diff --git a/libraries/physics/src/CharacterController.cpp b/libraries/physics/src/CharacterController.cpp
index 31cfa5b597..420435b245 100755
--- a/libraries/physics/src/CharacterController.cpp
+++ b/libraries/physics/src/CharacterController.cpp
@@ -870,9 +870,10 @@ void CharacterController::setMoveKinematically(bool kinematic) {
 bool CharacterController::queryPenetration(const btTransform& transform) {
     btVector3 minBox;
     btVector3 maxBox;
-    _ghost.queryPenetration(transform, minBox, maxBox);
-    btVector3 penetration = maxBox;
-    penetration.setMax(minBox.absolute());
+    _ghost.setWorldTransform(transform);
+    _ghost.measurePenetration(minBox, maxBox);
+    btVector3 penetration = minBox;
+    penetration.setMax(maxBox.absolute());
     const btScalar MIN_PENETRATION_SQUARED = 0.0016f; // 0.04^2
     return penetration.length2() < MIN_PENETRATION_SQUARED;
 }
diff --git a/libraries/physics/src/CharacterGhostObject.cpp b/libraries/physics/src/CharacterGhostObject.cpp
index 07dc986c9e..328d869f01 100755
--- a/libraries/physics/src/CharacterGhostObject.cpp
+++ b/libraries/physics/src/CharacterGhostObject.cpp
@@ -242,17 +242,11 @@ bool CharacterGhostObject::sweepTest(
     return false;
 }
 
-void CharacterGhostObject::queryPenetration(const btTransform& transform, btVector3& minBoxOut, btVector3& maxBoxOut) {
-    // place in world and refresh overlapping pairs
-    setWorldTransform(transform);
-    measurePenetration(minBoxOut, maxBoxOut);
-}
-
 void CharacterGhostObject::measurePenetration(btVector3& minBoxOut, btVector3& maxBoxOut) {
     // minBoxOut and maxBoxOut will be updated with penetration envelope.
-    // If one of the points is at <0,0,0> then the penetration may be resolvable in a single step,
-    // but if the space spanned by those two corners extends in both directions along at least one
-    // component then this object is sandwiched between two opposing objects.
+    // If one of the corner points is <0,0,0> then the penetration is resolvable in a single step,
+    // but if the space spanned by the two corners extends in both directions along at least one
+    // component then we the object is sandwiched between two opposing objects.
 
     // We assume this object has just been moved to its current location, or else objects have been
     // moved around it since the last step so we must update the overlapping pairs.
diff --git a/libraries/physics/src/CharacterGhostObject.h b/libraries/physics/src/CharacterGhostObject.h
index 9e3c5bb433..87310714c8 100755
--- a/libraries/physics/src/CharacterGhostObject.h
+++ b/libraries/physics/src/CharacterGhostObject.h
@@ -59,7 +59,6 @@ public:
     bool isSteppingUp() const { return _steppingUp; }
     const btVector3& getFloorNormal() const { return _floorNormal; }
 
-    void queryPenetration(const btTransform& transform, btVector3& minBoxOut, btVector3& maxBoxOut);
     void measurePenetration(btVector3& minBoxOut, btVector3& maxBoxOut);
 
 protected: