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Kharevych, L. and Wei, W. and Tong, Y. et al. (2006) Geometric, Variational Integrators for Computer Animation. In: Computer animation 2006 : ACM SIGGRAPH / Eurographics Symposium Proceedings : Vienna, Austria September 2 - 4, 2006. Eurographics Association , Aire-la-Ville, Switzerland, pp. 43-51. ISBN 9783905673340 http://resolver.caltech.edu/CaltechAUTHORS:20101005-093706360

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