diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 6e98ad191..578086f54 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -4536,7 +4536,6 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 									int linkIndexB = -1;
 
 									int objectIndexB = -1;
-
 									const btRigidBody* bodyB = btRigidBody::upcast(manifold->getBody1());
 									if (bodyB)
 									{
@@ -4547,12 +4546,6 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 									{
 										linkIndexB = mblB->m_link;
 										objectIndexB = mblB->m_multiBody->getUserIndex2();
-										if (
-											(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER) &&
-											clientCmd.m_requestContactPointArguments.m_linkIndexBIndexFilter != linkIndexB)
-										{
-											continue;
-										}
 									}
 
 									int objectIndexA = -1;
@@ -4566,30 +4559,55 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 									{
 										linkIndexA = mblA->m_link;
 										objectIndexA = mblA->m_multiBody->getUserIndex2();
-										if (
-											(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER) &&
-											clientCmd.m_requestContactPointArguments.m_linkIndexAIndexFilter != linkIndexA)
+									}
+									btAssert(bodyA || mblA);
+
+									//apply the filter, if the user provides it
+									bool swap = false;
+									if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter >= 0)
+									{
+										if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter == objectIndexA)
+										{
+											swap = false;
+										}
+										else if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter == objectIndexB)
+										{
+											swap = true;
+										}
+										else
 										{
 											continue;
 										}
 									}
 
-									btAssert(bodyA || mblA);
-
-									//apply the filter, if the user provides it
-									if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter >= 0)
+									if (swap)
 									{
-										if ((clientCmd.m_requestContactPointArguments.m_objectAIndexFilter != objectIndexA) &&
-											(clientCmd.m_requestContactPointArguments.m_objectAIndexFilter != objectIndexB))
-											continue;
+										std::swap(objectIndexA, objectIndexB);
+										std::swap(linkIndexA, linkIndexB);
+										std::swap(bodyA, bodyB);
 									}
 
 									//apply the second object filter, if the user provides it
 									if (clientCmd.m_requestContactPointArguments.m_objectBIndexFilter >= 0)
 									{
-										if ((clientCmd.m_requestContactPointArguments.m_objectBIndexFilter != objectIndexA) &&
-											(clientCmd.m_requestContactPointArguments.m_objectBIndexFilter != objectIndexB))
+										if (clientCmd.m_requestContactPointArguments.m_objectBIndexFilter != objectIndexB)
+										{
 											continue;
+										}
+									}
+
+									if (
+										(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER) &&
+										clientCmd.m_requestContactPointArguments.m_linkIndexAIndexFilter != linkIndexA)
+									{
+										continue;
+									}
+
+									if (
+										(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER) &&
+										clientCmd.m_requestContactPointArguments.m_linkIndexBIndexFilter != linkIndexB)
+									{
+										continue;
 									}
 
 									for (int p = 0; p < manifold->getNumContacts(); p++)
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h b/src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h
index 9a375e3e4..671e15d31 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h
+++ b/src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h
@@ -4,8 +4,8 @@ Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
 subject to the following restrictions:
 
 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
@@ -74,17 +74,12 @@ public:
 		if (m_link>=0)
 		{
 			const btMultibodyLink& link = m_multiBody->getLink(this->m_link);
-			if (link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
-			{
-				if ( link.m_parent == other->m_link)
-					return false;
-			}
 			if (link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION)
 			{
 				int parent_of_this = m_link;
-				while (1) 
+				while (1)
 				{
-					if (parent_of_this==-1) 
+					if (parent_of_this==-1)
 						break;
 					parent_of_this = m_multiBody->getLink(parent_of_this).m_parent;
 					if (parent_of_this==other->m_link)
@@ -93,28 +88,34 @@ public:
 					}
 				}
 			}
+			else if (link.m_flags&BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
+			{
+				if ( link.m_parent == other->m_link)
+					return false;
+			}
+
 		}
-		
+
 		if (other->m_link>=0)
 		{
 			const btMultibodyLink& otherLink = other->m_multiBody->getLink(other->m_link);
-			if (otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
-			{
-				if (otherLink.m_parent == this->m_link)
-					return false;
-			}
 			if (otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION)
 			{
 				int parent_of_other = other->m_link;
-				while (1) 
+				while (1)
 				{
-					if (parent_of_other==-1) 
+					if (parent_of_other==-1)
 						break;
 					parent_of_other = m_multiBody->getLink(parent_of_other).m_parent;
 					if (parent_of_other==this->m_link)
 						return false;
 				}
 			}
+			else if (otherLink.m_flags& BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION)
+			{
+				if (otherLink.m_parent == this->m_link)
+					return false;
+			}
 		}
 		return true;
 	}