 Common | |
| Events | |
| Math | A set of classes that encapsulate math related properties and functions |
| Messages | All messages and helper functions |
 Classes for physics and dynamics | |
  Simbody Physics | Simbody physics engine wrapper |
| Rendering | A set of rendering related class, functions, and definitions |
| Sensors | A set of sensor classes, functions, and definitions |
| Transport | Handles transportation of messages |
| Utility |