diff --git a/.github/workflows/bench.yml b/.github/workflows/bench.yml
new file mode 100644
index 00000000..e4407c9e
--- /dev/null
+++ b/.github/workflows/bench.yml
@@ -0,0 +1,88 @@
+name: Bench
+on:
+  pull_request:
+    branches: [ main ]
+  push:
+    branches: [ main ]
+
+env:
+  RUST_NIGHTLY_TOOLCHAIN: nightly-2024-12-18
+  RUSTFLAGS: -Clinker=/usr/bin/clang -Clink-arg=--ld-path=/usr/local/bin/mold -Ctarget-cpu=native -Zshare-generics=y -Zthreads=0
+
+jobs:
+  export:
+    if: github.event_name == 'push' && github.ref == 'refs/heads/main'
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        benchmark: [ general ] # Add your benchmarks here
+    steps:
+      - uses: actions/checkout@v4
+      - uses: rui314/setup-mold@v1
+      - name: Install cargo-export
+        uses: taiki-e/install-action@v2
+        with:
+          tool: cargo-export
+      - uses: dtolnay/rust-toolchain@master
+        with:
+          toolchain: ${{ env.RUST_NIGHTLY_TOOLCHAIN }}
+      - uses: Swatinem/rust-cache@v2
+      - name: Run cargo export
+        run: cargo export target/benchmarks -- bench --bench=${{ matrix.benchmark }}
+      - name: Upload Artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: bench_${{ matrix.benchmark }}
+          path: target/benchmarks/${{ matrix.benchmark }}
+
+  compare:
+    if: github.event_name == 'pull_request' && github.base_ref == 'main'
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        benchmark: [ general ] # Add your benchmarks here
+    permissions:
+      pull-requests: write
+    steps:
+      - uses: actions/checkout@v4
+      - name: Download Artifact
+        id: download
+        uses: dawidd6/action-download-artifact@v3
+        continue-on-error: true
+        with:
+          commit: ${{ github.event.pull_request.base.sha }}
+          name: bench_${{ matrix.benchmark }}
+          path: /tmp/bench/
+      - uses: rui314/setup-mold@v1
+      - uses: dtolnay/rust-toolchain@master
+        with:
+          toolchain: ${{ env.RUST_NIGHTLY_TOOLCHAIN }}
+      - uses: Swatinem/rust-cache@v2
+      - name: Run cargo bench
+        if: steps.download.outcome == 'success'
+        run: cargo bench --bench=${{ matrix.benchmark }} -- compare /tmp/bench/${{ matrix.benchmark }} > bench_output_${{ matrix.benchmark }}.txt
+      - name: remove /tmp/bench
+        if: steps.download.outcome == 'success'
+        run: rm -rf /tmp/bench
+      - name: Post benchmark results as PR comment
+        if: steps.download.outcome == 'success'
+        uses: actions/github-script@v6
+        with:
+          script: |
+            const fs = require('fs');
+            const path = `bench_output_${{ matrix.benchmark }}.txt`;
+            const output = fs.readFileSync(path, 'utf8');
+            const originalSha = context.payload.pull_request.base.sha;
+            
+            const issue_number = context.issue.number;
+            if(issue_number) {
+              const comment = {
+                owner: context.repo.owner,
+                repo: context.repo.repo,
+                issue_number: issue_number,
+                body: `### Benchmark Results for ${{ matrix.benchmark }}\n\`\`\`\n${output}\`\`\`\n\nComparing to ${originalSha}`,
+              };
+              await github.rest.issues.createComment(comment);
+            } else {
+              console.log('This action must be run in the context of a pull request');
+            }
\ No newline at end of file
diff --git a/Cargo.lock b/Cargo.lock
index ded22629..297183eb 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -175,6 +175,15 @@ dependencies = [
  "equator",
 ]
 
+[[package]]
+name = "alloca"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e5a7d05ea6aea7e9e64d25b9156ba2fee3fdd659e34e41063cd2fc7cd020d7f4"
+dependencies = [
+ "cc",
+]
+
 [[package]]
 name = "allocator-api2"
 version = "0.2.21"
@@ -1210,6 +1219,15 @@ dependencies = [
  "windows-sys 0.59.0",
 ]
 
+[[package]]
+name = "colorz"
+version = "1.1.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6ceb37c5798821e37369cb546f430f19da2f585e0364c9615ae340a9f2e6067b"
+dependencies = [
+ "supports-color",
+]
+
 [[package]]
 name = "com"
 version = "0.6.0"
@@ -2287,7 +2305,9 @@ dependencies = [
  "approx",
  "glam",
  "ordered-float",
+ "rand",
  "serde",
+ "tango-bench",
 ]
 
 [[package]]
@@ -2355,6 +2375,12 @@ version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d2fabcfbdc87f4758337ca535fb41a6d701b65693ce38287d856d1674551ec9b"
 
+[[package]]
+name = "glob-match"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9985c9503b412198aa4197559e9a318524ebc4519c229bfa05a535828c950b9d"
+
 [[package]]
 name = "glow"
 version = "0.13.1"
@@ -2445,6 +2471,17 @@ dependencies = [
  "gl_generator",
 ]
 
+[[package]]
+name = "goblin"
+version = "0.7.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f27c1b4369c2cd341b5de549380158b105a04c331be5db9110eef7b6d2742134"
+dependencies = [
+ "log",
+ "plain",
+ "scroll",
+]
+
 [[package]]
 name = "gpu-alloc"
 version = "0.6.0"
@@ -3307,6 +3344,12 @@ dependencies = [
  "windows-sys 0.52.0",
 ]
 
+[[package]]
+name = "is_ci"
+version = "1.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7655c9839580ee829dfacba1d1278c2b7883e50a277ff7541299489d6bdfdc45"
+
 [[package]]
 name = "is_terminal_polyfill"
 version = "1.70.1"
@@ -4476,6 +4519,12 @@ version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "953ec861398dccce10c670dfeaf3ec4911ca479e9c02154b3a215178c5f566f2"
 
+[[package]]
+name = "plain"
+version = "0.2.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b4596b6d070b27117e987119b4dac604f3c58cfb0b191112e24771b2faeac1a6"
+
 [[package]]
 name = "plist"
 version = "1.7.0"
@@ -5239,6 +5288,26 @@ version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49"
 
+[[package]]
+name = "scroll"
+version = "0.11.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "04c565b551bafbef4157586fa379538366e4385d42082f255bfd96e4fe8519da"
+dependencies = [
+ "scroll_derive",
+]
+
+[[package]]
+name = "scroll_derive"
+version = "0.11.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1db149f81d46d2deba7cd3c50772474707729550221e69588478ebf9ada425ae"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.91",
+]
+
 [[package]]
 name = "sctk-adwaita"
 version = "0.10.1"
@@ -5587,6 +5656,15 @@ version = "2.6.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "13c2bddecc57b384dee18652358fb23172facb8a2c51ccc10d74c157bdea3292"
 
+[[package]]
+name = "supports-color"
+version = "3.0.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c64fc7232dd8d2e4ac5ce4ef302b1d81e0b80d055b9d77c7c4f51f6aa4c867d6"
+dependencies = [
+ "is_ci",
+]
+
 [[package]]
 name = "syn"
 version = "1.0.109"
@@ -5728,6 +5806,27 @@ dependencies = [
  "valence_server",
 ]
 
+[[package]]
+name = "tango-bench"
+version = "0.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "257822358c6f206fed78bfe6369cf959063b0644d70f88df6b19f2dadc93423e"
+dependencies = [
+ "alloca",
+ "anyhow",
+ "clap",
+ "colorz",
+ "glob-match",
+ "goblin",
+ "libloading",
+ "log",
+ "num-traits",
+ "rand",
+ "scroll",
+ "tempfile",
+ "thiserror 1.0.69",
+]
+
 [[package]]
 name = "tap"
 version = "1.0.1"
diff --git a/Cargo.toml b/Cargo.toml
index 728d2ec4..03d6defc 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -109,6 +109,7 @@ serde_json = '1.0.117'
 slotmap = '1.0.7'
 snafu = '0.8.5'
 syn = '2.0.87'
+tango-bench = "0.6.0"
 tar = '0.4.41'
 thiserror = '2.0.7'
 tikv-jemallocator = '0.6.0'
diff --git a/crates/geometry/Cargo.toml b/crates/geometry/Cargo.toml
index fd2d76b8..0cd9d9ef 100644
--- a/crates/geometry/Cargo.toml
+++ b/crates/geometry/Cargo.toml
@@ -13,6 +13,12 @@ ordered-float = "4.5.0"
 
 [dev-dependencies]
 approx = { workspace = true }
+rand = { workspace = true }
+tango-bench = { workspace = true }
 
 [lints]
 workspace = true
+
+[[bench]]
+name = "general"
+harness = false
diff --git a/crates/geometry/benches/general.rs b/crates/geometry/benches/general.rs
new file mode 100644
index 00000000..8c245677
--- /dev/null
+++ b/crates/geometry/benches/general.rs
@@ -0,0 +1,176 @@
+use std::hint::black_box;
+
+use geometry::{aabb::Aabb, ray::Ray};
+use glam::Vec3;
+use rand::{Rng, SeedableRng, rngs::SmallRng};
+use tango_bench::{
+    DEFAULT_SETTINGS, IntoBenchmarks, MeasurementSettings, benchmark_fn, tango_benchmarks,
+    tango_main,
+};
+
+// Helper function to generate random AABBs
+fn random_aabb(rng: &mut SmallRng) -> Aabb {
+    let x = rng.gen_range(-10.0..10.0);
+    let y = rng.gen_range(-10.0..10.0);
+    let z = rng.gen_range(-10.0..10.0);
+
+    let width = rng.gen_range(0.1..5.0);
+    let height = rng.gen_range(0.1..5.0);
+    let depth = rng.gen_range(0.1..5.0);
+
+    Aabb::new(
+        Vec3::new(x, y, z),
+        Vec3::new(x + width, y + height, z + depth),
+    )
+}
+
+// Helper function to generate random rays
+fn random_ray(rng: &mut SmallRng) -> Ray {
+    let origin = Vec3::new(
+        rng.gen_range(-15.0..15.0),
+        rng.gen_range(-15.0..15.0),
+        rng.gen_range(-15.0..15.0),
+    );
+
+    // Generate random direction and normalize
+    let direction = Vec3::new(
+        rng.gen_range(-1.0..1.0),
+        rng.gen_range(-1.0..1.0),
+        rng.gen_range(-1.0..1.0),
+    )
+    .normalize();
+
+    Ray::new(origin, direction)
+}
+
+fn ray_intersection_benchmarks() -> impl IntoBenchmarks {
+    let mut benchmarks = Vec::new();
+
+    // Test different AABB sizes
+    for &size in &[0.1, 1.0, 10.0] {
+        benchmarks.push(benchmark_fn(
+            format!("ray_intersection/aabb_size_{size}"),
+            move |b| {
+                let mut rng = SmallRng::seed_from_u64(b.seed);
+                let aabb = Aabb::new(Vec3::new(-size, -size, -size), Vec3::new(size, size, size));
+                b.iter(move || {
+                    let ray = random_ray(&mut rng);
+                    black_box(aabb.intersect_ray(&ray))
+                })
+            },
+        ));
+    }
+
+    // Test rays from different positions
+    for &distance in &[1.0, 5.0, 20.0] {
+        benchmarks.push(benchmark_fn(
+            format!("ray_intersection/ray_distance_{distance}"),
+            move |b| {
+                let aabb = Aabb::new(Vec3::new(-1.0, -1.0, -1.0), Vec3::new(1.0, 1.0, 1.0));
+                b.iter(move || {
+                    let origin = Vec3::new(distance, 0.0, 0.0);
+                    let ray = Ray::new(origin, -origin.normalize());
+                    black_box(aabb.intersect_ray(&ray))
+                })
+            },
+        ));
+    }
+
+    benchmarks
+}
+
+fn overlap_benchmarks() -> impl IntoBenchmarks {
+    let mut benchmarks = Vec::new();
+
+    // Test different overlap scenarios
+    benchmarks.push(benchmark_fn("overlap/no_overlap", move |b| {
+        let mut rng = SmallRng::seed_from_u64(b.seed);
+        let aabb1 = Aabb::new(Vec3::ZERO, Vec3::ONE);
+        b.iter(move || {
+            let aabb2 = random_aabb(&mut rng).move_by(Vec3::new(2.0, 2.0, 2.0));
+            black_box(Aabb::overlap(&aabb1, &aabb2))
+        })
+    }));
+
+    benchmarks.push(benchmark_fn("overlap/partial_overlap", move |b| {
+        let mut rng = SmallRng::seed_from_u64(b.seed);
+        let aabb1 = Aabb::new(Vec3::ZERO, Vec3::ONE);
+        b.iter(move || {
+            let aabb2 = random_aabb(&mut rng).move_by(Vec3::new(0.5, 0.5, 0.5));
+            black_box(Aabb::overlap(&aabb1, &aabb2))
+        })
+    }));
+
+    benchmarks.push(benchmark_fn("overlap/full_containment", move |b| {
+        let mut rng = SmallRng::seed_from_u64(b.seed);
+        let aabb1 = Aabb::new(Vec3::splat(-2.0), Vec3::splat(2.0));
+        b.iter(move || {
+            let aabb2 = random_aabb(&mut rng);
+            black_box(Aabb::overlap(&aabb1, &aabb2))
+        })
+    }));
+
+    benchmarks
+}
+
+fn point_containment_benchmarks() -> impl IntoBenchmarks {
+    let mut benchmarks = Vec::new();
+
+    benchmarks.push(benchmark_fn("point_containment/inside", move |b| {
+        let mut rng = SmallRng::seed_from_u64(b.seed);
+        let aabb = Aabb::new(Vec3::splat(-1.0), Vec3::splat(1.0));
+        b.iter(move || {
+            let point = Vec3::new(
+                rng.gen_range(-0.9..0.9),
+                rng.gen_range(-0.9..0.9),
+                rng.gen_range(-0.9..0.9),
+            );
+            black_box(aabb.contains_point(point))
+        })
+    }));
+
+    benchmarks.push(benchmark_fn("point_containment/outside", move |b| {
+        let mut rng = SmallRng::seed_from_u64(b.seed);
+        let aabb = Aabb::new(Vec3::splat(-1.0), Vec3::splat(1.0));
+        b.iter(move || {
+            let point = Vec3::new(
+                rng.gen_range(1.1..2.0),
+                rng.gen_range(1.1..2.0),
+                rng.gen_range(1.1..2.0),
+            );
+            black_box(aabb.contains_point(point))
+        })
+    }));
+
+    benchmarks.push(benchmark_fn("point_containment/boundary", move |b| {
+        let mut rng = SmallRng::seed_from_u64(b.seed);
+        let aabb = Aabb::new(Vec3::splat(-1.0), Vec3::splat(1.0));
+        b.iter(move || {
+            // Generate points very close to the boundary
+            let point = Vec3::new(
+                rng.gen_range(-1.001..1.001),
+                rng.gen_range(-1.001..1.001),
+                rng.gen_range(-1.001..1.001),
+            );
+            black_box(aabb.contains_point(point))
+        })
+    }));
+
+    benchmarks
+}
+
+// Custom settings for more stable results
+const SETTINGS: MeasurementSettings = MeasurementSettings {
+    min_iterations_per_sample: 1000,
+    cache_firewall: Some(64), // 64KB cache firewall
+    yield_before_sample: true,
+    randomize_stack: Some(4096), // 4KB stack randomization
+    ..DEFAULT_SETTINGS
+};
+
+tango_benchmarks!(
+    ray_intersection_benchmarks(),
+    overlap_benchmarks(),
+    point_containment_benchmarks()
+);
+tango_main!(SETTINGS);
diff --git a/crates/geometry/build.rs b/crates/geometry/build.rs
new file mode 100644
index 00000000..a79d6753
--- /dev/null
+++ b/crates/geometry/build.rs
@@ -0,0 +1,5 @@
+fn main() {
+    // for tango-bench
+    println!("cargo:rustc-link-arg-benches=-rdynamic");
+    println!("cargo:rerun-if-changed=build.rs");
+}