Graphics enhanced version of this site

David Baraff
Associate Professor (Adjunct)

No longer a member of RI.

For more information, see my personal homepage.

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My research interests lie in realistic physical modeling of contacting and colliding objects for computer graphics, virtual environments, robotics, and animation. Topics of interest for this problem include contact and constraint modeling, collision detection and modeling friction and contact phenomena. I am interested in both offline simulation, in which highly complex systems can be simulated at non-realtime speeds, and also in online, interactive simulations such as those required for virtual environments.

computer graphics

• Computer Graphics Lab - Modeling, animation, and rendering of 3-D scenes

• Rapid Design Through Virtual and Physical Prototyping - Rapid design and generation of parts and assemblies

• Fast and Controllable Simulation of the Shattering of Brittle Objects
  J. Smith, A. Witkin, and D. Baraff
  Computer Graphics Forum, Vol. 20, No. 2, June, 2001, pp. 81-90. [Abstract]
  Download: pdf [5977 KB] copyrighted

• Fast and Controllable Simulation of the Shattering of Brittle Objects
  J. Smith, A. Witkin, and D. Baraff
  Graphics Interface, May, 2000. [Abstract]

• Interaction with a Realtime Dynamic Environment Simulation using a Magnetic Levitation Haptic Interface Device
  P. Berkelman, R. Hollis, and D. Baraff
  IEEE International Conference on Robotics and Automation, May, 1999, pp. 3261 - 3266.
  Download: pdf [480 KB], ps.gz [748 KB] copyrighted

• Large Steps in Cloth Simulation
  D. Baraff and A. Witkin
  Computer Graphics Proceedings, Annual Conference Series, SIGGRAPH, 1998, pp. 43-54.
  Download: pdf [255 KB] copyrighted

• Partitioned Dynamics
  D. Baraff and A. Witkin
  tech. report CMU-RI-TR-97-33, Robotics Institute, Carnegie Mellon University, 1997.
  Download: pdf [292 KB] copyrighted

• Linear-Time Dynamics using Lagrange Multipliers
  D. Baraff
  tech. report CMU-RI-TR-95-44, Robotics Institute, Carnegie Mellon University, January, 1996. [Abstract]
  Download: pdf [113 KB], ps.gz [128 KB], ps.z [158 KB] copyrighted

• Linear-time dynamics using Lagrange multipliers
  D. Baraff
  Computer Graphics Proceedings, 1996, pp. 137-146.
  Download: pdf [162 KB] copyrighted

• Gravitational Stability of Frictionless Assemblies
  R. Mattikalli, D. Baraff, P. Khosla, and B. Repetto
  IEEE Trans. on Robotics and Automation, Vol. 11, No. 3, June, 1995, pp. 374-388. [Abstract]
  Download: pdf [1322 KB] copyrighted

• Finding All Stable Orientations of Assemblies with Friction
  R. Mattikalli, D. Baraff, and P. Khosla
  IEEE Trans. on Robotics and Automation, 1995.

• Interactive physically-based manipulation of discrete/continuous models
  M. Harada, A. Witkin, and D. Baraff
  Computer Graphics Proceedings, 1995, pp. 199-208.
  Download: pdf [187 KB], ps.gz [249 KB], ps.z [483 KB] copyrighted