diff --git a/examples/ReducedDeformableDemo/ConservationTest.cpp b/examples/ReducedDeformableDemo/ConservationTest.cpp
index 3f345ed2e..db18c1020 100644
--- a/examples/ReducedDeformableDemo/ConservationTest.cpp
+++ b/examples/ReducedDeformableDemo/ConservationTest.cpp
@@ -225,7 +225,7 @@ void ConservationTest::initPhysics()
         init_transform.setIdentity();
         init_transform.setOrigin(btVector3(0, 4, 0));
         // init_transform.setRotation(btQuaternion(btVector3(0, 1, 0), SIMD_PI / 2.0));
-        rsb->transform(init_transform);
+        rsb->transformTo(init_transform);
 
         rsb->setStiffnessScale(100);
         rsb->setDamping(damping_alpha, damping_beta);
diff --git a/examples/ReducedDeformableDemo/FreeFall.cpp b/examples/ReducedDeformableDemo/FreeFall.cpp
index 9bba8f9df..e24df185b 100644
--- a/examples/ReducedDeformableDemo/FreeFall.cpp
+++ b/examples/ReducedDeformableDemo/FreeFall.cpp
@@ -134,14 +134,14 @@ void FreeFall::initPhysics()
 
     m_broadphase = new btDbvtBroadphase();
     btReducedSoftBodySolver* reducedSoftBodySolver = new btReducedSoftBodySolver();
-    btVector3 gravity = btVector3(0, -10, 0);
-    reducedSoftBodySolver->setGravity(gravity);
 
     btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
     sol->setDeformableSolver(reducedSoftBodySolver);
     m_solver = sol;
 
     m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, reducedSoftBodySolver);
+    btVector3 gravity = btVector3(0, -10, 0);
+    m_dynamicsWorld->setGravity(gravity);
     m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
     // m_dynamicsWorld->getSolverInfo().m_solverMode |= SOLVER_RANDMIZE_ORDER;
 
@@ -157,7 +157,7 @@ void FreeFall::initPhysics()
         init_transform.setIdentity();
         init_transform.setOrigin(btVector3(0, 10, 0));
         // init_transform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI / 6.0));
-        rsb->transform(init_transform);
+        rsb->transformTo(init_transform);
 
         rsb->setStiffnessScale(100);
         rsb->setDamping(damping_alpha, damping_beta);
diff --git a/examples/ReducedDeformableDemo/ReducedCollide.cpp b/examples/ReducedDeformableDemo/ReducedCollide.cpp
index fd45dd3ce..db86228f0 100644
--- a/examples/ReducedDeformableDemo/ReducedCollide.cpp
+++ b/examples/ReducedDeformableDemo/ReducedCollide.cpp
@@ -216,7 +216,7 @@ void ReducedCollide::initPhysics()
         init_transform.setIdentity();
         init_transform.setOrigin(btVector3(0, 4, 0));
         // init_transform.setRotation(btQuaternion(0, SIMD_PI / 2.0, SIMD_PI / 2.0));
-        rsb->transform(init_transform);
+        rsb->transformTo(init_transform);
 
         rsb->setStiffnessScale(100);
         rsb->setDamping(damping_alpha, damping_beta);
diff --git a/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.cpp b/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.cpp
index a0f878bf9..1d295b656 100644
--- a/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.cpp
+++ b/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.cpp
@@ -397,6 +397,15 @@ void btReducedSoftBody::proceedToTransform(btScalar dt, bool end_of_time_step)
   m_invInertiaTensorWorld = m_interpolateInvInertiaTensorWorld;
 }
 
+void btReducedSoftBody::transformTo(const btTransform& trs)
+{
+  // get the current best rigid fit
+	btTransform current_transform = getRigidTransform();
+	// apply transform in material space
+	btTransform new_transform = trs * current_transform.inverse();
+  transform(new_transform);
+}
+
 void btReducedSoftBody::transform(const btTransform& trs)
 {
   // translate mesh
diff --git a/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.h b/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.h
index 8c7c57632..8a2aef15a 100644
--- a/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.h
+++ b/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.h
@@ -127,15 +127,12 @@ class btReducedSoftBody : public btSoftBody
   //
   // various internal updates
   //
+  virtual void transformTo(const btTransform& trs);
   virtual void transform(const btTransform& trs);
   // caution: 
   // need to use scale before using transform, because the scale is performed in the local frame 
   // (i.e., may have some rotation already, but the m_rigidTransformWorld doesn't have this info)
   virtual void scale(const btVector3& scl);
-  virtual void transformTo(const btTransform& trs)
-  {
-    btAssert(false); // not supported yet
-  }
   virtual void translate(const btVector3& trs)
   {
     btAssert(false); // use transform().
diff --git a/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodySolver.h b/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodySolver.h
index 27e5e9193..808bdb9e9 100644
--- a/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodySolver.h
+++ b/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodySolver.h
@@ -28,7 +28,7 @@ class btReducedSoftBodySolver : public btDeformableBodySolver
   btReducedSoftBodySolver();
   ~btReducedSoftBodySolver() {}
 
-  void setGravity(const btVector3& gravity);
+  virtual void setGravity(const btVector3& gravity);
 
   virtual SolverTypes getSolverType() const
   {
diff --git a/src/BulletSoftBody/btDeformableBodySolver.h b/src/BulletSoftBody/btDeformableBodySolver.h
index cf1e1ac24..74fa2a32c 100644
--- a/src/BulletSoftBody/btDeformableBodySolver.h
+++ b/src/BulletSoftBody/btDeformableBodySolver.h
@@ -69,6 +69,13 @@ public:
 	// solve the momentum equation
 	virtual void solveDeformableConstraints(btScalar solverdt);
 
+	// set gravity (get from deformable world)
+	virtual void setGravity(const btVector3& gravity)
+	{
+		// for full deformable object, we don't store gravity in the solver
+		// this function is overriden in the reduced deformable object
+	}
+
 	// resize/clear data structures
 	virtual void reinitialize(const btAlignedObjectArray<btSoftBody*>& softBodies, btScalar dt);
 
diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
index ce4d9a9da..23967a67b 100644
--- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
+++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
@@ -442,6 +442,12 @@ void btDeformableMultiBodyDynamicsWorld::predictUnconstraintMotion(btScalar time
 	m_deformableBodySolver->predictMotion(timeStep);
 }
 
+void btDeformableMultiBodyDynamicsWorld::setGravity(const btVector3& gravity)
+{
+	btDiscreteDynamicsWorld::setGravity(gravity);
+	m_deformableBodySolver->setGravity(gravity);
+}
+
 void btDeformableMultiBodyDynamicsWorld::reinitialize(btScalar timeStep)
 {
 	m_internalTime += timeStep;
diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h
index 8243e3d8a..b47d0e073 100644
--- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h
+++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h
@@ -122,6 +122,8 @@ public:
 		return m_sbi;
 	}
 
+	virtual void setGravity(const btVector3& gravity);
+
 	void reinitialize(btScalar timeStep);
 
 	void applyRigidBodyGravity(btScalar timeStep);
diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h
index ea8fcd76f..1016a9aa3 100644
--- a/src/BulletSoftBody/btSoftBody.h
+++ b/src/BulletSoftBody/btSoftBody.h
@@ -1004,7 +1004,7 @@ public:
 	/* Get best fit rigid transform                                         */
 	btTransform getRigidTransform();
 	/* Transform to given pose                                              */
-	void transformTo(const btTransform& trs);
+	virtual void transformTo(const btTransform& trs);
 	/* Transform															*/
 	virtual void transform(const btTransform& trs);
 	/* Translate															*/