@ARTICLE{Deul2014,
  author = {Deul, Crispin and Charrier, Patrick and Bender, Jan},
  title = {Position-Based Rigid Body Dynamics},
  journal = {Computer Animation and Virtual Worlds},
  year = {2014},
  doi = {10.1002/cav.1614},
  issn = {1546-427X},
  volume = {27},
  number = {2},
  pages = {103--112},
  keywords = {real time, rigid-body dynamics, two-way coupling, position-based dynamics},
  publisher = {John Wiley \& Sons, Ltd},
  url = {http://dx.doi.org/10.1002/cav.1614}
}