diff --git a/libraries/entities-renderer/src/EntityTreeRenderer.cpp b/libraries/entities-renderer/src/EntityTreeRenderer.cpp
index c56d55286e..1a9b327adc 100644
--- a/libraries/entities-renderer/src/EntityTreeRenderer.cpp
+++ b/libraries/entities-renderer/src/EntityTreeRenderer.cpp
@@ -1035,11 +1035,6 @@ void EntityTreeRenderer::entityCollisionWithEntity(const EntityItemID& idA, cons
     if (!_tree || _shuttingDown) {
         return;
     }
-    // Don't respond to small continuous contacts.
-    const float COLLISION_MINUMUM_PENETRATION = 0.002f;
-    if ((collision.type == CONTACT_EVENT_TYPE_CONTINUE) && (glm::length(collision.penetration) < COLLISION_MINUMUM_PENETRATION)) {
-        return;
-    }
 
     EntityTreePointer entityTree = std::static_pointer_cast<EntityTree>(_tree);
     const QUuid& myNodeID = DependencyManager::get<NodeList>()->getSessionUUID();
diff --git a/libraries/physics/src/PhysicsEngine.cpp b/libraries/physics/src/PhysicsEngine.cpp
index 72596cb599..f57be4eab3 100644
--- a/libraries/physics/src/PhysicsEngine.cpp
+++ b/libraries/physics/src/PhysicsEngine.cpp
@@ -401,7 +401,10 @@ const CollisionEvents& PhysicsEngine::getCollisionEvents() {
     while (contactItr != _contactMap.end()) {
         ContactInfo& contact = contactItr->second;
         ContactEventType type = contact.computeType(_numContactFrames);
-        if (type != CONTACT_EVENT_TYPE_CONTINUE || contact.readyForContinue(_numContactFrames)) {
+        const btScalar SIGNIFICANT_DEPTH = -0.002f; // penetrations have negative distance
+        if (type != CONTACT_EVENT_TYPE_CONTINUE ||
+                (contact.distance < SIGNIFICANT_DEPTH &&
+                 contact.readyForContinue(_numContactFrames))) {
             ObjectMotionState* motionStateA = static_cast<ObjectMotionState*>(contactItr->first._a);
             ObjectMotionState* motionStateB = static_cast<ObjectMotionState*>(contactItr->first._b);