Software

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

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
Model synthesis
Polygon Triangulation: Fast polygon triangulation based on Seidel's algorithm

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
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
Efficient BVH-based GPU Collision Detection

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

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