@article{Geilinger_2020,
title={ADD: analytically differentiable dynamics for multi-body systems with frictional contact},
volume={39},
ISSN={1557-7368},
url={http://dx.doi.org/10.1145/3414685.3417766},
DOI={10.1145/3414685.3417766},
number={6},
journal={ACM Transactions on Graphics},
publisher={Association for Computing Machinery (ACM)},
author={Geilinger,
Moritz and Hahn,
David and Zehnder,
Jonas and Bächer,
Moritz and Thomaszewski,
Bernhard and Coros,
Stelian},
year={2020},
month=nov,
pages={1–15} }