diff --git a/src/constraint/ContactPoint.cpp b/src/constraint/ContactPoint.cpp
index b99d52f1..37dc34a3 100644
--- a/src/constraint/ContactPoint.cpp
+++ b/src/constraint/ContactPoint.cpp
@@ -34,8 +34,8 @@ using namespace std;
 ContactPoint::ContactPoint(const ContactPointInfo* contactInfo)
              : mNormal(contactInfo->normal),
                mPenetrationDepth(contactInfo->penetrationDepth),
-               mLocalPointOnBody1(contactInfo->localPoint1),
-               mLocalPointOnBody2(contactInfo->localPoint2),
+               mLocalPointOnShape1(contactInfo->localPoint1),
+               mLocalPointOnShape2(contactInfo->localPoint2),
                mIsRestingContact(false), mIsObsolete(false), mNext(nullptr), mPrevious(nullptr) {
 
     assert(mPenetrationDepth > decimal(0.0));
@@ -53,8 +53,8 @@ void ContactPoint::update(const ContactPointInfo* contactInfo) {
 
     mNormal = contactInfo->normal;
     mPenetrationDepth = contactInfo->penetrationDepth;
-    mLocalPointOnBody1 = contactInfo->localPoint1;
-    mLocalPointOnBody2 = contactInfo->localPoint2;
+    mLocalPointOnShape1 = contactInfo->localPoint1;
+    mLocalPointOnShape2 = contactInfo->localPoint2;
 
     mIsObsolete = false;
 }
diff --git a/src/constraint/ContactPoint.h b/src/constraint/ContactPoint.h
index 739a9efb..40a3d13c 100644
--- a/src/constraint/ContactPoint.h
+++ b/src/constraint/ContactPoint.h
@@ -54,11 +54,11 @@ class ContactPoint {
         /// Penetration depth
         decimal mPenetrationDepth;
 
-        /// Contact point on body 1 in local space of body 1
-        Vector3 mLocalPointOnBody1;
+        /// Contact point on proxy shape 1 in local-space of proxy shape 1
+        Vector3 mLocalPointOnShape1;
 
-        /// Contact point on body 2 in local space of body 2
-        Vector3 mLocalPointOnBody2;
+        /// Contact point on proxy shape 2 in local-space of proxy shape 2
+        Vector3 mLocalPointOnShape2;
 
         /// True if the contact is a resting contact (exists for more than one time step)
         bool mIsRestingContact;
@@ -121,11 +121,11 @@ class ContactPoint {
         /// Return the normal vector of the contact
         Vector3 getNormal() const;
 
-        /// Return the contact local point on body 1
-        Vector3 getLocalPointOnBody1() const;
+        /// Return the contact point on the first proxy shape in the local-space of the proxy shape
+        Vector3 getLocalPointOnShape1() const;
 
-        /// Return the contact local point on body 2
-        Vector3 getLocalPointOnBody2() const;
+        /// Return the contact point on the second proxy shape in the local-space of the proxy shape
+        Vector3 getLocalPointOnShape2() const;
 
         /// Return the cached penetration impulse
         decimal getPenetrationImpulse() const;
@@ -156,14 +156,14 @@ inline Vector3 ContactPoint::getNormal() const {
     return mNormal;
 }
 
-// Return the contact point on body 1
-inline Vector3 ContactPoint::getLocalPointOnBody1() const {
-    return mLocalPointOnBody1;
+// Return the contact point on the first proxy shape in the local-space of the proxy shape
+inline Vector3 ContactPoint::getLocalPointOnShape1() const {
+    return mLocalPointOnShape1;
 }
 
-// Return the contact point on body 2
-inline Vector3 ContactPoint::getLocalPointOnBody2() const {
-    return mLocalPointOnBody2;
+// Return the contact point on the second proxy shape in the local-space of the proxy shape
+inline Vector3 ContactPoint::getLocalPointOnShape2() const {
+    return mLocalPointOnShape2;
 }
 
 // Return the cached penetration impulse
@@ -173,7 +173,7 @@ inline decimal ContactPoint::getPenetrationImpulse() const {
 
 // Return true if the contact point is similar (close enougth) to another given contact point
 inline bool ContactPoint::isSimilarWithContactPoint(const ContactPointInfo* localContactPointBody1) const {
-    return (localContactPointBody1->localPoint1 - mLocalPointOnBody1).lengthSquare() <= (PERSISTENT_CONTACT_DIST_THRESHOLD *
+    return (localContactPointBody1->localPoint1 - mLocalPointOnShape1).lengthSquare() <= (PERSISTENT_CONTACT_DIST_THRESHOLD *
             PERSISTENT_CONTACT_DIST_THRESHOLD);
 }
 
diff --git a/src/engine/ContactSolver.cpp b/src/engine/ContactSolver.cpp
index 1e5b5401..167d37b8 100644
--- a/src/engine/ContactSolver.cpp
+++ b/src/engine/ContactSolver.cpp
@@ -157,8 +157,8 @@ void ContactSolver::initializeForIsland(Island* island) {
         while (externalContact != nullptr) {
 
             // Get the contact point on the two bodies
-            Vector3 p1 = shape1->getLocalToWorldTransform() * externalContact->getLocalPointOnBody1();
-            Vector3 p2 = shape2->getLocalToWorldTransform() * externalContact->getLocalPointOnBody2();
+            Vector3 p1 = shape1->getLocalToWorldTransform() * externalContact->getLocalPointOnShape1();
+            Vector3 p2 = shape2->getLocalToWorldTransform() * externalContact->getLocalPointOnShape2();
 
             new (mContactPoints + mNbContactPoints) ContactPointSolver();
             mContactPoints[mNbContactPoints].externalContact = externalContact;
diff --git a/testbed/scenes/collisiondetection/CollisionDetectionScene.h b/testbed/scenes/collisiondetection/CollisionDetectionScene.h
index e5bd8db9..9a90f25c 100644
--- a/testbed/scenes/collisiondetection/CollisionDetectionScene.h
+++ b/testbed/scenes/collisiondetection/CollisionDetectionScene.h
@@ -94,13 +94,13 @@ class ContactManager : public rp3d::CollisionCallback {
                     rp3d::Vector3 normal = contactPoint->getNormal();
                     openglframework::Vector3 contactNormal(normal.x, normal.y, normal.z);
 
-                    rp3d::Vector3 point1 = contactPoint->getLocalPointOnBody1();
+                    rp3d::Vector3 point1 = contactPoint->getLocalPointOnShape1();
                     point1 = collisionCallbackInfo.proxyShape1->getLocalToWorldTransform() * point1;
 
                     openglframework::Vector3 position1(point1.x, point1.y, point1.z);
                     mContactPoints.push_back(ContactPoint(position1, contactNormal, openglframework::Color::red()));
 
-                    rp3d::Vector3 point2 = contactPoint->getLocalPointOnBody2();
+                    rp3d::Vector3 point2 = contactPoint->getLocalPointOnShape2();
                     point2 = collisionCallbackInfo.proxyShape2->getLocalToWorldTransform() * point2;
                     openglframework::Vector3 position2(point2.x, point2.y, point2.z);
                     mContactPoints.push_back(ContactPoint(position2, contactNormal, openglframework::Color::blue()));
diff --git a/testbed/src/SceneDemo.cpp b/testbed/src/SceneDemo.cpp
index db5d030e..5ef6fb95 100644
--- a/testbed/src/SceneDemo.cpp
+++ b/testbed/src/SceneDemo.cpp
@@ -435,7 +435,7 @@ std::vector<ContactPoint> SceneDemo::computeContactPointsOfWorld(const rp3d::Dyn
         rp3d::ContactPoint* contactPoint = manifold->getContactPoints();
         while (contactPoint != nullptr) {
 
-            rp3d::Vector3 point = manifold->getShape1()->getLocalToWorldTransform() * contactPoint->getLocalPointOnBody1();
+            rp3d::Vector3 point = manifold->getShape1()->getLocalToWorldTransform() * contactPoint->getLocalPointOnShape1();
 			rp3d::Vector3 normalWorld = contactPoint->getNormal();
 			openglframework::Vector3 normal = openglframework::Vector3(normalWorld.x, normalWorld.y, normalWorld.z);
             ContactPoint contact(openglframework::Vector3(point.x, point.y, point.z), normal, openglframework::Color::red());