rayrai_coacd_mesh_approximation

This example compares original YCB mesh geometry against CoACD convex decompositions generated through raisim::World::addMesh with MeshCollisionMode::CONVEXIFY. The example displays the original mesh column and the generated convex parts column in an in-process rayrai window.

The program builds the collision parts before it opens the window and prints the number of CoACD parts generated for each mesh. See Rayrai Example: CoACD Mesh Approximation for first-run timing and the cache.