diff --git a/examples/DeformableDemo/DeformableSelfCollision.cpp b/examples/DeformableDemo/DeformableSelfCollision.cpp
index 576f8f488..aad40ecd7 100644
--- a/examples/DeformableDemo/DeformableSelfCollision.cpp
+++ b/examples/DeformableDemo/DeformableSelfCollision.cpp
@@ -93,7 +93,7 @@ void DeformableSelfCollision::initPhysics()
     {
         ///create a ground
         btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(2.5), btScalar(150.)));
-        groundShape->setMargin(0.0001);
+        groundShape->setMargin(0.02);
         m_collisionShapes.push_back(groundShape);
         
         btTransform groundTransform;
@@ -152,6 +152,7 @@ void DeformableSelfCollision::addCloth(btVector3 origin)
     clothTransform.setOrigin(btVector3(0,0.2,0)+origin);
     psb->transform(clothTransform);
     psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+    psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
     psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
     psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
     getDeformableDynamicsWorld()->addSoftBody(psb);
@@ -164,6 +165,7 @@ void DeformableSelfCollision::addCloth(btVector3 origin)
     btVector3 gravity = btVector3(0, -9.8, 0);
     btDeformableGravityForce* gravity_force =  new btDeformableGravityForce(gravity);
     getDeformableDynamicsWorld()->addForce(psb, gravity_force);
+    getDeformableDynamicsWorld()->setUseProjection(true);
     m_forces.push_back(gravity_force);
 }
 
diff --git a/src/BulletSoftBody/btDeformableContactConstraint.cpp b/src/BulletSoftBody/btDeformableContactConstraint.cpp
index b2f40f818..09398d79a 100644
--- a/src/BulletSoftBody/btDeformableContactConstraint.cpp
+++ b/src/BulletSoftBody/btDeformableContactConstraint.cpp
@@ -290,6 +290,7 @@ btScalar btDeformableRigidContactConstraint::solveConstraint(const btContactSolv
 	if (m_total_normal_dv.dot(cti.m_normal) < 0)
 	{
 		// separating in the normal direction
+		m_binding = false;
 		m_static = false;
 		impulse_tangent.setZero();
 	}
diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h
index 4a89c0b46..efe3f5f3c 100644
--- a/src/BulletSoftBody/btSoftBody.h
+++ b/src/BulletSoftBody/btSoftBody.h
@@ -1328,7 +1328,7 @@ public:
 			int face_penetration = 0, node_penetration = node->m_constrained;
 			for (int i = 0; i < 3; ++i)
 				face_penetration |= face->m_n[i]->m_constrained;
-			btScalar I_tilde = .5 * I / (1.0 + w.length2());
+			btScalar I_tilde = 2.0 * I / (1.0 + w.length2());
 
 			//             double the impulse if node or face is constrained.
 			if (face_penetration > 0 || node_penetration > 0)
@@ -1354,10 +1354,10 @@ public:
 				btScalar vt_new = btMax(btScalar(1) - mu * delta_vn / (vt_norm + SIMD_EPSILON), btScalar(0)) * vt_norm;
 				I = 0.5 * mass * (vt_norm - vt_new);
 				vt.safeNormalize();
-				I_tilde = .5 * I / (1.0 + w.length2());
+				I_tilde = 2.0 * I / (1.0 + w.length2());
 				//                 double the impulse if node or face is constrained.
-				//                if (face_penetration > 0 || node_penetration > 0)
-				//                    I_tilde *= 2.0;
+				if (face_penetration > 0 || node_penetration > 0)
+					I_tilde *= 2.0;
 				if (face_penetration <= 0)
 				{
 					for (int j = 0; j < 3; ++j)