diff --git a/cocos/physics-2d/box2d-jsb/joints/distance-joint.ts b/cocos/physics-2d/box2d-jsb/joints/distance-joint.ts
index 593c1b5267..89025d2b33 100644
--- a/cocos/physics-2d/box2d-jsb/joints/distance-joint.ts
+++ b/cocos/physics-2d/box2d-jsb/joints/distance-joint.ts
@@ -36,8 +36,10 @@ export class b2DistanceJoint extends b2Joint implements IDistanceJoint {
     _createJointDef (): any {
         const comp = this._jointComp as DistanceJoint2D;
         const def = new b2jsb.RopeJointDef();
-        def.localAnchorA = { x: comp.anchor.x / PHYSICS_2D_PTM_RATIO, y: comp.anchor.y / PHYSICS_2D_PTM_RATIO };
-        def.localAnchorB = { x: comp.connectedAnchor.x / PHYSICS_2D_PTM_RATIO, y: comp.connectedAnchor.y / PHYSICS_2D_PTM_RATIO };
+        const anchorA = this._getAnchorA();
+        const anchorB = this._getAnchorB();
+        def.localAnchorA = { x: anchorA.x, y: anchorA.y };
+        def.localAnchorB = { x: anchorB.x, y: anchorB.y };
         def.maxLength = comp.maxLength / PHYSICS_2D_PTM_RATIO;
         return def;
     }
diff --git a/cocos/physics-2d/box2d-jsb/joints/fixed-joint.ts b/cocos/physics-2d/box2d-jsb/joints/fixed-joint.ts
index 27dfc6d413..4d658f2208 100644
--- a/cocos/physics-2d/box2d-jsb/joints/fixed-joint.ts
+++ b/cocos/physics-2d/box2d-jsb/joints/fixed-joint.ts
@@ -24,7 +24,6 @@
 import { IFixedJoint } from '../../spec/i-physics-joint';
 import { b2Joint } from './joint-2d';
 import { FixedJoint2D } from '../../framework';
-import { PHYSICS_2D_PTM_RATIO } from '../../framework/physics-types';
 
 export class b2FixedJoint extends b2Joint implements IFixedJoint {
     setFrequency (v: number): void {
@@ -41,8 +40,10 @@ export class b2FixedJoint extends b2Joint implements IFixedJoint {
     _createJointDef (): any {
         const comp = this._jointComp as FixedJoint2D;
         const def = new b2jsb.WeldJointDef();
-        def.localAnchorA = { x: comp.anchor.x / PHYSICS_2D_PTM_RATIO, y: comp.anchor.y / PHYSICS_2D_PTM_RATIO };
-        def.localAnchorB = { x: comp.connectedAnchor.x / PHYSICS_2D_PTM_RATIO, y: comp.connectedAnchor.y / PHYSICS_2D_PTM_RATIO };
+        const anchorA = this._getAnchorA();
+        const anchorB = this._getAnchorB();
+        def.localAnchorA = { x: anchorA.x, y: anchorA.y };
+        def.localAnchorB = { x: anchorB.x, y: anchorB.y };
         def.referenceAngle = 0;
         def.frequencyHz = comp.frequency;
         def.dampingRatio = comp.dampingRatio;
diff --git a/cocos/physics-2d/box2d-jsb/joints/hinge-joint.ts b/cocos/physics-2d/box2d-jsb/joints/hinge-joint.ts
index 54a98e705c..210c1ca9ce 100644
--- a/cocos/physics-2d/box2d-jsb/joints/hinge-joint.ts
+++ b/cocos/physics-2d/box2d-jsb/joints/hinge-joint.ts
@@ -25,7 +25,6 @@
 import { IHingeJoint } from '../../spec/i-physics-joint';
 import { HingeJoint2D } from '../../framework';
 import { b2Joint } from './joint-2d';
-import { PHYSICS_2D_PTM_RATIO } from '../../framework/physics-types';
 import { toRadian } from '../../../core';
 
 export class b2HingeJoint extends b2Joint implements IHingeJoint {
@@ -67,8 +66,10 @@ export class b2HingeJoint extends b2Joint implements IHingeJoint {
     _createJointDef (): any {
         const comp = this._jointComp as HingeJoint2D;
         const def = new b2jsb.RevoluteJointDef();
-        def.localAnchorA = { x: comp.anchor.x / PHYSICS_2D_PTM_RATIO, y: comp.anchor.y / PHYSICS_2D_PTM_RATIO };
-        def.localAnchorB = { x: comp.connectedAnchor.x / PHYSICS_2D_PTM_RATIO, y: comp.connectedAnchor.y / PHYSICS_2D_PTM_RATIO };
+        const anchorA = this._getAnchorA();
+        const anchorB = this._getAnchorB();
+        def.localAnchorA = { x: anchorA.x, y: anchorA.y };
+        def.localAnchorB = { x: anchorB.x, y: anchorB.y };
 
         def.enableMotor = comp.enableMotor;
         def.maxMotorTorque = comp.maxMotorTorque;
diff --git a/cocos/physics-2d/box2d-jsb/joints/joint-2d.ts b/cocos/physics-2d/box2d-jsb/joints/joint-2d.ts
index 662196e78e..9d025518eb 100644
--- a/cocos/physics-2d/box2d-jsb/joints/joint-2d.ts
+++ b/cocos/physics-2d/box2d-jsb/joints/joint-2d.ts
@@ -24,6 +24,10 @@
 import { IJoint2D } from '../../spec/i-physics-joint';
 import { Joint2D, PhysicsSystem2D, RigidBody2D } from '../../framework';
 import { b2PhysicsWorld } from '../physics-world';
+import { Vec2 } from '../../../core';
+
+const tempAnchorA = new Vec2();
+const tempAnchorB = new Vec2();
 
 export class b2Joint implements IJoint2D {
     get impl (): b2jsb.Joint | null {
@@ -117,6 +121,14 @@ export class b2Joint implements IJoint2D {
         return null;
     }
 
+    protected _getAnchorA (): Vec2 {
+        return this._jointComp!._getAnchorA(tempAnchorA);
+    }
+
+    protected _getAnchorB (): Vec2 {
+        return this._jointComp!._getAnchorB(tempAnchorB);
+    }
+
     isValid (): Joint2D | null {
         return this._b2joint && this._body && this._body.impl && this._jointComp;
     }
diff --git a/cocos/physics-2d/box2d-jsb/joints/slider-joint.ts b/cocos/physics-2d/box2d-jsb/joints/slider-joint.ts
index 1341e3831a..e802f537b0 100644
--- a/cocos/physics-2d/box2d-jsb/joints/slider-joint.ts
+++ b/cocos/physics-2d/box2d-jsb/joints/slider-joint.ts
@@ -67,8 +67,10 @@ export class b2SliderJoint extends b2Joint implements ISliderJoint {
     _createJointDef (): any {
         const comp = this._jointComp as SliderJoint2D;
         const def = new b2jsb.PrismaticJointDef();
-        def.localAnchorA = { x: comp.anchor.x / PHYSICS_2D_PTM_RATIO, y: comp.anchor.y / PHYSICS_2D_PTM_RATIO };
-        def.localAnchorB = { x: comp.connectedAnchor.x / PHYSICS_2D_PTM_RATIO, y: comp.connectedAnchor.y / PHYSICS_2D_PTM_RATIO };
+        const anchorA = this._getAnchorA();
+        const anchorB = this._getAnchorB();
+        def.localAnchorA = { x: anchorA.x, y: anchorA.y };
+        def.localAnchorB = { x: anchorB.x, y: anchorB.y };
         const angle = toRadian(comp.angle);
         def.localAxisA = { x: Math.cos(angle), y: Math.sin(angle) };
         def.referenceAngle = 0;
diff --git a/cocos/physics-2d/box2d-jsb/joints/spring-joint.ts b/cocos/physics-2d/box2d-jsb/joints/spring-joint.ts
index 8246a7e2fd..3a2d4506f3 100644
--- a/cocos/physics-2d/box2d-jsb/joints/spring-joint.ts
+++ b/cocos/physics-2d/box2d-jsb/joints/spring-joint.ts
@@ -46,8 +46,10 @@ export class b2SpringJoint extends b2Joint implements ISpringJoint {
     _createJointDef (): any {
         const comp = this._jointComp as SpringJoint2D;
         const def = new b2jsb.DistanceJointDef();
-        def.localAnchorA = { x: comp.anchor.x / PHYSICS_2D_PTM_RATIO, y: comp.anchor.y / PHYSICS_2D_PTM_RATIO };
-        def.localAnchorB = { x: comp.connectedAnchor.x / PHYSICS_2D_PTM_RATIO, y: comp.connectedAnchor.y / PHYSICS_2D_PTM_RATIO };
+        const anchorA = this._getAnchorA();
+        const anchorB = this._getAnchorB();
+        def.localAnchorA = { x: anchorA.x, y: anchorA.y };
+        def.localAnchorB = { x: anchorB.x, y: anchorB.y };
         def.length = comp.distance / PHYSICS_2D_PTM_RATIO;
         def.dampingRatio = comp.dampingRatio;
         def.frequencyHz = comp.frequency;
diff --git a/cocos/physics-2d/box2d-jsb/joints/wheel-joint.ts b/cocos/physics-2d/box2d-jsb/joints/wheel-joint.ts
index 6746c4639a..30baa6ce09 100644
--- a/cocos/physics-2d/box2d-jsb/joints/wheel-joint.ts
+++ b/cocos/physics-2d/box2d-jsb/joints/wheel-joint.ts
@@ -24,7 +24,6 @@
 import { IWheelJoint } from '../../spec/i-physics-joint';
 import { WheelJoint2D } from '../../framework';
 import { b2Joint } from './joint-2d';
-import { PHYSICS_2D_PTM_RATIO } from '../../framework/physics-types';
 import { toRadian } from '../../../core';
 
 export class b2WheelJoint extends b2Joint implements IWheelJoint {
@@ -59,8 +58,10 @@ export class b2WheelJoint extends b2Joint implements IWheelJoint {
     _createJointDef (): any {
         const comp = this._jointComp as WheelJoint2D;
         const def = new b2jsb.WheelJointDef();
-        def.localAnchorA = { x: comp.anchor.x / PHYSICS_2D_PTM_RATIO, y: comp.anchor.y / PHYSICS_2D_PTM_RATIO };
-        def.localAnchorB = { x: comp.connectedAnchor.x / PHYSICS_2D_PTM_RATIO, y: comp.connectedAnchor.y / PHYSICS_2D_PTM_RATIO };
+        const anchorA = this._getAnchorA();
+        const anchorB = this._getAnchorB();
+        def.localAnchorA = { x: anchorA.x, y: anchorA.y };
+        def.localAnchorB = { x: anchorB.x, y: anchorB.y };
         const angle = toRadian(comp.angle);
         def.localAxisA = { x: Math.cos(angle), y: Math.sin(angle) };
         def.maxMotorTorque = comp.maxMotorTorque;
diff --git a/cocos/physics-2d/box2d-jsb/rigid-body.ts b/cocos/physics-2d/box2d-jsb/rigid-body.ts
index b5139d3b01..49336f9581 100644
--- a/cocos/physics-2d/box2d-jsb/rigid-body.ts
+++ b/cocos/physics-2d/box2d-jsb/rigid-body.ts
@@ -30,7 +30,7 @@ import { Vec2, toRadian, Vec3, Quat, IVec2Like, TWO_PI, HALF_PI } from '../../co
 import { PHYSICS_2D_PTM_RATIO, ERigidBody2DType } from '../framework/physics-types';
 
 import { Node } from '../../scene-graph/node';
-import { Collider2D } from '../framework';
+import { Collider2D, Joint2D } from '../framework';
 
 const tempVec3 = new Vec3();
 
@@ -90,6 +90,7 @@ export class b2RigidBody2D implements IRigidBody2D {
             for (let i = 0; i < colliders.length; i++) {
                 colliders[i].apply();
             }
+            Joint2D._applyScale(this.rigidBody);
         }
 
         const bodyType = this._rigidBody.type;
diff --git a/cocos/physics-2d/box2d-wasm/joints/distance-joint.ts b/cocos/physics-2d/box2d-wasm/joints/distance-joint.ts
index ed078ad583..9ec72b1a5e 100644
--- a/cocos/physics-2d/box2d-wasm/joints/distance-joint.ts
+++ b/cocos/physics-2d/box2d-wasm/joints/distance-joint.ts
@@ -39,8 +39,10 @@ export class B2DistanceJoint extends B2Joint implements IDistanceJoint {
     _createJointDef (): any {
         const comp = this._jointComp as DistanceJoint2D;
         const def = new B2.RopeJointDef();
-        def.localAnchorA = { x: comp.anchor.x / PHYSICS_2D_PTM_RATIO, y: comp.anchor.y / PHYSICS_2D_PTM_RATIO };
-        def.localAnchorB = { x: comp.connectedAnchor.x / PHYSICS_2D_PTM_RATIO, y: comp.connectedAnchor.y / PHYSICS_2D_PTM_RATIO };
+        const anchorA = this._getAnchorA();
+        const anchorB = this._getAnchorB();
+        def.localAnchorA = { x: anchorA.x, y: anchorA.y };
+        def.localAnchorB = { x: anchorB.x, y: anchorB.y };
         def.maxLength = comp.maxLength / PHYSICS_2D_PTM_RATIO;
         return def;
     }
diff --git a/cocos/physics-2d/box2d-wasm/joints/fixed-joint.ts b/cocos/physics-2d/box2d-wasm/joints/fixed-joint.ts
index 2a0425ba18..6bde077d21 100644
--- a/cocos/physics-2d/box2d-wasm/joints/fixed-joint.ts
+++ b/cocos/physics-2d/box2d-wasm/joints/fixed-joint.ts
@@ -26,7 +26,6 @@ import { B2 } from '../instantiated';
 import { IFixedJoint } from '../../spec/i-physics-joint';
 import { B2Joint } from './joint-2d';
 import { FixedJoint2D } from '../../framework';
-import { PHYSICS_2D_PTM_RATIO } from '../../framework/physics-types';
 
 /** @mangle */
 export class B2FixedJoint extends B2Joint implements IFixedJoint {
@@ -44,8 +43,10 @@ export class B2FixedJoint extends B2Joint implements IFixedJoint {
     _createJointDef (): any {
         const comp = this._jointComp as FixedJoint2D;
         const def = new B2.WeldJointDef();
-        def.localAnchorA = { x: comp.anchor.x / PHYSICS_2D_PTM_RATIO, y: comp.anchor.y / PHYSICS_2D_PTM_RATIO };
-        def.localAnchorB = { x: comp.connectedAnchor.x / PHYSICS_2D_PTM_RATIO, y: comp.connectedAnchor.y / PHYSICS_2D_PTM_RATIO };
+        const anchorA = this._getAnchorA();
+        const anchorB = this._getAnchorB();
+        def.localAnchorA = { x: anchorA.x, y: anchorA.y };
+        def.localAnchorB = { x: anchorB.x, y: anchorB.y };
         def.referenceAngle = 0;
         def.dampingRatio = comp.dampingRatio;
         def.frequencyHz = comp.frequency;
diff --git a/cocos/physics-2d/box2d-wasm/joints/hinge-joint.ts b/cocos/physics-2d/box2d-wasm/joints/hinge-joint.ts
index 7f157f1c7e..7b19c0467a 100644
--- a/cocos/physics-2d/box2d-wasm/joints/hinge-joint.ts
+++ b/cocos/physics-2d/box2d-wasm/joints/hinge-joint.ts
@@ -26,7 +26,6 @@ import { B2 } from '../instantiated';
 import { IHingeJoint } from '../../spec/i-physics-joint';
 import { HingeJoint2D } from '../../framework';
 import { B2Joint } from './joint-2d';
-import { PHYSICS_2D_PTM_RATIO } from '../../framework/physics-types';
 import { toRadian } from '../../../core';
 
 /** @mangle */
@@ -69,8 +68,10 @@ export class B2HingeJoint extends B2Joint implements IHingeJoint {
     _createJointDef (): any {
         const comp = this._jointComp as HingeJoint2D;
         const def = new B2.RevoluteJointDef();
-        def.localAnchorA = { x: comp.anchor.x / PHYSICS_2D_PTM_RATIO, y: comp.anchor.y / PHYSICS_2D_PTM_RATIO };
-        def.localAnchorB = { x: comp.connectedAnchor.x / PHYSICS_2D_PTM_RATIO, y: comp.connectedAnchor.y / PHYSICS_2D_PTM_RATIO };
+        const anchorA = this._getAnchorA();
+        const anchorB = this._getAnchorB();
+        def.localAnchorA = { x: anchorA.x, y: anchorA.y };
+        def.localAnchorB = { x: anchorB.x, y: anchorB.y };
 
         def.enableMotor = comp.enableMotor;
         def.maxMotorTorque = comp.maxMotorTorque;
diff --git a/cocos/physics-2d/box2d-wasm/joints/joint-2d.ts b/cocos/physics-2d/box2d-wasm/joints/joint-2d.ts
index 62ac98f28d..b733a63953 100644
--- a/cocos/physics-2d/box2d-wasm/joints/joint-2d.ts
+++ b/cocos/physics-2d/box2d-wasm/joints/joint-2d.ts
@@ -26,7 +26,10 @@ import { B2, B2ObjectType, addImplPtrReference, addImplPtrReferenceWASM, getImpl
 import { IJoint2D } from '../../spec/i-physics-joint';
 import { Joint2D, PhysicsSystem2D, RigidBody2D } from '../../framework';
 import { B2PhysicsWorld } from '../physics-world';
-import { warn } from '../../../core';
+import { Vec2, warn } from '../../../core';
+
+const tempAnchorA = new Vec2();
+const tempAnchorB = new Vec2();
 
 /** @mangle */
 export class B2Joint implements IJoint2D {
@@ -127,6 +130,14 @@ export class B2Joint implements IJoint2D {
         return null;
     }
 
+    protected _getAnchorA (): Vec2 {
+        return this._jointComp!._getAnchorA(tempAnchorA);
+    }
+
+    protected _getAnchorB (): Vec2 {
+        return this._jointComp!._getAnchorB(tempAnchorB);
+    }
+
     isValid (): Joint2D | null {
         return this._b2joint && this._body && this._body.impl && this._jointComp;
     }
diff --git a/cocos/physics-2d/box2d-wasm/joints/slider-joint.ts b/cocos/physics-2d/box2d-wasm/joints/slider-joint.ts
index e37a2b31ae..3e769a88ba 100644
--- a/cocos/physics-2d/box2d-wasm/joints/slider-joint.ts
+++ b/cocos/physics-2d/box2d-wasm/joints/slider-joint.ts
@@ -70,8 +70,10 @@ export class B2SliderJoint extends B2Joint implements ISliderJoint {
     _createJointDef (): any {
         const comp = this._jointComp as SliderJoint2D;
         const def = new B2.PrismaticJointDef();
-        def.localAnchorA = { x: comp.anchor.x / PHYSICS_2D_PTM_RATIO, y: comp.anchor.y / PHYSICS_2D_PTM_RATIO };
-        def.localAnchorB = { x: comp.connectedAnchor.x / PHYSICS_2D_PTM_RATIO, y: comp.connectedAnchor.y / PHYSICS_2D_PTM_RATIO };
+        const anchorA = this._getAnchorA();
+        const anchorB = this._getAnchorB();
+        def.localAnchorA = { x: anchorA.x, y: anchorA.y };
+        def.localAnchorB = { x: anchorB.x, y: anchorB.y };
         const angle = toRadian(comp.angle);
         def.localAxisA = { x: Math.cos(angle), y: Math.sin(angle) };
         def.referenceAngle = 0;
diff --git a/cocos/physics-2d/box2d-wasm/joints/spring-joint.ts b/cocos/physics-2d/box2d-wasm/joints/spring-joint.ts
index 830599c068..537b44ae8e 100644
--- a/cocos/physics-2d/box2d-wasm/joints/spring-joint.ts
+++ b/cocos/physics-2d/box2d-wasm/joints/spring-joint.ts
@@ -51,8 +51,10 @@ export class B2SpringJoint extends B2Joint implements ISpringJoint {
     _createJointDef (): any {
         const comp = this._jointComp as SpringJoint2D;
         const def = new B2.DistanceJointDef();
-        def.localAnchorA = { x: comp.anchor.x / PHYSICS_2D_PTM_RATIO, y: comp.anchor.y / PHYSICS_2D_PTM_RATIO };
-        def.localAnchorB = { x: comp.connectedAnchor.x / PHYSICS_2D_PTM_RATIO, y: comp.connectedAnchor.y / PHYSICS_2D_PTM_RATIO };
+        const anchorA = this._getAnchorA();
+        const anchorB = this._getAnchorB();
+        def.localAnchorA = { x: anchorA.x, y: anchorA.y };
+        def.localAnchorB = { x: anchorB.x, y: anchorB.y };
         def.length = comp.distance / PHYSICS_2D_PTM_RATIO;
         def.dampingRatio = comp.dampingRatio;
         def.frequencyHz = comp.frequency;
diff --git a/cocos/physics-2d/box2d-wasm/joints/wheel-joint.ts b/cocos/physics-2d/box2d-wasm/joints/wheel-joint.ts
index 0ff5bfb2d8..0a9e5556ce 100644
--- a/cocos/physics-2d/box2d-wasm/joints/wheel-joint.ts
+++ b/cocos/physics-2d/box2d-wasm/joints/wheel-joint.ts
@@ -26,7 +26,6 @@ import { B2 } from '../instantiated';
 import { IWheelJoint } from '../../spec/i-physics-joint';
 import { WheelJoint2D } from '../../framework';
 import { B2Joint } from './joint-2d';
-import { PHYSICS_2D_PTM_RATIO } from '../../framework/physics-types';
 import { toRadian } from '../../../core';
 
 /** @mangle */
@@ -62,8 +61,10 @@ export class B2WheelJoint extends B2Joint implements IWheelJoint {
     _createJointDef (): any {
         const comp = this._jointComp as WheelJoint2D;
         const def = new B2.WheelJointDef();
-        def.localAnchorA = { x: comp.anchor.x / PHYSICS_2D_PTM_RATIO, y: comp.anchor.y / PHYSICS_2D_PTM_RATIO };
-        def.localAnchorB = { x: comp.connectedAnchor.x / PHYSICS_2D_PTM_RATIO, y: comp.connectedAnchor.y / PHYSICS_2D_PTM_RATIO };
+        const anchorA = this._getAnchorA();
+        const anchorB = this._getAnchorB();
+        def.localAnchorA = { x: anchorA.x, y: anchorA.y };
+        def.localAnchorB = { x: anchorB.x, y: anchorB.y };
         const angle = toRadian(comp.angle);
         def.localAxisA = { x: Math.cos(angle), y: Math.sin(angle) };
         def.maxMotorTorque = comp.maxMotorTorque;
diff --git a/cocos/physics-2d/box2d-wasm/rigid-body.ts b/cocos/physics-2d/box2d-wasm/rigid-body.ts
index 505ef2abd7..487eaff82d 100644
--- a/cocos/physics-2d/box2d-wasm/rigid-body.ts
+++ b/cocos/physics-2d/box2d-wasm/rigid-body.ts
@@ -32,7 +32,7 @@ import { Vec2, toRadian, Vec3, Quat, IVec2Like, TWO_PI, HALF_PI, warn } from '..
 import { PHYSICS_2D_PTM_RATIO, ERigidBody2DType } from '../framework/physics-types';
 
 import { Node } from '../../scene-graph/node';
-import { Collider2D } from '../framework';
+import { Collider2D, Joint2D } from '../framework';
 import { B2Shape2D } from './shapes/shape-2d';
 import { B2Joint } from './joints/joint-2d';
 
@@ -95,6 +95,7 @@ export class B2RigidBody2D implements IRigidBody2D {
             for (let i = 0; i < colliders.length; i++) {
                 colliders[i].apply();
             }
+            Joint2D._applyScale(this.rigidBody);
         }
         if (type & Node.TransformBit.POSITION) {
             this.syncPositionToPhysics(true);
diff --git a/cocos/physics-2d/box2d/joints/distance-joint.ts b/cocos/physics-2d/box2d/joints/distance-joint.ts
index 41f7fc78c5..f937d87684 100644
--- a/cocos/physics-2d/box2d/joints/distance-joint.ts
+++ b/cocos/physics-2d/box2d/joints/distance-joint.ts
@@ -39,8 +39,10 @@ export class b2DistanceJoint extends b2Joint implements IDistanceJoint {
     _createJointDef (): any {
         const comp = this._jointComp as DistanceJoint2D;
         const def = new b2.RopeJointDef();
-        def.localAnchorA.Set(comp.anchor.x / PHYSICS_2D_PTM_RATIO, comp.anchor.y / PHYSICS_2D_PTM_RATIO);
-        def.localAnchorB.Set(comp.connectedAnchor.x / PHYSICS_2D_PTM_RATIO, comp.connectedAnchor.y / PHYSICS_2D_PTM_RATIO);
+        const anchorA = this._getAnchorA();
+        const anchorB = this._getAnchorB();
+        def.localAnchorA.Set(anchorA.x, anchorA.y);
+        def.localAnchorB.Set(anchorB.x, anchorB.y);
         def.maxLength = comp.maxLength / PHYSICS_2D_PTM_RATIO;
         return def;
     }
diff --git a/cocos/physics-2d/box2d/joints/fixed-joint.ts b/cocos/physics-2d/box2d/joints/fixed-joint.ts
index 3d4d9c7f59..bc57974d40 100644
--- a/cocos/physics-2d/box2d/joints/fixed-joint.ts
+++ b/cocos/physics-2d/box2d/joints/fixed-joint.ts
@@ -26,7 +26,6 @@ import b2 from '@cocos/box2d';
 import { IFixedJoint } from '../../spec/i-physics-joint';
 import { b2Joint } from './joint-2d';
 import { FixedJoint2D } from '../../framework';
-import { PHYSICS_2D_PTM_RATIO } from '../../framework/physics-types';
 
 /** @mangle */
 export class b2FixedJoint extends b2Joint implements IFixedJoint {
@@ -44,8 +43,10 @@ export class b2FixedJoint extends b2Joint implements IFixedJoint {
     _createJointDef (): any {
         const comp = this._jointComp as FixedJoint2D;
         const def = new b2.WeldJointDef();
-        def.localAnchorA.Set(comp.anchor.x / PHYSICS_2D_PTM_RATIO, comp.anchor.y / PHYSICS_2D_PTM_RATIO);
-        def.localAnchorB.Set(comp.connectedAnchor.x / PHYSICS_2D_PTM_RATIO, comp.connectedAnchor.y / PHYSICS_2D_PTM_RATIO);
+        const anchorA = this._getAnchorA();
+        const anchorB = this._getAnchorB();
+        def.localAnchorA.Set(anchorA.x, anchorA.y);
+        def.localAnchorB.Set(anchorB.x, anchorB.y);
         def.referenceAngle = 0;
         def.frequencyHz = comp.frequency;
         def.dampingRatio = comp.dampingRatio;
diff --git a/cocos/physics-2d/box2d/joints/hinge-joint.ts b/cocos/physics-2d/box2d/joints/hinge-joint.ts
index b834b07579..2958ba9c2b 100644
--- a/cocos/physics-2d/box2d/joints/hinge-joint.ts
+++ b/cocos/physics-2d/box2d/joints/hinge-joint.ts
@@ -26,7 +26,6 @@ import b2 from '@cocos/box2d';
 import { IHingeJoint } from '../../spec/i-physics-joint';
 import { HingeJoint2D } from '../../framework';
 import { b2Joint } from './joint-2d';
-import { PHYSICS_2D_PTM_RATIO } from '../../framework/physics-types';
 import { toRadian } from '../../../core';
 
 /** @mangle */
@@ -69,8 +68,10 @@ export class b2HingeJoint extends b2Joint implements IHingeJoint {
     _createJointDef (): any {
         const comp = this._jointComp as HingeJoint2D;
         const def = new b2.RevoluteJointDef();
-        def.localAnchorA.Set(comp.anchor.x / PHYSICS_2D_PTM_RATIO, comp.anchor.y / PHYSICS_2D_PTM_RATIO);
-        def.localAnchorB.Set(comp.connectedAnchor.x / PHYSICS_2D_PTM_RATIO, comp.connectedAnchor.y / PHYSICS_2D_PTM_RATIO);
+        const anchorA = this._getAnchorA();
+        const anchorB = this._getAnchorB();
+        def.localAnchorA.Set(anchorA.x, anchorA.y);
+        def.localAnchorB.Set(anchorB.x, anchorB.y);
 
         def.enableMotor = comp.enableMotor;
         def.maxMotorTorque = comp.maxMotorTorque;
diff --git a/cocos/physics-2d/box2d/joints/joint-2d.ts b/cocos/physics-2d/box2d/joints/joint-2d.ts
index 987bfd87d2..fac1b26c20 100644
--- a/cocos/physics-2d/box2d/joints/joint-2d.ts
+++ b/cocos/physics-2d/box2d/joints/joint-2d.ts
@@ -26,6 +26,10 @@ import b2 from '@cocos/box2d';
 import { IJoint2D } from '../../spec/i-physics-joint';
 import { Joint2D, PhysicsSystem2D, RigidBody2D } from '../../framework';
 import { b2PhysicsWorld } from '../physics-world';
+import { Vec2 } from '../../../core';
+
+const tempAnchorA = new Vec2();
+const tempAnchorB = new Vec2();
 
 /** @mangle */
 export class b2Joint implements IJoint2D {
@@ -118,6 +122,14 @@ export class b2Joint implements IJoint2D {
         return null;
     }
 
+    protected _getAnchorA (): Vec2 {
+        return this._jointComp!._getAnchorA(tempAnchorA);
+    }
+
+    protected _getAnchorB (): Vec2 {
+        return this._jointComp!._getAnchorB(tempAnchorB);
+    }
+
     isValid (): Joint2D | null {
         return this._b2joint && this._body && this._body.impl && this._jointComp;
     }
diff --git a/cocos/physics-2d/box2d/joints/slider-joint.ts b/cocos/physics-2d/box2d/joints/slider-joint.ts
index 45f59d747a..1578d31a9f 100644
--- a/cocos/physics-2d/box2d/joints/slider-joint.ts
+++ b/cocos/physics-2d/box2d/joints/slider-joint.ts
@@ -70,8 +70,10 @@ export class b2SliderJoint extends b2Joint implements ISliderJoint {
     _createJointDef (): any {
         const comp = this._jointComp as SliderJoint2D;
         const def = new b2.PrismaticJointDef();
-        def.localAnchorA.Set(comp.anchor.x / PHYSICS_2D_PTM_RATIO, comp.anchor.y / PHYSICS_2D_PTM_RATIO);
-        def.localAnchorB.Set(comp.connectedAnchor.x / PHYSICS_2D_PTM_RATIO, comp.connectedAnchor.y / PHYSICS_2D_PTM_RATIO);
+        const anchorA = this._getAnchorA();
+        const anchorB = this._getAnchorB();
+        def.localAnchorA.Set(anchorA.x, anchorA.y);
+        def.localAnchorB.Set(anchorB.x, anchorB.y);
         const angle = toRadian(comp.angle);
         def.localAxisA.Set(Math.cos(angle), Math.sin(angle));
         def.referenceAngle = 0;
diff --git a/cocos/physics-2d/box2d/joints/spring-joint.ts b/cocos/physics-2d/box2d/joints/spring-joint.ts
index c5b55d4510..a2d9da58d7 100644
--- a/cocos/physics-2d/box2d/joints/spring-joint.ts
+++ b/cocos/physics-2d/box2d/joints/spring-joint.ts
@@ -49,8 +49,10 @@ export class b2SpringJoint extends b2Joint implements ISpringJoint {
     _createJointDef (): any {
         const comp = this._jointComp as SpringJoint2D;
         const def = new b2.DistanceJointDef();
-        def.localAnchorA.Set(comp.anchor.x / PHYSICS_2D_PTM_RATIO, comp.anchor.y / PHYSICS_2D_PTM_RATIO);
-        def.localAnchorB.Set(comp.connectedAnchor.x / PHYSICS_2D_PTM_RATIO, comp.connectedAnchor.y / PHYSICS_2D_PTM_RATIO);
+        const anchorA = this._getAnchorA();
+        const anchorB = this._getAnchorB();
+        def.localAnchorA.Set(anchorA.x, anchorA.y);
+        def.localAnchorB.Set(anchorB.x, anchorB.y);
         def.length = comp.distance / PHYSICS_2D_PTM_RATIO;
         def.dampingRatio = comp.dampingRatio;
         def.frequencyHz = comp.frequency;
diff --git a/cocos/physics-2d/box2d/joints/wheel-joint.ts b/cocos/physics-2d/box2d/joints/wheel-joint.ts
index d4608449c7..316526ff40 100644
--- a/cocos/physics-2d/box2d/joints/wheel-joint.ts
+++ b/cocos/physics-2d/box2d/joints/wheel-joint.ts
@@ -26,7 +26,6 @@ import b2 from '@cocos/box2d';
 import { IWheelJoint } from '../../spec/i-physics-joint';
 import { WheelJoint2D } from '../../framework';
 import { b2Joint } from './joint-2d';
-import { PHYSICS_2D_PTM_RATIO } from '../../framework/physics-types';
 import { toRadian } from '../../../core';
 
 /** @mangle */
@@ -62,8 +61,10 @@ export class b2WheelJoint extends b2Joint implements IWheelJoint {
     _createJointDef (): any {
         const comp = this._jointComp as WheelJoint2D;
         const def = new b2.WheelJointDef();
-        def.localAnchorA.Set(comp.anchor.x / PHYSICS_2D_PTM_RATIO, comp.anchor.y / PHYSICS_2D_PTM_RATIO);
-        def.localAnchorB.Set(comp.connectedAnchor.x / PHYSICS_2D_PTM_RATIO, comp.connectedAnchor.y / PHYSICS_2D_PTM_RATIO);
+        const anchorA = this._getAnchorA();
+        const anchorB = this._getAnchorB();
+        def.localAnchorA.Set(anchorA.x, anchorA.y);
+        def.localAnchorB.Set(anchorB.x, anchorB.y);
         const angle = toRadian(comp.angle);
         def.localAxisA.Set(Math.cos(angle), Math.sin(angle));
         // def.localAxisA.Set(0, 1);
diff --git a/cocos/physics-2d/box2d/rigid-body.ts b/cocos/physics-2d/box2d/rigid-body.ts
index f64cdd6c6d..7f7755bd16 100644
--- a/cocos/physics-2d/box2d/rigid-body.ts
+++ b/cocos/physics-2d/box2d/rigid-body.ts
@@ -32,7 +32,7 @@ import { Vec2, toRadian, Vec3, Quat, IVec2Like, TWO_PI, HALF_PI, warn } from '..
 import { PHYSICS_2D_PTM_RATIO, ERigidBody2DType } from '../framework/physics-types';
 
 import { Node } from '../../scene-graph/node';
-import { Collider2D } from '../framework';
+import { Collider2D, Joint2D } from '../framework';
 import { TransformBit } from '../../scene-graph/node-enum';
 
 const tempVec3 = new Vec3();
@@ -94,6 +94,7 @@ export class b2RigidBody2D implements IRigidBody2D {
             for (let i = 0; i < colliders.length; i++) {
                 colliders[i].apply();
             }
+            Joint2D._applyScale(this.rigidBody);
         }
         if (type & Node.TransformBit.POSITION) {
             this.syncPositionToPhysics(true);
diff --git a/cocos/physics-2d/framework/components/joints/joint-2d.ts b/cocos/physics-2d/framework/components/joints/joint-2d.ts
index f4a7211874..daf87469e3 100644
--- a/cocos/physics-2d/framework/components/joints/joint-2d.ts
+++ b/cocos/physics-2d/framework/components/joints/joint-2d.ts
@@ -26,7 +26,7 @@ import { EDITOR_NOT_IN_PREVIEW } from 'internal:constants';
 import { Vec2, _decorator, tooltip, serializable } from '../../../../core';
 import { RigidBody2D } from '../rigid-body-2d';
 import { IJoint2D } from '../../../spec/i-physics-joint';
-import { EJoint2DType } from '../../physics-types';
+import { EJoint2DType, PHYSICS_2D_PTM_RATIO } from '../../physics-types';
 import { createJoint } from '../../physics-selector';
 import { Component } from '../../../../scene-graph';
 
@@ -34,6 +34,14 @@ const { ccclass, type } = _decorator;
 
 @ccclass('cc.Joint2D')
 export class Joint2D extends Component {
+    /**
+     * @en
+     * All registered 2D joints.
+     * @zh
+     * 所有已注册的 2D 关节。
+     */
+    static readonly joints: Joint2D[] = [];
+
     /**
      * @en
      * The position of Joint2D in the attached rigid body's local space.
@@ -75,6 +83,42 @@ export class Joint2D extends Component {
     @tooltip('i18n:physics2d.joint.connectedBody')
     connectedBody: RigidBody2D | null = null;
 
+    /**
+     * @en
+     * Gets the attached body's anchor after node scale is applied, in Box2D local units.
+     * @zh
+     * 获取自身刚体锚点。返回值已经按节点世界缩放换算，并转换为 Box2D 使用的物理单位。
+     * @param out @en Optional output vector. A new Vec2 is created when it is not provided. @zh 可选，输出向量。未传入时会创建新的 Vec2。
+     * @returns @en The scaled local anchor in Box2D units. @zh 已缩放并转换为物理单位的本地锚点。
+     * @engineInternal
+     * @mangle
+     */
+    _getAnchorA (out: Vec2 = new Vec2()): Vec2 {
+        const scale = this.node.worldScale;
+        out.x = this.anchor.x * scale.x / PHYSICS_2D_PTM_RATIO;
+        out.y = this.anchor.y * scale.y / PHYSICS_2D_PTM_RATIO;
+        return out;
+    }
+
+    /**
+     * @en
+     * Gets the connected body's anchor after node scale is applied, in Box2D local units.
+     * @zh
+     * 获取连接刚体锚点。连接刚体为空时保持世界原点静态刚体语义，不应用节点缩放；返回值会转换为 Box2D 物理单位。
+     * @param out @en Optional output vector. A new Vec2 is created when it is not provided. @zh 可选，输出向量。未传入时会创建新的 Vec2。
+     * @returns @en The scaled connected local anchor in Box2D units. @zh 已缩放并转换为物理单位的连接锚点。
+     * @engineInternal
+     * @mangle
+     */
+    _getAnchorB (out: Vec2 = new Vec2()): Vec2 {
+        const body = this.connectedBody;
+        const node = body && body.isValid ? body.node : null;
+        const scale = node ? node.worldScale : null;
+        out.x = this.connectedAnchor.x * (scale ? scale.x : 1) / PHYSICS_2D_PTM_RATIO;
+        out.y = this.connectedAnchor.y * (scale ? scale.y : 1) / PHYSICS_2D_PTM_RATIO;
+        return out;
+    }
+
     /**
      * @en
      * the Joint2D attached rigid-body.
@@ -100,12 +144,36 @@ export class Joint2D extends Component {
      */
     TYPE = EJoint2DType.None;
 
+    /**
+     * @en
+     * Rebuilds all joints whose anchors may be affected by the rigid body's scale.
+     * @zh
+     * 重建所有会受指定刚体缩放影响的关节。
+     * @param body @en The scaled rigid body. @zh 发生缩放变化的刚体。
+     * @engineInternal
+     * @mangle
+     */
+    static _applyScale (body: RigidBody2D): void {
+        const joints = Joint2D.joints;
+        for (let i = 0; i < joints.length; i++) {
+            const joint = joints[i];
+            if (!joint.isValid || (joint.connectedBody && !joint.connectedBody.isValid)) {
+                continue;
+            }
+            const selfBody = joint._body || joint.getComponent(RigidBody2D);
+            if (selfBody === body || joint.connectedBody === body) {
+                joint.apply();
+            }
+        }
+    }
+
     protected override onLoad (): void {
         if (!EDITOR_NOT_IN_PREVIEW) {
             this._joint = createJoint(this.TYPE);
             this._joint.initialize(this);
 
             this._body = this.getComponent(RigidBody2D);
+            Joint2D.joints.push(this);
         }
     }
 
@@ -128,6 +196,10 @@ export class Joint2D extends Component {
     }
 
     protected override onDestroy (): void {
+        const i = Joint2D.joints.indexOf(this);
+        if (i >= 0) {
+            Joint2D.joints.splice(i, 1);
+        }
         if (this._joint && this._joint.onDestroy) {
             this._joint.onDestroy();
         }
diff --git a/tests/physics2d/joint.ts b/tests/physics2d/joint.ts
new file mode 100644
index 0000000000..869c8f5d7f
--- /dev/null
+++ b/tests/physics2d/joint.ts
@@ -0,0 +1,117 @@
+import { Vec2, Vec3 } from "../../cocos/core";
+import { director } from "../../cocos/game";
+import { Node } from "../../cocos/scene-graph";
+import * as physics2d from "../../exports/physics-2d-framework";
+
+const ANCHOR_A = new Vec2(3, 4);
+const ANCHOR_B = new Vec2(-2, 5);
+const SCALE_A = new Vec3(2, 3, 1);
+const SCALE_B = new Vec3(4, 5, 1);
+const POSITION_A = new Vec3(10, 20, 0);
+const POSITION_B = new Vec3(50, -30, 0);
+const ANCHOR_EPSILON = 1e-3;
+
+const JOINT_TYPES = [
+    physics2d.DistanceJoint2D,
+    physics2d.SpringJoint2D,
+    physics2d.FixedJoint2D,
+    physics2d.SliderJoint2D,
+    physics2d.WheelJoint2D,
+    physics2d.HingeJoint2D,
+];
+
+function expectVec2Close (actual: Vec2, expected: Vec2): void {
+    expect(Math.abs(actual.x - expected.x)).toBeLessThan(ANCHOR_EPSILON);
+    expect(Math.abs(actual.y - expected.y)).toBeLessThan(ANCHOR_EPSILON);
+}
+
+function readJointAnchor (joint: physics2d.Joint2D, method: 'GetAnchorA' | 'GetAnchorB'): Vec2 {
+    const impl = joint.impl!.impl;
+    const out = { x: 0, y: 0 };
+    const methodFunc = impl[method];
+    const result = methodFunc.length === 0 ? methodFunc.call(impl) : methodFunc.call(impl, out) || out;
+    return new Vec2(
+        result.x * physics2d.PHYSICS_2D_PTM_RATIO,
+        result.y * physics2d.PHYSICS_2D_PTM_RATIO,
+    );
+}
+
+function createJoint<Joint extends physics2d.Joint2D> (
+    parent: Node,
+    jointCtor: new () => Joint,
+    scaleA = SCALE_A,
+    scaleB = SCALE_B,
+): { nodeA: Node, nodeB: Node, joint: Joint } {
+    const nodeA = new Node('JointBodyA');
+    const nodeB = new Node('JointBodyB');
+    parent.addChild(nodeA);
+    parent.addChild(nodeB);
+
+    nodeA.worldPosition = POSITION_A;
+    nodeB.worldPosition = POSITION_B;
+    nodeA.setScale(scaleA);
+    nodeB.setScale(scaleB);
+
+    const bodyA = nodeA.addComponent(physics2d.RigidBody2D);
+    const bodyB = nodeB.addComponent(physics2d.RigidBody2D);
+    bodyA.type = physics2d.ERigidBody2DType.Kinematic;
+    bodyB.type = physics2d.ERigidBody2DType.Kinematic;
+
+    const joint = nodeA.addComponent(jointCtor);
+    joint.connectedBody = bodyB;
+    joint.anchor.set(ANCHOR_A);
+    joint.connectedAnchor.set(ANCHOR_B);
+    joint.apply();
+
+    return { nodeA, nodeB, joint };
+}
+
+function getExpectedAnchorA (node: Node): Vec2 {
+    const scale = node.worldScale;
+    const position = node.worldPosition;
+    return new Vec2(position.x + ANCHOR_A.x * scale.x, position.y + ANCHOR_A.y * scale.y);
+}
+
+function getExpectedAnchorB (node: Node): Vec2 {
+    const scale = node.worldScale;
+    const position = node.worldPosition;
+    return new Vec2(position.x + ANCHOR_B.x * scale.x, position.y + ANCHOR_B.y * scale.y);
+}
+
+/**
+ * This function is used to test the api of the Joint2D.
+ */
+export default function (parent: Node, _steps = 0): void {
+    //skip builtin for now
+    if (physics2d.selector.id === 'builtin') {
+        return;
+    }
+
+    // 各类关节创建时应使用缩放后的本地锚点。
+    for (let i = 0; i < JOINT_TYPES.length; i++) {
+        const { nodeA, nodeB, joint } = createJoint(parent, JOINT_TYPES[i]);
+        expectVec2Close(readJointAnchor(joint, 'GetAnchorA'), getExpectedAnchorA(nodeA));
+        expectVec2Close(readJointAnchor(joint, 'GetAnchorB'), getExpectedAnchorB(nodeB));
+
+        parent.destroyAllChildren();
+        parent.removeAllChildren();
+    }
+
+    // 运行时缩放自身或连接刚体后，应重建关节并刷新锚点。
+    {
+        const { nodeA, nodeB, joint } = createJoint(parent, physics2d.HingeJoint2D, Vec3.ONE, Vec3.ONE);
+        expectVec2Close(readJointAnchor(joint, 'GetAnchorA'), getExpectedAnchorA(nodeA));
+        expectVec2Close(readJointAnchor(joint, 'GetAnchorB'), getExpectedAnchorB(nodeB));
+
+        nodeA.setScale(SCALE_A);
+        director.tick(physics2d.PhysicsSystem2D.instance.fixedTimeStep);
+        expectVec2Close(readJointAnchor(joint, 'GetAnchorA'), getExpectedAnchorA(nodeA));
+
+        nodeB.setScale(SCALE_B);
+        director.tick(physics2d.PhysicsSystem2D.instance.fixedTimeStep);
+        expectVec2Close(readJointAnchor(joint, 'GetAnchorB'), getExpectedAnchorB(nodeB));
+
+        parent.destroyAllChildren();
+        parent.removeAllChildren();
+    }
+}
diff --git a/tests/physics2d/physics2d.test.ts b/tests/physics2d/physics2d.test.ts
index 90d6414f6a..86ad0ef248 100644
--- a/tests/physics2d/physics2d.test.ts
+++ b/tests/physics2d/physics2d.test.ts
@@ -10,6 +10,7 @@ import { waitForBox2dWasmInstantiation } from "../../cocos/physics-2d/box2d-wasm
 
 import RigidBodyTest from "./rigid-body";
 import ColliderTest from "./collider"; 
+import JointTest from "./joint";
 import SceneQueryTest from "./scene-query";
 import EventTest from "./events";
 
@@ -44,6 +45,9 @@ for (const id in physics2d.selector.backend) {
         //test collider
         ColliderTest(temp0);
 
+        //test joint
+        JointTest(temp0);
+
         //test scene query
         SceneQueryTest(temp0);
 
@@ -56,4 +60,4 @@ for (const id in physics2d.selector.backend) {
         // all works done
         done();
     })
-}
\ No newline at end of file
+}