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Software
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RaiSim
======

RaiSim is a high-speed, super-precise physics engine crafted by RaiSim Tech Inc., designed specifically for simulating robots. But it's more than just a robot simulator! You can use RaiSim to simulate any kind of rigid body with excellent efficiency.

Why should you use RaiSim?
--------------------------

1. **Speed**: RaiSim has been benchmarked against other physics engines, and it's super fast! Check out the `benchmark here <#>`_ [1]

2. **Accuracy**: There's a bunch of papers that highlight just how precise RaiSim can be. Take a look at these academic works for more details: [2, 3, 4, 5, 6].

3. **Ease of Use**: RaiSim is the easiest C++ simulation library to pick up and use!

4. **Minimal Dependencies**: RaiSim only depends on STL and Eigen, so there's less things for you to worry about.

System Requirements
-------------------

- **Linux**: We suggest using Ubuntu 20.04 or higher. Make sure your X86 CPU supports AVX2 instructions (Intel Haswell or newer).

- **Windows 10**: You'll need Visual Studio 2019 or newer. Only X86 CPUs are supported.

- **Mac**: Keep your OS up to date! Your system needs to support the AVX2 instruction set. Both M1 (Apple ARM) and X86 systems are okay.

Example Code
------------

Here's a quick taste of how you can use RaiSim to simulate a world with a robot and a ball. You can visualize this using RaiSim's Unity or Unreal tools.

.. code-block:: cpp

   #include “raisim/World.hpp”
   #include "raisim/RaisimServer.hpp"

   int main() {
     // Set your activation key
     raisim::World::setActivationKey("PATH_TO_THE_ACTIVATION_KEY");

     // Create a new world
     raisim::World world;

     // Add a robot
     auto anymal = world.addArticulatedSystem(PATH_TO_URDF);

     // Add a ball
     auto ball = world.addSphere(1, 1);

     // Add the ground
     auto ground = world.addGround();

     // Set the time step for the simulation
     world.setTimeStep(0.002);

     // Launch RaiSim server for visualization
     raisim::RaisimServer server(&world);
     server.launchServer();

     // Loop the simulation
     while (1) {
       raisim::MSLEEP(2);
       server.integrateWorldThreadSafe();
     }

     // Terminate the server
     server.killServer();
   }

And here's a simple CMake file to compile the above code:

.. code-block:: cmake

   cmake_minimum_required(VERSION 3.10)
   project(raisim_examples LANGUAGES CXX)

   find_package(raisim CONFIG REQUIRED)
   find_package(Eigen3 REQUIRED)

   include_directories (${EIGEN3_INCLUDE_DIRS})

   add_executable(APP_NAME ${file_name})
   target_link_libraries(APP_NAME PUBLIC raisim::raisim pthread)
   target_include_directories(APP_NAME PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include)

Want to see it in action? You can find a working example `here <https://github.com/raisimTech/raisimExample>`_!