## 2026/05/18, v4:
- Changed \Delta t^2 to \Delta t in eq. 40b in appendix A
- Changed signs in lines 8, 9, 10, 24, 29, 34 of algorithm 5 in appendix B
- Changed m_f to m_{f_f} in eq. 32b in appendix A

## 2025/12/08, v3:
- Fixed the references to lines in algorithms

## 2025/05/26, v2: 
- Corrected the computation of beta in algorithm 5 in appendix B from 
\beta \gets r_k / r_{k-1} 
to
\beta \gets |r_k|^2 / |r_{k-1}|^2.

## 2025/02/28, v1: 
Authors version of the manuscript that was published at ACM Transactions on Graphics 2025.