diff --git a/include/fcl/narrowphase/narrowphase.h b/include/fcl/narrowphase/narrowphase.h
index 6361dec8c6e3f1957d19ea18f01a7088fd5a2d46..f27321600036b4dc62db2528e8af97b096972747 100644
--- a/include/fcl/narrowphase/narrowphase.h
+++ b/include/fcl/narrowphase/narrowphase.h
@@ -618,7 +618,7 @@ struct GJKSolver_indep
       if(distance) *distance = (w0 - w1).length();
       
       if(p1) *p1 = w0;
-      if(p2) *p2 = shape.toshape0.transform(w1);
+      if(p2) *p2 = w1;
       
       return true;
     }