@article{Wang2019,
  author = {Wang, Ying and Weidner, Nicholas J. and Baxter, Margaret A. and Hwang, Yura and Kaufman, Danny M. and Sueda, Shinjiro},
  title = {\textsc{RedMax}: Efficient \& Flexible Approach for Articulated Dynamics},
  year = {2019},
  issue_date = {July 2019},
  publisher = {ACM},
  address = {New York, NY, USA},
  volume = {38},
  number = {4},
  issn = {0730-0301},
  url = {https://doi.org/10.1145/3306346.3322952},
  doi = {10.1145/3306346.3322952},
  journal = {{ACM} Trans.\ Graph.},
  month = jul,
  articleno = {104},
  numpages = {10},
  keywords = {friction, rigid body dynamics, physical simulation, constraints, contact}
}