diff --git a/changelog/3.85/CHANGELOG-v3.85.md b/changelog/3.85/CHANGELOG-v3.85.md
index 2c34adadd..046d0f399 100644
--- a/changelog/3.85/CHANGELOG-v3.85.md
+++ b/changelog/3.85/CHANGELOG-v3.85.md
@@ -27,6 +27,7 @@
 * The console warnings when Audio files are missing/incorrect have been improved (thanks @samme)
 * The `requestVideoFrame` polyfill has been updated to the latest release, which should resolve some SSR framework issues. Fix #6776 (thanks @lantictac)
 * `ScaleManager` listeners includes checks for the `screen.orientation` object and adds/removes a `change` eventListener  method to handle screen orientation changes on mobile devices. The `orientationchange` event is still maintained for backwards compatibility. Fix #6837 (thanks @rexrainbow)
+* Updated MatterJS to 0.20.0
 
 # Bug Fixes
 
diff --git a/src/physics/matter-js/World.js b/src/physics/matter-js/World.js
index 892e43523..ed2a48398 100644
--- a/src/physics/matter-js/World.js
+++ b/src/physics/matter-js/World.js
@@ -1479,12 +1479,15 @@ var World = new Class({
                 continue;
             }
 
-            for (var j = 0; j < pair.activeContacts.length; j++)
+            for (var j = 0; j < pair.contactCount; j++)
             {
-                var contact = pair.activeContacts[j];
+                var contact = pair.contacts[j];
                 var vertex = contact.vertex;
-
-                graphics.fillRect(vertex.x - 2, vertex.y - 2, 5, 5);
+                
+                if (vertex)
+                {
+                    graphics.fillRect(vertex.x - 2, vertex.y - 2, 5, 5);
+                }
             }
         }
 
@@ -1500,14 +1503,14 @@ var World = new Class({
             }
 
             var collision = pair.collision;
-            var contacts = pair.activeContacts;
+            var contacts = pair.contacts;
 
-            if (contacts.length > 0)
+            if (pair.contactCount > 0)
             {
                 var normalPosX = contacts[0].vertex.x;
                 var normalPosY = contacts[0].vertex.y;
 
-                if (contacts.length === 2)
+                if (pair.contactCount === 2)
                 {
                     normalPosX = (contacts[0].vertex.x + contacts[1].vertex.x) / 2;
                     normalPosY = (contacts[0].vertex.y + contacts[1].vertex.y) / 2;
diff --git a/src/physics/matter-js/typedefs/MatterCollisionPair.js b/src/physics/matter-js/typedefs/MatterCollisionPair.js
index da09c1f7f..c8c6eed5b 100644
--- a/src/physics/matter-js/typedefs/MatterCollisionPair.js
+++ b/src/physics/matter-js/typedefs/MatterCollisionPair.js
@@ -5,7 +5,7 @@
  * @property {string} id - The unique auto-generated collision pair id. A combination of the body A and B IDs.
  * @property {MatterJS.BodyType} bodyA - A reference to the first body involved in the collision.
  * @property {MatterJS.BodyType} bodyB - A reference to the second body involved in the collision.
- * @property {MatterJS.Vector[]} activeContacts - An array containing all of the active contacts between bodies A and B.
+ * @property {MatterJS.Vector[]} contacts - An array containing all of the active contacts between bodies A and B.
  * @property {number} separation - The amount of separation that occurred between bodies A and B.
  * @property {boolean} isActive - Is the collision still active or not?
  * @property {boolean} confirmedActive - Has Matter determined the collision are being active yet?
diff --git a/types/matter.d.ts b/types/matter.d.ts
index a01f4cc38..9a1ca2cd6 100644
--- a/types/matter.d.ts
+++ b/types/matter.d.ts
@@ -990,7 +990,7 @@ declare namespace MatterJS {
         bodyA: Body;
         bodyB: Body;
         contacts: any;
-        activeContacts: any;
+        contactCount: number;
         separation: number;
         isActive: boolean;
         timeCreated: number;
@@ -1030,7 +1030,7 @@ declare namespace MatterJS {
         id: string;
         bodyA: Body;
         bodyB: Body;
-        activeContacts: Vector[];
+        contacts: Vector[];
         separation: number;
         isActive: boolean;
         confirmedActive: boolean;
diff --git a/types/phaser.d.ts b/types/phaser.d.ts
index 1df3c056f..b416946fc 100644
--- a/types/phaser.d.ts
+++ b/types/phaser.d.ts
@@ -75729,7 +75729,7 @@ declare namespace Phaser {
                     /**
                      * An array containing all of the active contacts between bodies A and B.
                      */
-                    activeContacts: MatterJS.Vector[];
+                    contacts: MatterJS.Vector[];
                     /**
                      * The amount of separation that occurred between bodies A and B.
                      */