An Algorithm with Logarithmic Time Complexity for Interactive Simulation of Hierarchically Articulated Bodies Using a Distributed-memory Architecture.

Thomas Jung An Algorithm with Logarithmic Time Complexity for Interactive Simulation of Hierarchically Articulated Bodies Using a Distributed-memory Architecture. 81-96 1998 4 Real-Time Imaging 1 http://dx.doi.org/10.1006/rtim.1996.0065 db/journals/rti/rti4.html#Jung98