Eftychios Sifakis Tamar Shinar Geoffrey Irving Ronald Fedkiw Hybrid simulation of deformable solids. 81-90 2007 conf/sca/2007 Symposium on Computer Animation http://doi.acm.org/10.1145/1272690.1272702 db/conf/sca/sca2007.html#SifakisSIF07