An interactive approach to dynamic simulation of 3-d rigid body motions for real-time interactive computer animation (1991)

by C W A M van Overweld
Venue:n 1 and t(e) = n 2 . If (N 1 ; E 1 ; s 1 ; t 1 ) is a sub-graph of (N 2 ; E 1 ; s 2 ; t 2 ) then