Physics simulation is not the purpose of VisibleSim, instead it aims at providing the tools for studying the behavior of modular robots.
Each module in the system is assigned a unique identifier, and executes the same controller as all other modules, generating environmental events that are handled deterministically by VisibleSim's discrete-event scheduler.
“BlockCodes are C++ programs that describe what actions should be carried out by the module upon initialization, and in response to various internal or external events (communication received, neighborhood updates, end of motion, timer, etc...).”
— Pierre Thalamy