@techreport{Tan:2012:CHA,

     title = {Contact Handling for Articulated Rigid Bodies Using LCP},

     author = {Jie Tan and Kristin Siu and C. Karen Liu},

     year = {2012},

     institution = {Georgia Institute of Technology, School of Interactive Computing},

     month = {08},

     number = {GIT-GVU-15-01-2}

}