diff --git a/src/rigidBodyDynamics/rigidBodyMotion/rigidBodyMotion.C b/src/rigidBodyDynamics/rigidBodyMotion/rigidBodyMotion.C
index 9eb21c396..6cf2514c0 100644
--- a/src/rigidBodyDynamics/rigidBodyMotion/rigidBodyMotion.C
+++ b/src/rigidBodyDynamics/rigidBodyMotion/rigidBodyMotion.C
@@ -50,7 +50,7 @@ Foam::RBD::rigidBodyMotion::rigidBodyMotion()
     aRelax_(1.0),
     aDamp_(1.0),
     report_(false),
-    solver_(NULL)
+    solver_(nullptr)
 {}
 
 Foam::RBD::rigidBodyMotion::rigidBodyMotion
@@ -178,6 +178,28 @@ void Foam::RBD::rigidBodyMotion::status(const label bodyID) const
 }
 
 
+Foam::tmp<Foam::pointField> Foam::RBD::rigidBodyMotion::transformPoints
+(
+    const label bodyID,
+    const pointField& initialPoints
+) const
+{
+    // Calculate the transform from the initial state in the global frame
+    // to the current state in the global frame
+    spatialTransform X(X0(bodyID).inv() & X00(bodyID));
+
+    tmp<pointField> tpoints(new pointField(initialPoints.size()));
+    pointField& points = tpoints.ref();
+
+    forAll(points, i)
+    {
+        points[i] = X.transformPoint(initialPoints[i]);
+    }
+
+    return tpoints;
+}
+
+
 Foam::tmp<Foam::pointField> Foam::RBD::rigidBodyMotion::transformPoints
 (
     const label bodyID,
@@ -249,25 +271,23 @@ Foam::tmp<Foam::pointField> Foam::RBD::rigidBodyMotion::transformPoints
 
     forAll(points, i)
     {
-        // Sum (1 - wi) and find the maximum wi
-        scalar sum1mw = 0;
-        scalar maxw = 0;
+        // Initialize to 1 for the far-field weight
+        scalar sum1mw = 1;
 
         forAll(bodyIDs, bi)
         {
             w[bi] = (*(weights[bi]))[i];
-            sum1mw += 1 - w[bi];
-            maxw = max(maxw, w[bi]);
+            sum1mw += w[bi]/(1 + SMALL - w[bi]);
         }
 
-        // Calculate the limiter for (1 - wi) to ensure the sum(wi) = maxw
-        scalar lambda = (w.size() - 1 - maxw)/sum1mw;
+        // Calculate the limiter for wi/(1 - wi) to ensure the sum(wi) = 1
+        scalar lambda = 1/sum1mw;
 
-        // Limit (1 - wi) and sum the resulting wi
+        // Limit wi/(1 - wi) and sum the resulting wi
         scalar sumw = 0;
         forAll(bodyIDs, bi)
         {
-            w[bi] = 1 - lambda*(1 - w[bi]);
+            w[bi] = lambda*w[bi]/(1 + SMALL - w[bi]);
             sumw += w[bi];
         }
 
diff --git a/src/rigidBodyDynamics/rigidBodyMotion/rigidBodyMotion.H b/src/rigidBodyDynamics/rigidBodyMotion/rigidBodyMotion.H
index c38616906..d065d9797 100644
--- a/src/rigidBodyDynamics/rigidBodyMotion/rigidBodyMotion.H
+++ b/src/rigidBodyDynamics/rigidBodyMotion/rigidBodyMotion.H
@@ -183,6 +183,14 @@ public:
 
         // Transformations
 
+            //- Transform the given initial pointField of the specified body
+            //  to correspond to the current motion state
+            tmp<pointField> transformPoints
+            (
+                const label bodyID,
+                const pointField& initialPoints
+            ) const;
+
             //- Transform the given initial pointField of the specified body
             //  to correspond to the current motion state scaled using
             //  'slerp' interpolation