From 4347c03459888f192bb72ce9d642cdf0750ec74e Mon Sep 17 00:00:00 2001
From: Xuchen Han <xuchenhan@google.com>
Date: Sun, 3 Nov 2019 12:47:08 -0800
Subject: [PATCH] turn on SVD and use fewer CG iterations

---
 src/BulletSoftBody/btDeformableBodySolver.cpp    | 2 +-
 src/BulletSoftBody/btDeformableNeoHookeanForce.h | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp
index 0fb18080f..7b4c06303 100644
--- a/src/BulletSoftBody/btDeformableBodySolver.cpp
+++ b/src/BulletSoftBody/btDeformableBodySolver.cpp
@@ -18,7 +18,7 @@
 #include "btDeformableBodySolver.h"
 #include "btSoftBodyInternals.h"
 #include "LinearMath/btQuickprof.h"
-static const int kMaxConjugateGradientIterations  = 200;
+static const int kMaxConjugateGradientIterations  = 50;
 btDeformableBodySolver::btDeformableBodySolver()
 : m_numNodes(0)
 , m_cg(kMaxConjugateGradientIterations)
diff --git a/src/BulletSoftBody/btDeformableNeoHookeanForce.h b/src/BulletSoftBody/btDeformableNeoHookeanForce.h
index f607b8662..d9bb3be61 100644
--- a/src/BulletSoftBody/btDeformableNeoHookeanForce.h
+++ b/src/BulletSoftBody/btDeformableNeoHookeanForce.h
@@ -175,7 +175,8 @@ public:
                 btSoftBody::Tetra& tetra = psb->m_tetras[j];
                 btMatrix3x3 P;
                 firstPiola(psb->m_tetraScratches[j],P);
-#if USE_SVD
+#define USE_SVD 1
+#ifdef USE_SVD
                 if (max_p > 0)
                 {
                     // since we want to clamp the principal stress to max_p, we only need to