diff --git a/examples/testbed/framework/draw.cpp b/examples/testbed/framework/draw.cpp
index fe1e305..c3c431a 100644
--- a/examples/testbed/framework/draw.cpp
+++ b/examples/testbed/framework/draw.cpp
@@ -341,15 +341,15 @@ void Draw::DrawCapsule(const b3Vec3& c1, const b3Vec3& c2, float32 radius, const
 	}
 }
 
-void Draw::DrawSolidCapsule(const b3Vec3& c1, const b3Vec3& c2, float32 radius, const b3Color& c)
+void Draw::DrawSolidCapsule(const b3Vec3& c1, const b3Vec3& c2, float32 radius, const b3Transform& transform, const b3Color& c)
 {
 	float32 height = b3Length(c1 - c2);
 
 	{
-		b3Transform xfc;
-		xfc.rotation.SetIdentity();
-		xfc.position = c1;
-		m_solid->DrawSphere(radius, c, xfc);
+		b3Transform xf;
+		xf.rotation = transform.rotation;
+		xf.position = transform * c1;
+		m_solid->DrawSphere(radius, c, xf);
 	}
 
 	if (height > 0.0f)
@@ -360,18 +360,18 @@ void Draw::DrawSolidCapsule(const b3Vec3& c1, const b3Vec3& c2, float32 radius,
 			R.z = b3Perp(R.y);
 			R.x = b3Cross(R.y, R.z);
 
-			b3Transform xfc;
-			xfc.position = 0.5f * (c1 + c2);
-			xfc.rotation = R;
+			b3Transform xf;
+			xf.position = transform * (0.5f * (c1 + c2));
+			xf.rotation = transform.rotation * R;
 
-			m_solid->DrawCylinder(radius, height, c, xfc);
+			m_solid->DrawCylinder(radius, height, c, xf);
 		}
 
 		{
-			b3Transform xfc;
-			xfc.rotation.SetIdentity();
-			xfc.position = c2;
-			m_solid->DrawSphere(radius, c, xfc);
+			b3Transform xf;
+			xf.rotation = transform.rotation;
+			xf.position = transform * c2;
+			m_solid->DrawSphere(radius, c, xf);
 		}
 	}
 }
diff --git a/examples/testbed/framework/draw.h b/examples/testbed/framework/draw.h
index 4f5bda4..34b8551 100644
--- a/examples/testbed/framework/draw.h
+++ b/examples/testbed/framework/draw.h
@@ -89,7 +89,7 @@ public:
 
 	void DrawCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Color& color);
 
-	void DrawSolidCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Color& color);
+	void DrawSolidCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Transform& transform, const b3Color& color);
 
 	void DrawPlane(const b3Vec3& normal, const b3Vec3& center, float32 radius, const b3Color& color);
 
diff --git a/include/bounce/common/draw.h b/include/bounce/common/draw.h
index 9030f44..adb6028 100644
--- a/include/bounce/common/draw.h
+++ b/include/bounce/common/draw.h
@@ -110,8 +110,8 @@ public :
 	// Draw a capsule with segment, and radius.
 	virtual void DrawCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Color& color) = 0;
 
-	// Draw a solid capsule with segment, and radius.
-	virtual void DrawSolidCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Color& color) = 0;
+	// Draw a solid capsule with local segment, radius, and transform.
+	virtual void DrawSolidCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Transform& transform, const b3Color& color) = 0;
 
 	// Draw a AABB.
 	virtual void DrawAABB(const b3AABB3& aabb, const b3Color& color) = 0;
diff --git a/src/bounce/dynamics/draw_world.cpp b/src/bounce/dynamics/draw_world.cpp
index 802b1e4..741286f 100644
--- a/src/bounce/dynamics/draw_world.cpp
+++ b/src/bounce/dynamics/draw_world.cpp
@@ -250,10 +250,7 @@ void b3World::DrawSolidShape(const b3Transform& xf, const b3Shape* shape, const
 	{
 		const b3CapsuleShape* capsule = (b3CapsuleShape*)shape;
 
-		b3Vec3 c1 = xf * capsule->m_centers[0];
-		b3Vec3 c2 = xf * capsule->m_centers[1];
-
-		b3Draw_draw->DrawSolidCapsule(c1, c2, capsule->m_radius, color);
+		b3Draw_draw->DrawSolidCapsule(capsule->m_centers[0], capsule->m_centers[1], capsule->m_radius, xf, color);
 
 		break;
 	}