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homepages/91/1350 journals/tog/BaraffWK03 journals/cgf/SmithWB01 conf/graphicsinterface/SmithWB00 conf/vr/FrohlichTBAB00 conf/icra/BerkelmanHB99 conf/siggraph/BaraffW98 journals/algorithmica/BaraffMK97 conf/siggraph/Baraff96 conf/siggraph/HaradaWB95 conf/icra/MattikalliBK94 conf/siggraph/Baraff94 journals/algorithmica/Baraff93 conf/siggraph/BaraffW92 conf/siggraph/Baraff91 conf/siggraph/Baraff90 conf/siggraph/Baraff89
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