diff --git a/Controller.cpp b/Controller.cpp
index ed2e7d6..d3d07a4 100644
--- a/Controller.cpp
+++ b/Controller.cpp
@@ -20,6 +20,8 @@ using namespace std;
 Controller::Controller(istream& scenegraphFile, Model& m,View& v): model(m), view(v) {
   initScenegraph(scenegraphFile);
 
+  view.useRaycast = true;
+
   globalCamera = new StationaryCamera(glm::vec3(0.0, 0.0, 20.0));
   globalCamera->LookAt(glm::vec3(0.0,0.0,0.0));
   cameras.push_back(globalCamera);
diff --git a/View.cpp b/View.cpp
index 0eedfa4..e020b64 100644
--- a/View.cpp
+++ b/View.cpp
@@ -5,6 +5,7 @@
 #include "PolygonMesh.h"
 #include "TextureImage.h"
 #include "sgraph/LightAccumulator.h"
+#include "sgraph/RaycastRenderer.hpp"
 #include <cstdio>
 #include <cstdlib>
 #include <iostream>
@@ -96,6 +97,8 @@ void View::init(Callbacks *callbacks, Model& model)
     deltaTime = 0;
 
     renderer = new sgraph::GLScenegraphRenderer(modelview,objects,textureIds,shaderLocations);
+    raycastRenderer = new sgraph::RaycastRenderer(modelview,objects);
+    model.getScenegraph()->getRoot()->accept(raycastRenderer);
     
 }
 
diff --git a/View.h b/View.h
index e4a624e..7e13a71 100644
--- a/View.h
+++ b/View.h
@@ -2,6 +2,7 @@
 #define __VIEW_H__
 
 #include "../include/Light.h"
+#include "sgraph/RaycastRenderer.hpp"
 #ifndef GLFW_INCLUDE_NONE
 #define GLFW_INCLUDE_NONE
 #endif
@@ -41,6 +42,9 @@ class View
     bool shouldWindowClose();
     void closeWindow();
 
+    bool useRaycast = false;
+
+
 private: 
     void initObjects(Model& model);
     vector<glm::vec4> getLightPositions(const glm::mat4& transformation);
@@ -56,6 +60,7 @@ class View
     glm::mat4 projection;
     stack<glm::mat4> modelview;
     sgraph::SGNodeVisitor *renderer;
+    sgraph::RaycastRenderer *raycastRenderer;
     int frames;
     double time;
     double deltaTime;
diff --git a/sgraph/RaycastRenderer.hpp b/sgraph/RaycastRenderer.hpp
new file mode 100644
index 0000000..9480ff9
--- /dev/null
+++ b/sgraph/RaycastRenderer.hpp
@@ -0,0 +1,122 @@
+#ifndef _RAYCASTRENDERER_H_
+#define _RAYCASTRENDERER_H_
+
+#include "SGNodeVisitor.h"
+#include "GroupNode.h"
+#include "LeafNode.h"
+#include "TransformNode.h"
+#include "RotateTransform.h"
+#include "ScaleTransform.h"
+#include "TranslateTransform.h"
+#include <OpenGL/OpenGL.h>
+#include <ShaderProgram.h>
+#include <ShaderLocationsVault.h>
+#include "ObjectInstance.h"
+#include <stack>
+#include <iostream>
+#include <unordered_map>
+
+using namespace std;
+
+namespace sgraph {
+    /**
+     * This visitor implements drawing the scene graph using OpenGL
+     * 
+     */
+    class RaycastRenderer: public SGNodeVisitor {
+        public:
+        /**
+         * @brief Construct a new RaycastRenderer object
+         * 
+         * @param mv a reference to modelview stack that will be used while rendering
+         * @param os the map of ObjectInstance objects
+         * @param shaderLocations the shader locations for the program used to render
+         */
+        RaycastRenderer(stack<glm::mat4>& mv,map<string,util::ObjectInstance *>& os) 
+            : modelview(mv)
+            , objects(os) {
+            for (map<string,util::ObjectInstance *>::iterator it=objects.begin();it!=objects.end();it++) {
+                cout << "Mesh with name: "<< it->first << endl;
+            }
+        }
+
+        /**
+         * @brief Recur to the children for drawing
+         * 
+         * @param groupNode 
+         */
+        void visitGroupNode(GroupNode *groupNode) {
+            for (int i=0;i<groupNode->getChildren().size();i=i+1) {
+                groupNode->getChildren()[i]->accept(this);
+            }
+        }
+
+        /**
+         * @brief Draw the instance for the leaf, after passing the 
+         * modelview and color to the shader
+         * 
+         * @param leafNode 
+         */
+        void visitLeafNode(LeafNode *leafNode) {
+            
+            util::Material mat = leafNode->getMaterial();
+            
+            //send modelview matrix to GPU  
+            glm::mat4 normalmatrix = glm::inverse(glm::transpose((modelview.top())));
+
+            string name = leafNode->getInstanceOf();
+            modelviewMap.emplace(name, modelview.top());
+            normalmatrixMap.emplace(name, normalmatrix);
+        }
+
+        /**
+         * @brief Multiply the transform to the modelview and recur to child
+         * 
+         * @param transformNode 
+         */
+        void visitTransformNode(TransformNode * transformNode) {
+            modelview.push(modelview.top());
+            modelview.top() = modelview.top() * transformNode->getTransform();
+            if (transformNode->getChildren().size()>0) {
+                transformNode->getChildren()[0]->accept(this);
+            }
+            modelview.pop();
+        }
+
+        /**
+         * @brief For this visitor, only the transformation matrix is required.
+         * Thus there is nothing special to be done for each type of transformation.
+         * We delegate to visitTransformNode above
+         * 
+         * @param scaleNode 
+         */
+        void visitScaleTransform(ScaleTransform *scaleNode) {
+            visitTransformNode(scaleNode);
+        }
+
+        /**
+         * @brief For this visitor, only the transformation matrix is required.
+         * Thus there is nothing special to be done for each type of transformation.
+         * We delegate to visitTransformNode above
+         * 
+         * @param translateNode 
+         */
+        void visitTranslateTransform(TranslateTransform *translateNode) {
+            visitTransformNode(translateNode);
+        }
+
+        void visitRotateTransform(RotateTransform *rotateNode) {
+            visitTransformNode(rotateNode);
+        }
+
+        private:
+        stack<glm::mat4>& modelview;    
+        map<string,util::ObjectInstance *> objects;
+        // TODO: map<string,util::TextureImage*> textures;
+        unordered_map<string,glm::mat4> modelviewMap;
+        unordered_map<string,glm::mat4> normalmatrixMap;
+
+   };
+}
+
+#endif