diff --git a/src/modules/physics/box2d/PrismaticJoint.cpp b/src/modules/physics/box2d/PrismaticJoint.cpp
index 69f182074..e390405e8 100644
--- a/src/modules/physics/box2d/PrismaticJoint.cpp
+++ b/src/modules/physics/box2d/PrismaticJoint.cpp
@@ -140,8 +140,10 @@ int PrismaticJoint::getLimits(lua_State *L)
 
 int PrismaticJoint::getAxis(lua_State *L)
 {
-	lua_pushnumber(L, joint->GetLocalAxisA().x);
-	lua_pushnumber(L, joint->GetLocalAxisA().y);
+	b2Vec2 axis = joint->GetLocalAxisA();
+	getBodyA()->getWorldVector(axis.x, axis.y, axis.x, axis.y);
+	lua_pushnumber(L, axis.x);
+	lua_pushnumber(L, axis.y);
 	return 2;
 }
 
diff --git a/src/modules/physics/box2d/WheelJoint.cpp b/src/modules/physics/box2d/WheelJoint.cpp
index bd066c157..2670878cd 100644
--- a/src/modules/physics/box2d/WheelJoint.cpp
+++ b/src/modules/physics/box2d/WheelJoint.cpp
@@ -115,8 +115,10 @@ float WheelJoint::getSpringDampingRatio() const
 
 int WheelJoint::getAxis(lua_State *L)
 {
-	lua_pushnumber(L, joint->GetLocalAxisA().x);
-	lua_pushnumber(L, joint->GetLocalAxisA().y);
+	b2Vec2 axis = joint->GetLocalAxisA();
+	getBodyA()->getWorldVector(axis.x, axis.y, axis.x, axis.y);
+	lua_pushnumber(L, axis.x);
+	lua_pushnumber(L, axis.y);
 	return 2;
 }