I agree with you and I feel it's remiss to not point out a lot of the groundwork by Baraff was done at Carnegie Mellon University prior to his joining Pixar. I,

I agree with you and I feel it's remiss to not point out a lot of the groundwork by Baraff was done at Carnegie Mellon University prior to his joining Pixar. I, like many others used his work and papers with Witkin from CMU as the basis of rigid body simulation in the nineties.