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A Time-independent Deformer for Elastic-rigid Contacts:

Brunel, Camille ; Bénard, Pierre ; Guennebaud, Gaël.
Proceedings of the ACM on Computer Graphics and Interactive Techniques.  3 (2020)  1 - p. 1-21 , 2020
Link: https://dl.acm.org/doi/10.1145/3384539