diff --git a/examples/DeformableDemo/DeformableMultibody.cpp b/examples/DeformableDemo/DeformableMultibody.cpp
index 7b9137cc9..40db119b9 100644
--- a/examples/DeformableDemo/DeformableMultibody.cpp
+++ b/examples/DeformableDemo/DeformableMultibody.cpp
@@ -113,6 +113,8 @@ void DeformableMultibody::initPhysics()
     btVector3 gravity = btVector3(0, -10, 0);
 	m_dynamicsWorld->setGravity(gravity);
     getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
+	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
+	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.Reset();
 	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
 
     {
diff --git a/examples/DeformableDemo/DeformableRigid.cpp b/examples/DeformableDemo/DeformableRigid.cpp
index 748f1f4c8..9a3ca9403 100644
--- a/examples/DeformableDemo/DeformableRigid.cpp
+++ b/examples/DeformableDemo/DeformableRigid.cpp
@@ -154,6 +154,8 @@ void DeformableRigid::initPhysics()
     btVector3 gravity = btVector3(0, -10, 0);
 	m_dynamicsWorld->setGravity(gravity);
     getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
+	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
+	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.Reset();
     
 //    getDeformableDynamicsWorld()->before_solver_callbacks.push_back(dynamics);
 	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
diff --git a/examples/DeformableDemo/PinchFriction.cpp b/examples/DeformableDemo/PinchFriction.cpp
index 1cbc7e43d..bf0d57d0b 100644
--- a/examples/DeformableDemo/PinchFriction.cpp
+++ b/examples/DeformableDemo/PinchFriction.cpp
@@ -112,9 +112,9 @@ void dynamics2(btScalar time, btDeformableMultiBodyDynamicsWorld* world)
     if (rbs.size()<2)
         return;
     btRigidBody* rb0 = rbs[0];
-    btScalar pressTime = 0.9;
-    btScalar liftTime = 10;
-    btScalar shiftTime = 3.5;
+    btScalar pressTime = 0.45;
+    btScalar liftTime = 5;
+    btScalar shiftTime = 1.75;
     btScalar holdTime = 4.5*1000;
     btScalar dropTime = 5.3*1000;
     btTransform rbTransform;
@@ -124,9 +124,9 @@ void dynamics2(btScalar time, btDeformableMultiBodyDynamicsWorld* world)
     
     btVector3 initialTranslationLeft = btVector3(0.5,3,4);
     btVector3 initialTranslationRight = btVector3(0.5,3,-4);
-    btVector3 PinchFrictionVelocityLeft = btVector3(0,0,-1);
-    btVector3 PinchFrictionVelocityRight = btVector3(0,0,1);
-    btVector3 liftVelocity = btVector3(0,1,0);
+    btVector3 PinchFrictionVelocityLeft = btVector3(0,0,-2);
+    btVector3 PinchFrictionVelocityRight = btVector3(0,0,2);
+    btVector3 liftVelocity = btVector3(0,2,0);
     btVector3 shiftVelocity = btVector3(0,0,0);
     btVector3 holdVelocity = btVector3(0,0,0);
     btVector3 openVelocityLeft = btVector3(0,0,4);
@@ -230,7 +230,8 @@ void PinchFriction::initPhysics()
     btVector3 gravity = btVector3(0, -10, 0);
     m_dynamicsWorld->setGravity(gravity);
     getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
-    
+	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
+	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.Reset();
     getDeformableDynamicsWorld()->setSolverCallback(dynamics2);
     m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
     
diff --git a/examples/DeformableDemo/VolumetricDeformable.cpp b/examples/DeformableDemo/VolumetricDeformable.cpp
index d3a37d5bf..7eaf9aa37 100644
--- a/examples/DeformableDemo/VolumetricDeformable.cpp
+++ b/examples/DeformableDemo/VolumetricDeformable.cpp
@@ -169,6 +169,8 @@ void VolumetricDeformable::initPhysics()
     btVector3 gravity = btVector3(0, -100, 0);
 	m_dynamicsWorld->setGravity(gravity);
     getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
+	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
+	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.Reset();
 	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
 
     {
@@ -223,7 +225,7 @@ void VolumetricDeformable::initPhysics()
         getDeformableDynamicsWorld()->addForce(psb, gravity_force);
         m_forces.push_back(gravity_force);
         
-        btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(30,100,0.02);
+        btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(30,100,0.05);
         getDeformableDynamicsWorld()->addForce(psb, neohookean);
         m_forces.push_back(neohookean);
         
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h b/src/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h
index 458e62a78..593f68d9a 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h
+++ b/src/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h
@@ -188,7 +188,13 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
             //} else
             {
                 for (i = 0; i < numBodies; i++)
-                    m_bodies.push_back(bodies[i]);
+				{
+					bool isSoftBodyType = (bodies[i]->getInternalType() & btCollisionObject::CO_SOFT_BODY);
+					if (!isSoftBodyType)
+					{
+						m_bodies.push_back(bodies[i]);
+					}
+				}
                 for (i = 0; i < numManifolds; i++)
                     m_manifolds.push_back(manifolds[i]);
                 for (i = 0; i < numCurConstraints; i++)