Benchmark Example: Island Sleep

Overview

Visualizes the sleeping-island system. A sleeping island is a connected group of bodies that has come to rest (low velocity and low contact activity). The simulator marks it as sleeping and skips its updates until something wakes it.

The scene builds four separate 3 × 3 × 3 box stacks (islands). Boxes turn blue while sleeping and red while active. At step 2500 (5 s), a heavy sphere is launched into one stack to wake that island.

Target

CMake target: island_sleep_benchmark.

Run

Start the viewer, then run the example on one thread:

# Terminal 1
./build-examples/examples/rayrai_tcp_viewer

# Terminal 2
OMP_NUM_THREADS=1 OPENBLAS_NUM_THREADS=1 \
  ./build-examples/examples/island_sleep_benchmark --steps=12000

On Windows, run island_sleep_benchmark.exe instead. This example uses RaisimServer on port 8080. When the run ends, it prints the number of steps and the achieved step rate. Each step also sleeps 2 ms so the run can be watched in real time, so the printed rate is not a raw solver throughput.

Arguments

• --steps=N: number of simulation steps to run (default: 12000).

• --hit-step=N: step at which to launch the wake sphere (default: 2500; clamped to the last step for shorter runs).