diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletCoinQtViewer.cpp b/SimDynamics/DynamicsEngine/BulletEngine/BulletCoinQtViewer.cpp
index 71623514e0c3318704ee6bd6c69e69e3c5e8fd54..cc2e9cb3953148e36f9f8d2aa456a912b0949351 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletCoinQtViewer.cpp
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletCoinQtViewer.cpp
@@ -196,7 +196,10 @@ void BulletCoinQtViewer::stepPhysics()
         {
             // FIXED TIME STEP
             btScalar dt1 = float(bulletTimeStepMsec) / 1000.0f;
-            bulletEngine->stepSimulation(dt1*bulletMaxSubSteps, bulletMaxSubSteps, dt1);
+            for (int i = 0; i < bulletMaxSubSteps; i++)
+            {
+                bulletEngine->stepSimulation(dt1, 1, dt1);
+            }
         }
 		// VR_INFO << "stepSimulation(" << dt1 << ", " << bulletMaxSubSteps << ", " << (bulletTimeStepMsec / 1000.0f) << ")" << endl;