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Publications, David Baraff

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• 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

• Interactive simulation of solid rigid bodies
  D. Baraff
  IEEE Computer Graphics and Applications, Vol. 15, 1995, pp. 63 - 75.

• Minimal Fixturing of Frictionless Assemblies: Complexity and Algorithms
  D. Baraff, R. Mattikalli, and P. Khosla
  Algorithmica, Special issue on Computational Geometry in Manufacturing, 1995.
  Download: pdf [948 KB] copyrighted

• Physically based manipulation of discrete/continuous models
  M. Harada, A. Witkin, and D. Baraff
  Computer Graphics (Proc. SIGGRAPH '95), 1995.
  Download: pdf [119 KB], ps.gz [149 KB], ps.z [230 KB] copyrighted

• Finding all gravitationally stable orientations of assemblies
  R. Mattikalli, D. Baraff, and P. Khosla
  International Conference on Robotics and Automation, IEEE, May, 1994, pp. 251 - 257. [Abstract]
  Download: pdf [298 KB], ps.gz [137 KB], ps.z [206 KB] copyrighted

• Minimal Fixturing of Frictionless Assemblies: Complexity and Algorithms
  D. Baraff, R. Mattikalli, and P. Khosla
  tech. report CMU-RI-TR-94-08, Robotics Institute, Carnegie Mellon University, April, 1994. [Abstract]
  Download: pdf [221 KB], ps.gz [137 KB] copyrighted

• Fast contact force computation for nonpenetrating rigid bodies
  D. Baraff
  Computer Graphics Proceedings, 1994, pp. 23-34.
  Download: pdf [292 KB] copyrighted

• Non-penetrating rigid body simulation
  D. Baraff
  State of the Art Reports, Eurographics '93, September, 1993.
  Download: pdf [176 KB] copyrighted

• Stability of Assemblies
  P. Khosla, B. Repetto, and D. Baraff
  Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, July, 1993, pp. 652-661.
  Download: pdf [97 KB], ps.gz [103 KB], ps.z [147 KB] copyrighted

• Finding Stable Orientations of Assemblies with Linear Programming
  D. Baraff, R. Mattikalli, B. Repetto, and P. Khosla
  tech. report CMU-RI-TR-93-13, Robotics Institute, Carnegie Mellon University, June, 1993. [Abstract]
  Download: pdf [109 KB], ps.gz [65 KB] copyrighted

• Impending Motion Direction of Contacting Rigid Bodies
  D. Baraff and R. Mattikalli
  tech. report CMU-RI-TR-93-15, Robotics Institute, Carnegie Mellon University, June, 1993. [Abstract]
  Download: pdf [93 KB], ps.gz [61 KB] copyrighted

• Dynamic simulation of non-penetrating flexible bodies
  D. Baraff and A. Witkin
  Computer Graphics (Proc. SIGGRAPH '92), Vol. 26, 1992, pp. 303-308.
  Download: pdf [107 KB], ps.gz [150 KB], ps.z [191 KB] copyrighted

• Coping with friction for non-penetrating rigid body simulation
  D. Baraff
  Computer Graphics, Vol. 25, No. 4, 1991, pp. 31-40.
  Download: pdf [118 KB] copyrighted

• Curved surfaces and coherence for non-penetrating rigid body simulation
  D. Baraff
  Computer Graphics, Vol. 24, No. 4, 1990, pp. 19-28.
  Download: pdf [138 KB] copyrighted

• Analytical methods for dynamic simulation of non-penetrating rigid bodies
  D. Baraff
  Computer Graphics, Vol. 23, No. 3, 1989, pp. 223-232.
  Download: pdf [115 KB] copyrighted