diff --git a/examples/ReducedDeformableDemo/FreeFall.cpp b/examples/ReducedDeformableDemo/FreeFall.cpp
index 91667fc77..7995cb95b 100644
--- a/examples/ReducedDeformableDemo/FreeFall.cpp
+++ b/examples/ReducedDeformableDemo/FreeFall.cpp
@@ -157,7 +157,7 @@ void FreeFall::initPhysics()
         getDeformableDynamicsWorld()->addSoftBody(rsb);
         rsb->getCollisionShape()->setMargin(0.1);
         // rsb->scale(btVector3(1, 1, 1));
-        rsb->translate(btVector3(0, 0.1, 0));  //TODO: add back translate and scale
+        rsb->translate(btVector3(0, 0, 0));  //TODO: add back translate and scale
         // rsb->setTotalMass(0.5);
         rsb->setStiffnessScale(0.5);
         rsb->setDamping(damping_alpha, damping_beta);
@@ -183,11 +183,13 @@ void FreeFall::initPhysics()
     }
     // create a static rigid box as the ground
     {
-        btBoxShape* groundShape = createBoxShape(btVector3(btScalar(3.), btScalar(3.), btScalar(3.)));
+        btBoxShape* groundShape = createBoxShape(btVector3(btScalar(3), btScalar(3), btScalar(3)));
+        // btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50), btScalar(50), btScalar(50)));
         m_collisionShapes.push_back(groundShape);
 
         btTransform groundTransform;
         groundTransform.setIdentity();
+        // groundTransform.setOrigin(btVector3(0, -50, 0));
         groundTransform.setOrigin(btVector3(0, 0, 6));
         {
             btScalar mass(0.);
diff --git a/src/BulletSoftBody/BulletReducedSoftBody/btReducedDeformableContactConstraint.cpp b/src/BulletSoftBody/BulletReducedSoftBody/btReducedDeformableContactConstraint.cpp
index 2357f69a3..a87f111d2 100644
--- a/src/BulletSoftBody/BulletReducedSoftBody/btReducedDeformableContactConstraint.cpp
+++ b/src/BulletSoftBody/BulletReducedSoftBody/btReducedDeformableContactConstraint.cpp
@@ -77,7 +77,10 @@ btScalar btReducedDeformableRigidContactConstraint::solveConstraint(const btCont
 	// btVector3 impulse_tangent = impulse - impulse_normal;
 	std::cout << "impulse normal: " << impulse[0] << '\t' << impulse[1] << '\t' << impulse[2] << '\n';
 	if (dn > 0)
+	{
+		std::cout << "skip\n";
 		return 0;
+	}
 	// btVector3 impulse = m_contact->m_c0 * (vr + m_total_normal_dv * infoGlobal.m_deformable_cfm + ((m_penetration > 0) ? m_penetration / infoGlobal.m_timeStep * cti.m_normal : btVector3(0, 0, 0)));
 	// if (!infoGlobal.m_splitImpulse)
 	// {
@@ -129,7 +132,7 @@ btScalar btReducedDeformableRigidContactConstraint::solveConstraint(const btCont
 	// }
 	// impulse = impulse_normal + impulse_tangent;
 	// apply impulse to deformable nodes involved and change their velocities
-	// impulse = btVector3(0, 0, -1e-2);
+	// impulse = btVector3(0, 10, 0);
 	// impulse_normal = btVector3(0, 0, 0);
 	// impulse_tangent = btVector3(0, 0, 0);
 	applyImpulse(impulse);
diff --git a/src/BulletSoftBody/btSoftBodyInternals.h b/src/BulletSoftBody/btSoftBodyInternals.h
index 01b10ce32..2bf4b3262 100644
--- a/src/BulletSoftBody/btSoftBodyInternals.h
+++ b/src/BulletSoftBody/btSoftBodyInternals.h
@@ -1696,6 +1696,7 @@ struct btSoftColliders
 							if (psb->m_reducedModel)
 							{
 								c.m_c0 = (psb->getImpulseFactor(n.index)).inverse();
+								c.m_c1 = n.m_x - psb->getRigidTransform().getOrigin();
 							}
 							else
 							{
@@ -1704,8 +1705,8 @@ struct btSoftColliders
 
 								c.m_c0 = ImpulseMatrix(1, n.m_effectiveMass_inv, imb, iwi, ra);
 								//                            c.m_c0 = ImpulseMatrix(1, ima, imb, iwi, ra);
+								c.m_c1 = ra;
 							}
-							c.m_c1 = ra;
 						}
 						else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
 						{