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Good paper on constrainted physics?

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Hi, I have implemented simple collision detection and response system with bounding volumes into my engine, but now want to look at setting up constained relationships (joints?) between objects. Ie, two objects are joined by a constraint such as a hinge. Are there any good papers on this? I was hoping that David Bradaff's lecture notes would move onto this in more detail, but the two papers I have found do not seem to cover this specifically. Thanks!

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