? Good material on Collision

Does anyone know some good material to download about colliding contact and resting contact with or
without friction? I'm trying to implement a domino simulation.
 I already got Baraff's "Fast Contact Force Computation for Nonpenetrating Rigid Bodies" and Mirtich's
"Impulse-based Dynamic Simulation", but I'm still needing a 'light'.
 Thanks

----- 
FAQ and OpenGL Resources at:
  http://www.geocities.com/SiliconValley/Hills/9956/OpenGL

--

-- 
Author: Roberto Soares Caldas                                       
  INET: roberto.caldas <at> poli.usp.br

Fat City Network Services    -- 858-538-5051 http://www.fatcity.com
San Diego, California        -- Mailing list and web hosting services
---------------------------------------------------------------------
To REMOVE yourself from this mailing list, send an E-Mail message
to: ListGuru <at> fatcity.com (note EXACT spelling of 'ListGuru') and in
the message BODY, include a line containing: UNSUB OPENGL-GAMEDEV-L
(or the name of mailing list you want to be removed from).  You may
also send the HELP command for other information (like subscribing).