diff --git a/docs/build.gradle b/docs/build.gradle
index b00786376b..f0782bc80d 100644
--- a/docs/build.gradle
+++ b/docs/build.gradle
@@ -97,6 +97,7 @@ ext {
 apply from: "${rootDir}/shared/opencv.gradle"
 
 task generateJavaDocs(type: Javadoc) {
+    classpath += project(":wpiutil").sourceSets.main.compileClasspath
     options.links("https://docs.oracle.com/en/java/javase/11/docs/api/")
     options.addStringOption "tag", "pre:a:Pre-Condition"
     options.addStringOption('Xdoclint:accessibility,html,missing,reference,syntax')
diff --git a/wpilibj/CMakeLists.txt b/wpilibj/CMakeLists.txt
index 964fa0cc1f..ad554c7d23 100644
--- a/wpilibj/CMakeLists.txt
+++ b/wpilibj/CMakeLists.txt
@@ -15,8 +15,9 @@ if (NOT WITHOUT_JAVA)
     configure_file(src/generate/WPILibVersion.java.in WPILibVersion.java)
 
     file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
+    file(GLOB EJML_JARS "${CMAKE_BINARY_DIR}/wpiutil/thirdparty/*.jar")
 
-    add_jar(wpilibj_jar ${JAVA_SOURCES} ${CMAKE_CURRENT_BINARY_DIR}/WPILibVersion.java INCLUDE_JARS hal_jar ntcore_jar ${OPENCV_JAR_FILE} cscore_jar cameraserver_jar wpiutil_jar OUTPUT_NAME wpilibj)
+    add_jar(wpilibj_jar ${JAVA_SOURCES} ${CMAKE_CURRENT_BINARY_DIR}/WPILibVersion.java INCLUDE_JARS hal_jar ntcore_jar ${EJML_JARS} ${OPENCV_JAR_FILE} cscore_jar cameraserver_jar wpiutil_jar OUTPUT_NAME wpilibj)
 
     get_property(WPILIBJ_JAR_FILE TARGET wpilibj_jar PROPERTY JAR_FILE)
     install(FILES ${WPILIBJ_JAR_FILE} DESTINATION "${java_lib_dest}")
diff --git a/wpiutil/CMakeLists.txt b/wpiutil/CMakeLists.txt
index edcf1178bd..e08dca6128 100644
--- a/wpiutil/CMakeLists.txt
+++ b/wpiutil/CMakeLists.txt
@@ -11,10 +11,37 @@ if (NOT WITHOUT_JAVA)
   include(UseJava)
   set(CMAKE_JAVA_COMPILE_FLAGS "-Xlint:unchecked")
 
-  set(CMAKE_JAVA_INCLUDE_PATH wpiutil.jar)
+  if(NOT EXISTS "${CMAKE_BINARY_DIR}/wpiutil/thirdparty/ejml-simple-0.38.jar")
+      set(BASE_URL "https://search.maven.org/remotecontent?filepath=")
+      set(JAR_ROOT "${CMAKE_BINARY_DIR}/wpiutil/thirdparty")
+
+      message(STATUS "Downloading EJML jarfiles...")
+
+      file(DOWNLOAD "${BASE_URL}org/ejml/ejml-cdense/0.38/ejml-cdense-0.38.jar"
+          "${JAR_ROOT}/ejml-cdense-0.38.jar")
+      file(DOWNLOAD "${BASE_URL}org/ejml/ejml-core/0.38/ejml-core-0.38.jar"
+          "${JAR_ROOT}/ejml-core-0.38.jar")
+      file(DOWNLOAD "${BASE_URL}org/ejml/ejml-ddense/0.38/ejml-ddense-0.38.jar"
+          "${JAR_ROOT}/ejml-ddense-0.38.jar")
+      file(DOWNLOAD "${BASE_URL}org/ejml/ejml-dsparse/0.38/ejml-dsparse-0.38.jar"
+          "${JAR_ROOT}/ejml-dsparse-0.38.jar")
+      file(DOWNLOAD "${BASE_URL}org/ejml/ejml-fdense/0.38/ejml-fdense-0.38.jar"
+          "${JAR_ROOT}/ejml-fdense-0.38.jar")
+      file(DOWNLOAD "${BASE_URL}org/ejml/ejml-simple/0.38/ejml-simple-0.38.jar"
+          "${JAR_ROOT}/ejml-simple-0.38.jar")
+      file(DOWNLOAD "${BASE_URL}org/ejml/ejml-zdense/0.38/ejml-zdense-0.38.jar"
+          "${JAR_ROOT}/ejml-zdense-0.38.jar")
+
+      message(STATUS "All files downloaded.")
+  endif()
+
+  file(GLOB EJML_JARS
+      ${CMAKE_BINARY_DIR}/wpiutil/thirdparty/*.jar)
+
+  set(CMAKE_JAVA_INCLUDE_PATH wpiutil.jar ${EJML_JARS})
 
   file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
-  add_jar(wpiutil_jar ${JAVA_SOURCES} OUTPUT_NAME wpiutil)
+  add_jar(wpiutil_jar ${JAVA_SOURCES} INCLUDE_JARS ${EJML_JARS} OUTPUT_NAME wpiutil)
 
   get_property(WPIUTIL_JAR_FILE TARGET wpiutil_jar PROPERTY JAR_FILE)
   install(FILES ${WPIUTIL_JAR_FILE} DESTINATION "${java_lib_dest}")
diff --git a/wpiutil/build.gradle b/wpiutil/build.gradle
index ccd8a8b856..5d013d7bd1 100644
--- a/wpiutil/build.gradle
+++ b/wpiutil/build.gradle
@@ -1,6 +1,9 @@
 apply from: "${rootDir}/shared/resources.gradle"
 
 ext {
+    baseId = 'wpiutil'
+    groupId = 'edu.wpi.first.wpiutil'
+
     nativeName = 'wpiutil'
     devMain = 'edu.wpi.first.wpiutil.DevMain'
     def generateTask = createGenerateResourcesTask('main', 'WPI', 'wpi', project)
@@ -213,3 +216,7 @@ model {
         }
     }
 }
+
+dependencies {
+    compile "org.ejml:ejml-simple:0.38"
+}