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

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__    __    ______     _____     ___     _    _      ___    
\ \\ / //  /_   _//   / ___//   / _ \\  | |  | ||   / _ \\  
 \ \/ //    -| ||-    \___ \\  | / \ || | |/\| ||  / //\ \\ 
  \  //     _| ||_    /    //  | \_/ || |  /\  || |  ___  ||
   \//     /_____//  /____//    \___//  |_// \_|| |_||  |_||
    `      `-----`  `-----`     `---`   `-`   `-` `-`   `-`
 


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