diff --git a/include/bounce/dynamics/contacts/contact_cluster.h b/include/bounce/dynamics/contacts/contact_cluster.h
index e40b0b7..2635cd3 100644
--- a/include/bounce/dynamics/contacts/contact_cluster.h
+++ b/include/bounce/dynamics/contacts/contact_cluster.h
@@ -69,6 +69,9 @@ public:
 	//
 	void AddObservation(const b3Observation& observation);
 
+	//
+	u32 GetIterations() const;
+
 	//
 	const b3Array<b3Observation>& GetObservations() const;
 
@@ -92,6 +95,8 @@ private:
 	//
 	u32 BestCluster(const b3Vec3& point) const;
 
+	u32 m_iterations;
+
 	b3StackArray<b3Observation, 32> m_observations;
 	b3StackArray<b3Cluster, 32> m_clusters;
 };
@@ -101,6 +106,11 @@ inline void b3ClusterSolver::AddObservation(const b3Observation& observation)
 	m_observations.PushBack(observation);
 }
 
+inline u32 b3ClusterSolver::GetIterations() const
+{
+	return m_iterations;
+}
+
 inline const b3Array<b3Observation>& b3ClusterSolver::GetObservations() const
 {
 	return m_observations;
diff --git a/src/bounce/dynamics/contacts/contact_cluster.cpp b/src/bounce/dynamics/contacts/contact_cluster.cpp
index e1e7862..ae65b31 100644
--- a/src/bounce/dynamics/contacts/contact_cluster.cpp
+++ b/src/bounce/dynamics/contacts/contact_cluster.cpp
@@ -201,7 +201,7 @@ void b3ReducePolygon(b3ClusterPolygon& pOut,
 
 b3ClusterSolver::b3ClusterSolver()
 {
-
+	m_iterations = 0;
 }
 
 b3ClusterSolver::~b3ClusterSolver()
@@ -443,6 +443,8 @@ void b3ClusterSolver::Solve()
 		++iter;
 	}
 
+	m_iterations = iter;
+	
 	// Remove empty clusters
 	b3StackArray<b3Cluster, 32> usedClusters;