Geodesic
The impulse-based method for the simultaneous resolution of collisions between rigid bodies
Sibirskij žurnal vyčislitelʹnoj matematiki, Tome 9 (2006) no. 3, pp. 253-262

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The paper proposes an enhanced version of the impulse-based method for the numerical simulation of collisions between rigid bodies. This approach makes it possible to resolve several collisions simultaneously, allows for inelastic collisions with energy loss, and supports assembly constraints. 
@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/}
}
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E. N. Ermolin; A. Yu. Kazakov. The impulse-based method for the simultaneous resolution of collisions between rigid bodies. Sibirskij žurnal vyčislitelʹnoj matematiki, Tome 9 (2006) no. 3, pp. 253-262. http://geodesic.mathdoc.fr/item/SJVM_2006_9_3_a4/