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Categories and Subject Descriptors (according to ACM CCS): A.1 Introductory and Survey, I.3.7 Three-DimensionalGraphics and Realism (1)
Categories and Subject Descriptors (according to ACM CCS): Computer Graphics [I.3.5]: Computational Geometryand Object Modeling-; Image Processing And Computer Vision [I.4.6]: Segmentation-; Image Processing AndComputer Vision [I.4.8]: Scene Analysis (1)
Categories and Subject Descriptors (according to ACM CCS): I.3.3 [Computer Graphics]: Picture/ImageGeneration-Volume Rendering (1)
Categories and Subject Descriptors (according to ACM CCS): I.3.6 [Computer Graphics]: Methodology andTechniques-I.3.8 [Computer Graphics]: Applications (1)
Categories and Subject Descriptors (according to ACM CCS): Models and Principles [H.1.2]: User/MachineSystems-Human Factors (1)
Keywords: Rigid Body Dynamics, Contact Mechanics, Articulated Bodies, Jointed Mechanisms, Contact PointGeneration, Iterative Methods; Categories and Subject Descriptors (according to ACM CCS): Computer Graphics [I.3.5]: Computational Geometryand Object Modeling-Physically-based modeling; Computer Graphics [I.3.7]: Three-Dimensional Graphics andRealism-Animation; Mathematics of Computing [G.1.6]: Numerical Analysis-Nonlinear programming (1)