diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 95069900f..824bee9e5 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -8023,6 +8023,129 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
 	return hasStatus;
 }
 
+bool PhysicsServerCommandProcessor::processRequestDeformableContactpointHelper(const struct SharedMemoryCommand& clientCmd)
+{
+#ifndef SKIP_DEFORMABLE_BODY
+	btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
+	if (!deformWorld)
+	{
+		return false;
+	}
+	int numSoftbodyContact = 0;
+	for (int i = deformWorld->getSoftBodyArray().size() - 1; i >= 0; i--)
+	{
+		numSoftbodyContact += deformWorld->getSoftBodyArray()[i]->m_faceRigidContacts.size();
+	}
+	int num_contact_points = m_data->m_cachedContactPoints.size();
+	m_data->m_cachedContactPoints.reserve(num_contact_points + numSoftbodyContact);
+
+	for (int i = deformWorld->getSoftBodyArray().size() - 1; i >= 0; i--)
+	{
+		btSoftBody* psb = deformWorld->getSoftBodyArray()[i];
+		for (int c = 0; c < psb->m_faceRigidContacts.size(); c++)
+		{
+			const btSoftBody::DeformableFaceRigidContact* contact = &psb->m_faceRigidContacts[i];
+			//convert rigidbody contact
+			int linkIndexA = -1;
+			int linkIndexB = -1;
+			int objectIndexA = psb->getUserIndex2();
+
+			int objectIndexB = -1;
+			const btRigidBody* bodyB = btRigidBody::upcast(contact->m_cti.m_colObj);
+			if (bodyB)
+			{
+				objectIndexB = bodyB->getUserIndex2();
+			}
+			const btMultiBodyLinkCollider* mblB = btMultiBodyLinkCollider::upcast(contact->m_cti.m_colObj);
+			if (mblB && mblB->m_multiBody)
+			{
+				linkIndexB = mblB->m_link;
+				objectIndexB = mblB->m_multiBody->getUserIndex2();
+			}
+
+			//apply the filter, if the user provides it
+			bool swap = false;
+			if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter >= 0)
+			{
+				if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter == objectIndexA)
+				{
+					swap = false;
+				}
+				else if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter == objectIndexB)
+				{
+					swap = true;
+				}
+				else
+				{
+					continue;
+				}
+			}
+
+			if (swap)
+			{
+				std::swap(objectIndexA, objectIndexB);
+				std::swap(linkIndexA, linkIndexB);
+			}
+
+			//apply the second object filter, if the user provides it
+			if (clientCmd.m_requestContactPointArguments.m_objectBIndexFilter >= 0)
+			{
+				if (clientCmd.m_requestContactPointArguments.m_objectBIndexFilter != objectIndexB)
+				{
+					continue;
+				}
+			}
+
+			if (
+				(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER) &&
+				clientCmd.m_requestContactPointArguments.m_linkIndexAIndexFilter != linkIndexA)
+			{
+				continue;
+			}
+
+			if (
+				(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER) &&
+				clientCmd.m_requestContactPointArguments.m_linkIndexBIndexFilter != linkIndexB)
+			{
+				continue;
+			}
+			b3ContactPointData pt;
+			pt.m_bodyUniqueIdA = objectIndexA;
+			pt.m_bodyUniqueIdB = objectIndexB;
+			pt.m_contactDistance = contact->m_cti.m_offset;
+			pt.m_contactFlags = 0;
+			pt.m_linkIndexA = linkIndexA;
+			pt.m_linkIndexB = linkIndexB;
+			for (int j = 0; j < 3; j++)
+			{
+				if (swap)
+				{
+					pt.m_contactNormalOnBInWS[j] = -contact->m_cti.m_normal[j];
+					pt.m_positionOnAInWS[j] = contact->m_cti.m_normal[j];
+					pt.m_positionOnBInWS[j] = -contact->m_cti.m_normal[j];
+				}
+				else
+				{
+					pt.m_contactNormalOnBInWS[j] = contact->m_cti.m_normal[j];
+					pt.m_positionOnAInWS[j] = -contact->m_cti.m_normal[j];
+					pt.m_positionOnBInWS[j] = contact->m_cti.m_normal[j];
+				}
+			}
+			pt.m_normalForce = 1;
+			pt.m_linearFrictionForce1 = 0;
+			pt.m_linearFrictionForce2 = 0;
+			for (int j = 0; j < 3; j++)
+			{
+				pt.m_linearFrictionDirection1[j] = 0;
+				pt.m_linearFrictionDirection2[j] = 0;
+			}
+			m_data->m_cachedContactPoints.push_back(pt);
+		}
+	}
+#endif
+	return true;
+}
+
 bool PhysicsServerCommandProcessor::processRequestContactpointInformationCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
 {
 	bool hasStatus = true;
@@ -8165,6 +8288,10 @@ bool PhysicsServerCommandProcessor::processRequestContactpointInformationCommand
 						m_data->m_cachedContactPoints.push_back(pt);
 					}
 				}
+
+#ifndef SKIP_DEFORMABLE_BODY
+				processRequestDeformableContactpointHelper(clientCmd);
+#endif
 				break;
 			}
 
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.h b/examples/SharedMemory/PhysicsServerCommandProcessor.h
index d456675df..e90ddb064 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.h
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.h
@@ -44,6 +44,7 @@ protected:
 	bool processSendDesiredStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
 	bool processRequestActualStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
 	bool processRequestContactpointInformationCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+	bool processRequestDeformableContactpointHelper(const struct SharedMemoryCommand& clientCmd);
 	bool processRequestBodyInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
 	bool processLoadSDFCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
 	bool processCreateMultiBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp
index e81680f01..699c6bcad 100644
--- a/src/BulletSoftBody/btDeformableBodySolver.cpp
+++ b/src/BulletSoftBody/btDeformableBodySolver.cpp
@@ -405,13 +405,12 @@ void btDeformableBodySolver::predictMotion(btScalar solverdt)
 	for (int i = 0; i < m_softBodies.size(); ++i)
 	{
 		btSoftBody* psb = m_softBodies[i];
-		/* Clear contacts */
-		psb->m_nodeRigidContacts.resize(0);
-		psb->m_faceRigidContacts.resize(0);
-		psb->m_faceNodeContacts.resize(0);
-
 		if (psb->isActive())
 		{
+			/* Clear contacts when softbody is active*/
+			psb->m_nodeRigidContacts.resize(0);
+			psb->m_faceRigidContacts.resize(0);
+			psb->m_faceNodeContacts.resize(0);
 			// predict motion for collision detection
 			predictDeformableMotion(psb, solverdt);
 		}
diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp
index d1980ea6c..87d98a733 100644
--- a/src/BulletSoftBody/btSoftBody.cpp
+++ b/src/BulletSoftBody/btSoftBody.cpp
@@ -4095,7 +4095,7 @@ void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap
 		case fCollision::SDF_RD:
 		{
 			btRigidBody* prb1 = (btRigidBody*)btRigidBody::upcast(pcoWrap->getCollisionObject());
-			if (pcoWrap->getCollisionObject()->isActive() || this->isActive())
+			if (this->isActive())
 			{
 				const btTransform wtr = pcoWrap->getWorldTransform();
 				const btScalar timemargin = 0;
@@ -4246,7 +4246,7 @@ void btSoftBody::geometricCollisionHandler(btSoftBody* psb)
 			btSoftColliders::CollideCCD docollide;
 			/* common                    */
 			docollide.mrg = SAFE_EPSILON;  // for rounding error instead of actual margin
-			docollide.dt = psb->m_sst.sdt;
+			docollide.dt = psb->m_sst.sd;
 			/* psb0 nodes vs psb1 faces    */
 			if (psb->m_tetras.size() > 0)
 				docollide.useFaceNormal = true;