@article{SJVM_2006_9_3_a4,
     author = {E. N. Ermolin and A. Yu. Kazakov},
     title = {The impulse-based method for the simultaneous resolution of collisions between rigid bodies},
     journal = {Sibirskij \v{z}urnal vy\v{c}islitelʹnoj matematiki},
     pages = {253--262},
     publisher = {mathdoc},
     volume = {9},
     number = {3},
     year = {2006},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/SJVM_2006_9_3_a4/}
}