| Cfrcsim::RigidBody::AerodynamicGeometry | Geometric metadata used to estimate drag reference area |
| Cfrcsim::Arm | Simulates a rotational arm mechanism |
| CAutoCloseable | |
| Cjsim.PhysicsWorld | |
| Cjsim.nt.WorldPosePublisher | |
| Cfrcsim::BallGamepieceSim::BallEntity | Grounded game piece entity with its own ball physics instance |
| Cfrcsim::BallGamepieceSim | Resolves robot-ball contact response. projectiles |
| Cfrcsim::BallPhysicsSim3D | 3D rigid-body style ball simulator with drag, Magnus lift, and ground contact |
| Cfrcsim::Gamepiece | Generic runtime gamepiece abstraction |
| Cfrcsim::Ball | Thin, backwards-friendly ball wrapper around the generic Gamepiece |
| Cfrcsim::Season2025Gamepiece | Season-2025 convenience gamepiece wrapper |
| Cfrcsim::Season2026Gamepiece | Season-2026 convenience gamepiece wrapper |
| Cfrcsim::BallPhysicsSim3D::BallProperties | Physical parameters for the ball body |
| Cfrcsim::BallPhysicsSim3D::BallState | Dynamic state advanced by step() |
| Cfrcsim::BodyFlags | |
| Cfrcsim::CollisionDetector | Pure virtual interface for collision detection algorithms |
| Cfrcsim::CollisionManifold | Represents the result of a collision check between two shapes |
| Cfrcsim::BallPhysicsSim3D::Config | Runtime physics environment parameters |
| Cfrcsim::DoubleDifferentialMechanism::Config | Mapping coefficients and inversion thresholds |
| Cfrcsim::IntakeSimulation::Config | Runtime configuration for intake behavior |
| Cfrcsim::ShotCalculator3D::Config | Solver configuration for interpolation, refinement, and historical smoothing behavior |
| Cfrcsim::TurretFlywheelSim::Config | Configuration for differential kinematics, ball model, and local mount geometry |
| Cfrcsim::IntakeSimulation::ContactEvent | Contact event generated during update() proximity checks |
| Cfrcsim::ContactPoint | Describes a single contact point between two colliding bodies |
| Cfrcsim::ContactSolver | Solves contact constraints applying impulses to resolve interpenetration and calculate friction |
| Cfrcsim::FlywheelWheelSim::ControlInput | Control inputs for open-loop or simple internal velocity-loop operation |
| Cfrcsim::DeformableBody | Rigid body with optional deformable mesh dynamics overlay |
| Cfrcsim::DoubleDifferentialMechanism | Kinematic mapping utility for a two-motor double differential turret mechanism |
| Cfrcsim::Vector3::DragForceDetails | Expanded drag diagnostics for force computation |
| Cfrcsim::DragGravityComparison | Diagnostic output comparing drag force to gravitational acceleration |
| Cfrcsim::DragModel | Evaluates drag force on a moving body using quadratic and linear drag models |
| Cfrcsim::Vector3::DragVector | Directional drag force vector and validity metadata |
| Cfrcsim::Elevator | Simulates a linear elevator mechanism |
| Cfrcsim::EncoderSim | Simulates an absolute or relative encoder mapping to mechanical state |
| Cfrcsim::EnvironmentalBoundary | Collision or constraint boundary definition used by PhysicsWorld |
| Cfrcsim::BallGamepieceSim::ExitTrajectoryParameters | Exit trajectory and metadata used when launching a carried ball or a projectile |
| Cfrcsim::BallGamepieceSim::FieldConfig | Global field and contact tuning parameters |
| Cjsim.field.FieldConfig | |
| Cjsim.field.FieldDefinitionCatalog | |
| Cjsim.field.FieldElement | |
| Cfrcsim::FieldObstacle | Convenience wrapper for constructing EnvironmentalBoundary-based obstacles |
| Cfrcsim::FieldObstacleMap | Mutable collection helper for assembling obstacle sets |
| Cjsim.api.FieldState< T > | |
| Cfrcsim::FieldWall | Helper factory for perimeter wall obstacles |
| Cfrcsim::FlywheelWheelSim | Single-wheel flywheel velocity model with optional closed-loop speed command behavior |
| Cfrcsim::ForceGenerator | Interface for force laws used by the rigid-body integrator |
| Cfrcsim::GravityForce | Force generator that applies constant gravity acceleration to a body |
| Cfrcsim::MotorForce | Applies rotational or linear force simulating an electric motor |
| Cfrcsim::SpringForce | Applies proportional restorative force based on Hooke's Law |
| Cjsim.Gamepiece | |
| Cfrcsim::BallGamepieceSim::GamePieceInfo | Registration record for a named game piece type |
| Cjsim.api.GamePiecePhysics | |
| Cjsim.api.GamePieceState | |
| Cjsim.api.Coral2025 | |
| Cjsim.api.Fuel2026 | |
| Cjsim.api.GamePieceType | |
| Cjsim.api.GamepieceZone | |
| Cfrcsim::GoalStructure | Scoring volume definition used by arena presets and projectile checks |
| Cfrcsim::BallGamepieceSim::GoalZone | Goal capture region and validation logic |
| Cfrcsim::GyroSim | Simulates an IMU/Gyroscope, incorporating drift and noise models |
| Cjsim.PhysicsWorld.HitboxType | |
| Cfrcsim::IntakeSimulation | Lightweight intake interaction model that consumes nearby balls into robot inventory |
| Cfrcsim::Integrator | Time-integration helpers for translational and rotational rigid-body dynamics |
| Cfrcsim::DoubleDifferentialMechanism::InverseResult | Result from inverse kinematics solve |
| Cfrcsim::JointBase | Base class for bilateral kinematic constraints between two rigid bodies |
| Cfrcsim::FixedJoint | Rigidly locks two bodies together (no relative translation or rotation) |
| Cfrcsim::PrismaticJoint | Slider joint that permits translation along one axis and constrains all other relative motion |
| Cfrcsim::RevoluteJoint | Hinge joint that permits rotation about one axis while constraining relative translation |
| Cfrcsim::DoubleDifferentialMechanism::JointState | Output state for mechanism yaw/pitch joints |
| Cjsim.JSim | |
| Cjsim.jni.JSimJNI | |
| Cfrcsim::DoubleDifferentialMechanism::Limits | Optional soft limits applied to joint coordinates |
| Cjsim.LinearVelocity3d | |
| Cfrcsim::MagnusModel | Computes a Magnus lift force from linear velocity and spin |
| Cfrcsim::Material | Contact material parameters for collision response |
| Cfrcsim::PhysicsWorld::MaterialInteraction | Material-pair contact interaction override entry |
| Cfrcsim::Matrix3 | 3x3 matrix type used for rotations and inertia-tensor operations |
| Cjsim.api.Matrix3 | |
| Cfrcsim::MecanumModel | Kinematic and dynamic block for simulating a Mecanum drivetrain |
| Cjsim.api.GamepieceZone.Mode | |
| Cfrcsim::FlywheelWheelSim::MotorConfig | DC motor approximation constants for flywheel drive |
| Cfrcsim::DoubleDifferentialMechanism::MotorState | Input state for the two drive motors |
| Cjsim.PhysicsBody | |
| Cfrcsim::PhysicsConfig | Global runtime settings for PhysicsWorld dynamics and optional features |
| Cfrcsim::PhysicsWorld | Unified physics scene manager for rigid bodies, assemblies, ball simulators, and global forces |
| Cfrcsim::BallPhysicsSim3D::PickupRequest | Request payload used to capture a ball into a carrier |
| Cfrcsim::BallGamepieceSim::ProjectileEntity | In-flight entity not currently represented by BallPhysicsSim3D |
| Cfrcsim::Quaternion | Unit-quaternion rotation representation and rotation algebra helpers |
| Cfrcsim::RigidAssembly | Multi-body articulated system made from rigid links and joints |
| Cfrcsim::RigidBody | Simulated rigid body with translational/angular dynamics and optional aero metadata |
| Cjsim.api.RobotID | |
| Cfrcsim::BallGamepieceSim::RobotState | Per-robot state used by game piece interaction and collision routines |
| Cjsim.api.RobotState | |
| CRuntimeException | |
| Cjsim.JSimException | |
| Cfrcsim::Shape | Base class for all collision geometries in the physics engine |
| Cfrcsim::Box | Represents a rectangular prism collision shape |
| Cfrcsim::Cylinder | Represents a cylinder collision shape aligned with the Y axis |
| Cfrcsim::Sphere | Represents a perfect sphere collision shape |
| Cfrcsim::ShotCalculator3D | 3D shot solution generator using table interpolation plus optional ballistic refinement |
| Cfrcsim::ShotCalculator3D::ShotParameters | Output shot command/result packet |
| Cjsim.api.SimRobot | |
| Cfrcsim::aerodynamics::SpinDecayModel | |
| Cjsim.api.StateManager | |
| Cfrcsim::SwerveModel | Kinematic and dynamic block for simulating a Swerve drivetrain |
| Cfrcsim::SwerveModuleState | Represents the state of a single swerve module |
| Cfrcsim::ShotCalculator3D::TablePoint | Lookup-table row for distance-indexed shot tuning |
| Cfrcsim::TankModel | Kinematic and dynamic model for simulating a differential/tank drive |
| Cfrcsim::TurretFlywheelSim | Integrated turret + flywheel + carried-ball simulator for aiming, pickup, and firing flows |
| Cjsim.field.FieldElement.Type | |
| Cfrcsim::Vector3 | 3D vector utility used throughout JSim physics |
| Cfrcsim::VisionSim | Simulates a camera/vision coprocessor (e.g. PhotonVision or Limelight) |
| Cfrcsim::FlywheelWheelSim::WheelConfig | Flywheel wheel inertial/friction and ball-coupling parameters |
1.15.0