Software

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

• Algebraic and Geometric Software
• Cache-coherent Layout Computation
• Collision Detection and Proximity Queries
• Crowd Simulation
• GPGPU and Many-core Computing
• Graphics Programming Libraries
• Models
• Motion Planning for Single Robot or Multiple Robots/Agents
• Physically-based Modeling, Simulation, and Animation
• Sound Propagation
• Texture Encoding

Algebraic and Geometric Software

• BOOLE: Constructive solid geometry (CSG) models into boundary representation (B-rep) form
• Fast back-face culling using normal masks
• IK: Inverse kinematics code for serial manipulators
• MAPC: Efficient and exact manipulation of algebraic points and curves
• MARS: Maple/MATLAB/C resultant-based solver
• Polygon Triangulation: Fast polygon triangulation based on Seidel’s algorithm

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

Models

• Dynamic benchmarks
• Industrial: Industrial and CAD models (static scenes)

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