diff --git a/include/hpp/fcl/narrowphase/narrowphase.h b/include/hpp/fcl/narrowphase/narrowphase.h
index 84c074c60356239f5f5409ccbbebf77eca79a67c..a09c3ddc411db413d6cb73fd735ee3305a3880ac 100644
--- a/include/hpp/fcl/narrowphase/narrowphase.h
+++ b/include/hpp/fcl/narrowphase/narrowphase.h
@@ -617,8 +617,8 @@ struct GJKSolver_indep
 
       if(distance) *distance = (w0 - w1).length();
       
-      if(p1) *p1 = tf1.transform (w0);
-      if(p2) *p2 = tf1.transform (w1);
+      if(p1) *p1 = w0;
+      if(p2) *p2 = w1;
       
       return true;
     }