Adding all source files

.gitmodules

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+[submodule "ext/eigen"]
+	path = ext/eigen
+	url = https://gitlab.com/libeigen/eigen.git
+[submodule "ext/glm"]
+	path = ext/glm
+	url = https://github.com/g-truc/glm.git
+[submodule "ext/glfw"]
+	path = ext/glfw
+	url = https://github.com/glfw/glfw.git

CMakeLists.txt

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+cmake_minimum_required( VERSION 3.0 )
+
+## Use the variable PROJECT_NAME for changing the target name
+set( PROJECT_NAME "NH_TTC" )
+
+## Set our project name
+project( ${PROJECT_NAME} )
+
+# Build GLFW
+# Also disable building some of the extra things GLFW has (examples, tests, docs)
+set(GLFW_BUILD_EXAMPLES  OFF CACHE BOOL " " FORCE)
+set(GLFW_BUILD_TESTS     OFF CACHE BOOL " " FORCE)
+set(GLFW_BUILD_DOCS      OFF CACHE BOOL " " FORCE)
+
+# Now actually run cmake on the CMakeLists.txt file found inside of the GLFW directory
+add_subdirectory(ext/glfw)
+
+include_directories( SYSTEM ext )
+include_directories( SYSTEM ext/eigen )
+include_directories( SYSTEM ext/glm )
+include_directories( SYSTEM ext/glad/include )
+include_directories( SYSTEM ext/glfw/include )
+
+add_subdirectory( ext )
+
+add_library(nativefd STATIC IMPORTED)
+if (WIN32)
+	set_target_properties(nativefd PROPERTIES IMPORTED_LOCATION ${CMAKE_CURRENT_SOURCE_DIR}/ext/nativefd/lib/nfd.lib)
+elseif(APPLE)
+	set_target_properties(nativefd PROPERTIES IMPORTED_LOCATION ${CMAKE_CURRENT_SOURCE_DIR}/ext/nativefd/lib/libnfd_osx.a)
+else()
+	set_target_properties(nativefd PROPERTIES IMPORTED_LOCATION ${CMAKE_CURRENT_SOURCE_DIR}/ext/nativefd/lib/libnfd_linux.a)
+endif()
+
+find_package( Threads REQUIRED )
+
+if(WIN32)
+	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /O2")
+else()
+	set( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3 -g -Wall -Wextra -Wpedantic -Wno-unused-parameter" )
+endif()
+
+include_directories( src )
+add_subdirectory( src )
+
+if (WIN32)
+set_property(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY VS_STARTUP_PROJECT run_nhttc)
+endif()

README.md

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+# NH-TTC: A generalized framework for anticipatory collision avoidance
+This repository hosts the companion code to the RSS 2020 paper "NH-TTC: A generalized framework for anticipatory collision avoidance".
+Within this repository is both the code for the collision avoidnace, as well as a live, graphical frontend.
+
+Please see the corresponding webpage for videos of results: http://motion.cs.umn.edu/r/NH-TTC/
+
+## Contents
+* [Building](#building)
+  * [Linux](#linux)
+  * [Windows](#windows)
+  * [OSX](#osx)
+* [Live Demo Usage](#live-demo-usage)
+
+## Building
+### Linux
+Install all required components.  On a fresh Ubuntu install:
+```
+apt install git cmake g++ xorg-dev libgtk-3-dev
+```
+
+Clone the repository and all submodules:
+```
+git clone https://github.com/davisbo/NHTTC.git
+cd NHTTC
+git submodule init
+git submodule update
+```
+
+Build the repository
+```
+mkdir build
+cd build
+cmake ..
+make
+```
+
+Run the demo
+```
+cd src/nhttc_opengl
+./run_nhttc
+```
+
+### Windows
+The windows build is set up for using CMake (https://cmake.org/) and Visual Studio (https://visualstudio.microsoft.com/)
+Once these are installed, clone the repository and all submodules:
+```
+git clone https://github.com/davisbo/NHTTC.git
+cd NHTTC
+git submodule init
+git submodule update
+```
+
+Configure and generate the project file with CMake, and then open the project file in Visual Studio.
+The code can now be compiled and run as normal.
+
+### OSX
+Ensure you have git, cmake, and the xcode dev tools installed.
+
+Clone the repository and all submodules:
+```
+git clone https://github.com/davisbo/NHTTC.git
+cd NHTTC
+git submodule init
+git submodule update
+```
+
+Build the repository
+```
+mkdir build
+cd build
+cmake ..
+make
+```
+
+Run the demo
+```
+cd src/nhttc_opengl
+./run_nhttc
+```
+
+## Live Demo Usage
+* Click and drag to move the camera.  Scroll the mouse to zoom in or out.
+* 'Space': Pauses or Resumes execution.
+* 'C': Clears all agents from the simulation.
+* 'L': Brings up a file dialog to load a scene file. The 'scenes' folder contains a variety of scenes used in the corresponding paper.
+* 'S': Brings up a file dialog to save the current agent positions and goal positions to a scene file.
+* 'R': Swaps the initial position of an agent and its goal, giving a quick way to reverse a simulation.
+* 'A': Enters adding mode
+  * First, use the scroll wheel to select and agent type.  In order they are: velocity, acceleration, differential drive, smooth differential drive, simple car, smooth car, and then non-reactive versions of each (i.e. agents that don't account for any other agents in planning). Click to lock in that agent type.
+  * Next, for any agent with orientation, move the mouse to orient the agent.  Click once the desired orientation is reached.
+  * Finally, move the mouse to the desired goal location.  Click to lock this in.
+  * Note that entering adding mode automatically pauses the simulation.

ext/CMakeLists.txt

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+add_subdirectory( glad )

ext/glad/CMakeLists.txt

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+add_library( glad src/glad.c include/glad/glad.h )
+target_link_libraries( glad ${CMAKE_DL_LIBS} )