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[Bruno Chareyre <bruno.chareyre@xxxxxxxxxxx>]

Forget what I said about my ASCE paper. I double-checked : the 
definition of timestep is detailed but damping is not (I though both were).
>   Δaᵢ=-λaᵢsgn(Fᵢvᵢ'),   (**)
>
> where vᵢ'=(vᵢ+½(aᵢΔt)), approximate of velocity between this and next
> timestep.
>
>   
Last remark : using v' as defined above, and not just "v" in the damping 
equation, can't probably be found in any paper.
I introduced that after some tests in 1D, and found that it was better 
for high values of the timestep. More precisely, for cases where the 
sign of the velocity is reverted at each time-step, so you can't really 
tell if the force is opposed to it or not if you don't define (F,V) for 
the exact same time.

Bruno