each node only allows a single contact; initial guess for newton set to x = x_n + dt*v_n

src/BulletSoftBody/btCGProjection.h

@@ -50,6 +50,16 @@ struct DeformableContactConstraint
         m_can_be_dynamic.push_back(true);
     }
 
+    void replace(const btSoftBody::RContact& rcontact)
+    {
+        m_contact.clear();
+        m_total_normal_dv.clear();
+        m_total_tangent_dv.clear();
+        m_static.clear();
+        m_can_be_dynamic.clear();
+        append(rcontact);
+    }
+    
     ~DeformableContactConstraint()
     {
     }

src/BulletSoftBody/btDeformableBodySolver.cpp

@@ -196,8 +196,17 @@ void btDeformableBodySolver::backupVn()
     {
         btSoftBody* psb = m_softBodySet[i];
         for (int j = 0; j < psb->m_nodes.size(); ++j)
+        {
+            // Here:
+            // dv = 0 for nodes not in constraints
+            // dv = v_{n+1} - v_{n+1}^* for nodes in constraints
+            if (m_objective->projection.m_constraints.find(psb->m_nodes[j].index)!=NULL)
             {
                 m_dv[counter] += m_backupVelocity[counter] - psb->m_nodes[j].m_vn;
+            }
+            // Now:
+            // dv = 0 for nodes not in constraints
+            // dv = v_{n+1} - v_n for nodes in constraints
             m_backupVelocity[counter++] = psb->m_nodes[j].m_vn;
         }
     }

src/BulletSoftBody/btDeformableContactProjection.cpp

@@ -20,6 +20,7 @@
 btScalar btDeformableContactProjection::update()
 {
     btScalar residualSquare = 0;
+    btScalar max_impulse = 0;
     // loop through constraints to set constrained values
     for (int index = 0; index < m_constraints.size(); ++index)
     {
@@ -128,6 +129,7 @@ btScalar btDeformableContactProjection::update()
                     }
                 }
                 impulse = impulse_normal + impulse_tangent;
+                max_impulse = btMax(impulse.length2(), max_impulse);
                 
                 // dn is the normal component of velocity diffrerence. Approximates the residual.
                 residualSquare = btMax(residualSquare, dn*dn);
@@ -231,6 +233,14 @@ void btDeformableContactProjection::setConstraints()
                     else
                     {
                         DeformableContactConstraint& constraints = *m_constraints[c.m_node->index];
+                        bool single_contact = true;
+                        if (single_contact)
+                        {
+                          constraints.m_contact[0]->m_cti.m_offset > cti.m_offset;
+                          constraints.replace(c);
+                        }
+                        else
+                        {
                           constraints.append(c);
                         }
                     }
@@ -238,6 +248,7 @@ void btDeformableContactProjection::setConstraints()
             }
         }
     }
+}
 
 void btDeformableContactProjection::enforceConstraint(TVStack& x)
 {

src/BulletSoftBody/btSoftBodyInternals.h

@@ -998,7 +998,7 @@ struct btSoftColliders
 			if (!n.m_battach)
             {
                 // check for collision at x_{n+1}^*
-                if (psb->checkDeformableContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predict = */ true))
+                if (psb->checkDeformableContact(m_colObj1Wrap, n.m_x, m, c.m_cti, /*predict = */ true) || psb->checkDeformableContact(m_colObj1Wrap, n.m_q, m, c.m_cti, /*predict = */ true))
                 {
                     const btScalar ima = n.m_im;
                     const btScalar imb = m_rigidBody ? m_rigidBody->getInvMass() : 0.f;