ipc-sim · zfergus · May 6, 2026 · May 6, 2026 · May 7, 2026
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -82,6 +82,7 @@ option(IPC_TOOLKIT_WITH_ABSEIL                "Use Abseil's hash functions"
 option(IPC_TOOLKIT_WITH_FILIB                 "Use filib for interval arithmetic"              ON)
 option(IPC_TOOLKIT_WITH_INEXACT_CCD           "Use the original inexact CCD method of IPC"    OFF)
 option(IPC_TOOLKIT_WITH_PROFILER              "Enable performance profiler"                   OFF)
+option(IPC_TOOLKIT_WITH_TRACY                 "Enable Tracy frame profiler"                   OFF)
 
 # Advanced options
 option(IPC_TOOLKIT_WITH_CODE_COVERAGE         "Enable coverage reporting"                     OFF)
@@ -250,6 +251,12 @@ if(IPC_TOOLKIT_WITH_PROFILER)
   target_link_libraries(ipc_toolkit PUBLIC nlohmann_json::nlohmann_json)
 endif()
 
+# Tracy profiler
+if(IPC_TOOLKIT_WITH_TRACY)
+  include(tracy)
+  target_link_libraries(ipc_toolkit PUBLIC Tracy::TracyClient)
+endif()
+
 # Extra warnings (link last for highest priority)
 include(ipc_toolkit_warnings)
 target_link_libraries(ipc_toolkit PRIVATE ipc::toolkit::warnings)

diff --git a/cmake/recipes/tracy.cmake b/cmake/recipes/tracy.cmake
@@ -0,0 +1,17 @@
+# Tracy (https://github.com/wolfpld/tracy)
+# License: BSD-3-Clause
+if(TARGET Tracy::TracyClient)
+    return()
+endif()
+
+message(STATUS "Third-party: creating target 'Tracy::TracyClient'")
+
+include(CPM)
+CPMAddPackage(
+    URI "gh:wolfpld/tracy@0.13.1"
+    OPTIONS
+      "TRACY_ENABLE ${IPC_TOOLKIT_WITH_TRACY}"
+      "TRACY_ON_DEMAND ON"
+)
+
+set_target_properties(TracyClient PROPERTIES FOLDER "ThirdParty")
diff --git a/docs/source/_static/graphviz/dependencies.dot b/docs/source/_static/graphviz/dependencies.dot
@@ -84,4 +84,7 @@ digraph "IPC Toolkit Dependencies" {
     // ipc_toolkit -> nlohmann_json
     "node14" [label = "nlohmann_json\n(nlohmann_json::nlohmann_json)";shape = box;style = "rounded,filled";fillcolor = "#FFE6CC";color = "#DAA52D";];
     "node5" -> "node14" [color = "#8FB976";];
+    // ipc_toolkit -> tracy
+    "node16" [label = "TracyClient\n(Tracy::TracyClient)";shape = box;style = "rounded,filled";fillcolor = "#D5E8D4";color = "#8FB976";];
+    "node5" -> "node16" [color = "#8FB976";];
 }
diff --git a/docs/source/_static/graphviz/dependencies.svg b/docs/source/_static/graphviz/dependencies.svg
diff --git a/docs/source/about/dependencies.rst b/docs/source/about/dependencies.rst
@@ -93,6 +93,12 @@ Additionally, IPC Toolkit may optionally use the following libraries:
       - `github.com/nlohmann/json <https://github.com/nlohmann/json>`_
       - |:white_large_square:|
       - ``IPC_TOOLKIT_WITH_PROFILER``
+    * - Tracy
+      - Frame profiler
+      - BSD-3-Clause
+      - `github.com/wolfpld/tracy <https://github.com/wolfpld/tracy>`_
+      - |:white_large_square:|
+      - ``IPC_TOOLKIT_WITH_TRACY``
     * - rational-cpp
       - Rational arithmetic used for exact intersection checks (requires `GMP <https://gmplib.org>`_ to be installed at a system level)
       - MIT

diff --git a/src/ipc/config.hpp.in b/src/ipc/config.hpp.in
@@ -20,6 +20,7 @@
 #cmakedefine IPC_TOOLKIT_WITH_ABSEIL
 #cmakedefine IPC_TOOLKIT_WITH_FILIB
 #cmakedefine IPC_TOOLKIT_WITH_PROFILER
+#cmakedefine IPC_TOOLKIT_WITH_TRACY
 // #define IPC_TOOLKIT_DEBUG_AUTODIFF
 
 namespace ipc {

diff --git a/src/ipc/potentials/potential.cpp b/src/ipc/potentials/potential.cpp
@@ -40,7 +40,7 @@ double Potential<TCollisions>::operator()(
     Eigen::ConstRef<Eigen::MatrixXd> X) const
 {
     assert(X.rows() == mesh.num_vertices());
-    IPC_TOOLKIT_PROFILE_BLOCK(this->name() + "::operator()");
+    IPC_TOOLKIT_PROFILE_BLOCK("Potential<T>::operator()");
 
     return tbb::parallel_reduce(
         tbb::blocked_range<size_t>(size_t(0), collisions.size()), 0.0,
@@ -63,7 +63,7 @@ Eigen::VectorXd Potential<TCollisions>::gradient(
     Eigen::ConstRef<Eigen::MatrixXd> X) const
 {
     assert(X.rows() == mesh.num_vertices());
-    IPC_TOOLKIT_PROFILE_BLOCK(this->name() + "::gradient()");
+    IPC_TOOLKIT_PROFILE_BLOCK("Potential<T>::gradient()");
 
     if (collisions.empty()) {
         return Eigen::VectorXd::Zero(X.size());
@@ -74,7 +74,7 @@ Eigen::VectorXd Potential<TCollisions>::gradient(
     tbb::combinable<Eigen::VectorXd> grad(Eigen::VectorXd::Zero(X.size()));
 
     {
-        IPC_TOOLKIT_PROFILE_BLOCK("compute local gradients");
+        IPC_TOOLKIT_PROFILE_BLOCK("Compute Local Gradients");
         tbb::parallel_for(size_t(0), collisions.size(), [&](size_t i) {
             const TCollision& collision = collisions[i];
 
@@ -88,7 +88,7 @@ Eigen::VectorXd Potential<TCollisions>::gradient(
     }
 
     {
-        IPC_TOOLKIT_PROFILE_BLOCK("combine local gradients");
+        IPC_TOOLKIT_PROFILE_BLOCK("Combine Local Gradients");
         return grad.combine([](const Eigen::VectorXd& a,
                                const Eigen::VectorXd& b) { return a + b; });
     }
@@ -102,7 +102,7 @@ Eigen::SparseMatrix<double> Potential<TCollisions>::hessian(
     const PSDProjectionMethod project_hessian_to_psd) const
 {
     assert(X.rows() == mesh.num_vertices());
-    IPC_TOOLKIT_PROFILE_BLOCK(this->name() + "::hessian()");
+    IPC_TOOLKIT_PROFILE_BLOCK("Potential<T>::hessian()");
 
     if (collisions.empty()) {
         return Eigen::SparseMatrix<double>(X.size(), X.size());
@@ -129,15 +129,15 @@ Eigen::SparseMatrix<double> Potential<TCollisions>::hessian(
 
             MatrixMaxNd local_hess;
             {
-                IPC_TOOLKIT_PROFILE_BLOCK("compute local hessian");
+                IPC_TOOLKIT_PROFILE_BLOCK("Compute Local Hessian");
                 local_hess = this->hessian(
                     collision, collision.dof(X, edges, faces),
                     project_hessian_to_psd);
             }
 
             {
                 IPC_TOOLKIT_PROFILE_BLOCK(
-                    "map local hessian to global triplets");
+                    "Map Local Hessian to Global Triplets");
                 local_hessian_to_global_triplets(
                     local_hess, collision.vertex_ids(edges, faces), dim,
                     *(hess_triplets.cache), mesh.num_vertices());
@@ -152,7 +152,7 @@ Eigen::SparseMatrix<double> Potential<TCollisions>::hessian(
     // storage
 
     {
-        IPC_TOOLKIT_PROFILE_BLOCK("prune local storages");
+        IPC_TOOLKIT_PROFILE_BLOCK("Prune Local Storages");
         tbb::parallel_for_each(
             storage.begin(), storage.end(),
             [](const auto& local_storage) { local_storage.cache->prune(); });
@@ -188,13 +188,13 @@ Eigen::SparseMatrix<double> Potential<TCollisions>::hessian(
 
     // Allocate triplets
     {
-        IPC_TOOLKIT_PROFILE_BLOCK("allocate triplets");
+        IPC_TOOLKIT_PROFILE_BLOCK("Allocate Triplets");
         triplets.resize(triplet_count);
     }
 
     // Parallel copy into triplets
     {
-        IPC_TOOLKIT_PROFILE_BLOCK("parallel copy into triplets");
+        IPC_TOOLKIT_PROFILE_BLOCK("Parallel Copy into Triplets");
         tbb::parallel_for(size_t(0), storage.size(), [&](size_t i) {
             const SparseMatrixCache& cache =
                 dynamic_cast<const SparseMatrixCache&>(
@@ -214,7 +214,7 @@ Eigen::SparseMatrix<double> Potential<TCollisions>::hessian(
 
     // Sort and assemble
     {
-        IPC_TOOLKIT_PROFILE_BLOCK("assemble hessian from triplets");
+        IPC_TOOLKIT_PROFILE_BLOCK("Assemble Hessian from Triplets");
         hess.setFromTriplets(triplets.begin(), triplets.end());
     }
 

diff --git a/src/ipc/utils/profiler.hpp b/src/ipc/utils/profiler.hpp
@@ -2,6 +2,15 @@
 
 #include <ipc/config.hpp>
 
+#ifdef IPC_TOOLKIT_WITH_TRACY
+#include <tracy/Tracy.hpp>
+#else
+// Empty macro to avoid compilation errors when Tracy is not enabled.
+#define ZoneScopedN(name) ((void)0)
+#endif
+
+#include <string>
+
 #ifdef IPC_TOOLKIT_WITH_PROFILER
 
 // clang-format off
@@ -22,7 +31,8 @@
 
 #define IPC_TOOLKIT_PROFILE_BLOCK(...)                                         \
     ipc::ProfilePoint IPC_TOOLKIT_PROFILE_BLOCK_CONCAT(                        \
-        __ipc_profile_point_, __COUNTER__)(__VA_ARGS__)
+        __ipc_profile_point_, __COUNTER__)(__VA_ARGS__);                       \
+    ZoneScopedN(__VA_ARGS__)
 
 namespace ipc {
 
@@ -132,6 +142,7 @@ template <class Timer = ChronoTimer> class ProfilePoint {
 
 #else
 
-#define IPC_TOOLKIT_PROFILE_BLOCK(...)
+// Custom profiler disabled: Tracy zone only.
+#define IPC_TOOLKIT_PROFILE_BLOCK(...) ZoneScopedN(__VA_ARGS__)
 
 #endif