A Versatile Quaternion-Based Constrained Rigid Body Dynamics

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Guirec Maloisel, Ruben Grandia, Christian Schumacher, Espen Knoop, Moritz Bächer

Published: 2025, Last Modified: 23 Jan 2026ACM Trans. Graph. 2025EveryoneRevisionsBibTeXCC BY-SA 4.0