| Nfrcsim | |
| Naerodynamics | |
| CSpinDecayModel | |
| CVector3 | 3D vector utility used throughout JSim physics |
| CDragVector | Directional drag force vector and validity metadata |
| CDragForceDetails | Expanded drag diagnostics for force computation |
| CRigidAssembly | Multi-body articulated system made from rigid links and joints |
| CJointBase | Base class for bilateral kinematic constraints between two rigid bodies |
| CFlywheelWheelSim | Single-wheel flywheel velocity model with optional closed-loop speed command behavior |
| CMotorConfig | DC motor approximation constants for flywheel drive |
| CWheelConfig | Flywheel wheel inertial/friction and ball-coupling parameters |
| CControlInput | Control inputs for open-loop or simple internal velocity-loop operation |
| CShape | Base class for all collision geometries in the physics engine |
| CSpringForce | Applies proportional restorative force based on Hooke's Law |
| CPhysicsConfig | Global runtime settings for PhysicsWorld dynamics and optional features |
| CPhysicsWorld | Unified physics scene manager for rigid bodies, assemblies, ball simulators, and global forces |
| CMaterialInteraction | Material-pair contact interaction override entry |
| CFieldObstacle | Convenience wrapper for constructing EnvironmentalBoundary-based obstacles |
| CFieldObstacleMap | Mutable collection helper for assembling obstacle sets |
| CMecanumModel | Kinematic and dynamic block for simulating a Mecanum drivetrain |
| CRevoluteJoint | Hinge joint that permits rotation about one axis while constraining relative translation |
| CFieldWall | Helper factory for perimeter wall obstacles |
| CFixedJoint | Rigidly locks two bodies together (no relative translation or rotation) |
| CContactPoint | Describes a single contact point between two colliding bodies |
| CCollisionManifold | Represents the result of a collision check between two shapes |
| CCollisionDetector | Pure virtual interface for collision detection algorithms |
| CVisionSim | Simulates a camera/vision coprocessor (e.g. PhotonVision or Limelight) |
| CDragGravityComparison | Diagnostic output comparing drag force to gravitational acceleration |
| CDragModel | Evaluates drag force on a moving body using quadratic and linear drag models |
| CEncoderSim | Simulates an absolute or relative encoder mapping to mechanical state |
| CForceGenerator | Interface for force laws used by the rigid-body integrator |
| CQuaternion | Unit-quaternion rotation representation and rotation algebra helpers |
| CBodyFlags | |
| CBallGamepieceSim | Resolves robot-ball contact response. projectiles |
| CFieldConfig | Global field and contact tuning parameters |
| CRobotState | Per-robot state used by game piece interaction and collision routines |
| CExitTrajectoryParameters | Exit trajectory and metadata used when launching a carried ball or a projectile |
| CGamePieceInfo | Registration record for a named game piece type |
| CProjectileEntity | In-flight entity not currently represented by BallPhysicsSim3D |
| CGoalZone | Goal capture region and validation logic |
| CBallEntity | Grounded game piece entity with its own ball physics instance |
| CSwerveModuleState | Represents the state of a single swerve module |
| CSwerveModel | Kinematic and dynamic block for simulating a Swerve drivetrain |
| CMotorForce | Applies rotational or linear force simulating an electric motor |
| CBallPhysicsSim3D | 3D rigid-body style ball simulator with drag, Magnus lift, and ground contact |
| CConfig | Runtime physics environment parameters |
| CBallProperties | Physical parameters for the ball body |
| CBallState | Dynamic state advanced by step() |
| CPickupRequest | Request payload used to capture a ball into a carrier |
| CRigidBody | Simulated rigid body with translational/angular dynamics and optional aero metadata |
| CAerodynamicGeometry | Geometric metadata used to estimate drag reference area |
| CMaterial | Contact material parameters for collision response |
| CSphere | Represents a perfect sphere collision shape |
| CSeason2025Gamepiece | Season-2025 convenience gamepiece wrapper |
| CDoubleDifferentialMechanism | Kinematic mapping utility for a two-motor double differential turret mechanism |
| CLimits | Optional soft limits applied to joint coordinates |
| CConfig | Mapping coefficients and inversion thresholds |
| CMotorState | Input state for the two drive motors |
| CJointState | Output state for mechanism yaw/pitch joints |
| CInverseResult | Result from inverse kinematics solve |
| CPrismaticJoint | Slider joint that permits translation along one axis and constrains all other relative motion |
| CCylinder | Represents a cylinder collision shape aligned with the Y axis |
| CTurretFlywheelSim | Integrated turret + flywheel + carried-ball simulator for aiming, pickup, and firing flows |
| CConfig | Configuration for differential kinematics, ball model, and local mount geometry |
| CMatrix3 | 3x3 matrix type used for rotations and inertia-tensor operations |
| CMagnusModel | Computes a Magnus lift force from linear velocity and spin |
| CElevator | Simulates a linear elevator mechanism |
| CGyroSim | Simulates an IMU/Gyroscope, incorporating drift and noise models |
| CTankModel | Kinematic and dynamic model for simulating a differential/tank drive |
| CBall | Thin, backwards-friendly ball wrapper around the generic Gamepiece |
| CGravityForce | Force generator that applies constant gravity acceleration to a body |
| CGamepiece | Generic runtime gamepiece abstraction |
| CSeason2026Gamepiece | Season-2026 convenience gamepiece wrapper |
| CDeformableBody | Rigid body with optional deformable mesh dynamics overlay |
| CShotCalculator3D | 3D shot solution generator using table interpolation plus optional ballistic refinement |
| CTablePoint | Lookup-table row for distance-indexed shot tuning |
| CConfig | Solver configuration for interpolation, refinement, and historical smoothing behavior |
| CShotParameters | Output shot command/result packet |
| CIntakeSimulation | Lightweight intake interaction model that consumes nearby balls into robot inventory |
| CConfig | Runtime configuration for intake behavior |
| CContactEvent | Contact event generated during update() proximity checks |
| CBox | Represents a rectangular prism collision shape |
| CIntegrator | Time-integration helpers for translational and rotational rigid-body dynamics |
| CArm | Simulates a rotational arm mechanism |
| CGoalStructure | Scoring volume definition used by arena presets and projectile checks |
| CEnvironmentalBoundary | Collision or constraint boundary definition used by PhysicsWorld |
| CContactSolver | Solves contact constraints applying impulses to resolve interpenetration and calculate friction |
| Pjsim | |
| Papi | |
| CCoral2025 | |
| CGamePieceState | |
| CGamePiecePhysics | |
| CStateManager | |
| CFieldState | |
| CMatrix3 | |
| CSimRobot | |
| CGamepieceZone | |
| CMode | |
| CRobotID | |
| CFuel2026 | |
| CGamePieceType | |
| CRobotState | |
| Pnt | |
| CWorldPosePublisher | |
| Pfield | |
| CFieldDefinitionCatalog | |
| CFieldConfig | |
| CFieldElement | |
| CType | |
| Pjni | |
| CJSimJNI | |
| CPhysicsWorld | |
| CHitboxType | |
| CJSim | |
| CGamepiece | |
| CPhysicsBody | |
| CLinearVelocity3d | |
| CJSimException | |
1.15.0