@inproceedings{Kaufman:2005:SIGGRAPH,
  author = {Danny M. Kaufman and Timothy Edmunds and Dinesh K. Pai},
  title = {Fast Frictional Dynamics for Rigid Bodies},
  booktitle = {{SIGGRAPH}~'05: {ACM} {SIGGRAPH} 2005 Papers},
  year = {2005},
  pages = {946--956},
  location = {Los Angeles, California},
  doi = {10.1145/1186822.1073295},
  publisher = {{ACM} Press},
  address = {New York, NY, USA}
}