diff --git a/examples/testbed/framework/draw.cpp b/examples/testbed/framework/draw.cpp
index c3c431a..b1056cc 100644
--- a/examples/testbed/framework/draw.cpp
+++ b/examples/testbed/framework/draw.cpp
@@ -341,14 +341,14 @@ void Draw::DrawCapsule(const b3Vec3& c1, const b3Vec3& c2, float32 radius, const
 	}
 }
 
-void Draw::DrawSolidCapsule(const b3Vec3& c1, const b3Vec3& c2, float32 radius, const b3Transform& transform, const b3Color& c)
+void Draw::DrawSolidCapsule(const b3Vec3& c1, const b3Vec3& c2, float32 radius, const b3Mat33& rotation, const b3Color& c)
 {
 	float32 height = b3Length(c1 - c2);
 
 	{
 		b3Transform xf;
-		xf.rotation = transform.rotation;
-		xf.position = transform * c1;
+		xf.rotation = rotation;
+		xf.position = c1;
 		m_solid->DrawSphere(radius, c, xf);
 	}
 
@@ -357,20 +357,19 @@ void Draw::DrawSolidCapsule(const b3Vec3& c1, const b3Vec3& c2, float32 radius,
 		{
 			b3Mat33 R;
 			R.y = (1.0f / height) * (c1 - c2);
-			R.z = b3Perp(R.y);
-			R.x = b3Cross(R.y, R.z);
+			b3ComputeBasis(R.y, R.z, R.x);
 
 			b3Transform xf;
-			xf.position = transform * (0.5f * (c1 + c2));
-			xf.rotation = transform.rotation * R;
+			xf.position = (0.5f * (c1 + c2));
+			xf.rotation = R;
 
 			m_solid->DrawCylinder(radius, height, c, xf);
 		}
 
 		{
 			b3Transform xf;
-			xf.rotation = transform.rotation;
-			xf.position = transform * c2;
+			xf.rotation = rotation;
+			xf.position = c2;
 			m_solid->DrawSphere(radius, c, xf);
 		}
 	}
diff --git a/examples/testbed/framework/draw.h b/examples/testbed/framework/draw.h
index 34b8551..32acb8f 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 b3Transform& transform, const b3Color& color);
+	void DrawSolidCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Mat33& rotation, 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 adb6028..7865711 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 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 solid capsule with local segment, radius, and rotation.
+	virtual void DrawSolidCapsule(const b3Vec3& p1, const b3Vec3& p2, float32 radius, const b3Mat33& rotation, 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 741286f..5bd5477 100644
--- a/src/bounce/dynamics/draw_world.cpp
+++ b/src/bounce/dynamics/draw_world.cpp
@@ -250,7 +250,10 @@ void b3World::DrawSolidShape(const b3Transform& xf, const b3Shape* shape, const
 	{
 		const b3CapsuleShape* capsule = (b3CapsuleShape*)shape;
 
-		b3Draw_draw->DrawSolidCapsule(capsule->m_centers[0], capsule->m_centers[1], capsule->m_radius, xf, color);
+		b3Vec3 c1 = xf * capsule->m_centers[0];
+		b3Vec3 c2 = xf * capsule->m_centers[1];
+
+		b3Draw_draw->DrawSolidCapsule(c1, c2, capsule->m_radius, xf.rotation, color);
 
 		break;
 	}