Rayrai Example: Custom Visuals

Overview

Demonstrates custom visual primitives (sphere, box, cylinder, capsule, mesh) and simple animation of positions and orientations.

Screenshot

Binary

CMake target and executable name: rayrai_custom_visuals.

Run

Build and run from your build directory:

cmake --build . --target rayrai_custom_visuals
./rayrai_custom_visuals

On Windows, run rayrai_custom_visuals.exe instead. This example uses the in-process rayrai renderer (no external client required).

Details

• Creates custom visuals (sphere/box/cylinder/capsule/mesh) outside the physics world.

• Animates visual positions and orientations each frame.

• Demonstrates detectability for picking (setDetectable(true)).

Source

#include <cmath>
#include <memory>
#include <string>

#include "rayrai/example_common.hpp"
#include "rayrai_example_resources.hpp"
#include "raisim/World.hpp"

int main(int argc, char* argv[]) {
  ExampleApp app;
  if (!app.init("rayrai_example_visuals", 1280, 720))
    return -1;

  auto world = std::make_shared<raisim::World>();
  world->addGround();

  auto viewer = std::make_shared<raisin::RayraiWindow>(world, 1280, 720);
  viewer->setBackgroundColor({77, 77, 77, 255});
  // viewer->setGroundPatternResourcePath(rayraiRscPath(argv[0], "minitaur/vision/checker_blue.png"));

  auto vizSphere = viewer->addVisualSphere("viz_sphere", 0.25, 0.2f, 0.8f, 0.3f, 0.9f);
  vizSphere->setPosition(0.0, -2.0, 0.6);

  auto vizBox = viewer->addVisualBox("viz_box", 0.4, 0.2, 0.1, 0.9f, 0.6f, 0.1f, 0.8f);
  vizBox->setPosition(-1.5, -1.0, 0.3);
  vizBox->setDetectable(true);

  auto vizCylinder = viewer->addVisualCylinder("viz_cylinder", 0.2, 0.4, 0.1f, 0.7f, 0.9f, 0.6f);
  vizCylinder->setPosition(1.5, -1.0, 0.2);

  auto vizCapsule = viewer->addVisualCapsule("viz_capsule", 0.2, 0.2, 0.7f, 0.4f, 0.9f, 0.7f);
  vizCapsule->setPosition(0.0, 1.5, 0.3);

  const std::string monkeyFile = rayraiRscPath(argv[0], "monkey/monkey.obj");
  auto vizMesh =
    viewer->addVisualMesh("viz_mesh", monkeyFile, 0.5, 0.5, 0.5, 0.8f, 0.8f, 0.9f, 1.0f);
  vizMesh->setPosition(1.5, 1.0, 0.4);

  while (!app.quit) {
    app.processEvents();
    if (app.quit)
      break;

    world->integrate();
    const double t = world->getWorldTime();

    if (vizSphere) {
      vizSphere->setPosition(0.0, -2.0, 0.6 + 0.15 * std::sin(t * 2.0));
    }
    if (vizMesh) {
      vizMesh->setOrientation(std::cos(t * 0.5), 0.0, 0.0, std::sin(t * 0.5));
    }

    app.beginFrame();
    app.renderViewer(*viewer);
    app.endFrame();
  }

  viewer.reset();
  app.shutdown();
  return 0;
}