diff --git a/include/fcl/narrowphase/narrowphase.h b/include/fcl/narrowphase/narrowphase.h
index f27321600036b4dc62db2528e8af97b096972747..6821ec32f6c1a9fff967e9f824d31f355cdbbd29 100644
--- a/include/fcl/narrowphase/narrowphase.h
+++ b/include/fcl/narrowphase/narrowphase.h
@@ -617,8 +617,8 @@ struct GJKSolver_indep
 
       if(distance) *distance = (w0 - w1).length();
       
-      if(p1) *p1 = w0;
-      if(p2) *p2 = w1;
+      if(p1) *p1 = tf1.transform (w0);
+      if(p2) *p2 = tf1.transform (w1);
       
       return true;
     }