Asynchronous Contact Mechanics David Harmon, Etienne Vouga, Breannan Smith, Rasmus Tamstorf, Eitan Grinspun, SIGGRAPH (ACM Transactions on Graphics), 2009.
@Article{CG_0152,
author = {David Harmon and Etienne Vouga and Breannan Smith and Rasmus Tamstorf and Eitan Grinspun},
title = {{A}synchronous {C}ontact {M}echanics},
journal = {SIGGRAPH (ACM Transactions on Graphics)},
volume = {28},
number = {3},
month = {Aug},
year = {2009}
}