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| <p align="center"> | ||
| <img src="./media/team_logo.png" width="20%" alt="team logo"/> | ||
| <img src="./media/icon.png" width="79%" alt="project logo"/> | ||
| </p> | ||
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| ### Elevating FRC Java Robot Simulations to the Next Level with Physics Engines | ||
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| ## Why a 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. | ||
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| 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.** | ||
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| [](https://www.youtube.com/watch?v=CBx1_Dosgec) | ||
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| With this advanced level of simulation, the possibilities are endless. You can: | ||
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| - 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. | ||
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| **And the best part? You can achieve all of this without needing a real robot on hand.** | ||
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| ## Simulation Details | ||
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| For an in-depth description of the simulations, please refer to [Simulation Details](https://shenzhen-robotics-alliance.github.io/maple-sim/0_SIMULATION_DETIALS.html). | ||
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| ## Quick Start | ||
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| Please follow the guides below for quick setup: | ||
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| 1. [Installing maple-sim](https://shenzhen-robotics-alliance.github.io/maple-sim/1_INSTALLING_MAPLE_SIM.html) | ||
| 2. [Using the Simulated Arena](https://shenzhen-robotics-alliance.github.io/maple-sim/2_USING_THE_SIMULATED_ARENA.html) | ||
| 3. [Simulating Swerve Drivetrain](https://shenzhen-robotics-alliance.github.io/maple-sim/3_SWERVE_SIMULATION_OVERVIEW.html) | ||
| 4. [Simulating Intake](https://shenzhen-robotics-alliance.github.io/maple-sim/4_SIMULATING_INTAKE.html) | ||
| 5. [Simulating Projectiles](https://shenzhen-robotics-alliance.github.io/maple-sim/5_SIMULATING_PROJECTILES.html) | ||
| 6. [Simulating Opponent Robots](https://shenzhen-robotics-alliance.github.io/maple-sim/6_SIMULATING_OPPONENT_ROBOTS.html) | ||
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| ## Java Docs | ||
| > 🙏 Big thanks to [nstrike](https://www.chiefdelphi.com/u/nstrike/summary) for all the help in setting up the Java Docs. | ||
| [Official Java Docs](https://shenzhen-robotics-alliance.github.io/maple-sim/javadocs/). | ||
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| ## Examples and Templates | ||
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| - [Advanced Swerve Drive Project with maple-sim](https://github.com/Shenzhen-Robotics-Alliance/maple-sim/tree/main/templates/AdvantageKit_AdvancedSwerveDriveProject): 6328's swerve drive project utilizing AdvantageKit, modified with advanced drivetrain simulations. View the changelog from the original project [here](https://github.com/Shenzhen-Robotics-Alliance/maple-sim/commit/1667aa80170e6733d8eaee866da0297e762402fa). | ||
| - [Maple-Swerve-Skeleton](https://github.com/Shenzhen-Robotics-Alliance/Maple-Swerve-Skeleton): Our custom swerve drive project based on the Advanced Swerve Drive Project, featuring drivetrain simulation, vision simulation, and convenient control features. | ||
| - [Base-Talon-Swerve with maple-sim](https://github.com/Shenzhen-Robotics-Alliance/maple-sim/tree/main/templates/BaseTalonSwerve-maple-sim): Base-Talon-Swerve, modified with advanced drivetrain simulation. This is an example implementation of the [Simplified Swerve Simulation](https://shenzhen-robotics-alliance.github.io/maple-sim/3.1_SWERVE_SIM_EZ_MODE.html). | ||
| - [YAGSL-2025-beta](https://github.com/BroncBotz3481/YAGSL-Example/tree/beta): Official 2025-beta release of the amazing [Yet Another Generic Swerve Drive Library](https://www.chiefdelphi.com/t/yet-another-generic-swerve-library-yagsl-v1-release/450844), with maple-sim implemented for enhanced drivetrain simulation. | ||
| - [5516-2024-OffSeason-RobotCode](https://github.com/Shenzhen-Robotics-Alliance/Maple-Swerve-Skeleton/tree/main/example/5516-2024-OffSeason): Our 2024 off-season robot code, which implements a range of advanced simulations. This code can be run on a real robot and even played like a video game. Watch the [Videos](https://www.youtube.com/watch?v=5jr1L8xWpog&list=PLFS6A0KifAK1ycwlzIlvvFJkWNsQHVjSN) | ||
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| ## Bugs Developing and Contributing | ||
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| - 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. | ||
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| - 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. | ||
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| - 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. | ||
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| - For detailed guidelines on contributing to the project, please refer to the [contribution guide](https://shenzhen-robotics-alliance.github.io/maple-sim/CONTRIBUTION.html). |