frcsim Namespace Reference

Namespaces
namespace	aerodynamics
namespace	BallGamepiecePresets
namespace	detail

Classes
struct	Vector3
	3D vector utility used throughout JSim physics. More...
class	RigidAssembly
	Multi-body articulated system made from rigid links and joints. More...
class	JointBase
	Base class for bilateral kinematic constraints between two rigid bodies. More...
class	FlywheelWheelSim
	Single-wheel flywheel velocity model with optional closed-loop speed command behavior. More...
class	Shape
	Base class for all collision geometries in the physics engine. More...
class	SpringForce
	Applies proportional restorative force based on Hooke's Law. More...
struct	PhysicsConfig
	Global runtime settings for PhysicsWorld dynamics and optional features. More...
class	PhysicsWorld
	Unified physics scene manager for rigid bodies, assemblies, ball simulators, and global forces. More...
struct	FieldObstacle
	Convenience wrapper for constructing EnvironmentalBoundary-based obstacles. More...
struct	FieldObstacleMap
	Mutable collection helper for assembling obstacle sets. More...
class	MecanumModel
	Kinematic and dynamic block for simulating a Mecanum drivetrain. More...
class	RevoluteJoint
	Hinge joint that permits rotation about one axis while constraining relative translation. More...
struct	FieldWall
	Helper factory for perimeter wall obstacles. More...
class	FixedJoint
	Rigidly locks two bodies together (no relative translation or rotation). More...
struct	ContactPoint
	Describes a single contact point between two colliding bodies. More...
struct	CollisionManifold
	Represents the result of a collision check between two shapes. More...
class	CollisionDetector
	Pure virtual interface for collision detection algorithms. More...
class	VisionSim
	Simulates a camera/vision coprocessor (e.g. PhotonVision or Limelight). More...
struct	DragGravityComparison
	Diagnostic output comparing drag force to gravitational acceleration. More...
class	DragModel
	Evaluates drag force on a moving body using quadratic and linear drag models. More...
class	EncoderSim
	Simulates an absolute or relative encoder mapping to mechanical state. More...
class	ForceGenerator
	Interface for force laws used by the rigid-body integrator. More...
struct	Quaternion
	Unit-quaternion rotation representation and rotation algebra helpers. More...
struct	BodyFlags
class	BallGamepieceSim
	Resolves robot-ball contact response. projectiles. More...
struct	SwerveModuleState
	Represents the state of a single swerve module. More...
class	SwerveModel
	Kinematic and dynamic block for simulating a Swerve drivetrain. More...
class	MotorForce
	Applies rotational or linear force simulating an electric motor. More...
class	BallPhysicsSim3D
	3D rigid-body style ball simulator with drag, Magnus lift, and ground contact. More...
class	RigidBody
	Simulated rigid body with translational/angular dynamics and optional aero metadata. More...
struct	Material
	Contact material parameters for collision response. More...
class	Sphere
	Represents a perfect sphere collision shape. More...
class	Season2025Gamepiece
	Season-2025 convenience gamepiece wrapper. More...
class	DoubleDifferentialMechanism
	Kinematic mapping utility for a two-motor double differential turret mechanism. More...
class	PrismaticJoint
	Slider joint that permits translation along one axis and constrains all other relative motion. More...
class	Cylinder
	Represents a cylinder collision shape aligned with the Y axis. More...
class	TurretFlywheelSim
	Integrated turret + flywheel + carried-ball simulator for aiming, pickup, and firing flows. More...
struct	Matrix3
	3x3 matrix type used for rotations and inertia-tensor operations. More...
class	MagnusModel
	Computes a Magnus lift force from linear velocity and spin. More...
class	Elevator
	Simulates a linear elevator mechanism. More...
class	GyroSim
	Simulates an IMU/Gyroscope, incorporating drift and noise models. More...
class	TankModel
	Kinematic and dynamic model for simulating a differential/tank drive. More...
class	Ball
	Thin, backwards-friendly ball wrapper around the generic Gamepiece. More...
class	GravityForce
	Force generator that applies constant gravity acceleration to a body. More...
class	Gamepiece
	Generic runtime gamepiece abstraction. More...
class	Season2026Gamepiece
	Season-2026 convenience gamepiece wrapper. More...
class	DeformableBody
	Rigid body with optional deformable mesh dynamics overlay. More...
class	ShotCalculator3D
	3D shot solution generator using table interpolation plus optional ballistic refinement. More...
class	IntakeSimulation
	Lightweight intake interaction model that consumes nearby balls into robot inventory. More...
class	Box
	Represents a rectangular prism collision shape. More...
struct	Integrator
	Time-integration helpers for translational and rotational rigid-body dynamics. More...
class	Arm
	Simulates a rotational arm mechanism. More...
struct	GoalStructure
	Scoring volume definition used by arena presets and projectile checks. More...
struct	EnvironmentalBoundary
	Collision or constraint boundary definition used by PhysicsWorld. More...
class	ContactSolver
	Solves contact constraints applying impulses to resolve interpenetration and calculate friction. More...

Typedefs
using	GamepieceSim = BallGamepieceSim

Enumerations
enum class	JointType {   kRevolute , kPrismatic , kFixed , kBall ,   kDistance }
enum class	ShapeType {   BOX , SPHERE , CYLINDER , MESH ,   UNKNOWN }
	Enum identifying the specific types of collision shapes available. More...
enum class	IntegrationMethod { kSemiImplicitEuler , kExplicitEuler , kRK2 }
	Integration strategy used for rigid body state updates. More...
enum class	BoundaryType { kWall , kPlane , kBox , kCylinder }
	Supported environmental boundary geometry kinds. More...
enum class	BoundaryBehavior { kRigidBody , kStaticConstraint }
	Boundary interaction mode. More...

Functions
Vector3	operator* (double s, const Vector3 &v) noexcept
	Left scalar multiplication helper (s * v).
Matrix3	operator* (double s, const Matrix3 &m) noexcept

Typedef Documentation

GamepieceSim

using frcsim::GamepieceSim = BallGamepieceSim

Enumeration Type Documentation

BoundaryBehavior

enum class frcsim::BoundaryBehavior

strong

Boundary interaction mode.

Selects whether the boundary should participate as a richer rigid-body-like contact target or as a lighter static constraint.

Enumerator
kRigidBody	Treat boundary as a rigid collision participant.
kStaticConstraint	Treat boundary as a fast static constraint surface.

BoundaryType

enum class frcsim::BoundaryType

strong

Supported environmental boundary geometry kinds.

These values describe the intended collision primitive semantics for field geometry and world obstacles.

Enumerator
kWall	Finite wall-like barrier primitive.
kPlane	Infinite plane constraint primitive.
kBox	Box primitive (axis-aligned or oriented via quaternion).
kCylinder	Cylindrical primitive (for posts, exclusion zones, etc.).

IntegrationMethod

enum class frcsim::IntegrationMethod

strong

Integration strategy used for rigid body state updates.

Enumerator
kSemiImplicitEuler	Velocity-first (symplectic) Euler integration.
kExplicitEuler	Position-first explicit Euler integration.
kRK2	Second-order midpoint (RK2) integration.

JointType

enum class frcsim::JointType

strong

Enumerator
kRevolute
kPrismatic
kFixed
kBall
kDistance

ShapeType

enum class frcsim::ShapeType

strong

Enum identifying the specific types of collision shapes available.

Enumerator
BOX
SPHERE
CYLINDER
MESH
UNKNOWN

Function Documentation

operator*() [1/2]

Matrix3 frcsim::operator* ( double s, const Matrix3 & m )

inlinenoexcept

operator*() [2/2]

Vector3 frcsim::operator* ( double s, const Vector3 & v )

inlinenoexcept

Left scalar multiplication helper (s * v).