JSim Physics Library

JSim is an open source, modular FRC physics library for simulation, analysis, and robotics workflow integration.

Overview

This repository is organized as a monorepo containing the core simulation engine, language bindings, runtime apps, examples, and documentation tooling.

Quick Start

Vendordep URL

https://jsim.dev/JSim.json

Build and Test (Gradle)

./scripts/build-all.sh

For vendordep-only builds:

cd vendordep
./gradlew test

Run Tests

Run the vendordep Gradle test task used in CI:

cd vendordep
./gradlew test

This command runs Java tests plus the standalone native verification suite in vendordep/tests/ through Gradle.

Vendordep build tooling currently requires Java 21.

Preview Docs Locally

pip install mkdocs mkdocs-material
mkdocs serve --config-file mkdocs/mkdocs.yml

Repository Structure

Core Libraries

• core/driver/: C++ physics engine implementation and headers
• core/java/: Java-side code and bindings
• core/python/: Python-side code and bindings
• core/bindings-java/: Java binding support
• core/gamepiece-models/: gamepiece model definitions

Applications

• apps/sim-runtime/: Python runtime integration app
• apps/viewer-plugin/: visualization and rendering plugin

Tooling and Integration

• cad-import/: CAD and geometry import utilities, including JSim-owned snapshot tracking for simulation integrations
• examples/: language-specific examples (C++, Java, Python)
• mkdocs/: docs source and MkDocs configuration
• vendordep/: WPILib vendordep packaging and Gradle-based build/testing

Documentation

• Docs source: mkdocs/docs/
• MkDocs config: mkdocs/mkdocs.yml
• Deployed docs: https://jsim.dev
• Java API (Javadocs): https://jsim.dev/api/javadoc/
• Native API (Doxygen): https://jsim.dev/api/doxygen/html/

Contributing

Contributions are welcome. For code and process expectations, please review:

• CODE_OF_CONDUCT.md
• open issues and discussions in this repository

License

This project is licensed under the terms in LICENSE.txt.