Server Example: Primitive Grid

Overview

Spawns a grid of boxes, spheres, capsules, and cylinders to show the basic primitive creation APIs. It is a quick visual check for simple shapes and placements.

Screenshot

Binary

CMake target and executable name: primitive_grid.

Run

Build and run from your build directory:

cmake --build . --target primitive_grid
./primitive_grid

On Windows, run primitive_grid.exe instead. This example uses RaisimServer. Start a visualizer client (RaisimUnity, RaisimUnreal, or the rayrai TCP viewer) and connect to port 8080.

Details

• Creates a 3D lattice of boxes, spheres, capsules, and cylinders.

• Assigns per-shape colors and positions them in a grid.

• Useful for collision/rendering sanity checks.

Source

// This file is part of RaiSim. You must obtain a valid license from RaiSim Tech
// Inc. prior to usage.

#include "raisim/RaisimServer.hpp"
#include "raisim/World.hpp"
#include "rayrai_tcp_viewer_hint.hpp"

int main(int argc, char* argv[]) {
  auto binaryPath = raisim::Path::setFromArgv(argv[0]);

  raisim::World world;
  world.setTimeStep(0.005);

  /// create objects
  auto ground = world.addGround();
  ground->setName("ground");
  // ground->setAppearance("grid");
  std::vector<raisim::Box*> cubes;
  std::vector<raisim::Sphere*> spheres;
  std::vector<raisim::Capsule*> capsules;
  std::vector<raisim::Cylinder*> cylinders;

  static const int N = 6;

  for (size_t i = 0; i < N; i++) {
    for (size_t j = 0; j < N; j++) {
      for (size_t k = 0; k < N; k++) {
        std::string number =
            std::to_string(i) + std::to_string(j) + std::to_string(k);
        raisim::SingleBodyObject* ob = nullptr;
        switch ((i + j + k) % 4) {
          case 0:
            cubes.push_back(world.addBox(1, 1, 1, 1));
            ob = cubes.back();
            ob->setAppearance("blue");
            break;
          case 1:
            spheres.push_back(world.addSphere(0.5, 1));
            ob = spheres.back();
            ob->setAppearance("red");
            break;
          case 2:
            capsules.push_back(world.addCapsule(0.5, 0.5, 1));
            ob = capsules.back();
            ob->setAppearance("green");
            break;
          case 3:
            cylinders.push_back(world.addCylinder(0.5, 0.5, 1));
            ob = cylinders.back();
            ob->setAppearance("0.5, 0.5, 0.8, 1.0");
            break;
        }
        ob->setPosition(-N + 2. * i, -N + 2. * j, 1. + 1.5 * k);
      }
    }
  }

  /// launch raisim server
  raisim::RaisimServer server(&world);
  server.launchServer();


  raisim_examples::warnIfNoClientConnected(server);
  while (1) {
    RS_TIMED_LOOP(int(world.getTimeStep()*1e6))
    server.integrateWorldThreadSafe();
  }

  server.killServer();
}