Baraff Papers and Technical Reports

SIGGRAPH Papers

• D. Baraff and A. Witkin. Large Steps in Cloth Simulation. Computer Graphics Proceedings, Annual Conference Series: 43-54, 1998 Adobe Acrobat (PDF) (12 pages, 255K).

D. Baraff. Linear-time dynamics using Lagrange multipliers. Computer Graphics Proceedings, Annual Conference Series: 137-146, 1996. Adobe Acrobat (PDF) (10 pages, 162K).

Typographical errors in printed proceedings.
 

M. Harada, A. Witkin and D. Baraff. Interactive physically-based manipulation of discrete/continuous models. Computer Graphics Proceedings, Annual Conference Series: 199-208, 1995. postscript (with B/W images) (10 pages, 231K compressed) or postscript (with color images) (10 pages, 484K compressed).

 

D. Baraff. Fast contact force computation for nonpenetrating rigid bodies. Computer Graphics Proceedings, Annual Conference Series: 23-34, 1994. Adobe Acrobat (PDF) (12 pages, 292K).

 

D. Baraff and A. Witkin. Dynamic simulation of non-penetrating flexible bodies. Computer Graphics 26(2): 303-308, 1992. Adobe Acrobat (PDF) (10 pages, 138K).

 

D. Baraff. Coping with friction for non-penetrating rigid body simulation. Computer Graphics 25(4): 31-40, 1991. Adobe Acrobat (PDF) (10 pages, 119K).

 

D. Baraff. Curved surfaces and coherence for non-penetrating rigid body simulation. Computer Graphics 24(4): 19-28, 1990. Adobe Acrobat (PDF) (10 pages, 139K).

 

D. Baraff. Analytical methods for dynamic simulation of non-penetrating rigid bodies. Computer Graphics 23(3): 223-232, 1989. Adobe Acrobat (PDF) (10 pages, 110K).

R. Mattikalli, D. Baraff and P. Khosla, Finding all gravitationally stable orientations of assemblies, in International Conference on Robotics and Automation, 1994. postscript (7 pages, 207K compressed).

 

D. Baraff. Non-penetrating rigid body simulation, in State of the Art Reports, Eurographics '93, Barcelona, Spain, September 1993. Adobe Acrobat (PDF) (24 pages, 177K).

D. Baraff and A. Witkin, Partitioned Dynamics, Technical Report CMU-RI-TR-97-33, Robotics Institute, Carnegie Mellon University, 1997. Adobe Acrobat (PDF) (14 pages, 293K).

Note: this report is available only online. A revised version of this report will appear in Journal of Graphics Tools.
 

D. Baraff, Linear-Time Dynamics using Lagrange Multipliers, Technical Report CMU-RI-TR-95-44, Robotics Institute, Carnegie Mellon University, 1996. Note: this report, previously available only online, is superceded by the SIGGRAPH paper of the same title (see above on this page, under the SIGGRAPH section).

 

D. Baraff, R. Mattikalli and P. Khosla, Minimal Fixturing of Frictionless Assemblies: Complexity and Algorithms, Technical Report CMU-RI-TR-94-08, Robotics Institute, Carnegie Mellon University, 1994. Adobe Acrobat (PDF) (42 pages, 397K).

 

D. Baraff and R. Mattikalli, Impending Motion Direction of Contacting Rigid Bodies, Technical Report CMU-RI-TR-93-15, Robotics Institute, Carnegie Mellon University, 1993. postscript (20 pages, 90K compressed).

 

D. Baraff, R. Mattikalli, B. Repetto, and P. Khosla, Finding Stable Orientations of Assemblies with Linear Programming, Technical Report CMU-RI-TR-93-13, Robotics Institute, Carnegie Mellon University, 1993. postscript (20 pages, 101K compressed).

 

D. Baraff, Dynamic Simulation of Non-Penetrating Rigid Bodies, (Ph. D thesis), Technical Report 92-1275, Computer Science Department, Cornell University, 1992.

postscript (pp. 1-56, 279K compressed)

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postscript (pp. 160-189, 145K compressed, images ommitted)

postscript (pp. 178-184 with images, 1.5M compressed)