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Partitioned Dynamics
D. Baraff and A. Witkin
tech. report CMU-RI-TR-97-33, Robotics Institute, Carnegie Mellon University, 1997.

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D. Baraff and A. Witkin, Partitioned Dynamics, tech. report CMU-RI-TR-97-33, Robotics Institute, Carnegie Mellon University, 1997.

@techreport{Baraff_1997_1597,
   author = "David Baraff and Andrew Witkin",
   title = "Partitioned Dynamics",
   institution = "Robotics Institute, Carnegie Mellon University",
   year = "1997",
   number = "CMU-RI-TR-97-33",
   address = "Pittsburgh, PA"
}