Inheritance diagram for jsim.PhysicsWorld:

Classes
enum	HitboxType

Public Member Functions
	PhysicsWorld (double fixedDtSeconds, boolean enableGravity)
double	getFixedDtSeconds ()
long	getNativeHandle ()
int	getMaxBodies ()
PhysicsBody	createBody (double massKg)
Gamepiece	createGamepiece (double radiusMeters, double massKg, double restitution)
Gamepiece	createGamepiece ()
Gamepiece	createGamepiece (GamePieceType type, double radiusMeters, double massKg, double restitution)
Gamepiece	createGamepiece (GamePieceType type)
Gamepiece	createGamepiece (String typeName)
Gamepiece	createGamepiece (String typeName, double radiusMeters, double massKg, double restitution)
List< Gamepiece >	gamepieces ()
void	addStepListener (Runnable listener)
void	setGamepiecePosition (int gamepieceIndex, double xMeters, double yMeters, double zMeters)
int	pickGamepiece (int gamepieceIndex, double intakeX, double intakeY, double intakeZ, double captureRadius, double carryOffsetX, double carryOffsetY, double carryOffsetZ)
void	placeGamepiece (int gamepieceIndex, double xMeters, double yMeters, double zMeters)
void	outtakeGamepiece (int gamepieceIndex, double px, double py, double pz, double vx, double vy, double vz)
void	setGamepieceLinearVelocity (int gamepieceIndex, double vxMetersPerSecond, double vyMetersPerSecond, double vzMetersPerSecond)
Pose3d	getBodyPosition (int bodyIndex)
LinearVelocity3d	getBodyLinearVelocity (int bodyIndex)
Rotation3d	getBodyOrientation (int bodyIndex)
int	getBodyState13Array (double[] outState13)
Pose3d	getGamepiecePosition (int gamepieceIndex)
String	getGamepieceTypeName (int gamepieceIndex)
LinearVelocity3d	getGamepieceLinearVelocity (int gamepieceIndex)
void	step ()
void	step (int steps)
void	setGravity (Translation3d gravity)
void	setGravity (double gxMetersPerSecondSquared, double gyMetersPerSecondSquared, double gzMetersPerSecondSquared)
void	close ()

Detailed Description

Thin Java wrapper around the native physics world implementation.

Constructor & Destructor Documentation

◆ PhysicsWorld()

jsim.PhysicsWorld.PhysicsWorld	(	double	fixedDtSeconds,
		boolean	enableGravity )

inline

Creates a native physics world.

Parameters

fixedDtSeconds	fixed simulation timestep in seconds
enableGravity	whether gravity is enabled for newly created bodies

Member Function Documentation

◆ addStepListener()

void jsim.PhysicsWorld.addStepListener ( Runnable listener )

inline

Registers a callback that runs after each successful physics step.

Parameters

listener callback invoked after step() completes

◆ close()

void jsim.PhysicsWorld.close ( )

inline

◆ createBody()

PhysicsBody jsim.PhysicsWorld.createBody ( double massKg )

inline

Creates a new body with the provided mass in kilograms.

Parameters

massKg the body mass in kilograms

Returns: the created body handle

◆ createGamepiece() [1/6]

Gamepiece jsim.PhysicsWorld.createGamepiece ( )

inline

Creates a spherical gamepiece with default physical parameters.

Returns: the created gamepiece handle

◆ createGamepiece() [2/6]

Gamepiece jsim.PhysicsWorld.createGamepiece	(	double	radiusMeters,
		double	massKg,
		double	restitution )

inline

Creates a new generic gamepiece in the world.

Current native support is spherical hitboxes. Additional hitbox types can be added without changing the top-level gamepiece abstraction.

Parameters

radiusMeters	sphere radius in meters
massKg	gamepiece mass in kilograms
restitution	coefficient of restitution in [0, 1]

Returns: the created gamepiece handle

◆ createGamepiece() [3/6]

Gamepiece jsim.PhysicsWorld.createGamepiece ( GamePieceType type )

inline

Convenience overload for creating a typed gamepiece with default physical parameters.

Parameters

type	the gamepiece type to create

Returns: created gamepiece

◆ createGamepiece() [4/6]

Gamepiece jsim.PhysicsWorld.createGamepiece	(	GamePieceType	type,
		double	radiusMeters,
		double	massKg,
		double	restitution )

inline

Creates a new gamepiece with an explicit type tag.

Parameters

type	gamepiece type enum
radiusMeters	sphere radius in meters
massKg	mass in kilograms
restitution	coefficient of restitution

Returns: created gamepiece

◆ createGamepiece() [5/6]

Gamepiece jsim.PhysicsWorld.createGamepiece ( String typeName )

inline

Convenience overload for creating a named gamepiece type with default physical parameters.

Parameters

typeName human readable type name (e.g. "generic_sphere", "fuel_rebuilt_2026")

Returns: created gamepiece

◆ createGamepiece() [6/6]

Gamepiece jsim.PhysicsWorld.createGamepiece	(	String	typeName,
		double	radiusMeters,
		double	massKg,
		double	restitution )

inline

Creates a new named gamepiece type (useful for season definitions or CAD-imported types).

Parameters

typeName	human readable type name (e.g. "generic_sphere", "fuel_rebuilt_2026")
radiusMeters	sphere radius in meters
massKg	mass in kilograms
restitution	coefficient of restitution

Returns: created gamepiece

◆ gamepieces()

List< Gamepiece > jsim.PhysicsWorld.gamepieces ( )

inline

Returns gamepieces created through this world wrapper in insertion order.

Returns: live list of created gamepieces

◆ getBodyLinearVelocity()

LinearVelocity3d jsim.PhysicsWorld.getBodyLinearVelocity ( int bodyIndex )

inline

Gets the world linear velocity for the given body.

Parameters

bodyIndex native body index

Returns: body linear velocity

◆ getBodyOrientation()

Rotation3d jsim.PhysicsWorld.getBodyOrientation ( int bodyIndex )

inline

Gets the world orientation for the given body.

Parameters

bodyIndex native body index

Returns: body orientation

◆ getBodyPosition()

Pose3d jsim.PhysicsWorld.getBodyPosition ( int bodyIndex )

inline

Gets the world position for the given body.

Parameters

bodyIndex native body index

Returns: body position

◆ getBodyState13Array()

int jsim.PhysicsWorld.getBodyState13Array ( double[] outState13 )

inline

Exports full body state blocks.

Layout per body is: [x, y, z, qw, qx, qy, qz, vx, vy, vz, wx, wy, wz].

Parameters

outState13 destination array sized for N*13 entries

Returns: number of body blocks written

◆ getFixedDtSeconds()

double jsim.PhysicsWorld.getFixedDtSeconds ( )

inline

Returns the fixed timestep configured for this world.

Returns: fixed timestep in seconds

◆ getGamepieceLinearVelocity()

LinearVelocity3d jsim.PhysicsWorld.getGamepieceLinearVelocity ( int gamepieceIndex )

inline

Gets the world linear velocity for the given gamepiece.

Parameters

gamepieceIndex native gamepiece index

Returns: gamepiece linear velocity as a LinearVelocity3d

◆ getGamepiecePosition()

Pose3d jsim.PhysicsWorld.getGamepiecePosition ( int gamepieceIndex )

inline

Gets the world position for the given gamepiece.

Parameters

gamepieceIndex native gamepiece index

Returns: gamepiece position as a Pose3d with zero rotation

◆ getGamepieceTypeName()

String jsim.PhysicsWorld.getGamepieceTypeName ( int gamepieceIndex )

inline

Returns the registered type name for the given gamepiece.

Parameters

gamepieceIndex native gamepiece index

Returns: human-readable type name or null if none

◆ getMaxBodies()

int jsim.PhysicsWorld.getMaxBodies ( )

inline

Returns a reasonable default maximum number of bodies to export for telemetry.

Callers may use this value when constructing publishers that snapshot world state.

Returns: default max bodies for telemetry (units: count)

◆ getNativeHandle()

long jsim.PhysicsWorld.getNativeHandle ( )

inline

Returns the native world handle for interop (primarily for publishers).

This is intentionally provided so callers can create native-backed helpers like telemetry publishers that require the raw handle.

Returns: native world handle (non-zero while world is valid)

◆ outtakeGamepiece()

void jsim.PhysicsWorld.outtakeGamepiece	(	int	gamepieceIndex,
		double	px,
		double	py,
		double	pz,
		double	vx,
		double	vy,
		double	vz )

inline

Outtakes a gamepiece from a pose with a linear velocity.

Parameters

gamepieceIndex	native gamepiece index
px	launch x position in meters
py	launch y position in meters
pz	launch z position in meters
vx	launch x velocity in meters per second
vy	launch y velocity in meters per second
vz	launch z velocity in meters per second

◆ pickGamepiece()

int jsim.PhysicsWorld.pickGamepiece	(	int	gamepieceIndex,
		double	intakeX,
		double	intakeY,
		double	intakeZ,
		double	captureRadius,
		double	carryOffsetX,
		double	carryOffsetY,
		double	carryOffsetZ )

inline

Requests pickup of a gamepiece into a carrier.

Parameters

gamepieceIndex	native gamepiece index
intakeX	intake world x position
intakeY	intake world y position
intakeZ	intake world z position
captureRadius	pickup radius in meters
carryOffsetX	carry offset x in meters
carryOffsetY	carry offset y in meters
carryOffsetZ	carry offset z in meters

Returns: zero on success

◆ placeGamepiece()

void jsim.PhysicsWorld.placeGamepiece	(	int	gamepieceIndex,
		double	xMeters,
		double	yMeters,
		double	zMeters )

inline

Places a gamepiece at the given world position and marks it grounded.

Parameters

gamepieceIndex	native gamepiece index
xMeters	x position in meters
yMeters	y position in meters
zMeters	z position in meters

◆ setGamepieceLinearVelocity()

void jsim.PhysicsWorld.setGamepieceLinearVelocity	(	int	gamepieceIndex,
		double	vxMetersPerSecond,
		double	vyMetersPerSecond,
		double	vzMetersPerSecond )

inline

Sets the gamepiece's world-space linear velocity in meters per second.

Parameters

gamepieceIndex	native gamepiece index
vxMetersPerSecond	x velocity in meters per second
vyMetersPerSecond	y velocity in meters per second
vzMetersPerSecond	z velocity in meters per second

◆ setGamepiecePosition()

void jsim.PhysicsWorld.setGamepiecePosition	(	int	gamepieceIndex,
		double	xMeters,
		double	yMeters,
		double	zMeters )

inline

Sets the gamepiece's world-space position in meters.

Parameters

gamepieceIndex	native gamepiece index
xMeters	x position in meters
yMeters	y position in meters
zMeters	z position in meters

◆ setGravity() [1/2]

void jsim.PhysicsWorld.setGravity	(	double	gxMetersPerSecondSquared,
		double	gyMetersPerSecondSquared,
		double	gzMetersPerSecondSquared )

inline

Applies gravity components to the world.

Parameters

gxMetersPerSecondSquared	x gravity in meters per second squared
gyMetersPerSecondSquared	y gravity in meters per second squared
gzMetersPerSecondSquared	z gravity in meters per second squared

◆ setGravity() [2/2]

void jsim.PhysicsWorld.setGravity ( Translation3d gravity )

inline

Applies a gravity vector to the world.

Parameters

gravity gravity vector in meters per second squared

◆ step() [1/2]

void jsim.PhysicsWorld.step ( )

inline

Advances the simulation by one step.

◆ step() [2/2]

void jsim.PhysicsWorld.step ( int steps )

inline

Advances the simulation by the requested number of steps.

Parameters

steps number of steps to advance

The documentation for this class was generated from the following file:

src/main/java/jsim/PhysicsWorld.java

Classes

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ PhysicsWorld()

Member Function Documentation

◆ addStepListener()

◆ close()

◆ createBody()

◆ createGamepiece() [1/6]

◆ createGamepiece() [2/6]

◆ createGamepiece() [3/6]

◆ createGamepiece() [4/6]

◆ createGamepiece() [5/6]

◆ createGamepiece() [6/6]

◆ gamepieces()

◆ getBodyLinearVelocity()

◆ getBodyOrientation()

◆ getBodyPosition()

◆ getBodyState13Array()

◆ getFixedDtSeconds()

◆ getGamepieceLinearVelocity()

◆ getGamepiecePosition()

◆ getGamepieceTypeName()

◆ getMaxBodies()

◆ getNativeHandle()

◆ outtakeGamepiece()

◆ pickGamepiece()

◆ placeGamepiece()

◆ setGamepieceLinearVelocity()

◆ setGamepiecePosition()

◆ setGravity() [1/2]

◆ setGravity() [2/2]

◆ step() [1/2]

◆ step() [2/2]