diff --git a/examples/GraspDeformable/GraspDeformable.cpp b/examples/GraspDeformable/GraspDeformable.cpp
index 7d42ffa43..68a52be7e 100644
--- a/examples/GraspDeformable/GraspDeformable.cpp
+++ b/examples/GraspDeformable/GraspDeformable.cpp
@@ -402,8 +402,8 @@ btMultiBody* GraspDeformable::createFeatherstoneMultiBody(btMultiBodyDynamicsWor
 {
     //init the base
     btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
-    float baseMass = .1f;
-    float linkMass = .1f;
+    float baseMass = 1.f;
+    float linkMass = 1.f;
     int numLinks = 2;
     
     if (baseMass)
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
index f5a7a7f1e..602c94926 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
@@ -375,10 +375,15 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
 			m_islandAnalyticsData.push_back(m_solver->m_analyticsData);
 		}
 		m_bodies.resize(0);
-		m_manifolds.resize(0);
+//        m_manifolds.resize(0);
 		m_constraints.resize(0);
 		m_multiBodyConstraints.resize(0);
 	}
+    
+    void clearContactConstraints()
+    {
+        m_manifolds.resize(0);
+    }
 };
 
 void btMultiBodyDynamicsWorld::getAnalyticsData(btAlignedObjectArray<btSolverAnalyticsData>& islandAnalyticsData) const
@@ -430,6 +435,7 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
     solveExternalForces(solverInfo);
     buildIslands();
     solveInternalConstraints(solverInfo);
+    m_solverMultiBodyIslandCallback->clearContactConstraints();
 }
 
 void btMultiBodyDynamicsWorld::buildIslands()