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Adaptive merging for rigid body simulation:

Coevoet, Eulalie ; Benchekroun, Otman ; Kry, Paul G.
ACM Transactions on Graphics (TOG).  39 (2020)  4 - p. 35:1-35:13 , 2020
Link: https://dl.acm.org/doi/10.1145/3386569.3392417