diff --git a/data/models/regolith/generate_regolith.py b/data/models/regolith/generate_regolith.py
new file mode 100644
index 0000000000..61f606a64e
--- /dev/null
+++ b/data/models/regolith/generate_regolith.py
@@ -0,0 +1,146 @@
+import bpy
+import random
+import os
+
+# Directory where the OBJ files will be saved
+export_directory = "/tmp/regolith/"  # Change this to your desired path
+
+def create_granular_particle():
+    # Create a base shape (e.g., icosphere for a round particle)
+    bpy.ops.mesh.primitive_ico_sphere_add(subdivisions=2, radius=0.5, location=(0, 0, 0))  # Generate at origin
+    particle = bpy.context.object
+
+    # First Displace Modifier for Coarse Roughness
+    bpy.ops.object.modifier_add(type='DISPLACE')
+    displace_mod = particle.modifiers[-1]
+
+    # Create a texture for coarse displacement
+    tex_name = "CoarseRoughTexture_" + str(random.randint(0, 10000))
+    tex = bpy.data.textures.new(name=tex_name, type='VORONOI')
+    tex.noise_intensity = random.uniform(0.8, 1.2)
+    tex.distance_metric = 'MINKOVSKY'
+    tex.minkovsky_exponent = random.uniform(0.6, 0.9)
+
+    displace_mod.texture = tex
+    displace_mod.strength = random.uniform(0.1, 0.3)
+
+    bpy.ops.object.modifier_apply(modifier=displace_mod.name)
+
+    # Second Displace Modifier for Fine Surface Detail
+    bpy.ops.object.modifier_add(type='DISPLACE')
+    displace_mod2 = particle.modifiers[-1]
+    tex_name2 = "FineRoughTexture_" + str(random.randint(0, 10000))
+    tex2 = bpy.data.textures.new(name=tex_name2, type='CLOUDS')
+    tex2.noise_scale = random.uniform(0.1, 0.15)
+    displace_mod2.texture = tex2
+    displace_mod2.strength = random.uniform(0.02, 0.08)
+
+    bpy.ops.object.modifier_apply(modifier=displace_mod2.name)
+
+    # Subdivision Surface Modifier for smoothing
+    bpy.ops.object.modifier_add(type='SUBSURF')
+    subsurf_mod = particle.modifiers[-1]
+    subsurf_mod.levels = 1
+    bpy.ops.object.modifier_apply(modifier=subsurf_mod.name)
+
+    # Random rotation for variety
+    particle.rotation_euler = (random.uniform(0, 360), random.uniform(0, 360), random.uniform(0, 360))
+
+    # Randomize the shape: flat, elongated, or round
+    shape_variation = random.choice(['round', 'flat', 'elongated'])
+
+    if shape_variation == 'flat':
+        particle.scale = (random.uniform(0.008, 0.012),
+                          random.uniform(0.008, 0.012),
+                          random.uniform(0.004, 0.006))
+    elif shape_variation == 'elongated':
+        elongation_axis = random.choice(['x', 'y', 'z'])
+        if elongation_axis == 'x':
+            particle.scale = (random.uniform(0.015, 0.02),
+                              random.uniform(0.008, 0.012),
+                              random.uniform(0.008, 0.012))
+        elif elongation_axis == 'y':
+            particle.scale = (random.uniform(0.008, 0.012),
+                              random.uniform(0.015, 0.02),
+                              random.uniform(0.008, 0.012))
+        elif elongation_axis == 'z':
+            particle.scale = (random.uniform(0.008, 0.012),
+                              random.uniform(0.008, 0.012),
+                              random.uniform(0.015, 0.02))
+    else:
+        particle.scale = (random.uniform(0.008, 0.012),
+                          random.uniform(0.008, 0.012),
+                          random.uniform(0.008, 0.012))
+
+    # Create a new material for lunar regolith appearance
+    mat = bpy.data.materials.new(name="LunarRegolithMaterial")
+    mat.use_nodes = True
+    nodes = mat.node_tree.nodes
+    links = mat.node_tree.links
+
+    # Clear default nodes
+    for node in nodes:
+        nodes.remove(node)
+
+    # Add necessary nodes
+    output_node = nodes.new(type='ShaderNodeOutputMaterial')
+    principled_bsdf = nodes.new(type='ShaderNodeBsdfPrincipled')
+
+    # Set base color to dark gray (lunar regolith color)
+    principled_bsdf.inputs['Base Color'].default_value = (0.3, 0.3, 0.3, 1.0)
+
+    # Increase roughness for a dusty look
+    principled_bsdf.inputs['Roughness'].default_value = 0.9
+
+    # Add noise texture for bump mapping (surface roughness)
+    noise_texture = nodes.new(type='ShaderNodeTexNoise')
+    noise_texture.inputs['Scale'].default_value = 30.0
+    noise_texture.inputs['Detail'].default_value = 2.0
+
+    # Add bump node to connect noise texture for surface detail
+    bump_node = nodes.new(type='ShaderNodeBump')
+    bump_node.inputs['Strength'].default_value = 0.3  # Moderate bump effect
+
+    # Connect noise texture to bump node
+    links.new(noise_texture.outputs['Fac'], bump_node.inputs['Height'])
+
+    # Connect bump node to Principled BSDF normal input
+    links.new(bump_node.outputs['Normal'], principled_bsdf.inputs['Normal'])
+
+    # Connect BSDF to Material Output
+    links.new(principled_bsdf.outputs['BSDF'], output_node.inputs['Surface'])
+
+    # Assign the material to the particle
+    particle.data.materials.append(mat)
+
+    return particle, mat
+
+def export_particle_as_obj(particle, file_name):
+    # Select the particle before exporting
+    bpy.ops.object.select_all(action='DESELECT')  # Deselect all
+    particle.select_set(True)  # Select the particle to export
+
+    # Export the particle as an OBJ file with the material
+    bpy.ops.wm.obj_export(filepath=file_name, export_selected_objects=True, export_materials=True)
+
+def delete_particle_and_material(particle, material):
+    # Delete the particle and its material
+    bpy.data.objects.remove(particle, do_unlink=True)
+    bpy.data.materials.remove(material, do_unlink=True)
+
+# Number of granular particles to generate and export
+num_particles = 10
+
+for i in range(num_particles):
+    # Step 1: Generate a particle
+    particle, material = create_granular_particle()
+
+    # Step 2: Export the particle as OBJ with the material
+    obj_file_name = os.path.join(export_directory, f"particle_{i+1}.obj")
+    export_particle_as_obj(particle, obj_file_name)
+
+    # Step 3: Delete the particle and material
+    delete_particle_and_material(particle, material)
+
+    print(f"Particle {i+1} exported and deleted.")
+
diff --git a/data/models/regolith/particle_1.mtl b/data/models/regolith/particle_1.mtl
new file mode 100644
index 0000000000..681ee11066
--- /dev/null
+++ b/data/models/regolith/particle_1.mtl
@@ -0,0 +1,12 @@
+# Blender 4.2.1 LTS MTL File: 'lunarregolith.blend'
+# www.blender.org
+
+newmtl LunarRegolithMaterial.032
+Ns 10.000005
+Ka 1.000000 1.000000 1.000000
+Kd 0.500000 0.500000 0.500000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/data/models/regolith/particle_1.obj b/data/models/regolith/particle_1.obj
new file mode 100644
index 0000000000..35086747eb
--- /dev/null
+++ b/data/models/regolith/particle_1.obj
@@ -0,0 +1,1013 @@
+# Blender 4.2.1 LTS
+# www.blender.org
+mtllib particle_1.mtl
+o Icosphere
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diff --git a/data/models/regolith/particle_2.mtl b/data/models/regolith/particle_2.mtl
new file mode 100644
index 0000000000..681ee11066
--- /dev/null
+++ b/data/models/regolith/particle_2.mtl
@@ -0,0 +1,12 @@
+# Blender 4.2.1 LTS MTL File: 'lunarregolith.blend'
+# www.blender.org
+
+newmtl LunarRegolithMaterial.032
+Ns 10.000005
+Ka 1.000000 1.000000 1.000000
+Kd 0.500000 0.500000 0.500000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/data/models/regolith/particle_2.obj b/data/models/regolith/particle_2.obj
new file mode 100644
index 0000000000..d367401b91
--- /dev/null
+++ b/data/models/regolith/particle_2.obj
@@ -0,0 +1,1013 @@
+# Blender 4.2.1 LTS
+# www.blender.org
+mtllib particle_2.mtl
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diff --git a/data/models/regolith/particle_3.mtl b/data/models/regolith/particle_3.mtl
new file mode 100644
index 0000000000..681ee11066
--- /dev/null
+++ b/data/models/regolith/particle_3.mtl
@@ -0,0 +1,12 @@
+# Blender 4.2.1 LTS MTL File: 'lunarregolith.blend'
+# www.blender.org
+
+newmtl LunarRegolithMaterial.032
+Ns 10.000005
+Ka 1.000000 1.000000 1.000000
+Kd 0.500000 0.500000 0.500000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 2
diff --git a/data/models/regolith/particle_3.obj b/data/models/regolith/particle_3.obj
new file mode 100644
index 0000000000..72f2548ad8
--- /dev/null
+++ b/data/models/regolith/particle_3.obj
@@ -0,0 +1,1013 @@
+# Blender 4.2.1 LTS
+# www.blender.org
+mtllib particle_3.mtl
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+f 14/5/236 162/283/236 241/282/236 161/6/236
+f 15/44/237 160/279/237 241/282/237 162/283/237
+f 14/5/238 44/284/238 242/285/238 162/283/238
+f 2/8/239 75/240/239 242/285/239 44/284/239
+f 15/44/240 162/283/240 242/285/240 75/240/240
diff --git a/src/chrono_fsi/sph/ChFsiFluidSystemSPH.cpp b/src/chrono_fsi/sph/ChFsiFluidSystemSPH.cpp
index 3b7c673031..c2571074fc 100644
--- a/src/chrono_fsi/sph/ChFsiFluidSystemSPH.cpp
+++ b/src/chrono_fsi/sph/ChFsiFluidSystemSPH.cpp
@@ -369,8 +369,7 @@ void ChFsiFluidSystemSPH::CheckSPHParameters() {
     // Check if user-defined cMin and cMax are much larger than defaults
     if (m_paramsH->cMin.x < 2 * default_cMin.x || m_paramsH->cMin.y < 2 * default_cMin.y || m_paramsH->cMin.z < 2 * default_cMin.z || m_paramsH->cMax.x > 2 * default_cMax.x ||
         m_paramsH->cMax.y > 2 * default_cMax.y || m_paramsH->cMax.z > 2 * default_cMax.z) {
-        cerr << "WARNING: User-defined cMin or cMax is much larger than the default values. "
-             << "This may slow down the simulation." << endl;
+        cerr << "WARNING: User-defined cMin or cMax is much larger than the default values. " << "This may slow down the simulation." << endl;
     }
 
     // TODO: Add check for whether computational domain is larger than SPH + BCE layers
@@ -2871,6 +2870,18 @@ std::vector<Real3> ChFsiFluidSystemSPH::GetPositions() const {
     return m_data_mgr->GetPositions();
 }
 
+ChFsiSphMarkerDeviceView ChFsiFluidSystemSPH::GetMarkerDeviceView() const {
+    ChFsiSphMarkerDeviceView view;
+
+    SynchronizeCopyStream();
+
+    const auto& pos_rad = m_data_mgr->sphMarkers_D->posRadD;
+    view.pos_rad = pos_rad.empty() ? nullptr : thrust::raw_pointer_cast(pos_rad.data());
+    view.num_fluid_markers = m_data_mgr->countersH->numFluidMarkers;
+
+    return view;
+}
+
 std::vector<Real3> ChFsiFluidSystemSPH::GetVelocities() const {
     SynchronizeCopyStream();
     return m_data_mgr->GetVelocities();
diff --git a/src/chrono_fsi/sph/ChFsiFluidSystemSPH.h b/src/chrono_fsi/sph/ChFsiFluidSystemSPH.h
index 526a598716..d3763db23a 100644
--- a/src/chrono_fsi/sph/ChFsiFluidSystemSPH.h
+++ b/src/chrono_fsi/sph/ChFsiFluidSystemSPH.h
@@ -34,6 +34,13 @@ class SphFluidDynamics;
 class SphBceManager;
 struct FsiDataManager;
 
+/// Device-resident view of the current FSI-SPH marker positions.
+/// The positions are stored as Real4 values, with XYZ as world position and W as marker radius.
+struct CH_FSI_API ChFsiSphMarkerDeviceView {
+    const Real4* pos_rad = nullptr;  ///< device pointer to marker position/radius data
+    size_t num_fluid_markers = 0;    ///< number of fluid markers, starting at pos_rad[0]
+};
+
 /// @addtogroup fsisph
 /// @{
 
@@ -388,6 +395,11 @@ class CH_FSI_API ChFsiFluidSystemSPH : public ChFsiFluidSystem {
     /// Extract positions of all markers (SPH and BCE).
     std::vector<Real3> GetPositions() const;
 
+    /// Return a device-resident view of all marker positions.
+    /// This accessor does not copy marker data to the host. The returned device pointer remains owned by this SPH system
+    /// and is valid until marker storage is resized or the SPH system is destroyed.
+    ChFsiSphMarkerDeviceView GetMarkerDeviceView() const;
+
     /// Extract velocities of all markers (SPH and BCE).
     std::vector<Real3> GetVelocities() const;
 
diff --git a/src/chrono_sensor/CMakeLists.txt b/src/chrono_sensor/CMakeLists.txt
index 1d91d6d9a3..730b07bbcd 100644
--- a/src/chrono_sensor/CMakeLists.txt
+++ b/src/chrono_sensor/CMakeLists.txt
@@ -190,6 +190,15 @@ if(CH_USE_SENSOR_OPTIX)
       cuda/phys_cam_ops.cuh
   )
 
+  if(CH_ENABLE_MODULE_FSI_SPH)
+    list(APPEND Chrono_sensor_CUDA_SOURCES
+      cuda/fsi_sph_render.cu
+    )
+    list(APPEND Chrono_sensor_CUDA_HEADERS
+      cuda/fsi_sph_render.cuh
+    )
+  endif()
+
   source_group("cuda" FILES ${Chrono_sensor_CUDA_SOURCES} ${Chrono_sensor_CUDA_HEADERS})
 
 else()
@@ -212,6 +221,7 @@ set(Chrono_sensor_HEADERS
     ChApiSensor.h
     ChSensorManager.h
     ChDynamicsManager.h
+    ChFsiSphRender.h
 )
 
 source_group("source" FILES ${Chrono_sensor_SOURCES} ${Chrono_sensor_HEADERS})
@@ -520,6 +530,10 @@ if(CH_USE_SENSOR_OPTIX)
     target_link_libraries(Chrono_sensor PRIVATE OpenVDB::nanovdb)
   endif()
 
+  if(CH_ENABLE_MODULE_FSI_SPH)
+    target_link_libraries(Chrono_sensor PUBLIC Chrono_fsisph)
+  endif()
+
 endif()
 
 # print cxx compiler flags\
diff --git a/src/chrono_sensor/ChFsiSphRender.h b/src/chrono_sensor/ChFsiSphRender.h
new file mode 100644
index 0000000000..a1d1ceb317
--- /dev/null
+++ b/src/chrono_sensor/ChFsiSphRender.h
@@ -0,0 +1,61 @@
+// =============================================================================
+// PROJECT CHRONO - http://projectchrono.org
+//
+// Copyright (c) 2026 projectchrono.org
+// All rights reserved.
+//
+// Use of this source code is governed by a BSD-style license that can be found
+// in the LICENSE file at the top level of the distribution and at
+// http://projectchrono.org/license-chrono.txt.
+//
+// =============================================================================
+// Author: Bocheng Zou
+// =============================================================================
+//
+// Native Chrono::FSI::SPH rendering options for Chrono::Sensor.
+//
+// =============================================================================
+
+#ifndef CH_FSI_SPH_RENDER_H
+#define CH_FSI_SPH_RENDER_H
+
+#include <memory>
+#include <vector>
+
+#include "chrono/assets/ChVisualShape.h"
+#include "chrono/core/ChVector3.h"
+#include "chrono_sensor/ChApiSensor.h"
+#include "chrono_sensor/ChConfigSensor.h"
+
+namespace chrono {
+
+namespace fsi {
+namespace sph {
+class ChFsiFluidSystemSPH;
+}
+}  // namespace fsi
+
+namespace sensor {
+
+/// Options for rendering Chrono::FSI::SPH fluid markers in Chrono::Sensor.
+struct CH_SENSOR_API ChFsiSphRenderOptions {
+    std::vector<std::shared_ptr<ChVisualShape>> sprite_shapes;            ///< Required visual shape templates used for marker sprites.
+    ChVector3f sprite_position_jitter = ChVector3f(0.005f, 0.005f, 0.f);  ///< Deterministic per-marker sprite jitter.
+    float render_particle_spacing = 0.f;                                  ///< Absolute visual particle spacing. Must be positive to render particles.
+};
+
+#ifdef CHRONO_FSI_SPH
+
+/// One FSI-SPH render source attached to a Sensor scene.
+struct CH_SENSOR_API ChFsiSphRenderSource {
+    int id = -1;
+    std::shared_ptr<chrono::fsi::sph::ChFsiFluidSystemSPH> system;
+    ChFsiSphRenderOptions options;
+};
+
+#endif
+
+}  // namespace sensor
+}  // namespace chrono
+
+#endif
diff --git a/src/chrono_sensor/ChSensorManager.cpp b/src/chrono_sensor/ChSensorManager.cpp
index 42b5705594..525dbfb18d 100644
--- a/src/chrono_sensor/ChSensorManager.cpp
+++ b/src/chrono_sensor/ChSensorManager.cpp
@@ -23,6 +23,9 @@
 #ifdef CHRONO_HAS_OPTIX
     #include "chrono_sensor/sensors/ChOptixSensor.h"
 #endif
+#ifdef CHRONO_FSI_SPH
+    #include "chrono_fsi/sph/ChFsiFluidSystemSPH.h"
+#endif
 
 using std::cout;
 using std::cerr;
@@ -31,8 +34,7 @@ using std::endl;
 namespace chrono {
 namespace sensor {
 
-CH_SENSOR_API ChSensorManager::ChSensorManager(ChSystem* chrono_system)
-    : m_verbose(false), m_debug(false), m_optix_reflections(9) {
+CH_SENSOR_API ChSensorManager::ChSensorManager(ChSystem* chrono_system) : m_verbose(false), m_debug(false), m_optix_reflections(9) {
     // Assign the Chrono system handle
     m_system = chrono_system;
     m_device_list = {0};
@@ -86,6 +88,31 @@ CH_SENSOR_API void ChSensorManager::ReconstructScenes() {
 #endif
 }
 
+#ifdef CHRONO_FSI_SPH
+CH_SENSOR_API int ChSensorManager::AttachFsiSphSystem(std::shared_ptr<chrono::fsi::sph::ChFsiFluidSystemSPH> sys, const ChFsiSphRenderOptions& options) {
+    int handle = -1;
+    #ifdef CHRONO_HAS_OPTIX
+    handle = scene->AddFsiSphSystem(sys, options);
+    ReconstructScenes();
+    #endif
+    return handle;
+}
+
+CH_SENSOR_API void ChSensorManager::DetachFsiSphSystem(int handle) {
+    #ifdef CHRONO_HAS_OPTIX
+    scene->RemoveFsiSphSystem(handle);
+    #endif
+    ReconstructScenes();
+}
+
+CH_SENSOR_API void ChSensorManager::ClearFsiSphSystems() {
+    #ifdef CHRONO_HAS_OPTIX
+    scene->ClearFsiSphSystems();
+    #endif
+    ReconstructScenes();
+}
+#endif
+
 CH_SENSOR_API void ChSensorManager::SetMaxEngines(int num_groups) {
     if (num_groups > 0 && num_groups < 1000) {
         m_allowable_groups = num_groups;
@@ -117,8 +144,7 @@ CH_SENSOR_API void ChSensorManager::AddSensor(std::shared_ptr<ChSensor> sensor)
 
         // add the sensor to an engine with sensor of similar update frequencies
         for (auto engine : m_engines) {
-            if (!found_group && engine->GetSensor().size() > 0 &&
-                abs(engine->GetSensor()[0]->GetUpdateRate() - sensor->GetUpdateRate()) < 0.001) {
+            if (!found_group && engine->GetSensor().size() > 0 && abs(engine->GetSensor()[0]->GetUpdateRate() - sensor->GetUpdateRate()) < 0.001) {
                 found_group = true;
 
                 engine->AssignSensor(pOptixSensor);
@@ -134,9 +160,12 @@ CH_SENSOR_API void ChSensorManager::AddSensor(std::shared_ptr<ChSensor> sensor)
                     // limits to 2 gpus, TODO: check if device supports CUDA
                     if (m_verbose)
                         cout << "Create new OptiX engine\n";
-                    
-                    auto engine = chrono_types::make_shared<ChOptixEngine>(
-                        m_system, m_device_list[(int)m_engines.size()], m_optix_reflections, m_verbose, m_debug);
+
+                    auto engine = chrono_types::make_shared<ChOptixEngine>(m_system, m_device_list[(int)m_engines.size()], m_optix_reflections, m_verbose, m_debug);
+
+    #ifdef CHRONO_FSI_SPH
+                    engine->SetFsiSphSources(&scene->GetFsiSphSources());
+    #endif
 
                     // engine->ConstructScene();
 
diff --git a/src/chrono_sensor/ChSensorManager.h b/src/chrono_sensor/ChSensorManager.h
index dce8cd50b6..25b5c6334a 100644
--- a/src/chrono_sensor/ChSensorManager.h
+++ b/src/chrono_sensor/ChSensorManager.h
@@ -30,6 +30,10 @@
     #include "chrono_sensor/optix/scene/ChScene.h"
 #endif
 
+#ifdef CHRONO_FSI_SPH
+    #include "chrono_sensor/ChFsiSphRender.h"
+#endif
+
 #include <fstream>
 #include <sstream>
 
@@ -83,6 +87,18 @@ class CH_SENSOR_API ChSensorManager {
     /// This translates all objects from the Chrono system into their appropriate OptiX objects.
     void ReconstructScenes();
 
+#ifdef CHRONO_FSI_SPH
+    /// Attach a Chrono::FSI::SPH system for native Sensor rendering.
+    /// Returns a handle that can be used to detach the source later.
+    int AttachFsiSphSystem(std::shared_ptr<chrono::fsi::sph::ChFsiFluidSystemSPH> sys, const ChFsiSphRenderOptions& options = ChFsiSphRenderOptions());
+
+    /// Detach a previously attached Chrono::FSI::SPH render source.
+    void DetachFsiSphSystem(int handle);
+
+    /// Remove all Chrono::FSI::SPH render sources from this manager.
+    void ClearFsiSphSystems();
+#endif
+
     /// Get the maximum number of allowed OptiX Engines for the manager.
     /// @return An integer specifying the maximum number of engines the manager is allowed to create.
     int GetMaxEngines() { return m_allowable_groups; }
diff --git a/src/chrono_sensor/cuda/fsi_sph_render.cu b/src/chrono_sensor/cuda/fsi_sph_render.cu
new file mode 100644
index 0000000000..2ae4d98538
--- /dev/null
+++ b/src/chrono_sensor/cuda/fsi_sph_render.cu
@@ -0,0 +1,135 @@
+// =============================================================================
+// PROJECT CHRONO - http://projectchrono.org
+//
+// Copyright (c) 2026 projectchrono.org
+// All rights reserved.
+//
+// Use of this source code is governed by a BSD-style license that can be found
+// in the LICENSE file at the top level of the distribution and at
+// http://projectchrono.org/license-chrono.txt.
+//
+// =============================================================================
+// Author: Bocheng Zou
+// =============================================================================
+//
+// CUDA helpers for native Chrono::FSI::SPH rendering in Chrono::Sensor.
+//
+// =============================================================================
+
+#include "chrono_sensor/cuda/fsi_sph_render.cuh"
+
+namespace chrono {
+namespace sensor {
+
+namespace {
+
+__device__ unsigned int hash_u32(unsigned int x) {
+    x ^= x >> 16;
+    x *= 0x7feb352dU;
+    x ^= x >> 15;
+    x *= 0x846ca68bU;
+    x ^= x >> 16;
+    return x;
+}
+
+__device__ float hash_unit(unsigned int seed) {
+    return static_cast<float>(hash_u32(seed) & 0x00ffffffU) / static_cast<float>(0x01000000U);
+}
+
+__global__ void update_fsi_sph_sprite_instances(const chrono::fsi::sph::Real4* pos_rad,
+                                                size_t source_count,
+                                                size_t render_count,
+                                                OptixInstance* instances,
+                                                const OptixTraversableHandle* gas_handles,
+                                                const unsigned int* sbt_offsets,
+                                                const float3* template_scales,
+                                                unsigned int num_templates,
+                                                float render_particle_spacing,
+                                                float jitter_x,
+                                                float jitter_y,
+                                                float jitter_z,
+                                                float origin_x,
+                                                float origin_y,
+                                                float origin_z) {
+    const size_t stride = static_cast<size_t>(blockDim.x) * static_cast<size_t>(gridDim.x);
+    for (size_t idx = static_cast<size_t>(blockIdx.x) * blockDim.x + threadIdx.x; idx < render_count; idx += stride) {
+        const unsigned int seed = static_cast<unsigned int>(idx);
+        const unsigned int template_id = hash_u32(seed) % num_templates;
+
+        size_t source_idx = idx;
+        if (render_count != source_count) {
+            const double scaled = (static_cast<double>(idx) + 0.5) * static_cast<double>(source_count) / static_cast<double>(render_count);
+            source_idx = static_cast<size_t>(scaled);
+            if (source_idx >= source_count)
+                source_idx = source_count - 1;
+        }
+
+        const float sprite_offset_x = (2.f * hash_unit(seed ^ 0x63d83595U) - 1.f) * jitter_x;
+        const float sprite_offset_y = (2.f * hash_unit(seed ^ 0xb7e15162U) - 1.f) * jitter_y;
+        const float sprite_offset_z = (2.f * hash_unit(seed ^ 0x8aed2a6bU) - 1.f) * jitter_z;
+
+        float resample_offset_x = 0.f;
+        float resample_offset_y = 0.f;
+        float resample_offset_z = 0.f;
+        if (render_particle_spacing > 0.f && render_count > source_count) {
+            const float radius = 0.5f * render_particle_spacing;
+            resample_offset_x = (2.f * hash_unit(seed ^ 0x91e10da5U) - 1.f) * radius;
+            resample_offset_y = (2.f * hash_unit(seed ^ 0xd1b54a35U) - 1.f) * radius;
+            resample_offset_z = (2.f * hash_unit(seed ^ 0x94d049bbU) - 1.f) * radius;
+        }
+
+        const auto p = pos_rad[source_idx];
+        const float x = static_cast<float>(p.x) + sprite_offset_x + resample_offset_x - origin_x;
+        const float y = static_cast<float>(p.y) + sprite_offset_y + resample_offset_y - origin_y;
+        const float z = static_cast<float>(p.z) + sprite_offset_z + resample_offset_z - origin_z;
+        const float3 template_scale = template_scales[template_id];
+
+        OptixInstance instance = {};
+        instance.traversableHandle = gas_handles[template_id];
+        instance.flags = OPTIX_INSTANCE_FLAG_DISABLE_ANYHIT;
+        instance.instanceId = static_cast<unsigned int>(idx);
+        instance.sbtOffset = sbt_offsets[template_id];
+        instance.visibilityMask = 1;
+
+        instance.transform[0] = template_scale.x;
+        instance.transform[1] = 0.f;
+        instance.transform[2] = 0.f;
+        instance.transform[3] = x;
+        instance.transform[4] = 0.f;
+        instance.transform[5] = template_scale.y;
+        instance.transform[6] = 0.f;
+        instance.transform[7] = y;
+        instance.transform[8] = 0.f;
+        instance.transform[9] = 0.f;
+        instance.transform[10] = template_scale.z;
+        instance.transform[11] = z;
+
+        instances[idx] = instance;
+    }
+}
+
+}  // namespace
+
+void cuda_update_fsi_sph_sprite_instances(const chrono::fsi::sph::Real4* pos_rad,
+                                          size_t source_count,
+                                          size_t render_count,
+                                          OptixInstance* instances,
+                                          const OptixTraversableHandle* gas_handles,
+                                          const unsigned int* sbt_offsets,
+                                          const float3* template_scales,
+                                          unsigned int num_templates,
+                                          float render_particle_spacing,
+                                          const ChVector3f& position_jitter,
+                                          const ChVector3f& origin_offset) {
+    if (!pos_rad || !instances || !gas_handles || !sbt_offsets || !template_scales || source_count == 0 || render_count == 0 || num_templates == 0)
+        return;
+
+    constexpr int block_size = 256;
+    size_t grid_size = (render_count + block_size - 1) / block_size;
+    update_fsi_sph_sprite_instances<<<static_cast<unsigned int>(grid_size), block_size>>>(pos_rad, source_count, render_count, instances, gas_handles, sbt_offsets, template_scales,
+                                                                                          num_templates, render_particle_spacing, position_jitter.x(), position_jitter.y(),
+                                                                                          position_jitter.z(), origin_offset.x(), origin_offset.y(), origin_offset.z());
+}
+
+}  // namespace sensor
+}  // namespace chrono
diff --git a/src/chrono_sensor/cuda/fsi_sph_render.cuh b/src/chrono_sensor/cuda/fsi_sph_render.cuh
new file mode 100644
index 0000000000..cb1eb57a62
--- /dev/null
+++ b/src/chrono_sensor/cuda/fsi_sph_render.cuh
@@ -0,0 +1,48 @@
+// =============================================================================
+// PROJECT CHRONO - http://projectchrono.org
+//
+// Copyright (c) 2026 projectchrono.org
+// All rights reserved.
+//
+// Use of this source code is governed by a BSD-style license that can be found
+// in the LICENSE file at the top level of the distribution and at
+// http://projectchrono.org/license-chrono.txt.
+//
+// =============================================================================
+// Author: Bocheng Zou
+// =============================================================================
+//
+// CUDA helpers for native Chrono::FSI::SPH rendering in Chrono::Sensor.
+//
+// =============================================================================
+
+#ifndef CH_SENSOR_FSI_SPH_RENDER_CUH
+#define CH_SENSOR_FSI_SPH_RENDER_CUH
+
+#include <cstddef>
+
+#include <cuda_runtime.h>
+#include <optix.h>
+
+#include "chrono/core/ChVector3.h"
+#include "chrono_fsi/sph/ChFsiDataTypesSPH.h"
+
+namespace chrono {
+namespace sensor {
+
+void cuda_update_fsi_sph_sprite_instances(const chrono::fsi::sph::Real4* pos_rad,
+                                          size_t source_count,
+                                          size_t render_count,
+                                          OptixInstance* instances,
+                                          const OptixTraversableHandle* gas_handles,
+                                          const unsigned int* sbt_offsets,
+                                          const float3* template_scales,
+                                          unsigned int num_templates,
+                                          float render_particle_spacing,
+                                          const ChVector3f& position_jitter,
+                                          const ChVector3f& origin_offset);
+
+}  // namespace sensor
+}  // namespace chrono
+
+#endif
diff --git a/src/chrono_sensor/optix/ChOptixEngine.cpp b/src/chrono_sensor/optix/ChOptixEngine.cpp
index 8af8bd41da..a75c930c88 100644
--- a/src/chrono_sensor/optix/ChOptixEngine.cpp
+++ b/src/chrono_sensor/optix/ChOptixEngine.cpp
@@ -46,17 +46,52 @@
 #include "chrono/assets/ChTexture.h"
 #include "chrono/physics/ChSystem.h"
 #include "chrono_sensor/optix/ChNVDBVolume.h"
+#include <algorithm>
+#include <cmath>
+#include <limits>
 #include <random>
 
 #include "chrono_sensor/cuda/cuda_utils.cuh"
 
+#ifdef CHRONO_FSI_SPH
+    #include "chrono_fsi/sph/ChFsiFluidSystemSPH.h"
+#endif
+
 #ifdef USE_SENSOR_NVDB
-#include <openvdb/openvdb.h>
+    #include <openvdb/openvdb.h>
 #endif
 
 namespace chrono {
 namespace sensor {
 
+#ifdef CHRONO_FSI_SPH
+namespace {
+
+size_t EstimateFsiSphRenderCount(size_t num_fluid_markers, double source_spacing, float render_particle_spacing) {
+    if (num_fluid_markers == 0)
+        return 0;
+
+    if (render_particle_spacing <= 0.f)
+        return 0;
+
+    const double source = std::max(source_spacing, 1e-12);
+    const double target = std::max(static_cast<double>(render_particle_spacing), 1e-12);
+    const double ratio = source / target;
+    const double estimate = static_cast<double>(num_fluid_markers) * ratio * ratio * ratio;
+
+    if (!std::isfinite(estimate) || estimate <= 1.0)
+        return 1;
+
+    const double max_size = static_cast<double>(std::numeric_limits<size_t>::max());
+    if (estimate >= max_size)
+        return std::numeric_limits<size_t>::max();
+
+    return std::max<size_t>(1, static_cast<size_t>(estimate + 0.5));
+}
+
+}  // namespace
+#endif
+
 ChOptixEngine::ChOptixEngine(ChSystem* sys, int device_id, int max_scene_reflections, bool verbose, bool debug)
     : m_verbose(verbose), m_debug(debug), m_deviceId(device_id), m_recursions(max_scene_reflections), m_sceneThread() {
     m_sceneThread.start = false;
@@ -106,14 +141,14 @@ void ChOptixEngine::Initialize() {
     m_params.scene_epsilon = 1.e-3f;    // TODO: determine a good value for this
     m_params.importance_cutoff = .01f;  /// TODO: determine a good value for this
 
-    #ifdef USE_SENSOR_NVDB
-        m_params.handle_ptr = nullptr;
-        m_params.normal_handle_ptr = nullptr;
-    #else
-        m_params.handle_ptr = 0;
-        m_params.normal_handle_ptr = 0;
-    #endif  // USE_SENSOR_NVDB
-    
+#ifdef USE_SENSOR_NVDB
+    m_params.handle_ptr = nullptr;
+    m_params.normal_handle_ptr = nullptr;
+#else
+    m_params.handle_ptr = 0;
+    m_params.normal_handle_ptr = 0;
+#endif  // USE_SENSOR_NVDB
+
     CUDA_ERROR_CHECK(cudaMalloc(reinterpret_cast<void**>(&md_params), sizeof(ContextParameters)));
     m_params.root = {};
 
@@ -159,14 +194,13 @@ void ChOptixEngine::AssignSensor(std::shared_ptr<ChOptixSensor> sensor) {
                 opx_filter->m_denoiser = chrono_types::make_shared<ChOptixDenoiser>(m_context);
                 // opx_filter->m_denoiser = nullptr;
             }
-            
-        }
-        else if (auto phys_cam = std::dynamic_pointer_cast<ChPhysCameraSensor>(sensor)) {
+
+        } else if (auto phys_cam = std::dynamic_pointer_cast<ChPhysCameraSensor>(sensor)) {
             if (phys_cam->GetUseDenoiser()) {
                 std::cout << "Sensor: " << phys_cam->GetName() << " requested OptiX denoiser\n";
                 opx_filter->m_denoiser = chrono_types::make_shared<ChOptixDenoiser>(m_context);
-                //opx_filter->m_denoiser = nullptr;
-            } 
+                // opx_filter->m_denoiser = nullptr;
+            }
         }
         //// ---- Register Your Customized Sensor Here (if amazing optixDenoiser needed to add) ---- ////
 
@@ -184,8 +218,7 @@ void ChOptixEngine::AssignSensor(std::shared_ptr<ChOptixSensor> sensor) {
         m_renderThreads[id].done = true;
         m_renderThreads[id].start = false;
         m_renderThreads[id].terminate = false;
-        m_renderThreads[id].thread =
-            std::move(std::thread(&ChOptixEngine::RenderProcess, this, std::ref(m_renderThreads[id]), sensor));
+        m_renderThreads[id].thread = std::move(std::thread(&ChOptixEngine::RenderProcess, this, std::ref(m_renderThreads[id]), sensor));
     }
     if (!m_started) {
         Start();
@@ -202,11 +235,9 @@ void ChOptixEngine::UpdateSensors(std::shared_ptr<ChScene> scene) {
     // check if any of the sensors would be collecting data right now, if so, pack a tmp start keyframe
     for (int i = 0; i < m_assignedSensor.size(); i++) {
         auto sensor = m_assignedSensor[i];
-        if (m_system->GetChTime() > sensor->GetNumLaunches() / sensor->GetUpdateRate() - 1e-7 &&
-            !m_cameraStartFrames_set[i]) {
+        if (m_system->GetChTime() > sensor->GetNumLaunches() / sensor->GetUpdateRate() - 1e-7 && !m_cameraStartFrames_set[i]) {
             // do this once per sensor because we don't know if they will be updated at the same time
-            m_geometry->UpdateBodyTransformsStart((float)m_system->GetChTime(),
-                                                  (float)m_system->GetChTime() + sensor->GetCollectionWindow());
+            m_geometry->UpdateBodyTransformsStart((float)m_system->GetChTime(), (float)m_system->GetChTime() + sensor->GetCollectionWindow());
             m_cameraStartFrames[i] = sensor->GetParent()->GetVisualModelFrame();
             m_cameraStartFrames_set[i] = true;
         }
@@ -215,8 +246,7 @@ void ChOptixEngine::UpdateSensors(std::shared_ptr<ChScene> scene) {
     // check which sensors need to be updated this step
     for (int i = 0; i < m_assignedSensor.size(); i++) {
         auto sensor = m_assignedSensor[i];
-        if (m_system->GetChTime() >
-            sensor->GetNumLaunches() / sensor->GetUpdateRate() + sensor->GetCollectionWindow() - 1e-7) {
+        if (m_system->GetChTime() > sensor->GetNumLaunches() / sensor->GetUpdateRate() + sensor->GetCollectionWindow() - 1e-7) {
             to_be_updated.push_back(i);
         }
     }
@@ -247,8 +277,7 @@ void ChOptixEngine::UpdateSensors(std::shared_ptr<ChScene> scene) {
                 m_renderQueue.push_back(i);
                 m_assignedSensor[i]->IncrementNumLaunches();
                 m_assignedRenderers[i]->m_time_stamp = t;
-                m_renderThreads[i].done =
-                    false;  // this render thread must not be done now given we have prepped some data for it
+                m_renderThreads[i].done = false;  // this render thread must not be done now given we have prepped some data for it
             }
         }
         // we only notify the worker thread when there is a sensor to launch and filters to process
@@ -262,8 +291,7 @@ void ChOptixEngine::UpdateSensors(std::shared_ptr<ChScene> scene) {
 
     for (int i = 0; i < m_assignedSensor.size(); i++) {
         auto sensor = m_assignedSensor[i];
-        if (m_system->GetChTime() > (sensor->GetNumLaunches() - 1) / sensor->GetUpdateRate() +
-                                        sensor->GetCollectionWindow() + sensor->GetLag() - 1e-7) {
+        if (m_system->GetChTime() > (sensor->GetNumLaunches() - 1) / sensor->GetUpdateRate() + sensor->GetCollectionWindow() + sensor->GetLag() - 1e-7) {
             // wait for the sensor thread i which will notify everyone when done
 
             // if (!m_mainLock.owns_lock())
@@ -412,8 +440,7 @@ void ChOptixEngine::SceneProcess(RenderThread& tself) {
             std::chrono::high_resolution_clock::time_point t1 = std::chrono::high_resolution_clock::now();
             m_geometry->RebuildRootStructure();
             std::chrono::high_resolution_clock::time_point t2 = std::chrono::high_resolution_clock::now();
-            std::chrono::duration<double> wall_time =
-                std::chrono::duration_cast<std::chrono::duration<double>>(t2 - t1);
+            std::chrono::duration<double> wall_time = std::chrono::duration_cast<std::chrono::duration<double>>(t2 - t1);
             // launch the render threads
             for (auto i : m_renderQueue) {
                 m_renderThreads[i].done = false;
@@ -441,9 +468,7 @@ void ChOptixEngine::SceneProcess(RenderThread& tself) {
     }
 }
 
-void ChOptixEngine::boxVisualization(std::shared_ptr<ChBody> body,
-                                     std::shared_ptr<ChVisualShapeBox> box_shape,
-                                     ChFrame<> asset_frame) {
+void ChOptixEngine::boxVisualization(std::shared_ptr<ChBody> body, std::shared_ptr<ChVisualShapeBox> box_shape, ChFrame<> asset_frame) {
     ChVector3d size = box_shape->GetLengths();
 
     unsigned int mat_id;
@@ -456,9 +481,7 @@ void ChOptixEngine::boxVisualization(std::shared_ptr<ChBody> body,
     m_pipeline->AddBody(body);
 }
 
-void ChOptixEngine::sphereVisualization(std::shared_ptr<ChBody> body,
-                                        std::shared_ptr<ChVisualShapeSphere> sphere_shape,
-                                        ChFrame<> asset_frame) {
+void ChOptixEngine::sphereVisualization(std::shared_ptr<ChBody> body, std::shared_ptr<ChVisualShapeSphere> sphere_shape, ChFrame<> asset_frame) {
     ChVector3d size(sphere_shape->GetRadius());
 
     unsigned int mat_id;
@@ -471,9 +494,7 @@ void ChOptixEngine::sphereVisualization(std::shared_ptr<ChBody> body,
     m_pipeline->AddBody(body);
 }
 
-void ChOptixEngine::cylinderVisualization(std::shared_ptr<ChBody> body,
-                                          std::shared_ptr<ChVisualShapeCylinder> cyl_shape,
-                                          ChFrame<> asset_frame) {
+void ChOptixEngine::cylinderVisualization(std::shared_ptr<ChBody> body, std::shared_ptr<ChVisualShapeCylinder> cyl_shape, ChFrame<> asset_frame) {
     double radius = cyl_shape->GetRadius();
     double height = cyl_shape->GetHeight();
 
@@ -489,9 +510,7 @@ void ChOptixEngine::cylinderVisualization(std::shared_ptr<ChBody> body,
     m_pipeline->AddBody(body);
 }
 
-void ChOptixEngine::rigidMeshVisualization(std::shared_ptr<ChBody> body,
-                                           std::shared_ptr<ChVisualShapeTriangleMesh> mesh_shape,
-                                           ChFrame<> asset_frame) {
+void ChOptixEngine::rigidMeshVisualization(std::shared_ptr<ChBody> body, std::shared_ptr<ChVisualShapeTriangleMesh> mesh_shape, ChFrame<> asset_frame) {
     if (mesh_shape->IsWireframe()) {
         std::cerr << "WARNING: Chrono::Sensor does not support wireframe meshes. Defaulting back to solid mesh, please "
                      "check for visual issues.\n";
@@ -507,9 +526,7 @@ void ChOptixEngine::rigidMeshVisualization(std::shared_ptr<ChBody> body,
     m_pipeline->AddBody(body);
 }
 
-void ChOptixEngine::deformableMeshVisualization(std::shared_ptr<ChBody> body,
-                                                std::shared_ptr<ChVisualShapeTriangleMesh> mesh_shape,
-                                                ChFrame<> asset_frame) {
+void ChOptixEngine::deformableMeshVisualization(std::shared_ptr<ChBody> body, std::shared_ptr<ChVisualShapeTriangleMesh> mesh_shape, ChFrame<> asset_frame) {
     if (mesh_shape->IsWireframe()) {
         std::cerr << "WARNING: Chrono::Sensor does not support wireframe meshes. Defaulting back to solid mesh, please "
                      "check for visual issues.\n";
@@ -519,16 +536,79 @@ void ChOptixEngine::deformableMeshVisualization(std::shared_ptr<ChBody> body,
     unsigned int mat_id;
     CUdeviceptr d_vertex_buffer;  // handle will go to m_geometry
     CUdeviceptr d_index_buffer;   // handle will go to m_geometry
-    mat_id =
-        m_pipeline->GetDeformableMeshMaterial(d_vertex_buffer, d_index_buffer, mesh_shape, mesh_shape->GetMaterials());
+    mat_id = m_pipeline->GetDeformableMeshMaterial(d_vertex_buffer, d_index_buffer, mesh_shape, mesh_shape->GetMaterials());
     m_geometry->AddDeformableMesh(d_vertex_buffer, d_index_buffer, mesh_shape, body, asset_frame, size, mat_id);
     m_pipeline->AddBody(body);
 }
 
+#ifdef CHRONO_FSI_SPH
+void ChOptixEngine::AddFsiSphVisualization() {
+    if (!m_fsi_sph_sources)
+        return;
+
+    for (const auto& source : *m_fsi_sph_sources) {
+        if (!source.system)
+            continue;
+
+        const auto view = source.system->GetMarkerDeviceView();
+        if (view.num_fluid_markers == 0)
+            continue;
+
+        if (source.options.sprite_shapes.empty())
+            continue;
+
+        const auto& sprite_shapes = source.options.sprite_shapes;
+
+        std::vector<CUdeviceptr> d_vertices;
+        std::vector<CUdeviceptr> d_indices;
+        std::vector<std::shared_ptr<ChVisualShape>> shapes;
+        std::vector<unsigned int> mat_ids;
+        d_vertices.reserve(sprite_shapes.size());
+        d_indices.reserve(sprite_shapes.size());
+        shapes.reserve(sprite_shapes.size());
+        mat_ids.reserve(sprite_shapes.size());
+
+        for (const auto& shape : sprite_shapes) {
+            if (!shape)
+                continue;
+
+            std::vector<std::shared_ptr<ChVisualMaterial>> materials = shape->GetMaterials();
+            if (auto mesh = std::dynamic_pointer_cast<ChVisualShapeTriangleMesh>(shape)) {
+                CUdeviceptr d_vertex_buffer = {};
+                CUdeviceptr d_index_buffer = {};
+                const unsigned int mat_id = m_pipeline->GetRigidMeshMaterial(d_vertex_buffer, d_index_buffer, mesh, materials);
+                d_vertices.push_back(d_vertex_buffer);
+                d_indices.push_back(d_index_buffer);
+                shapes.push_back(mesh);
+                mat_ids.push_back(mat_id);
+            }
+        }
+
+        const size_t render_count = EstimateFsiSphRenderCount(view.num_fluid_markers, source.system->GetInitialSpacing(), source.options.render_particle_spacing);
+        m_geometry->AddFsiSphCloud(source.id, render_count, view.num_fluid_markers, d_vertices, d_indices, shapes, mat_ids, source.options.render_particle_spacing,
+                                   source.options.sprite_position_jitter);
+    }
+}
+
+void ChOptixEngine::UpdateFsiSphVisualization() {
+    if (!m_fsi_sph_sources)
+        return;
+
+    for (const auto& source : *m_fsi_sph_sources) {
+        if (!source.system)
+            continue;
+
+        const auto view = source.system->GetMarkerDeviceView();
+        if (!view.pos_rad || view.num_fluid_markers == 0)
+            continue;
+
+        m_geometry->UpdateFsiSphCloud(source.id, view.pos_rad, 0, view.num_fluid_markers);
+    }
+}
+#endif
+
 #ifdef USE_SENSOR_NVDB
-void ChOptixEngine::nvdbVisualization(std::shared_ptr<ChBody> body,
-                                      std::shared_ptr<ChNVDBShape> box_shape,
-                                      ChFrame<> asset_frame) {
+void ChOptixEngine::nvdbVisualization(std::shared_ptr<ChBody> body, std::shared_ptr<ChNVDBShape> box_shape, ChFrame<> asset_frame) {
     ChVector3d size = box_shape->GetBoxGeometry().GetLengths();
 
     unsigned int mat_id;
@@ -575,13 +655,13 @@ void ChOptixEngine::ConstructScene() {
                     // std::cout << "Ignoring an asset that is set to invisible\n";
                 } else if (auto box_shape = std::dynamic_pointer_cast<ChVisualShapeBox>(shape)) {
                     boxVisualization(body, box_shape, shape_frame);
-                } 
-                #ifdef USE_SENSOR_NVDB
+                }
+#ifdef USE_SENSOR_NVDB
                 else if (std::shared_ptr<ChNVDBShape> nvdb_shape = std::dynamic_pointer_cast<ChNVDBShape>(shape)) {
                     nvdbVisualization(body, nvdb_shape, shape_frame);
                     printf("Added NVDB Shape!");
                 }
-                #endif
+#endif
                 else if (auto sphere_shape = std::dynamic_pointer_cast<ChVisualShapeSphere>(shape)) {
                     sphereVisualization(body, sphere_shape, shape_frame);
                 } else if (auto cylinder_shape = std::dynamic_pointer_cast<ChVisualShapeCylinder>(shape)) {
@@ -650,6 +730,10 @@ void ChOptixEngine::ConstructScene() {
         }
     }
 
+#ifdef CHRONO_FSI_SPH
+    AddFsiSphVisualization();
+#endif
+
     m_params.root = m_geometry->CreateRootStructure();
     m_pipeline->UpdateAllSBTs();
     m_pipeline->UpdateAllPipelines();
@@ -668,7 +752,7 @@ void ChOptixEngine::UpdateSensorParameters(std::vector<int>& to_be_updated, std:
         if (auto p_phys_cam = std::dynamic_pointer_cast<ChPhysCameraSensor>(p_sensor)) {
             // update filter parameters
             p_phys_cam->UpdateFilterParameters();
-            
+
             // update raygen_record parameters
             m_assignedRenderers[id]->m_raygen_record->data.specific.phys_camera.hFOV = p_phys_cam->GetHFOV();
         }
@@ -698,8 +782,7 @@ void ChOptixEngine::UpdateSensorTransforms(std::vector<int>& to_be_updated, std:
             ChVector3f origin(0, 0, 0);
             auto r = radar->GetOffsetPose().GetPos() - origin;
             auto ang_vel = radar->GetAngularVelocity() % r;
-            auto vel_abs =
-                radar->GetOffsetPose().TransformDirectionLocalToParent(ang_vel) + radar->GetTranslationalVelocity();
+            auto vel_abs = radar->GetOffsetPose().TransformDirectionLocalToParent(ang_vel) + radar->GetTranslationalVelocity();
             m_assignedRenderers[id]->m_raygen_record->data.specific.radar.velocity.x = vel_abs.x();
             m_assignedRenderers[id]->m_raygen_record->data.specific.radar.velocity.y = vel_abs.y();
             m_assignedRenderers[id]->m_raygen_record->data.specific.radar.velocity.z = vel_abs.z();
@@ -720,12 +803,10 @@ void ChOptixEngine::UpdateSensorTransforms(std::vector<int>& to_be_updated, std:
         m_assignedRenderers[id]->m_raygen_record->data.t1 = (float)(m_system->GetChTime());
         m_assignedRenderers[id]->m_raygen_record->data.pos0 = make_float3(pos_0.x(), pos_0.y(), pos_0.z());
         m_assignedRenderers[id]->m_raygen_record->data.rot0 =
-            make_float4((float)global_loc_0.GetRot().e0(), (float)global_loc_0.GetRot().e1(),
-                        (float)global_loc_0.GetRot().e2(), (float)global_loc_0.GetRot().e3());
+            make_float4((float)global_loc_0.GetRot().e0(), (float)global_loc_0.GetRot().e1(), (float)global_loc_0.GetRot().e2(), (float)global_loc_0.GetRot().e3());
         m_assignedRenderers[id]->m_raygen_record->data.pos1 = make_float3(pos_1.x(), pos_1.y(), pos_1.z());
         m_assignedRenderers[id]->m_raygen_record->data.rot1 =
-            make_float4((float)global_loc_1.GetRot().e0(), (float)global_loc_1.GetRot().e1(),
-                        (float)global_loc_1.GetRot().e2(), (float)global_loc_1.GetRot().e3());
+            make_float4((float)global_loc_1.GetRot().e0(), (float)global_loc_1.GetRot().e1(), (float)global_loc_1.GetRot().e2(), (float)global_loc_1.GetRot().e3());
         m_assignedRenderers[id]->m_time_stamp = (float)m_system->GetChTime();
     }
 }
@@ -752,7 +833,6 @@ void ChOptixEngine::UpdateSceneDescription(std::shared_ptr<ChScene> scene) {
     std::vector<ChOptixLight> lights = scene->GetLights();
 
     if (scene->GetLightsChanged() || scene->GetOriginChanged()) {
-
         // Handling changes to all lights
         if (lights.size() != m_params.num_lights) {  // need new memory in this case
             if (m_params.lights) {
@@ -767,23 +847,16 @@ void ChOptixEngine::UpdateSceneDescription(std::shared_ptr<ChScene> scene) {
                 lights[i].specific.environment.env_map = m_pipeline->GetBackgroundTexSampler();
             }
 
-            lights[i].pos = make_float3(
-                lights[i].pos.x - scene->GetOriginOffset().x(),
-                lights[i].pos.y - scene->GetOriginOffset().y(),
-                lights[i].pos.z - scene->GetOriginOffset().z()
-            );
+            lights[i].pos =
+                make_float3(lights[i].pos.x - scene->GetOriginOffset().x(), lights[i].pos.y - scene->GetOriginOffset().y(), lights[i].pos.z - scene->GetOriginOffset().z());
         }
 
-        cudaMemcpy(
-            reinterpret_cast<void*>(m_params.lights), lights.data(), lights.size() * sizeof(ChOptixLight),
-            cudaMemcpyHostToDevice
-        );
+        cudaMemcpy(reinterpret_cast<void*>(m_params.lights), lights.data(), lights.size() * sizeof(ChOptixLight), cudaMemcpyHostToDevice);
         m_params.num_lights = static_cast<int>(lights.size());
-        
+
         // Handling changes in origin
 
-        m_params.ambient_light_color = {scene->GetAmbientLight().x(), scene->GetAmbientLight().y(),
-                                        scene->GetAmbientLight().z()};
+        m_params.ambient_light_color = {scene->GetAmbientLight().x(), scene->GetAmbientLight().y(), scene->GetAmbientLight().z()};
 
         cudaMemcpy(reinterpret_cast<void*>(md_params), &m_params, sizeof(ContextParameters), cudaMemcpyHostToDevice);
 
@@ -792,55 +865,59 @@ void ChOptixEngine::UpdateSceneDescription(std::shared_ptr<ChScene> scene) {
         scene->ResetOriginChanged();
     }
 
-    #ifdef USE_SENSOR_NVDB
-        if (float* d_pts = scene->GetFSIParticles()) {
-            int n = scene->GetNumFSIParticles();
-            
-            printf("Creating NanoVDB Handle...\n");
-            using buildType = nanovdb::Point;
-            nanovdb::GridHandle<nanovdb::CudaDeviceBuffer> handle = createNanoVDBGridHandle(d_pts, n);
-            nanovdb::NanoGrid<buildType>* grid = handle.deviceGrid<buildType>();
-            handle.deviceDownload();
-            auto* grid_h = handle.grid<buildType>();
-            auto* tree = grid_h->treePtr();
-
-            // printf("Grid Size: %d\n", grid_h->gridSize());
-            ////printf("Point Count: %d", (int)grid_h->pointCount());
-            // printf("Upper Internal Nodes: %d\n", grid_h->tree().nodeCount(2));
-            // printf("Lower Internal Nodes: %d\n", grid_h->tree().nodeCount(1));
-            // printf("Leaf Nodes: %d\n", grid_h->tree().nodeCount(0));
-
-            // float wBBoxDimZ = (float)grid_h->worldBBox().dim()[2] * 2;
-            // nanovdb::Vec3<float> wBBoxCenter = nanovdb::Vec3<float>(grid_h->worldBBox().min() + grid_h->worldBBox().dim()
-            // * 0.5f); nanovdb::CoordBBox treeIndexBbox = grid_h->tree().bbox(); std::cout << "Bounds: "
-            //          << "[" << treeIndexBbox.min()[0] << "," << treeIndexBbox.min()[1] << "," << treeIndexBbox.min()[2]
-            //          << "] -> [" << treeIndexBbox.max()[0] << "," << treeIndexBbox.max()[1] << "," <<
-            //          treeIndexBbox.max()[2]
-            //          << "]" << std::endl;
-
-            /* printf("size of handle_ptr: %d | size of grid*: %d\n", sizeof(m_params.handle_ptr), sizeof(grid));
-            printf("Grid ptr: %p | Grid Size: %d | Grid Type: %d | Grid Empty: %d\n ", grid, handle.gridSize(),
-            handle.gridType(), handle.empty()); printf("size of ContextParameters: %d\n", sizeof(ContextParameters));*/
-
-            cudaMalloc((void**)&m_params.handle_ptr, handle.gridSize());
-            cudaMemcpy((void*)m_params.handle_ptr, grid, handle.gridSize(), cudaMemcpyDeviceToDevice);
-            /* cudaError_t status = cudaMalloc((void**)&md_params->handle_ptr, handle.gridSize());
-            if (status != cudaSuccess) {
-                printf("cudaMalloc failed: %s\n",cudaGetErrorString(status));
-            }
-            printf("md grid ptr: %p\n", md_params->handle_ptr);
-
-            cudaMemcpy(md_params->handle_ptr, grid, handle.gridSize(), cudaMemcpyDeviceToDevice);*/
-            /*printf("Done!\n");
-            size_t sz = handle.gridSize();
-            cudaMalloc(reinterpret_cast<void**>(&m_params.handle_ptr), sz);he
-            printf("handle: %p\n", &handle);
-            cudaMemcpy(reinterpret_cast<void*>(m_params.handle_ptr), &handle, sz, cudaMemcpyHostToDevice);*/
+#ifdef CHRONO_FSI_SPH
+    UpdateFsiSphVisualization();
+#endif
 
-            cudaMemcpy(reinterpret_cast<void*>(md_params), &m_params, sizeof(ContextParameters), cudaMemcpyHostToDevice);
+#ifdef USE_SENSOR_NVDB
+    if (float* d_pts = scene->GetFSIParticles()) {
+        int n = scene->GetNumFSIParticles();
+
+        printf("Creating NanoVDB Handle...\n");
+        using buildType = nanovdb::Point;
+        nanovdb::GridHandle<nanovdb::CudaDeviceBuffer> handle = createNanoVDBGridHandle(d_pts, n);
+        nanovdb::NanoGrid<buildType>* grid = handle.deviceGrid<buildType>();
+        handle.deviceDownload();
+        auto* grid_h = handle.grid<buildType>();
+        auto* tree = grid_h->treePtr();
+
+        // printf("Grid Size: %d\n", grid_h->gridSize());
+        ////printf("Point Count: %d", (int)grid_h->pointCount());
+        // printf("Upper Internal Nodes: %d\n", grid_h->tree().nodeCount(2));
+        // printf("Lower Internal Nodes: %d\n", grid_h->tree().nodeCount(1));
+        // printf("Leaf Nodes: %d\n", grid_h->tree().nodeCount(0));
+
+        // float wBBoxDimZ = (float)grid_h->worldBBox().dim()[2] * 2;
+        // nanovdb::Vec3<float> wBBoxCenter = nanovdb::Vec3<float>(grid_h->worldBBox().min() + grid_h->worldBBox().dim()
+        // * 0.5f); nanovdb::CoordBBox treeIndexBbox = grid_h->tree().bbox(); std::cout << "Bounds: "
+        //          << "[" << treeIndexBbox.min()[0] << "," << treeIndexBbox.min()[1] << "," << treeIndexBbox.min()[2]
+        //          << "] -> [" << treeIndexBbox.max()[0] << "," << treeIndexBbox.max()[1] << "," <<
+        //          treeIndexBbox.max()[2]
+        //          << "]" << std::endl;
+
+        /* printf("size of handle_ptr: %d | size of grid*: %d\n", sizeof(m_params.handle_ptr), sizeof(grid));
+        printf("Grid ptr: %p | Grid Size: %d | Grid Type: %d | Grid Empty: %d\n ", grid, handle.gridSize(),
+        handle.gridType(), handle.empty()); printf("size of ContextParameters: %d\n", sizeof(ContextParameters));*/
+
+        cudaMalloc((void**)&m_params.handle_ptr, handle.gridSize());
+        cudaMemcpy((void*)m_params.handle_ptr, grid, handle.gridSize(), cudaMemcpyDeviceToDevice);
+        /* cudaError_t status = cudaMalloc((void**)&md_params->handle_ptr, handle.gridSize());
+        if (status != cudaSuccess) {
+            printf("cudaMalloc failed: %s\n",cudaGetErrorString(status));
         }
-    #endif // USE_SENSOR_NVDB
+        printf("md grid ptr: %p\n", md_params->handle_ptr);
+
+        cudaMemcpy(md_params->handle_ptr, grid, handle.gridSize(), cudaMemcpyDeviceToDevice);*/
+        /*printf("Done!\n");
+        size_t sz = handle.gridSize();
+        cudaMalloc(reinterpret_cast<void**>(&m_params.handle_ptr), sz);he
+        printf("handle: %p\n", &handle);
+        cudaMemcpy(reinterpret_cast<void*>(m_params.handle_ptr), &handle, sz, cudaMemcpyHostToDevice);*/
+
+        cudaMemcpy(reinterpret_cast<void*>(md_params), &m_params, sizeof(ContextParameters), cudaMemcpyHostToDevice);
     }
+#endif  // USE_SENSOR_NVDB
+}
 
 }  // namespace sensor
 }  // namespace chrono
diff --git a/src/chrono_sensor/optix/ChOptixEngine.h b/src/chrono_sensor/optix/ChOptixEngine.h
index 54a307603a..f625b0a2d9 100644
--- a/src/chrono_sensor/optix/ChOptixEngine.h
+++ b/src/chrono_sensor/optix/ChOptixEngine.h
@@ -89,6 +89,11 @@ class CH_SENSOR_API ChOptixEngine {
     /// Tells the optix manager to construct the scene from scratch, translating all objects from Chrono to OptiX
     void ConstructScene();
 
+#ifdef CHRONO_FSI_SPH
+    /// Set the native FSI-SPH render sources to include when constructing and updating the OptiX scene.
+    void SetFsiSphSources(const std::vector<ChFsiSphRenderSource>* sources) { m_fsi_sph_sources = sources; }
+#endif
+
     /// Way to query the device ID on which the engine is running. CANNOT BE MODIFIED since the engine will have been
     /// already constructed
     /// @return the GPU ID
@@ -124,45 +129,43 @@ class CH_SENSOR_API ChOptixEngine {
     /// Update all sensor positions and orientations.
     /// @param to_be_updated the vector of Optix sensor IDs to be updated
     /// @param scene the scene that these Optix sensors belong to
-    void UpdateSensorTransforms(std::vector<int>& to_be_updated, std::shared_ptr<ChScene> scene);  
-    
-    /// Update all raygen_record and filter parameters of the Optix sensors 
+    void UpdateSensorTransforms(std::vector<int>& to_be_updated, std::shared_ptr<ChScene> scene);
+
+    /// Update all raygen_record and filter parameters of the Optix sensors
     /// @param to_be_updated the vector of Optix sensor IDs to be updated
     /// @param scene the scene that these Optix sensors belong to
     void UpdateSensorParameters(std::vector<int>& to_be_updated, std::shared_ptr<ChScene> scene);
 
-    void UpdateDeformableMeshes();        ///< updates the dynamic meshes in the scene
+    void UpdateDeformableMeshes();  ///< updates the dynamic meshes in the scene
     /// Update the scene characteristics such as lights, background, etc.
     void UpdateSceneDescription(std::shared_ptr<ChScene> scene);
 
+#ifdef CHRONO_FSI_SPH
+    /// Add native FSI-SPH render sources to the scene.
+    void AddFsiSphVisualization();
+
+    /// Update native FSI-SPH render source instance transforms.
+    void UpdateFsiSphVisualization();
+#endif
+
     /// Creates an optix box visualization object from a Chrono box shape.
-    void boxVisualization(std::shared_ptr<ChBody> body,
-                          std::shared_ptr<ChVisualShapeBox> box_shape,
-                          ChFrame<> asset_frame);
+    void boxVisualization(std::shared_ptr<ChBody> body, std::shared_ptr<ChVisualShapeBox> box_shape, ChFrame<> asset_frame);
 
     /// Creates an optix sphere visualization object from a Chrono sphere shape.
-    void sphereVisualization(std::shared_ptr<ChBody> body,
-                             std::shared_ptr<ChVisualShapeSphere> sphere_shape,
-                             ChFrame<> asset_frame);
+    void sphereVisualization(std::shared_ptr<ChBody> body, std::shared_ptr<ChVisualShapeSphere> sphere_shape, ChFrame<> asset_frame);
 
     /// Creates an optix cylinder visualization object from a Chrono cylinder shape.
-    void cylinderVisualization(std::shared_ptr<ChBody> body,
-                               std::shared_ptr<ChVisualShapeCylinder> sphere_shape,
-                               ChFrame<> asset_frame);
+    void cylinderVisualization(std::shared_ptr<ChBody> body, std::shared_ptr<ChVisualShapeCylinder> sphere_shape, ChFrame<> asset_frame);
 
     /// Creates an optix rigid mesh visualization object from a Chrono mesh shape
-    void rigidMeshVisualization(std::shared_ptr<ChBody> body,
-                                std::shared_ptr<ChVisualShapeTriangleMesh> sphere_shape,
-                                ChFrame<> asset_frame);
+    void rigidMeshVisualization(std::shared_ptr<ChBody> body, std::shared_ptr<ChVisualShapeTriangleMesh> sphere_shape, ChFrame<> asset_frame);
 
     /// Creates an optix deformable mesh visualization object from a Chrono mesh shape.
-    void deformableMeshVisualization(std::shared_ptr<ChBody> body,
-                                     std::shared_ptr<ChVisualShapeTriangleMesh> sphere_shape,
-                                     ChFrame<> asset_frame);
+    void deformableMeshVisualization(std::shared_ptr<ChBody> body, std::shared_ptr<ChVisualShapeTriangleMesh> sphere_shape, ChFrame<> asset_frame);
 
-    #ifdef USE_SENSOR_NVDB
-        void nvdbVisualization(std::shared_ptr<ChBody> body, std::shared_ptr<ChNVDBShape> box_shape, ChFrame<> asset_frame);
-    #endif
+#ifdef USE_SENSOR_NVDB
+    void nvdbVisualization(std::shared_ptr<ChBody> body, std::shared_ptr<ChNVDBShape> box_shape, ChFrame<> asset_frame);
+#endif
 
     std::vector<unsigned int> m_renderQueue;  ///< list of sensor indices that need to be updated
 
@@ -180,14 +183,17 @@ class CH_SENSOR_API ChOptixEngine {
     // information that belongs to the rendering concept of this engine
     OptixDeviceContext m_context;  ///< the optix context we use for everything
     ContextParameters m_params;
+
+#ifdef CHRONO_FSI_SPH
+    const std::vector<ChFsiSphRenderSource>* m_fsi_sph_sources = nullptr;  ///< native FSI-SPH render sources
+#endif
     ContextParameters* md_params = nullptr;
     OptixTraversableHandle m_root;
     std::shared_ptr<ChOptixGeometry> m_geometry;  // manager of all geometry in the scene
     std::shared_ptr<ChOptixPipeline> m_pipeline;  // manager of all geometry in the scene
 
-    std::vector<std::shared_ptr<ChOptixSensor>> m_assignedSensor;  ///< list of sensor this engine is responsible for
-    std::vector<std::shared_ptr<ChFilterOptixRender>>
-        m_assignedRenderers;  ///< list of sensor this engine is responsible for
+    std::vector<std::shared_ptr<ChOptixSensor>> m_assignedSensor;           ///< list of sensor this engine is responsible for
+    std::vector<std::shared_ptr<ChFilterOptixRender>> m_assignedRenderers;  ///< list of sensor this engine is responsible for
 
     std::vector<ChFrame<double>> m_cameraStartFrames;
     std::vector<bool> m_cameraStartFrames_set;
diff --git a/src/chrono_sensor/optix/ChOptixGeometry.cpp b/src/chrono_sensor/optix/ChOptixGeometry.cpp
index 73cc77c3a3..10021a0298 100644
--- a/src/chrono_sensor/optix/ChOptixGeometry.cpp
+++ b/src/chrono_sensor/optix/ChOptixGeometry.cpp
@@ -24,7 +24,11 @@
 #include <optix_stubs.h>
 
 #include "chrono_sensor/optix/ChOptixUtils.h"
+#ifdef CHRONO_FSI_SPH
+    #include "chrono_sensor/cuda/fsi_sph_render.cuh"
+#endif
 
+#include <algorithm>
 #include <chrono>
 
 namespace chrono {
@@ -92,15 +96,29 @@ void ChOptixGeometry::Cleanup() {
     // clear our deformable meshes
     m_deformable_meshes.clear();
 
+#ifdef CHRONO_FSI_SPH
+    for (auto& cloud : m_fsi_sph_clouds) {
+        if (cloud.d_sprite_gas_handles) {
+            CUDA_ERROR_CHECK(cudaFree(reinterpret_cast<void*>(cloud.d_sprite_gas_handles)));
+            cloud.d_sprite_gas_handles = {};
+        }
+        if (cloud.d_sprite_mat_ids) {
+            CUDA_ERROR_CHECK(cudaFree(reinterpret_cast<void*>(cloud.d_sprite_mat_ids)));
+            cloud.d_sprite_mat_ids = {};
+        }
+        if (cloud.d_sprite_scales) {
+            CUDA_ERROR_CHECK(cudaFree(reinterpret_cast<void*>(cloud.d_sprite_scales)));
+            cloud.d_sprite_scales = {};
+        }
+    }
+    m_fsi_sph_clouds.clear();
+#endif
+
     // clear out index buffers
     m_obj_mat_ids.clear();
 }
 
-void ChOptixGeometry::AddGenericObject(unsigned int mat_id,
-                                       std::shared_ptr<ChBody> body,
-                                       ChFrame<double> asset_frame,
-                                       ChVector3d scale,
-                                       OptixTraversableHandle gas_handle) {
+void ChOptixGeometry::AddGenericObject(unsigned int mat_id, std::shared_ptr<ChBody> body, ChFrame<double> asset_frame, ChVector3d scale, OptixTraversableHandle gas_handle) {
     // add to list of box instances
     m_obj_mat_ids.push_back(mat_id);
     m_bodies.push_back(body);
@@ -127,10 +145,7 @@ void ChOptixGeometry::AddGenericObject(unsigned int mat_id,
     memcpy(m_motion_transforms[i].transform[1], t, 12 * sizeof(float));
 }
 
-void ChOptixGeometry::AddBox(std::shared_ptr<ChBody> body,
-                             ChFrame<double> asset_frame,
-                             ChVector3d scale,
-                             unsigned int mat_id) {
+void ChOptixGeometry::AddBox(std::shared_ptr<ChBody> body, ChFrame<double> asset_frame, ChVector3d scale, unsigned int mat_id) {
     if (!m_box_inst) {
         // create first box instance
         OptixAabb aabb[1];
@@ -158,8 +173,8 @@ void ChOptixGeometry::AddBox(std::shared_ptr<ChBody> body,
         aabb_input.customPrimitiveArray.primitiveIndexOffset = 0;
 
         OptixAccelBuildOptions accel_options = {};
-        accel_options.buildFlags = OPTIX_BUILD_FLAG_ALLOW_COMPACTION; // allow compaction to save memory
-        accel_options.operation = OPTIX_BUILD_OPERATION_BUILD; // build operation
+        accel_options.buildFlags = OPTIX_BUILD_FLAG_ALLOW_COMPACTION;  // allow compaction to save memory
+        accel_options.operation = OPTIX_BUILD_OPERATION_BUILD;         // build operation
 
         // building box GAS
         OptixAccelBufferSizes gas_buffer_sizes;
@@ -170,8 +185,7 @@ void ChOptixGeometry::AddBox(std::shared_ptr<ChBody> body,
 
         size_t compactedSizeOffset = (size_t)((gas_buffer_sizes.outputSizeInBytes + 8ull - 1 / 8ull) * 8ull);
 
-        CUDA_ERROR_CHECK(cudaMalloc(reinterpret_cast<void**>(&d_buffer_temp_output_gas_and_compacted_size),
-                                    compactedSizeOffset + 8));
+        CUDA_ERROR_CHECK(cudaMalloc(reinterpret_cast<void**>(&d_buffer_temp_output_gas_and_compacted_size), compactedSizeOffset + 8));
         OptixAccelEmitDesc emitProperty = {};
         emitProperty.type = OPTIX_PROPERTY_TYPE_COMPACTED_SIZE;
         emitProperty.result = (CUdeviceptr)((char*)d_buffer_temp_output_gas_and_compacted_size + compactedSizeOffset);
@@ -180,22 +194,18 @@ void ChOptixGeometry::AddBox(std::shared_ptr<ChBody> body,
         m_gas_buffers.emplace_back();
         m_box_gas_id = static_cast<unsigned int>(m_gas_handles.size() - 1);
 
-        OPTIX_ERROR_CHECK(optixAccelBuild(m_context, 0, &accel_options, &aabb_input, 1, d_temp_buffer_gas,
-                                          gas_buffer_sizes.tempSizeInBytes, d_buffer_temp_output_gas_and_compacted_size,
-                                          gas_buffer_sizes.outputSizeInBytes, &m_gas_handles[m_box_gas_id],
-                                          &emitProperty, 1));
+        OPTIX_ERROR_CHECK(optixAccelBuild(m_context, 0, &accel_options, &aabb_input, 1, d_temp_buffer_gas, gas_buffer_sizes.tempSizeInBytes,
+                                          d_buffer_temp_output_gas_and_compacted_size, gas_buffer_sizes.outputSizeInBytes, &m_gas_handles[m_box_gas_id], &emitProperty, 1));
         CUDA_ERROR_CHECK(cudaFree(reinterpret_cast<void*>(d_temp_buffer_gas)));
 
         size_t compacted_gas_size;
-        CUDA_ERROR_CHECK(cudaMemcpy(&compacted_gas_size, reinterpret_cast<void*>(emitProperty.result), sizeof(size_t),
-                                    cudaMemcpyDeviceToHost));
+        CUDA_ERROR_CHECK(cudaMemcpy(&compacted_gas_size, reinterpret_cast<void*>(emitProperty.result), sizeof(size_t), cudaMemcpyDeviceToHost));
 
         if (compacted_gas_size < gas_buffer_sizes.outputSizeInBytes) {
             CUDA_ERROR_CHECK(cudaMalloc(reinterpret_cast<void**>(&m_gas_buffers[m_box_gas_id]), compacted_gas_size));
 
             // use handle as input and output
-            OPTIX_ERROR_CHECK(optixAccelCompact(m_context, 0, m_gas_handles[m_box_gas_id], m_gas_buffers[m_box_gas_id],
-                                                compacted_gas_size, &m_gas_handles[m_box_gas_id]));
+            OPTIX_ERROR_CHECK(optixAccelCompact(m_context, 0, m_gas_handles[m_box_gas_id], m_gas_buffers[m_box_gas_id], compacted_gas_size, &m_gas_handles[m_box_gas_id]));
             CUDA_ERROR_CHECK(cudaFree(reinterpret_cast<void*>(d_buffer_temp_output_gas_and_compacted_size)));
         } else {
             m_gas_buffers[m_box_gas_id] = d_buffer_temp_output_gas_and_compacted_size;
@@ -208,12 +218,8 @@ void ChOptixGeometry::AddBox(std::shared_ptr<ChBody> body,
     AddGenericObject(mat_id, body, asset_frame, scale, m_gas_handles[m_box_gas_id]);
 }
 
-
 #ifdef USE_SENSOR_NVDB
-void ChOptixGeometry::AddNVDBVolume(std::shared_ptr<ChBody> body,
-                                    ChFrame<double> asset_frame,
-                                    ChVector3d scale,
-                                    unsigned int mat_id) {
+void ChOptixGeometry::AddNVDBVolume(std::shared_ptr<ChBody> body, ChFrame<double> asset_frame, ChVector3d scale, unsigned int mat_id) {
     if (!m_nvdb_inst) {
         // create first box instance
         OptixAabb aabb[1];
@@ -248,8 +254,8 @@ void ChOptixGeometry::AddNVDBVolume(std::shared_ptr<ChBody> body,
         aabb_input.customPrimitiveArray.primitiveIndexOffset = 0;
 
         OptixAccelBuildOptions accel_options = {};
-        accel_options.buildFlags = OPTIX_BUILD_FLAG_ALLOW_COMPACTION; // allow compaction to save memory
-        accel_options.operation = OPTIX_BUILD_OPERATION_BUILD; // build operation
+        accel_options.buildFlags = OPTIX_BUILD_FLAG_ALLOW_COMPACTION;  // allow compaction to save memory
+        accel_options.operation = OPTIX_BUILD_OPERATION_BUILD;         // build operation
 
         // building box GAS
         OptixAccelBufferSizes gas_buffer_sizes;
@@ -260,8 +266,7 @@ void ChOptixGeometry::AddNVDBVolume(std::shared_ptr<ChBody> body,
 
         size_t compactedSizeOffset = (size_t)((gas_buffer_sizes.outputSizeInBytes + 8ull - 1 / 8ull) * 8ull);
 
-        CUDA_ERROR_CHECK(cudaMalloc(reinterpret_cast<void**>(&d_buffer_temp_output_gas_and_compacted_size),
-                                    compactedSizeOffset + 8));
+        CUDA_ERROR_CHECK(cudaMalloc(reinterpret_cast<void**>(&d_buffer_temp_output_gas_and_compacted_size), compactedSizeOffset + 8));
         OptixAccelEmitDesc emitProperty = {};
         emitProperty.type = OPTIX_PROPERTY_TYPE_COMPACTED_SIZE;
         emitProperty.result = (CUdeviceptr)((char*)d_buffer_temp_output_gas_and_compacted_size + compactedSizeOffset);
@@ -270,22 +275,18 @@ void ChOptixGeometry::AddNVDBVolume(std::shared_ptr<ChBody> body,
         m_gas_buffers.emplace_back();
         m_box_gas_id = static_cast<unsigned int>(m_gas_handles.size() - 1);
 
-        OPTIX_ERROR_CHECK(optixAccelBuild(m_context, 0, &accel_options, &aabb_input, 1, d_temp_buffer_gas,
-                                          gas_buffer_sizes.tempSizeInBytes, d_buffer_temp_output_gas_and_compacted_size,
-                                          gas_buffer_sizes.outputSizeInBytes, &m_gas_handles[m_box_gas_id],
-                                          &emitProperty, 1));
+        OPTIX_ERROR_CHECK(optixAccelBuild(m_context, 0, &accel_options, &aabb_input, 1, d_temp_buffer_gas, gas_buffer_sizes.tempSizeInBytes,
+                                          d_buffer_temp_output_gas_and_compacted_size, gas_buffer_sizes.outputSizeInBytes, &m_gas_handles[m_box_gas_id], &emitProperty, 1));
         CUDA_ERROR_CHECK(cudaFree(reinterpret_cast<void*>(d_temp_buffer_gas)));
 
         size_t compacted_gas_size;
-        CUDA_ERROR_CHECK(cudaMemcpy(&compacted_gas_size, reinterpret_cast<void*>(emitProperty.result), sizeof(size_t),
-                                    cudaMemcpyDeviceToHost));
+        CUDA_ERROR_CHECK(cudaMemcpy(&compacted_gas_size, reinterpret_cast<void*>(emitProperty.result), sizeof(size_t), cudaMemcpyDeviceToHost));
 
         if (compacted_gas_size < gas_buffer_sizes.outputSizeInBytes) {
             CUDA_ERROR_CHECK(cudaMalloc(reinterpret_cast<void**>(&m_gas_buffers[m_box_gas_id]), compacted_gas_size));
 
             // use handle as input and output
-            OPTIX_ERROR_CHECK(optixAccelCompact(m_context, 0, m_gas_handles[m_box_gas_id], m_gas_buffers[m_box_gas_id],
-                                                compacted_gas_size, &m_gas_handles[m_box_gas_id]));
+            OPTIX_ERROR_CHECK(optixAccelCompact(m_context, 0, m_gas_handles[m_box_gas_id], m_gas_buffers[m_box_gas_id], compacted_gas_size, &m_gas_handles[m_box_gas_id]));
             CUDA_ERROR_CHECK(cudaFree(reinterpret_cast<void*>(d_buffer_temp_output_gas_and_compacted_size)));
         } else {
             m_gas_buffers[m_box_gas_id] = d_buffer_temp_output_gas_and_compacted_size;
@@ -297,12 +298,9 @@ void ChOptixGeometry::AddNVDBVolume(std::shared_ptr<ChBody> body,
 
     AddGenericObject(mat_id, body, asset_frame, scale, m_gas_handles[m_box_gas_id]);
 }
-#endif // USE_SENSOR_NVDB
+#endif  // USE_SENSOR_NVDB
 
-void ChOptixGeometry::AddSphere(std::shared_ptr<ChBody> body,
-                                ChFrame<double> asset_frame,
-                                ChVector3d scale,
-                                unsigned int mat_id) {
+void ChOptixGeometry::AddSphere(std::shared_ptr<ChBody> body, ChFrame<double> asset_frame, ChVector3d scale, unsigned int mat_id) {
     if (!m_sphere_inst) {
         // create first sphere instance
         OptixAabb aabb[1];
@@ -325,8 +323,8 @@ void ChOptixGeometry::AddSphere(std::shared_ptr<ChBody> body,
         aabb_input.customPrimitiveArray.primitiveIndexOffset = 0;
 
         OptixAccelBuildOptions accel_options = {};
-        accel_options.buildFlags = OPTIX_BUILD_FLAG_ALLOW_COMPACTION; // allow compaction to save memory
-        accel_options.operation = OPTIX_BUILD_OPERATION_BUILD; // build operation
+        accel_options.buildFlags = OPTIX_BUILD_FLAG_ALLOW_COMPACTION;  // allow compaction to save memory
+        accel_options.operation = OPTIX_BUILD_OPERATION_BUILD;         // build operation
 
         // building sphere GAS
         OptixAccelBufferSizes gas_buffer_sizes;
@@ -337,8 +335,7 @@ void ChOptixGeometry::AddSphere(std::shared_ptr<ChBody> body,
 
         size_t compactedSizeOffset = (size_t)((gas_buffer_sizes.outputSizeInBytes + 8ull - 1 / 8ull) * 8ull);
 
-        CUDA_ERROR_CHECK(cudaMalloc(reinterpret_cast<void**>(&d_buffer_temp_output_gas_and_compacted_size),
-                                    compactedSizeOffset + 8));
+        CUDA_ERROR_CHECK(cudaMalloc(reinterpret_cast<void**>(&d_buffer_temp_output_gas_and_compacted_size), compactedSizeOffset + 8));
         OptixAccelEmitDesc emitProperty = {};
         emitProperty.type = OPTIX_PROPERTY_TYPE_COMPACTED_SIZE;
         emitProperty.result = (CUdeviceptr)((char*)d_buffer_temp_output_gas_and_compacted_size + compactedSizeOffset);
@@ -347,23 +344,18 @@ void ChOptixGeometry::AddSphere(std::shared_ptr<ChBody> body,
         m_gas_buffers.emplace_back();
         m_sphere_gas_id = static_cast<unsigned int>(m_gas_handles.size() - 1);
 
-        OPTIX_ERROR_CHECK(optixAccelBuild(m_context, 0, &accel_options, &aabb_input, 1, d_temp_buffer_gas,
-                                          gas_buffer_sizes.tempSizeInBytes, d_buffer_temp_output_gas_and_compacted_size,
-                                          gas_buffer_sizes.outputSizeInBytes, &m_gas_handles[m_sphere_gas_id],
-                                          &emitProperty, 1));
+        OPTIX_ERROR_CHECK(optixAccelBuild(m_context, 0, &accel_options, &aabb_input, 1, d_temp_buffer_gas, gas_buffer_sizes.tempSizeInBytes,
+                                          d_buffer_temp_output_gas_and_compacted_size, gas_buffer_sizes.outputSizeInBytes, &m_gas_handles[m_sphere_gas_id], &emitProperty, 1));
         CUDA_ERROR_CHECK(cudaFree(reinterpret_cast<void**>(d_temp_buffer_gas)));
 
         size_t compacted_gas_size;
-        CUDA_ERROR_CHECK(cudaMemcpy(&compacted_gas_size, reinterpret_cast<void*>(emitProperty.result), sizeof(size_t),
-                                    cudaMemcpyDeviceToHost));
+        CUDA_ERROR_CHECK(cudaMemcpy(&compacted_gas_size, reinterpret_cast<void*>(emitProperty.result), sizeof(size_t), cudaMemcpyDeviceToHost));
 
         if (compacted_gas_size < gas_buffer_sizes.outputSizeInBytes) {
             CUDA_ERROR_CHECK(cudaMalloc(reinterpret_cast<void**>(&m_gas_buffers[m_sphere_gas_id]), compacted_gas_size));
 
             // use handle as input and output
-            OPTIX_ERROR_CHECK(optixAccelCompact(m_context, 0, m_gas_handles[m_sphere_gas_id],
-                                                m_gas_buffers[m_sphere_gas_id], compacted_gas_size,
-                                                &m_gas_handles[m_sphere_gas_id]));
+            OPTIX_ERROR_CHECK(optixAccelCompact(m_context, 0, m_gas_handles[m_sphere_gas_id], m_gas_buffers[m_sphere_gas_id], compacted_gas_size, &m_gas_handles[m_sphere_gas_id]));
             CUDA_ERROR_CHECK(cudaFree(reinterpret_cast<void*>(d_buffer_temp_output_gas_and_compacted_size)));
         } else {
             m_gas_buffers[m_sphere_gas_id] = d_buffer_temp_output_gas_and_compacted_size;
@@ -375,10 +367,101 @@ void ChOptixGeometry::AddSphere(std::shared_ptr<ChBody> body,
     AddGenericObject(mat_id, body, asset_frame, scale, m_gas_handles[m_sphere_gas_id]);
 }
 
-void ChOptixGeometry::AddCylinder(std::shared_ptr<ChBody> body,
-                                  ChFrame<double> asset_frame,
-                                  ChVector3d scale,
-                                  unsigned int mat_id) {
+#ifdef CHRONO_FSI_SPH
+void ChOptixGeometry::AddFsiSphCloud(int source_id,
+                                     size_t count,
+                                     size_t source_count,
+                                     const std::vector<CUdeviceptr>& d_vertices,
+                                     const std::vector<CUdeviceptr>& d_indices,
+                                     const std::vector<std::shared_ptr<ChVisualShape>>& shapes,
+                                     const std::vector<unsigned int>& mat_ids,
+                                     float render_particle_spacing,
+                                     const ChVector3f& position_jitter) {
+    if (count == 0 || source_count == 0 || shapes.empty())
+        return;
+    if (d_vertices.size() != shapes.size() || d_indices.size() != shapes.size() || mat_ids.size() != shapes.size())
+        return;
+
+    size_t instance_offset = m_obj_mat_ids.size();
+    for (const auto& cloud : m_fsi_sph_clouds)
+        instance_offset += cloud.count;
+
+    FsiSphCloud cloud;
+    cloud.source_id = source_id;
+    cloud.instance_offset = instance_offset;
+    cloud.count = count;
+    cloud.source_count = source_count;
+    cloud.render_particle_spacing = render_particle_spacing;
+    cloud.sprite_position_jitter = position_jitter;
+
+    std::vector<OptixTraversableHandle> gas_handles;
+    std::vector<unsigned int> template_mat_ids;
+    std::vector<float3> template_scales;
+    gas_handles.reserve(shapes.size());
+    template_mat_ids.reserve(shapes.size());
+    template_scales.reserve(shapes.size());
+
+    for (size_t i = 0; i < shapes.size(); ++i) {
+        if (!shapes[i])
+            continue;
+
+        unsigned int gas_id = 0;
+        ChVector3f shape_scale(1.f, 1.f, 1.f);
+
+        if (auto mesh_shape = std::dynamic_pointer_cast<ChVisualShapeTriangleMesh>(shapes[i])) {
+            gas_id = GetOrCreateRigidMeshGAS(d_vertices[i], d_indices[i], mesh_shape);
+            const ChVector3d mesh_scale = mesh_shape->GetScale();
+            shape_scale = ChVector3f(static_cast<float>(mesh_scale.x()), static_cast<float>(mesh_scale.y()), static_cast<float>(mesh_scale.z()));
+        } else {
+            continue;
+        }
+
+        FsiSphSpriteTemplate sprite_template;
+        sprite_template.gas_id = gas_id;
+        sprite_template.mat_id = mat_ids[i];
+        sprite_template.scale = shape_scale;
+        cloud.sprite_templates.push_back(sprite_template);
+
+        gas_handles.push_back(m_gas_handles[gas_id]);
+        template_mat_ids.push_back(mat_ids[i]);
+        template_scales.push_back(make_float3(sprite_template.scale.x(), sprite_template.scale.y(), sprite_template.scale.z()));
+    }
+
+    if (cloud.sprite_templates.empty())
+        return;
+
+    CUDA_ERROR_CHECK(cudaMalloc(reinterpret_cast<void**>(&cloud.d_sprite_gas_handles), gas_handles.size() * sizeof(OptixTraversableHandle)));
+    CUDA_ERROR_CHECK(
+        cudaMemcpy(reinterpret_cast<void*>(cloud.d_sprite_gas_handles), gas_handles.data(), gas_handles.size() * sizeof(OptixTraversableHandle), cudaMemcpyHostToDevice));
+
+    CUDA_ERROR_CHECK(cudaMalloc(reinterpret_cast<void**>(&cloud.d_sprite_mat_ids), template_mat_ids.size() * sizeof(unsigned int)));
+    CUDA_ERROR_CHECK(cudaMemcpy(reinterpret_cast<void*>(cloud.d_sprite_mat_ids), template_mat_ids.data(), template_mat_ids.size() * sizeof(unsigned int), cudaMemcpyHostToDevice));
+
+    CUDA_ERROR_CHECK(cudaMalloc(reinterpret_cast<void**>(&cloud.d_sprite_scales), template_scales.size() * sizeof(float3)));
+    CUDA_ERROR_CHECK(cudaMemcpy(reinterpret_cast<void*>(cloud.d_sprite_scales), template_scales.data(), template_scales.size() * sizeof(float3), cudaMemcpyHostToDevice));
+
+    m_fsi_sph_clouds.push_back(cloud);
+}
+
+void ChOptixGeometry::UpdateFsiSphCloud(int source_id, const chrono::fsi::sph::Real4* pos_rad, size_t marker_offset, size_t count) {
+    if (!pos_rad || !md_instances || count == 0)
+        return;
+
+    for (const auto& cloud : m_fsi_sph_clouds) {
+        if (cloud.source_id != source_id)
+            continue;
+
+        cuda_update_fsi_sph_sprite_instances(pos_rad + marker_offset, count, cloud.count, reinterpret_cast<OptixInstance*>(md_instances) + cloud.instance_offset,
+                                             reinterpret_cast<const OptixTraversableHandle*>(cloud.d_sprite_gas_handles),
+                                             reinterpret_cast<const unsigned int*>(cloud.d_sprite_mat_ids), reinterpret_cast<const float3*>(cloud.d_sprite_scales),
+                                             static_cast<unsigned int>(cloud.sprite_templates.size()), cloud.render_particle_spacing, cloud.sprite_position_jitter,
+                                             m_origin_offset);
+        return;
+    }
+}
+#endif
+
+void ChOptixGeometry::AddCylinder(std::shared_ptr<ChBody> body, ChFrame<double> asset_frame, ChVector3d scale, unsigned int mat_id) {
     if (!m_cyl_inst) {
         // create first cylinder instance
         OptixAabb aabb[1];
@@ -401,8 +484,8 @@ void ChOptixGeometry::AddCylinder(std::shared_ptr<ChBody> body,
         aabb_input.customPrimitiveArray.primitiveIndexOffset = 0;
 
         OptixAccelBuildOptions accel_options = {};
-        accel_options.buildFlags = OPTIX_BUILD_FLAG_ALLOW_COMPACTION; // allow compaction to save memory
-        accel_options.operation = OPTIX_BUILD_OPERATION_BUILD; // build operation
+        accel_options.buildFlags = OPTIX_BUILD_FLAG_ALLOW_COMPACTION;  // allow compaction to save memory
+        accel_options.operation = OPTIX_BUILD_OPERATION_BUILD;         // build operation
 
         // building cylinder GAS
         OptixAccelBufferSizes gas_buffer_sizes;
@@ -413,8 +496,7 @@ void ChOptixGeometry::AddCylinder(std::shared_ptr<ChBody> body,
 
         size_t compactedSizeOffset = (size_t)((gas_buffer_sizes.outputSizeInBytes + 8ull - 1 / 8ull) * 8ull);
 
-        CUDA_ERROR_CHECK(cudaMalloc(reinterpret_cast<void**>(&d_buffer_temp_output_gas_and_compacted_size),
-                                    compactedSizeOffset + 8));
+        CUDA_ERROR_CHECK(cudaMalloc(reinterpret_cast<void**>(&d_buffer_temp_output_gas_and_compacted_size), compactedSizeOffset + 8));
         OptixAccelEmitDesc emitProperty = {};
         emitProperty.type = OPTIX_PROPERTY_TYPE_COMPACTED_SIZE;
         emitProperty.result = (CUdeviceptr)((char*)d_buffer_temp_output_gas_and_compacted_size + compactedSizeOffset);
@@ -423,22 +505,18 @@ void ChOptixGeometry::AddCylinder(std::shared_ptr<ChBody> body,
         m_gas_buffers.emplace_back();
         m_cyl_gas_id = static_cast<unsigned int>(m_gas_handles.size() - 1);
 
-        OPTIX_ERROR_CHECK(optixAccelBuild(m_context, 0, &accel_options, &aabb_input, 1, d_temp_buffer_gas,
-                                          gas_buffer_sizes.tempSizeInBytes, d_buffer_temp_output_gas_and_compacted_size,
-                                          gas_buffer_sizes.outputSizeInBytes, &m_gas_handles[m_cyl_gas_id],
-                                          &emitProperty, 1));
+        OPTIX_ERROR_CHECK(optixAccelBuild(m_context, 0, &accel_options, &aabb_input, 1, d_temp_buffer_gas, gas_buffer_sizes.tempSizeInBytes,
+                                          d_buffer_temp_output_gas_and_compacted_size, gas_buffer_sizes.outputSizeInBytes, &m_gas_handles[m_cyl_gas_id], &emitProperty, 1));
         CUDA_ERROR_CHECK(cudaFree(reinterpret_cast<void**>(d_temp_buffer_gas)));
 
         size_t compacted_gas_size;
-        CUDA_ERROR_CHECK(cudaMemcpy(&compacted_gas_size, reinterpret_cast<void*>(emitProperty.result), sizeof(size_t),
-                                    cudaMemcpyDeviceToHost));
+        CUDA_ERROR_CHECK(cudaMemcpy(&compacted_gas_size, reinterpret_cast<void*>(emitProperty.result), sizeof(size_t), cudaMemcpyDeviceToHost));
 
         if (compacted_gas_size < gas_buffer_sizes.outputSizeInBytes) {
             CUDA_ERROR_CHECK(cudaMalloc(reinterpret_cast<void**>(&m_gas_buffers[m_cyl_gas_id]), compacted_gas_size));
 
             // use handle as input and output
-            OPTIX_ERROR_CHECK(optixAccelCompact(m_context, 0, m_gas_handles[m_cyl_gas_id], m_gas_buffers[m_cyl_gas_id],
-                                                compacted_gas_size, &m_gas_handles[m_cyl_gas_id]));
+            OPTIX_ERROR_CHECK(optixAccelCompact(m_context, 0, m_gas_handles[m_cyl_gas_id], m_gas_buffers[m_cyl_gas_id], compacted_gas_size, &m_gas_handles[m_cyl_gas_id]));
             CUDA_ERROR_CHECK(cudaFree(reinterpret_cast<void*>(d_buffer_temp_output_gas_and_compacted_size)));
         } else {
             m_gas_buffers[m_cyl_gas_id] = d_buffer_temp_output_gas_and_compacted_size;
@@ -450,14 +528,7 @@ void ChOptixGeometry::AddCylinder(std::shared_ptr<ChBody> body,
     AddGenericObject(mat_id, body, asset_frame, scale, m_gas_handles[m_cyl_gas_id]);
 }
 
-unsigned int ChOptixGeometry::AddRigidMesh(CUdeviceptr d_vertices,
-                                           CUdeviceptr d_indices,
-                                           std::shared_ptr<ChVisualShapeTriangleMesh> mesh_shape,
-                                           std::shared_ptr<ChBody> body,
-                                           ChFrame<double> asset_frame,
-                                           ChVector3d scale,
-                                           unsigned int mat_id) {
-    // std::cout << "Adding rigid mesh to optix!\n";
+unsigned int ChOptixGeometry::GetOrCreateRigidMeshGAS(CUdeviceptr d_vertices, CUdeviceptr d_indices, std::shared_ptr<ChVisualShapeTriangleMesh> mesh_shape) {
     bool mesh_found = false;
     unsigned int mesh_gas_id = 0;
     for (int i = 0; i < m_known_meshes.size(); i++) {
@@ -479,6 +550,19 @@ unsigned int ChOptixGeometry::AddRigidMesh(CUdeviceptr d_vertices,
         // std::cout << "Created a mesh from scratch:\n";
     }
 
+    return mesh_gas_id;
+}
+
+unsigned int ChOptixGeometry::AddRigidMesh(CUdeviceptr d_vertices,
+                                           CUdeviceptr d_indices,
+                                           std::shared_ptr<ChVisualShapeTriangleMesh> mesh_shape,
+                                           std::shared_ptr<ChBody> body,
+                                           ChFrame<double> asset_frame,
+                                           ChVector3d scale,
+                                           unsigned int mat_id) {
+    // std::cout << "Adding rigid mesh to optix!\n";
+    unsigned int mesh_gas_id = GetOrCreateRigidMeshGAS(d_vertices, d_indices, mesh_shape);
+
     AddGenericObject(mat_id, body, asset_frame, scale, m_gas_handles[mesh_gas_id]);
 
     return mesh_gas_id;
@@ -517,9 +601,9 @@ unsigned int ChOptixGeometry::BuildTrianglesGAS(std::shared_ptr<ChVisualShapeTri
     auto mesh = mesh_shape->GetMesh();
 
     OptixAccelBuildOptions accel_options = {};
-    accel_options.buildFlags = OPTIX_BUILD_FLAG_ALLOW_COMPACTION; // allow compaction to save memory
-    accel_options.operation = OPTIX_BUILD_OPERATION_BUILD; // build operation
-    
+    accel_options.buildFlags = OPTIX_BUILD_FLAG_ALLOW_COMPACTION;  // allow compaction to save memory
+    accel_options.operation = OPTIX_BUILD_OPERATION_BUILD;         // build operation
+
     if (!compact_no_update) {
         accel_options.buildFlags = OPTIX_BUILD_FLAG_ALLOW_UPDATE;
         // accel_options.buildFlags = OPTIX_BUILD_FLAG_NONE;
@@ -567,20 +651,16 @@ unsigned int ChOptixGeometry::BuildTrianglesGAS(std::shared_ptr<ChVisualShapeTri
         size_t compactedSizeOffset = (size_t)((gas_buffer_sizes.outputSizeInBytes + 8ull - 1 / 8ull) * 8ull);
 
         CUdeviceptr d_buffer_temp_output_gas_and_compacted_size;
-        CUDA_ERROR_CHECK(cudaMalloc(reinterpret_cast<void**>(&d_buffer_temp_output_gas_and_compacted_size),
-                                    compactedSizeOffset + 8));
+        CUDA_ERROR_CHECK(cudaMalloc(reinterpret_cast<void**>(&d_buffer_temp_output_gas_and_compacted_size), compactedSizeOffset + 8));
         OptixAccelEmitDesc emitProperty = {};
         emitProperty.type = OPTIX_PROPERTY_TYPE_COMPACTED_SIZE;
         emitProperty.result = (CUdeviceptr)((char*)d_buffer_temp_output_gas_and_compacted_size + compactedSizeOffset);
-        OPTIX_ERROR_CHECK(optixAccelBuild(m_context, 0, &accel_options, &mesh_input, 1, d_temp_buffer_gas,
-                                          gas_buffer_sizes.tempSizeInBytes, d_buffer_temp_output_gas_and_compacted_size,
-                                          gas_buffer_sizes.outputSizeInBytes, &m_gas_handles[mesh_gas_id],
-                                          &emitProperty, 1));
+        OPTIX_ERROR_CHECK(optixAccelBuild(m_context, 0, &accel_options, &mesh_input, 1, d_temp_buffer_gas, gas_buffer_sizes.tempSizeInBytes,
+                                          d_buffer_temp_output_gas_and_compacted_size, gas_buffer_sizes.outputSizeInBytes, &m_gas_handles[mesh_gas_id], &emitProperty, 1));
         CUDA_ERROR_CHECK(cudaFree(reinterpret_cast<void**>(d_temp_buffer_gas)));
 
         size_t compacted_gas_size;
-        CUDA_ERROR_CHECK(cudaMemcpy(&compacted_gas_size, reinterpret_cast<void*>(emitProperty.result), sizeof(size_t),
-                                    cudaMemcpyDeviceToHost));
+        CUDA_ERROR_CHECK(cudaMemcpy(&compacted_gas_size, reinterpret_cast<void*>(emitProperty.result), sizeof(size_t), cudaMemcpyDeviceToHost));
 
         if (compacted_gas_size < gas_buffer_sizes.outputSizeInBytes) {
             if (rebuild && m_gas_buffers[mesh_gas_id]) {
@@ -589,8 +669,7 @@ unsigned int ChOptixGeometry::BuildTrianglesGAS(std::shared_ptr<ChVisualShapeTri
             CUDA_ERROR_CHECK(cudaMalloc(reinterpret_cast<void**>(&m_gas_buffers[mesh_gas_id]), compacted_gas_size));
 
             // use handle as input and output
-            OPTIX_ERROR_CHECK(optixAccelCompact(m_context, 0, m_gas_handles[mesh_gas_id], m_gas_buffers[mesh_gas_id],
-                                                compacted_gas_size, &m_gas_handles[mesh_gas_id]));
+            OPTIX_ERROR_CHECK(optixAccelCompact(m_context, 0, m_gas_handles[mesh_gas_id], m_gas_buffers[mesh_gas_id], compacted_gas_size, &m_gas_handles[mesh_gas_id]));
             CUDA_ERROR_CHECK(cudaFree(reinterpret_cast<void*>(d_buffer_temp_output_gas_and_compacted_size)));
         } else {
             m_gas_buffers[mesh_gas_id] = d_buffer_temp_output_gas_and_compacted_size;
@@ -598,11 +677,9 @@ unsigned int ChOptixGeometry::BuildTrianglesGAS(std::shared_ptr<ChVisualShapeTri
 
     } else {
         if (!rebuild) {
-            CUDA_ERROR_CHECK(
-                cudaMalloc(reinterpret_cast<void**>(&m_gas_buffers[mesh_gas_id]), gas_buffer_sizes.outputSizeInBytes));
+            CUDA_ERROR_CHECK(cudaMalloc(reinterpret_cast<void**>(&m_gas_buffers[mesh_gas_id]), gas_buffer_sizes.outputSizeInBytes));
         }
-        OPTIX_ERROR_CHECK(optixAccelBuild(m_context, 0, &accel_options, &mesh_input, 1, d_temp_buffer_gas,
-                                          gas_buffer_sizes.tempSizeInBytes, m_gas_buffers[mesh_gas_id],
+        OPTIX_ERROR_CHECK(optixAccelBuild(m_context, 0, &accel_options, &mesh_input, 1, d_temp_buffer_gas, gas_buffer_sizes.tempSizeInBytes, m_gas_buffers[mesh_gas_id],
                                           gas_buffer_sizes.outputSizeInBytes, &m_gas_handles[mesh_gas_id], nullptr, 0));
         CUDA_ERROR_CHECK(cudaFree(reinterpret_cast<void**>(d_temp_buffer_gas)));
     }
@@ -614,10 +691,8 @@ OptixTraversableHandle ChOptixGeometry::CreateRootStructure() {
     // std::cout << "Creating root structure with " << m_obj_mat_ids.size() << " objects\n";
 
     // malloc the gpu memory for motion transform
-    CUDA_ERROR_CHECK(cudaMalloc(reinterpret_cast<void**>(&md_motion_transforms),
-                                m_motion_transforms.size() * sizeof(OptixMatrixMotionTransform)));
-    CUDA_ERROR_CHECK(cudaMemcpy(reinterpret_cast<void*>(md_motion_transforms), m_motion_transforms.data(),
-                                m_motion_transforms.size() * sizeof(OptixMatrixMotionTransform),
+    CUDA_ERROR_CHECK(cudaMalloc(reinterpret_cast<void**>(&md_motion_transforms), m_motion_transforms.size() * sizeof(OptixMatrixMotionTransform)));
+    CUDA_ERROR_CHECK(cudaMemcpy(reinterpret_cast<void*>(md_motion_transforms), m_motion_transforms.data(), m_motion_transforms.size() * sizeof(OptixMatrixMotionTransform),
                                 cudaMemcpyHostToDevice));
 
     // loop through and make motion transforms into handles
@@ -625,14 +700,20 @@ OptixTraversableHandle ChOptixGeometry::CreateRootStructure() {
     //           << " with size=" << sizeof(OptixMatrixMotionTransform) << std::endl;
 
     for (int i = 0; i < m_motion_transforms.size(); i++) {
-        OPTIX_ERROR_CHECK(optixConvertPointerToTraversableHandle(
-            m_context, md_motion_transforms + i * sizeof(OptixMatrixMotionTransform),
-            OPTIX_TRAVERSABLE_TYPE_MATRIX_MOTION_TRANSFORM, &m_motion_handles[i]));
+        OPTIX_ERROR_CHECK(optixConvertPointerToTraversableHandle(m_context, md_motion_transforms + i * sizeof(OptixMatrixMotionTransform),
+                                                                 OPTIX_TRAVERSABLE_TYPE_MATRIX_MOTION_TRANSFORM, &m_motion_handles[i]));
     }
 
+    size_t num_fsi_sph_instances = 0;
+#ifdef CHRONO_FSI_SPH
+    for (const auto& cloud : m_fsi_sph_clouds)
+        num_fsi_sph_instances += cloud.count;
+#endif
+
     // update and build the instances
-    size_t instance_size_in_bytes = sizeof(OptixInstance) * m_obj_mat_ids.size();
-    m_instances = std::vector<OptixInstance>(m_obj_mat_ids.size());
+    const size_t num_instances = m_obj_mat_ids.size() + num_fsi_sph_instances;
+    size_t instance_size_in_bytes = sizeof(OptixInstance) * num_instances;
+    m_instances = std::vector<OptixInstance>(num_instances);
     memset(m_instances.data(), 0, instance_size_in_bytes);
     CUDA_ERROR_CHECK(cudaMalloc(reinterpret_cast<void**>(&md_instances), instance_size_in_bytes));
 
@@ -663,7 +744,7 @@ OptixTraversableHandle ChOptixGeometry::CreateRootStructure() {
     CUDA_ERROR_CHECK(cudaMalloc(reinterpret_cast<void**>(&md_root_output_buffer), ias_buffer_sizes.outputSizeInBytes));
 
     // pack the data for each instance
-    for (int i = 0; i < m_instances.size(); i++) {
+    for (int i = 0; i < m_obj_mat_ids.size(); i++) {
         const float t[12] = {1.f, 0.f, 0.f, 0.f,  //
                              0.f, 1.f, 0.f, 0.f,  //
                              0.f, 0.f, 1.f, 0.f};
@@ -677,14 +758,34 @@ OptixTraversableHandle ChOptixGeometry::CreateRootStructure() {
         memcpy(m_instances[i].transform, t, sizeof(float) * 12);
     }
 
-    CUDA_ERROR_CHECK(cudaMemcpy(reinterpret_cast<void*>(md_instances), m_instances.data(), instance_size_in_bytes,
-                                cudaMemcpyHostToDevice));
+#ifdef CHRONO_FSI_SPH
+    for (const auto& cloud : m_fsi_sph_clouds) {
+        for (size_t k = 0; k < cloud.count; ++k) {
+            const size_t i = cloud.instance_offset + k;
+            const auto& sprite_template = cloud.sprite_templates[k % cloud.sprite_templates.size()];
+            const OptixTraversableHandle gas_handle = m_gas_handles[sprite_template.gas_id];
+            const unsigned int mat_id = sprite_template.mat_id;
+            const ChVector3f scale = sprite_template.scale;
+
+            const float t[12] = {scale.x(), 0.f,       0.f,       0.f,  //
+                                 0.f,       scale.y(), 0.f,       0.f,  //
+                                 0.f,       0.f,       scale.z(), 0.f};
+            m_instances[i].traversableHandle = gas_handle;
+            m_instances[i].flags = OPTIX_INSTANCE_FLAG_DISABLE_ANYHIT;
+            m_instances[i].instanceId = static_cast<unsigned int>(i);
+            m_instances[i].sbtOffset = mat_id;
+            m_instances[i].visibilityMask = 1;
+            memcpy(m_instances[i].transform, t, sizeof(float) * 12);
+        }
+    }
+#endif
+
+    CUDA_ERROR_CHECK(cudaMemcpy(reinterpret_cast<void*>(md_instances), m_instances.data(), instance_size_in_bytes, cudaMemcpyHostToDevice));
     OPTIX_ERROR_CHECK(optixAccelBuild(m_context,
                                       0,  // CUDA stream
                                       &accel_options, &instance_input,
                                       1,  // num build inputs
-                                      md_root_temp_buffer, ias_buffer_sizes.tempSizeInBytes, md_root_output_buffer,
-                                      ias_buffer_sizes.outputSizeInBytes, &m_root,
+                                      md_root_temp_buffer, ias_buffer_sizes.tempSizeInBytes, md_root_output_buffer, ias_buffer_sizes.outputSizeInBytes, &m_root,
                                       nullptr,  // emitted property list
                                       0         // num emitted properties
                                       ));
@@ -694,9 +795,7 @@ OptixTraversableHandle ChOptixGeometry::CreateRootStructure() {
 
 // rebuilding the structure without creating anything new
 void ChOptixGeometry::RebuildRootStructure() {
-    m_end_time = m_end_time > (m_start_time + 1e-2)
-                     ? m_end_time
-                     : m_end_time + 1e-2;  // need to ensure start time is at least slightly after end time
+    m_end_time = m_end_time > (m_start_time + 1e-2) ? m_end_time : m_end_time + 1e-2;  // need to ensure start time is at least slightly after end time
 
     for (int i = 0; i < m_motion_transforms.size(); i++) {
         // update the motion transforms
@@ -714,8 +813,7 @@ void ChOptixGeometry::RebuildRootStructure() {
         GetT3x4FromSRT(m_obj_scales[i], rot_mat_end, pos_end, m_motion_transforms[i].transform[1]);
     }
 
-    CUDA_ERROR_CHECK(cudaMemcpy(reinterpret_cast<void*>(md_motion_transforms), m_motion_transforms.data(),
-                                m_motion_transforms.size() * sizeof(OptixMatrixMotionTransform),
+    CUDA_ERROR_CHECK(cudaMemcpy(reinterpret_cast<void*>(md_motion_transforms), m_motion_transforms.data(), m_motion_transforms.size() * sizeof(OptixMatrixMotionTransform),
                                 cudaMemcpyHostToDevice));
 
     OptixBuildInput instance_input = {};
@@ -740,8 +838,7 @@ void ChOptixGeometry::RebuildRootStructure() {
                                       0,  // CUDA stream
                                       &accel_options, &instance_input,
                                       1,  // num build inputs
-                                      md_root_temp_buffer, ias_buffer_sizes.tempSizeInBytes, md_root_output_buffer,
-                                      ias_buffer_sizes.outputSizeInBytes, &m_root,
+                                      md_root_temp_buffer, ias_buffer_sizes.tempSizeInBytes, md_root_output_buffer, ias_buffer_sizes.outputSizeInBytes, &m_root,
                                       nullptr,  // emitted property list
                                       0         // num emitted properties
                                       ));
@@ -813,10 +910,7 @@ void ChOptixGeometry::GetT3x4FromSRT(const ChVector3d& s, const ChMatrix33<doubl
     t[10] = (float)(s.z() * a(8));
     t[11] = (float)b.z();
 }
-void ChOptixGeometry::GetInvT3x4FromSRT(const ChVector3d& s,
-                                        const ChMatrix33<double>& a,
-                                        const ChVector3d& b,
-                                        float* t) {
+void ChOptixGeometry::GetInvT3x4FromSRT(const ChVector3d& s, const ChMatrix33<double>& a, const ChVector3d& b, float* t) {
     t[0] = (float)(a(0) / s.x());
     t[1] = (float)(a(3) / s.x());
     t[2] = (float)(a(6) / s.x());
diff --git a/src/chrono_sensor/optix/ChOptixGeometry.h b/src/chrono_sensor/optix/ChOptixGeometry.h
index 343001963b..2d417038e4 100644
--- a/src/chrono_sensor/optix/ChOptixGeometry.h
+++ b/src/chrono_sensor/optix/ChOptixGeometry.h
@@ -24,6 +24,11 @@
 #include "chrono/physics/ChBody.h"
 #include "chrono/assets/ChVisualShapeTriangleMesh.h"
 
+#ifdef CHRONO_FSI_SPH
+    #include "chrono_fsi/sph/ChFsiFluidSystemSPH.h"
+    #include "chrono_sensor/ChFsiSphRender.h"
+#endif
+
 #include <deque>
 
 namespace chrono {
@@ -55,15 +60,14 @@ class CH_SENSOR_API ChOptixGeometry {
     /// @param mat_id the material id associated with the box
     void AddBox(std::shared_ptr<ChBody> body, ChFrame<double> asset_frame, ChVector3d scale, unsigned int mat_id);
 
-    #ifdef USE_SENSOR_NVDB
+#ifdef USE_SENSOR_NVDB
     /// Add a NVDB volume to the optix scene
     /// @param body the Chrono Body that drives the NVDB volume
     /// @param asset_frame the Chrono frame that specifies how the asset is attached to the body
     /// @param scale the scale of the NVDB volume
     /// @param mat_id the material id associated with the NVDB volume
-    void AddNVDBVolume(std::shared_ptr<ChBody> body, ChFrame<double> asset_frame,ChVector3d scale,unsigned int mat_id);
-    #endif
-
+    void AddNVDBVolume(std::shared_ptr<ChBody> body, ChFrame<double> asset_frame, ChVector3d scale, unsigned int mat_id);
+#endif
 
     /// Add a sphere geometry to the optix scene
     /// @param body the Chrono Body that drives the sphere
@@ -111,7 +115,6 @@ class CH_SENSOR_API ChOptixGeometry {
                            ChVector3d scale,
                            unsigned int mat_id);
 
-
     /// Create the root node and acceleration structure of the scene
     ///@return A traversable handle to the root node
     OptixTraversableHandle CreateRootStructure();
@@ -128,6 +131,22 @@ class CH_SENSOR_API ChOptixGeometry {
     /// Update the deformable meshes based on how the meshes changed in Chrono
     void UpdateDeformableMeshes();
 
+#ifdef CHRONO_FSI_SPH
+    /// Add a native FSI-SPH marker cloud rendered as visual shape sprite instances.
+    void AddFsiSphCloud(int source_id,
+                        size_t count,
+                        size_t source_count,
+                        const std::vector<CUdeviceptr>& d_vertices,
+                        const std::vector<CUdeviceptr>& d_indices,
+                        const std::vector<std::shared_ptr<ChVisualShape>>& shapes,
+                        const std::vector<unsigned int>& mat_ids,
+                        float render_particle_spacing,
+                        const ChVector3f& position_jitter);
+
+    /// Update a native FSI-SPH marker cloud from device-resident FSI marker positions.
+    void UpdateFsiSphCloud(int source_id, const chrono::fsi::sph::Real4* pos_rad, size_t marker_offset, size_t count);
+#endif
+
     /// Cleanup the entire optix geometry manager, cleans and frees device pointers and root structure
     void Cleanup();
 
@@ -141,11 +160,7 @@ class CH_SENSOR_API ChOptixGeometry {
     /// @param asset_frame the frame associated with the asset relative to the body
     /// @param scale the scale of the object
     /// @param gas_handle the handle to the geometry acceleration structure
-    void AddGenericObject(unsigned int mat_id,
-                          std::shared_ptr<ChBody> body,
-                          ChFrame<double> asset_frame,
-                          ChVector3d scale,
-                          OptixTraversableHandle gas_handle);
+    void AddGenericObject(unsigned int mat_id, std::shared_ptr<ChBody> body, ChFrame<double> asset_frame, ChVector3d scale, OptixTraversableHandle gas_handle);
 
     /// Function to build a geometry acceleration structure for a triangle mesh
     /// @param mesh_shape the chrono mesh representing this asset
@@ -161,6 +176,9 @@ class CH_SENSOR_API ChOptixGeometry {
                                    bool rebuild = false,
                                    unsigned int gas_id = 0);
 
+    /// Reuse or build a GAS for a rigid triangle mesh.
+    unsigned int GetOrCreateRigidMeshGAS(CUdeviceptr d_vertices, CUdeviceptr d_indices, std::shared_ptr<ChVisualShapeTriangleMesh> mesh_shape);
+
     /// Function ot convert scale, rotation, translation to top 3 rows of transform matrix
     /// @param[in] s the scale vector
     /// @param[in] a the rotation matrix
@@ -186,7 +204,7 @@ class CH_SENSOR_API ChOptixGeometry {
     bool m_cyl_inst = false;       ///< whether a cylinder has been created
 
     unsigned int m_nvdb_gas_id;
-    bool m_nvdb_inst = false;  
+    bool m_nvdb_inst = false;
 
     // instance and root buffers
     std::vector<OptixInstance> m_instances;  ///< host vector of geometry instances
@@ -223,8 +241,30 @@ class CH_SENSOR_API ChOptixGeometry {
     std::vector<std::tuple<CUdeviceptr, unsigned int>> m_known_meshes;
 
     /// deformable mesh list [mesh shape, d_vertices, d_indices, gas id]
-    std::vector<std::tuple<std::shared_ptr<ChVisualShapeTriangleMesh>, CUdeviceptr, CUdeviceptr, unsigned int>>
-        m_deformable_meshes;
+    std::vector<std::tuple<std::shared_ptr<ChVisualShapeTriangleMesh>, CUdeviceptr, CUdeviceptr, unsigned int>> m_deformable_meshes;
+
+#ifdef CHRONO_FSI_SPH
+    struct FsiSphSpriteTemplate {
+        unsigned int gas_id = 0;
+        unsigned int mat_id = 0;
+        ChVector3f scale = ChVector3f(1.f, 1.f, 1.f);
+    };
+
+    struct FsiSphCloud {
+        int source_id = -1;
+        size_t instance_offset = 0;
+        size_t count = 0;
+        size_t source_count = 0;
+        std::vector<FsiSphSpriteTemplate> sprite_templates;
+        CUdeviceptr d_sprite_gas_handles = {};
+        CUdeviceptr d_sprite_mat_ids = {};
+        CUdeviceptr d_sprite_scales = {};
+        float render_particle_spacing = 0.f;
+        ChVector3f sprite_position_jitter = ChVector3f(0.f, 0.f, 0.f);
+    };
+
+    std::vector<FsiSphCloud> m_fsi_sph_clouds;  ///< native FSI-SPH instance clouds
+#endif
 
     float m_start_time;  ///< time corresponding to start frame
     float m_end_time;    ///< time corresponding to end frame
@@ -235,4 +275,4 @@ class CH_SENSOR_API ChOptixGeometry {
 }  // namespace sensor
 }  // namespace chrono
 
-#endif
\ No newline at end of file
+#endif
diff --git a/src/chrono_sensor/optix/ChVisualSystemOptix.cpp b/src/chrono_sensor/optix/ChVisualSystemOptix.cpp
index a85f810997..45ae4805ac 100644
--- a/src/chrono_sensor/optix/ChVisualSystemOptix.cpp
+++ b/src/chrono_sensor/optix/ChVisualSystemOptix.cpp
@@ -17,8 +17,7 @@
 namespace chrono {
 namespace sensor {
 
-ChVisualSystemOptix::ChVisualSystemOptix(ChSystem& sys)
-    : ChVisualSystem(sys), m_verbose(false), m_optix_reflections(9) {
+ChVisualSystemOptix::ChVisualSystemOptix(ChSystem& sys) : ChVisualSystem(sys), m_verbose(false), m_optix_reflections(9) {
     // save the chrono system handle
     scene = chrono_types::make_shared<ChScene>();
     m_device_list = {0};
@@ -83,8 +82,7 @@ void ChVisualSystemOptix::AddSensor(std::shared_ptr<ChSensor> sensor) {
 
         // add the sensor to an engine with sensor of similar update frequencies
         for (auto engine : m_engines) {
-            if (!found_engine && engine->GetSensor().size() > 0 &&
-                abs(engine->GetSensor()[0]->GetUpdateRate() - sensor->GetUpdateRate()) < 0.001) {
+            if (!found_engine && engine->GetSensor().size() > 0 && abs(engine->GetSensor()[0]->GetUpdateRate() - sensor->GetUpdateRate()) < 0.001) {
                 found_engine = true;
                 engine->AssignSensor(pOptixSensor);
                 if (m_verbose)
@@ -96,9 +94,12 @@ void ChVisualSystemOptix::AddSensor(std::shared_ptr<ChSensor> sensor) {
             // create new engines only when we need them
             if (!found_engine) {
                 if (m_engines.size() < m_allowable_groups) {
-                    auto engine = chrono_types::make_shared<ChOptixEngine>(
-                        m_system, m_device_list[(int)m_engines.size()], m_optix_reflections,
-                        m_verbose);  // limits to 2 gpus, TODO: check if device supports cuda
+                    auto engine = chrono_types::make_shared<ChOptixEngine>(m_system, m_device_list[(int)m_engines.size()], m_optix_reflections,
+                                                                           m_verbose);  // limits to 2 gpus, TODO: check if device supports cuda
+
+#ifdef CHRONO_FSI_SPH
+                    engine->SetFsiSphSources(&scene->GetFsiSphSources());
+#endif
 
                     // engine->ConstructScene();
                     engine->AssignSensor(pOptixSensor);
diff --git a/src/chrono_sensor/optix/scene/ChScene.h b/src/chrono_sensor/optix/scene/ChScene.h
index 494f08d9e2..28f553aa30 100644
--- a/src/chrono_sensor/optix/scene/ChScene.h
+++ b/src/chrono_sensor/optix/scene/ChScene.h
@@ -32,19 +32,23 @@
 // #include <optixu/optixu_math_namespace.h>
 #include <cuda_runtime.h>
 
+#include <algorithm>
+
 #include "chrono/physics/ChBody.h"
 #include "chrono/assets/ChColor.h"
 
 #include "chrono_sensor/ChApiSensor.h"
+#ifdef CHRONO_FSI_SPH
+    #include "chrono_sensor/ChFsiSphRender.h"
+#endif
 #include "chrono_sensor/optix/ChOptixDefinitions.h"
 #include "chrono_sensor/optix/ChOptixUtils.h"
 #include "chrono_sensor/optix/shaders/ChOptixLightStructs.h"
 
 #ifdef USE_SENSOR_NVDB
-  #include <openvdb/openvdb.h>
+    #include <openvdb/openvdb.h>
 #endif
 
-
 namespace chrono {
 namespace sensor {
 
@@ -54,10 +58,10 @@ namespace sensor {
 /// Information about the background of the scene. Determines the color, gradient, or image that is spherically mapped
 /// to camera ray misses
 struct Background {
-    BackgroundMode mode;            ///< 0=solid zenith color, 1=gradient, 2=environment map
+    BackgroundMode mode;       ///< 0=solid zenith color, 1=gradient, 2=environment map
     ChVector3f color_zenith;   ///< color at zenith
     ChVector3f color_horizon;  ///< color at horizon (for gradient)
-    std::string env_tex;            ///< full path name of the texture
+    std::string env_tex;       ///< full path name of the texture
 };
 
 /// Scene class used for camera renderings. Includes environment colors, lights, etc
@@ -93,7 +97,6 @@ class CH_SENSOR_API ChScene {
     /// @param directional_light the new directional light
     void ModifyDirectionalLight(unsigned int light_ID, const ChOptixLight& directional_light);
 
-
     /// @brief Add a spot light that emits light in a particular direction.
     /// @param pos the world position of the spot light
     /// @param color color radiance of the light
@@ -104,15 +107,13 @@ class CH_SENSOR_API ChScene {
     /// @param angle_range [rad], angle range of the spotlight falling off to zero.
     /// @param const_color whether to use constant color (no attenuation with distance)
     /// @return the index of the light that has been added
-    unsigned int AddSpotLight(
-      ChVector3f pos, ChColor color, float max_range, ChVector3f light_dir, float angle_falloff_start, float angle_range, bool const_color = true
-    );
+    unsigned int AddSpotLight(ChVector3f pos, ChColor color, float max_range, ChVector3f light_dir, float angle_falloff_start, float angle_range, bool const_color = true);
 
     /// @brief Function for modifying an existing spot light in the scene
     /// @param light_ID the index of the spot light to be modified
     /// @param spot_light the new spot light
     void ModifySpotLight(unsigned int light_ID, const ChOptixLight& spot_light);
-    
+
     /// @brief Add a rectangle light that emits light forward from a rectangle area.
     /// @param pos [m], the world position of the rectangle light
     /// @param color [W/m^2] or [lumen/m^2], color radiance of the light
@@ -122,9 +123,7 @@ class CH_SENSOR_API ChScene {
     /// @param width_vec [m], the other edge vector of the rectangle light perpendicular to `length_vec`. Light direction is: length_vec x width_vec.
     /// @param const_color whether to use constant color (no attenuation with distance)
     /// @return the index of the added light
-    unsigned int AddRectangleLight(
-      ChVector3f pos, ChColor color, float max_range, ChVector3f length_vec, ChVector3f width_vec, bool const_color = true
-    );
+    unsigned int AddRectangleLight(ChVector3f pos, ChColor color, float max_range, ChVector3f length_vec, ChVector3f width_vec, bool const_color = true);
 
     /// @brief Function for modifying an existing rectangle light in the scene
     /// @param light_ID the index of the rectangle light to be modified
@@ -140,15 +139,13 @@ class CH_SENSOR_API ChScene {
     /// @param radius [m], radius of the disk light
     /// @param const_color whether to use constant color (no attenuation with distance)
     /// @return the index of the added light
-    unsigned int AddDiskLight(
-      ChVector3f pos, ChColor color, float max_range, ChVector3f light_dir, float radius, bool const_color = true
-    );
+    unsigned int AddDiskLight(ChVector3f pos, ChColor color, float max_range, ChVector3f light_dir, float radius, bool const_color = true);
 
     /// @brief Function for modifying an existing disk light in the scene
     /// @param light_ID the index of the disk light to be modified
     /// @param disk_light the new disk light
     void ModifyDiskLight(unsigned int light_ID, const ChOptixLight& disk_light);
-    
+
     /// @brief Add the environment light that emits light from all directions based on an environment map.
     /// @param env_tex_path the full path of the environment map texture.
     /// @param intensity_scale a scale factor for the intensity of the environment light. Default value is 1.0 (no scaling).
@@ -157,7 +154,7 @@ class CH_SENSOR_API ChScene {
 
     /// Function for gaining access to the vector of lights which can be used to modify lighting dynamically.
     /// @return A vector of lights in the scene currently
-    std::vector<ChOptixLight> GetLights() {return m_lights;}
+    std::vector<ChOptixLight> GetLights() { return m_lights; }
 
     /// Function for gaining access to the background. Can be used to dynamically change the background color, or
     /// texture
@@ -212,12 +209,36 @@ class CH_SENSOR_API ChScene {
     float GetSceneEpsilon() { return m_scene_epsilon; }
 
     void AddSprite(std::shared_ptr<ChBody> sprite);
-    void SetSprites(std::vector<std::shared_ptr<ChBody>> sprites) {m_sprites = sprites;}
+    void SetSprites(std::vector<std::shared_ptr<ChBody>> sprites) { m_sprites = sprites; }
 
     std::shared_ptr<ChBody> GetSprite(int i) { return m_sprites[i]; }
     std::vector<std::shared_ptr<ChBody>> GetSprites() { return m_sprites; }
 
-    #ifdef USE_SENSOR_NVDB
+#ifdef CHRONO_FSI_SPH
+    /// Attach a native Chrono::FSI::SPH render source to this scene.
+    int AddFsiSphSystem(std::shared_ptr<chrono::fsi::sph::ChFsiFluidSystemSPH> sys, const ChFsiSphRenderOptions& options) {
+        ChFsiSphRenderSource source;
+        source.id = m_next_fsi_sph_source_id++;
+        source.system = sys;
+        source.options = options;
+        m_fsi_sph_sources.push_back(source);
+        return source.id;
+    }
+
+    /// Remove a native Chrono::FSI::SPH render source from this scene.
+    void RemoveFsiSphSystem(int id) {
+        m_fsi_sph_sources.erase(std::remove_if(m_fsi_sph_sources.begin(), m_fsi_sph_sources.end(), [id](const ChFsiSphRenderSource& source) { return source.id == id; }),
+                                m_fsi_sph_sources.end());
+    }
+
+    /// Remove all native Chrono::FSI::SPH render sources from this scene.
+    void ClearFsiSphSystems() { m_fsi_sph_sources.clear(); }
+
+    /// Return all native Chrono::FSI::SPH render sources attached to this scene.
+    const std::vector<ChFsiSphRenderSource>& GetFsiSphSources() const { return m_fsi_sph_sources; }
+#endif
+
+#ifdef USE_SENSOR_NVDB
     /// @brief  Allows passing in Chrono::FSI SPH markers to the scene, to be used for rendering SPH simulations. Note: Must also add a ChNVDBVolume body to the scene as well.
     /// @param fsi_points_d pointer to the FSI markers in host memory
     void SetFSIParticles(float* fsi_points) { m_fsi_points = fsi_points; }
@@ -232,8 +253,8 @@ class CH_SENSOR_API ChScene {
 
     /// @brief Returns the number of Chrono::FSI, SPH markers in the scene
     /// @return the number of Chrono::FSI, SPH markers in the scene (int)
-    int GetNumFSIParticles() { return m_num_fsi_points;}
-    #endif
+    int GetNumFSIParticles() { return m_num_fsi_points; }
+#endif
 
     /// Function to change the origin offset if necessary
     /// @param sensor_pos the position of the sensor
@@ -263,9 +284,9 @@ class CH_SENSOR_API ChScene {
     // int GetGVDBChan() { return m_gvdb_chan; }
 
   private:
-    std::vector<ChOptixLight> m_lights;     //< list of all lights in the scene
-    Background m_background;                ///< The background object
-    ChVector3f m_ambient_light;        ///< ambient light color used in the scene
+    std::vector<ChOptixLight> m_lights;  //< list of all lights in the scene
+    Background m_background;             ///< The background object
+    ChVector3f m_ambient_light;          ///< ambient light color used in the scene
 
     bool lights_changed;      ///< for detecting if lights changed
     bool background_changed;  ///< for detecting if background changed
@@ -274,20 +295,25 @@ class CH_SENSOR_API ChScene {
     bool m_dynamic_origin_offset;      ///< whether to dynamically change the scene origin when sensors are outside of
                                        ///< threshold
     float m_dynamic_origin_threshold;  ///< threshold to prompt moving the origin
-    ChVector3f m_origin_offset;   ///< scene origin offset from Chrono
+    ChVector3f m_origin_offset;        ///< scene origin offset from Chrono
     bool m_origin_changed;             ///< whether the origin changed since last reset
 
-    float m_fog_scattering;       ///< scattering coefficient of fog in the scene
+    float m_fog_scattering;  ///< scattering coefficient of fog in the scene
     ChVector3f m_fog_color;  ///< color of the fog in the scene
 
     std::vector<std::shared_ptr<ChBody>> m_sprites;  ///< list of sprites in the scene
     // nvdb::VolumeGVDB* m_gvdb;  // GVDB volume of the scene
     // int m_gvdb_chan;           // GVDB render channel
 
-    #ifdef USE_SENSOR_NVDB
-      float* m_fsi_points = nullptr; // Pointer to FSI particle positions in host
-      int m_num_fsi_points = 0; // Number of FSI particles
-    #endif
+#ifdef CHRONO_FSI_SPH
+    std::vector<ChFsiSphRenderSource> m_fsi_sph_sources;  ///< native FSI-SPH render sources
+    int m_next_fsi_sph_source_id = 0;                     ///< id generator for native FSI-SPH sources
+#endif
+
+#ifdef USE_SENSOR_NVDB
+    float* m_fsi_points = nullptr;  // Pointer to FSI particle positions in host
+    int m_num_fsi_points = 0;       // Number of FSI particles
+#endif
 };
 
 /// @} sensor_scene
diff --git a/src/demos/sensor/CMakeLists.txt b/src/demos/sensor/CMakeLists.txt
index 374de399a3..8ea427f4bb 100644
--- a/src/demos/sensor/CMakeLists.txt
+++ b/src/demos/sensor/CMakeLists.txt
@@ -27,6 +27,12 @@ if(CH_USE_SENSOR_OPTIX)
         demo_SEN_deformableSoil
       )
   endif()
+
+  if(CH_ENABLE_MODULE_FSI_SPH)
+      set(DEMOS ${DEMOS}
+        demo_SEN_CRM_Rendering
+      )
+  endif()
   
 endif()
 
@@ -34,6 +40,7 @@ endif()
 # Include directories, compiler flags, libraries
 
 list(APPEND LIBRARIES Chrono_core)
+list(APPEND LIBRARIES "ChronoModels_robot")
 list(APPEND LIBRARIES "Chrono_sensor")
 
 if(CH_ENABLE_MODULE_IRRLICHT)
@@ -50,6 +57,16 @@ if(CH_ENABLE_MODULE_VEHICLE)
    endif()
 endif()
 
+if(CH_ENABLE_MODULE_VSG)
+    list(APPEND LIBRARIES "Chrono_vsg")
+    if(CH_ENABLE_MODULE_VEHICLE) 
+      list(APPEND LIBRARIES "Chrono_vehicle_vsg")
+    endif()
+    if(CH_ENABLE_MODULE_FSI_SPH)
+      list(APPEND LIBRARIES "Chrono_fsisph_vsg")
+    endif()
+endif()
+
 #--------------------------------------------------------------
 # Add executables
 
diff --git a/src/demos/sensor/demo_SEN_CRM_Rendering.cpp b/src/demos/sensor/demo_SEN_CRM_Rendering.cpp
new file mode 100644
index 0000000000..ee1b6ce29a
--- /dev/null
+++ b/src/demos/sensor/demo_SEN_CRM_Rendering.cpp
@@ -0,0 +1,332 @@
+// =============================================================================
+// PROJECT CHRONO - http://projectchrono.org
+//
+// Copyright (c) 2026 projectchrono.org
+// All rights reserved.
+//
+// Use of this source code is governed by a BSD-style license that can be found
+// in the LICENSE file at the top level of the distribution and at
+// http://projectchrono.org/license-chrono.txt.
+//
+// =============================================================================
+// Author: Bocheng Zou, Radu Serban
+// =============================================================================
+//
+// Viper rover on CRM terrain (initialized from heightmap image) with sensor
+//
+// =============================================================================
+
+#include "chrono/physics/ChSystemNSC.h"
+#include "chrono/physics/ChSystemSMC.h"
+#include "chrono/input_output/ChWriterCSV.h"
+#include "chrono/assets/ChVisualSystem.h"
+
+#include "chrono_fsi/sph/ChFsiSystemSPH.h"
+
+#include "chrono_vehicle/ChVehicleDataPath.h"
+#include "chrono_models/robot/viper/Viper.h"
+
+#include "chrono_vehicle/terrain/CRMTerrain.h"
+
+#include "chrono/utils/ChUtilsCreators.h"
+#include "chrono/utils/ChUtilsGenerators.h"
+#include "chrono/utils/ChUtilsGeometry.h"
+#include "chrono/physics/ChBodyEasy.h"
+#include "chrono/physics/ChMassProperties.h"
+#include "chrono/geometry/ChTriangleMeshConnected.h"
+
+#include "chrono_fsi/sph/visualization/ChSphVisualizationVSG.h"
+
+#include "chrono_sensor/ChFsiSphRender.h"
+#include "chrono_sensor/ChSensorManager.h"
+#include "chrono_sensor/sensors/ChCameraSensor.h"
+#include "chrono_sensor/filters/ChFilterAccess.h"
+#include "chrono_sensor/filters/ChFilterVisualize.h"
+
+using namespace chrono;
+using namespace chrono::fsi;
+using namespace chrono::fsi::sph;
+using namespace chrono::viper;
+using namespace chrono::vehicle;
+using namespace chrono::sensor;
+
+using std::cout;
+using std::cin;
+using std::endl;
+
+// ===================================================================================================================
+
+// CRM terrain patch type
+enum class PatchType { RECTANGULAR, HEIGHT_MAP };
+PatchType patch_type = PatchType::HEIGHT_MAP;
+
+// Terrain dimensions (for RECTANGULAR or HEIGHT_MAP patch type)
+double terrain_length = 12;
+double terrain_width = 3;
+
+int num_meshes = 3;
+std::vector<std::shared_ptr<ChVisualShapeTriangleMesh>> regolith_meshes;  // ChVisualShapeTriangleMesh
+
+int main(int argc, char* argv[]) {
+    double density = 100;
+    double cohesion = 5e3;
+    double friction = 0.7;
+    double youngs_modulus = 0.5e5;
+    double poisson_ratio = 0.3;
+
+    double tend = 30;
+    double step_size = 5e-4;
+    ChVector3d active_box_dim(5.0, 5.0, 5.0);
+
+    bool render = true;       // use run-time visualization
+    double render_fps = 200;  // rendering FPS
+
+    bool visualization_sph = true;         // render SPH particles
+    bool visualization_bndry_bce = false;  // render boundary BCE markers
+    bool visualization_rigid_bce = false;  // render wheel BCE markers
+
+    bool verbose = true;
+
+    // Create the Chrono system and associated collision system
+    ChSystemNSC sys;
+    sys.SetCollisionSystemType(ChCollisionSystem::Type::BULLET);
+
+    // Create rover
+    cout << "Create rover..." << endl;
+    ViperWheelType wheel_type = ViperWheelType::RealWheel;
+    ChContactMaterialData wheel_mat(0.4f,   // mu
+                                    0.2f,   // cr
+                                    2e7f,   // Y
+                                    0.3f,   // nu
+                                    2e5f,   // kn
+                                    40.0f,  // gn
+                                    2e5f,   // kt
+                                    20.0f   // gt
+    );
+    ChVector3d init_loc(1.25, 0.0, 0.55);
+
+    auto driver = chrono_types::make_shared<ViperDCMotorControl>();
+    auto rover = chrono_types::make_shared<Viper>(&sys, wheel_type);
+    rover->SetDriver(driver);
+    rover->SetWheelContactMaterial(wheel_mat.CreateMaterial(sys.GetContactMethod()));
+    rover->Initialize(ChFrame<>(init_loc, QUNIT));
+
+    // Create the CRM terrain system
+    double initial_spacing = 0.02;
+    CRMTerrain terrain(sys, initial_spacing);
+    auto sysFSI = terrain.GetFsiSystemSPH();
+    auto sysSPH = terrain.GetFluidSystemSPH();
+    sysSPH->EnableCudaErrorCheck(false);
+    terrain.SetVerbose(verbose);
+    terrain.SetGravitationalAcceleration(ChVector3d(0, 0, -9.81));
+    terrain.SetStepSizeCFD(step_size);
+
+    ChFsiFluidSystemSPH::ElasticMaterialProperties mat_props;
+    mat_props.Young_modulus = youngs_modulus;
+    mat_props.Poisson_ratio = poisson_ratio;
+    mat_props.mu_I0 = 0.04;
+    mat_props.mu_fric_s = friction;
+    mat_props.mu_fric_2 = friction;
+    mat_props.average_diam = 0.005;
+    mat_props.cohesion_coeff = cohesion;
+    terrain.SetElasticSPH(mat_props);
+
+    ChFsiFluidSystemSPH::SPHParameters sph_params;
+    sph_params.integration_scheme = IntegrationScheme::RK2;
+    sph_params.initial_spacing = initial_spacing;
+    sph_params.d0_multiplier = 1.3;
+    sph_params.free_surface_threshold = 2.0;
+    sph_params.artificial_viscosity = 0.5;
+    sph_params.use_consistent_gradient_discretization = false;
+    sph_params.use_consistent_laplacian_discretization = false;
+    sph_params.viscosity_method = ViscosityMethod::ARTIFICIAL_BILATERAL;
+    sph_params.boundary_method = BoundaryMethod::ADAMI;
+    sph_params.use_variable_time_step = true;  // This makes the step size irrelevant - now we just make sure we are
+                                               // within the max of exchange_info (meta step)
+    terrain.SetSPHParameters(sph_params);
+    sysSPH->SetDensity(density);
+
+    // Set output level from SPH simulation
+    terrain.SetOutputLevel(OutputLevel::STATE);
+
+    // Add rover wheels as FSI bodies
+    cout << "Create wheel BCE markers..." << endl;
+    std::string mesh_filename = GetChronoDataFile("robot/viper/obj/viper_cylwheel.obj");
+    auto geometry = chrono_types::make_shared<utils::ChBodyGeometry>();
+    geometry->materials.push_back(ChContactMaterialData());
+    geometry->coll_meshes.push_back(utils::ChBodyGeometry::TrimeshShape(VNULL, QUNIT, mesh_filename, VNULL));
+
+    //// TODO: FIX ChFsiProblemSPH to allow rotating geometry on body!!
+    for (int i = 0; i < 4; i++) {
+        auto wheel_body = rover->GetWheels()[i]->GetBody();
+        auto yaw = (i % 2 == 0) ? QuatFromAngleZ(CH_PI) : QUNIT;
+        terrain.AddRigidBody(wheel_body, geometry, false);
+    }
+
+    terrain.SetActiveDomain(active_box_dim);
+
+    // Construct the terrain
+    cout << "Create terrain..." << endl;
+    switch (patch_type) {
+        case PatchType::RECTANGULAR:
+            // Create a rectangular terrain patch
+            terrain.Construct({terrain_length, terrain_width, 0.25},  // length X width X height
+                              ChVector3d(terrain_length / 2, 0, 0),   // patch center
+                              BoxSide::ALL & ~BoxSide::Z_POS          // all boundaries, except top
+            );
+            break;
+        case PatchType::HEIGHT_MAP:
+            // Create a patch from a height field map image
+            terrain.Construct(GetVehicleDataFile("terrain/height_maps/bump64.bmp"),  // height map image file
+                              terrain_length, terrain_width,                         // length (X) and width (Y)
+                              {0.25, 0.55},                                          // height range
+                              0.25,                                                  // depth
+                              true,                                                  // uniform depth
+                              ChVector3d(terrain_length / 2, 0, 0),                  // patch center
+                              BoxSide::Z_NEG                                         // bottom wall
+            );
+            break;
+    }
+
+    // Initialize the terrain system
+    terrain.Initialize();
+
+    auto aabb = terrain.GetSPHBoundingBox();
+    cout << "  SPH particles:     " << terrain.GetNumSPHParticles() << endl;
+    cout << "  Bndry BCE markers: " << terrain.GetNumBoundaryBCEMarkers() << endl;
+    cout << "  SPH AABB:          " << aabb.min << "   " << aabb.max << endl;
+
+    // Create run-time visualization
+    std::shared_ptr<ChVisualSystem> vis;
+    if (render) {
+        // FSI plugin
+        auto col_callback = chrono_types::make_shared<ParticleHeightColorCallback>(aabb.min.z(), aabb.max.z());
+
+        auto visFSI = chrono_types::make_shared<ChSphVisualizationVSG>(sysFSI.get());
+        visFSI->EnableFluidMarkers(visualization_sph);
+        visFSI->EnableBoundaryMarkers(visualization_bndry_bce);
+        visFSI->EnableRigidBodyMarkers(visualization_rigid_bce);
+        visFSI->SetSPHColorCallback(col_callback, ChColormap::Type::BROWN);
+
+        // VSG visual system (attach visFSI as plugin)
+        auto visVSG = chrono_types::make_shared<vsg3d::ChVisualSystemVSG>();
+        visVSG->AttachPlugin(visFSI);
+        visVSG->AttachSystem(&sys);
+        visVSG->SetWindowTitle("Viper rover on CRM deformable terrain");
+        visVSG->SetWindowSize(1280, 800);
+        visVSG->SetWindowPosition(100, 100);
+        visVSG->AddCamera(init_loc + ChVector3d(0, 6, 0.5), init_loc);
+        visVSG->SetLightIntensity(0.9f);
+
+        visVSG->Initialize();
+        vis = visVSG;
+    }
+
+    // Load regolith meshes
+    std::string mesh_name_prefix = "models/regolith/particle_";
+    for (int i = 1; i <= num_meshes; i++) {
+        auto mmesh = ChTriangleMeshConnected::CreateFromWavefrontFile(GetChronoDataFile(mesh_name_prefix + std::to_string(i) + ".obj"), false, true);
+        mmesh->Transform(ChVector3d(0, 0, 0), ChMatrix33<>(1));  // scale to a different size
+        auto trimesh_shape = std::make_shared<ChVisualShapeTriangleMesh>();
+        trimesh_shape->SetMesh(mmesh);
+        // std::cout << "OK1" << std::endl;
+        trimesh_shape->SetName("RegolithMesh" + std::to_string(i));
+        trimesh_shape->SetMutable(false);
+        regolith_meshes.push_back(trimesh_shape);
+    }
+
+    auto regolith_material = chrono_types::make_shared<ChVisualMaterial>();
+    regolith_material->SetAmbientColor({1, 1, 1});  // 0.65f,0.65f,0.65f
+    regolith_material->SetDiffuseColor({1, 1, 1});  // 0.29f, 0.29f, 0.235f
+    regolith_material->SetSpecularColor({1, 1, 1});
+    regolith_material->SetUseSpecularWorkflow(true);
+    regolith_material->SetRoughness(1.0f);
+    // regolith_material->SetBSDF((unsigned int)BSDFType::HAPKE);
+    regolith_material->SetHapkeParameters(0.32357f, 0.23955f, 0.30452f, 1.80238f, 0.07145f, 0.3f, 23.4f * (CH_PI / 180));
+    regolith_material->SetClassID(30000);
+    regolith_material->SetInstanceID(20000);
+    for (auto& mesh : regolith_meshes) {
+        if (mesh->GetNumMaterials() == 0) {
+            mesh->AddMaterial(regolith_material);
+        } else {
+            mesh->GetMaterials()[0] = regolith_material;
+        }
+    }
+
+    float intensity = 1.0;
+    auto manager = chrono_types::make_shared<ChSensorManager>(&sys);
+    manager->scene->AddPointLight({0.5, 1, 1}, {intensity, intensity, intensity}, 500);
+    manager->scene->SetAmbientLight({.1, .1, .1});
+    manager->SetVerbose(false);
+    manager->SetRayRecursions(4);
+
+    ChFsiSphRenderOptions fsi_render_options;
+    fsi_render_options.sprite_shapes.reserve(regolith_meshes.size());
+    for (const auto& mesh : regolith_meshes)
+        fsi_render_options.sprite_shapes.push_back(mesh);
+    fsi_render_options.sprite_position_jitter = ChVector3f(0.005f, 0.005f, 0.f);
+    fsi_render_options.render_particle_spacing = 0.01f;
+    manager->AttachFsiSphSystem(sysSPH, fsi_render_options);
+
+    auto floor = chrono_types::make_shared<ChBodyEasyBox>(1, 1, 1, 1000, false, false);
+    floor->SetPos({0, 0, 0});
+    floor->SetFixed(true);
+    sys.Add(floor);
+
+    chrono::ChFrame<double> offset_pose1({0.5, 1, 1}, QuatFromAngleAxis(-CH_PI_2, {0, 0, 1}));  // Q_from_AngAxis(CH_PI_4, {0, 1, 0})  //-1200, -252, 100
+    chrono::ChFrame<double> rot = chrono::ChFrame<double>(ChVector3d(0, 0, 0), QuatFromAngleAxis(60.0f / 180.0f * CH_PI, {0, 1, 0}));
+
+    auto cam = chrono_types::make_shared<ChCameraSensor>(floor,                         // body camera is attached to
+                                                         render_fps,                    // update rate in Hz
+                                                         offset_pose1 * rot,            // offset pose
+                                                         1280,                          // image width
+                                                         720,                           // image height
+                                                         1.5707963267948966,            // camera's horizontal field of view
+                                                         1,                             // super sampling factor
+                                                         CameraLensModelType::PINHOLE,  // lens model type
+                                                         false);
+    cam->PushFilter(chrono_types::make_shared<ChFilterVisualize>(1280, 720, "Third Person Camera"));
+
+    manager->AddSensor(cam);
+
+    // Start the simulation
+    double time = 0;
+    int sim_frame = 0;
+    int render_frame = 0;
+    double exchange_info = 5 * step_size;
+    while (time < tend) {
+        rover->Update();
+
+        // Run-time visualization
+        if (render && time >= render_frame / render_fps) {
+            if (!vis->Run())
+                break;
+            vis->Render();
+            render_frame++;
+        }
+        if (!render) {
+            std::cout << time << "  " << terrain.GetRtfCFD() << "  " << terrain.GetRtfMBD() << std::endl;
+        }
+
+        // Advance dynamics of multibody and fluid systems concurrently
+        terrain.DoStepDynamics(exchange_info);
+        if (time > 0) {
+            manager->Update();
+        }
+
+        time += exchange_info;
+        sim_frame++;
+    }
+    std::cout << "Saving data..." << std::endl;
+    sysSPH->SaveParticleData("particle_data");
+
+    terrain.PrintStats();
+    std::string out_dir = GetChronoOutputPath() + "ROBOT_Viper_CRM/";
+    if (!std::filesystem::create_directory(std::filesystem::path(out_dir))) {
+        std::cerr << "Error creating directory " << out_dir << std::endl;
+        return 1;
+    }
+    terrain.PrintTimeSteps(out_dir + "time_steps.txt");
+
+    return 0;
+}