M. Anitescu, F. A. Potra, D. E. Stewart-baraff, and R. Mattikalli, Time-stepping for Three-dimensional Rigid Body Dynamics Computational Modeling of Contact and Friction-4, 183?197. [3] D. Baraff. Analytical Methods for Dynamic Simulation of Non-penetrating Rigid Bodies Fast Contact Force Computation for Nonpenetrating Rigid Bodies Impending Motion Direction of Contacting Rigid Bodies, Computer Graphics (Proc.SIGGRAPH) SIGGRAPH 94 Proceedings, pp.223-232, 1989.

H. Bruyninckx and O. Khatib, Gauss' principle and the dynamics of redundant and constrained manipulators, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), pp.137-146, 1996.
DOI : 10.1109/ROBOT.2000.846414
URL : https://hal.archives-ouvertes.fr/hal-01375340

K. F. Gauss, Uber ein neues allgemeines Grundgesatz der Mechanik, Journal für die Reine und Angewandte Mathematik, pp.232-235, 1829.
DOI : 10.1007/978-3-642-49319-5_2

P. E. Gill, W. Murray, and M. H. Wright, Practical optimization, 1981.

L. Lilov and M. Lorer, Dynamic Analysis of Multirigid-Body System Based on the Gauss Principle, ZAMM - Zeitschrift f??r Angewandte Mathematik und Mechanik, vol.96, issue.10, pp.539-545, 1982.
DOI : 10.1002/zamm.19820621006

P. Lötstedt, Numerical Simulation of Time-Dependent Contact and Friction Problems in Rigid Body Mechanics, SIAM Journal on Scientific and Statistical Computing, vol.5, issue.2, pp.370-393, 1984.
DOI : 10.1137/0905028

V. J. Milenkovic and . Schmidl, Optimization-based animation, Proceedings of the 28th annual conference on Computer graphics and interactive techniques , SIGGRAPH '01, 2001.
DOI : 10.1145/383259.383263

B. Mirtich and J. Canny, Impulse-based simulation of rigid bodies, Proceedings of the 1995 symposium on Interactive 3D graphics , SI3D '95, 1995.
DOI : 10.1145/199404.199436

M. Moore and J. Wilhelms, Collision Detection and Response for Computer Animation, Computers Graphics (Proceedings of SIGGRAPH 88), pp.289-298, 1988.

D. Ruspini and O. Khatib, Collision/Contact Models for the Dynamic Simulation of Complex Environments, IEEE/RSJ IROS'97, 1997.

J. Sauer and E. Schömer, A constraint-based approach to rigid body dynamics for virtual reality applications, Proceedings of the ACM symposium on Virtual reality software and technology 1998 , VRST '98, pp.153-162, 1998.
DOI : 10.1145/293701.293721

J. C. Trinkle, J. C. , J. Pang, J. Sudarsky, and G. Lo, On Dynamic Multi-Rigid-Body Contact Problems with Coulomb Friction, Zeitschrift fur Angewandte Mathematik und Mechanik, pp.267-79
DOI : 10.1002/zamm.19970770411

F. E. Udwadia and R. E. Kalaba, Analytical Dynamics: a New Approach, 1996.
DOI : 10.1017/CBO9780511665479

D. R. Wilhelmsen, A Nearest Point Algorithm for Convex Polyhedral Cones and Applications to Positive Linear Approximations, Mathematics of computation, vol.30, pp.48-57, 1976.