Here is a list of all modules:
[detail level 12]
 CommonClasses and functions used by multiple modules
 GUIThe graphical user interface
 MathA set of classes that encapsulate math related properties and functions
 MessagesAll messages and helper functions
 PhysicsPhysics and dynamics functionality
 Bullet PhysicsBullet physics engine wrapper
 Dart PhysicsDart physics engine wrapper
 ODE PhysicsOpen Dynamics Engine physics wrapper
 Simbody PhysicsSimbody physics engine wrapper
 RenderingA set of rendering related class, functions, and definitions
 SensorsA set of sensor classes, functions, and definitions
 TransportHandles transportation of messages
 UtilityUseful utility functions that typically rely on the transport library