Baraff Papers and Technical Reports

Here is a list of papers and technical reports that I have authored or co-authored and that are available online.
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SIGGRAPH Papers

  • 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).

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  • 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).

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  • 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).

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

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  • 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).

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  • 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).

  • Miscellaneous Papers
  • 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).

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  • 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).

  • Technical Reports
  • 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).

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  • 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).

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  • 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).

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  • 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).

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  • 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)
    postscript (pp. 57-106, 247K compressed)
    postscript (pp. 107-159, 250K compressed)
    postscript (pp. 160-189, 145K compressed, images ommitted)
    postscript (pp. 178-184 with images, 1.5M compressed)

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