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diff --git a/thirdparty/preconditioner-for-cloth-and-deformable-body-simulation/.gitrepo b/thirdparty/preconditioner-for-cloth-and-deformable-body-simulation/.gitrepo
@@ -0,0 +1,12 @@
+; DO NOT EDIT (unless you know what you are doing)
+;
+; This subdirectory is a git "subrepo", and this file is maintained by the
+; git-subrepo command. See https://github.com/ingydotnet/git-subrepo#readme
+;
+[subrepo]
+	remote = https://github.com/V-Sekai/preconditioner-for-cloth-and-deformable-body-simulation.git
+	branch = master
+	commit = bf3d095a8636fa541990e38c1fce796515b7b119
+	parent = c83e46325ad184347f259ac9ce3c43388d32f6e9
+	method = merge
+	cmdver = 0.4.6
diff --git a/thirdparty/preconditioner-for-cloth-and-deformable-body-simulation/LICENSE b/thirdparty/preconditioner-for-cloth-and-deformable-body-simulation/LICENSE
@@ -0,0 +1,24 @@
+Copyright (C) 2002 - 2022,
+All rights reserved.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+   1. Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+   2. Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+   3. The names of its contributors may not be used to endorse or promote
+      products derived from this software without specific prior written
+      permission.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/thirdparty/preconditioner-for-cloth-and-deformable-body-simulation/README.md b/thirdparty/preconditioner-for-cloth-and-deformable-body-simulation/README.md
@@ -0,0 +1,7 @@
+# preconditioner-for-cloth-and-deformable-body-simulation
+
+This is a mirror of https://wanghmin.github.io/publications.html
+
+## Entry point
+
+See `SeSchwarzPreconditioner.h` for entry points.
diff --git a/thirdparty/preconditioner-for-cloth-and-deformable-body-simulation/SeAabb.h b/thirdparty/preconditioner-for-cloth-and-deformable-body-simulation/SeAabb.h
@@ -0,0 +1,185 @@
+/////////////////////////////////////////////////////////////////////////////////////////////
+//  Copyright (C) 2002 - 2022,
+//  All rights reserved.
+//  Redistribution and use in source and binary forms, with or without
+//  modification, are permitted provided that the following conditions
+//  are met:
+//     1. Redistributions of source code must retain the above copyright
+//        notice, this list of conditions and the following disclaimer.
+//     2. Redistributions in binary form must reproduce the above copyright
+//        notice, this list of conditions and the following disclaimer in the
+//        documentation and/or other materials provided with the distribution.
+//     3. The names of its contributors may not be used to endorse or promote
+//        products derived from this software without specific prior written
+//        permission.
+//  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+//  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+//  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+//  A PARTICULAR PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+//  CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+//  EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+//  PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+//  PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+//  LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+//	NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+//	SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+#pragma once
+
+#include "SeMath.h"
+#include <cfloat>
+
+SE_NAMESPACE_BEGIN
+
+/*************************************************************************
+******************************    SeAabb    ******************************
+*************************************************************************/
+
+/**
+ *	@brief		Axis-align Bounding Box.
+ */
+template<typename VecType> struct SeAabb
+{
+	static_assert(std::is_floating_point<typename VecType::value_type>::value, "Only support floating type currently.");
+
+public:
+
+	//!	@brief	Default constructor.
+	 SeAabb() : Lower(FLT_MAX), Upper(-FLT_MAX) {}
+
+	//!	@brief	Constructed by a given point.
+	 SeAabb(const VecType & Point) : Lower(Point), Upper(Point) {}
+
+	//!	@brief	Constructed by a paired points explicitly.
+	 explicit SeAabb(const VecType & P1, const VecType & P2) : Lower(Math::Min(P1, P2)), Upper(Math::Max(P1, P2)) {}
+
+	//!	@brief	Constructed by a paired points explicitly.
+	 explicit SeAabb(const VecType & P1, const VecType & P2, const VecType & P3) : Lower(Math::Min(P1, P2, P3)), Upper(Math::Max(P1, P2, P3)) {}
+
+
+
+
+public:
+
+	 SeAabb<VecType> operator+(const SeAabb<VecType> & Other) const
+	{
+		return SeAabb<VecType>(Math::Min(Lower, Other.Lower), Math::Max(Upper, Other.Upper));
+	}
+
+	 SeAabb<VecType> operator+(const VecType & Point) const
+	{
+		return SeAabb<VecType>(Math::Min(Lower, Point), Math::Max(Upper, Point));
+	}
+
+	 void operator+=(const SeAabb<VecType> & Other)
+	{
+		Lower = Math::Min(Lower, Other.Lower);		Upper = Math::Max(Upper, Other.Upper);
+	}
+
+	 void operator+=(const VecType & Point)
+	{
+		Lower = Math::Min(Lower, Point);		Upper = Math::Max(Upper, Point);
+	}
+
+	 void Enlarge(float Amount)
+	{
+		Lower -= Amount;		Upper += Amount;
+	}
+
+	 VecType Center() const
+	{
+		return Math::Average(Lower, Upper);
+	}
+
+	 VecType Extent() const
+	{
+		return Upper - Lower;
+	}
+
+public:
+
+	VecType Lower, Upper;
+};
+
+
+/*************************************************************************
+***********************    IsInside<AABB-AABB>    ************************
+*************************************************************************/
+
+template<typename VecT> 
+static SE_INLINE bool IsContain(const SeAabb<VecT>& aabb, const VecT& P) 
+{ 
+	const int componentCount = VecT::Elements;
+	for (int i = 0; i < componentCount; i++)
+	{
+		if (P[i]<aabb.Lower[i] || P[i]>aabb.Upper[i])
+		{
+			return false;
+		}
+	}
+	return true; 
+
+}
+template<typename VecT> 
+static SE_INLINE bool IsContain(const SeAabb<VecT>& aabb, const VecT& P,float radium) 
+{ 
+	auto enlargedAabb = aabb;
+	enlargedAabb.Upper += radium;
+	enlargedAabb.Lower -= radium;
+	return IsContain(aabb, enlargedAabb);
+}
+
+template<> 
+static SE_INLINE bool IsContain(const SeAabb<Float2>& aabb, const Float2& P) 
+{ 
+	return !((aabb.Upper.x < P.x) || (aabb.Upper.y < P.y) ||
+			 (aabb.Lower.x > P.x) || (aabb.Lower.y > P.y));
+}
+
+template<> 
+static SE_INLINE bool IsContain(const SeAabb<Float3>& aabb, const Float3& P) 
+{ 
+	return !((aabb.Upper.x < P.x) || (aabb.Upper.y < P.y) || (aabb.Upper.z < P.z) ||
+			 (aabb.Lower.x > P.x) || (aabb.Lower.y > P.y) || (aabb.Lower.z > P.z));
+}
+
+/*************************************************************************
+***********************    IsInside<AABB-Line>    ************************
+*************************************************************************/
+
+template<typename VecT>
+static  bool IsIntersect(const SeAabb<VecT>& aabb, const VecT& Pa, const VecT& Pb, const VecT& iv);
+
+template<typename VecT>
+static  bool IsIntersect(const SeAabb<VecT>& aabb, const VecT& Pa, const VecT& Pb);
+
+
+template<>
+static SE_INLINE bool IsIntersect(const SeAabb<Float3>& aabb, const Float3& Pa, const Float3& Pb) 
+{
+	Float3 Dir = Float3(Pb - Pa);
+
+	if (Dir.x == 0.0f)		Dir.x = 1e-6f;
+	if (Dir.y == 0.0f)		Dir.y = 1e-6f;
+	if (Dir.z == 0.0f)		Dir.z = 1e-6f;
+
+	Float3 invDir = 1.0f / Dir;
+	Float3 Left = Float3(aabb.Lower - Pa) * invDir;
+	Float3 Right = Float3(aabb.Upper - Pa) * invDir;
+
+	Float2 T1 = Float2(Math::Min(Left.x, Right.x), Math::Max(Left.x, Right.x));
+	Float2 T2 = Float2(Math::Min(Left.y, Right.y), Math::Max(Left.y, Right.y));
+	Float2 T3 = Float2(Math::Min(Left.z, Right.z), Math::Max(Left.z, Right.z));
+
+	float range0 = Math::Max(T1.x, T2.x, T3.x, 0.0f);
+	float range1 = Math::Min(T1.y, T2.y, T3.y, 1.0f);
+
+	return range0 < range1;
+}
+
+
+template<typename VecT>
+static SE_INLINE bool IsOverlap(const SeAabb<VecT>& aabb, const SeAabb<VecT>& P) { return false; }
+
+
+SE_NAMESPACE_END
diff --git a/thirdparty/preconditioner-for-cloth-and-deformable-body-simulation/SeAabbSimd.h b/thirdparty/preconditioner-for-cloth-and-deformable-body-simulation/SeAabbSimd.h
@@ -0,0 +1,148 @@
+/////////////////////////////////////////////////////////////////////////////////////////////
+//  Copyright (C) 2002 - 2022,
+//  All rights reserved.
+//  Redistribution and use in source and binary forms, with or without
+//  modification, are permitted provided that the following conditions
+//  are met:
+//     1. Redistributions of source code must retain the above copyright
+//        notice, this list of conditions and the following disclaimer.
+//     2. Redistributions in binary form must reproduce the above copyright
+//        notice, this list of conditions and the following disclaimer in the
+//        documentation and/or other materials provided with the distribution.
+//     3. The names of its contributors may not be used to endorse or promote
+//        products derived from this software without specific prior written
+//        permission.
+//  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+//  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+//  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+//  A PARTICULAR PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+//  CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+//  EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+//  PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+//  PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+//  LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+//	NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+//	SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+#pragma once
+
+#include "SeMathSimd.h"
+
+#include "SeAabb.h"
+
+#include <limits>
+
+SE_NAMESPACE_BEGIN
+
+/*************************************************************************
+******************************    SeAabb    ******************************
+*************************************************************************/
+
+/**
+ *	@brief		Axis-align Bounding Box.
+ */
+
+template<> struct SeAabb<Simd3f>
+{
+
+public:
+
+	//!	@brief	Default constructor.
+	SeAabb() : Lower(FLT_MAX), Upper(-FLT_MAX) {}
+
+	//!	@brief	Constructed by a given point.
+	SeAabb(const Simd3f & Point) : Lower(Point), Upper(Point) {}
+
+	//!	@brief	Constructed by a paired points explicitly.
+	explicit SeAabb(const Simd3f & P1, const Simd3f & P2) : Lower(Math::Min(P1, P2)), Upper(Math::Max(P1, P2)) {}
+
+public:
+
+	SeAabb operator+(const SeAabb & Other) const
+	{
+		return SeAabb(Math::Min(Lower, Other.Lower), Math::Max(Upper, Other.Upper));
+	}
+
+	SeAabb operator+(const Simd3f & Point) const
+	{
+		return SeAabb(Math::Min(Lower, Point), Math::Max(Upper, Point));
+	}
+
+	void operator += (const SeAabb & Other)
+	{
+		Lower = Math::Min(Lower, Other.Lower);		Upper = Math::Max(Upper, Other.Upper);
+	}
+
+	void operator += (const Simd3f & Point)
+	{
+		Lower = Math::Min(Lower, Point);		Upper = Math::Max(Upper, Point);
+	}
+
+	void Enlarge(float Amount)
+	{
+		Lower -= Amount;		Upper += Amount;
+	}
+
+	Simd3f Center() const
+	{
+		return Math::Average(Lower, Upper);
+	}
+
+	Simd3f Extent() const
+	{
+		return Upper - Lower;
+	}
+
+public:
+
+	Simd3f Lower, Upper;
+};
+
+
+
+template<>
+static SE_INLINE bool IsContain(const SeAabb<Simd3f>& aabb, const Simd3f& P) 
+{ 
+	return !((aabb.Upper.x < P.x) || (aabb.Upper.y < P.y) || (aabb.Upper.z < P.z) ||
+			 (aabb.Lower.x > P.x) || (aabb.Lower.y > P.y) || (aabb.Lower.z > P.z));
+}
+
+template<> 
+static SE_INLINE bool IsContain(const SeAabb<Simd3f>& aabb, const Simd3f& P, float radium)
+{ 
+	return !((aabb.Upper.x < P.x - radium) || (aabb.Upper.y < P.y - radium) || (aabb.Upper.z < P.z - radium) ||
+		(aabb.Lower.x > P.x + radium) || (aabb.Lower.y > P.y + radium) || (aabb.Lower.z > P.z + radium));
+}
+
+template<>
+static SE_INLINE bool IsOverlap(const SeAabb<Simd3f>& aabb, const SeAabb<Simd3f>& P)
+{
+	return !((aabb.Upper.x < P.Lower.x) || (aabb.Upper.y < P.Lower.y) || (aabb.Upper.z < P.Lower.z) ||
+		(aabb.Lower.x > P.Upper.x) || (aabb.Lower.y > P.Upper.y) || (aabb.Lower.z > P.Upper.z));
+}
+
+
+template<>
+static SE_INLINE bool IsIntersect(const SeAabb<Simd3f>& aabb, const Simd3f& Pa, const Simd3f& Pb) 
+{
+	Simd3f Dir = Simd3f(Pb - Pa);
+
+	if (Dir.x == 0.0f)		Dir.x = 1e-6f;
+	if (Dir.y == 0.0f)		Dir.y = 1e-6f;
+	if (Dir.z == 0.0f)		Dir.z = 1e-6f;
+
+	Simd3f invDir = 1.0f / Dir;
+	Simd3f Left = Simd3f(aabb.Lower - Pa) * invDir;
+	Simd3f Right = Simd3f(aabb.Upper - Pa) * invDir;
+
+	Float2 T1 = Float2(Math::Min(Left.x, Right.x), Math::Max(Left.x, Right.x));
+	Float2 T2 = Float2(Math::Min(Left.y, Right.y), Math::Max(Left.y, Right.y));
+	Float2 T3 = Float2(Math::Min(Left.z, Right.z), Math::Max(Left.z, Right.z));
+
+	float range0 = Math::Max(T1.x, T2.x, T3.x, 0.0f);
+	float range1 = Math::Min(T1.y, T2.y, T3.y, 1.0f);
+
+	return range0 < range1;
+}
+
+SE_NAMESPACE_END