diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 3ef510afc..39da0f455 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -632,7 +632,7 @@ extern "C"
 	B3_SHARED_API int b3LoadSoftBodySetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ);
 	B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW);
 	B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda);
-	B3_SHARED_API int b3LoadSoftBodyAddNeoHookeanForce(b3SharedMemoryCommandHandle commandHandle, double NeoHookeanMu, double NeoHookeanLambda, double NeoHookeanDamping = 0);
+	B3_SHARED_API int b3LoadSoftBodyAddNeoHookeanForce(b3SharedMemoryCommandHandle commandHandle, double NeoHookeanMu, double NeoHookeanLambda, double NeoHookeanDamping);
 	B3_SHARED_API int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle commandHandle, double springElasticStiffness , double springDampingStiffness);
 	B3_SHARED_API int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle commandHandle, double gravityX, double gravityY, double gravityZ);
 	B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle commandHandle, double collisionHardness);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 8fa68afca..2d8bc9bd3 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -8113,10 +8113,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
                 psb->m_renderNodes.resize(0);
             }
             btVector3 gravity = m_data->m_dynamicsWorld->getGravity();
-            if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_GRAVITY_FORCE)
-            {
-                    m_data->m_dynamicsWorld->addForce(psb, new btDeformableGravityForce(gravity));
-            }
+            m_data->m_dynamicsWorld->addForce(psb, new btDeformableGravityForce(gravity));
             btScalar collision_hardness = 1;
             psb->m_cfg.kKHR = collision_hardness;
             psb->m_cfg.kCHR = collision_hardness;
diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp
index 0da85ff43..6f46b63b7 100644
--- a/src/BulletSoftBody/btSoftBody.cpp
+++ b/src/BulletSoftBody/btSoftBody.cpp
@@ -2306,10 +2306,10 @@ bool btSoftBody::checkDeformableContact(const btCollisionObjectWrapper* colObjWr
     const btCollisionObject* tmpCollisionObj = colObjWrap->getCollisionObject();
     // use the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg for collision detect
     // but resolve contact at x_n
-    btTransform wtr = (predict) ?
-    (colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform())
-                 : colObjWrap->getWorldTransform();
-    //const btTransform& wtr = colObjWrap->getWorldTransform();
+    //btTransform wtr = (predict) ?
+    //(colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform())
+                 //: colObjWrap->getWorldTransform();
+    const btTransform& wtr = colObjWrap->getWorldTransform();
 	btScalar dst =
 		m_worldInfo->m_sparsesdf.Evaluate(
 			wtr.invXform(x),