Real-Time Particle-Based Fluid Simulation with Rigid Body Interaction

Takashi Amada (Sony Computer Entertainment) Game Programming Gems 6, 2006.

Constraints in Rigid Body Dynamics

Russ Smith (Open Dynamics Engine) Game Programming Gems 4, 2004.

Real-Time Multiresolution Dynamics of Deeply Hierarchical Bodies

Jason Weber and Andrew Weber (Intel Corporation) Graphics Programming Methods, 2003.

Integrating the Equations of Rigid Body Motion

Miguel Gomez Game Programming Gems, 2000.