SiLVIA - A Simulation Library for Virtual Reality Applications. - Günter Hotz; Andreas Kerzmann; Christian Lennerz; Rainer Schmid; Elmar Schömer; Thomas Warken (VR, 1999)

Calculation of contact forces. - Günter Hotz; Andreas Kerzmann; Christian Lennerz; Rainer Schmid; Elmar Schömer; Thomas Warken (VRST, 1999)

Efficient Distance Computation for Quadratic Curves and Surfaces. - Christian Lennerz; Elmar Schömer (GMP, 2002)