Feature Map

Use this page when you know what you want to build, but not which RaiSim API or documentation page owns it. For runnable programs, start with Examples. For build, test, benchmark, and documentation commands, use Build, Test, and Benchmark.

World and bodies

Goal	Main API	Documentation
Create and step a simulation	raisim::World, World::integrate	World, Quick Start
Add primitive rigid bodies	World::addGround, addSphere, addBox, addCylinder, addCapsule	Single-Body Objects
Add a robot from URDF or MJCF	World::addArticulatedSystem	Articulated Systems
Add mesh collision geometry	World::addMesh, mesh preprocessing options, mesh collision modes	Single-Body Objects, Examples
Add terrain	World::addHeightMap, raisim::HeightMap	Height Map
Add deformable cloth or meshes	World::addDeformableCloth, World::addDeformableObject	Deformable Objects
Add granular particles	World::addGranularBox, World::addGranularParticles, raisim::GranularSystem	Granular Media
Add wires, pins, or custom constraints	addStiffWire, addCompliantWire, addCustomWire, articulated-system pin constraints	Constraints, Articulated Systems

Contacts, collision, and materials

Goal	Main API	Documentation
Inspect contacts after a step	raisim::Contact, object contact accessors	Contact and Collision, Objects
Configure contact material behavior	raisim::MaterialManager, World::setMaterialPairProp, World::updateMaterialProp, default material properties, rolling/spinning friction coefficients	Material System
Change collision filtering or contact settings	object collision and contact-setting APIs	Collision Detection and Colliders, Objects
Work with object state and appearance	raisim::Object and derived body classes	Objects, Single-Body Objects, Articulated Systems

Sensors and ray queries

Goal	Main API	Documentation
Cast a single CPU ray	World::rayTest	Ray Test
Simulate lidar rays	World::rayTestLidar, raisim::SpinningLidar	Sensors, Ray Test
Render RGB or depth sensor images	raisin::RayraiWindow, manual sensor measurement sources	rayrai Visualizer, Visualization, Sensors
Capture depth without rayrai	World::captureDepthCamera	Sensors
Read inertial measurements	raisim::InertialMeasurementUnit	Sensors

Visualization and tools

Goal	Main API or target	Documentation
View a RaisimServer application	raisim::RaisimServer, rayrai_tcp_viewer	Visualization, Raisim Server
Render in process	raisin::RayraiWindow	rayrai Visualizer, Visualization
Inspect PBR, glTF, HDR, and OpenUSD assets	rayrai_pbr_material_grid, rayrai_pbr_texture_maps, rayrai_visual_asset_support	Examples, rayrai Visualizer
Exercise sensor and rayrai rendering examples	rayrai_rgb_camera, rayrai_depth_camera, rayrai_lidar_pointcloud, rayrai_complete_showcase	Examples, Build, Test, and Benchmark
Tune simulation performance	timing examples, collision settings, sleeping islands, solver settings	Performance, Build, Test, and Benchmark

Build and repository workflow

Goal	Documentation
Build the source tree	Quick Start, Build, Test, and Benchmark
Run C++ tests, benchmarks, and docs builds	Build, Test, and Benchmark
Find generated executables or source directories	Project Layout
Diagnose missing targets, libraries, activation keys, viewer connections, or documentation warnings	Troubleshooting