Add BVH acceleration for ray picking

src/CMakeLists.txt

@@ -27,6 +27,12 @@ include_directories(BEFORE
   "${PROJECT_BINARY_DIR}/data"
 )
 
+# Tracy profiler integration (optional, propagates to all OBJECT libraries)
+if(COIN_USE_TRACY)
+  add_definitions(-DTRACY_ENABLE -DCOIN_USE_TRACY)
+  include_directories("${COIN_TRACY_INCLUDE_DIR}")
+endif()
+
 # add include dirs for non targets
 if(NOT "${COIN_TARGET_INCLUDE_DIRECTORIES}" STREQUAL "")
   include_directories(${COIN_TARGET_INCLUDE_DIRECTORIES})
@@ -264,6 +270,20 @@ target_include_directories(${PROJECT_NAME}
     $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include>
 )
 target_link_libraries(${PROJECT_NAME} PRIVATE ${COIN_TARGET_LINK_LIBRARIES})
+
+# Tracy profiler integration (optional)
+# Use -undefined dynamic_lookup on macOS so Tracy symbols are resolved lazily
+# at runtime. When loaded by FreeCAD (TracyClient present), profiling is active.
+# When loaded by pivy standalone, CoinTracyConfig.h's runtime check via dlsym
+# detects TracyClient's absence and disables zones.
+if(COIN_USE_TRACY)
+  target_include_directories(${PROJECT_NAME} PRIVATE "${COIN_TRACY_INCLUDE_DIR}")
+  target_compile_definitions(${PROJECT_NAME} PRIVATE TRACY_ENABLE COIN_USE_TRACY)
+  if(APPLE)
+    target_link_options(${PROJECT_NAME} PRIVATE "-undefined" "dynamic_lookup")
+  endif()
+endif()
+
 if(NOT COIN_BUILD_MAC_FRAMEWORK)
   target_include_directories(${PROJECT_NAME} INTERFACE $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
 endif()

src/CoinTracyConfig.h

@@ -0,0 +1,11 @@
+#ifndef COIN_TRACY_CONFIG_H
+#define COIN_TRACY_CONFIG_H
+
+#ifdef COIN_USE_TRACY
+#include <tracy/Tracy.hpp>
+#define CoinZoneScopedN(name) ZoneScopedN(name)
+#else
+#define CoinZoneScopedN(x)
+#endif
+
+#endif // COIN_TRACY_CONFIG_H

src/actions/SoHandleEventAction.cpp

@@ -49,6 +49,8 @@
 
 #include <Inventor/actions/SoHandleEventAction.h>
 
+#include "CoinTracyConfig.h"
+
 #include <Inventor/SbViewportRegion.h>
 #include <Inventor/events/SoEvent.h>
 #include <Inventor/elements/SoSwitchElement.h>
@@ -61,6 +63,7 @@
 #include <Inventor/misc/SoState.h>
 
 #include "actions/SoSubActionP.h"
+#include "caches/SoSceneBVH.h"
 
 // *************************************************************************
 
@@ -357,6 +360,7 @@ SoHandleEventAction::getPickedPoint(void)
 const SoPickedPointList &
 SoHandleEventAction::getPickedPointList(void)
 {
+  CoinZoneScopedN("SoHandleEventAction::getPickedPointList");
   SoRayPickAction * ra = PRIVATE(this)->getPickAction();
   if (!PRIVATE(this)->pickvalid || !PRIVATE(this)->didpickall) {
     ra->setPickAll(TRUE);
@@ -411,10 +415,20 @@ SoHandleEventActionP::getPickAction(void) const
 void
 SoHandleEventActionP::doPick(SoRayPickAction * ra)
 {
+  CoinZoneScopedN("SoHandleEventAction::doPick");
   if (!this->event || !this->pickroot) return;
 
   SbBool didapply = FALSE;
   ra->setPoint(this->event->getPosition());
+
+  // Scene-level BVH: set the active BVH for SoShape::rayPick() to use.
+  // On first pick: shapes collect their world-space bboxes.
+  // On subsequent picks: the first shape triggers a BVH query to populate
+  // the candidate set, then all shapes self-filter.
+  SoSceneBVH * sceneBVH = SoSceneBVH::getForRoot(this->pickroot);
+  SoSceneBVH::setCollecting(sceneBVH);
+  SoSceneBVH::setActiveCandidates(NULL);  // reset from previous pick
+
   if (this->owner->getWhatAppliedTo() == SoAction::PATH) {
     const SoPath * path = this->owner->getPathAppliedTo();
     if (path->getHead() == this->pickroot) {
@@ -436,6 +450,14 @@ SoHandleEventActionP::doPick(SoRayPickAction * ra)
     }
   }
   if (!didapply) ra->apply(this->pickroot);
+
+  SoSceneBVH::setCollecting(NULL);
+
+  // Build scene BVH from collected shapes (first pick only)
+  if (sceneBVH && !sceneBVH->isBuilt() && sceneBVH->numShapes() > 0) {
+    sceneBVH->build();
+  }
+
   this->didpickall = ra->isPickAll();
   this->pickvalid = TRUE;
 }

src/caches/CMakeLists.txt

@@ -1,6 +1,9 @@
 # source files
 set(COIN_CACHES_FILES
 	SoBoundingBoxCache.cpp
+	SoBVHCache.cpp
+	SoChildBVH.cpp
+	SoSceneBVH.cpp
 	SoCache.cpp
 	SoConvexDataCache.cpp
 	SoGLCacheList.cpp
@@ -15,6 +18,12 @@ set(COIN_CACHES_FILES
 
 # Files excluded from public API documentation, included in complete documentation.
 set(COIN_CACHES_INTERNAL_FILES
+	SoBVHCache.h
+	SoBVHCache.cpp
+	SoChildBVH.h
+	SoChildBVH.cpp
+	SoSceneBVH.h
+	SoSceneBVH.cpp
 	SoGlyphCache.h
 	SoGlyphCache.cpp
 	SoShaderProgramCache.h