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    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)