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Linear-time dynamics using Lagrange multipliers
D. Baraff
Computer Graphics Proceedings, 1996, pp. 137-146.

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D. Baraff, "Linear-time dynamics using Lagrange multipliers," Computer Graphics Proceedings, 1996, pp. 137-146.

@inproceedings{Baraff_1996_1589,
   author = "David Baraff",
   title = "Linear-time dynamics using Lagrange multipliers",
   booktitle = "Computer Graphics Proceedings",
   year = "1996",
   pages = "137-146"
}