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Zoran Kacic-Alesic, Marcus Nordenstam, David Bullock. A practical dynamics system. In Rick Parent, Karan Singh, David E. Breen, Ming C. Lin, editors, Proceedings of the 2003 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, San Diego, CA, USA, July 26-27, 2003. pages 7-16, The Eurographics Association, 2003. [doi]

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