Example targets

Examples

Rayrai examples are documented in Examples. Each example page includes a short explanation and installed executable usage.

Quick map to the current rayrai-related targets:

  • rayrai_raisim_tcp_viewer: supported packaged TCP viewer for raisim::RaisimServer scenes.

  • rayrai_tcp_viewer: source-tree TCP viewer example target.

  • rayrai_basic_scene: minimal ImGui + SDL2 app showing the standard update loop, custom visuals, and the offscreen render texture.

  • rayrai_complete_showcase: broad in-process scene that combines RGB/depth cameras, raw buffer readback, LiDAR visualization, camera frustums, and custom visuals.

  • rayrai_rgb_camera / rayrai_depth_camera / rayrai_lidar_pointcloud / rayrai_aruco_marker: robot-attached sensor rendering, depth readback, point-cloud visualization, and marker rendering.

  • rayrai_custom_visuals / rayrai_instancing_grid / rayrai_pointcloud_animation: visual primitives, instancing, and dynamic point-cloud streaming.

  • rayrai_pbr_material_grid / rayrai_pbr_texture_maps / rayrai_quality_lighting: PBR materials, texture slots, quality presets, and additional-light configurations.

  • rayrai_visual_asset_support: authored glTF/GLB scene import with PBR materials, embedded lights, and reflection-probe sidecars.

  • rayrai_coacd_mesh_approximation: in-process comparison of source meshes and CoACD convex approximation parts generated through World::addMesh.

  • rayrai_runtime_scene_editing: runtime add/remove of RaiSim objects and rayrai visuals with stable ids, snapshots, collision filters, and cloning.

  • rayrai_rolling_spinning_friction / rayrai_swept_ccd: physics-focused scenes that visualize rolling/spinning friction and swept CCD.

  • rayrai_feature_showcase: offscreen image and metrics generation for the current rayrai feature set.

  • rayrai_quality_comparison: preset comparison images and quality report.

  • rayrai_benchmark: rendering, readback, scene-sync, and TCP serialization benchmark coverage.

  • rayrai_complete_showcase_benchmark: timed version of the complete sensor showcase with optional readback, visualization startup, and startup profiling.

  • rayrai_pbr_first_draw_benchmark: isolated first-draw and warm-frame timing for full PBR and core-eligible PBR material paths.

  • example_rayrai_pbr_asset_inspector: bundled glTF PBR sample assets under rayrai quality settings.

  • example_rayrai_usd_importer: OpenUSD visual mesh loading in an offscreen rayrai context.

  • example_polyhaven_blue_wall: Poly Haven glTF scene import with imported lights, HDR IBL, optional reflection probes, and screenshots.

  • raisim_engine2_editor: source-tree authoring editor that uses rayrai as its 3D viewport and scene-preview renderer. See RaiSim Engine 2.