ADD: BVH Selection triangle

src/scene/camera.h

@@ -20,7 +20,7 @@ public:
     bool rmbDown { false };
 
     // Field of view in degrees for projection
-    float fovDegrees { 70.f };
+    float fovDegrees { 50.f };
 
     glm::mat4 getViewMatrix();
     glm::mat4 getRotationMatrix();

src/scene/mesh_bvh.cpp

@@ -58,10 +58,14 @@ std::unique_ptr<MeshBVH> build_mesh_bvh(const MeshAsset &mesh,
             const glm::vec3 &p1 = vertices[i1].position;
             const glm::vec3 &p2 = vertices[i2].position;
 
+            // BVH2 now expects triangle primitives with explicit vertices.
+            // Store the triangle in mesh-local space and let the library
+            // compute/update the AABB used for hierarchy construction.
             PrimitiveF prim{};
-            prim.bounds.expand(Vec3<float>(p0.x, p0.y, p0.z));
-            prim.bounds.expand(Vec3<float>(p1.x, p1.y, p1.z));
-            prim.bounds.expand(Vec3<float>(p2.x, p2.y, p2.z));
+            prim.v0 = Vec3<float>(p0.x, p0.y, p0.z);
+            prim.v1 = Vec3<float>(p1.x, p1.y, p1.z);
+            prim.v2 = Vec3<float>(p2.x, p2.y, p2.z);
+            prim.updateBounds();
             result->primitives.push_back(prim);
 
             MeshBVHPrimitiveRef ref{};
@@ -144,4 +148,3 @@ bool intersect_ray_mesh_bvh(const MeshBVH &bvh,
 
     return true;
 }
-

src/scene/vk_loader.h

@@ -21,7 +21,7 @@ enum class BoundsType : uint8_t
     Box,        // oriented box using origin/extents (default)
     Sphere,     // sphere using origin + sphereRadius
     Capsule,    // capsule aligned with local Y (derived from extents)
-    Mesh        // full mesh (BVH / ray query); currently falls back to Box
+    Mesh        // full mesh (BVH / ray query using mesh BVH when available)
 };
 
 struct Bounds

src/scene/vk_scene.cpp

@@ -149,7 +149,9 @@ void SceneManager::update_scene()
         return m;
     };
 
-    const float fov = glm::radians(70.f);
+    // Keep projection FOV in sync with the camera so that CPU ray picking
+    // matches what is rendered on-screen.
+    const float fov = glm::radians(mainCamera.fovDegrees);
     const float aspect = (float) _context->getSwapchain()->windowExtent().width /
                          (float) _context->getSwapchain()->windowExtent().height;
     const float nearPlane = 0.1f;

src/scene/vk_scene_picking.cpp

@@ -89,15 +89,21 @@ namespace
             return false;
         }
 
-        float tHit = (tMin >= 0.0f) ? tMin : tMax;
-        glm::vec3 localHit = localOrigin + tHit * localDir;
-        glm::vec3 worldHit = glm::vec3(worldTransform * glm::vec4(localHit, 1.0f));
-
-        if (glm::dot(worldHit - rayOrigin, rayDir) <= 0.0f)
+        // Choose the closest intersection in front of the ray origin.
+        // If the ray starts inside the box (tMin <= 0), use the exit point tMax.
+        float tHit = tMin;
+        if (tHit <= 0.0f)
+        {
+            tHit = tMax;
+        }
+        if (tHit <= 0.0f)
         {
             return false;
         }
 
+        glm::vec3 localHit = localOrigin + tHit * localDir;
+        glm::vec3 worldHit = glm::vec3(worldTransform * glm::vec4(localHit, 1.0f));
+
         outWorldHit = worldHit;
         return true;
     }