diff --git a/modules/bullet/cone_twist_joint_bullet.cpp b/modules/bullet/cone_twist_joint_bullet.cpp
index 7ae5e796451..738835b910a 100644
--- a/modules/bullet/cone_twist_joint_bullet.cpp
+++ b/modules/bullet/cone_twist_joint_bullet.cpp
@@ -37,11 +37,21 @@
 
 ConeTwistJointBullet::ConeTwistJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &rbAFrame, const Transform &rbBFrame) :
 		JointBullet() {
+
+	Transform scaled_AFrame(rbAFrame.scaled(rbA->get_body_scale()));
+	scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis);
+
 	btTransform btFrameA;
-	G_TO_B(rbAFrame, btFrameA);
+	G_TO_B(scaled_AFrame, btFrameA);
+
 	if (rbB) {
+
+		Transform scaled_BFrame(rbBFrame.scaled(rbB->get_body_scale()));
+		scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);
+
 		btTransform btFrameB;
-		G_TO_B(rbBFrame, btFrameB);
+		G_TO_B(scaled_BFrame, btFrameB);
+
 		coneConstraint = bulletnew(btConeTwistConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB));
 	} else {
 		coneConstraint = bulletnew(btConeTwistConstraint(*rbA->get_bt_rigid_body(), btFrameA));
diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp
index 28928bd8616..2b17738c317 100644
--- a/modules/bullet/generic_6dof_joint_bullet.cpp
+++ b/modules/bullet/generic_6dof_joint_bullet.cpp
@@ -38,12 +38,20 @@
 Generic6DOFJointBullet::Generic6DOFJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB, bool useLinearReferenceFrameA) :
 		JointBullet() {
 
+	Transform scaled_AFrame(frameInA.scaled(rbA->get_body_scale()));
+
+	scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis);
+
 	btTransform btFrameA;
-	G_TO_B(frameInA, btFrameA);
+	G_TO_B(scaled_AFrame, btFrameA);
 
 	if (rbB) {
+		Transform scaled_BFrame(frameInB.scaled(rbB->get_body_scale()));
+
+		scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);
+
 		btTransform btFrameB;
-		G_TO_B(frameInB, btFrameB);
+		G_TO_B(scaled_BFrame, btFrameB);
 
 		sixDOFConstraint = bulletnew(btGeneric6DofConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB, useLinearReferenceFrameA));
 	} else {
diff --git a/modules/bullet/hinge_joint_bullet.cpp b/modules/bullet/hinge_joint_bullet.cpp
index d3288807b35..ee0d6707d63 100644
--- a/modules/bullet/hinge_joint_bullet.cpp
+++ b/modules/bullet/hinge_joint_bullet.cpp
@@ -37,12 +37,20 @@
 
 HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameA, const Transform &frameB) :
 		JointBullet() {
+
+	Transform scaled_AFrame(frameA.scaled(rbA->get_body_scale()));
+	scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis);
+
 	btTransform btFrameA;
-	G_TO_B(frameA, btFrameA);
+	G_TO_B(scaled_AFrame, btFrameA);
 
 	if (rbB) {
+
+		Transform scaled_BFrame(frameB.scaled(rbB->get_body_scale()));
+		scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);
+
 		btTransform btFrameB;
-		G_TO_B(frameB, btFrameB);
+		G_TO_B(scaled_BFrame, btFrameB);
 
 		hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB));
 	} else {
@@ -58,14 +66,14 @@ HingeJointBullet::HingeJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, c
 
 	btVector3 btPivotA;
 	btVector3 btAxisA;
-	G_TO_B(pivotInA, btPivotA);
-	G_TO_B(axisInA, btAxisA);
+	G_TO_B(pivotInA * rbA->get_body_scale(), btPivotA);
+	G_TO_B(axisInA * rbA->get_body_scale(), btAxisA);
 
 	if (rbB) {
 		btVector3 btPivotB;
 		btVector3 btAxisB;
-		G_TO_B(pivotInB, btPivotB);
-		G_TO_B(axisInB, btAxisB);
+		G_TO_B(pivotInB * rbB->get_body_scale(), btPivotB);
+		G_TO_B(axisInB * rbB->get_body_scale(), btAxisB);
 
 		hingeConstraint = bulletnew(btHingeConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btPivotA, btPivotB, btAxisA, btAxisB));
 	} else {
diff --git a/modules/bullet/pin_joint_bullet.cpp b/modules/bullet/pin_joint_bullet.cpp
index 8c74fcbc947..665e8259679 100644
--- a/modules/bullet/pin_joint_bullet.cpp
+++ b/modules/bullet/pin_joint_bullet.cpp
@@ -40,8 +40,8 @@ PinJointBullet::PinJointBullet(RigidBodyBullet *p_body_a, const Vector3 &p_pos_a
 
 		btVector3 btPivotA;
 		btVector3 btPivotB;
-		G_TO_B(p_pos_a, btPivotA);
-		G_TO_B(p_pos_b, btPivotB);
+		G_TO_B(p_pos_a * p_body_a->get_body_scale(), btPivotA);
+		G_TO_B(p_pos_b * p_body_b->get_body_scale(), btPivotB);
 		p2pConstraint = bulletnew(btPoint2PointConstraint(*p_body_a->get_bt_rigid_body(),
 				*p_body_b->get_bt_rigid_body(),
 				btPivotA,
diff --git a/modules/bullet/slider_joint_bullet.cpp b/modules/bullet/slider_joint_bullet.cpp
index f1d60679ecb..cfcd0b57f64 100644
--- a/modules/bullet/slider_joint_bullet.cpp
+++ b/modules/bullet/slider_joint_bullet.cpp
@@ -37,11 +37,20 @@
 
 SliderJointBullet::SliderJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &frameInA, const Transform &frameInB) :
 		JointBullet() {
+
+	Transform scaled_AFrame(frameInA.scaled(rbA->get_body_scale()));
+	scaled_AFrame.basis.rotref_posscale_decomposition(scaled_AFrame.basis);
+
 	btTransform btFrameA;
-	G_TO_B(frameInA, btFrameA);
+	G_TO_B(scaled_AFrame, btFrameA);
+
 	if (rbB) {
+
+		Transform scaled_BFrame(frameInB.scaled(rbB->get_body_scale()));
+		scaled_BFrame.basis.rotref_posscale_decomposition(scaled_BFrame.basis);
+
 		btTransform btFrameB;
-		G_TO_B(frameInB, btFrameB);
+		G_TO_B(scaled_BFrame, btFrameB);
 		sliderConstraint = bulletnew(btSliderConstraint(*rbA->get_bt_rigid_body(), *rbB->get_bt_rigid_body(), btFrameA, btFrameB, true));
 
 	} else {