diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp
index 01a71aa3e..9af8e3f77 100644
--- a/src/BulletSoftBody/btDeformableBodySolver.cpp
+++ b/src/BulletSoftBody/btDeformableBodySolver.cpp
@@ -200,7 +200,7 @@ void btDeformableBodySolver::updateDv(btScalar scale)
 
 void btDeformableBodySolver::computeStep(TVStack& ddv, const TVStack& residual)
 {
-    m_cg.solve(*m_objective, ddv, residual, false);
+    m_cg.solve(*m_objective, ddv, residual);
 }
 
 void btDeformableBodySolver::reinitialize(const btAlignedObjectArray<btSoftBody *>& softBodies, btScalar dt)
@@ -248,6 +248,11 @@ void btDeformableBodySolver::updateVelocity()
     for (int i = 0; i < m_softBodies.size(); ++i)
     {
         btSoftBody* psb = m_softBodies[i];
+        psb->m_maxSpeedSquared = 0;
+        if (!psb->isActive())
+        {
+            continue;
+        }
         for (int j = 0; j < psb->m_nodes.size(); ++j)
         {
             // set NaN to zero;
@@ -256,6 +261,7 @@ void btDeformableBodySolver::updateVelocity()
                 m_dv[counter].setZero();
             }
             psb->m_nodes[j].m_v = m_backupVelocity[counter]+m_dv[counter];
+            psb->m_maxSpeedSquared = btMax(psb->m_maxSpeedSquared, psb->m_nodes[j].m_v.length2());
             ++counter;
         }
     }
@@ -267,6 +273,10 @@ void btDeformableBodySolver::updateTempPosition()
     for (int i = 0; i < m_softBodies.size(); ++i)
     {
         btSoftBody* psb = m_softBodies[i];
+        if (!psb->isActive())
+        {
+            continue;
+        }
         for (int j = 0; j < psb->m_nodes.size(); ++j)
         {
             psb->m_nodes[j].m_q = psb->m_nodes[j].m_x + m_dt * psb->m_nodes[j].m_v;
@@ -295,6 +305,10 @@ void btDeformableBodySolver::setupDeformableSolve(bool implicit)
     for (int i = 0; i < m_softBodies.size(); ++i)
     {
         btSoftBody* psb = m_softBodies[i];
+        if (!psb->isActive())
+        {
+            continue;
+        }
         for (int j = 0; j < psb->m_nodes.size(); ++j)
         {
             if (implicit)
diff --git a/src/BulletSoftBody/btDeformableContactProjection.cpp b/src/BulletSoftBody/btDeformableContactProjection.cpp
index e340a3fd5..cf0a5e896 100644
--- a/src/BulletSoftBody/btDeformableContactProjection.cpp
+++ b/src/BulletSoftBody/btDeformableContactProjection.cpp
@@ -51,6 +51,10 @@ void btDeformableContactProjection::setConstraints()
     for (int i = 0; i < m_softBodies.size(); ++i)
     {
         btSoftBody* psb = m_softBodies[i];
+        if (!psb->isActive())
+        {
+            continue;
+        }
         for (int j = 0; j < psb->m_nodes.size(); ++j)
         {
             if (psb->m_nodes[j].m_im == 0)
@@ -61,10 +65,15 @@ void btDeformableContactProjection::setConstraints()
         }
     }
     
-    // set Deformable Node vs. Rigid constraint
     for (int i = 0; i < m_softBodies.size(); ++i)
     {
         btSoftBody* psb = m_softBodies[i];
+        if (!psb->isActive())
+        {
+            continue;
+        }
+
+        // set Deformable Node vs. Rigid constraint
         for (int j = 0; j < psb->m_nodeRigidContacts.size(); ++j)
         {
             const btSoftBody::DeformableNodeRigidContact& contact = psb->m_nodeRigidContacts[j];
@@ -242,6 +251,10 @@ void btDeformableContactProjection::setProjection()
     for (int i = 0; i < m_softBodies.size(); ++i)
     {
         btSoftBody* psb = m_softBodies[i];
+        if (!psb->isActive())
+        {
+            continue;
+        }
         for (int j = 0; j < psb->m_nodes.size(); ++j)
         {
             int index = psb->m_nodes[j].index;
diff --git a/src/BulletSoftBody/btDeformableGravityForce.h b/src/BulletSoftBody/btDeformableGravityForce.h
index abc120252..33e5a8564 100644
--- a/src/BulletSoftBody/btDeformableGravityForce.h
+++ b/src/BulletSoftBody/btDeformableGravityForce.h
@@ -57,6 +57,10 @@ public:
         for (int i = 0; i < m_softBodies.size(); ++i)
         {
             btSoftBody* psb = m_softBodies[i];
+            if (!psb->isActive())
+            {
+                continue;
+            }
             for (int j = 0; j < psb->m_nodes.size(); ++j)
             {
                 btSoftBody::Node& n = psb->m_nodes[j];
diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
index 9c21bf9b0..ded9893ce 100644
--- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
+++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
@@ -70,18 +70,46 @@ void btDeformableMultiBodyDynamicsWorld::internalSingleStepSimulation(btScalar t
     ///update vehicle simulation
     btMultiBodyDynamicsWorld::updateActions(timeStep);
     
-    btMultiBodyDynamicsWorld::updateActivationState(timeStep);
+    updateActivationState(timeStep);
     // End solver-wise simulation step
     // ///////////////////////////////
 }
 
+void btDeformableMultiBodyDynamicsWorld::updateActivationState(btScalar timeStep)
+{
+    for (int i = 0; i < m_softBodies.size(); i++)
+    {
+        btSoftBody* psb = m_softBodies[i];
+        psb->updateDeactivation(timeStep);
+        if (psb->wantsSleeping())
+        {
+            if (psb->getActivationState() == ACTIVE_TAG)
+                psb->setActivationState(WANTS_DEACTIVATION);
+            if (psb->getActivationState() == ISLAND_SLEEPING)
+            {
+                psb->setZeroVelocity();
+            }
+        }
+        else
+        {
+            if (psb->getActivationState() != DISABLE_DEACTIVATION)
+                psb->setActivationState(ACTIVE_TAG);
+        }
+    }
+    btMultiBodyDynamicsWorld::updateActivationState(timeStep);
+}
+
+
 void btDeformableMultiBodyDynamicsWorld::softBodySelfCollision()
 {
     m_deformableBodySolver->updateSoftBodies();
     for (int i = 0; i < m_softBodies.size(); i++)
     {
-        btSoftBody* psb = (btSoftBody*)m_softBodies[i];
-        psb->defaultCollisionHandler(psb);
+        btSoftBody* psb = m_softBodies[i];
+        if (psb->isActive())
+        {
+            psb->defaultCollisionHandler(psb);
+        }
     }
 }
 
diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h
index 72cfa4fc5..834c6c8b1 100644
--- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h
+++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h
@@ -62,6 +62,8 @@ protected:
     
     void solveConstraints(btScalar timeStep);
     
+    void updateActivationState(btScalar timeStep);
+
 public:
     btDeformableMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btDeformableMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver = 0)
     : btMultiBodyDynamicsWorld(dispatcher, pairCache, (btMultiBodyConstraintSolver*)constraintSolver, collisionConfiguration),
diff --git a/src/BulletSoftBody/btDeformableNeoHookeanForce.h b/src/BulletSoftBody/btDeformableNeoHookeanForce.h
index 26f738fda..b113b4546 100644
--- a/src/BulletSoftBody/btDeformableNeoHookeanForce.h
+++ b/src/BulletSoftBody/btDeformableNeoHookeanForce.h
@@ -61,6 +61,10 @@ public:
         for (int i = 0; i < m_softBodies.size(); ++i)
         {
             btSoftBody* psb = m_softBodies[i];
+            if (!psb->isActive())
+            {
+                continue;
+            }
             for (int j = 0; j < psb->m_tetras.size(); ++j)
             {
                 btSoftBody::Tetra& tetra = psb->m_tetras[j];
@@ -224,6 +228,10 @@ public:
         for (int i = 0; i < m_softBodies.size(); ++i)
         {
             btSoftBody* psb = m_softBodies[i];
+            if (!psb->isActive())
+            {
+                continue;
+            }
             for (int j = 0; j < psb->m_tetras.size(); ++j)
             {
                 btSoftBody::Tetra& tetra = psb->m_tetras[j];
@@ -262,6 +270,10 @@ public:
         for (int i = 0; i < m_softBodies.size(); ++i)
         {
             btSoftBody* psb = m_softBodies[i];
+            if (!psb->isActive())
+            {
+                continue;
+            }
             for (int j = 0; j < psb->m_tetras.size(); ++j)
             {
                 btSoftBody::Tetra& tetra = psb->m_tetras[j];
diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp
index 843c60e29..b05b28ca4 100644
--- a/src/BulletSoftBody/btSoftBody.cpp
+++ b/src/BulletSoftBody/btSoftBody.cpp
@@ -117,7 +117,7 @@ void btSoftBody::initDefaults()
 	m_windVelocity = btVector3(0, 0, 0);
 	m_restLengthScale = btScalar(1.0);
     m_dampingCoefficient = 1;
-    m_sleepingThreshold = 0.01;
+    m_sleepingThreshold = 0.1;
     m_useFaceContact = false;
     m_collisionFlags = 0;
 }
@@ -3601,51 +3601,43 @@ void btSoftBody::defaultCollisionHandler(btSoftBody* psb)
 		break;
         case fCollision::VF_DD:
         {
-            if (this != psb)
+            if (psb->isActive() || this->isActive())
             {
-                btSoftColliders::CollideVF_DD docollide;
-                /* common                    */
-                docollide.mrg = getCollisionShape()->getMargin() +
-                psb->getCollisionShape()->getMargin();
-                /* psb0 nodes vs psb1 faces    */
-                docollide.psb[0] = this;
-                docollide.psb[1] = psb;
-                docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
-                                                    docollide.psb[1]->m_fdbvt.m_root,
-                                                    docollide);
-                /* psb1 nodes vs psb0 faces    */
-                docollide.psb[0] = psb;
-                docollide.psb[1] = this;
-                docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
-                                                    docollide.psb[1]->m_fdbvt.m_root,
-                                                    docollide);
-            }
-            else
-            {
-                if (psb->useSelfCollision())
+                if (this != psb)
                 {
-                  btSoftColliders::CollideFF_DD docollide;
-                  docollide.mrg = getCollisionShape()->getMargin() +
-                  psb->getCollisionShape()->getMargin();
-                  docollide.psb[0] = this;
-                  docollide.psb[1] = psb;
-                  /* psb0 faces vs psb0 faces    */
-                  btDbvntNode* root = copyToDbvnt(this->m_fdbvt.m_root);
-                  calculateNormalCone(root);
-                  this->m_fdbvt.selfCollideT(root,docollide);
-                  delete root;
+                    btSoftColliders::CollideVF_DD docollide;
+                    /* common                    */
+                    docollide.mrg = getCollisionShape()->getMargin() +
+                    psb->getCollisionShape()->getMargin();
+                    /* psb0 nodes vs psb1 faces    */
+                    docollide.psb[0] = this;
+                    docollide.psb[1] = psb;
+                    docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
+                                                        docollide.psb[1]->m_fdbvt.m_root,
+                                                        docollide);
+                    /* psb1 nodes vs psb0 faces    */
+                    docollide.psb[0] = psb;
+                    docollide.psb[1] = this;
+                    docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
+                                                        docollide.psb[1]->m_fdbvt.m_root,
+                                                        docollide);
+                }
+                else
+                {
+                    if (psb->useSelfCollision())
+                    {
+                      btSoftColliders::CollideFF_DD docollide;
+                      docollide.mrg = getCollisionShape()->getMargin() +
+                      psb->getCollisionShape()->getMargin();
+                      docollide.psb[0] = this;
+                      docollide.psb[1] = psb;
+                      /* psb0 faces vs psb0 faces    */
+                      btDbvntNode* root = copyToDbvnt(this->m_fdbvt.m_root);
+                      calculateNormalCone(root);
+                      this->m_fdbvt.selfCollideT(root,docollide);
+                      delete root;
+                    }
                 }
-                
-//                btSoftColliders::CollideFF_DD docollide;
-//                /* common                    */
-//                docollide.mrg = getCollisionShape()->getMargin() +
-//                psb->getCollisionShape()->getMargin();
-//                /* psb0 nodes vs psb1 faces    */
-//                docollide.psb[0] = this;
-//                docollide.psb[1] = psb;
-//                docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_fdbvt.m_root,
-//                                                    docollide.psb[1]->m_fdbvt.m_root,
-//                                                    docollide);
             }
         }
         break;
@@ -4051,3 +4043,47 @@ const char* btSoftBody::serialize(void* dataBuffer, class btSerializer* serializ
 
 	return btSoftBodyDataName;
 }
+
+void btSoftBody::updateDeactivation(btScalar timeStep)
+{
+    if ((getActivationState() == ISLAND_SLEEPING) || (getActivationState() == DISABLE_DEACTIVATION))
+        return;
+
+    if (m_maxSpeedSquared < m_sleepingThreshold * m_sleepingThreshold)
+    {
+        m_deactivationTime += timeStep;
+    }
+    else
+    {
+        m_deactivationTime = btScalar(0.);
+        setActivationState(0);
+    }
+}
+
+
+void btSoftBody::setZeroVelocity()
+{
+    for (int i = 0; i < m_nodes.size(); ++i)
+    {
+        m_nodes[i].m_v.setZero();
+    }
+}
+
+bool btSoftBody::wantsSleeping()
+{
+    if (getActivationState() == DISABLE_DEACTIVATION)
+        return false;
+
+    //disable deactivation
+    if (gDisableDeactivation || (gDeactivationTime == btScalar(0.)))
+        return false;
+
+    if ((getActivationState() == ISLAND_SLEEPING) || (getActivationState() == WANTS_DEACTIVATION))
+        return true;
+
+    if (m_deactivationTime > gDeactivationTime)
+    {
+        return true;
+    }
+    return false;
+}
diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h
index 970290962..195434c06 100644
--- a/src/BulletSoftBody/btSoftBody.h
+++ b/src/BulletSoftBody/btSoftBody.h
@@ -1017,8 +1017,11 @@ public:
 	/* defaultCollisionHandlers												*/
 	void defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap);
 	void defaultCollisionHandler(btSoftBody* psb);
-        void setSelfCollision(bool useSelfCollision);
-        bool useSelfCollision();
+    void setSelfCollision(bool useSelfCollision);
+    bool useSelfCollision();
+    void updateDeactivation(btScalar timeStep);
+    void setZeroVelocity();
+    bool wantsSleeping();
 
 	//
 	// Functionality to deal with new accelerated solvers.
diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h
index afe9c7ea8..6e20b3222 100644
--- a/src/BulletSoftBody/btSoftBodyInternals.h
+++ b/src/BulletSoftBody/btSoftBodyInternals.h
@@ -1097,8 +1097,6 @@ struct btSoftColliders
                             
                             c.m_c0 = ImpulseMatrix(1, ima, imb, iwi, ra);
                             c.m_c1 = ra;
-                            if (m_rigidBody)
-                                m_rigidBody->activate();
                         }
                         else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
                         {
@@ -1200,8 +1198,6 @@ struct btSoftColliders
                         // we do not scale the impulse matrix by dt
                         c.m_c0 = ImpulseMatrix(1, ima, imb, iwi, ra);
                         c.m_c1 = ra;
-                        if (m_rigidBody)
-                            m_rigidBody->activate();
                     }
                     else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
                     {