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Accurately modeling contact behaviors for real-world, near-rigid materials remains a grand challenge for existing rigid-body physics simulators.
Equilibrium points of bimatrix games
C. Lemke and J. Howson · 1964
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Complementary pivot theory of mathematical programming
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Michael JD Powell · 1970
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David Baraff · 1989
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David Baraff · 1992
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A gauss-seidel like algorithm to solve frictional contact problems
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Henrik Olsson, Karl Johan Åström, Carlos Canudas De Wit, Magnus Gäfvert, and Pablo Lischinsky · 1998
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Bernard Brogliato and B Brogliato · 1999
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David Stewart and Jeffrey C Trinkle · 2000
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