JSim Physics Library

JSim is an open-source FRC physics library for simulation.

Overview

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

Vendordep URL

https://jsim.dev/JSim.json

Build and Test

./scripts/build-all.sh

Run Tests

Run the vendordep Gradle test task used in CI:

cd vendordep
./gradlew test

This runs Java tests and the native verification suites in vendordep/tests/.

Vendordep tooling requires Java 17.

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/python/: Python-side native bindings and tests
• cad-import/: CAD import utilities and Python package wrapper
• apps/viewer-plugin/: visualization and rendering plugin (Python wrapper available)
• apps/sim-runtime/: Python runtime integration app (importable wrapper available)

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/
• Example project

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.