Sources referenced within the multibody constraint documentation.

• [Anitescu 1997] M. Anitescu and F. Potra. Formulating Dynamic Multi-Rigid-Body Contact Problems with Friction as Solvable Linear Complementarity Problems. Nonlinear Dynamics, 14, pp. 231-247. 1997.
• [Ascher 1995] U. Ascher, H. Chin, L. Petzold, and S. Reich. Stabilization of constrained mechanical systems with DAEs and invariant manifolds. J. Mech. Struct. Machines, 23, pp. 135-158. 1995.
• [Ascher 1998] U. Ascher and L. Petzold. Computer Methods for Ordinary Differential Equations and Differential Algebraic Equations. SIAM, Philadelphia. 1998.
• [Baumgarte 1972] J. Baumgarte. Stabilization of constraints and integrals of motion in dynamical systems. Comp. Math. Appl. Mech. Engr., 1, pp. 1-16. 1972.
• [Catto 2011] E. Catto. Soft Constraints: Reinventing the Spring. Game Developers Conference presentation, 2011.
• [Cottle 1992] R. Cottle, J-S. Pang, and R. Stone. The Linear Complementarity Problem. Academic Press, Boston. 1992.
• [Hairer 1996] E. Hairer and G. Wanner. Solving ordinary differential equations II: stiff and differential algebraic problems, 2nd ed. Springer-Verlag, Berlin. 1996.
• [Lacoursiere 2007] C. Lacoursière. Ghosts and Machines: Regularized Variational Methods for Interactive Simulations of Multibodies with Dry Frictional Contacts. Umeå University. 2007.
• [Pfeiffer 1996] F. Pfeiffer and C. Glocker. Multibody Dynamics with Unilateral Contacts, John Wiley & Sons, New York. 1996.
• [Sciavicco 2000] L. Sciavicco and B. Siciliano. Modeling and Control of Robot Manipulators, 2nd ed. Springer-Verlag, London. 2000.