[ODE] Reference for iterative solvers?

[Martin C. Martin]

Hi All,

Anyone know of a good reference for iterative physics solvers?  I'm 
actually interested in how I could adapt it to a non-physics linear 
programming program I have, so I don't care about any physics-specific 
optimizations, just a general introduction would be great.

Is Baraff's 1994 paper "Fast contact force computation for 
nonpenetrating rigid bodies" any good?

Thanks,
Martin