diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index d6c86096b..33e7468eb 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -7482,7 +7482,8 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
 		serverCmd.m_sendActualStateArgs.m_rootLocalInertialFrame[6] =
 			body->m_rootLocalInertialFrame.getRotation()[3];
 
-    btVector3 center_of_mass(sb->getCenterOfMass());
+    	btVector3 center_of_mass(sb->getCenterOfMass());
+		sb->updateTransform();
 		btTransform tr = sb->getWorldTransform();
 		//base position in world space, cartesian
 		stateDetails->m_actualStateQ[0] = center_of_mass[0];
diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp
index 896bba3df..8faef092c 100644
--- a/src/BulletSoftBody/btSoftBody.cpp
+++ b/src/BulletSoftBody/btSoftBody.cpp
@@ -1034,6 +1034,12 @@ void btSoftBody::setAngularVelocity(const btVector3& angVel)
     }
 }
 
+//
+void btSoftBody::updateTransform()
+{
+   setWorldTransform(getRigidTransform());
+}
+
 //
 btTransform btSoftBody::getRigidTransform()
 {
diff --git a/src/BulletSoftBody/btSoftBody.h b/src/BulletSoftBody/btSoftBody.h
index 7e4aeec8e..1b8f3905f 100644
--- a/src/BulletSoftBody/btSoftBody.h
+++ b/src/BulletSoftBody/btSoftBody.h
@@ -819,8 +819,6 @@ public:
 
 	btAlignedObjectArray<bool> m_clusterConnectivity;  //cluster connectivity, for self-collision
 
-	btTransform m_worldTransform;
-
 	btVector3 m_windVelocity;
 
 	btScalar m_restLengthScale;
@@ -972,6 +970,8 @@ public:
 	void setLinearVelocity(const btVector3& linVel);
 	/* Set the angular velocity of the center of mass                       */
 	void setAngularVelocity(const btVector3& angVel);
+    /* Update the world transform to the best fit rigid transform           */
+    void updateTransform();
     /* Get best fit rigid transform                                         */
     btTransform getRigidTransform();
     /* Transform to given pose                                              */