diff --git a/include/hpp/fcl/traversal/traversal_node_bvh_shape.h b/include/hpp/fcl/traversal/traversal_node_bvh_shape.h
index 9c81ed71866feb64d9e72af8be1452ba1d5aa8ce..322d4f15ae3f8b1d7e664a7bdb63a26ac4056e58 100644
--- a/include/hpp/fcl/traversal/traversal_node_bvh_shape.h
+++ b/include/hpp/fcl/traversal/traversal_node_bvh_shape.h
@@ -235,11 +235,11 @@ public:
       static const Transform3f Id;
       collision =
         nsolver->shapeTriangleInteraction(*(this->model2), this->tf2, p1, p2, p3,
-                                          Id       , distance, c1, c2, normal);
+                                          Id       , distance, c2, c1, normal);
     } else {
       collision =
         nsolver->shapeTriangleInteraction(*(this->model2), this->tf2, p1, p2, p3,
-                                          this->tf1, distance, c1, c2, normal);
+                                          this->tf1, distance, c2, c1, normal);
     }
 
     if(collision) {