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Position constraints converging slowly (contacts)

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I implemented an iterative constraint solver using impulses as described in Bender & Schmitt 2006:

 

http://www.researchgate.net/publication/228934234_Constraint-based_collision_and_contact_handling_using_impulses

 

Solving for the normal (penetration) constraint or the tangent constraint in isolation converges as expected, about 4-5 iterations before the penetration or tangent position is within the 'target' range (<0.0001). But running both constraints simultaneously causes 150+ iterations before they are both within target which sounds like too much for a single constraint, but maybe it is expected for a tight constraint?

Edited by PrestoChung

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Oops, actually the target range was 0.0001 (edited the original post to fix this) which is 1/10 of the collision tolerance (0.001). Seems I can get away with 0.0004 (7 iterations) but after that it starts going up rather quickly (0.0003 -> 28 iterations, 0.0002 -> 70+ iterations). Hopefully that will be stable enough for stacking.

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