@inproceedings{Kaufman:2005:SIGGRAPHSKETCHES,
  author = {Danny M. Kaufman and Timothy Edmunds and Dinesh K. Pai},
  title = {Implementation of Fast Frictional Dynamics for Rigid Bodies},
  booktitle = {{SIGGRAPH}~'05: {ACM} {SIGGRAPH} 2005 Sketches},
  year = {2005},
  pages = {78},
  location = {Los Angeles, California},
  doi = {10.1145/1187112.1187205},
  publisher = {ACM Press},
  address = {New York, NY, USA}
}