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Elevating FRC Java Robot Simulations to the Next Level with Physics Engines

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### Elevating FRC Java Robot Simulations to the Next Level with Physics Engines

## Why physics engine?
A simulation engine is a powerful tool that provides realistic approximations of physical systems. With **maple-sim**, we integrate the open-source Java rigid-body dynamics engine, [dyn4j](https://github.com/dyn4j/dyn4j), capable of simulating 2D forces and collisions between rigid shapes. This integration transforms the scope of robot simulations by enabling realistic interactions between robots, field elements, and game pieces.

![physics engine illustration](https://raw.githubusercontent.com/Shenzhen-Robotics-Alliance/maple-sim/main/docs/media/physics%20engine.png)

## What is maple-sim?

Before **maple-sim**, most FRC robot simulations focused solely on the robot itself—its sensors, movements, and internal operations. 
Now, through the power of physics simulation, **maple-sim** allows your robot to engage directly with its environment. 
Imagine testing robot interactions with obstacles, field elements, and game pieces, all within the simulated world.
A simulation that is realistic enough to **feel like a video game.**

[![Demo Video 1](https://raw.githubusercontent.com/Shenzhen-Robotics-Alliance/maple-sim/main/docs/media/demo%20video%20cover.png)](https://www.youtube.com/watch?v=CBx1_Dosgec)

With this advanced level of simulation, the possibilities are endless. You can:

- Test autonomous modes with pinpoint accuracy.
- Fine-tune advanced TeleOp enhancement features like pathfinding-auto-alignment.
- Optimize shooters and other subsystems, all while gathering meaningful data from simulated physics.

**And the best part? You can achieve all of this without needing a real robot on hand.**

## Getting Started

Getting started with one of our [template projects](https://shenzhen-robotics-alliance.github.io/maple-sim/#getting-started-with-templates).

Check the [online documentation](https://shenzhen-robotics-alliance.github.io/maple-sim/) and [Javadocs](https://shenzhen-robotics-alliance.github.io/maple-sim/javadocs/).

Vendor URL:
```
https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/maple-sim.json
```
<br>

> 🙏  Big thanks to [@GrahamSH-LLK](https://www.chiefdelphi.com/u/nstrike/summary) for all the help in setting up the online documentation.
> 🙏  Big thanks to [@nstrike](https://www.chiefdelphi.com/u/nstrike/summary) for all the help in setting up the Java Docs and VendorDep publishing.

## Reporting Bugs, Developing and Contributing

- If you've encountered a bug while using maple-sim in your robot code, please [submit an issue](https://github.com/Shenzhen-Robotics-Alliance/maple-sim/issues/new/choose) and select the "Bug Report" option.  We review issues regularly and will respond as quickly as possible.

- If you have an idea for a new feature, please [submit an issue](https://github.com/Shenzhen-Robotics-Alliance/maple-sim/issues/new/choose) and select the "Feature Request" option.

- If you think the API for an existing feature could be improved for better readability or usability, please [submit an issue](https://github.com/Shenzhen-Robotics-Alliance/maple-sim/issues/new/choose) and select the "API Enhancement" option.

- For detailed guidelines on contributing to the project, please refer to the [contribution guide](https://shenzhen-robotics-alliance.github.io/maple-sim/CONTRIBUTION/index.html).

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