diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.h b/examples/Importers/ImportURDFDemo/UrdfParser.h
index d873e4d30..7cd87c49a 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.h
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.h
@@ -205,10 +205,12 @@ struct SpringCoeffcients{
     double elastic_stiffness;
     double damping_stiffness;
     double bending_stiffness;
+	int damp_all_directions;
     SpringCoeffcients():
-      elastic_stiffness(0.),
-      damping_stiffness(0.),
-      bending_stiffness(0.){}
+	elastic_stiffness(0.),
+	damping_stiffness(0.),
+	bending_stiffness(0.),
+	damp_all_directions(0){}
 };
 
 struct LameCoefficients
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index e65a7be93..6035d74e8 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -377,12 +377,13 @@ B3_SHARED_API int b3LoadSoftBodyAddNeoHookeanForce(b3SharedMemoryCommandHandle c
 	return 0;
 }
 
-B3_SHARED_API int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle commandHandle, double springElasticStiffness , double springDampingStiffness)
+B3_SHARED_API int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle commandHandle, double springElasticStiffness , double springDampingStiffness, int dampAllDirections)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
 	b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
-        command->m_loadSoftBodyArguments.m_springElasticStiffness = springElasticStiffness;
-        command->m_loadSoftBodyArguments.m_springDampingStiffness = springDampingStiffness;
+	command->m_loadSoftBodyArguments.m_springElasticStiffness = springElasticStiffness;
+	command->m_loadSoftBodyArguments.m_springDampingStiffness = springDampingStiffness;
+	command->m_loadSoftBodyArguments.m_dampAllDirections = dampAllDirections;
 	command->m_updateFlags |= LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE;
 	return 0;
 }
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 41d1a9fba..ad8df27aa 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -647,7 +647,7 @@ extern "C"
 	B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda);
     B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda);
 	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 b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle commandHandle, double springElasticStiffness , double springDampingStiffness, int dampAllDirections = 0);
 	B3_SHARED_API int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle commandHandle, double gravityX, double gravityY, double gravityZ);
 	B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle commandHandle, double collisionHardness);
 	B3_SHARED_API int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 309fbc574..0c4ebe5af 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -8362,6 +8362,7 @@ void constructUrdfDeformable(const struct SharedMemoryCommand& clientCmd, UrdfDe
 #ifndef SKIP_DEFORMABLE_BODY
 	deformable.m_springCoefficients.elastic_stiffness = loadSoftBodyArgs.m_springElasticStiffness;
 	deformable.m_springCoefficients.damping_stiffness = loadSoftBodyArgs.m_springDampingStiffness;
+	deformable.m_springCoefficients.damp_all_directions = loadSoftBodyArgs.m_dampAllDirections;
 	if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_BENDING_SPRINGS)
 	{
 		deformable.m_springCoefficients.bending_stiffness = loadSoftBodyArgs.m_springBendingStiffness;
@@ -8472,7 +8473,7 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
 			btDeformableLagrangianForce* springForce =
 				new btDeformableMassSpringForce(deformable.m_springCoefficients.elastic_stiffness,
 												deformable.m_springCoefficients.damping_stiffness,
-												true, deformable.m_springCoefficients.bending_stiffness);
+												deformable.m_springCoefficients.damp_all_directions, deformable.m_springCoefficients.bending_stiffness);
 			deformWorld->addForce(psb, springForce);
 			m_data->m_lf.push_back(springForce);
 		}
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index 3ab8776c9..f568b985b 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -532,6 +532,7 @@ struct LoadSoftBodyArgs
     double m_initialOrientation[4];
     double m_springElasticStiffness;
     double m_springDampingStiffness;
+	int m_dampAllDirections;
     double m_springBendingStiffness;
     double m_corotatedMu;
     double m_corotatedLambda;
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index e5c97d7fd..b84ffc5e6 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -2038,7 +2038,7 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
 	int physicsClientId = 0;
 	int flags = 0;
 
-	static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "scale", "mass", "collisionMargin", "useMassSpring", "useBendingSprings", "useNeoHookean", "springElasticStiffness", "springDampingStiffness", "springBendingStiffness", "NeoHookeanMu", "NeoHookeanLambda", "NeoHookeanDamping", "frictionCoeff", "useFaceContact", "useSelfCollision", "repulsionStiffness", "physicsClientId", NULL};
+	static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "scale", "mass", "collisionMargin", "useMassSpring", "useBendingSprings", "useNeoHookean", "springElasticStiffness", "springDampingStiffness", "springDampingAllDirections", "springBendingStiffness", "NeoHookeanMu", "NeoHookeanLambda", "NeoHookeanDamping", "frictionCoeff", "useFaceContact", "useSelfCollision", "repulsionStiffness", "physicsClientId", NULL};
 
 	int bodyUniqueId = -1;
 	const char* fileName = "";
@@ -2050,6 +2050,7 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
 	int useNeoHookean = 0;
 	double springElasticStiffness = 1;
 	double springDampingStiffness = 0.1;
+	int springDampingAllDirections = 0;
 	double springBendingStiffness = 0.1;
 	double NeoHookeanMu = 1;
 	double NeoHookeanLambda = 1;
@@ -2068,7 +2069,7 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
 	PyObject* basePosObj = 0;
 	PyObject* baseOrnObj = 0;
 
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOdddiiidddddddiidi", kwlist, &fileName, &basePosObj, &baseOrnObj, &scale, &mass, &collisionMargin, &useMassSpring, &useBendingSprings, &useNeoHookean, &springElasticStiffness, &springDampingStiffness, &springBendingStiffness, &NeoHookeanMu, &NeoHookeanLambda, &NeoHookeanDamping, &frictionCoeff, &useFaceContact, &useSelfCollision, &repulsionStiffness, &physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOdddiiiddidddddiidi", kwlist, &fileName, &basePosObj, &baseOrnObj, &scale, &mass, &collisionMargin, &useMassSpring, &useBendingSprings, &useNeoHookean, &springElasticStiffness, &springDampingStiffness, &springDampingAllDirections, &springBendingStiffness, &NeoHookeanMu, &NeoHookeanLambda, &NeoHookeanDamping, &frictionCoeff, &useFaceContact, &useSelfCollision, &repulsionStiffness, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -2123,7 +2124,7 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
 		}
 		if (useMassSpring)
 		{
-			b3LoadSoftBodyAddMassSpringForce(command, springElasticStiffness, springDampingStiffness);
+			b3LoadSoftBodyAddMassSpringForce(command, springElasticStiffness, springDampingStiffness, springDampingAllDirections);
 			b3LoadSoftBodyUseBendingSprings(command, useBendingSprings, springBendingStiffness);
 		}
 		if (useNeoHookean)