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Nonsmooth Contact Dynamics for the Large-Scale Simulation of Granular Material (Preprint)

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 / ____||  /_   _//  |__  //    / _ \\  | \  / ||   / _ \\  
/ //---`'   -| ||-     / //    | / \ || |  \/  ||  | / \ || 
\ \\___     _| ||_    / //__   | \_/ || | .  . ||  | \_/ || 
 \_____||  /_____//  /_____||   \___//  |_|\/|_||   \___//  
  `----`   `-----`   `-----`    `---`   `-`  `-`    `---`
 


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