[ODE] Joint mathematics

[Denis Bolkovskis]

Hi all,
I am currently writing Master thesis on rigid body dynamics 
simulation and I am interested in mathematics behind joints in ODE. 
ODE documentation briefly explains how constraint equations are 
constructed, but there is no hint on how they are solved. 
I do not expect someone to start explaining this topic directly in 
mailing list, but if someone could provide me with some references 
to materials about this topic, I would be very grateful.

Thanks.

P.S. Sorry for poor english - I am from Lithuania.