20 floors is probably a little more than 200FT, and if you're landing on a hard surface it should definitely be lethal all on its own. I think not going feet first is the most important. Like I think if you're standing on a ledge and you step forward you could fall down landing feet first.
I'm planning on falling backwards, think like a trust fall oddly enough. The bridge I'm using already has been known for suicide, so they have a chain-link fence. When I climb over, I'll climb down on the other side facing the road, then just let go. The only additional thing I'm thinking of doing is adding a few small weights to the pockets near my shoulders on the vest I'll wear. I'm small, but strong. Adding 5lb to each side would be adding 10% of my overall body weight to just the top.