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QLB: Collision-Aware Quasi-Newton Solver with Cholesky and ..:

, In: Proceedings of the 14th ACM SIGGRAPH Conference on Motion, Interaction and Games,
Witemeyer, Bethany ; Weidner, Nicholas J. ; Davis, Timothy A... - p. 1-7 , 2021
Link: https://dl.acm.org/doi/10.1145/3487983.3488297