All Classes and Interfaces

Class	Description
ActuatorForce	Force generator that represents a motor, pneumatic, or other actuator.
BodyTracker	Lightweight utility for querying and optionally recording the history of a SimBody's pose and velocity over time.
BoxCollider	Axis-aligned-in-body-space box centred at the body's local origin.
BroadPhase	O(n²) AABB sweep broadphase.
ColliderShape	A collision shape attached to a rigid body.
ColliderShape.Type	Shape type tag for fast dispatch in narrowphase.
CollisionPair	A candidate pair of bodies returned by broadphase for narrowphase evaluation.
ContactConstraint	Pre-computed data for a single contact constraint, cached before the solver iterates so that the inner loop contains only arithmetic.
ContactPoint	A single contact between two rigid bodies.
DragForce	Velocity-proportional linear drag applied to a single body.
FieldLayout	Utility for populating a SimWorld with FRC field geometry: a carpet floor and four perimeter wall planes.
FieldLoader	Loads a JSim field definition from a JSON resource or file, producing a fully-configured FieldSimulator that includes: the correct perimeter walls for the field dimensions declared in the JSON, static obstacle hitboxes (reef structures, scoring targets, etc.), and pre-spawned game pieces at their starting positions.
FieldSimulator	High-level FRC field simulator that combines a SimWorld with pre-built field geometry and game-piece management tailored to AdvantageScope integration.
ForceGenerator	A source of continuous force or torque applied to one or more bodies each tick.
GamePiece	A dynamic game piece backed by a SimBody, with a named variant that maps to an AdvantageScope gamepiece model (e.g.
GamePieceGripper	Attaches a GamePiece to a robot body's intake point so it is carried rigidly in robot-local space each tick.
GravityForce	Applies gravitational acceleration to all dynamic, non-static bodies.
ImpulseSolver	Sequential impulse (Projected Gauss-Seidel) constraint solver.
MagnusForce	Magnus force for spinning projectiles: F_magnus = k · (ω × v).
Mat3	Internal row-major 3x3 matrix math for deterministic physics.
Material	Physical surface properties for collision response.
MaterialCombiner	Combines two surface materials into a single contact response.
NarrowPhase	Generates ContactPoints from broadphase candidate pairs.
PhysicsWorld	The central simulation world.
PlaneCollider	Infinite half-space collider.
RigidBody	A single rigid body in the simulation.
RigidBodyFlags	Bit-flag constants that control how a body participates in the simulation.
RobotId	Identifies a robot by its FRC alliance and driver-station number (1–3).
RobotId.Alliance	FRC alliance color.
SimBody	High-level handle to a simulated rigid body.
SimBodyBuilder	Fluent builder for creating SimBody instances.
SimConstants	Simulation-wide constants.
SimulatedField	A WPILib subsystem that runs a JSim FieldSimulator automatically.
SimulatedField.Builder	Builder for SimulatedField that allows customizing robot body dimensions, mass, and intake geometry.
SimWorld	Top-level public API for the JSim physics simulation.
SphereCollider	Sphere shape centred at the body's local origin.
Vec3	Internal 3-component vector math over raw doubles for deterministic physics.