diff --git a/examples/DeformableDemo/DeformableRigid.cpp b/examples/DeformableDemo/DeformableRigid.cpp
index f6c087d2a..47ac3d9ff 100644
--- a/examples/DeformableDemo/DeformableRigid.cpp
+++ b/examples/DeformableDemo/DeformableRigid.cpp
@@ -219,7 +219,7 @@ void DeformableRigid::initPhysics()
         psb->setTotalMass(1);
         psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
         psb->m_cfg.kCHR = 1; // collision hardness with rigid body
-        psb->m_cfg.kDF = 2;
+        psb->m_cfg.kDF = .4;
         psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
         getDeformableDynamicsWorld()->addSoftBody(psb);
         
diff --git a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
index 808fce32c..50c09d83e 100644
--- a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
+++ b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
@@ -82,7 +82,7 @@ struct btContactSolverInfo : public btContactSolverInfoData
 		m_numIterations = 10;
 		m_erp = btScalar(0.2);
 		m_erp2 = btScalar(0.2);
-		m_deformable_erp = btScalar(0.1);
+		m_deformable_erp = btScalar(0.3);
 		m_globalCfm = btScalar(0.);
 		m_frictionERP = btScalar(0.2);  //positional friction 'anchors' are disabled by default
 		m_frictionCFM = btScalar(0.);
diff --git a/src/BulletSoftBody/btDeformableContactConstraint.cpp b/src/BulletSoftBody/btDeformableContactConstraint.cpp
index 61eaae5a8..3a5dfc88d 100644
--- a/src/BulletSoftBody/btDeformableContactConstraint.cpp
+++ b/src/BulletSoftBody/btDeformableContactConstraint.cpp
@@ -414,6 +414,11 @@ void btDeformableFaceRigidContactConstraint::applyImpulse(const btVector3& impul
     if (im2 > 0)
         v2 -= dv * contact->m_weights[2];
 
+	btScalar relaxation = 1./btScalar(m_infoGlobal->m_numIterations);
+	btScalar m01 = (relaxation/(im0 + im1));
+	btScalar m02 = (relaxation/(im0 + im2));
+	btScalar m12 = (relaxation/(im1 + im2));
+	#ifdef USE_STRAIN_RATE_LIMITING
 	// apply strain limiting to prevent the new velocity to change the current length of the edge by more than 1%.
 	btScalar p = 0.01;
 	btVector3& x0 = face->m_n[0]->m_x;
@@ -446,24 +451,19 @@ void btDeformableFaceRigidContactConstraint::applyImpulse(const btVector3& impul
 		{
 			s = 1/dt * (-x_diff_dot_u + btSqrt(x_diff_dot_u*x_diff_dot_u + (p*p+2*p) * x_diff_norm * x_diff_norm));
 		}
-//		x_diff_norm_new = (x_diff[i] + s * u[i] * dt).safeNorm();
-//		strainRate = x_diff_norm_new/x_diff_norm;
+		//		x_diff_norm_new = (x_diff[i] + s * u[i] * dt).safeNorm();
+		//		strainRate = x_diff_norm_new/x_diff_norm;
 		dn[i] = s - v_diff[i].safeNorm();
 	}
-
-	btScalar relaxation = 0.5;
-	// apply strain limiting to prevent undamped modes
-	btScalar m01 = (relaxation/(im0 + im1));
-	btScalar m02 = (relaxation/(im0 + im2));
-	btScalar m12 = (relaxation/(im1 + im2));
-
-//	btVector3 dv0 = im0 * (m01 * (v1-v0) + m02 * (v2-v0));
-//	btVector3 dv1 = im1 * (m01 * (v0-v1) + m12 * (v2-v1));
-//	btVector3 dv2 = im2 * (m12 * (v1-v2) + m02 * (v0-v2));
-	
 	btVector3 dv0 = im0 * (m01 * u[0]*(-dn[0]) + m02 * u[1]*-(dn[1]));
 	btVector3 dv1 = im1 * (m01 * u[0]*(dn[0]) + m12 * u[2]*(-dn[2]));
 	btVector3 dv2 = im2 * (m12 * u[2]*(dn[2]) + m02 * u[1]*(dn[1]));
+#else
+	// apply strain limiting to prevent undamped modes
+	btVector3 dv0 = im0 * (m01 * (v1-v0) + m02 * (v2-v0));
+	btVector3 dv1 = im1 * (m01 * (v0-v1) + m12 * (v2-v1));
+	btVector3 dv2 = im2 * (m12 * (v1-v2) + m02 * (v0-v2));
+#endif
 	v0 += dv0;
 	v1 += dv1;
 	v2 += dv2;
diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp
index ca7eec13d..634778d00 100644
--- a/src/BulletSoftBody/btSoftBody.cpp
+++ b/src/BulletSoftBody/btSoftBody.cpp
@@ -2459,7 +2459,7 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO
     : colObjWrap->getWorldTransform();
     btScalar dst;
     
-//#define USE_QUADRATURE 1
+#define USE_QUADRATURE 1
 //#define CACHE_PREV_COLLISION
     
     // use the contact position of the previous collision
@@ -3698,8 +3698,8 @@ void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap
                     docollideFace.psb = this;
                     docollideFace.m_colObj1Wrap = pcoWrap;
                     docollideFace.m_rigidBody = prb1;
-					docollideFace.dynmargin = 0.9*(basemargin + timemargin);
-					docollideFace.stamargin = 0.9*basemargin;
+					docollideFace.dynmargin = 0.05*(basemargin + timemargin);
+					docollideFace.stamargin = 0.05*basemargin;
                     m_fdbvt.collideTV(m_fdbvt.m_root, volume, docollideFace);
                 }
             }
diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h
index 055af1652..6ef0ee367 100644
--- a/src/BulletSoftBody/btSoftBodyInternals.h
+++ b/src/BulletSoftBody/btSoftBodyInternals.h
@@ -1181,8 +1181,8 @@ struct btSoftColliders
                     c.m_weights = btScalar(2)/(btScalar(1) + bary.length2()) * bary;
                     c.m_face = &f;
 					// friction is handled by the nodes to prevent sticking
-                    const btScalar fc = 0;
-//                    const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction();
+//                    const btScalar fc = 0;
+                    const btScalar fc = psb->m_cfg.kDF * m_colObj1Wrap->getCollisionObject()->getFriction();
                     
                     // the effective inverse mass of the face as in https://graphics.stanford.edu/papers/cloth-sig02/cloth.pdf
                     ima = bary.getX()*c.m_weights.getX() * n0->m_im + bary.getY()*c.m_weights.getY() * n1->m_im + bary.getZ()*c.m_weights.getZ() * n2->m_im;