diff --git a/SHADE_Engine/src/Physics/Dynamics/SHContactSolver.cpp b/SHADE_Engine/src/Physics/Dynamics/SHContactSolver.cpp
index e0f45826..60ffd8a2 100644
--- a/SHADE_Engine/src/Physics/Dynamics/SHContactSolver.cpp
+++ b/SHADE_Engine/src/Physics/Dynamics/SHContactSolver.cpp
@@ -108,14 +108,13 @@ namespace SHADE
     memcpy_s(newConstraint.tangents, TANGENTS_SIZE, manifold.tangents, TANGENTS_SIZE);
     memcpy_s(newConstraint.contacts, CONTACTS_SIZE, manifold.contacts, CONTACTS_SIZE);
 
-    // Compute rA & rB for contacts with the local centroids
-    const SHVec3 LOCAL_COM_A = BODY_A ? BODY_A->localCentroid : SHVec3::Zero;
-    const SHVec3 LOCAL_COM_B = BODY_B ? BODY_B->localCentroid : SHVec3::Zero;
+    const SHCollisionUtils::ShapeTransform TF_A{ SHAPE_A->GetWorldCentroid(), SHAPE_A->GetWorldOrientation() };
+    const SHCollisionUtils::ShapeTransform TF_B{ SHAPE_B->GetWorldCentroid(), SHAPE_B->GetWorldOrientation() };
 
     for (uint32_t i = 0; i < newConstraint.numContacts; ++i)
     {
-      newConstraint.contacts[i].rA = newConstraint.contacts[i].localPointA - LOCAL_COM_A;
-      newConstraint.contacts[i].rB = newConstraint.contacts[i].localPointB - LOCAL_COM_B;
+      newConstraint.contacts[i].rA = (TF_A * newConstraint.contacts[i].localPointA) - newConstraint.centerOfMassA;
+      newConstraint.contacts[i].rB = (TF_B * newConstraint.contacts[i].localPointB) - newConstraint.centerOfMassB;
     }
   }