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The GAMMA research group has a variety of software and models available to download.

Algebraic and Geometric Software

Cache-coherent Layout Computation

  • OpenCCL: Cache-coherent layouts of meshes and graphs

Collision Detection and Proximity Queries

  • DEEP: Dual-space expansion for estimating penetration depth
  • DEFORMCD: Collision detection for deforming objects
  • FCL: A fast collision library and its integration with ROS for use with robotic systems
  • MCCD: A library for multi-core collision detection
  • gProximity: Hierarchical GPU-based operations for collision and distance queries
  • PIVOT2D: Proximity information from Voronoi techniques
  • PQP: Fast proximity queries with swept sphere volumes
  • RAPID: Robust and accurate polygon interference detection
  • SELF-CCD: Continuous collision detection for deforming objects
  • BSC: Reliable continuous collision detection
  • SWIFT: Speedy walking via improved feature testing
  • SWIFT++: Speedy walking via improved feature testing for non-convex objects
  • V-COLLIDE: Accelerated collision detection for VRML

Crowd Simulation

  • Menge: Crowd Simulation Framework

GPGPU and Many-core Computing

  • GPUFFTW: High performance power-of-two fast Fourier transforms (FFT) using graphics processors
  • GPUSORT: High performance sorting using graphics processors
  • HAVOC3D: Fast distance field and Voronoi diagram computation using graphics hardware
  • LU-GPU: Efficient algorithms for solving dense linear systems on graphics hardware

Graphics Programming Libraries

  • GLVU: C++/OpenGL/GLUT-based viewer


Motion Planning for Single Robot or Multiple Robots/Agents

  • ITOMP Library: Realtime optimization based High-DOF planner for dynamic scenes
  • HRVO Library: Independent navigation of multiple robots or virtual agents using hybrid reciprocal velocity obstacles
  • RVO2 Library: Reciprocal collision avoidance for real-time multi-agent simulation

Physically-based Modeling, Simulation, and Animation

  • LumosQuad: Fast animation of lightning using an adaptive mesh

Sound Propagation

  • GSound: Fast sound propagation and rendering for games

Texture Encoding

  • GST: GPU-decodable Supercompressed Textures
  • FasTC: Fast Texture Compression

Cloth Simulation

  • I-Cloth: API for high-quality cloth simulation with CUDA

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