_model", - "get_ball_lin_cushion_model", "BallPocketModel", - "get_ball_pocket_model", "StickBallModel", - "get_stick_ball_model", "BallTransitionModel", - "get_transition_model", - "ArgType", - "ModelArgs", + "ball_ball_models", + "ball_lcushion_models", + "ball_ccushion_models", + "ball_pocket_models", + "stick_ball_models", + "ball_transition_models", ] diff --git a/pooltool/physics/resolve/__init__.py b/pooltool/physics/resolve/__init__.py index 02065aec..c00a24fb 100644 --- a/pooltool/physics/resolve/__init__.py +++ b/pooltool/physics/resolve/__init__.py @@ -1,59 +1,101 @@ """Resolve events""" +import inspect + +import attrs + from pooltool.physics.resolve.ball_ball import ( BallBallCollisionStrategy, BallBallModel, - get_ball_ball_model, + ball_ball_models, ) from pooltool.physics.resolve.ball_cushion import ( BallCCushionCollisionStrategy, BallCCushionModel, BallLCushionCollisionStrategy, BallLCushionModel, - get_ball_circ_cushion_model, - get_ball_lin_cushion_model, + ball_ccushion_models, + ball_lcushion_models, ) from pooltool.physics.resolve.ball_pocket import ( BallPocketModel, BallPocketStrategy, - get_ball_pocket_model, + ball_pocket_models, ) from pooltool.physics.resolve.resolver import ( - RESOLVER_CONFIG_PATH, + RESOLVER_PATH, Resolver, - ResolverConfig, ) from pooltool.physics.resolve.stick_ball import ( StickBallCollisionStrategy, StickBallModel, - get_stick_ball_model, + stick_ball_models, ) from pooltool.physics.resolve.transition import ( BallTransitionModel, BallTransitionStrategy, - get_transition_model, + ball_transition_models, ) + +def _display_model(cls, model): + fp = inspect.getfile(cls) + print(f" {model.value} ({fp})") + + if not attrs.has(cls): + raise TypeError(f"{cls.__name__} is not an attrs class.") + + indent = 4 + indent_str = " " * indent + + for field in attrs.fields(cls): + if field.name == "model": + continue + + default_val = field.default + if default_val is attrs.NOTHING: + default_val = None + + print( + f"{indent_str} - {field.name}: " + f"type={field.type}, default={default_val}" + ) + + +def display_models(): + print("\nball_ball models:") + for model in BallBallModel: + _display_model(ball_ball_models[model], model) + print("\nball_linear_cushion models:") + for model in BallLCushionModel: + _display_model(ball_lcushion_models[model], model) + print("\nball_circular_cushion models:") + for model in BallCCushionModel: + _display_model(ball_ccushion_models[model], model) + print("\nstick_ball models:") + for model in StickBallModel: + _display_model(stick_ball_models[model], model) + print("\nball_pocket models:") + for model in BallPocketModel: + _display_model(ball_pocket_models[model], model) + print("\nball_transition models:") + for model in BallTransitionModel: + _display_model(ball_transition_models[model], model) + + __all__ = [ "Resolver", - "RESOLVER_CONFIG_PATH", - "ResolverConfig", + "RESOLVER_PATH", "BallBallCollisionStrategy", "BallBallModel", - "get_ball_ball_model", "BallCCushionCollisionStrategy", "BallCCushionModel", "BallLCushionCollisionStrategy", "BallLCushionModel", - "get_ball_circ_cushion_model", - "get_ball_lin_cushion_model", "BallPocketModel", "BallPocketStrategy", - "get_ball_pocket_model", "StickBallCollisionStrategy", "StickBallModel", - "get_stick_ball_model", "BallTransitionModel", "BallTransitionStrategy", - "get_transition_model", ] diff --git a/pooltool/physics/resolve/ball_ball/__init__.py b/pooltool/physics/resolve/ball_ball/__init__.py index bd7016f0..fc4bc774 100644 --- a/pooltool/physics/resolve/ball_ball/__init__.py +++ b/pooltool/physics/resolve/ball_ball/__init__.py @@ -1,63 +1,31 @@ """Models for ball-ball collisions.""" -from typing import Dict, Optional, Type +from typing import Dict, Tuple, Type, cast + +import attrs from pooltool.physics.resolve.ball_ball.core import BallBallCollisionStrategy from pooltool.physics.resolve.ball_ball.frictional_inelastic import FrictionalInelastic from pooltool.physics.resolve.ball_ball.frictional_mathavan import FrictionalMathavan from pooltool.physics.resolve.ball_ball.frictionless_elastic import FrictionlessElastic -from pooltool.physics.resolve.types import ModelArgs -from pooltool.utils.strenum import StrEnum, auto - - -class BallBallModel(StrEnum): - """An Enum for different ball-ball collision models +from pooltool.physics.resolve.models import BallBallModel - Attributes: - FRICTIONLESS_ELASTIC: - Frictionless, instantaneous, elastic, equal mass collision - (:class:`FrictionlessElastic`). - """ +_ball_ball_model_registry: Tuple[Type[BallBallCollisionStrategy], ...] = ( + FrictionlessElastic, + FrictionalMathavan, + FrictionalInelastic, +) - FRICTIONLESS_ELASTIC = auto() - FRICTIONAL_INELASTIC = auto() - FRICTIONAL_MATHAVAN = auto() - - -_ball_ball_models: Dict[BallBallModel, Type[BallBallCollisionStrategy]] = { - BallBallModel.FRICTIONLESS_ELASTIC: FrictionlessElastic, - BallBallModel.FRICTIONAL_INELASTIC: FrictionalInelastic, - BallBallModel.FRICTIONAL_MATHAVAN: FrictionalMathavan, +ball_ball_models: Dict[BallBallModel, Type[BallBallCollisionStrategy]] = { + cast(BallBallModel, attrs.fields_dict(cls)["model"].default): cls + for cls in _ball_ball_model_registry } -def get_ball_ball_model( - model: Optional[BallBallModel] = None, params: ModelArgs = {} -) -> BallBallCollisionStrategy: - """Returns a ball-ball collision model - - Args: - model: - An Enum specifying the desired model. If not passed, - :class:`FrictionalMathavan` is passed with empty params. - params: - A mapping of parameters accepted by the model. - - Returns: - An instantiated model that satisfies the :class:`BallBallCollisionStrategy` - protocol. - """ - - if model is None: - return FrictionlessElastic() - - return _ball_ball_models[model](**params) - - __all__ = [ "BallBallModel", - "get_ball_ball_model", "FrictionalMathavan", "FrictionalInelastic", "FrictionlessElastic", + "ball_ball_models", ] diff --git a/pooltool/physics/resolve/ball_ball/friction.py b/pooltool/physics/resolve/ball_ball/friction.py new file mode 100644 index 00000000..6c9b1e3a --- /dev/null +++ b/pooltool/physics/resolve/ball_ball/friction.py @@ -0,0 +1,66 @@ +import math +from typing import Dict, Protocol, Type + +import attrs +import numpy as np + +import pooltool.ptmath as ptmath +from pooltool.objects.ball.datatypes import Ball +from pooltool.utils.strenum import StrEnum, auto + + +class BallBallFrictionModel(StrEnum): + """An Enum for different ball-ball friction models""" + + AVERAGE = auto() + ALCIATORE = auto() + + +class BallBallFrictionStrategy(Protocol): + """Ball-ball friction models must satisfy this protocol""" + + def calculate_friction(self, ball1: Ball, ball2: Ball) -> float: + """This method calculates ball-ball friction""" + ... + + +@attrs.define +class AlciatoreBallBallFriction: + """Friction fit curve u_b = a + b * exp(-c * v_rel) used in David Alciatore's TP A-14""" + + a: float = 9.951e-3 + b: float = 0.108 + c: float = 1.088 + + model: BallBallFrictionModel = attrs.field( + default=BallBallFrictionModel.ALCIATORE, init=False, repr=False + ) + + def calculate_friction(self, ball1: Ball, ball2: Ball) -> float: + unit_x = np.array([1.0, 0.0, 0.0]) + v1_c = ptmath.surface_velocity( + ball1.state.rvw, unit_x, ball1.params.R + ) - np.array([ball1.state.rvw[1][0], 0, 0]) + v2_c = ptmath.surface_velocity( + ball2.state.rvw, -unit_x, ball2.params.R + ) - np.array([ball2.state.rvw[1][0], 0, 0]) + relative_surface_speed = ptmath.norm3d(v1_c - v2_c) + return self.a + self.b * math.exp(-self.c * relative_surface_speed) + + +@attrs.define +class AverageBallBallFriction: + model: BallBallFrictionModel = attrs.field( + default=BallBallFrictionModel.AVERAGE, init=False, repr=False + ) + + def calculate_friction(self, ball1: Ball, ball2: Ball) -> float: + return (ball1.params.u_b + ball2.params.u_b) / 2 + + +ball_ball_friction_models: Dict[ + BallBallFrictionModel, Type[BallBallFrictionStrategy] +] = { + BallBallFrictionModel.AVERAGE: AverageBallBallFriction, + BallBallFrictionModel.ALCIATORE: AlciatoreBallBallFriction, +} diff --git a/pooltool/physics/resolve/ball_ball/frictional_inelastic/__init__.py b/pooltool/physics/resolve/ball_ball/frictional_inelastic/__init__.py index 342e35c7..60296b03 100644 --- a/pooltool/physics/resolve/ball_ball/frictional_inelastic/__init__.py +++ b/pooltool/physics/resolve/ball_ball/frictional_inelastic/__init__.py @@ -1,5 +1,6 @@ from typing import Tuple +import attrs import numpy as np from numba import jit @@ -7,6 +8,11 @@ import pooltool.ptmath as ptmath from pooltool.objects.ball.datatypes import Ball, BallState from pooltool.physics.resolve.ball_ball.core import CoreBallBallCollision +from pooltool.physics.resolve.ball_ball.friction import ( + AlciatoreBallBallFriction, + BallBallFrictionStrategy, +) +from pooltool.physics.resolve.models import BallBallModel @jit(nopython=True, cache=const.use_numba_cache) @@ -89,6 +95,7 @@ def _resolve_ball_ball(rvw1, rvw2, R, u_b, e_b): return rvw1_f, rvw2_f +@attrs.define class FrictionalInelastic(CoreBallBallCollision): """A simple ball-ball collision model including ball-ball friction, and coefficient of restitution for equal-mass balls @@ -97,14 +104,20 @@ class FrictionalInelastic(CoreBallBallCollision): and a more complete analysis of velocity and angular velocity in their vector forms. """ + friction: BallBallFrictionStrategy = AlciatoreBallBallFriction() + + model: BallBallModel = attrs.field( + default=BallBallModel.FRICTIONAL_INELASTIC, init=False, repr=False + ) + def solve(self, ball1: Ball, ball2: Ball) -> Tuple[Ball, Ball]: """Resolves the collision.""" rvw1, rvw2 = _resolve_ball_ball( ball1.state.rvw.copy(), ball2.state.rvw.copy(), ball1.params.R, - # Assume the interaction coefficients are the average of the two balls - u_b=(ball1.params.u_b + ball2.params.u_b) / 2, + u_b=self.friction.calculate_friction(ball1, ball2), + # Average the coefficient of restitution parameters for the two balls e_b=(ball1.params.e_b + ball2.params.e_b) / 2, ) diff --git a/pooltool/physics/resolve/ball_ball/frictional_mathavan/__init__.py b/pooltool/physics/resolve/ball_ball/frictional_mathavan/__init__.py index a589d384..238a41bb 100644 --- a/pooltool/physics/resolve/ball_ball/frictional_mathavan/__init__.py +++ b/pooltool/physics/resolve/ball_ball/frictional_mathavan/__init__.py @@ -1,5 +1,6 @@ from typing import Optional, Tuple +import attrs import numpy as np from numba import jit from numpy import array, dot, sqrt @@ -8,6 +9,11 @@ import pooltool.constants as const from pooltool.objects.ball.datatypes import Ball, BallState from pooltool.physics.resolve.ball_ball.core import CoreBallBallCollision +from pooltool.physics.resolve.ball_ball.friction import ( + AlciatoreBallBallFriction, + BallBallFrictionStrategy, +) +from pooltool.physics.resolve.models import BallBallModel INF = float("inf") Z_LOC = array([0, 0, 1], dtype=np.float64) @@ -209,6 +215,7 @@ def _collide_balls( return dot(G_T, v_i), dot(G_T, w_i), dot(G_T, v_j), dot(G_T, w_j) +@attrs.define class FrictionalMathavan(CoreBallBallCollision): """Ball-ball collision resolver for the Mathavan et al. (2014) collision model. @@ -229,8 +236,12 @@ class FrictionalMathavan(CoreBallBallCollision): https://billiards.colostate.edu/physics_articles/Mathavan_Sports_2014.pdf """ - def __init__(self, num_iterations: int = 1000): - self.num_iterations = num_iterations + friction: BallBallFrictionStrategy = AlciatoreBallBallFriction() + num_iterations: int = 1000 + + model: BallBallModel = attrs.field( + default=BallBallModel.FRICTIONAL_MATHAVAN, init=False, repr=False + ) def solve(self, ball1: Ball, ball2: Ball) -> Tuple[Ball, Ball]: """Resolve ball-ball collision via Mathavan et al. (2014). @@ -257,7 +268,7 @@ def solve(self, ball1: Ball, ball2: Ball) -> Tuple[Ball, Ball]: u_s1=ball1.params.u_s, u_s2=ball2.params.u_s, # Assume the interaction coefficients are the average of the two balls - u_b=(ball1.params.u_b + ball2.params.u_b) / 2, + u_b=self.friction.calculate_friction(ball1, ball2), e_b=(ball1.params.e_b + ball2.params.e_b) / 2, N=self.num_iterations, ) diff --git a/pooltool/physics/resolve/ball_ball/frictionless_elastic/__init__.py b/pooltool/physics/resolve/ball_ball/frictionless_elastic/__init__.py index df18f2e6..799cdbfa 100644 --- a/pooltool/physics/resolve/ball_ball/frictionless_elastic/__init__.py +++ b/pooltool/physics/resolve/ball_ball/frictionless_elastic/__init__.py @@ -1,11 +1,13 @@ from typing import Tuple +import attrs import numpy as np import pooltool.constants as const import pooltool.ptmath as ptmath from pooltool.objects.ball.datatypes import Ball, BallState from pooltool.physics.resolve.ball_ball.core import CoreBallBallCollision +from pooltool.physics.resolve.models import BallBallModel def _resolve_ball_ball(rvw1, rvw2, R): @@ -26,6 +28,7 @@ def _resolve_ball_ball(rvw1, rvw2, R): return rvw1, rvw2 +@attrs.define class FrictionlessElastic(CoreBallBallCollision): """A frictionless, instantaneous, elastic, equal mass collision resolver. @@ -36,6 +39,10 @@ class FrictionlessElastic(CoreBallBallCollision): https://ekiefl.github.io/2020/04/24/pooltool-theory/#1-elastic-instantaneous-frictionless """ + model: BallBallModel = attrs.field( + default=BallBallModel.FRICTIONLESS_ELASTIC, init=False, repr=False + ) + def solve(self, ball1: Ball, ball2: Ball) -> Tuple[Ball, Ball]: """Resolves the collision.""" rvw1, rvw2 = _resolve_ball_ball( diff --git a/pooltool/physics/resolve/ball_cushion/__init__.py b/pooltool/physics/resolve/ball_cushion/__init__.py index f33cd687..3356a4bf 100644 --- a/pooltool/physics/resolve/ball_cushion/__init__.py +++ b/pooltool/physics/resolve/ball_cushion/__init__.py @@ -1,4 +1,6 @@ -from typing import Dict, Optional, Type +from typing import Dict, Tuple, Type, cast + +import attrs from pooltool.physics.resolve.ball_cushion.core import ( BallCCushionCollisionStrategy, @@ -12,92 +14,30 @@ UnrealisticCircular, UnrealisticLinear, ) -from pooltool.physics.resolve.types import ModelArgs -from pooltool.utils.strenum import StrEnum, auto - - -class BallLCushionModel(StrEnum): - """An Enum for different ball-linear cushion collision models - - Attributes: - HAN_2005: - https://ekiefl.github.io/2020/04/24/pooltool-theory/#3-han-2005 - (:class:`Han2005Linear`). - UNREALISTIC: - An unrealistic model in which balls are perfectly reflected. Spin is left - untouched by the interaction (:class:`UnrealisticLinear`). - """ - - HAN_2005 = auto() - UNREALISTIC = auto() - +from pooltool.physics.resolve.models import BallCCushionModel, BallLCushionModel -class BallCCushionModel(StrEnum): - """An Enum for different ball-circular cushion collision models - - Attributes: - HAN_2005: - https://ekiefl.github.io/2020/04/24/pooltool-theory/#3-han-2005 - (:class:`Han2005Linear`). - UNREALISTIC: - An unrealistic model in which balls are perfectly reflected. Spin is left - untouched by the interaction (:class:`UnrealisticCircular`). - """ - - HAN_2005 = auto() - UNREALISTIC = auto() +_ball_lcushion_model_registry: Tuple[Type[BallLCushionCollisionStrategy], ...] = ( + Han2005Linear, + UnrealisticLinear, +) +_ball_ccushion_model_registry: Tuple[Type[BallCCushionCollisionStrategy], ...] = ( + Han2005Circular, + UnrealisticCircular, +) -_ball_lcushion_models: Dict[BallLCushionModel, Type[BallLCushionCollisionStrategy]] = { - BallLCushionModel.HAN_2005: Han2005Linear, - BallLCushionModel.UNREALISTIC: UnrealisticLinear, +ball_lcushion_models: Dict[BallLCushionModel, Type[BallLCushionCollisionStrategy]] = { + cast(BallLCushionModel, attrs.fields_dict(cls)["model"].default): cls + for cls in _ball_lcushion_model_registry } -_ball_ccushion_models: Dict[BallCCushionModel, Type[BallCCushionCollisionStrategy]] = { - BallCCushionModel.HAN_2005: Han2005Circular, - BallCCushionModel.UNREALISTIC: UnrealisticCircular, +ball_ccushion_models: Dict[BallCCushionModel, Type[BallCCushionCollisionStrategy]] = { + cast(BallCCushionModel, attrs.fields_dict(cls)["model"].default): cls + for cls in _ball_ccushion_model_registry } -def get_ball_lin_cushion_model( - model: Optional[BallLCushionModel] = None, params: ModelArgs = {} -) -> BallLCushionCollisionStrategy: - """Returns a ball-linear cushion collision model - - Args: - model: - An Enum specifying the desired model. If not passed, - :class:`Han2005Linear` is passed with empty params. - params: - A mapping of parameters accepted by the model. - - Returns: - An instantiated model that satisfies the :class:`BallLCushionCollisionStrategy` - protocol. - """ - if model is None: - return Han2005Linear() - - return _ball_lcushion_models[model](**params) - - -def get_ball_circ_cushion_model( - model: Optional[BallCCushionModel] = None, params: ModelArgs = {} -) -> BallCCushionCollisionStrategy: - """Returns a ball-circular cushion collision model - - Args: - model: - An Enum specifying the desired model. If not passed, - :class:`Han2005Circular` is passed with empty params. - params: - A mapping of parameters accepted by the model. - - Returns: - An instantiated model that satisfies the :class:`BallCCushionCollisionStrategy` - protocol. - """ - if model is None: - return Han2005Circular() - - return _ball_ccushion_models[model](**params) +__all__ = [ + "ball_lcushion_models", + "ball_ccushion_models", +] diff --git a/pooltool/physics/resolve/ball_cushion/han_2005/model.py b/pooltool/physics/resolve/ball_cushion/han_2005/model.py index 51cb3518..4a45cf31 100644 --- a/pooltool/physics/resolve/ball_cushion/han_2005/model.py +++ b/pooltool/physics/resolve/ball_cushion/han_2005/model.py @@ -1,5 +1,6 @@ from typing import Tuple, TypeVar +import attrs import numpy as np import pooltool.constants as const @@ -17,6 +18,7 @@ get_ball_cushion_friction, get_ball_cushion_restitution, ) +from pooltool.physics.resolve.models import BallCCushionModel, BallLCushionModel def han2005(rvw, normal, R, m, h, e_c, f_c): @@ -107,14 +109,24 @@ def _solve(ball: Ball, cushion: Cushion) -> Tuple[Ball, Cushion]: return ball, cushion +@attrs.define class Han2005Linear(CoreBallLCushionCollision): + model: BallLCushionModel = attrs.field( + default=BallLCushionModel.HAN_2005, init=False, repr=False + ) + def solve( self, ball: Ball, cushion: LinearCushionSegment ) -> Tuple[Ball, LinearCushionSegment]: return _solve(ball, cushion) +@attrs.define class Han2005Circular(CoreBallCCushionCollision): + model: BallCCushionModel = attrs.field( + default=BallCCushionModel.HAN_2005, init=False, repr=False + ) + def solve( self, ball: Ball, cushion: CircularCushionSegment ) -> Tuple[Ball, CircularCushionSegment]: diff --git a/pooltool/physics/resolve/ball_cushion/unrealistic/__init__.py b/pooltool/physics/resolve/ball_cushion/unrealistic/__init__.py index 6be129f6..d81fc203 100644 --- a/pooltool/physics/resolve/ball_cushion/unrealistic/__init__.py +++ b/pooltool/physics/resolve/ball_cushion/unrealistic/__init__.py @@ -2,6 +2,7 @@ from typing import Tuple, TypeVar +import attrs import numpy as np import pooltool.constants as const @@ -15,6 +16,7 @@ CoreBallCCushionCollision, CoreBallLCushionCollision, ) +from pooltool.physics.resolve.models import BallCCushionModel, BallLCushionModel Cushion = TypeVar("Cushion", LinearCushionSegment, CircularCushionSegment) @@ -26,8 +28,8 @@ def _solve( Args: restitution: - By default, the ball's momentum is reflected with loss. Set this to False if - the ball's restitution coefficient shouldn't dampen the outgoing velocity. + By default, the ball's momentum is reflected without loss. Set this to true + if the ball's restitution coefficient should dampen the outgoing velocity. """ rvw = ball.state.rvw @@ -67,9 +69,12 @@ def _solve( return ball, cushion +@attrs.define class UnrealisticLinear(CoreBallLCushionCollision): - def __init__(self, restitution: bool = True) -> None: - self.restitution = restitution + restitution: bool = False + model: BallLCushionModel = attrs.field( + default=BallLCushionModel.UNREALISTIC, init=False, repr=False + ) def solve( self, ball: Ball, cushion: LinearCushionSegment @@ -77,9 +82,12 @@ def solve( return _solve(ball, cushion, self.restitution) +@attrs.define class UnrealisticCircular(CoreBallCCushionCollision): - def __init__(self, restitution: bool = True) -> None: - self.restitution = restitution + restitution: bool = False + model: BallCCushionModel = attrs.field( + default=BallCCushionModel.UNREALISTIC, init=False, repr=False + ) def solve( self, ball: Ball, cushion: CircularCushionSegment diff --git a/pooltool/physics/resolve/ball_pocket/__init__.py b/pooltool/physics/resolve/ball_pocket/__init__.py index 83cfe4f6..40a0d47e 100644 --- a/pooltool/physics/resolve/ball_pocket/__init__.py +++ b/pooltool/physics/resolve/ball_pocket/__init__.py @@ -6,15 +6,15 @@ ../ball_cushion """ -from typing import Dict, Optional, Protocol, Tuple, Type +from typing import Dict, Protocol, Tuple, Type, cast +import attrs import numpy as np import pooltool.constants as const from pooltool.objects.ball.datatypes import Ball, BallState from pooltool.objects.table.components import Pocket -from pooltool.physics.resolve.types import ModelArgs -from pooltool.utils.strenum import StrEnum, auto +from pooltool.physics.resolve.models import BallPocketModel class BallPocketStrategy(Protocol): @@ -27,7 +27,12 @@ def resolve( ... +@attrs.define class CanonicalBallPocket: + model: BallPocketModel = attrs.field( + default=BallPocketModel.CANONICAL, init=False, repr=False + ) + def resolve( self, ball: Ball, pocket: Pocket, inplace: bool = False ) -> Tuple[Ball, Pocket]: @@ -50,39 +55,11 @@ def resolve( return ball, pocket -class BallPocketModel(StrEnum): - """An Enum for different ball-pocket collision models - - Attributes: - CANONICAL: - Sets the ball into the bottom of pocket and sets the state to pocketed - (:class:`CanonicalBallPocket`). - """ - - CANONICAL = auto() +_ball_pocket_model_registry: Tuple[Type[BallPocketStrategy], ...] = ( + CanonicalBallPocket, +) - -_ball_pocket_models: Dict[BallPocketModel, Type[BallPocketStrategy]] = { - BallPocketModel.CANONICAL: CanonicalBallPocket, +ball_pocket_models: Dict[BallPocketModel, Type[BallPocketStrategy]] = { + cast(BallPocketModel, attrs.fields_dict(cls)["model"].default): cls + for cls in _ball_pocket_model_registry } - - -def get_ball_pocket_model( - model: Optional[BallPocketModel] = None, params: ModelArgs = {} -) -> BallPocketStrategy: - """Returns a ball-pocket collision model - - Args: - model: - An Enum specifying the desired model. If not passed, - :class:`CanonicalBallPocket` is passed with empty params. - params: - A mapping of parameters accepted by the model. - - Returns: - An instantiated model that satisfies the :class:`BallPocketStrategy` protocol. - """ - if model is None: - return CanonicalBallPocket() - - return _ball_pocket_models[model](**params) diff --git a/pooltool/physics/resolve/models.py b/pooltool/physics/resolve/models.py new file mode 100644 index 00000000..7c401779 --- /dev/null +++ b/pooltool/physics/resolve/models.py @@ -0,0 +1,85 @@ +from pooltool.utils.strenum import StrEnum, auto + + +class BallBallModel(StrEnum): + """An Enum for different ball-ball collision models + + Attributes: + FRICTIONLESS_ELASTIC: + Frictionless, instantaneous, elastic, equal mass collision. + FRICTIONAL_INELASTIC: + Frictional, inelastic, equal mass collision. + (https://billiards.colostate.edu/technical_proofs/new/TP_A-14.pdf). + FRICTIONAL_MATHAVAN: + Mathavan, S., Jackson, M.R. & Parkin, R.M. Numerical simulations of the + frictional collisions of solid balls on a rough surface. Sports Eng 17, + 227–237 (2014). https://doi.org/10.1007/s12283-014-0158-y + """ + + FRICTIONLESS_ELASTIC = auto() + FRICTIONAL_INELASTIC = auto() + FRICTIONAL_MATHAVAN = auto() + + +class BallLCushionModel(StrEnum): + """An Enum for different ball-linear cushion collision models + + Attributes: + HAN_2005: + https://ekiefl.github.io/2020/04/24/pooltool-theory/#3-han-2005. + UNREALISTIC: + An unrealistic model in which balls are perfectly reflected. Spin is left + untouched by the interaction. + """ + + HAN_2005 = auto() + UNREALISTIC = auto() + + +class BallCCushionModel(StrEnum): + """An Enum for different ball-circular cushion collision models + + Attributes: + HAN_2005: + https://ekiefl.github.io/2020/04/24/pooltool-theory/#3-han-2005 + UNREALISTIC: + An unrealistic model in which balls are perfectly reflected. Spin is left + untouched by the interaction. + """ + + HAN_2005 = auto() + UNREALISTIC = auto() + + +class BallPocketModel(StrEnum): + """An Enum for different ball-pocket collision models + + Attributes: + CANONICAL: + Sets the ball into the bottom of pocket and sets the state to pocketed. + """ + + CANONICAL = auto() + + +class StickBallModel(StrEnum): + """An Enum for different stick-ball collision models + + Attributes: + INSTANTANEOUS_POINT: + Instantaneous and point-like stick-ball interaction. + """ + + INSTANTANEOUS_POINT = auto() + + +class BallTransitionModel(StrEnum): + """An Enum for different transition models + + Attributes: + CANONICAL: + Sets the ball to appropriate state. Sets any residual quantities to 0 when + appropriate. + """ + + CANONICAL = auto() diff --git a/pooltool/physics/resolve/resolver.py b/pooltool/physics/resolve/resolver.py index 39ce6ee8..e496dda1 100644 --- a/pooltool/physics/resolve/resolver.py +++ b/pooltool/physics/resolve/resolver.py @@ -2,123 +2,57 @@ from __future__ import annotations +import shutil +import traceback from pathlib import Path from typing import Optional import attrs +from cattrs.errors import ClassValidationError import pooltool.user_config from pooltool.events.datatypes import AgentType, Event, EventType from pooltool.physics.resolve.ball_ball import ( BallBallCollisionStrategy, - BallBallModel, - get_ball_ball_model, ) +from pooltool.physics.resolve.ball_ball.friction import ( + AlciatoreBallBallFriction, +) +from pooltool.physics.resolve.ball_ball.frictional_mathavan import FrictionalMathavan from pooltool.physics.resolve.ball_cushion import ( BallCCushionCollisionStrategy, - BallCCushionModel, BallLCushionCollisionStrategy, - BallLCushionModel, - get_ball_circ_cushion_model, - get_ball_lin_cushion_model, +) +from pooltool.physics.resolve.ball_cushion.han_2005.model import ( + Han2005Circular, + Han2005Linear, ) from pooltool.physics.resolve.ball_pocket import ( - BallPocketModel, BallPocketStrategy, - get_ball_pocket_model, + CanonicalBallPocket, ) +from pooltool.physics.resolve.serialize import register_serialize_hooks from pooltool.physics.resolve.stick_ball import ( StickBallCollisionStrategy, - StickBallModel, - get_stick_ball_model, ) +from pooltool.physics.resolve.stick_ball.instantaneous_point import InstantaneousPoint from pooltool.physics.resolve.transition import ( - BallTransitionModel, BallTransitionStrategy, - get_transition_model, + CanonicalTransition, ) -from pooltool.physics.resolve.types import ModelArgs from pooltool.serialize import Pathish, conversion from pooltool.system.datatypes import System from pooltool.terminal import Run -RESOLVER_CONFIG_PATH = pooltool.user_config.PHYSICS_DIR / "resolver.yaml" -"""The location of the resolver config path YAML.""" +RESOLVER_PATH = pooltool.user_config.PHYSICS_DIR / "resolver.yaml" +"""The location of the resolver path YAML.""" -VERSION: int = 5 +VERSION: int = 6 run = Run() -@attrs.define -class ResolverConfig: - """A structured form of the user resolver config - - Important: - For everything you need to know about this class, see :doc:`Modular Physics - `_. - """ - - ball_ball: BallBallModel - ball_ball_params: ModelArgs - ball_linear_cushion: BallLCushionModel - ball_linear_cushion_params: ModelArgs - ball_circular_cushion: BallCCushionModel - ball_circular_cushion_params: ModelArgs - ball_pocket: BallPocketModel - ball_pocket_params: ModelArgs - stick_ball: StickBallModel - stick_ball_params: ModelArgs - transition: BallTransitionModel - transition_params: ModelArgs - - version: Optional[int] = None - - def save(self, path: Pathish) -> Path: - path = Path(path) - conversion.unstructure_to(self, path) - return path - - @classmethod - def load(cls, path: Pathish) -> ResolverConfig: - return conversion.structure_from(path, cls) - - @classmethod - def default(cls) -> ResolverConfig: - """Load ~/.config/pooltool/physics/resolver.yaml if exists, create otherwise""" - if RESOLVER_CONFIG_PATH.exists(): - config = cls.load(RESOLVER_CONFIG_PATH) - - if config.version == VERSION: - return config - else: - run.info_single( - f"{RESOLVER_CONFIG_PATH} is has version {config.version}, which is not up to " - f"date with the most current version: {VERSION}. It will be replaced with the " - f"default." - ) - - config = cls( - ball_ball=BallBallModel.FRICTIONAL_MATHAVAN, - ball_ball_params={"num_iterations": 1000}, - ball_linear_cushion=BallLCushionModel.HAN_2005, - ball_linear_cushion_params={}, - ball_circular_cushion=BallCCushionModel.HAN_2005, - ball_circular_cushion_params={}, - ball_pocket=BallPocketModel.CANONICAL, - ball_pocket_params={}, - stick_ball=StickBallModel.INSTANTANEOUS_POINT, - stick_ball_params={"english_throttle": 1.0, "squirt_throttle": 1.0}, - transition=BallTransitionModel.CANONICAL, - transition_params={}, - version=VERSION, - ) - - config.save(RESOLVER_CONFIG_PATH) - return config - - @attrs.define class Resolver: """A physics engine component that characterizes event resolution @@ -135,6 +69,8 @@ class Resolver: stick_ball: StickBallCollisionStrategy transition: BallTransitionStrategy + version: Optional[int] = None + def resolve(self, shot: System, event: Event) -> None: """Resolve an event for a system""" _snapshot_initial(shot, event) @@ -175,44 +111,72 @@ def resolve(self, shot: System, event: Event) -> None: _snapshot_final(shot, event) + def save(self, path: Pathish) -> Path: + path = Path(path) + conversion.unstructure_to(self, path) + return path + @classmethod - def default(cls) -> Resolver: - return cls.from_config(ResolverConfig.default()) + def load(cls, path: Pathish) -> Resolver: + return conversion.structure_from(path, cls) @classmethod - def from_config(cls, config: ResolverConfig) -> Resolver: - ball_ball = get_ball_ball_model( - model=config.ball_ball, - params=config.ball_ball_params, - ) - ball_linear_cushion = get_ball_lin_cushion_model( - model=config.ball_linear_cushion, - params=config.ball_linear_cushion_params, - ) - ball_circular_cushion = get_ball_circ_cushion_model( - model=config.ball_circular_cushion, - params=config.ball_circular_cushion_params, - ) - ball_pocket = get_ball_pocket_model( - model=config.ball_pocket, - params=config.ball_pocket_params, - ) - stick_ball = get_stick_ball_model( - model=config.stick_ball, - params=config.stick_ball_params, - ) - transition = get_transition_model( - model=config.transition, - params=config.transition_params, - ) - return cls( - ball_ball, - ball_linear_cushion, - ball_circular_cushion, - ball_pocket, - stick_ball, - transition, - ) + def default(cls) -> Resolver: + """Load ~/.config/pooltool/physics/resolver.yaml if exists, create otherwise""" + + def _default_config(): + return cls( + ball_ball=FrictionalMathavan( + friction=AlciatoreBallBallFriction( + a=0.009951, + b=0.108, + c=1.088, + ), + num_iterations=1000, + ), + ball_linear_cushion=Han2005Linear(), + ball_circular_cushion=Han2005Circular(), + ball_pocket=CanonicalBallPocket(), + stick_ball=InstantaneousPoint( + english_throttle=1.0, + squirt_throttle=1.0, + ), + transition=CanonicalTransition(), + version=VERSION, + ) + + if not RESOLVER_PATH.exists(): + resolver = _default_config() + resolver.save(RESOLVER_PATH) + return resolver + + try: + resolver = cls.load(RESOLVER_PATH) + except ClassValidationError: + full_traceback = traceback.format_exc() + dump_path = RESOLVER_PATH.parent / f".{RESOLVER_PATH.name}" + run.info_single( + f"{RESOLVER_PATH} is malformed and can't be loaded. It is being " + f"replaced with a default working version. Your version has been moved to " + f"{dump_path} if you want to diagnose it. Here is the error:\n{full_traceback}" + ) + shutil.move(RESOLVER_PATH, dump_path) + resolver = _default_config() + resolver.save(RESOLVER_PATH) + + if resolver.version == VERSION: + return resolver + else: + dump_path = RESOLVER_PATH.parent / f".{RESOLVER_PATH.name}" + run.info_single( + f"{RESOLVER_PATH} is has version {resolver.version}, which is not up to " + f"date with the most current version: {VERSION}. It will be replaced with the " + f"default. Your version has been moved to {dump_path}." + ) + shutil.move(RESOLVER_PATH, dump_path) + resolver = _default_config() + resolver.save(RESOLVER_PATH) + return resolver def _snapshot_initial(shot: System, event: Event) -> None: @@ -237,3 +201,6 @@ def _snapshot_final(shot: System, event: Event) -> None: agent.set_final(shot.balls[agent.id]) elif agent.agent_type == AgentType.POCKET: agent.set_final(shot.table.pockets[agent.id]) + + +register_serialize_hooks() diff --git a/pooltool/physics/resolve/serialize.py b/pooltool/physics/resolve/serialize.py new file mode 100644 index 00000000..60baabbd --- /dev/null +++ b/pooltool/physics/resolve/serialize.py @@ -0,0 +1,67 @@ +from __future__ import annotations + +from typing import Any, Dict, Mapping, Type + +from cattrs.gen import make_dict_unstructure_fn + +from pooltool.physics.resolve.ball_ball import ( + BallBallCollisionStrategy, + ball_ball_models, +) +from pooltool.physics.resolve.ball_ball.friction import ( + BallBallFrictionStrategy, + ball_ball_friction_models, +) +from pooltool.physics.resolve.ball_cushion import ( + BallCCushionCollisionStrategy, + BallLCushionCollisionStrategy, + ball_ccushion_models, + ball_lcushion_models, +) +from pooltool.physics.resolve.ball_pocket import ( + BallPocketStrategy, + ball_pocket_models, +) +from pooltool.physics.resolve.stick_ball import ( + StickBallCollisionStrategy, + stick_ball_models, +) +from pooltool.physics.resolve.transition import ( + BallTransitionStrategy, + ball_transition_models, +) +from pooltool.serialize import conversion +from pooltool.serialize.serializers import SerializeFormat + +_model_map: Mapping[Any, Mapping[Any, Type]] = { + BallBallCollisionStrategy: ball_ball_models, + BallLCushionCollisionStrategy: ball_lcushion_models, + BallCCushionCollisionStrategy: ball_ccushion_models, + BallPocketStrategy: ball_pocket_models, + StickBallCollisionStrategy: stick_ball_models, + BallTransitionStrategy: ball_transition_models, + BallBallFrictionStrategy: ball_ball_friction_models, +} + + +def _disambiguate_model_structuring(v: Dict[str, Any], t: Type) -> Any: + return conversion[SerializeFormat.YAML].structure(v, _model_map[t][v["model"]]) + + +def register_serialize_hooks(): + conversion.register_structure_hook_func( + check_func=lambda t: t in _model_map, func=_disambiguate_model_structuring + ) + + for models in _model_map.values(): + for model_cls in models.values(): + # Unstructure init=False attrs fields + conversion.register_unstructure_hook( + model_cls, + make_dict_unstructure_fn( + model_cls, + conversion[SerializeFormat.YAML], + _cattrs_include_init_false=True, + ), + which=(SerializeFormat.YAML,), + ) diff --git a/pooltool/physics/resolve/stick_ball/__init__.py b/pooltool/physics/resolve/stick_ball/__init__.py index a2c13d19..1b444267 100644 --- a/pooltool/physics/resolve/stick_ball/__init__.py +++ b/pooltool/physics/resolve/stick_ball/__init__.py @@ -1,45 +1,16 @@ -from typing import Dict, Optional, Type +from typing import Dict, Tuple, Type, cast +import attrs + +from pooltool.physics.resolve.models import StickBallModel from pooltool.physics.resolve.stick_ball.core import StickBallCollisionStrategy from pooltool.physics.resolve.stick_ball.instantaneous_point import InstantaneousPoint -from pooltool.physics.resolve.types import ModelArgs -from pooltool.utils.strenum import StrEnum, auto - - -class StickBallModel(StrEnum): - """An Enum for different stick-ball collision models - - Attributes: - INSTANTANEOUS_POINT: - Instantaneous and point-like stick-ball interaction - (:class:`InstantaneousPoint`). - """ - - INSTANTANEOUS_POINT = auto() +_stick_ball_model_registry: Tuple[Type[StickBallCollisionStrategy], ...] = ( + InstantaneousPoint, +) -_stick_ball_models: Dict[StickBallModel, Type[StickBallCollisionStrategy]] = { - StickBallModel.INSTANTANEOUS_POINT: InstantaneousPoint, +stick_ball_models: Dict[StickBallModel, Type[StickBallCollisionStrategy]] = { + cast(StickBallModel, attrs.fields_dict(cls)["model"].default): cls + for cls in _stick_ball_model_registry } - - -def get_stick_ball_model( - model: Optional[StickBallModel] = None, params: ModelArgs = {} -) -> StickBallCollisionStrategy: - """Returns a stick-ball collision model - - Args: - model: - An Enum specifying the desired model. If not passed, - :class:`InstantaneousPoint` is passed with empty params. - params: - A mapping of parameters accepted by the model. - - Returns: - An instantiated model that satisfies the :class:`StickBallCollisionStrategy` - protocol. - """ - if model is None: - return InstantaneousPoint() - - return _stick_ball_models[model](**params) diff --git a/pooltool/physics/resolve/stick_ball/instantaneous_point/__init__.py b/pooltool/physics/resolve/stick_ball/instantaneous_point/__init__.py index b21d2b34..8d806062 100644 --- a/pooltool/physics/resolve/stick_ball/instantaneous_point/__init__.py +++ b/pooltool/physics/resolve/stick_ball/instantaneous_point/__init__.py @@ -7,6 +7,7 @@ import pooltool.ptmath as ptmath from pooltool.objects.ball.datatypes import Ball, BallState from pooltool.objects.cue.datatypes import Cue +from pooltool.physics.resolve.models import StickBallModel from pooltool.physics.resolve.stick_ball.core import CoreStickBallCollision from pooltool.physics.resolve.stick_ball.squirt import get_squirt_angle from pooltool.ptmath.utils import coordinate_rotation @@ -125,6 +126,10 @@ class InstantaneousPoint(CoreStickBallCollision): english_throttle: float = 1.0 squirt_throttle: float = 1.0 + model: StickBallModel = attrs.field( + default=StickBallModel.INSTANTANEOUS_POINT, init=False, repr=False + ) + def solve(self, cue: Cue, ball: Ball) -> Tuple[Cue, Ball]: v, w = cue_strike( ball.params.m, diff --git a/pooltool/physics/resolve/transition/__init__.py b/pooltool/physics/resolve/transition/__init__.py index 77083176..6d93082a 100644 --- a/pooltool/physics/resolve/transition/__init__.py +++ b/pooltool/physics/resolve/transition/__init__.py @@ -6,15 +6,15 @@ ../ball_cushion """ -from typing import Dict, Optional, Protocol, Tuple, Type +from typing import Dict, Protocol, Tuple, Type, cast +import attrs import numpy as np import pooltool.constants as const from pooltool.events.datatypes import EventType from pooltool.objects.ball.datatypes import Ball -from pooltool.physics.resolve.types import ModelArgs -from pooltool.utils.strenum import StrEnum, auto +from pooltool.physics.resolve.models import BallTransitionModel class BallTransitionStrategy(Protocol): @@ -25,7 +25,12 @@ def resolve(self, ball: Ball, transition: EventType, inplace: bool = False) -> B ... +@attrs.define class CanonicalTransition: + model: BallTransitionModel = attrs.field( + default=BallTransitionModel.CANONICAL, init=False, repr=False + ) + def resolve(self, ball: Ball, transition: EventType, inplace: bool = False) -> Ball: if not inplace: ball = ball.copy() @@ -79,41 +84,11 @@ def _ball_transition_motion_states(event_type: EventType) -> Tuple[int, int]: raise NotImplementedError() -class BallTransitionModel(StrEnum): - """An Enum for different transition models - - Attributes: - CANONICAL: - Sets the ball to appropriate state. Sets any residual quantities to 0 when - appropriate (:class:`CanonicalTransition`). - """ - - CANONICAL = auto() +_ball_transition_model_registry: Tuple[Type[BallTransitionStrategy], ...] = ( + CanonicalTransition, +) - -_ball_transition_models: Dict[BallTransitionModel, Type[BallTransitionStrategy]] = { - BallTransitionModel.CANONICAL: CanonicalTransition, +ball_transition_models: Dict[BallTransitionModel, Type[BallTransitionStrategy]] = { + cast(BallTransitionModel, attrs.fields_dict(cls)["model"].default): cls + for cls in _ball_transition_model_registry } - - -def get_transition_model( - model: Optional[BallTransitionModel] = None, - params: ModelArgs = {}, -) -> BallTransitionStrategy: - """Returns a transition model - - Args: - model: - An Enum specifying the desired model. If not passed, - :class:`CanonicalTransition` is passed with empty params. - params: - A mapping of parameters accepted by the model. - - Returns: - An instantiated model that satisfies the :class:`BallTransitionStrategy` - protocol. - """ - if model is None: - return CanonicalTransition() - - return _ball_transition_models[model](**params) diff --git a/pooltool/physics/resolve/types.py b/pooltool/physics/resolve/types.py deleted file mode 100644 index 9f33bd39..00000000 --- a/pooltool/physics/resolve/types.py +++ /dev/null @@ -1,12 +0,0 @@ -from typing import Mapping, Union - -from pooltool.serialize import conversion - -ArgType = Union[float, int, str, bool] -"""Allowable types model arguments""" - -ModelArgs = Mapping[str, ArgType] -"""A mapping of argument names to argument values""" - -# Leave type-casting to the JSON/YAML serializer -conversion.register_structure_hook(cl=ArgType, func=lambda d, t: d) diff --git a/pooltool/serialize/convert.py b/pooltool/serialize/convert.py index e92bedcd..73c578f7 100644 --- a/pooltool/serialize/convert.py +++ b/pooltool/serialize/convert.py @@ -3,6 +3,8 @@ from attrs import define from cattrs.converters import Converter +from cattrs.dispatch import HookFactory, StructureHook, UnstructureHook +from cattrs.fns import Predicate from pooltool.serialize.serializers import ( Pathish, @@ -39,6 +41,15 @@ def register_structure_hook_func( for fmt in which: self.converters[fmt].register_structure_hook_func(check_func, func) + def register_structure_hook_factory( + self, + check_func: Predicate, + factory: HookFactory[StructureHook], + which: Iterable[SerializeFormat] = SerializeFormat, + ) -> None: + for fmt in which: + self.converters[fmt].register_structure_hook_factory(check_func, factory) + def register_unstructure_hook( self, cls: Any, @@ -57,6 +68,15 @@ def register_unstructure_hook_func( for fmt in which: self.converters[fmt].register_unstructure_hook_func(check_func, func) + def register_unstructure_hook_factory( + self, + check_func: Predicate, + factory: HookFactory[UnstructureHook], + which: Iterable[SerializeFormat] = SerializeFormat, + ) -> None: + for fmt in which: + self.converters[fmt].register_unstructure_hook_factory(check_func, factory) + def unstructure_to( self, obj: Any, path: Pathish, fmt: Optional[str] = None ) -> None: diff --git a/pooltool/serialize/serializers.py b/pooltool/serialize/serializers.py index 158ff57f..95bf1b83 100644 --- a/pooltool/serialize/serializers.py +++ b/pooltool/serialize/serializers.py @@ -33,7 +33,7 @@ def from_json(path: Pathish) -> Any: def to_yaml(o: Any, path: Pathish) -> None: with open(path, "w") as fp: - yaml.dump(o, fp) + yaml.dump(o, fp, sort_keys=False) def from_yaml(path: Pathish) -> Any: diff --git a/tests/physics/resolve/ball_cushion/test_ball_cushion.py b/tests/physics/resolve/ball_cushion/test_ball_cushion.py index 89cf6a86..c7a5fca7 100644 --- a/tests/physics/resolve/ball_cushion/test_ball_cushion.py +++ b/tests/physics/resolve/ball_cushion/test_ball_cushion.py @@ -5,7 +5,7 @@ from pooltool.objects import Ball, BallParams, LinearCushionSegment, PocketTableSpecs from pooltool.physics.resolve.ball_cushion import ( BallLCushionModel, - get_ball_lin_cushion_model, + ball_lcushion_models, ) @@ -55,7 +55,7 @@ def test_symmetry( assert ball.state.rvw[1, 1] == -other.state.rvw[1, 1] # Resolve physics - model = get_ball_lin_cushion_model(model_name) + model = ball_lcushion_models[model_name]() ball_after, _ = model.resolve(ball=ball, cushion=cushion_yaxis, inplace=False) other_after, _ = model.resolve(ball=other, cushion=cushion_yaxis, inplace=False)