Example targets

Examples

Rayrai examples are documented in Examples. Each example page includes a short explanation, CMake target, and build-tree usage.

Quick map to the current rayrai-related targets:

  • rayrai_tcp_viewer: source-built viewer for raisim::RaisimServer scenes.

  • rayrai_basic_scene: minimal ImGui + SDL2 app that loads Go1 on a checkerboard ground and runs the standard update loop.

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

  • rayrai_rgb_camera / rayrai_depth_camera / rayrai_heightmap_replacement / rayrai_lidar_pointcloud / rayrai_aruco_marker: robot-attached sensor rendering, deleted-heightmap depth visualization, 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: bundled glTF PBR sample assets, texture maps, HDR image-based lighting, quality presets, and additional-light configurations.

  • rayrai_nested_glass: nested water, glass, and air with automatic geometry tracing; see Rayrai Example: Nested Glass.

  • rayrai_visual_asset_support: textured URDF visual meshes (OBJ/DAE with image textures) rendered separately from their collision geometry.

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

  • rayrai_runtime_scene_editing: snapshots, cloning, removal, stable object ids, and collision-filter changes in a running world.

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

  • rayrai_tendons: automatic spatial tendon rendering for the elastic, pulley, and coupling scenes; see Tendon examples and Rayrai.

  • rayrai_forest: dense instanced vegetation on a heightmap with automatic mesh LOD, foliage wind and shadows, and asynchronous loading; see Rayrai Example: Forest.

  • glTF/GLB scene import with authored lights and reflection-probe sidecars is described in rayrai_blender_scene_import.

  • OpenUSD visual meshes can be loaded through RayraiWindow::addVisualMesh; see OpenUSD Loading for importer scope and runtime layout.