I agree with much of the above. However, I've never been a big fan of B&W's partly for this very reason.
1. Try placing the speakers further out into the listening area. Unless the room itself is to blame, this should help.
2. Use 3 Star Sound Audio Points mounted under each speaker.
3. Try another speaker cable. With many cables, there is a certain amount of time smear. This can make the bass sound somewhat ill-defined in the lower regions. The Audience Au24 speaker cables will really clean this up in my experience.
4. You do not mention what your components are sitting on. The rack and/or stands can also make a serious impact toward a more appropriately defined bass (as well as the rest of the spectrum).
If the above does not improve your situation, then it's either the room, speakers, or perhaps the amp.
-IMO