1. Baraff D., Dynamic simulation of non-penetrating rigid bodies, Ph.D. Thesis 92-1275, Cornell University, March 1992.
2. Baraff D. Linear-time dynamics using Lagrange multipliers, Technical Report CMU-RI-TR-95-44, Carnegie Mellon University, January 1996.
3. Bouma W., Vanêçek G., Contact Analysis in a Physically Based Simulation, ACM Symposium on solid Modeling and Applications, Montreal, Canada, May 1993.
4. Buck M., Grebner K., Katterfeldt H., Modeling and Interaction Tools for Virtual Environments, Proceedings of the VR World 96, Stuttgart, Germany, 1996.
5. Cremer J.F., Stewart A.J., The Architecture of Newton, a general-purpose dynamic simulator, IEEE International Conference of Robotics and Automation, pp. 1806-1811, 1989.