diff --git a/include/bounce/cloth/cloth.h b/include/bounce/cloth/cloth.h
index c78e921..17c25c0 100644
--- a/include/bounce/cloth/cloth.h
+++ b/include/bounce/cloth/cloth.h
@@ -156,9 +156,6 @@ private:
 
 	// Update particle contacts. 
 	void UpdateParticleContacts();
-	
-	// Update triangle contacts. 
-	void UpdateTriangleContacts();
 
 	// Update contacts
 	void UpdateContacts();
@@ -192,10 +189,7 @@ private:
 	
 	// Pool of particle contacts
 	b3BlockPool m_particleContactBlocks;
-	
-	// Pool of triangle contacts
-	b3BlockPool m_triangleContactBlocks;
-	
+
 	// List of particles
 	b3List2<b3Particle> m_particleList;
 	
diff --git a/src/bounce/cloth/cloth.cpp b/src/bounce/cloth/cloth.cpp
index 3ca1e95..7e36935 100644
--- a/src/bounce/cloth/cloth.cpp
+++ b/src/bounce/cloth/cloth.cpp
@@ -149,8 +149,7 @@ static u32 b3FindSharedEdges(b3SharedEdge* sharedEdges, const b3ClothMesh* m)
 b3Cloth::b3Cloth(const b3ClothDef& def) :
 	m_particleBlocks(sizeof(b3Particle)),
 	m_bodyContactBlocks(sizeof(b3BodyContact)),
-	m_particleContactBlocks(sizeof(b3ParticleContact)),
-	m_triangleContactBlocks(sizeof(b3TriangleContact))
+	m_particleContactBlocks(sizeof(b3ParticleContact))
 {
 	B3_ASSERT(def.mesh);
 	B3_ASSERT(def.density > 0.0f);
@@ -624,241 +623,6 @@ void b3Cloth::UpdateParticleContacts()
 	}
 }
 
-static B3_FORCE_INLINE void b3Barycentric(float32 out[3],
-	const b3Vec3& A, const b3Vec3& B,
-	const b3Vec3& Q)
-{
-	b3Vec3 AB = B - A;
-	b3Vec3 QA = A - Q;
-	b3Vec3 QB = B - Q;
-
-	//float32 divisor = b3Dot(AB, AB);
-
-	out[0] = b3Dot(QB, AB);
-	out[1] = -b3Dot(QA, AB);
-	out[2] = out[0] + out[1];
-}
-
-// Convert a point Q from Cartesian coordinates to Barycentric coordinates (u, v, w) 
-// with respect to a triangle ABC.
-// The last output value is the divisor.
-static B3_FORCE_INLINE void b3Barycentric(float32 out[4],
-	const b3Vec3& A, const b3Vec3& B, const b3Vec3& C,
-	const b3Vec3& Q)
-{
-	b3Vec3 AB = B - A;
-	b3Vec3 AC = C - A;
-
-	b3Vec3 QA = A - Q;
-	b3Vec3 QB = B - Q;
-	b3Vec3 QC = C - Q;
-
-	b3Vec3 QB_x_QC = b3Cross(QB, QC);
-	b3Vec3 QC_x_QA = b3Cross(QC, QA);
-	b3Vec3 QA_x_QB = b3Cross(QA, QB);
-
-	b3Vec3 AB_x_AC = b3Cross(AB, AC);
-
-	//float32 divisor = b3Dot(AB_x_AC, AB_x_AC);
-
-	out[0] = b3Dot(QB_x_QC, AB_x_AC);
-	out[1] = b3Dot(QC_x_QA, AB_x_AC);
-	out[2] = b3Dot(QA_x_QB, AB_x_AC);
-	out[3] = out[0] + out[1] + out[2];
-}
-
-static B3_FORCE_INLINE void b3Solve3(float32 out[3],
-	const b3Vec3& A, const b3Vec3& B, const b3Vec3& C, 
-	const b3Vec3& Q)
-{
-	// Test vertex regions
-	float32 wAB[3], wBC[3], wCA[3];
-	b3Barycentric(wAB, A, B, Q);
-	b3Barycentric(wBC, B, C, Q);
-	b3Barycentric(wCA, C, A, Q);
-
-	// R A
-	if (wAB[1] <= 0.0f && wCA[0] <= 0.0f)
-	{
-		out[0] = 1.0f;
-		out[1] = 0.0f;
-		out[2] = 0.0f;
-		return;
-	}
-
-	// R B
-	if (wAB[0] <= 0.0f && wBC[1] <= 0.0f)
-	{
-		out[0] = 0.0f;
-		out[1] = 1.0f;
-		out[2] = 0.0f;
-		return;
-	}
-
-	// R C
-	if (wBC[0] <= 0.0f && wCA[1] <= 0.0f)
-	{
-		out[0] = 0.0f;
-		out[1] = 0.0f;
-		out[2] = 1.0f;
-		return;
-	}
-
-	// Test edge regions		
-	float32 wABC[4];
-	b3Barycentric(wABC, A, B, C, Q);
-
-	// This is used to help testing if the face degenerates 
-	// into an edge.
-	float32 area = wABC[3];
-
-	// R AB
-	if (wAB[0] > 0.0f && wAB[1] > 0.0f && area * wABC[2] <= 0.0f)
-	{
-		float32 divisor = wAB[2];
-		B3_ASSERT(divisor > 0.0f);
-		float32 s = 1.0f / divisor;
-		out[0] = s * wAB[0];
-		out[1] = s * wAB[1];
-		out[2] = 0.0f;
-		return;
-	}
-
-	// R BC
-	if (wBC[0] > 0.0f && wBC[1] > 0.0f && area * wABC[0] <= 0.0f)
-	{
-		float32 divisor = wBC[2];
-		B3_ASSERT(divisor > 0.0f);
-		float32 s = 1.0f / divisor;
-		out[0] = 0.0f;
-		out[1] = s * wBC[0];
-		out[2] = s * wBC[1];
-		return;
-	}
-
-	// R CA
-	if (wCA[0] > 0.0f && wCA[1] > 0.0f && area * wABC[1] <= 0.0f)
-	{
-		float32 divisor = wCA[2];
-		B3_ASSERT(divisor > 0.0f);
-		float32 s = 1.0f / divisor;
-		out[0] = 0.0f;
-		out[2] = s * wCA[0];
-		out[1] = s * wCA[1];
-		return;
-	}
-
-	// R ABC/ACB
-	float32 divisor = wABC[3];
-	if (divisor <= 0.0f)
-	{
-		float32 s = 1.0f / 3.0f;
-		out[0] = s;
-		out[2] = s;
-		out[1] = s;
-		return;
-	}
-
-	B3_ASSERT(divisor > 0.0f);
-	float32 s = 1.0f / divisor;
-	out[0] = s * wABC[0];
-	out[1] = s * wABC[1];
-	out[2] = s * wABC[2];
-}
-
-void b3Cloth::UpdateTriangleContacts()
-{
-	B3_PROFILE("Cloth Update Triangle Contacts");
-
-	// Clear buffer
-	b3TriangleContact* c = m_triangleContactList.m_head;
-	while (c)
-	{
-		b3TriangleContact* c0 = c;
-		c = c->m_next;
-		m_triangleContactList.Remove(c0);
-		c0->~b3TriangleContact();
-		m_triangleContactBlocks.Free(c0);
-	}
-
-	// Create triangle contacts
-	for (b3Particle* p1 = m_particleList.m_head; p1; p1 = p1->m_next)
-	{
-		for (u32 i = 0; i < m_mesh->triangleCount; ++i)
-		{
-			b3ClothMeshTriangle* triangle = m_mesh->triangles + i;
-
-			b3Particle* p2 = m_vertexParticles[triangle->v1];
-			b3Particle* p3 = m_vertexParticles[triangle->v2];
-			b3Particle* p4 = m_vertexParticles[triangle->v3];
-
-			if (p1 == p2 || p1 == p3 || p1 == p4)
-			{
-				continue;
-			}
-
-			float32 r1 = p1->m_radius;
-			float32 r2 = 0.0f;
-
-			float32 totalRadius = r1 + r2;
-
-			b3Vec3 A = p2->m_position;
-			b3Vec3 B = p3->m_position;
-			b3Vec3 C = p4->m_position;
-			
-			b3Vec3 P = p1->m_position;
-
-			b3Vec3 n = b3Cross(B - A, C - A);
-			float32 n_len = n.Normalize();
-
-			float32 distance = b3Dot(n, P - A);
-
-			if (distance < -totalRadius)
-			{
-				continue;
-			}
-
-			if (distance > totalRadius)
-			{
-				continue;
-			}
-
-			// Project particle on triangle plane
-			b3Vec3 Q = P - distance * n;
-			
-			// Barycentric coordinates for Q
-			float32 wABC[3];
-			b3Solve3(wABC, A, B, C, Q);
-
-			b3Vec3 c1 = p1->m_position;
-			b3Vec3 c2 = wABC[0] * A + wABC[1] * B + wABC[2] * C;
-
-			if (b3DistanceSquared(c1, c2) > totalRadius * totalRadius)
-			{
-				continue;
-			}
-
-			bool front = false;
-
-			// Is the the other point in front of the triangle plane? 
-			if (distance >= 0.0f)
-			{
-				front = true;
-			}
-
-			b3TriangleContact* c = (b3TriangleContact*)m_triangleContactBlocks.Allocate();
-			c->p1 = p1;
-			c->p2 = p2;
-			c->p3 = p3;
-			c->p4 = p4;
-			c->front = front;
-			c->normalImpulse = 0.0f;
-
-			m_triangleContactList.PushFront(c);
-		}
-	}
-}
-
 void b3Cloth::Solve(float32 dt, const b3Vec3& gravity)
 {
 	B3_PROFILE("Cloth Solve");
@@ -918,9 +682,6 @@ void b3Cloth::UpdateContacts()
 #if 0
 	// Update particle contacts
 	UpdateParticleContacts();
-
-	// Update triangle contacts
-	UpdateTriangleContacts();
 #endif
 }
 
diff --git a/src/bounce/cloth/cloth_solver.cpp b/src/bounce/cloth/cloth_solver.cpp
index 9e3b325..95c2c2f 100644
--- a/src/bounce/cloth/cloth_solver.cpp
+++ b/src/bounce/cloth/cloth_solver.cpp
@@ -155,6 +155,7 @@ void b3ClothSolver::ApplyConstraints()
 {
 	b3DiagMat33& S = *m_solverData.S;
 	b3DenseVec3& z = *m_solverData.z;
+	b3DenseVec3& x = *m_solverData.x;
 
 	S.SetIdentity();
 	z.SetZero();
@@ -172,6 +173,35 @@ void b3ClothSolver::ApplyConstraints()
 		}
 	}
 
+#if 0
+	for (u32 i = 0; i < m_bodyContactCount; ++i)
+	{
+		b3BodyContact* bc = m_bodyContacts[i];
+		
+		b3Particle* p1 = bc->p1;
+		
+		B3_ASSERT(p1->m_type == e_dynamicParticle);
+
+		b3Transform xf1; 
+		xf1.position = x[p1->m_solverId];
+		xf1.rotation.SetIdentity();
+
+		b3Shape* s2 = bc->s2;
+		b3Body* b2 = s2->GetBody();
+		b3Transform xf2 = b2->GetTransform();
+
+		b3BodyContactWorldPoint bcwp;
+		bcwp.Initialize(bc, p1->m_radius, xf1, s2->m_radius, xf2);
+		
+		b3AccelerationConstraint* ac = m_constraints + m_constraintCount;
+		++m_constraintCount;
+		ac->i1 = p1->m_solverId;
+		ac->ndof = 2;
+		ac->p = bcwp.normal;
+		ac->z.SetZero();
+	}
+#endif
+
 	for (u32 i = 0; i < m_constraintCount; ++i)
 	{
 		m_constraints[i].Apply(&m_solverData);
@@ -223,6 +253,7 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 		m_solverData.S = &S;
 		m_solverData.z = &z;
 
+		// Apply position correction
 		for (u32 i = 0; i < m_particleCount; ++i)
 		{
 			b3Particle* p = m_particles[i];
@@ -230,7 +261,27 @@ void b3ClothSolver::Solve(float32 dt, const b3Vec3& gravity)
 			sy[i] = p->m_translation;
 			sx0[i] = p->m_x;
 		}
+		
+#if 0
+		for (u32 i = 0; i < m_bodyContactCount; ++i)
+		{
+			b3BodyContact* bc = m_bodyContacts[i];
 
+			b3Particle* p1 = bc->p1;
+			b3Transform xf1;
+			xf1.position = sx[p1->m_solverId];
+			xf1.rotation.SetIdentity();
+
+			b3Shape* s2 = bc->s2;
+			b3Body* b2 = s2->GetBody();
+			b3Transform xf2 = b2->GetTransform();
+
+			b3BodyContactWorldPoint bcwp;
+			bcwp.Initialize(bc, p1->m_radius, xf1, s2->m_radius, xf2);
+
+			sy[p1->m_solverId] += bcwp.separation * bcwp.normal;
+		}
+#endif
 		// Apply internal forces
 		ApplyForces();