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Rigid body collisions with "fixed" objects

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Hi all, I''m writing a game that has a basic physics simulator and collision detection library and want to know how to implement a rigid body colliding with a fixed object (such as falling to the ground). How do I constrain the movement of my rigid body so it doesn''t "fall through" my fixed body? i.e. falling to the ground, how do I get the body to stop "falling"? I assume I want to constraint the movement that will pass through a plane. Does anyone have any web URLs for info on this? Thanks!

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Ignore previous post - found the following after using the search facility for "collision" - duh!

http://www.gamasutra.com/features/20000330/bobic_01.htm
http://www.peroxide.dk/tutorials/tut10/pxdtut10.html
www.d6.com/users/checker
www.gamasutra.com and look for jeff lander articles.

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