diff --git a/testbed/common/Box.cpp b/testbed/common/Box.cpp
index 16a6c1a1..9bc7cbc6 100644
--- a/testbed/common/Box.cpp
+++ b/testbed/common/Box.cpp
@@ -84,12 +84,6 @@ Box::Box(const openglframework::Vector3& size, float mass, reactphysics3d::Physi
          const std::string& meshFolderPath)
     : PhysicsObject(physicsCommon, meshFolderPath + "cube.obj") {
 
-    // Load the mesh from a file
-    openglframework::MeshReaderWriter::loadMeshFromFile(meshFolderPath + "cube.obj", *this);
-
-    // Calculate the normals of the mesh
-    calculateNormals();
-
     // Initialize the size of the box
     mSize[0] = size.x * 0.5f;
     mSize[1] = size.y * 0.5f;
@@ -201,8 +195,7 @@ void Box::render(openglframework::Shader& shader, const openglframework::Matrix4
 }
 
 // Create the Vertex Buffer Objects used to render to box with OpenGL.
-/// We create two VBOs (one for vertices and one for indices) to render all the boxes
-/// in the simulation.
+/// We create two VBOs (one for vertices and one for indices) to render the box
 void Box::createVBOAndVAO() {
 
     // Create the VBO for the vertices data
@@ -228,7 +221,7 @@ void Box::createVBOAndVAO() {
         mVBOTextureCoords.unbind();
     }
 
-    // Create th VBO for the indices data
+    // Create the VBO for the indices data
     mVBOIndices.create();
     mVBOIndices.bind();
     size_t sizeIndices = mIndices[0].size() * sizeof(unsigned int);
diff --git a/testbed/common/ConvexMesh.cpp b/testbed/common/ConvexMesh.cpp
index d29ce40b..e2d3abef 100644
--- a/testbed/common/ConvexMesh.cpp
+++ b/testbed/common/ConvexMesh.cpp
@@ -25,6 +25,7 @@
 
 // Libraries
 #include "ConvexMesh.h"
+#include <unordered_set>
 
 // Constructor
 ConvexMesh::ConvexMesh(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world, const std::string& meshPath)
@@ -39,6 +40,19 @@ ConvexMesh::ConvexMesh(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld*
     mPolygonFaces = new rp3d::PolygonVertexArray::PolygonFace[getNbFaces(0)];
     rp3d::PolygonVertexArray::PolygonFace* face = mPolygonFaces;
     for (int f=0; f < getNbFaces(0); f++) {
+
+		for (int v = 0; v < 3; v++) {
+			
+			const openglframework::Vector3 vertex = mVertices[mIndices[0][f*3 + v]];
+			int vIndex = findVertexIndex(mConvexMeshVertices, vertex);
+			if (vIndex == -1) {
+				vIndex = mConvexMeshVertices.size();
+				mConvexMeshVertices.push_back(vertex);
+			}
+
+			mConvexMeshIndices.push_back(vIndex);
+		}
+
         face->indexBase = f * 3;
         face->nbVertices = 3;
         face++;
@@ -46,8 +60,8 @@ ConvexMesh::ConvexMesh(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld*
 
     // Create the polygon vertex array
     mPolygonVertexArray =
-            new rp3d::PolygonVertexArray(getNbVertices(), &(mVertices[0]), sizeof(openglframework::Vector3),
-                                         &(mIndices[0][0]), sizeof(int),
+            new rp3d::PolygonVertexArray(mConvexMeshVertices.size(), &(mConvexMeshVertices[0]), sizeof(openglframework::Vector3),
+                                         &(mConvexMeshIndices[0]), sizeof(int),
                                          getNbFaces(0), mPolygonFaces,
                                          rp3d::PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE,
                                          rp3d::PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE);
@@ -86,6 +100,19 @@ ConvexMesh::ConvexMesh(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::Dyn
     mPolygonFaces = new rp3d::PolygonVertexArray::PolygonFace[getNbFaces(0)];
     rp3d::PolygonVertexArray::PolygonFace* face = mPolygonFaces;
     for (int f=0; f < getNbFaces(0); f++) {
+
+		for (int v = 0; v < 3; v++) {
+			
+			const openglframework::Vector3 vertex = mVertices[mIndices[0][f*3 + v]];
+			int vIndex = findVertexIndex(mConvexMeshVertices, vertex);
+			if (vIndex == -1) {
+				vIndex = mConvexMeshVertices.size();
+				mConvexMeshVertices.push_back(vertex);
+			}
+
+			mConvexMeshIndices.push_back(vIndex);
+		}
+
         face->indexBase = f * 3;
         face->nbVertices = 3;
         face++;
@@ -93,8 +120,8 @@ ConvexMesh::ConvexMesh(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::Dyn
 
     // Create the polygon vertex array
     mPolygonVertexArray =
-            new rp3d::PolygonVertexArray(getNbVertices(), &(mVertices[0]), sizeof(openglframework::Vector3),
-                                         &(mIndices[0][0]), sizeof(int),
+            new rp3d::PolygonVertexArray(mConvexMeshVertices.size(), &(mConvexMeshVertices[0]), sizeof(openglframework::Vector3),
+                                         &(mConvexMeshIndices[0]), sizeof(int),
                                          getNbFaces(0), mPolygonFaces,
                                          rp3d::PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE,
                                          rp3d::PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE);
@@ -255,3 +282,16 @@ void ConvexMesh::createVBOAndVAO() {
     // Unbind the VAO
     mVAO.unbind();
 }
+
+// Return the index of a given vertex in the mesh
+int ConvexMesh::findVertexIndex(const std::vector<openglframework::Vector3>& vertices, const openglframework::Vector3& vertex) {
+
+	for (int i = 0; i < vertices.size(); i++) {
+		if (vertices[i] == vertex) {
+			return i;
+		}
+	}
+
+	return -1;
+}
+
diff --git a/testbed/common/ConvexMesh.h b/testbed/common/ConvexMesh.h
index 56019d0f..5c2f1807 100644
--- a/testbed/common/ConvexMesh.h
+++ b/testbed/common/ConvexMesh.h
@@ -69,11 +69,21 @@ class ConvexMesh : public PhysicsObject {
         /// Vertex Array Object for the vertex data
         openglframework::VertexArrayObject mVAO;
 
+		/// Array with the vertices of the convex mesh
+		/// (only the vertices used for the physics shape, not duplicate vertices used for rendering)
+		std::vector<openglframework::Vector3> mConvexMeshVertices;
+
+		/// Array with the vertex indices of the convex mesh (used for the physics shape)
+		std::vector<int> mConvexMeshIndices;
+
         // -------------------- Methods -------------------- //
 
-        // Create the Vertex Buffer Objects used to render with OpenGL.
+        /// Create the Vertex Buffer Objects used to render with OpenGL.
         void createVBOAndVAO();
 
+		/// Return the index of a given vertex in the mesh
+		int findVertexIndex(const std::vector<openglframework::Vector3>& vertices, const openglframework::Vector3& vertex);
+
     public :
 
         // -------------------- Methods -------------------- //
diff --git a/testbed/common/PhysicsObject.cpp b/testbed/common/PhysicsObject.cpp
index d511beb9..ebaa9959 100644
--- a/testbed/common/PhysicsObject.cpp
+++ b/testbed/common/PhysicsObject.cpp
@@ -41,8 +41,12 @@ PhysicsObject::PhysicsObject(rp3d::PhysicsCommon& physicsCommon, const std::stri
     // Load the mesh from a file
     openglframework::MeshReaderWriter::loadMeshFromFile(meshPath, *this);
 
-    // Calculate the normals of the mesh
-    calculateNormals();
+	// If the mesh file do not have normals
+	if (mNormals.empty()) {
+
+		// Calculate the normals of the mesh
+		calculateNormals();
+	}
 }
 
 // Compute the new transform matrix
diff --git a/testbed/meshes/convexmesh.obj b/testbed/meshes/convexmesh.obj
index 7a194f13..11b64c24 100644
--- a/testbed/meshes/convexmesh.obj
+++ b/testbed/meshes/convexmesh.obj
@@ -1,125 +1,205 @@
-# Blender v2.66 (sub 0) OBJ File: ''
+# Blender v2.80 (sub 75) OBJ File: ''
 # www.blender.org
-v 0.000000 -1.000000 0.000000
-v 0.723607 -0.447220 0.525725
-v -0.276388 -0.447220 0.850649
-v -0.894426 -0.447216 0.000000
-v -0.276388 -0.447220 -0.850649
-v 0.723607 -0.447220 -0.525725
-v 0.276388 0.447220 0.850649
-v -0.723607 0.447220 0.525725
-v -0.723607 0.447220 -0.525725
-v 0.276388 0.447220 -0.850649
-v 0.894426 0.447216 0.000000
-v 0.000000 1.000000 0.000000
+v 0.000000 -1.000000 -0.000000
 v 0.425323 -0.850654 0.309011
-v 0.262869 -0.525738 0.809012
 v -0.162456 -0.850654 0.499995
-v 0.425323 -0.850654 -0.309011
-v 0.850648 -0.525736 0.000000
-v -0.688189 -0.525736 0.499997
-v -0.525730 -0.850652 0.000000
-v -0.688189 -0.525736 -0.499997
+v 0.723607 -0.447220 0.525725
+v 0.850648 -0.525736 -0.000000
+v -0.525730 -0.850652 -0.000000
 v -0.162456 -0.850654 -0.499995
-v 0.262869 -0.525738 -0.809012
-v 0.951058 0.000000 -0.309013
-v 0.951058 0.000000 0.309013
-v 0.587786 0.000000 0.809017
-v 0.000000 0.000000 1.000000
-v -0.587786 0.000000 0.809017
-v -0.951058 0.000000 0.309013
-v -0.951058 0.000000 -0.309013
+v 0.425323 -0.850654 -0.309011
+v 0.951058 -0.000000 0.309013
+v -0.276388 -0.447220 0.850649
+v 0.262869 -0.525738 0.809012
+v 0.000000 -0.000000 1.000000
+v -0.894426 -0.447216 -0.000000
+v -0.688189 -0.525736 0.499997
+v -0.951058 -0.000000 0.309013
+v -0.276388 -0.447220 -0.850649
+v -0.688189 -0.525736 -0.499997
 v -0.587786 0.000000 -0.809017
-v 0.000000 0.000000 -1.000000
+v 0.723607 -0.447220 -0.525725
+v 0.262869 -0.525738 -0.809012
 v 0.587786 0.000000 -0.809017
+v 0.587786 -0.000000 0.809017
+v -0.587786 -0.000000 0.809017
+v -0.951058 0.000000 -0.309013
+v 0.000000 0.000000 -1.000000
+v 0.951058 0.000000 -0.309013
+v 0.276388 0.447220 0.850649
 v 0.688189 0.525736 0.499997
+v 0.162456 0.850654 0.499995
+v -0.723607 0.447220 0.525725
 v -0.262869 0.525738 0.809012
+v -0.425323 0.850654 0.309011
+v -0.723607 0.447220 -0.525725
 v -0.850648 0.525736 0.000000
+v -0.425323 0.850654 -0.309011
+v 0.276388 0.447220 -0.850649
 v -0.262869 0.525738 -0.809012
+v 0.162456 0.850654 -0.499995
+v 0.894426 0.447216 0.000000
 v 0.688189 0.525736 -0.499997
 v 0.525730 0.850652 0.000000
-v 0.162456 0.850654 0.499995
-v -0.425323 0.850654 0.309011
-v -0.425323 0.850654 -0.309011
-v 0.162456 0.850654 -0.499995
+v 0.000000 1.000000 0.000000
+vn 0.1024 -0.9435 0.3151
+vn 0.7002 -0.6617 0.2680
+vn -0.2680 -0.9435 0.1947
+vn -0.2680 -0.9435 -0.1947
+vn 0.1024 -0.9435 -0.3151
+vn 0.9050 -0.3304 0.2680
+vn 0.0247 -0.3304 0.9435
+vn -0.8897 -0.3304 0.3151
+vn -0.5746 -0.3304 -0.7488
+vn 0.5346 -0.3304 -0.7779
+vn 0.8026 -0.1256 0.5831
+vn -0.3066 -0.1256 0.9435
+vn -0.9921 -0.1256 -0.0000
+vn -0.3066 -0.1256 -0.9435
+vn 0.8026 -0.1256 -0.5831
+vn 0.4089 0.6617 0.6284
+vn -0.4713 0.6617 0.5831
+vn -0.7002 0.6617 -0.2680
+vn 0.0385 0.6617 -0.7488
+vn 0.7240 0.6617 -0.1947
+vn -0.0385 -0.6617 0.7488
+vn 0.1876 -0.7947 0.5773
+vn 0.4713 -0.6617 0.5831
+vn 0.7002 -0.6617 -0.2680
+vn 0.6071 -0.7947 0.0000
+vn 0.3313 -0.9435 -0.0000
+vn -0.7240 -0.6617 0.1947
+vn -0.4911 -0.7947 0.3568
+vn -0.4089 -0.6617 0.6284
+vn -0.4089 -0.6617 -0.6284
+vn -0.4911 -0.7947 -0.3568
+vn -0.7240 -0.6617 -0.1947
+vn 0.4713 -0.6617 -0.5831
+vn 0.1876 -0.7947 -0.5773
+vn -0.0385 -0.6617 -0.7488
+vn 0.9921 0.1256 0.0000
+vn 0.9822 -0.1876 -0.0000
+vn 0.9050 -0.3304 -0.2680
+vn 0.3066 0.1256 0.9435
+vn 0.3035 -0.1876 0.9342
+vn 0.5346 -0.3304 0.7779
+vn -0.8026 0.1256 0.5831
+vn -0.7947 -0.1876 0.5773
+vn -0.5746 -0.3304 0.7488
+vn -0.8026 0.1256 -0.5831
+vn -0.7947 -0.1876 -0.5773
+vn -0.8897 -0.3304 -0.3151
+vn 0.3066 0.1256 -0.9435
+vn 0.3035 -0.1876 -0.9342
+vn 0.0247 -0.3304 -0.9435
+vn 0.5746 0.3304 0.7488
+vn 0.7947 0.1876 0.5773
+vn 0.8897 0.3304 0.3151
+vn -0.5346 0.3304 0.7779
+vn -0.3035 0.1876 0.9342
+vn -0.0247 0.3304 0.9435
+vn -0.9050 0.3304 -0.2680
+vn -0.9822 0.1876 0.0000
+vn -0.9050 0.3304 0.2680
+vn -0.0247 0.3304 -0.9435
+vn -0.3035 0.1876 -0.9342
+vn -0.5346 0.3304 -0.7779
+vn 0.8897 0.3304 -0.3151
+vn 0.7947 0.1876 -0.5773
+vn 0.5746 0.3304 -0.7488
+vn 0.2680 0.9435 0.1947
+vn 0.4911 0.7947 0.3568
+vn 0.7240 0.6617 0.1947
+vn -0.1024 0.9435 0.3151
+vn -0.1876 0.7947 0.5773
+vn 0.0385 0.6617 0.7488
+vn -0.3313 0.9435 0.0000
+vn -0.6071 0.7947 0.0000
+vn -0.7002 0.6617 0.2680
+vn -0.1024 0.9435 -0.3151
+vn -0.1876 0.7947 -0.5773
+vn -0.4713 0.6617 -0.5831
+vn 0.2680 0.9435 -0.1947
+vn 0.4911 0.7947 -0.3568
+vn 0.4089 0.6617 -0.6284
 s off
-f 1 13 15
-f 2 13 17
-f 1 15 19
-f 1 19 21
-f 1 21 16
-f 2 17 24
-f 3 14 26
-f 4 18 28
-f 5 20 30
-f 6 22 32
-f 2 24 25
-f 3 26 27
-f 4 28 29
-f 5 30 31
-f 6 32 23
-f 7 33 39
-f 8 34 40
-f 9 35 41
-f 10 36 42
-f 11 37 38
-f 15 14 3
-f 15 13 14
-f 13 2 14
-f 17 16 6
-f 17 13 16
-f 13 1 16
-f 19 18 4
-f 19 15 18
-f 15 3 18
-f 21 20 5
-f 21 19 20
-f 19 4 20
-f 16 22 6
-f 16 21 22
-f 21 5 22
-f 24 23 11
-f 24 17 23
-f 17 6 23
-f 26 25 7
-f 26 14 25
-f 14 2 25
-f 28 27 8
-f 28 18 27
-f 18 3 27
-f 30 29 9
-f 30 20 29
-f 20 4 29
-f 32 31 10
-f 32 22 31
-f 22 5 31
-f 25 33 7
-f 25 24 33
-f 24 11 33
-f 27 34 8
-f 27 26 34
-f 26 7 34
-f 29 35 9
-f 29 28 35
-f 28 8 35
-f 31 36 10
-f 31 30 36
-f 30 9 36
-f 23 37 11
-f 23 32 37
-f 32 10 37
-f 39 38 12
-f 39 33 38
-f 33 11 38
-f 40 39 12
-f 40 34 39
-f 34 7 39
-f 41 40 12
-f 41 35 40
-f 35 8 40
-f 42 41 12
-f 42 36 41
-f 36 9 41
-f 38 42 12
-f 38 37 42
-f 37 10 42
+f 1//1 2//1 3//1
+f 4//2 2//2 5//2
+f 1//3 3//3 6//3
+f 1//4 6//4 7//4
+f 1//5 7//5 8//5
+f 4//6 5//6 9//6
+f 10//7 11//7 12//7
+f 13//8 14//8 15//8
+f 16//9 17//9 18//9
+f 19//10 20//10 21//10
+f 4//11 9//11 22//11
+f 10//12 12//12 23//12
+f 13//13 15//13 24//13
+f 16//14 18//14 25//14
+f 19//15 21//15 26//15
+f 27//16 28//16 29//16
+f 30//17 31//17 32//17
+f 33//18 34//18 35//18
+f 36//19 37//19 38//19
+f 39//20 40//20 41//20
+f 3//21 11//21 10//21
+f 3//22 2//22 11//22
+f 2//23 4//23 11//23
+f 5//24 8//24 19//24
+f 5//25 2//25 8//25
+f 2//26 1//26 8//26
+f 6//27 14//27 13//27
+f 6//28 3//28 14//28
+f 3//29 10//29 14//29
+f 7//30 17//30 16//30
+f 7//31 6//31 17//31
+f 6//32 13//32 17//32
+f 8//33 20//33 19//33
+f 8//34 7//34 20//34
+f 7//35 16//35 20//35
+f 9//36 26//36 39//36
+f 9//37 5//37 26//37
+f 5//38 19//38 26//38
+f 12//39 22//39 27//39
+f 12//40 11//40 22//40
+f 11//41 4//41 22//41
+f 15//42 23//42 30//42
+f 15//43 14//43 23//43
+f 14//44 10//44 23//44
+f 18//45 24//45 33//45
+f 18//46 17//46 24//46
+f 17//47 13//47 24//47
+f 21//48 25//48 36//48
+f 21//49 20//49 25//49
+f 20//50 16//50 25//50
+f 22//51 28//51 27//51
+f 22//52 9//52 28//52
+f 9//53 39//53 28//53
+f 23//54 31//54 30//54
+f 23//55 12//55 31//55
+f 12//56 27//56 31//56
+f 24//57 34//57 33//57
+f 24//58 15//58 34//58
+f 15//59 30//59 34//59
+f 25//60 37//60 36//60
+f 25//61 18//61 37//61
+f 18//62 33//62 37//62
+f 26//63 40//63 39//63
+f 26//64 21//64 40//64
+f 21//65 36//65 40//65
+f 29//66 41//66 42//66
+f 29//67 28//67 41//67
+f 28//68 39//68 41//68
+f 32//69 29//69 42//69
+f 32//70 31//70 29//70
+f 31//71 27//71 29//71
+f 35//72 32//72 42//72
+f 35//73 34//73 32//73
+f 34//74 30//74 32//74
+f 38//75 35//75 42//75
+f 38//76 37//76 35//76
+f 37//77 33//77 35//77
+f 41//78 38//78 42//78
+f 41//79 40//79 38//79
+f 40//80 36//80 38//80
diff --git a/testbed/meshes/cube.obj b/testbed/meshes/cube.obj
index 167925a5..a5ef7cfa 100644
--- a/testbed/meshes/cube.obj
+++ b/testbed/meshes/cube.obj
@@ -1,17 +1,43 @@
-# Blender v2.72 (sub 0) OBJ File: ''
+# Blender v2.80 (sub 75) OBJ File: ''
 # www.blender.org
-v -1.000000 -1.000000 1.000000
-v -1.000000 -1.000000 -1.000000
-v 1.000000 -1.000000 -1.000000
-v 1.000000 -1.000000 1.000000
-v -1.000000 1.000000 1.000000
-v -1.000000 1.000000 -1.000000
 v 1.000000 1.000000 -1.000000
+v 1.000000 -1.000000 -1.000000
 v 1.000000 1.000000 1.000000
+v 1.000000 -1.000000 1.000000
+v -1.000000 1.000000 -1.000000
+v -1.000000 -1.000000 -1.000000
+v -1.000000 1.000000 1.000000
+v -1.000000 -1.000000 1.000000
+vt 0.375000 0.000000
+vt 0.625000 0.000000
+vt 0.625000 0.250000
+vt 0.375000 0.250000
+vt 0.375000 0.250000
+vt 0.625000 0.250000
+vt 0.625000 0.500000
+vt 0.375000 0.500000
+vt 0.625000 0.750000
+vt 0.375000 0.750000
+vt 0.625000 0.750000
+vt 0.625000 1.000000
+vt 0.375000 1.000000
+vt 0.125000 0.500000
+vt 0.375000 0.500000
+vt 0.375000 0.750000
+vt 0.125000 0.750000
+vt 0.625000 0.500000
+vt 0.875000 0.500000
+vt 0.875000 0.750000
+vn 0.0000 1.0000 0.0000
+vn 0.0000 0.0000 1.0000
+vn -1.0000 0.0000 0.0000
+vn 0.0000 -1.0000 0.0000
+vn 1.0000 0.0000 0.0000
+vn 0.0000 0.0000 -1.0000
 s off
-f 5 6 2 1
-f 6 7 3 2
-f 7 8 4 3
-f 8 5 1 4
-f 1 2 3 4
-f 8 7 6 5
+f 1/1/1 5/2/1 7/3/1 3/4/1
+f 4/5/2 3/6/2 7/7/2 8/8/2
+f 8/8/3 7/7/3 5/9/3 6/10/3
+f 6/10/4 2/11/4 4/12/4 8/13/4
+f 2/14/5 1/15/5 3/16/5 4/17/5
+f 6/18/6 5/19/6 1/20/6 2/11/6
diff --git a/testbed/opengl-framework/src/MeshReaderWriter.cpp b/testbed/opengl-framework/src/MeshReaderWriter.cpp
index 275226ae..321a1282 100644
--- a/testbed/opengl-framework/src/MeshReaderWriter.cpp
+++ b/testbed/opengl-framework/src/MeshReaderWriter.cpp
@@ -31,6 +31,8 @@
 #include <cctype>
 #include <map>
 #include <algorithm>
+#include <unordered_map>
+#include <tuple>
 
 using namespace openglframework;
 using namespace std;
@@ -112,6 +114,7 @@ void MeshReaderWriter::loadOBJFile(const string &filename, Mesh& meshToCreate) {
     std::vector<uint> normalsIndices;
     std::vector<uint> uvsIndices;
 
+
     // ---------- Collect the data from the file ---------- //
 
     // For each line of the file
@@ -142,7 +145,7 @@ void MeshReaderWriter::loadOBJFile(const string &filename, Mesh& meshToCreate) {
             line = buffer;
             found1 = (int)line.find("/");
             bool isFaceQuad = false;
-            int foundNext = (int)line.substr(found1+1).find("/");
+            found2 = (int)line.substr(found1+1).find("/");
 
             // If the face definition is of the form "f v1 v2 v3 v4"
             if(found1 == string::npos) {
@@ -150,11 +153,21 @@ void MeshReaderWriter::loadOBJFile(const string &filename, Mesh& meshToCreate) {
                 if (nbVertices == 4) isFaceQuad = true;
             }
             // If the face definition is of the form "f v1// v2// v3// v4//"
-            else if (foundNext == 0) {
+            else if (found2 == 0 && (int)line.substr(found1+found2+1).find(" ") == 0) {
                 int nbVertices = sscanf(buffer.c_str(), "%*s %d// %d// %d// %d//", &id1, &id2, &id3, &id4);
                 if (nbVertices == 4) isFaceQuad = true;
             }
-            else {  // If the face definition contains vertices and texture coordinates
+            else {  // If the face definition contains vertices and (texture coordinates or normals)
+
+				tId1 = -1;
+				tId2 = -1;
+				tId3 = -1;
+				tId4 = -1;
+
+				nId1 = -1;
+				nId2 = -1;
+				nId3 = -1;
+				nId4 = -1;
 
                 //get the part of the string until the second index
                 tmp = line.substr(found1+1);
@@ -166,6 +179,7 @@ void MeshReaderWriter::loadOBJFile(const string &filename, Mesh& meshToCreate) {
                 if(found2 == string::npos) {
                     int n = sscanf(buffer.c_str(), "%*s %d/%d %d/%d %d/%d %d/%d", &id1, &tId1, &id2, &tId2, &id3, &tId3, &id4, &tId4);
                     if (n == 8) isFaceQuad = true;
+
                     uvsIndices.push_back(tId1-1);
                     uvsIndices.push_back(tId2-1);
                     uvsIndices.push_back(tId3-1);
@@ -174,8 +188,11 @@ void MeshReaderWriter::loadOBJFile(const string &filename, Mesh& meshToCreate) {
                 else {
                     tmp = line.substr(found1+1);
                     found2 = (int)tmp.find("/");
+					if (found2 > 1000) {
+						int test = 2;
+					}
 
-                    // If the face definition is of the form "f vert1/normal1 vert2/normal2 ..."
+                    // If the face definition is of the form "f vert1//normal1 vert2//normal2 ..."
                     if(found2 == 0) {
                         int n = sscanf(buffer.c_str(), "%*s %d//%d %d//%d %d//%d %d//%d", &id1, &nId1, &id2, &nId2, &id3, &nId3, &id4, &nId4);
                         if (n == 8) isFaceQuad = true;
@@ -213,39 +230,84 @@ void MeshReaderWriter::loadOBJFile(const string &filename, Mesh& meshToCreate) {
     // Destroy the current mesh
     meshToCreate.destroy();
 
+	// This is used to create duplicate vertices if a vertex with index "i" from a face does not
+	// have same texture coordinates or normals as a previous vertex with index "i".
+	unordered_map<tuple<int, int, int>, uint> mapVertNormTexToVertexIndex;
+
     // Mesh data
     vector<std::vector<uint> > meshIndices;
+    vector<Vector3> meshVertices;
     vector<Vector3> meshNormals;
-    if (!normals.empty()) meshNormals = vector<Vector3>(vertices.size(), Vector3(0, 0, 0));
+    //if (!normals.empty()) meshNormals = vector<Vector3>(vertices.size(), Vector3(0, 0, 0));
     vector<Vector2> meshUVs;
-    if (!uvs.empty()) meshUVs = vector<Vector2>(vertices.size(), Vector2(0, 0));
+    //if (!uvs.empty()) meshUVs = vector<Vector2>(vertices.size(), Vector2(0, 0));
 
     // We cannot load mesh with several parts for the moment
     uint meshPart = 0;
 
+	const bool hasNormals = !normalsIndices.empty() && !normals.empty();
+	const bool hasUvs = !uvsIndices.empty() && !uvs.empty();
+
     // Fill in the vertex indices
     // We also triangulate each quad face
     meshIndices.push_back(std::vector<uint>());
     for(size_t i = 0, j = 0; i < verticesIndices.size(); j++) {
 
-        // Get the current vertex IDs
-        uint i1 = verticesIndices[i];
-        uint i2 = verticesIndices[i+1];
-        uint i3 = verticesIndices[i+2];
+		// 3 if the current vertices form a triangle and 4 if they form a quad
+		const int nbVertices = isQuad[j] ? 4 : 3;
 
+		int newVerticesIndices[4] = { -1, -1, -1, -1 };
+
+		// For each vertex, we check if there is already a vertex with same UV and normals. 
+		for (int v = 0; v < nbVertices; v++) {
+
+			int normalIndex = hasNormals ? normalsIndices[i + v] : -1;
+			int uvIndex = hasUvs ? uvsIndices[i + v] : -1;
+
+			// If the vertex with same UV and normal doesn't exist yet in the map
+			tuple<int, int, int> key = std::make_tuple(verticesIndices[i+v], normalIndex, uvIndex);
+			auto itFound = mapVertNormTexToVertexIndex.find(key);
+			if (itFound == mapVertNormTexToVertexIndex.end()) {
+
+				// Create a new vertex 
+				newVerticesIndices[v]= meshVertices.size();
+				meshVertices.push_back(vertices[verticesIndices[i+v]]);
+				if (hasNormals) {
+					meshNormals.push_back(normals[normalsIndices[i+v]]);
+				}
+				if (hasUvs) {
+					meshUVs.push_back(uvs[uvsIndices[i+v]]);
+				}
+
+				mapVertNormTexToVertexIndex.insert(std::make_pair(key, newVerticesIndices[v]));
+			}
+			else {
+				// Get the vertex index to use
+				newVerticesIndices[v] = itFound->second;
+			}
+		}
+
+        // Get the current vertex IDs
+        uint i1 = newVerticesIndices[0];
+        uint i2 = newVerticesIndices[1];
+        uint i3 = newVerticesIndices[2];
+        uint i4 = newVerticesIndices[3];
+
+		/*
         // Add the vertex normal
-        if (!normalsIndices.empty() && !normals.empty()) {
+        if (hasNormals) {
             meshNormals[i1] = normals[normalsIndices[i]];
             meshNormals[i2] = normals[normalsIndices[i+1]];
             meshNormals[i3] = normals[normalsIndices[i+2]];
         }
 
         // Add the vertex UV texture coordinates
-        if (!uvsIndices.empty() && !uvs.empty()) {
+        if (hasUvs) {
             meshUVs[i1] = uvs[uvsIndices[i]];
             meshUVs[i2] = uvs[uvsIndices[i+1]];
             meshUVs[i3] = uvs[uvsIndices[i+2]];
         }
+		*/
 
         // If the current vertex not in a quad (it is part of a triangle)
         if (!isQuad[j]) {
@@ -259,11 +321,10 @@ void MeshReaderWriter::loadOBJFile(const string &filename, Mesh& meshToCreate) {
         }
         else {  // If the current vertex is in a quad
 
-            Vector3 v1 = vertices[i1];
-            Vector3 v2 = vertices[i2];
-            Vector3 v3 = vertices[i3];
-            uint i4 = verticesIndices[i+3];
-            Vector3 v4 = vertices[i4];
+            Vector3 v1 = meshVertices[i1];
+            Vector3 v2 = meshVertices[i2];
+            Vector3 v3 = meshVertices[i3];
+            Vector3 v4 = meshVertices[i4];
 
             Vector3 v13 = v3-v1;
             Vector3 v12 = v2-v1;
@@ -288,6 +349,7 @@ void MeshReaderWriter::loadOBJFile(const string &filename, Mesh& meshToCreate) {
                 meshIndices[meshPart].push_back(i4);
             }
 
+			/*
             // Add the vertex normal
             if (!normalsIndices.empty() && !normals.empty()) {
                 meshNormals[i4] = normals[normalsIndices[i]];
@@ -297,17 +359,18 @@ void MeshReaderWriter::loadOBJFile(const string &filename, Mesh& meshToCreate) {
             if (!uvsIndices.empty() && !uvs.empty()) {
                 meshUVs[i4] = uvs[uvsIndices[i]];
             }
+			*/
 
             i+=4;
         }
     }
 
-    assert(meshNormals.empty() || meshNormals.size() == vertices.size());
-    assert(meshUVs.empty() || meshUVs.size() == vertices.size());
+    assert(meshNormals.empty() || meshNormals.size() == meshVertices.size());
+    assert(meshUVs.empty() || meshUVs.size() == meshVertices.size());
 
     // Set the data to the mesh
     meshToCreate.setIndices(meshIndices);
-    meshToCreate.setVertices(vertices);
+    meshToCreate.setVertices(meshVertices);
     meshToCreate.setNormals(meshNormals);
     meshToCreate.setUVs(meshUVs);
 }
diff --git a/testbed/opengl-framework/src/MeshReaderWriter.h b/testbed/opengl-framework/src/MeshReaderWriter.h
index 7b85758c..509fbe58 100644
--- a/testbed/opengl-framework/src/MeshReaderWriter.h
+++ b/testbed/opengl-framework/src/MeshReaderWriter.h
@@ -93,4 +93,15 @@ class VertexMergingDataComparison {
 
 }
 
+namespace std {
+	template<>
+	struct hash<std::tuple<int, int, int>>
+	{
+		size_t operator()(const std::tuple<int, int, int>& key) const
+		{
+			return std::get<0>(key) ^ std::get<1>(key) ^ std::get<2>(key);
+		}
+	};
+}
+
 #endif
diff --git a/testbed/opengl-framework/src/Shader.h b/testbed/opengl-framework/src/Shader.h
index daaad6be..c01c880c 100644
--- a/testbed/opengl-framework/src/Shader.h
+++ b/testbed/opengl-framework/src/Shader.h
@@ -95,6 +95,11 @@ class Shader {
         // to set it, an assert will occur)
         void setIntUniform(const std::string& variableName, int value, bool errorIfMissing = true) const;
 
+		// Set an array of int uniform values to this shader (be careful if the uniform is not
+		// used in the shader, the compiler will remove it, then when you will try
+		// to set it, an assert will occur)
+		void setIntArrayUniform(const std::string& variableName, GLint* values, int nbValues, bool errorIfMissing = true) const;
+
         // Set a vector 2 uniform value to this shader (be careful if the uniform is not
         // used in the shader, the compiler will remove it, then when you will try
         // to set it, an assert will occur)
@@ -159,7 +164,7 @@ inline GLint Shader::getUniformLocation(const std::string& variableName, bool er
         std::cerr << "Error in vertex shader " << mFilenameVertexShader << " or in fragment shader"
                   << mFilenameFragmentShader << " : No Uniform variable : " << variableName
                   << std::endl;
-        throw std::logic_error("Error in Shader");
+        //throw std::logic_error("Error in Shader");
     }
 
     return location;
@@ -209,6 +214,16 @@ inline void Shader::setIntUniform(const std::string& variableName, int value, bo
     }
 }
 
+// Set an array of int uniform values to this shader (be careful if the uniform is not
+// used in the shader, the compiler will remove it, then when you will try
+// to set it, an assert will occur)
+inline void Shader::setIntArrayUniform(const std::string& variableName, GLint* values, int nbValues, bool errorIfMissing) const {
+    assert(mProgramObjectID != 0);
+    GLint location = getUniformLocation(variableName, errorIfMissing);
+    if (location != -1) {
+        glUniform1iv(location, nbValues, values);
+    }
+}
 // Set a vector 2 uniform value to this shader (be careful if the uniform is not
 // used in the shader, the compiler will remove it, then when you will try
 // to set it, an assert will occur)
diff --git a/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp b/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp
old mode 100755
new mode 100644
index 1eb39b53..4e1e5f8b
--- a/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp
+++ b/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp
@@ -1,345 +1,345 @@
-/********************************************************************************
-* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
-* Copyright (c) 2010-2016 Daniel Chappuis                                       *
-*********************************************************************************
-*                                                                               *
-* This software is provided 'as-is', without any express or implied warranty.   *
-* In no event will the authors be held liable for any damages arising from the  *
-* use of this software.                                                         *
-*                                                                               *
-* Permission is granted to anyone to use this software for any purpose,         *
-* including commercial applications, and to alter it and redistribute it        *
-* freely, subject to the following restrictions:                                *
-*                                                                               *
-* 1. The origin of this software must not be misrepresented; you must not claim *
-*    that you wrote the original software. If you use this software in a        *
-*    product, an acknowledgment in the product documentation would be           *
-*    appreciated but is not required.                                           *
-*                                                                               *
-* 2. Altered source versions must be plainly marked as such, and must not be    *
-*    misrepresented as being the original software.                             *
-*                                                                               *
-* 3. This notice may not be removed or altered from any source distribution.    *
-*                                                                               *
-********************************************************************************/
-
-// Libraries
-#include "CollisionDetectionScene.h"
-#include "constraint/ContactPoint.h"
-#include "collision/ContactManifold.h"
-
-// Namespaces
-using namespace openglframework;
-using namespace collisiondetectionscene;
-
-// Constructor
-CollisionDetectionScene::CollisionDetectionScene(const std::string& name, EngineSettings& settings)
-       : SceneDemo(name, settings, SCENE_RADIUS, false), mMeshFolderPath("meshes/"),
-         mContactManager(mPhongShader, mMeshFolderPath, mContactPoints),
-         mAreNormalsDisplayed(false) {
-
-    mSelectedShapeIndex = 0;
-    mIsContactPointsDisplayed = true;
-    mIsWireframeEnabled = true;
-
-    // Compute the radius and the center of the scene
-    openglframework::Vector3 center(0, 0, 0);
-
-    // Set the center of the scene
-    setScenePosition(center, SCENE_RADIUS);
-
-    rp3d::WorldSettings worldSettings;
-    worldSettings.worldName = name;
-
-    // Create the dynamics world for the physics simulation
-    mPhysicsWorld = mPhysicsCommon.createCollisionWorld(worldSettings);
-
-    // ---------- Sphere 1 ---------- //
-
-    // Create a sphere and a corresponding collision body in the dynamics world
-    mSphere1 = new Sphere(4, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
-    mAllShapes.push_back(mSphere1);
-
-    // Set the color
-    mSphere1->setColor(mGreyColorDemo);
-    mSphere1->setSleepingColor(mRedColorDemo);
-    //mSphere1->setScaling(0.5f);
-    mPhysicsObjects.push_back(mSphere1);
-
-    // ---------- Sphere 2 ---------- //
-
-    // Create a sphere and a corresponding collision body in the dynamics world
-    mSphere2 = new Sphere(2, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
-    mAllShapes.push_back(mSphere2);
-
-    // Set the color
-    mSphere2->setColor(mGreyColorDemo);
-    mSphere2->setSleepingColor(mRedColorDemo);
-    mPhysicsObjects.push_back(mSphere2);
-
-
-    // ---------- Capsule 1 ---------- //
-
-    // Create a cylinder and a corresponding collision body in the dynamics world
-    mCapsule1 = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
-    mAllShapes.push_back(mCapsule1);
-
-    // Set the color
-    mCapsule1->setColor(mGreyColorDemo);
-    mCapsule1->setSleepingColor(mRedColorDemo);
-    mPhysicsObjects.push_back(mCapsule1);
-
-    // ---------- Capsule 2 ---------- //
-
-    // Create a cylinder and a corresponding collision body in the dynamics world
-    mCapsule2 = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
-    mAllShapes.push_back(mCapsule2);
-
-    // Set the color
-    mCapsule2->setColor(mGreyColorDemo);
-    mCapsule2->setSleepingColor(mRedColorDemo);
-    mPhysicsObjects.push_back(mCapsule2);
-
-    // ---------- Concave Mesh ---------- //
-
-    // Create a convex mesh and a corresponding collision body in the dynamics world
-    mConcaveMesh = new ConcaveMesh(mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "city.obj");
-    mAllShapes.push_back(mConcaveMesh);
-
-    // Set the color
-    mConcaveMesh->setColor(mGreyColorDemo);
-    mConcaveMesh->setSleepingColor(mRedColorDemo);
-    mPhysicsObjects.push_back(mConcaveMesh);
-
-    // ---------- Box 1 ---------- //
-
-    // Create a cylinder and a corresponding collision body in the dynamics world
-    mBox1 = new Box(BOX_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
-    mAllShapes.push_back(mBox1);
-
-    // Set the color
-    mBox1->setColor(mGreyColorDemo);
-    mBox1->setSleepingColor(mRedColorDemo);
-    mPhysicsObjects.push_back(mBox1);
-
-    // ---------- Box 2 ---------- //
-
-    // Create a cylinder and a corresponding collision body in the dynamics world
-    mBox2 = new Box(openglframework::Vector3(3, 2, 5), mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
-    mAllShapes.push_back(mBox2);
-
-    // Set the color
-    mBox2->setColor(mGreyColorDemo);
-    mBox2->setSleepingColor(mRedColorDemo);
-    mPhysicsObjects.push_back(mBox2);
-
-    // ---------- Convex Mesh ---------- //
-
-    // Create a convex mesh and a corresponding collision body in the dynamics world
-    mConvexMesh = new ConvexMesh(mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "convexmesh.obj");
-    mAllShapes.push_back(mConvexMesh);
-
-    // Set the color
-    mConvexMesh->setColor(mGreyColorDemo);
-    mConvexMesh->setSleepingColor(mRedColorDemo);
-    mPhysicsObjects.push_back(mConvexMesh);
-
-    // ---------- Heightfield ---------- //
-
-    // Create a convex mesh and a corresponding collision body in the dynamics world
-    mHeightField = new HeightField(mPhysicsCommon, mPhysicsWorld);
-
-    // Set the color
-    mHeightField->setColor(mGreyColorDemo);
-    mHeightField->setSleepingColor(mRedColorDemo);
-	mPhysicsObjects.push_back(mHeightField);
-
-    mAllShapes[mSelectedShapeIndex]->setColor(mBlueColorDemo);
-}
-
-// Reset the scene
-void CollisionDetectionScene::reset() {
-
-    SceneDemo::reset();
-
-    mSphere1->setTransform(rp3d::Transform(rp3d::Vector3(15, 5, 0), rp3d::Quaternion::identity()));
-    mSphere2->setTransform(rp3d::Transform(rp3d::Vector3(0, 6, 0), rp3d::Quaternion::identity()));
-    mCapsule1->setTransform(rp3d::Transform(rp3d::Vector3(-8, 7, 0), rp3d::Quaternion::identity()));
-    mCapsule2->setTransform(rp3d::Transform(rp3d::Vector3(11, -8, 0), rp3d::Quaternion::identity()));
-    mBox1->setTransform(rp3d::Transform(rp3d::Vector3(-4, -7, 0), rp3d::Quaternion::identity()));
-    mBox2->setTransform(rp3d::Transform(rp3d::Vector3(0, 9, 0), rp3d::Quaternion::identity()));
-    mConvexMesh->setTransform(rp3d::Transform(rp3d::Vector3(-5, 0, 0), rp3d::Quaternion::identity()));
-    mConcaveMesh->setTransform(rp3d::Transform(rp3d::Vector3(0, 15, 0), rp3d::Quaternion::identity()));
-    mHeightField->setTransform(rp3d::Transform(rp3d::Vector3(0, -22, 0), rp3d::Quaternion::identity()));
-}
-
-// Destructor
-CollisionDetectionScene::~CollisionDetectionScene() {
-
-    // Destroy the box rigid body from the dynamics world
-    //mPhysicsWorld->destroyCollisionBody(mBox->getCollisionBody());
-    //delete mBox;
-
-    // Destroy the spheres
-    mPhysicsWorld->destroyCollisionBody(mSphere1->getCollisionBody());
-    delete mSphere1;
-
-    mPhysicsWorld->destroyCollisionBody(mSphere2->getCollisionBody());
-    delete mSphere2;
-
-    mPhysicsWorld->destroyCollisionBody(mCapsule1->getCollisionBody());
-    delete mCapsule1;
-
-    mPhysicsWorld->destroyCollisionBody(mCapsule2->getCollisionBody());
-    delete mCapsule2;
-
-    mPhysicsWorld->destroyCollisionBody(mBox1->getCollisionBody());
-	delete mBox1;
-
-    mPhysicsWorld->destroyCollisionBody(mBox2->getCollisionBody());
-	delete mBox2;
-
-    mPhysicsWorld->destroyCollisionBody(mConvexMesh->getCollisionBody());
-	delete mConvexMesh;
-
-    mPhysicsWorld->destroyCollisionBody(mConcaveMesh->getCollisionBody());
-	delete mConcaveMesh;
-
-    mPhysicsWorld->destroyCollisionBody(mHeightField->getCollisionBody());
-	delete mHeightField;
-
-    // Destroy the static data for the visual contact points
-    VisualContactPoint::destroyStaticData();
-
-    // Destroy the collision world
-    mPhysicsCommon.destroyCollisionWorld(mPhysicsWorld);
-}
-
-// Take a step for the simulation
-void CollisionDetectionScene::update() {
-
-    mContactPoints.clear();
-
-    mPhysicsWorld->testCollision(mContactManager);
-
-    SceneDemo::update();
-}
-
-void CollisionDetectionScene::selectNextShape() {
-
-    uint previousIndex = mSelectedShapeIndex;
-    mSelectedShapeIndex++;
-    if (mSelectedShapeIndex >= mAllShapes.size()) {
-        mSelectedShapeIndex = 0;
-    }
-
-    mAllShapes[previousIndex]->setColor(mGreyColorDemo);
-    mAllShapes[mSelectedShapeIndex]->setColor(mBlueColorDemo);
-}
-
-// Called when a keyboard event occurs
-bool CollisionDetectionScene::keyboardEvent(int key, int scancode, int action, int mods) {
-
-    // If the space key has been pressed
-    if (key == GLFW_KEY_SPACE && action == GLFW_PRESS) {
-        selectNextShape();
-        return true;
-    }
-
-    float stepDist = 0.2f;
-    float stepAngle = 15 * (3.14f / 180.0f);
-
-    if (key == GLFW_KEY_RIGHT && action == GLFW_PRESS) {
-        rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
-        transform.setPosition(transform.getPosition() + rp3d::Vector3(stepDist, 0, 0));
-        mAllShapes[mSelectedShapeIndex]->setTransform(transform);
-    }
-    else if (key == GLFW_KEY_LEFT && action == GLFW_PRESS) {
-        rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
-        transform.setPosition(transform.getPosition() + rp3d::Vector3(-stepDist, 0, 0));
-        mAllShapes[mSelectedShapeIndex]->setTransform(transform);
-    }
-    else if (key == GLFW_KEY_UP && action == GLFW_PRESS) {
-        rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
-        transform.setPosition(transform.getPosition() + rp3d::Vector3(0, stepDist, 0));
-        mAllShapes[mSelectedShapeIndex]->setTransform(transform);
-    }
-    else if (key == GLFW_KEY_DOWN && action == GLFW_PRESS) {
-        rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
-        transform.setPosition(transform.getPosition() + rp3d::Vector3(0, -stepDist, 0));
-        mAllShapes[mSelectedShapeIndex]->setTransform(transform);
-    }
-    else if (key == GLFW_KEY_Z && action == GLFW_PRESS) {
-        rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
-        transform.setPosition(transform.getPosition() + rp3d::Vector3(0, 0, stepDist));
-        mAllShapes[mSelectedShapeIndex]->setTransform(transform);
-    }
-    else if (key == GLFW_KEY_H && action == GLFW_PRESS) {
-        rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
-        transform.setPosition(transform.getPosition() + rp3d::Vector3(0, 0, -stepDist));
-        mAllShapes[mSelectedShapeIndex]->setTransform(transform);
-    }
-    else if (key == GLFW_KEY_A && action == GLFW_PRESS) {
-        rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
-        transform.setOrientation(rp3d::Quaternion::fromEulerAngles(0, stepAngle, 0) * transform.getOrientation());
-        mAllShapes[mSelectedShapeIndex]->setTransform(transform);
-    }
-    else if (key == GLFW_KEY_D && action == GLFW_PRESS) {
-        rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
-        transform.setOrientation(rp3d::Quaternion::fromEulerAngles(0, -stepAngle, 0) * transform.getOrientation());
-        mAllShapes[mSelectedShapeIndex]->setTransform(transform);
-    }
-    else if (key == GLFW_KEY_W && action == GLFW_PRESS) {
-        rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
-        transform.setOrientation(rp3d::Quaternion::fromEulerAngles(stepAngle, 0, 0) * transform.getOrientation());
-        mAllShapes[mSelectedShapeIndex]->setTransform(transform);
-    }
-    else if (key == GLFW_KEY_S && action == GLFW_PRESS) {
-        rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
-        transform.setOrientation(rp3d::Quaternion::fromEulerAngles(-stepAngle, 0, 0) * transform.getOrientation());
-        mAllShapes[mSelectedShapeIndex]->setTransform(transform);
-    }
-    else if (key == GLFW_KEY_F && action == GLFW_PRESS) {
-        rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
-        transform.setOrientation(rp3d::Quaternion::fromEulerAngles(0, 0, stepAngle) * transform.getOrientation());
-        mAllShapes[mSelectedShapeIndex]->setTransform(transform);
-    }
-    else if (key == GLFW_KEY_G && action == GLFW_PRESS) {
-        rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
-        transform.setOrientation(rp3d::Quaternion::fromEulerAngles(0, 0, -stepAngle) * transform.getOrientation());
-        mAllShapes[mSelectedShapeIndex]->setTransform(transform);
-    }
-
-    return false;
-}
-
-// This method is called when some contacts occur
-void ContactManager::onContact(const CallbackData& callbackData) {
-
-    // For each contact pair
-    for (uint p=0; p < callbackData.getNbContactPairs(); p++) {
-
-        ContactPair contactPair = callbackData.getContactPair(p);
-
-        // For each contact point of the contact pair
-        for (uint c=0; c < contactPair.getNbContactPoints(); c++) {
-
-            ContactPoint contactPoint = contactPair.getContactPoint(c);
-
-            // Contact normal
-            rp3d::Vector3 normal = contactPoint.getWorldNormal();
-            openglframework::Vector3 contactNormal(normal.x, normal.y, normal.z);
-
-            rp3d::Vector3 point1 = contactPoint.getLocalPointOnShape1();
-            point1 = contactPair.getProxyShape1()->getLocalToWorldTransform() * point1;
-
-            openglframework::Vector3 position1(point1.x, point1.y, point1.z);
-            mContactPoints.push_back(SceneContactPoint(position1, contactNormal, openglframework::Color::red()));
-
-            rp3d::Vector3 point2 = contactPoint.getLocalPointOnShape2();
-            point2 = contactPair.getProxyShape2()->getLocalToWorldTransform() * point2;
-            openglframework::Vector3 position2(point2.x, point2.y, point2.z);
-            mContactPoints.push_back(SceneContactPoint(position2, contactNormal, openglframework::Color::blue()));
-        }
-    }
-}
+/********************************************************************************
+* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
+* Copyright (c) 2010-2016 Daniel Chappuis                                       *
+*********************************************************************************
+*                                                                               *
+* This software is provided 'as-is', without any express or implied warranty.   *
+* In no event will the authors be held liable for any damages arising from the  *
+* use of this software.                                                         *
+*                                                                               *
+* Permission is granted to anyone to use this software for any purpose,         *
+* including commercial applications, and to alter it and redistribute it        *
+* freely, subject to the following restrictions:                                *
+*                                                                               *
+* 1. The origin of this software must not be misrepresented; you must not claim *
+*    that you wrote the original software. If you use this software in a        *
+*    product, an acknowledgment in the product documentation would be           *
+*    appreciated but is not required.                                           *
+*                                                                               *
+* 2. Altered source versions must be plainly marked as such, and must not be    *
+*    misrepresented as being the original software.                             *
+*                                                                               *
+* 3. This notice may not be removed or altered from any source distribution.    *
+*                                                                               *
+********************************************************************************/
+
+// Libraries
+#include "CollisionDetectionScene.h"
+#include "constraint/ContactPoint.h"
+#include "collision/ContactManifold.h"
+
+// Namespaces
+using namespace openglframework;
+using namespace collisiondetectionscene;
+
+// Constructor
+CollisionDetectionScene::CollisionDetectionScene(const std::string& name, EngineSettings& settings)
+       : SceneDemo(name, settings, SCENE_RADIUS, false), mMeshFolderPath("meshes/"),
+         mContactManager(mPhongShader, mMeshFolderPath, mContactPoints),
+         mAreNormalsDisplayed(false) {
+
+    mSelectedShapeIndex = 0;
+    mIsContactPointsDisplayed = true;
+    mIsWireframeEnabled = true;
+
+    // Compute the radius and the center of the scene
+    openglframework::Vector3 center(0, 0, 0);
+
+    // Set the center of the scene
+    setScenePosition(center, SCENE_RADIUS);
+
+    rp3d::WorldSettings worldSettings;
+    worldSettings.worldName = name;
+
+    // Create the dynamics world for the physics simulation
+    mPhysicsWorld = mPhysicsCommon.createCollisionWorld(worldSettings);
+
+    // ---------- Sphere 1 ---------- //
+
+    // Create a sphere and a corresponding collision body in the dynamics world
+    mSphere1 = new Sphere(4, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+    mAllShapes.push_back(mSphere1);
+
+    // Set the color
+    mSphere1->setColor(mObjectColorDemo);
+    mSphere1->setSleepingColor(mSleepingColorDemo);
+    //mSphere1->setScaling(0.5f);
+    mPhysicsObjects.push_back(mSphere1);
+
+    // ---------- Sphere 2 ---------- //
+
+    // Create a sphere and a corresponding collision body in the dynamics world
+    mSphere2 = new Sphere(2, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+    mAllShapes.push_back(mSphere2);
+
+    // Set the color
+    mSphere2->setColor(mObjectColorDemo);
+    mSphere2->setSleepingColor(mSleepingColorDemo);
+    mPhysicsObjects.push_back(mSphere2);
+
+
+    // ---------- Capsule 1 ---------- //
+
+    // Create a cylinder and a corresponding collision body in the dynamics world
+    mCapsule1 = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+    mAllShapes.push_back(mCapsule1);
+
+    // Set the color
+    mCapsule1->setColor(mObjectColorDemo);
+    mCapsule1->setSleepingColor(mSleepingColorDemo);
+    mPhysicsObjects.push_back(mCapsule1);
+
+    // ---------- Capsule 2 ---------- //
+
+    // Create a cylinder and a corresponding collision body in the dynamics world
+    mCapsule2 = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+    mAllShapes.push_back(mCapsule2);
+
+    // Set the color
+    mCapsule2->setColor(mObjectColorDemo);
+    mCapsule2->setSleepingColor(mSleepingColorDemo);
+    mPhysicsObjects.push_back(mCapsule2);
+
+    // ---------- Concave Mesh ---------- //
+
+    // Create a convex mesh and a corresponding collision body in the dynamics world
+    mConcaveMesh = new ConcaveMesh(mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "city.obj");
+    mAllShapes.push_back(mConcaveMesh);
+
+    // Set the color
+    mConcaveMesh->setColor(mObjectColorDemo);
+    mConcaveMesh->setSleepingColor(mSleepingColorDemo);
+    mPhysicsObjects.push_back(mConcaveMesh);
+
+    // ---------- Box 1 ---------- //
+
+    // Create a cylinder and a corresponding collision body in the dynamics world
+    mBox1 = new Box(BOX_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+    mAllShapes.push_back(mBox1);
+
+    // Set the color
+    mBox1->setColor(mObjectColorDemo);
+    mBox1->setSleepingColor(mSleepingColorDemo);
+    mPhysicsObjects.push_back(mBox1);
+
+    // ---------- Box 2 ---------- //
+
+    // Create a cylinder and a corresponding collision body in the dynamics world
+    mBox2 = new Box(openglframework::Vector3(3, 2, 5), mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+    mAllShapes.push_back(mBox2);
+
+    // Set the color
+    mBox2->setColor(mObjectColorDemo);
+    mBox2->setSleepingColor(mSleepingColorDemo);
+    mPhysicsObjects.push_back(mBox2);
+
+    // ---------- Convex Mesh ---------- //
+
+    // Create a convex mesh and a corresponding collision body in the dynamics world
+    mConvexMesh = new ConvexMesh(mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "convexmesh.obj");
+    mAllShapes.push_back(mConvexMesh);
+
+    // Set the color
+    mConvexMesh->setColor(mObjectColorDemo);
+    mConvexMesh->setSleepingColor(mSleepingColorDemo);
+    mPhysicsObjects.push_back(mConvexMesh);
+
+    // ---------- Heightfield ---------- //
+
+    // Create a convex mesh and a corresponding collision body in the dynamics world
+    mHeightField = new HeightField(mPhysicsCommon, mPhysicsWorld);
+
+    // Set the color
+    mHeightField->setColor(mObjectColorDemo);
+    mHeightField->setSleepingColor(mSleepingColorDemo);
+	mPhysicsObjects.push_back(mHeightField);
+
+    mAllShapes[mSelectedShapeIndex]->setColor(mObjectColorDemo);
+}
+
+// Reset the scene
+void CollisionDetectionScene::reset() {
+
+    SceneDemo::reset();
+
+    mSphere1->setTransform(rp3d::Transform(rp3d::Vector3(15, 5, 0), rp3d::Quaternion::identity()));
+    mSphere2->setTransform(rp3d::Transform(rp3d::Vector3(0, 6, 0), rp3d::Quaternion::identity()));
+    mCapsule1->setTransform(rp3d::Transform(rp3d::Vector3(-8, 7, 0), rp3d::Quaternion::identity()));
+    mCapsule2->setTransform(rp3d::Transform(rp3d::Vector3(11, -8, 0), rp3d::Quaternion::identity()));
+    mBox1->setTransform(rp3d::Transform(rp3d::Vector3(-4, -7, 0), rp3d::Quaternion::identity()));
+    mBox2->setTransform(rp3d::Transform(rp3d::Vector3(0, 9, 0), rp3d::Quaternion::identity()));
+    mConvexMesh->setTransform(rp3d::Transform(rp3d::Vector3(-5, 0, 0), rp3d::Quaternion::identity()));
+    mConcaveMesh->setTransform(rp3d::Transform(rp3d::Vector3(0, 15, 0), rp3d::Quaternion::identity()));
+    mHeightField->setTransform(rp3d::Transform(rp3d::Vector3(0, -22, 0), rp3d::Quaternion::identity()));
+}
+
+// Destructor
+CollisionDetectionScene::~CollisionDetectionScene() {
+
+    // Destroy the box rigid body from the dynamics world
+    //mPhysicsWorld->destroyCollisionBody(mBox->getCollisionBody());
+    //delete mBox;
+
+    // Destroy the spheres
+    mPhysicsWorld->destroyCollisionBody(mSphere1->getCollisionBody());
+    delete mSphere1;
+
+    mPhysicsWorld->destroyCollisionBody(mSphere2->getCollisionBody());
+    delete mSphere2;
+
+    mPhysicsWorld->destroyCollisionBody(mCapsule1->getCollisionBody());
+    delete mCapsule1;
+
+    mPhysicsWorld->destroyCollisionBody(mCapsule2->getCollisionBody());
+    delete mCapsule2;
+
+    mPhysicsWorld->destroyCollisionBody(mBox1->getCollisionBody());
+    delete mBox1;
+
+    mPhysicsWorld->destroyCollisionBody(mBox2->getCollisionBody());
+    delete mBox2;
+
+    mPhysicsWorld->destroyCollisionBody(mConvexMesh->getCollisionBody());
+    delete mConvexMesh;
+
+    mPhysicsWorld->destroyCollisionBody(mConcaveMesh->getCollisionBody());
+    delete mConcaveMesh;
+
+    mPhysicsWorld->destroyCollisionBody(mHeightField->getCollisionBody());
+    delete mHeightField;
+
+    // Destroy the static data for the visual contact points
+    VisualContactPoint::destroyStaticData();
+
+    // Destroy the collision world
+    mPhysicsCommon.destroyCollisionWorld(mPhysicsWorld);
+}
+
+// Take a step for the simulation
+void CollisionDetectionScene::update() {
+
+    mContactPoints.clear();
+
+    mPhysicsWorld->testCollision(mContactManager);
+
+    SceneDemo::update();
+}
+
+void CollisionDetectionScene::selectNextShape() {
+
+    uint previousIndex = mSelectedShapeIndex;
+    mSelectedShapeIndex++;
+    if (mSelectedShapeIndex >= mAllShapes.size()) {
+        mSelectedShapeIndex = 0;
+    }
+
+    mAllShapes[previousIndex]->setColor(mObjectColorDemo);
+    mAllShapes[mSelectedShapeIndex]->setColor(mSelectedObjectColorDemo);
+}
+
+// Called when a keyboard event occurs
+bool CollisionDetectionScene::keyboardEvent(int key, int scancode, int action, int mods) {
+
+    // If the space key has been pressed
+    if (key == GLFW_KEY_SPACE && action == GLFW_PRESS) {
+        selectNextShape();
+        return true;
+    }
+
+    float stepDist = 0.2f;
+    float stepAngle = 15 * (3.14f / 180.0f);
+
+    if (key == GLFW_KEY_RIGHT && action == GLFW_PRESS) {
+        rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
+        transform.setPosition(transform.getPosition() + rp3d::Vector3(stepDist, 0, 0));
+        mAllShapes[mSelectedShapeIndex]->setTransform(transform);
+    }
+    else if (key == GLFW_KEY_LEFT && action == GLFW_PRESS) {
+        rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
+        transform.setPosition(transform.getPosition() + rp3d::Vector3(-stepDist, 0, 0));
+        mAllShapes[mSelectedShapeIndex]->setTransform(transform);
+    }
+    else if (key == GLFW_KEY_UP && action == GLFW_PRESS) {
+        rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
+        transform.setPosition(transform.getPosition() + rp3d::Vector3(0, stepDist, 0));
+        mAllShapes[mSelectedShapeIndex]->setTransform(transform);
+    }
+    else if (key == GLFW_KEY_DOWN && action == GLFW_PRESS) {
+        rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
+        transform.setPosition(transform.getPosition() + rp3d::Vector3(0, -stepDist, 0));
+        mAllShapes[mSelectedShapeIndex]->setTransform(transform);
+    }
+    else if (key == GLFW_KEY_Z && action == GLFW_PRESS) {
+        rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
+        transform.setPosition(transform.getPosition() + rp3d::Vector3(0, 0, stepDist));
+        mAllShapes[mSelectedShapeIndex]->setTransform(transform);
+    }
+    else if (key == GLFW_KEY_H && action == GLFW_PRESS) {
+        rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
+        transform.setPosition(transform.getPosition() + rp3d::Vector3(0, 0, -stepDist));
+        mAllShapes[mSelectedShapeIndex]->setTransform(transform);
+    }
+    else if (key == GLFW_KEY_A && action == GLFW_PRESS) {
+        rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
+        transform.setOrientation(rp3d::Quaternion::fromEulerAngles(0, stepAngle, 0) * transform.getOrientation());
+        mAllShapes[mSelectedShapeIndex]->setTransform(transform);
+    }
+    else if (key == GLFW_KEY_D && action == GLFW_PRESS) {
+        rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
+        transform.setOrientation(rp3d::Quaternion::fromEulerAngles(0, -stepAngle, 0) * transform.getOrientation());
+        mAllShapes[mSelectedShapeIndex]->setTransform(transform);
+    }
+    else if (key == GLFW_KEY_W && action == GLFW_PRESS) {
+        rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
+        transform.setOrientation(rp3d::Quaternion::fromEulerAngles(stepAngle, 0, 0) * transform.getOrientation());
+        mAllShapes[mSelectedShapeIndex]->setTransform(transform);
+    }
+    else if (key == GLFW_KEY_S && action == GLFW_PRESS) {
+        rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
+        transform.setOrientation(rp3d::Quaternion::fromEulerAngles(-stepAngle, 0, 0) * transform.getOrientation());
+        mAllShapes[mSelectedShapeIndex]->setTransform(transform);
+    }
+    else if (key == GLFW_KEY_F && action == GLFW_PRESS) {
+        rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
+        transform.setOrientation(rp3d::Quaternion::fromEulerAngles(0, 0, stepAngle) * transform.getOrientation());
+        mAllShapes[mSelectedShapeIndex]->setTransform(transform);
+    }
+    else if (key == GLFW_KEY_G && action == GLFW_PRESS) {
+        rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
+        transform.setOrientation(rp3d::Quaternion::fromEulerAngles(0, 0, -stepAngle) * transform.getOrientation());
+        mAllShapes[mSelectedShapeIndex]->setTransform(transform);
+    }
+
+    return false;
+}
+
+// This method is called when some contacts occur
+void ContactManager::onContact(const CallbackData& callbackData) {
+
+    // For each contact pair
+    for (uint p=0; p < callbackData.getNbContactPairs(); p++) {
+
+        ContactPair contactPair = callbackData.getContactPair(p);
+
+        // For each contact point of the contact pair
+        for (uint c=0; c < contactPair.getNbContactPoints(); c++) {
+
+            ContactPoint contactPoint = contactPair.getContactPoint(c);
+
+            // Contact normal
+            rp3d::Vector3 normal = contactPoint.getWorldNormal();
+            openglframework::Vector3 contactNormal(normal.x, normal.y, normal.z);
+
+            rp3d::Vector3 point1 = contactPoint.getLocalPointOnShape1();
+            point1 = contactPair.getProxyShape1()->getLocalToWorldTransform() * point1;
+
+            openglframework::Vector3 position1(point1.x, point1.y, point1.z);
+            mContactPoints.push_back(SceneContactPoint(position1, contactNormal, openglframework::Color::red()));
+
+            rp3d::Vector3 point2 = contactPoint.getLocalPointOnShape2();
+            point2 = contactPair.getProxyShape2()->getLocalToWorldTransform() * point2;
+            openglframework::Vector3 position2(point2.x, point2.y, point2.z);
+            mContactPoints.push_back(SceneContactPoint(position2, contactNormal, openglframework::Color::blue()));
+        }
+    }
+}
diff --git a/testbed/scenes/collisionshapes/CollisionShapesScene.cpp b/testbed/scenes/collisionshapes/CollisionShapesScene.cpp
index 7d2c4a4e..186657de 100644
--- a/testbed/scenes/collisionshapes/CollisionShapesScene.cpp
+++ b/testbed/scenes/collisionshapes/CollisionShapesScene.cpp
@@ -59,8 +59,8 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
         Dumbbell* dumbbell = new Dumbbell(mPhysicsCommon, getDynamicsWorld(), meshFolderPath);
 
         // Set the box color
-        dumbbell->setColor(mDemoColors[i % mNbDemoColors]);
-        dumbbell->setSleepingColor(mRedColorDemo);
+        dumbbell->setColor(mObjectColorDemo);
+        dumbbell->setSleepingColor(mSleepingColorDemo);
 
         // Change the material properties of the rigid body
         rp3d::Material& material = dumbbell->getRigidBody()->getMaterial();
@@ -78,8 +78,8 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
         Box* box = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
 
         // Set the box color
-        box->setColor(mDemoColors[i % mNbDemoColors]);
-        box->setSleepingColor(mRedColorDemo);
+        box->setColor(mObjectColorDemo);
+        box->setSleepingColor(mSleepingColorDemo);
 
         // Change the material properties of the rigid body
         rp3d::Material& material = box->getRigidBody()->getMaterial();
@@ -100,8 +100,8 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
         sphere->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
 
         // Set the box color
-        sphere->setColor(mDemoColors[i % mNbDemoColors]);
-        sphere->setSleepingColor(mRedColorDemo);
+        sphere->setColor(mObjectColorDemo);
+        sphere->setSleepingColor(mSleepingColorDemo);
 
         // Change the material properties of the rigid body
         rp3d::Material& material = sphere->getRigidBody()->getMaterial();
@@ -122,8 +122,8 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
         capsule->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08f));
 
         // Set the box color
-        capsule->setColor(mDemoColors[i % mNbDemoColors]);
-        capsule->setSleepingColor(mRedColorDemo);
+        capsule->setColor(mObjectColorDemo);
+        capsule->setSleepingColor(mSleepingColorDemo);
 
         // Change the material properties of the rigid body
         rp3d::Material& material = capsule->getRigidBody()->getMaterial();
@@ -141,8 +141,8 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
         ConvexMesh* mesh = new ConvexMesh(MESH_MASS, mPhysicsCommon, getDynamicsWorld(), meshFolderPath + "convexmesh.obj");
 
         // Set the box color
-        mesh->setColor(mDemoColors[i % mNbDemoColors]);
-        mesh->setSleepingColor(mRedColorDemo);
+        mesh->setColor(mObjectColorDemo);
+        mesh->setSleepingColor(mSleepingColorDemo);
 
         // Change the material properties of the rigid body
         rp3d::Material& material = mesh->getRigidBody()->getMaterial();
@@ -159,8 +159,8 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
 	mPhysicsObjects.push_back(mFloor);
 
     // Set the box color
-    mFloor->setColor(mGreyColorDemo);
-    mFloor->setSleepingColor(mGreyColorDemo);
+    mFloor->setColor(mFloorColorDemo);
+    mFloor->setSleepingColor(mFloorColorDemo);
 
     // The floor must be a static rigid body
     mFloor->getRigidBody()->setType(rp3d::BodyType::STATIC);
diff --git a/testbed/scenes/concavemesh/ConcaveMeshScene.cpp b/testbed/scenes/concavemesh/ConcaveMeshScene.cpp
index 45d5327f..e00afdf7 100644
--- a/testbed/scenes/concavemesh/ConcaveMeshScene.cpp
+++ b/testbed/scenes/concavemesh/ConcaveMeshScene.cpp
@@ -60,8 +60,8 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
         Dumbbell* dumbbell = new Dumbbell(mPhysicsCommon, getDynamicsWorld(), meshFolderPath);
 
         // Set the box color
-        dumbbell->setColor(mDemoColors[i % mNbDemoColors]);
-        dumbbell->setSleepingColor(mRedColorDemo);
+        dumbbell->setColor(mObjectColorDemo);
+        dumbbell->setSleepingColor(mSleepingColorDemo);
 
         // Change the material properties of the rigid body
         rp3d::Material& material = dumbbell->getRigidBody()->getMaterial();
@@ -79,8 +79,8 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
         Box* box = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
 
         // Set the box color
-        box->setColor(mDemoColors[i % mNbDemoColors]);
-        box->setSleepingColor(mRedColorDemo);
+        box->setColor(mObjectColorDemo);
+        box->setSleepingColor(mSleepingColorDemo);
 
         // Change the material properties of the rigid body
         rp3d::Material& material = box->getRigidBody()->getMaterial();
@@ -101,8 +101,8 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
         sphere->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
 
         // Set the box color
-        sphere->setColor(mDemoColors[i % mNbDemoColors]);
-        sphere->setSleepingColor(mRedColorDemo);
+        sphere->setColor(mObjectColorDemo);
+        sphere->setSleepingColor(mSleepingColorDemo);
 
         // Change the material properties of the rigid body
         rp3d::Material& material = sphere->getRigidBody()->getMaterial();
@@ -123,8 +123,8 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
         capsule->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
 
         // Set the box color
-        capsule->setColor(mDemoColors[i % mNbDemoColors]);
-        capsule->setSleepingColor(mRedColorDemo);
+        capsule->setColor(mObjectColorDemo);
+        capsule->setSleepingColor(mSleepingColorDemo);
 
         // Change the material properties of the rigid body
         rp3d::Material& material = capsule->getRigidBody()->getMaterial();
@@ -142,8 +142,8 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
         ConvexMesh* mesh = new ConvexMesh(MESH_MASS, mPhysicsCommon, getDynamicsWorld(), meshFolderPath + "convexmesh.obj");
 
         // Set the box color
-        mesh->setColor(mDemoColors[i % mNbDemoColors]);
-        mesh->setSleepingColor(mRedColorDemo);
+        mesh->setColor(mObjectColorDemo);
+        mesh->setSleepingColor(mSleepingColorDemo);
 
         // Change the material properties of the rigid body
         rp3d::Material& material = mesh->getRigidBody()->getMaterial();
@@ -166,8 +166,8 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
     mConcaveMesh->getRigidBody()->setType(rp3d::BodyType::STATIC);
 
     // Set the box color
-    mConcaveMesh->setColor(mGreyColorDemo);
-    mConcaveMesh->setSleepingColor(mGreyColorDemo);
+    mConcaveMesh->setColor(mFloorColorDemo);
+    mConcaveMesh->setSleepingColor(mFloorColorDemo);
 
     mPhysicsObjects.push_back(mConcaveMesh);
 
diff --git a/testbed/scenes/cubes/CubesScene.cpp b/testbed/scenes/cubes/CubesScene.cpp
index 24da0261..743a1787 100644
--- a/testbed/scenes/cubes/CubesScene.cpp
+++ b/testbed/scenes/cubes/CubesScene.cpp
@@ -1,143 +1,141 @@
-/********************************************************************************
-* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
-* Copyright (c) 2010-2016 Daniel Chappuis                                       *
-*********************************************************************************
-*                                                                               *
-* This software is provided 'as-is', without any express or implied warranty.   *
-* In no event will the authors be held liable for any damages arising from the  *
-* use of this software.                                                         *
-*                                                                               *
-* Permission is granted to anyone to use this software for any purpose,         *
-* including commercial applications, and to alter it and redistribute it        *
-* freely, subject to the following restrictions:                                *
-*                                                                               *
-* 1. The origin of this software must not be misrepresented; you must not claim *
-*    that you wrote the original software. If you use this software in a        *
-*    product, an acknowledgment in the product documentation would be           *
-*    appreciated but is not required.                                           *
-*                                                                               *
-* 2. Altered source versions must be plainly marked as such, and must not be    *
-*    misrepresented as being the original software.                             *
-*                                                                               *
-* 3. This notice may not be removed or altered from any source distribution.    *
-*                                                                               *
-********************************************************************************/
-
-// Libraries
-#include "CubesScene.h"
-
-// Namespaces
-using namespace openglframework;
-using namespace cubesscene;
-
-// Constructor
-CubesScene::CubesScene(const std::string& name, EngineSettings& settings)
-      : SceneDemo(name, settings, SCENE_RADIUS) {
-
-    // Compute the radius and the center of the scene
-    openglframework::Vector3 center(0, 5, 0);
-
-    // Set the center of the scene
-    setScenePosition(center, SCENE_RADIUS);
-
-    // Gravity vector in the dynamics world
-    rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);
-
-    rp3d::WorldSettings worldSettings;
-    worldSettings.worldName = name;
-
-    // Create the dynamics world for the physics simulation
-    rp3d::DynamicsWorld* dynamicsWorld = mPhysicsCommon.createDynamicsWorld(gravity, worldSettings);
-    dynamicsWorld->setEventListener(this);
-    mPhysicsWorld = dynamicsWorld;
-
-    // Create all the cubes of the scene
-    for (int i=0; i<NB_CUBES; i++) {
-
-        // Create a cube and a corresponding rigid in the dynamics world
-        Box* cube = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
-
-        // Set the box color
-        cube->setColor(mDemoColors[i % mNbDemoColors]);
-        cube->setSleepingColor(mRedColorDemo);
-
-        // Change the material properties of the rigid body
-        rp3d::Material& material = cube->getRigidBody()->getMaterial();
-        material.setBounciness(rp3d::decimal(0.4));
-
-        // Add the box the list of box in the scene
-        mBoxes.push_back(cube);
-        mPhysicsObjects.push_back(cube);
-    }
-
-	// ------------------------- FLOOR ----------------------- //
-
-    // Create the floor
-    mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
-    mFloor->setColor(mGreyColorDemo);
-    mFloor->setSleepingColor(mGreyColorDemo);
-
-    // The floor must be a static rigid body
-    mFloor->getRigidBody()->setType(rp3d::BodyType::STATIC);
-	mPhysicsObjects.push_back(mFloor);
-
-    // Get the physics engine parameters
-    mEngineSettings.isGravityEnabled = getDynamicsWorld()->isGravityEnabled();
-    rp3d::Vector3 gravityVector = getDynamicsWorld()->getGravity();
-    mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z);
-    mEngineSettings.isSleepingEnabled = getDynamicsWorld()->isSleepingEnabled();
-    mEngineSettings.sleepLinearVelocity = getDynamicsWorld()->getSleepLinearVelocity();
-    mEngineSettings.sleepAngularVelocity = getDynamicsWorld()->getSleepAngularVelocity();
-    mEngineSettings.nbPositionSolverIterations = getDynamicsWorld()->getNbIterationsPositionSolver();
-    mEngineSettings.nbVelocitySolverIterations = getDynamicsWorld()->getNbIterationsVelocitySolver();
-    mEngineSettings.timeBeforeSleep = getDynamicsWorld()->getTimeBeforeSleep();
-}
-
-// Destructor
-CubesScene::~CubesScene() {
-
-    // Destroy all the cubes of the scene
-    for (std::vector<Box*>::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) {
-
-        // Destroy the corresponding rigid body from the dynamics world
-        getDynamicsWorld()->destroyRigidBody((*it)->getRigidBody());
-
-        // Destroy the cube
-        delete (*it);
-    }
-
-    // Destroy the rigid body of the floor
-    getDynamicsWorld()->destroyRigidBody(mFloor->getRigidBody());
-
-    // Destroy the floor
-    delete mFloor;
-
-    // Destroy the dynamics world
-    mPhysicsCommon.destroyDynamicsWorld(getDynamicsWorld());
-}
-
-// Reset the scene
-void CubesScene::reset() {
-
-    SceneDemo::reset();
-
-    float radius = 2.0f;
-
-    // Create all the cubes of the scene
-    std::vector<Box*>::iterator it;
-    int i = 0;
-    for (it = mBoxes.begin(); it != mBoxes.end(); ++it) {
-
-        // Position of the cubes
-       float angle = i * 30.0f;
-       rp3d::Vector3 position(radius * std::cos(angle),
-                              10 + i * (BOX_SIZE.y + 0.3f),
-                              0);
-
-       (*it)->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity()));
-
-       i++;
-    }
-
-    mFloor->setTransform(rp3d::Transform(rp3d::Vector3::zero(), rp3d::Quaternion::identity()));
-}
+/********************************************************************************
+* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
+* Copyright (c) 2010-2016 Daniel Chappuis                                       *
+*********************************************************************************
+*                                                                               *
+* This software is provided 'as-is', without any express or implied warranty.   *
+* In no event will the authors be held liable for any damages arising from the  *
+* use of this software.                                                         *
+*                                                                               *
+* Permission is granted to anyone to use this software for any purpose,         *
+* including commercial applications, and to alter it and redistribute it        *
+* freely, subject to the following restrictions:                                *
+*                                                                               *
+* 1. The origin of this software must not be misrepresented; you must not claim *
+*    that you wrote the original software. If you use this software in a        *
+*    product, an acknowledgment in the product documentation would be           *
+*    appreciated but is not required.                                           *
+*                                                                               *
+* 2. Altered source versions must be plainly marked as such, and must not be    *
+*    misrepresented as being the original software.                             *
+*                                                                               *
+* 3. This notice may not be removed or altered from any source distribution.    *
+*                                                                               *
+********************************************************************************/
+
+// Libraries
+#include "CubesScene.h"
+
+// Namespaces
+using namespace openglframework;
+using namespace cubesscene;
+
+// Constructor
+CubesScene::CubesScene(const std::string& name, EngineSettings& settings)
+      : SceneDemo(name, settings, SCENE_RADIUS) {
+
+    // Compute the radius and the center of the scene
+    openglframework::Vector3 center(0, 5, 0);
+
+    // Set the center of the scene
+    setScenePosition(center, SCENE_RADIUS);
+
+    // Gravity vector in the dynamics world
+    rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);
+
+    rp3d::WorldSettings worldSettings;
+    worldSettings.worldName = name;
+
+    // Create the dynamics world for the physics simulation
+    rp3d::DynamicsWorld* dynamicsWorld = mPhysicsCommon.createDynamicsWorld(gravity, worldSettings);
+    dynamicsWorld->setEventListener(this);
+    mPhysicsWorld = dynamicsWorld;
+
+    // Create all the cubes of the scene
+    for (int i=0; i<NB_CUBES; i++) {
+
+        // Create a cube and a corresponding rigid in the dynamics world
+        Box* cube = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
+
+        // Set the box color
+        cube->setColor(mObjectColorDemo);
+        cube->setSleepingColor(mSleepingColorDemo);
+
+        // Change the material properties of the rigid body
+        rp3d::Material& material = cube->getRigidBody()->getMaterial();
+        material.setBounciness(rp3d::decimal(0.4));
+
+        // Add the box the list of box in the scene
+        mBoxes.push_back(cube);
+        mPhysicsObjects.push_back(cube);
+    }
+
+	// ------------------------- FLOOR ----------------------- //
+
+    // Create the floor
+    mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
+    mFloor->setColor(mFloorColorDemo);
+    mFloor->setSleepingColor(mFloorColorDemo);
+
+    // The floor must be a static rigid body
+    mFloor->getRigidBody()->setType(rp3d::BodyType::STATIC);
+	mPhysicsObjects.push_back(mFloor);
+
+    // Get the physics engine parameters
+    mEngineSettings.isGravityEnabled = getDynamicsWorld()->isGravityEnabled();
+    rp3d::Vector3 gravityVector = getDynamicsWorld()->getGravity();
+    mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z);
+    mEngineSettings.isSleepingEnabled = getDynamicsWorld()->isSleepingEnabled();
+    mEngineSettings.sleepLinearVelocity = getDynamicsWorld()->getSleepLinearVelocity();
+    mEngineSettings.sleepAngularVelocity = getDynamicsWorld()->getSleepAngularVelocity();
+    mEngineSettings.nbPositionSolverIterations = getDynamicsWorld()->getNbIterationsPositionSolver();
+    mEngineSettings.nbVelocitySolverIterations = getDynamicsWorld()->getNbIterationsVelocitySolver();
+    mEngineSettings.timeBeforeSleep = getDynamicsWorld()->getTimeBeforeSleep();
+}
+
+// Destructor
+CubesScene::~CubesScene() {
+
+    // Destroy all the cubes of the scene
+    for (std::vector<Box*>::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) {
+
+        // Destroy the corresponding rigid body from the dynamics world
+        getDynamicsWorld()->destroyRigidBody((*it)->getRigidBody());
+
+        // Destroy the cube
+        delete (*it);
+    }
+
+    // Destroy the rigid body of the floor
+    getDynamicsWorld()->destroyRigidBody(mFloor->getRigidBody());
+
+    // Destroy the floor
+    delete mFloor;
+
+    // Destroy the dynamics world
+    mPhysicsCommon.destroyDynamicsWorld(getDynamicsWorld());
+}
+
+// Reset the scene
+void CubesScene::reset() {
+
+    float radius = 2.0f;
+
+    // Create all the cubes of the scene
+    std::vector<Box*>::iterator it;
+    int i = 0;
+    for (it = mBoxes.begin(); it != mBoxes.end(); ++it) {
+
+        // Position of the cubes
+       float angle = i * 30.0f;
+       rp3d::Vector3 position(radius * std::cos(angle),
+                              10 + i * (BOX_SIZE.y + 0.3f),
+                              0);
+
+       (*it)->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity()));
+
+       i++;
+    }
+
+    mFloor->setTransform(rp3d::Transform(rp3d::Vector3::zero(), rp3d::Quaternion::identity()));
+}
diff --git a/testbed/scenes/cubestack/CubeStackScene.cpp b/testbed/scenes/cubestack/CubeStackScene.cpp
index ab45a5df..40e9d48c 100644
--- a/testbed/scenes/cubestack/CubeStackScene.cpp
+++ b/testbed/scenes/cubestack/CubeStackScene.cpp
@@ -60,8 +60,8 @@ CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings
             Box* cube = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
 
             // Set the box color
-            cube->setColor(mDemoColors[i % mNbDemoColors]);
-            cube->setSleepingColor(mRedColorDemo);
+            cube->setColor(mObjectColorDemo);
+            cube->setSleepingColor(mSleepingColorDemo);
 
             // Change the material properties of the rigid body
             rp3d::Material& material = cube->getRigidBody()->getMaterial();
@@ -77,8 +77,8 @@ CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings
 
     // Create the floor
     mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
-    mFloor->setColor(mGreyColorDemo);
-    mFloor->setSleepingColor(mGreyColorDemo);
+    mFloor->setColor(mFloorColorDemo);
+    mFloor->setSleepingColor(mFloorColorDemo);
 
     // The floor must be a static rigid body
     mFloor->getRigidBody()->setType(rp3d::BodyType::STATIC);
diff --git a/testbed/scenes/heightfield/HeightFieldScene.cpp b/testbed/scenes/heightfield/HeightFieldScene.cpp
index b0fad108..fb815335 100644
--- a/testbed/scenes/heightfield/HeightFieldScene.cpp
+++ b/testbed/scenes/heightfield/HeightFieldScene.cpp
@@ -59,8 +59,8 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
         Dumbbell* dumbbell = new Dumbbell(mPhysicsCommon, getDynamicsWorld(), meshFolderPath);
 
 		// Set the box color
-		dumbbell->setColor(mDemoColors[i % mNbDemoColors]);
-		dumbbell->setSleepingColor(mRedColorDemo);
+		dumbbell->setColor(mObjectColorDemo);
+		dumbbell->setSleepingColor(mSleepingColorDemo);
 
 		// Change the material properties of the rigid body
 		rp3d::Material& material = dumbbell->getRigidBody()->getMaterial();
@@ -78,8 +78,8 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
         Box* box = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
 
 		// Set the box color
-		box->setColor(mDemoColors[i % mNbDemoColors]);
-		box->setSleepingColor(mRedColorDemo);
+		box->setColor(mObjectColorDemo);
+		box->setSleepingColor(mSleepingColorDemo);
 
 		// Change the material properties of the rigid body
 		rp3d::Material& material = box->getRigidBody()->getMaterial();
@@ -100,8 +100,8 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
         sphere->getRigidBody()->getMaterial().setRollingResistance(0.08f);
 
 		// Set the box color
-		sphere->setColor(mDemoColors[i % mNbDemoColors]);
-		sphere->setSleepingColor(mRedColorDemo);
+		sphere->setColor(mObjectColorDemo);
+		sphere->setSleepingColor(mSleepingColorDemo);
 
 		// Change the material properties of the rigid body
 		rp3d::Material& material = sphere->getRigidBody()->getMaterial();
@@ -122,8 +122,8 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
         capsule->getRigidBody()->getMaterial().setRollingResistance(0.08f);
 
 		// Set the box color
-		capsule->setColor(mDemoColors[i % mNbDemoColors]);
-		capsule->setSleepingColor(mRedColorDemo);
+		capsule->setColor(mObjectColorDemo);
+		capsule->setSleepingColor(mSleepingColorDemo);
 
 		// Change the material properties of the rigid body
 		rp3d::Material& material = capsule->getRigidBody()->getMaterial();
@@ -141,8 +141,8 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
         ConvexMesh* mesh = new ConvexMesh(MESH_MASS, mPhysicsCommon, getDynamicsWorld(), meshFolderPath + "convexmesh.obj");
 
 		// Set the box color
-		mesh->setColor(mDemoColors[i % mNbDemoColors]);
-		mesh->setSleepingColor(mRedColorDemo);
+		mesh->setColor(mObjectColorDemo);
+		mesh->setSleepingColor(mSleepingColorDemo);
 
 		// Change the material properties of the rigid body
 		rp3d::Material& material = mesh->getRigidBody()->getMaterial();
@@ -167,8 +167,8 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
 	mPhysicsObjects.push_back(mHeightField);
 
     // Set the color
-    mHeightField->setColor(mGreyColorDemo);
-    mHeightField->setSleepingColor(mGreyColorDemo);
+    mHeightField->setColor(mFloorColorDemo);
+    mHeightField->setSleepingColor(mFloorColorDemo);
 
     // Change the material properties of the rigid body
     rp3d::Material& material = mHeightField->getRigidBody()->getMaterial();
diff --git a/testbed/scenes/joints/JointsScene.cpp b/testbed/scenes/joints/JointsScene.cpp
index 8188eddc..42154c3e 100644
--- a/testbed/scenes/joints/JointsScene.cpp
+++ b/testbed/scenes/joints/JointsScene.cpp
@@ -218,8 +218,8 @@ void JointsScene::createBallAndSocketJoints() {
         mBallAndSocketJointChainBoxes[i]->setTransform(rp3d::Transform(positionBox, rp3d::Quaternion::identity()));
 
         // Set the box color
-        mBallAndSocketJointChainBoxes[i]->setColor(mDemoColors[i % mNbDemoColors]);
-        mBallAndSocketJointChainBoxes[i]->setSleepingColor(mRedColorDemo);
+        mBallAndSocketJointChainBoxes[i]->setColor(mObjectColorDemo);
+        mBallAndSocketJointChainBoxes[i]->setSleepingColor(mSleepingColorDemo);
 
         // The fist box cannot move (static body)
         if (i == 0) {
@@ -270,8 +270,8 @@ void JointsScene::createSliderJoint() {
     mSliderJointBottomBox->setTransform(rp3d::Transform(positionBox1, rp3d::Quaternion::identity()));
 
     // Set the box color
-    mSliderJointBottomBox->setColor(mBlueColorDemo);
-    mSliderJointBottomBox->setSleepingColor(mRedColorDemo);
+    mSliderJointBottomBox->setColor(mObjectColorDemo);
+    mSliderJointBottomBox->setSleepingColor(mSleepingColorDemo);
 
     // The fist box cannot move
     mSliderJointBottomBox->getRigidBody()->setType(rp3d::BodyType::STATIC);
@@ -292,8 +292,8 @@ void JointsScene::createSliderJoint() {
     mSliderJointTopBox->setTransform(rp3d::Transform(positionBox2, rp3d::Quaternion::identity()));
 
     // Set the box color
-    mSliderJointTopBox->setColor(mOrangeColorDemo);
-    mSliderJointTopBox->setSleepingColor(mRedColorDemo);
+    mSliderJointTopBox->setColor(mObjectColorDemo);
+    mSliderJointTopBox->setSleepingColor(mSleepingColorDemo);
 
     // Change the material properties of the rigid body
     rp3d::Material& material2 = mSliderJointTopBox->getRigidBody()->getMaterial();
@@ -334,8 +334,8 @@ void JointsScene::createPropellerHingeJoint() {
     mPropellerBox->setTransform(rp3d::Transform(positionBox1, rp3d::Quaternion::identity()));
 
     // Set the box color
-    mPropellerBox->setColor(mYellowColorDemo);
-    mPropellerBox->setSleepingColor(mRedColorDemo);
+    mPropellerBox->setColor(mObjectColorDemo);
+    mPropellerBox->setSleepingColor(mSleepingColorDemo);
 
     // Change the material properties of the rigid body
     rp3d::Material& material = mPropellerBox->getRigidBody()->getMaterial();
@@ -375,8 +375,8 @@ void JointsScene::createFixedJoints() {
     mFixedJointBox1->setTransform(rp3d::Transform(positionBox1, rp3d::Quaternion::identity()));
 
     // Set the box color
-    mFixedJointBox1->setColor(mPinkColorDemo);
-    mFixedJointBox1->setSleepingColor(mRedColorDemo);
+    mFixedJointBox1->setColor(mObjectColorDemo);
+    mFixedJointBox1->setSleepingColor(mSleepingColorDemo);
 
     // Change the material properties of the rigid body
     rp3d::Material& material1 = mFixedJointBox1->getRigidBody()->getMaterial();
@@ -393,8 +393,8 @@ void JointsScene::createFixedJoints() {
     mFixedJointBox2->setTransform(rp3d::Transform(positionBox2, rp3d::Quaternion::identity()));
 
     // Set the box color
-    mFixedJointBox2->setColor(mBlueColorDemo);
-    mFixedJointBox2->setSleepingColor(mRedColorDemo);
+    mFixedJointBox2->setColor(mObjectColorDemo);
+    mFixedJointBox2->setSleepingColor(mSleepingColorDemo);
 
     // Change the material properties of the rigid body
     rp3d::Material& material2 = mFixedJointBox2->getRigidBody()->getMaterial();
@@ -433,8 +433,8 @@ void JointsScene::createFloor() {
     mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
 
     // Set the box color
-    mFloor->setColor(mGreyColorDemo);
-    mFloor->setSleepingColor(mGreyColorDemo);
+    mFloor->setColor(mFloorColorDemo);
+    mFloor->setSleepingColor(mFloorColorDemo);
 
     // The floor must be a static rigid body
     mFloor->getRigidBody()->setType(rp3d::BodyType::STATIC);
diff --git a/testbed/scenes/pile/PileScene.cpp b/testbed/scenes/pile/PileScene.cpp
index c6fbd255..18b7b9ff 100644
--- a/testbed/scenes/pile/PileScene.cpp
+++ b/testbed/scenes/pile/PileScene.cpp
@@ -57,8 +57,8 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
         Dumbbell* dumbbell = new Dumbbell(mPhysicsCommon, getDynamicsWorld(), meshFolderPath);
 
         // Set the box color
-        dumbbell->setColor(mDemoColors[i % mNbDemoColors]);
-        dumbbell->setSleepingColor(mRedColorDemo);
+        dumbbell->setColor(mObjectColorDemo);
+        dumbbell->setSleepingColor(mSleepingColorDemo);
 
         // Change the material properties of the rigid body
         rp3d::Material& material = dumbbell->getRigidBody()->getMaterial();
@@ -76,8 +76,8 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
         Box* box = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
 
         // Set the box color
-        box->setColor(mDemoColors[i % mNbDemoColors]);
-        box->setSleepingColor(mRedColorDemo);
+        box->setColor(mObjectColorDemo);
+        box->setSleepingColor(mSleepingColorDemo);
 
         // Change the material properties of the rigid body
         rp3d::Material& material = box->getRigidBody()->getMaterial();
@@ -98,8 +98,8 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
         sphere->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
 
         // Set the box color
-        sphere->setColor(mDemoColors[i % mNbDemoColors]);
-        sphere->setSleepingColor(mRedColorDemo);
+        sphere->setColor(mObjectColorDemo);
+        sphere->setSleepingColor(mSleepingColorDemo);
 
         // Change the material properties of the rigid body
         rp3d::Material& material = sphere->getRigidBody()->getMaterial();
@@ -120,8 +120,8 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
         capsule->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08f));
 
         // Set the box color
-        capsule->setColor(mDemoColors[i % mNbDemoColors]);
-        capsule->setSleepingColor(mRedColorDemo);
+        capsule->setColor(mObjectColorDemo);
+        capsule->setSleepingColor(mSleepingColorDemo);
 
         // Change the material properties of the rigid body
         rp3d::Material& material = capsule->getRigidBody()->getMaterial();
@@ -139,8 +139,8 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
         ConvexMesh* mesh = new ConvexMesh(MESH_MASS, mPhysicsCommon, getDynamicsWorld(), meshFolderPath + "convexmesh.obj");
 
         // Set the box color
-        mesh->setColor(mDemoColors[i % mNbDemoColors]);
-        mesh->setSleepingColor(mRedColorDemo);
+        mesh->setColor(mObjectColorDemo);
+        mesh->setSleepingColor(mSleepingColorDemo);
 
         // Change the material properties of the rigid body
         rp3d::Material& material = mesh->getRigidBody()->getMaterial();
@@ -163,8 +163,8 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
     mSandbox->getRigidBody()->setType(rp3d::BodyType::STATIC);
 
     // Set the box color
-    mSandbox->setColor(mGreyColorDemo);
-    mSandbox->setSleepingColor(mGreyColorDemo);
+    mSandbox->setColor(mFloorColorDemo);
+    mSandbox->setSleepingColor(mFloorColorDemo);
 
     mPhysicsObjects.push_back(mSandbox);
 
diff --git a/testbed/scenes/raycast/RaycastScene.cpp b/testbed/scenes/raycast/RaycastScene.cpp
index dd12e116..6194e206 100644
--- a/testbed/scenes/raycast/RaycastScene.cpp
+++ b/testbed/scenes/raycast/RaycastScene.cpp
@@ -56,8 +56,8 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
     mDumbbell = new Dumbbell(mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
 
     // Set the box color
-    mDumbbell->setColor(mGreyColorDemo);
-    mDumbbell->setSleepingColor(mRedColorDemo);
+    mDumbbell->setColor(mObjectColorDemo);
+    mDumbbell->setSleepingColor(mSleepingColorDemo);
 	mPhysicsObjects.push_back(mDumbbell);
 
     // ---------- Box ---------- //
@@ -67,8 +67,8 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
     mBox->getCollisionBody()->setIsActive(false);
 
     // Set the box color
-    mBox->setColor(mGreyColorDemo);
-    mBox->setSleepingColor(mRedColorDemo);
+    mBox->setColor(mObjectColorDemo);
+    mBox->setSleepingColor(mSleepingColorDemo);
 	mPhysicsObjects.push_back(mBox);
 
     // ---------- Sphere ---------- //
@@ -77,8 +77,8 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
     mSphere = new Sphere(SPHERE_RADIUS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
 
     // Set the color
-    mSphere->setColor(mGreyColorDemo);
-    mSphere->setSleepingColor(mRedColorDemo);
+    mSphere->setColor(mObjectColorDemo);
+    mSphere->setSleepingColor(mSleepingColorDemo);
 	mPhysicsObjects.push_back(mSphere);
 
     // ---------- Capsule ---------- //
@@ -88,8 +88,8 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
     mCapsule = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
 
     // Set the color
-    mCapsule->setColor(mGreyColorDemo);
-    mCapsule->setSleepingColor(mRedColorDemo);
+    mCapsule->setColor(mObjectColorDemo);
+    mCapsule->setSleepingColor(mSleepingColorDemo);
 	mPhysicsObjects.push_back(mCapsule);
 
     // ---------- Convex Mesh ---------- //
@@ -98,8 +98,8 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
     mConvexMesh = new ConvexMesh(mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "convexmesh.obj");
 
     // Set the color
-    mConvexMesh->setColor(mGreyColorDemo);
-    mConvexMesh->setSleepingColor(mRedColorDemo);
+    mConvexMesh->setColor(mObjectColorDemo);
+    mConvexMesh->setSleepingColor(mSleepingColorDemo);
 	mPhysicsObjects.push_back(mConvexMesh);
 
     // ---------- Concave Mesh ---------- //
@@ -108,8 +108,8 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
     mConcaveMesh = new ConcaveMesh(mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "city.obj");
 
     // Set the color
-    mConcaveMesh->setColor(mGreyColorDemo);
-    mConcaveMesh->setSleepingColor(mRedColorDemo);
+    mConcaveMesh->setColor(mObjectColorDemo);
+    mConcaveMesh->setSleepingColor(mSleepingColorDemo);
 	mPhysicsObjects.push_back(mConcaveMesh);
 
     // ---------- Heightfield ---------- //
@@ -118,8 +118,8 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
     mHeightField = new HeightField(mPhysicsCommon, mPhysicsWorld);
 
     // Set the color
-    mHeightField->setColor(mGreyColorDemo);
-    mHeightField->setSleepingColor(mRedColorDemo);
+    mHeightField->setColor(mObjectColorDemo);
+    mHeightField->setSleepingColor(mObjectColorDemo);
 	mPhysicsObjects.push_back(mHeightField);
 
     // Create the lines that will be used for raycasting
diff --git a/testbed/shaders/phong.frag b/testbed/shaders/phong.frag
index 73c76ba6..099e0ff8 100644
--- a/testbed/shaders/phong.frag
+++ b/testbed/shaders/phong.frag
@@ -1,103 +1,121 @@
-#version 330
-
-/********************************************************************************
-* OpenGL-Framework                                                              *
-* Copyright (c) 2015 Daniel Chappuis                                            *
-*********************************************************************************
-*                                                                               *
-* This software is provided 'as-is', without any express or implied warranty.   *
-* In no event will the authors be held liable for any damages arising from the  *
-* use of this software.                                                         *
-*                                                                                *
-* Permission is granted to anyone to use this software for any purpose,         *
-* including commercial applications, and to alter it and redistribute it        *
-* freely, subject to the following restrictions:                                *
-*                                                                               *
-* 1. The origin of this software must not be misrepresented; you must not claim *
-*    that you wrote the original software. If you use this software in a        *
-*    product, an acknowledgment in the product documentation would be           *
-*    appreciated but is not required.                                           *
-*                                                                               *
-* 2. Altered source versions must be plainly marked as such, and must not be    *
-*    misrepresented as being the original software.                             *
-*                                                                               *
-* 3. This notice may not be removed or altered from any source distribution.    *
-*                                                                               *
-********************************************************************************/
-
-// Uniform variables
-uniform vec3 lightAmbientColor;             // Lights ambient color
-uniform vec3 light0PosCameraSpace;          // Camera-space position of the light
-uniform vec3 light0DiffuseColor;            // Light 0 diffuse color
-uniform sampler2D textureSampler;           // Texture
-uniform sampler2D shadowMapSampler;         // Shadow map texture sampler
-uniform bool isTexture;                     // True if we need to use the texture
-uniform vec4 vertexColor;                   // Vertex color
-uniform bool isShadowEnabled;               // True if shadow mapping is enabled
-uniform vec2 shadowMapDimension;            // Shadow map dimension
-
-// In variables
-in vec3 vertexPosCameraSpace;          // Camera-space position of the vertex
-in vec3 vertexNormalCameraSpace;       // Vertex normal in camera-space
-in vec2 texCoords;                     // Texture coordinates
-in vec4 shadowMapCoords;                // Shadow map texture coords
-
-// Out variable
-out vec4 color;                        // Output color
-
-// Texture for PCF Shadow mapping
-float textureLookupPCF(sampler2D map, vec2 texCoords, vec2 offset)
-{
-    vec2 shadowMapScale = vec2(1.0, 1.0) / shadowMapDimension;
-    return texture(map, texCoords.xy + offset * shadowMapScale).r;
-}
-
-void main() {
-
-    // Compute the ambient term
-    vec3 ambient = lightAmbientColor;
-
-    // Get the texture color
-    vec3 textureColor = vertexColor.rgb;
-    if (isTexture) textureColor = texture(textureSampler, texCoords).rgb;
-
-    // Compute the surface normal vector
-    vec3 N = normalize(vertexNormalCameraSpace);
-
-    // Compute the diffuse term of light 0
-    vec3 L0 = normalize(light0PosCameraSpace - vertexPosCameraSpace);
-    float diffuseFactor = max(dot(N, L0), 0.0);
-    vec3 diffuse = light0DiffuseColor * diffuseFactor * textureColor;
-
-    // Compute shadow factor
-    float shadow = 1.0;
-    if (isShadowEnabled) {
-        shadow = 0.0;
-        float bias = 0.0003;
-        float shadowBias = -0.000;
-        vec4 shadowMapUV = shadowMapCoords;
-        shadowMapUV.z -= shadowBias;
-        vec4 shadowMapCoordsOverW = shadowMapUV / shadowMapUV.w;
-
-        // PCF Shadow Mapping
-        for (float i=-1; i<=1; i++) {
-            for (float j=-1; j<=1; j++) {
-                float distInShadowMap = textureLookupPCF(shadowMapSampler, shadowMapCoordsOverW.xy, vec2(i, j)) + bias;
-                if (shadowMapCoords.w > 0) {
-                    shadow += distInShadowMap < shadowMapCoordsOverW.z ? 0.5 : 1.0;
-                }
-            }
-        }
-        shadow /= 9.0;
-
-        /*
-        float distanceInShadowMap = texture(shadowMapSampler, shadowMapCoordsOverW.xy).r + bias;
-        if (shadowMapCoords.w > 0) {
-            shadow = distanceInShadowMap < shadowMapCoordsOverW.z ? 0.5 : 1.0;
-        }
-        */
-    }
-
-    // Compute the final color
-    color = vec4(ambient + shadow * diffuse, 1.0);
-}
+#version 330
+
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 2015 Daniel Chappuis                                            *
+*********************************************************************************
+*                                                                               *
+* This software is provided 'as-is', without any express or implied warranty.   *
+* In no event will the authors be held liable for any damages arising from the  *
+* use of this software.                                                         *
+*                                                                                *
+* Permission is granted to anyone to use this software for any purpose,         *
+* including commercial applications, and to alter it and redistribute it        *
+* freely, subject to the following restrictions:                                *
+*                                                                               *
+* 1. The origin of this software must not be misrepresented; you must not claim *
+*    that you wrote the original software. If you use this software in a        *
+*    product, an acknowledgment in the product documentation would be           *
+*    appreciated but is not required.                                           *
+*                                                                               *
+* 2. Altered source versions must be plainly marked as such, and must not be    *
+*    misrepresented as being the original software.                             *
+*                                                                               *
+* 3. This notice may not be removed or altered from any source distribution.    *
+*                                                                               *
+********************************************************************************/
+
+// Uniform variables
+uniform vec3 lightAmbientColor;             // Lights ambient color
+uniform vec3 light0PosCameraSpace;			// Camera-space position of the light 0
+uniform vec3 light1PosCameraSpace;			// Camera-space position of the light 1
+uniform vec3 light2PosCameraSpace;			// Camera-space position of the light 2
+uniform vec3 light0DiffuseColor;            // Light 0 diffuse color
+uniform vec3 light1DiffuseColor;            // Light 1 diffuse color
+uniform vec3 light2DiffuseColor;            // Light 2 diffuse color
+uniform sampler2D textureSampler;           // Texture
+uniform sampler2D shadowMapSampler0;      // Shadow map texture sampler
+uniform sampler2D shadowMapSampler1;      // Shadow map texture sampler
+uniform sampler2D shadowMapSampler2;      // Shadow map texture sampler
+uniform bool isTexture;                     // True if we need to use the texture
+uniform vec4 vertexColor;                   // Vertex color
+uniform bool isShadowEnabled;               // True if shadow mapping is enabled
+uniform vec2 shadowMapDimension;            // Shadow map dimension
+
+// In variables
+in vec3 vertexPosCameraSpace;          // Camera-space position of the vertex
+in vec3 vertexNormalCameraSpace;       // Vertex normal in camera-space
+in vec2 texCoords;                     // Texture coordinates
+in vec4 shadowMapCoords[3];            // Shadow map texture coords
+
+// Out variable
+out vec4 color;                        // Output color
+
+// Texture for PCF Shadow mapping
+float textureLookupPCF(sampler2D map, vec2 texCoords, vec2 offset)
+{
+    vec2 shadowMapScale = vec2(1.0, 1.0) / shadowMapDimension;
+    return texture(map, texCoords.xy + offset * shadowMapScale).r;
+}
+
+void main() {
+
+	// Compute the ambient term
+	vec3 ambient = lightAmbientColor;
+
+	// Get the texture color
+	vec3 textureColor = vertexColor.rgb;
+	if (isTexture) textureColor = texture(textureSampler, texCoords).rgb;
+
+	// Compute the surface normal vector
+	vec3 N = normalize(vertexNormalCameraSpace);
+
+	color = vec4(ambient, 1);
+
+	vec3 lightPosCameraSpace[3];
+	lightPosCameraSpace[0] = light0PosCameraSpace;
+	lightPosCameraSpace[1] = light1PosCameraSpace;
+	lightPosCameraSpace[2] = light2PosCameraSpace;
+	vec3 lightDiffuseColor[3];
+	lightDiffuseColor[0] = light0DiffuseColor;
+	lightDiffuseColor[1] = light1DiffuseColor;
+	lightDiffuseColor[2] = light2DiffuseColor;
+
+
+	// For each light source
+	for (int l=0; l < 3; l++) {
+
+                // Compute the diffuse term of light 0
+		vec3 L0 = normalize(lightPosCameraSpace[l] - vertexPosCameraSpace);
+		float diffuseFactor = max(dot(N, L0), 0.0);
+		vec3 diffuse = lightDiffuseColor[l] * diffuseFactor * textureColor;
+
+		// Compute shadow factor
+		float shadow = 1.0;
+		if (isShadowEnabled) {
+			shadow = 0.0;
+			float bias = 0.0003;
+			float shadowBias = -0.000;
+			vec4 shadowMapUV = shadowMapCoords[l];
+			shadowMapUV.z -= shadowBias;
+			vec4 shadowMapCoordsOverW = shadowMapUV / shadowMapUV.w;
+
+			// PCF Shadow Mapping
+			for (float i=-1; i<=1; i++) {
+				for (float j=-1; j<=1; j++) {
+                                        float distInShadowMap0 = textureLookupPCF(shadowMapSampler0, shadowMapCoordsOverW.xy, vec2(i, j)) + bias;
+                                        float distInShadowMap1 = textureLookupPCF(shadowMapSampler1, shadowMapCoordsOverW.xy, vec2(i, j)) + bias;
+                                        float distInShadowMap2 = textureLookupPCF(shadowMapSampler2, shadowMapCoordsOverW.xy, vec2(i, j)) + bias;
+                                        float distInShadowMap = l == 0 ? distInShadowMap0 : (l == 1 ? distInShadowMap1 : distInShadowMap2);
+                                        if (shadowMapCoords[l].w > 0) {
+						shadow += distInShadowMap < shadowMapCoordsOverW.z ? 0.5 : 1.0;
+					}
+				}
+			}
+			shadow /= 9.0;
+		}
+
+		// Compute the final color
+		color += vec4(shadow * diffuse, 0.0);
+	}
+}
diff --git a/testbed/shaders/phong.vert b/testbed/shaders/phong.vert
index 491558fb..6cc72075 100644
--- a/testbed/shaders/phong.vert
+++ b/testbed/shaders/phong.vert
@@ -1,64 +1,78 @@
-#version 330
-
-/********************************************************************************
-* OpenGL-Framework                                                              *
-* Copyright (c) 2015 Daniel Chappuis                                            *
-*********************************************************************************
-*                                                                               *
-* This software is provided 'as-is', without any express or implied warranty.   *
-* In no event will the authors be held liable for any damages arising from the  *
-* use of this software.                                                         *
-*                                                                               *
-* Permission is granted to anyone to use this software for any purpose,         *
-* including commercial applications, and to alter it and redistribute it        *
-* freely, subject to the following restrictions:                                *
-*                                                                               *
-* 1. The origin of this software must not be misrepresented; you must not claim *
-*    that you wrote the original software. If you use this software in a        *
-*    product, an acknowledgment in the product documentation would be           *
-*    appreciated but is not required.                                           *
-*                                                                               *
-* 2. Altered source versions must be plainly marked as such, and must not be    *
-*    misrepresented as being the original software.                             *
-*                                                                               *
-* 3. This notice may not be removed or altered from any source distribution.    *
-*                                                                               *
-********************************************************************************/
-
-// Uniform variables
-uniform mat4 localToWorldMatrix;        // Local-space to world-space matrix
-uniform mat4 worldToCameraMatrix;       // World-space to camera-space matrix
-uniform mat4 worldToLight0CameraMatrix; // World-space to light0 camera-space matrix (for shadow mapping)
-uniform mat4 projectionMatrix;          // Projection matrix
-uniform mat3 normalMatrix;              // Normal matrix
-uniform mat4 shadowMapProjectionMatrix; // Shadow map projection matrix
-
-// In variables
-in vec4 vertexPosition;
-in vec3 vertexNormal;
-in vec2 textureCoords;
-
-// Out variables
-out vec3 vertexPosCameraSpace;      // Camera-space position of the vertex
-out vec3 vertexNormalCameraSpace;   // Vertex normal in camera-space
-out vec2 texCoords;                 // Texture coordinates
-out vec4 shadowMapCoords;           // Shadow map texture coords
-
-void main() {
-
-    // Compute the vertex position
-    vec4 positionCameraSpace = worldToCameraMatrix * localToWorldMatrix * vertexPosition;
-    vertexPosCameraSpace = positionCameraSpace.xyz;
-
-    // Compute the world surface normal
-    vertexNormalCameraSpace = normalMatrix * vertexNormal;
-
-    // Get the texture coordinates
-    texCoords = textureCoords;
-
-    // Compute the texture coords of the vertex in the shadow map
-    shadowMapCoords = shadowMapProjectionMatrix * worldToLight0CameraMatrix * localToWorldMatrix * vertexPosition;
-
-    // Compute the clip-space vertex coordinates
-    gl_Position = projectionMatrix * positionCameraSpace;
-}
+#version 330
+
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 2015 Daniel Chappuis                                            *
+*********************************************************************************
+*                                                                               *
+* This software is provided 'as-is', without any express or implied warranty.   *
+* In no event will the authors be held liable for any damages arising from the  *
+* use of this software.                                                         *
+*                                                                               *
+* Permission is granted to anyone to use this software for any purpose,         *
+* including commercial applications, and to alter it and redistribute it        *
+* freely, subject to the following restrictions:                                *
+*                                                                               *
+* 1. The origin of this software must not be misrepresented; you must not claim *
+*    that you wrote the original software. If you use this software in a        *
+*    product, an acknowledgment in the product documentation would be           *
+*    appreciated but is not required.                                           *
+*                                                                               *
+* 2. Altered source versions must be plainly marked as such, and must not be    *
+*    misrepresented as being the original software.                             *
+*                                                                               *
+* 3. This notice may not be removed or altered from any source distribution.    *
+*                                                                               *
+********************************************************************************/
+
+// Uniform variables
+uniform mat4 localToWorldMatrix;        // Local-space to world-space matrix
+uniform mat4 worldToCameraMatrix;       // World-space to camera-space matrix
+uniform mat4 worldToLight0CameraMatrix; // World-space to light0 camera-space matrix (for shadow mapping)
+uniform mat4 worldToLight1CameraMatrix; // World-space to light1 camera-space matrix (for shadow mapping)
+uniform mat4 worldToLight2CameraMatrix; // World-space to light2 camera-space matrix (for shadow mapping)
+uniform mat4 projectionMatrix;          // Projection matrix
+uniform mat3 normalMatrix;              // Normal matrix
+uniform mat4 shadowMapLight0ProjectionMatrix; // Shadow map projection matrix for light 0
+uniform mat4 shadowMapLight1ProjectionMatrix; // Shadow map projection matrix for light 1
+uniform mat4 shadowMapLight2ProjectionMatrix; // Shadow map projection matrix for light 2
+
+// In variables
+in vec4 vertexPosition;
+in vec3 vertexNormal;
+in vec2 textureCoords;
+
+// Out variables
+out vec3 vertexPosCameraSpace;      // Camera-space position of the vertex
+out vec3 vertexNormalCameraSpace;   // Vertex normal in camera-space
+out vec2 texCoords;                 // Texture coordinates
+out vec4 shadowMapCoords[3];        // Shadow map texture coords
+
+void main() {
+
+    // Compute the vertex position
+    vec4 positionCameraSpace = worldToCameraMatrix * localToWorldMatrix * vertexPosition;
+    vertexPosCameraSpace = positionCameraSpace.xyz;
+
+    // Compute the world surface normal
+    vertexNormalCameraSpace = normalMatrix * vertexNormal;
+
+    // Get the texture coordinates
+    texCoords = textureCoords;
+
+    // Compute the texture coords of the vertex in the shadow map
+	mat4 worldToLightCameraMatrix[3];
+	worldToLightCameraMatrix[0] = worldToLight0CameraMatrix;
+	worldToLightCameraMatrix[1] = worldToLight1CameraMatrix;
+	worldToLightCameraMatrix[2] = worldToLight2CameraMatrix;
+	mat4 shadowMapProjectionMatrix[3];
+	shadowMapProjectionMatrix[0] = shadowMapLight0ProjectionMatrix;
+	shadowMapProjectionMatrix[1] = shadowMapLight1ProjectionMatrix;
+	shadowMapProjectionMatrix[2] = shadowMapLight2ProjectionMatrix;
+	for (int l=0; l < 3; l++) {
+		shadowMapCoords[l] = shadowMapProjectionMatrix[l] * worldToLightCameraMatrix[l] * localToWorldMatrix * vertexPosition;
+	}
+
+    // Compute the clip-space vertex coordinates
+    gl_Position = projectionMatrix * positionCameraSpace;
+}
diff --git a/testbed/src/Main.cpp b/testbed/src/Main.cpp
index fbfb9e04..a8b73604 100644
--- a/testbed/src/Main.cpp
+++ b/testbed/src/Main.cpp
@@ -1,49 +1,64 @@
-/********************************************************************************
-* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
-* Copyright (c) 2010-2016 Daniel Chappuis                                       *
-*********************************************************************************
-*                                                                               *
-* This software is provided 'as-is', without any express or implied warranty.   *
-* In no event will the authors be held liable for any damages arising from the  *
-* use of this software.                                                         *
-*                                                                               *
-* Permission is granted to anyone to use this software for any purpose,         *
-* including commercial applications, and to alter it and redistribute it        *
-* freely, subject to the following restrictions:                                *
-*                                                                               *
-* 1. The origin of this software must not be misrepresented; you must not claim *
-*    that you wrote the original software. If you use this software in a        *
-*    product, an acknowledgment in the product documentation would be           *
-*    appreciated but is not required.                                           *
-*                                                                               *
-* 2. Altered source versions must be plainly marked as such, and must not be    *
-*    misrepresented as being the original software.                             *
-*                                                                               *
-* 3. This notice may not be removed or altered from any source distribution.    *
-*                                                                               *
-********************************************************************************/
-
-// Libraries
-#include "TestbedApplication.h"
-#include "nanogui/nanogui.h"
-
-using namespace nanogui;
-
-// Main function
-int main(int argc, char** argv) {
-
-    nanogui::init();
-
-    {
-        // Create and start the testbed application
-        bool isFullscreen = false;
-        nanogui::ref<TestbedApplication> application = new TestbedApplication(isFullscreen);
-        application->setVisible(true);
-
-        nanogui::mainloop();
-    }
-
-    nanogui::shutdown();
-
-    return 0;
-}
+/********************************************************************************
+* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
+* Copyright (c) 2010-2016 Daniel Chappuis                                       *
+*********************************************************************************
+*                                                                               *
+* This software is provided 'as-is', without any express or implied warranty.   *
+* In no event will the authors be held liable for any damages arising from the  *
+* use of this software.                                                         *
+*                                                                               *
+* Permission is granted to anyone to use this software for any purpose,         *
+* including commercial applications, and to alter it and redistribute it        *
+* freely, subject to the following restrictions:                                *
+*                                                                               *
+* 1. The origin of this software must not be misrepresented; you must not claim *
+*    that you wrote the original software. If you use this software in a        *
+*    product, an acknowledgment in the product documentation would be           *
+*    appreciated but is not required.                                           *
+*                                                                               *
+* 2. Altered source versions must be plainly marked as such, and must not be    *
+*    misrepresented as being the original software.                             *
+*                                                                               *
+* 3. This notice may not be removed or altered from any source distribution.    *
+*                                                                               *
+********************************************************************************/
+
+// Libraries
+#include "TestbedApplication.h"
+#include "nanogui/nanogui.h"
+
+using namespace nanogui;
+
+// Main function
+int main(int argc, char** argv) {
+
+    nanogui::init();
+
+    {
+        bool isFullscreen = false;
+
+		// Get the primary monitor
+		GLFWmonitor* monitor = glfwGetPrimaryMonitor();
+		const GLFWvidmode* mode = glfwGetVideoMode(monitor);
+
+		// Window size
+		int windowWidth = mode->width;
+		int windowHeight = mode->height;
+
+		if (!isFullscreen) {
+
+			windowWidth *= 0.9;
+			windowHeight *= 0.9;
+		}
+
+        // Create and start the testbed application
+        nanogui::ref<TestbedApplication> application = new TestbedApplication(isFullscreen, windowWidth, windowHeight);
+        application->setVisible(true);
+
+        nanogui::mainloop();
+    }
+
+    nanogui::shutdown();
+
+    return 0;
+}
diff --git a/testbed/src/SceneDemo.cpp b/testbed/src/SceneDemo.cpp
index d4fa3fcc..4a711862 100644
--- a/testbed/src/SceneDemo.cpp
+++ b/testbed/src/SceneDemo.cpp
@@ -33,15 +33,10 @@
 using namespace openglframework;
 
 int SceneDemo::shadowMapTextureLevel = 0;
-openglframework::Color SceneDemo::mGreyColorDemo = Color(0.70f, 0.70f, 0.7f, 1.0f);
-openglframework::Color SceneDemo::mYellowColorDemo = Color(0.9f, 0.88f, 0.145f, 1.0f);
-openglframework::Color SceneDemo::mBlueColorDemo = Color(0, 0.66f, 0.95f, 1.0f);
-openglframework::Color SceneDemo::mOrangeColorDemo = Color(0.9f, 0.35f, 0, 1.0f);
-openglframework::Color SceneDemo::mPinkColorDemo = Color(0.83f, 0.48f, 0.64f, 1.0f);
-openglframework::Color SceneDemo::mRedColorDemo = Color(0.95f, 0, 0, 1.0f);
-int SceneDemo::mNbDemoColors = 4;
-openglframework::Color SceneDemo::mDemoColors[] = {SceneDemo::mYellowColorDemo, SceneDemo::mBlueColorDemo,
-                                                   SceneDemo::mOrangeColorDemo, SceneDemo::mPinkColorDemo};
+openglframework::Color SceneDemo::mObjectColorDemo = Color(0.76f, 0.67f, 0.47f, 1.0f);
+openglframework::Color SceneDemo::mFloorColorDemo = Color(0.47f, 0.48f, 0.49f, 1.0f);
+openglframework::Color SceneDemo::mSleepingColorDemo = Color(1.0f, 0.25f, 0.25f, 1.0f);
+openglframework::Color SceneDemo::mSelectedObjectColorDemo = Color(0.09f, 0.59f, 0.88f, 1.0f);
 
 // Constructor
 SceneDemo::SceneDemo(const std::string& name, EngineSettings& settings, float sceneRadius, bool isShadowMappingEnabled)
@@ -55,17 +50,34 @@ SceneDemo::SceneDemo(const std::string& name, EngineSettings& settings, float sc
 
     shadowMapTextureLevel++;
 
-    // Move the light0
-    mLight0.translateWorld(Vector3(-2, 35, 40));
+    // Move the lights
+	float lightsRadius = 30.0f;
+	float lightsHeight = 20.0f;
+    mLight0.translateWorld(Vector3(0 * lightsRadius, lightsHeight, 1 * lightsRadius));
+    mLight1.translateWorld(Vector3(0.95f * lightsRadius, lightsHeight, -0.3f * lightsRadius));
+    mLight2.translateWorld(Vector3(-0.58f * lightsRadius, lightsHeight, -0.81f * lightsRadius));
 
-    // Camera at light0 postion for the shadow map
-    mShadowMapLightCamera.translateWorld(mLight0.getOrigin());
-    mShadowMapLightCamera.rotateLocal(Vector3(1, 0, 0), -PI / 4.0f);
-    mShadowMapLightCamera.rotateWorld(Vector3(0, 1, 0), PI / 8.0f);
+	// Set the lights colors
+	mLight0.setDiffuseColor(Color(0.6f, 0.6f, 0.6f, 1.0f));
+	mLight1.setDiffuseColor(Color(0.6f, 0.6f, 0.6f, 1.0f));
+	mLight2.setDiffuseColor(Color(0.6f, 0.6f, 0.6f, 1.0f));
 
-    mShadowMapLightCamera.setDimensions(SHADOWMAP_WIDTH, SHADOWMAP_HEIGHT);
-    mShadowMapLightCamera.setFieldOfView(80.0f);
-    mShadowMapLightCamera.setSceneRadius(100);
+	mShadowMapLightCameras[0].translateWorld(mLight0.getOrigin());
+	mShadowMapLightCameras[0].rotateLocal(Vector3(1, 0, 0), -PI / 4.0f);
+
+	mShadowMapLightCameras[1].translateWorld(mLight1.getOrigin());
+	mShadowMapLightCameras[1].rotateLocal(Vector3(0, 1, 0), -5.0f * PI/3.7f);
+	mShadowMapLightCameras[1].rotateLocal(Vector3(1, 0, 0), -PI/4.0f);
+
+	mShadowMapLightCameras[2].translateWorld(mLight2.getOrigin());
+	mShadowMapLightCameras[2].rotateLocal(Vector3(0, 1, 0), 5 * PI/4.0f);
+	mShadowMapLightCameras[2].rotateLocal(Vector3(1, 0 , 0), -PI/4.0f);
+
+	for (int i = 0; i < NB_SHADOW_MAPS; i++) {
+		mShadowMapLightCameras[i].setDimensions(SHADOWMAP_WIDTH, SHADOWMAP_HEIGHT);
+		mShadowMapLightCameras[i].setFieldOfView(100.0f);
+		mShadowMapLightCameras[i].setSceneRadius(100);
+	}
 
     mShadowMapBiasMatrix.setAllValues(0.5, 0.0, 0.0, 0.5,
                                       0.0, 0.5, 0.0, 0.5,
@@ -87,15 +99,19 @@ SceneDemo::SceneDemo(const std::string& name, EngineSettings& settings, float sc
 
 // Destructor
 SceneDemo::~SceneDemo() {
-	
-    mShadowMapTexture.destroy();
-    mFBOShadowMap.destroy();
+
+
+    for (int i = 0; i < NB_SHADOW_MAPS; i++) {
+        mShadowMapTexture[i].destroy();
+        mFBOShadowMap[i].destroy();
+    }
+
     mVBOQuad.destroy();
 
-	mDepthShader.destroy();
-	mPhongShader.destroy();
-	mQuadShader.destroy();
-	mColorShader.destroy();
+    mDepthShader.destroy();
+    mPhongShader.destroy();
+    mQuadShader.destroy();
+    mColorShader.destroy();
 
     // Destroy the contact points
     removeAllVisualContactPoints();
@@ -137,15 +153,18 @@ void SceneDemo::updatePhysics() {
 // Render the scene (in multiple passes for shadow mapping)
 void SceneDemo::render() {
 
-    const Color& diffCol = mLight0.getDiffuseColor();
-
     glEnable(GL_DEPTH_TEST);
     glEnable(GL_CULL_FACE);
 
-    // ---------- Render the scene to generate the shadow map (first pass) ----------- //
+	Matrix4 shadowMapProjMatrix[NB_SHADOW_MAPS];
+	openglframework::Matrix4 worldToLightCameraMatrix[NB_SHADOW_MAPS];
+	for (int i = 0; i < NB_SHADOW_MAPS; i++) {
 
-    const Matrix4 shadowMapProjMatrix = mShadowMapLightCamera.getProjectionMatrix();
-    const openglframework::Matrix4 worldToLightCameraMatrix = mShadowMapLightCamera.getTransformMatrix().getInverse();
+		shadowMapProjMatrix[i] = mShadowMapLightCameras[i].getProjectionMatrix();
+		worldToLightCameraMatrix[i] = mShadowMapLightCameras[i].getTransformMatrix().getInverse();
+	}
+
+    // ---------- Render the scene to generate the shadow map (first pass) ----------- //
 
     // If Shadow Mapping is enabled
     if (mIsShadowMappingEnabled) {
@@ -153,30 +172,34 @@ void SceneDemo::render() {
         // Culling switching, rendering only backface, this is done to avoid self-shadowing
         glCullFace(GL_BACK);
 
-        mFBOShadowMap.bind();
+		// For each shadow map
+		for (int i = 0; i < NB_SHADOW_MAPS; i++) {
 
-        // Bind the shader
-        mDepthShader.bind();
+			mFBOShadowMap[i].bind();
 
-        // Set the variables of the shader
-        mDepthShader.setMatrix4x4Uniform("projectionMatrix", shadowMapProjMatrix);
+			// Bind the shader
+			mDepthShader.bind();
 
-        // Set the viewport to render into the shadow map texture
-        glViewport(0, 0, SHADOWMAP_WIDTH, SHADOWMAP_HEIGHT);
+			// Set the variables of the shader
+			mDepthShader.setMatrix4x4Uniform("projectionMatrix", shadowMapProjMatrix[i]);
 
-        // Clear previous frame values
-        glClear(GL_DEPTH_BUFFER_BIT);
+			// Set the viewport to render into the shadow map texture
+			glViewport(0, 0, SHADOWMAP_WIDTH, SHADOWMAP_HEIGHT);
 
-        // Disable color rendering, we only want to write to the Z-Buffer
-        glColorMask(GL_FALSE, GL_FALSE, GL_FALSE, GL_FALSE);
+			// Clear previous frame values
+			glClear(GL_DEPTH_BUFFER_BIT);
 
-        // Render the objects of the scene
-        renderSinglePass(mDepthShader, worldToLightCameraMatrix);
+			// Disable color rendering, we only want to write to the Z-Buffer
+			glColorMask(GL_FALSE, GL_FALSE, GL_FALSE, GL_FALSE);
 
-        // Unbind the shader
-        mDepthShader.unbind();
+			// Render the objects of the scene
+			renderSinglePass(mDepthShader, worldToLightCameraMatrix[i]);
 
-        mFBOShadowMap.unbind();
+			// Unbind the shader
+			mDepthShader.unbind();
+
+			mFBOShadowMap[i].unbind();
+		}
 
         glDisable(GL_POLYGON_OFFSET_FILL);
     }
@@ -190,17 +213,36 @@ void SceneDemo::render() {
 
     mPhongShader.bind();
 
-    if (mIsShadowMappingEnabled) mShadowMapTexture.bind();
-    const GLuint textureUnit = 0;
+	// Is shadow mapping is enabled
+	GLint textureUnits[NB_SHADOW_MAPS];
+	if (mIsShadowMappingEnabled) {
+
+		for (int i = 0; i < NB_SHADOW_MAPS; i++) {
+			mShadowMapTexture[i].bind();
+		}
+		for (int i = 0; i < NB_SHADOW_MAPS; i++) {
+			textureUnits[i] = mShadowMapTexture[i].getUnit();
+		}
+	}
 
     // Set the variables of the phong shader
     mPhongShader.setMatrix4x4Uniform("projectionMatrix", mCamera.getProjectionMatrix());
-    mPhongShader.setMatrix4x4Uniform("shadowMapProjectionMatrix", mShadowMapBiasMatrix * shadowMapProjMatrix);
-    mPhongShader.setMatrix4x4Uniform("worldToLight0CameraMatrix", worldToLightCameraMatrix);
+    mPhongShader.setMatrix4x4Uniform("shadowMapLight0ProjectionMatrix", mShadowMapBiasMatrix * shadowMapProjMatrix[0]);
+    mPhongShader.setMatrix4x4Uniform("shadowMapLight1ProjectionMatrix", mShadowMapBiasMatrix * shadowMapProjMatrix[1]);
+    mPhongShader.setMatrix4x4Uniform("shadowMapLight2ProjectionMatrix", mShadowMapBiasMatrix * shadowMapProjMatrix[2]);
+    mPhongShader.setMatrix4x4Uniform("worldToLight0CameraMatrix", worldToLightCameraMatrix[0]);
+    mPhongShader.setMatrix4x4Uniform("worldToLight1CameraMatrix", worldToLightCameraMatrix[1]);
+    mPhongShader.setMatrix4x4Uniform("worldToLight2CameraMatrix", worldToLightCameraMatrix[2]);
     mPhongShader.setVector3Uniform("light0PosCameraSpace", worldToCameraMatrix * mLight0.getOrigin());
-    mPhongShader.setVector3Uniform("lightAmbientColor", Vector3(0.4f, 0.4f, 0.4f));
-    mPhongShader.setVector3Uniform("light0DiffuseColor", Vector3(diffCol.r, diffCol.g, diffCol.b));
-    mPhongShader.setIntUniform("shadowMapSampler", textureUnit);
+    mPhongShader.setVector3Uniform("light1PosCameraSpace", worldToCameraMatrix * mLight1.getOrigin());
+    mPhongShader.setVector3Uniform("light2PosCameraSpace", worldToCameraMatrix * mLight2.getOrigin());
+    mPhongShader.setVector3Uniform("lightAmbientColor", Vector3(0.3f, 0.3f, 0.3f));
+    mPhongShader.setVector3Uniform("light0DiffuseColor", Vector3(mLight0.getDiffuseColor().r, mLight0.getDiffuseColor().g, mLight0.getDiffuseColor().b));
+    mPhongShader.setVector3Uniform("light1DiffuseColor", Vector3(mLight1.getDiffuseColor().r, mLight1.getDiffuseColor().g, mLight1.getDiffuseColor().b));
+    mPhongShader.setVector3Uniform("light2DiffuseColor", Vector3(mLight2.getDiffuseColor().r, mLight2.getDiffuseColor().g, mLight2.getDiffuseColor().b));
+    mPhongShader.setIntUniform("shadowMapSampler0", textureUnits[0]);
+    mPhongShader.setIntUniform("shadowMapSampler1", textureUnits[1]);
+    mPhongShader.setIntUniform("shadowMapSampler2", textureUnits[2]);
     mPhongShader.setIntUniform("isShadowEnabled", mIsShadowMappingEnabled);
     mPhongShader.setVector2Uniform("shadowMapDimension", Vector2(SHADOWMAP_WIDTH, SHADOWMAP_HEIGHT));
 	mPhongShader.unbind();
@@ -232,7 +274,14 @@ void SceneDemo::render() {
         renderAABBs(worldToCameraMatrix);
     }
 
-    if (mIsShadowMappingEnabled) mShadowMapTexture.unbind();
+	// Is shadow mapping is enabled
+	if (mIsShadowMappingEnabled) {
+
+		for (int i = 0; i < NB_SHADOW_MAPS; i++) {
+			mShadowMapTexture[i].unbind();
+		}
+	}
+
     mPhongShader.unbind();
 
    //drawTextureQuad();
@@ -264,20 +313,33 @@ void SceneDemo::renderSinglePass(openglframework::Shader& shader, const openglfr
 // Create the Shadow map FBO and texture
 void SceneDemo::createShadowMapFBOAndTexture() {
 
-    // Create the texture for the depth values
-    mShadowMapTexture.create(SHADOWMAP_WIDTH, SHADOWMAP_HEIGHT, GL_DEPTH_COMPONENT24, GL_DEPTH_COMPONENT,
-                             GL_UNSIGNED_BYTE, GL_NEAREST, GL_NEAREST, GL_CLAMP_TO_EDGE, GL_CLAMP_TO_EDGE, NULL);
+	// For each shadow map
+	for (int i = 0; i < NB_SHADOW_MAPS; i++) {
 
-    // Create the FBO for the shadow map
-    mFBOShadowMap.create(0, 0, false);
-    mFBOShadowMap.bind();
+		// Create the texture for the depth values
+		mShadowMapTexture[i].create(SHADOWMAP_WIDTH, SHADOWMAP_HEIGHT, GL_DEPTH_COMPONENT24, GL_DEPTH_COMPONENT,
+			GL_UNSIGNED_BYTE, GL_LINEAR, GL_LINEAR, GL_CLAMP_TO_BORDER, GL_CLAMP_TO_BORDER, NULL);
 
-    // Tell OpenGL that we won't bind a color texture with the currently binded FBO
-    glDrawBuffer(GL_NONE);
-    glReadBuffer(GL_NONE);
+		mShadowMapTexture[i].setUnit(i);
 
-    mFBOShadowMap.attachTexture(GL_DEPTH_ATTACHMENT, mShadowMapTexture.getID());
-    mFBOShadowMap.unbind();
+		// Make sure that texture lookups outside the texture coords range will not
+		// treated as beeing in shadow
+		glBindTexture(GL_TEXTURE_2D, mShadowMapTexture[i].getID());
+		GLfloat border[] = { 1.0f, 0.0f, 0.0f, 0.0f };
+		glTexParameterfv(GL_TEXTURE_2D, GL_TEXTURE_BORDER_COLOR, border);
+		glBindTexture(GL_TEXTURE_2D, 0);
+
+		// Create the FBO for the shadow map
+		mFBOShadowMap[i].create(0, 0, false);
+		mFBOShadowMap[i].bind();
+
+		// Tell OpenGL that we won't bind a color texture with the currently binded FBO
+		glDrawBuffer(GL_NONE);
+		glReadBuffer(GL_NONE);
+
+		mFBOShadowMap[i].attachTexture(GL_DEPTH_ATTACHMENT, mShadowMapTexture[i].getID());
+		mFBOShadowMap[i].unbind();
+	}
 
     mIsShadowMappingInitialized = true;
 }
@@ -313,11 +375,13 @@ void SceneDemo::drawTextureQuad() {
     // Clear previous frame values
     glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
 
-    const GLuint textureUnit = 0;
+
+	const int SHADOW_MAP_TEXTURE_TO_DRAW = 0;
+    const GLuint textureUnit = SHADOW_MAP_TEXTURE_TO_DRAW;
 
     mVAOQuad.bind();
     mQuadShader.bind();
-    mShadowMapTexture.bind();
+    mShadowMapTexture[SHADOW_MAP_TEXTURE_TO_DRAW].bind();
     mQuadShader.setIntUniform("textureSampler", textureUnit);
     mVBOQuad.bind();
 
@@ -339,7 +403,7 @@ void SceneDemo::drawTextureQuad() {
     glDisableVertexAttribArray(vertexPositionLoc);
 
     mVBOQuad.unbind();
-    mShadowMapTexture.unbind();
+    mShadowMapTexture[SHADOW_MAP_TEXTURE_TO_DRAW].unbind();
     mQuadShader.unbind();
     mVAOQuad.unbind();
 }
diff --git a/testbed/src/SceneDemo.h b/testbed/src/SceneDemo.h
index 2f427b47..459385ce 100644
--- a/testbed/src/SceneDemo.h
+++ b/testbed/src/SceneDemo.h
@@ -43,19 +43,29 @@ class SceneDemo : public Scene {
 
     protected:
 
+        // -------------------- Constants -------------------- //
+
+		static constexpr int NB_SHADOW_MAPS = 3;
+
         // -------------------- Attributes -------------------- //
 
         /// Light 0
         openglframework::Light mLight0;
 
+        /// Light 1
+        openglframework::Light mLight1;
+
+        /// Light 2
+        openglframework::Light mLight2;
+
         /// True if the shadows FBO, textures have been created
         bool mIsShadowMappingInitialized;
 
-        /// FBO for the shadow map
-        openglframework::FrameBufferObject mFBOShadowMap;
+        /// Array of FBO for the shadow maps
+        openglframework::FrameBufferObject mFBOShadowMap[NB_SHADOW_MAPS];
 
         /// Shadow map texture
-        openglframework::Texture2D mShadowMapTexture;
+		openglframework::Texture2D mShadowMapTexture[NB_SHADOW_MAPS];
 
         static int shadowMapTextureLevel;
 
@@ -65,8 +75,8 @@ class SceneDemo : public Scene {
         /// Shadow map bias matrix
         openglframework::Matrix4 mShadowMapBiasMatrix;
 
-        /// Camera at light0 position for the shadow map
-        openglframework::Camera mShadowMapLightCamera;
+        /// Cameras at lights position for the shadow maps
+        openglframework::Camera mShadowMapLightCameras[NB_SHADOW_MAPS];
 
         /// Depth shader to render the shadow map
         openglframework::Shader mDepthShader;
@@ -85,14 +95,10 @@ class SceneDemo : public Scene {
 
         openglframework::VertexBufferObject mVBOQuad;
 
-        static openglframework::Color mGreyColorDemo;
-        static openglframework::Color mYellowColorDemo;
-        static openglframework::Color mBlueColorDemo;
-        static openglframework::Color mOrangeColorDemo;
-        static openglframework::Color mPinkColorDemo;
-        static openglframework::Color mRedColorDemo;
-        static openglframework::Color mDemoColors[];
-        static int mNbDemoColors;
+        static openglframework::Color mObjectColorDemo;
+        static openglframework::Color mFloorColorDemo;
+        static openglframework::Color mSleepingColorDemo;
+        static openglframework::Color mSelectedObjectColorDemo;
 
         std::string mMeshFolderPath;
 
@@ -120,7 +126,6 @@ class SceneDemo : public Scene {
         void renderContactPoints(openglframework::Shader& shader,
                                  const openglframework::Matrix4& worldToCameraMatrix);
 
-
         /// Render the AABBs
         void renderAABBs(const openglframework::Matrix4& worldToCameraMatrix);
 
@@ -146,9 +151,6 @@ class SceneDemo : public Scene {
         /// Update the scene
         virtual void update() override;
 
-        /// Reset the scene
-        virtual void reset() override;
-
 		/// Update the physics world (take a simulation step)
 		/// Can be called several times per frame
 		virtual void updatePhysics() override;
@@ -186,14 +188,4 @@ inline const rp3d::DynamicsWorld* SceneDemo::getDynamicsWorld() const {
     return dynamic_cast<rp3d::DynamicsWorld*>(mPhysicsWorld);
 }
 
-// Reset the scene
-inline void SceneDemo::reset() {
-
-    Scene::reset();
-
-    removeAllVisualContactPoints();
-}
-
 #endif
-
-
diff --git a/testbed/src/TestbedApplication.cpp b/testbed/src/TestbedApplication.cpp
index b0fbd01c..0842e715 100644
--- a/testbed/src/TestbedApplication.cpp
+++ b/testbed/src/TestbedApplication.cpp
@@ -54,13 +54,13 @@ using namespace pilescene;
 const float TestbedApplication::SCROLL_SENSITIVITY = 0.08f;
 
 // Constructor
-TestbedApplication::TestbedApplication(bool isFullscreen)
-                   : Screen(Vector2i(1280, 800), "Testbed ReactPhysics3D", true, isFullscreen, 8, 8, 24, 8, 8),
+TestbedApplication::TestbedApplication(bool isFullscreen, int windowWidth, int windowHeight)
+                   : Screen(Vector2i(windowWidth, windowHeight), "Testbed ReactPhysics3D", true, isFullscreen, 8, 8, 24, 8, 8),
                      mIsInitialized(false), mGui(this), mCurrentScene(nullptr),
                      mEngineSettings(EngineSettings::defaultSettings()),
                      mFPS(0), mNbFrames(0), mPreviousTime(0),
                      mLastTimeComputedFPS(0), mFrameTime(0), mTotalPhysicsTime(0), mPhysicsStepTime(0),
-                     mWidth(1280), mHeight(720),
+                     mWidth(windowWidth), mHeight(windowHeight),
                      mSinglePhysicsStepEnabled(false), mSinglePhysicsStepDone(false),
                      mWindowToFramebufferRatio(Vector2(1, 1)), mIsShadowMappingEnabled(true),
                      mIsContactPointsDisplayed(false), mIsAABBsDisplayed(false), mIsWireframeEnabled(false),
@@ -130,7 +130,6 @@ void TestbedApplication::createScenes() {
     // Pile scene
     PileScene* pileScene = new PileScene("Pile", mEngineSettings);
     mScenes.push_back(pileScene);
-
     assert(mScenes.size() > 0);
 
     const int firstSceneIndex = 0;
@@ -145,7 +144,7 @@ void TestbedApplication::destroyScenes() {
         delete mScenes[i];
     }
 
-    mCurrentScene = nullptr;
+    mCurrentScene = NULL;
 }
 
 void TestbedApplication::updateSinglePhysicsStep() {
diff --git a/testbed/src/TestbedApplication.h b/testbed/src/TestbedApplication.h
index fc3d53e0..505de188 100644
--- a/testbed/src/TestbedApplication.h
+++ b/testbed/src/TestbedApplication.h
@@ -167,7 +167,7 @@ class TestbedApplication : public Screen {
         // -------------------- Methods -------------------- //
 
         /// Private constructor (for the singleton class)
-        TestbedApplication(bool isFullscreen);
+        TestbedApplication(bool isFullscreen, int windowWidth, int windowHeight);
 
         /// Destructor
         virtual ~TestbedApplication() override;