diff --git a/examples/DeformableDemo/DeformableSelfCollision.cpp b/examples/DeformableDemo/DeformableSelfCollision.cpp
index 7d3db4965..699289b1c 100644
--- a/examples/DeformableDemo/DeformableSelfCollision.cpp
+++ b/examples/DeformableDemo/DeformableSelfCollision.cpp
@@ -50,8 +50,8 @@ public:
     
     void stepSimulation(float deltaTime)
     {
-        float internalTimeStep = 1. / 480.f;
-        m_dynamicsWorld->stepSimulation(deltaTime, 8, internalTimeStep);
+        float internalTimeStep = 1. / 240.f;
+        m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
     }
     
     void addCloth(btVector3 origin);
@@ -114,12 +114,13 @@ void DeformableSelfCollision::initPhysics()
         btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
         btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
         btRigidBody* body = new btRigidBody(rbInfo);
-        body->setFriction(40);
+        body->setFriction(4);
         
         //add the ground to the dynamics world
         m_dynamicsWorld->addRigidBody(body);
     }
-    addCloth(btVector3(0, -0.4, 0));
+    addCloth(btVector3(0, -0.1, 0));
+    addCloth(btVector3(0, 1, 0));
     getDeformableDynamicsWorld()->setImplicit(false);
     getDeformableDynamicsWorld()->setLineSearch(false);
     m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
@@ -134,29 +135,29 @@ void DeformableSelfCollision::addCloth(btVector3 origin)
                                                      btVector3(+s, h, -2*s),
                                                      btVector3(-s, h, +2*s),
                                                      btVector3(+s, h, +2*s),
-                                                     20,40,
+                                                     15,30,
 //                                                     4,4,
                                                      0, true, 0.0);
 
     
-    psb->getCollisionShape()->setMargin(0.0075);
-    psb->generateBendingConstraints(3);
+    psb->getCollisionShape()->setMargin(0.02);
+    psb->generateBendingConstraints(2);
     psb->setTotalMass(.5);
     psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
     psb->m_cfg.kCHR = 1; // collision hardness with rigid body
     psb->m_cfg.kDF = 0.1;
-    psb->rotate(btQuaternion(0, SIMD_PI / 2, 0));
+    psb->rotate(btQuaternion(0, SIMD_PI / 4, 0));
     btTransform clothTransform;
     clothTransform.setIdentity();
-    clothTransform.setOrigin(btVector3(0,0.2,0));
+    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::VF_DD;
     getDeformableDynamicsWorld()->addSoftBody(psb);
     psb->setSelfCollision(true);
     
-    btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(1.5,0.1, true);
-    psb->setSpringStiffness(1);
+    btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2,0.1, true);
+    psb->setSpringStiffness(2);
     getDeformableDynamicsWorld()->addForce(psb, mass_spring);
     m_forces.push_back(mass_spring);
     btVector3 gravity = btVector3(0, -9.8, 0);
diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
index f6a49a934..93d52272b 100644
--- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
+++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
@@ -63,7 +63,7 @@ m_deformableBodySolver(deformableBodySolver), m_solverCallback(0)
 	m_implicit = false;
 	m_lineSearch = false;
 	m_selfCollision = true;
-	m_ccdIterations = 3;
+	m_ccdIterations = 5;
 	m_solverDeformableBodyIslandCallback = new DeformableBodyInplaceSolverIslandCallback(constraintSolver, dispatcher);
 }
 
diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp
index 5014300aa..fa779a490 100644
--- a/src/BulletSoftBody/btSoftBody.cpp
+++ b/src/BulletSoftBody/btSoftBody.cpp
@@ -4139,7 +4139,7 @@ void btSoftBody::defaultCollisionHandler(btSoftBody* psb)
                     if (psb->useSelfCollision())
                     {
                         btSoftColliders::CollideFF_DD docollide;
-                        docollide.mrg = getCollisionShape()->getMargin()*2.0;
+                        docollide.mrg = getCollisionShape()->getMargin();
                         docollide.psb[0] = this;
                         docollide.psb[1] = psb;
                         if (this->m_tetras.size() > 0)
@@ -4196,7 +4196,7 @@ void btSoftBody::geometricCollisionHandler(btSoftBody* psb)
 			if (psb->useSelfCollision())
 			{
 				btSoftColliders::CollideCCD docollide;
-				docollide.mrg = 1e-6;
+				docollide.mrg = SAFE_EPSILON;
 				docollide.psb[0] = this;
 				docollide.psb[1] = psb;
                 docollide.dt = psb->m_sst.sdt;
diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h
index 770794430..b1d78b7b7 100644
--- a/src/BulletSoftBody/btSoftBody.h
+++ b/src/BulletSoftBody/btSoftBody.h
@@ -1173,7 +1173,7 @@ public:
 	static psolver_t getSolver(ePSolver::_ solver);
 	static vsolver_t getSolver(eVSolver::_ solver);
 	void geometricCollisionHandler(btSoftBody* psb);
-#define SAFE_EPSILON SIMD_EPSILON*10.0
+#define SAFE_EPSILON SIMD_EPSILON*100.0
 	void updateNode(btDbvtNode* node, bool use_velocity, bool margin)
 	{
 		if (node->isleaf())
@@ -1307,7 +1307,7 @@ public:
 			bool face_constrained = false, node_constrained = node->m_constrained;
 			for (int i = 0; i < 3; ++i)
 				face_constrained |= face->m_n[i]->m_constrained;
-			btScalar I_tilde = 2.0*I /(1.0+w.length2());
+			btScalar I_tilde = .5 *I /(1.0+w.length2());
 			
 			// double the impulse if node or face is constrained.
 			if (face_constrained || node_constrained)
@@ -1331,7 +1331,7 @@ 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 = 2.0*I /(1.0+w.length2());
+				I_tilde = .5 *I /(1.0+w.length2());
 				// double the impulse if node or face is constrained.
 				if (face_constrained || node_constrained)
 					I_tilde *= 2.0;