Add tracy profiling

CHANGELOG.md

@@ -13,6 +13,9 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
   - Add option to switch between (default) double precision and float precision
   - Changed all the uses of `double` to `Scalar` in Coal
   - Fixed all the compilation warnings when compiling the library using float precision
+- Tracy profiling ([#668](https://github.com/coal-library/coal/pull/668))
+  - added cmake option `COAL_BUILD_WITH_TRACY`
+  - put tracy scoped zones in broadphase and primitive shapes collision/distance queries
 
 ## [3.0.1] - 2025-02-12
 

CMakeLists.txt

@@ -77,6 +77,11 @@ option(
   "Use float precision (32-bit) instead of the default double precision (64-bit)"
   FALSE
 )
+option(
+  COAL_BUILD_WITH_TRACY
+  "Build with tracy profiler for performance analysis"
+  FALSE
+)
 
 # Check if the submodule cmake have been initialized
 set(JRL_CMAKE_MODULES "${CMAKE_CURRENT_LIST_DIR}/cmake")
@@ -131,6 +136,7 @@ include("${JRL_CMAKE_MODULES}/boost.cmake")
 include("${JRL_CMAKE_MODULES}/python.cmake")
 include("${JRL_CMAKE_MODULES}/apple.cmake")
 include("${JRL_CMAKE_MODULES}/ide.cmake")
+include("${JRL_CMAKE_MODULES}/tracy.cmake")
 include(CMakeDependentOption)
 
 set(
@@ -165,6 +171,24 @@ cmake_dependent_option(
 
 ADD_PROJECT_DEPENDENCY(Eigen3 REQUIRED PKG_CONFIG_REQUIRES "eigen3 >= 3.0.0")
 
+# -- tracy profiling (optional)
+if(COAL_BUILD_WITH_TRACY)
+  # assume it is installed somewhere
+  ADD_PROJECT_DEPENDENCY(Tracy REQUIRED)
+  set_target_properties(
+    Tracy::TracyClient
+    PROPERTIES POSITION_INDEPENDENT_CODE True
+  )
+  if(${Tracy_FOUND})
+    message(STATUS "Tracy found on your system at ${Tracy_DIR}")
+  else()
+    message(
+      FATAL_ERROR
+      "Coal support for tracy is enabled, but tracy was not found on your system."
+    )
+  endif()
+endif(COAL_BUILD_WITH_TRACY)
+
 if(BUILD_PYTHON_INTERFACE)
   set(PYTHON_COMPONENTS Interpreter Development NumPy)
   FINDPYTHON(REQUIRED)

include/coal/contact_patch/contact_patch_solver.hxx

@@ -40,6 +40,8 @@
 #include "coal/data_types.h"
 #include "coal/shape/geometric_shapes_traits.h"
 
+#include "coal/tracy.hh"
+
 namespace coal {
 
 // ============================================================================
@@ -79,6 +81,7 @@ void ContactPatchSolver::computePatch(const ShapeType1& s1,
                                       const Transform3s& tf2,
                                       const Contact& contact,
                                       ContactPatch& contact_patch) const {
+  COAL_TRACY_ZONE_SCOPED_N("coal::ContactPatchSolver::computePatch");
   // Note: `ContactPatch` is an alias for `SupportSet`.
   // Step 1
   constructContactPatchFrameFromContact(contact, contact_patch);

include/coal/internal/shape_shape_contact_patch_func.h

@@ -43,6 +43,8 @@
 #include "coal/contact_patch/contact_patch_solver.h"
 #include "coal/shape/geometric_shapes_traits.h"
 
+#include "coal/tracy.hh"
+
 namespace coal {
 
 /// @brief Shape-shape contact patch computation.
@@ -140,6 +142,9 @@ void computePatchPlaneOrHalfspace(const OtherShapeType& s1,
                     const ContactPatchSolver* csolver,                        \
                     const ContactPatchRequest& request,                       \
                     ContactPatchResult& result) {                             \
+      COAL_TRACY_ZONE_SCOPED_N(                                               \
+          "coal::ComputeShapeShapeContactPatch<OtherShapeType, "              \
+          "PlaneOrHspace>::run");                                             \
       if (!collision_result.isCollision()) {                                  \
         return;                                                               \
       }                                                                       \
@@ -174,6 +179,9 @@ void computePatchPlaneOrHalfspace(const OtherShapeType& s1,
                     const ContactPatchSolver* csolver,                        \
                     const ContactPatchRequest& request,                       \
                     ContactPatchResult& result) {                             \
+      COAL_TRACY_ZONE_SCOPED_N(                                               \
+          "coal::ComputeShapeShapeContactPatch<PlaneOrHspace, "               \
+          "OtherShapeType>::run");                                            \
       if (!collision_result.isCollision()) {                                  \
         return;                                                               \
       }                                                                       \
@@ -255,6 +263,7 @@ void ShapeShapeContactPatch(const CollisionGeometry* o1, const Transform3s& tf1,
                             const ContactPatchSolver* csolver,
                             const ContactPatchRequest& request,
                             ContactPatchResult& result) {
+  COAL_TRACY_ZONE_SCOPED_N("coal::ShapeShapeContactPatch");
   return ComputeShapeShapeContactPatch<ShapeType1, ShapeType2>::run(
       o1, tf1, o2, tf2, collision_result, csolver, request, result);
 }

include/coal/internal/shape_shape_func.h

@@ -45,6 +45,8 @@
 #include "coal/narrowphase/narrowphase.h"
 #include "coal/shape/geometric_shapes_traits.h"
 
+#include "coal/tracy.hh"
+
 namespace coal {
 
 template <typename ShapeType1, typename ShapeType2>
@@ -93,6 +95,7 @@ Scalar ShapeShapeDistance(const CollisionGeometry* o1, const Transform3s& tf1,
                           const GJKSolver* nsolver,
                           const DistanceRequest& request,
                           DistanceResult& result) {
+  COAL_TRACY_ZONE_SCOPED_N("coal::ShapeShapeDistance");
   return ShapeShapeDistancer<ShapeType1, ShapeType2>::run(
       o1, tf1, o2, tf2, nsolver, request, result);
 }
@@ -169,6 +172,7 @@ std::size_t ShapeShapeCollide(const CollisionGeometry* o1,
                               const Transform3s& tf2, const GJKSolver* nsolver,
                               const CollisionRequest& request,
                               CollisionResult& result) {
+  COAL_TRACY_ZONE_SCOPED_N("coal::ShapeShapeCollide");
   return ShapeShapeCollider<ShapeType1, ShapeType2>::run(
       o1, tf1, o2, tf2, nsolver, request, result);
 }

src/CMakeLists.txt

@@ -254,6 +254,11 @@ if(COAL_USE_FLOAT_PRECISION)
   target_compile_definitions(${LIBRARY_NAME} PUBLIC COAL_USE_FLOAT_PRECISION)
 endif()
 
+if(COAL_BUILD_WITH_TRACY)
+  target_compile_definitions(${LIBRARY_NAME} PUBLIC COAL_TRACY_ENABLE)
+  target_link_libraries(${LIBRARY_NAME} PUBLIC Tracy::TracyClient)
+endif()
+
 if(WIN32)
   target_link_libraries(
     ${LIBRARY_NAME}

src/broadphase/broadphase_SSaP.cpp

@@ -36,6 +36,7 @@
 /** @author Jia Pan */
 
 #include "coal/broadphase/broadphase_SSaP.h"
+#include "coal/tracy.hh"
 
 namespace coal {
 
@@ -200,6 +201,9 @@ bool SSaPCollisionManager::checkDis(
 //==============================================================================
 void SSaPCollisionManager::collide(CollisionObject* obj,
                                    CollisionCallBackBase* callback) const {
+  COAL_TRACY_ZONE_SCOPED_N(
+      "coal::SSaPCollisionManager::collide(CollisionObject*, "
+      "CollisionCallBackBase*)");
   callback->init();
   if (size() == 0) return;
 
@@ -253,6 +257,9 @@ bool SSaPCollisionManager::collide_(CollisionObject* obj,
 //==============================================================================
 void SSaPCollisionManager::distance(CollisionObject* obj,
                                     DistanceCallBackBase* callback) const {
+  COAL_TRACY_ZONE_SCOPED_N(
+      "coal::SSaPCollisionManager::distance(CollisionObject*, "
+      "DistanceCallBackBase*)");
   callback->init();
   if (size() == 0) return;
 
@@ -400,6 +407,8 @@ int SSaPCollisionManager::selectOptimalAxis(
 
 //==============================================================================
 void SSaPCollisionManager::collide(CollisionCallBackBase* callback) const {
+  COAL_TRACY_ZONE_SCOPED_N(
+      "coal::SSaPCollisionManager::collide(CollisionCallBackBase*)");
   callback->init();
   if (size() == 0) return;
 
@@ -447,6 +456,8 @@ void SSaPCollisionManager::collide(CollisionCallBackBase* callback) const {
 
 //==============================================================================
 void SSaPCollisionManager::distance(DistanceCallBackBase* callback) const {
+  COAL_TRACY_ZONE_SCOPED_N(
+      "coal::SSaPCollisionManager::distance(DistanceCallBackBase*)");
   callback->init();
   if (size() == 0) return;
 
@@ -462,6 +473,9 @@ void SSaPCollisionManager::distance(DistanceCallBackBase* callback) const {
 //==============================================================================
 void SSaPCollisionManager::collide(BroadPhaseCollisionManager* other_manager_,
                                    CollisionCallBackBase* callback) const {
+  COAL_TRACY_ZONE_SCOPED_N(
+      "coal::SSaPCollisionManager::collide(BroadPhaseCollisionManager*, "
+      "CollisionCallBackBase*)");
   callback->init();
   SSaPCollisionManager* other_manager =
       static_cast<SSaPCollisionManager*>(other_manager_);
@@ -487,6 +501,9 @@ void SSaPCollisionManager::collide(BroadPhaseCollisionManager* other_manager_,
 //==============================================================================
 void SSaPCollisionManager::distance(BroadPhaseCollisionManager* other_manager_,
                                     DistanceCallBackBase* callback) const {
+  COAL_TRACY_ZONE_SCOPED_N(
+      "coal::SSaPCollisionManager::distance(BroadPhaseCollisionManager*, "
+      "DistanceCallBackBase*)");
   callback->init();
   SSaPCollisionManager* other_manager =
       static_cast<SSaPCollisionManager*>(other_manager_);

src/broadphase/broadphase_SaP.cpp

@@ -36,6 +36,7 @@
 /** @author Jia Pan */
 
 #include "coal/broadphase/broadphase_SaP.h"
+#include "coal/tracy.hh"
 
 namespace coal {
 
@@ -575,6 +576,9 @@ void SaPCollisionManager::removeFromOverlapPairs(const SaPPair& p) {
 //==============================================================================
 void SaPCollisionManager::collide(CollisionObject* obj,
                                   CollisionCallBackBase* callback) const {
+  COAL_TRACY_ZONE_SCOPED_N(
+      "coal::SaPCollisionManager::collide(CollisionObject*, "
+      "CollisionCallBackBase*)");
   callback->init();
   if (size() == 0) return;
 
@@ -676,6 +680,9 @@ bool SaPCollisionManager::distance_(CollisionObject* obj,
 //==============================================================================
 void SaPCollisionManager::distance(CollisionObject* obj,
                                    DistanceCallBackBase* callback) const {
+  COAL_TRACY_ZONE_SCOPED_N(
+      "coal::SaPCollisionManager::distance(CollisionObject*, "
+      "DistanceCallBackBase*)");
   callback->init();
   if (size() == 0) return;
 
@@ -686,6 +693,8 @@ void SaPCollisionManager::distance(CollisionObject* obj,
 
 //==============================================================================
 void SaPCollisionManager::collide(CollisionCallBackBase* callback) const {
+  COAL_TRACY_ZONE_SCOPED_N(
+      "coal::SaPCollisionManager::collide(CollisionCallBackBase*)");
   callback->init();
   if (size() == 0) return;
 
@@ -700,6 +709,8 @@ void SaPCollisionManager::collide(CollisionCallBackBase* callback) const {
 
 //==============================================================================
 void SaPCollisionManager::distance(DistanceCallBackBase* callback) const {
+  COAL_TRACY_ZONE_SCOPED_N(
+      "coal::SaPCollisionManager::distance(DistanceCallBackBase*)");
   callback->init();
   if (size() == 0) return;
 
@@ -719,6 +730,9 @@ void SaPCollisionManager::distance(DistanceCallBackBase* callback) const {
 //==============================================================================
 void SaPCollisionManager::collide(BroadPhaseCollisionManager* other_manager_,
                                   CollisionCallBackBase* callback) const {
+  COAL_TRACY_ZONE_SCOPED_N(
+      "coal::SaPCollisionManager::collide(BroadPhaseCollisionManager*, "
+      "CollisionCallBackBase*)");
   callback->init();
   SaPCollisionManager* other_manager =
       static_cast<SaPCollisionManager*>(other_manager_);
@@ -746,6 +760,9 @@ void SaPCollisionManager::collide(BroadPhaseCollisionManager* other_manager_,
 //==============================================================================
 void SaPCollisionManager::distance(BroadPhaseCollisionManager* other_manager_,
                                    DistanceCallBackBase* callback) const {
+  COAL_TRACY_ZONE_SCOPED_N(
+      "coal::SaPCollisionManager::distance(BroadPhaseCollisionManager*, "
+      "DistanceCallBackBase*)");
   callback->init();
   SaPCollisionManager* other_manager =
       static_cast<SaPCollisionManager*>(other_manager_);

src/broadphase/broadphase_bruteforce.cpp

@@ -39,6 +39,7 @@
 
 #include <iterator>
 #include <algorithm>
+#include "coal/tracy.hh"
 
 namespace coal {
 
@@ -86,6 +87,9 @@ void NaiveCollisionManager::getObjects(
 //==============================================================================
 void NaiveCollisionManager::collide(CollisionObject* obj,
                                     CollisionCallBackBase* callback) const {
+  COAL_TRACY_ZONE_SCOPED_N(
+      "coal::NaiveCollisionManager::collide(CollisionObject*, "
+      "CollisionCallBackBase*)");
   callback->init();
   if (size() == 0) return;
 
@@ -97,6 +101,9 @@ void NaiveCollisionManager::collide(CollisionObject* obj,
 //==============================================================================
 void NaiveCollisionManager::distance(CollisionObject* obj,
                                      DistanceCallBackBase* callback) const {
+  COAL_TRACY_ZONE_SCOPED_N(
+      "coal::NaiveCollisionManager::distance(CollisionObject*, "
+      "DistanceCallBackBase*)");
   callback->init();
   if (size() == 0) return;
 
@@ -110,6 +117,8 @@ void NaiveCollisionManager::distance(CollisionObject* obj,
 
 //==============================================================================
 void NaiveCollisionManager::collide(CollisionCallBackBase* callback) const {
+  COAL_TRACY_ZONE_SCOPED_N(
+      "coal::NaiveCollisionManager::collide(CollisionCallBackBase*)");
   callback->init();
   if (size() == 0) return;
 
@@ -128,6 +137,8 @@ void NaiveCollisionManager::collide(CollisionCallBackBase* callback) const {
 
 //==============================================================================
 void NaiveCollisionManager::distance(DistanceCallBackBase* callback) const {
+  COAL_TRACY_ZONE_SCOPED_N(
+      "coal::NaiveCollisionManager::distance(CollisionCallBackBase*)");
   callback->init();
   if (size() == 0) return;
 
@@ -148,6 +159,9 @@ void NaiveCollisionManager::distance(DistanceCallBackBase* callback) const {
 //==============================================================================
 void NaiveCollisionManager::collide(BroadPhaseCollisionManager* other_manager_,
                                     CollisionCallBackBase* callback) const {
+  COAL_TRACY_ZONE_SCOPED_N(
+      "coal::NaiveCollisionManager::collide(BroadPhaseCollisionManager*, "
+      "CollisionCallBackBase*)");
   callback->init();
   NaiveCollisionManager* other_manager =
       static_cast<NaiveCollisionManager*>(other_manager_);
@@ -171,6 +185,9 @@ void NaiveCollisionManager::collide(BroadPhaseCollisionManager* other_manager_,
 //==============================================================================
 void NaiveCollisionManager::distance(BroadPhaseCollisionManager* other_manager_,
                                      DistanceCallBackBase* callback) const {
+  COAL_TRACY_ZONE_SCOPED_N(
+      "coal::NaiveCollisionManager::distance(BroadPhaseCollisionManager*, "
+      "DistanceCallBackBase*)");
   callback->init();
   NaiveCollisionManager* other_manager =
       static_cast<NaiveCollisionManager*>(other_manager_);