如何在tomcat上允许跨域请求？

I am deploying a web app on 2 separate domains, the first web app is a restful service deployed on tomcat 6, the second is a static content (html, java script), the java script from the static content domain will call the restful service. but the same origin policy is not allowing this, my question is: how to allow cross domain requests on tomcat?I am deploying a web app on 2 separate domains,