enabled mass preconditioner

src/BulletSoftBody/btConjugateGradient.h

@@ -104,7 +104,9 @@ public:
         TVStack c;
         c.resize(a.size());
         for (int i = 0; i < a.size(); ++i)
+        {
             c[i] = a[i] - b[i];
+        }
         return c;
     }
     

src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp

@@ -14,6 +14,7 @@
  */
 
 #include "btDeformableBackwardEulerObjective.h"
+#include "btPreconditioner.h"
 #include "LinearMath/btQuickprof.h"
 
 btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAlignedObjectArray<btSoftBody *>& softBodies, const TVStack& backup_v)
@@ -22,7 +23,7 @@ btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAligned
 , m_backupVelocity(backup_v)
 , m_implicit(false)
 {
-    m_preconditioner = new DefaultPreconditioner();
+    m_preconditioner = new MassPreconditioner(m_softBodies);
 }
 
 btDeformableBackwardEulerObjective::~btDeformableBackwardEulerObjective()

src/BulletSoftBody/btDeformableBodySolver.cpp

@@ -20,9 +20,9 @@
 
 btDeformableBodySolver::btDeformableBodySolver()
 : m_numNodes(0)
-, m_cg(50)
+, m_cg(20)
 , m_maxNewtonIterations(5)
-, m_newtonTolerance(1e-10)
+, m_newtonTolerance(1e-4)
 {
     m_objective = new btDeformableBackwardEulerObjective(m_softBodySet, m_backupVelocity);
 }

src/BulletSoftBody/btDeformableContactProjection.cpp

@@ -236,9 +236,11 @@ void btDeformableContactProjection::setConstraints()
                         bool single_contact = true;
                         if (single_contact)
                         {
-                          constraints.m_contact[0]->m_cti.m_offset > cti.m_offset;
+                            if (constraints.m_contact[0]->m_cti.m_offset > cti.m_offset)
+                            {
                                 constraints.replace(c);
                             }
+                        }
                         else
                         {
                             constraints.append(c);

src/BulletSoftBody/btPreconditioner.h

@@ -70,8 +70,10 @@ public:
         btAssert(b.size() == x.size());
         btAssert(m_inv_mass.size() == x.size());
         for (int i = 0; i < b.size(); ++i)
+        {
             b[i] = x[i] * m_inv_mass[i];
         }
+    }
 };
 
 #endif /* BT_PRECONDITIONER_H */