1. Homepage of the Leibnitz Computing Center Munich: http://www.lrz-muenchen.de/services/compute/hlrb/hardware/hardware.html
2. Homepage of the Open Dynamics Engine (ODE): http://www.ode.org/
3. Homepage of the OpenTissue simulation framework: http://www.opentissue.org
4. Anitescu, M.: Optimization-based simulation of nonsmooth rigid multibody dynamics. Math. Program. 105(1), 113–143 (2006)
5. Cottle, R.W., Pang, J.S., Stone, R.E.: The Linear Complementarity Problem. Academic Press, San Diego (1992)