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Joints connecting rigid bodies ?

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Does anyone have a link to a tutorial or paper describing how one can implement joints like ball-socket, sliders etc into a rigid body simulator? Preferably some sort of impulse solver like this one: (the paper itself is in german unfortunately) http://i31www.ira.uka.de/projekte/mechanik/publications/details2003.php?publicationNumber=1_1 I have been reading Baraff’s papers and have implemented a LCP solver, so basic stuff like single unconnected bodies bouncing around and resting works. Now I was thinking of starting to connect the bodies in different ways, but I have no idea how to constrain the movements in a physically correct way.

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