diff --git a/CMakeLists.txt b/CMakeLists.txt
index b9c20ad2..477df7a5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -141,7 +141,7 @@ SET (REACTPHYSICS3D_HEADERS
     "src/engine/Timer.h"
     "src/systems/BroadPhaseSystem.h"
     "src/components/Components.h"
-    "src/components/BodyComponents.h"
+    "src/components/CollisionBodyComponents.h"
     "src/components/TransformComponents.h"
     "src/components/ProxyShapeComponents.h"
     "src/components/DynamicsComponents.h"
@@ -232,7 +232,7 @@ SET (REACTPHYSICS3D_SOURCES
     "src/engine/EntityManager.cpp"
     "src/systems/BroadPhaseSystem.cpp"
     "src/components/Components.cpp"
-    "src/components/BodyComponents.cpp"
+    "src/components/CollisionBodyComponents.cpp"
     "src/components/TransformComponents.cpp"
     "src/components/ProxyShapeComponents.cpp"
     "src/components/DynamicsComponents.cpp"
diff --git a/src/components/BodyComponents.cpp b/src/components/CollisionBodyComponents.cpp
similarity index 94%
rename from src/components/BodyComponents.cpp
rename to src/components/CollisionBodyComponents.cpp
index 65541b3d..7e70a4be 100644
--- a/src/components/BodyComponents.cpp
+++ b/src/components/CollisionBodyComponents.cpp
@@ -24,7 +24,7 @@
 ********************************************************************************/
 
 // Libraries
-#include "BodyComponents.h"
+#include "CollisionBodyComponents.h"
 #include "engine/EntityManager.h"
 #include <cassert>
 #include <random>
@@ -33,7 +33,7 @@
 using namespace reactphysics3d;
 
 // Constructor
-BodyComponents::BodyComponents(MemoryAllocator& allocator)
+CollisionBodyComponents::CollisionBodyComponents(MemoryAllocator& allocator)
                     :Components(allocator, sizeof(Entity) + sizeof(CollisionBody*) + sizeof(List<Entity>) +
                                 sizeof(bool) + sizeof(bool) + sizeof(bool) + sizeof(decimal) +
                                 sizeof(void*)) {
@@ -43,7 +43,7 @@ BodyComponents::BodyComponents(MemoryAllocator& allocator)
 }
 
 // Allocate memory for a given number of components
-void BodyComponents::allocate(uint32 nbComponentsToAllocate) {
+void CollisionBodyComponents::allocate(uint32 nbComponentsToAllocate) {
 
     assert(nbComponentsToAllocate > mNbAllocatedComponents);
 
@@ -94,7 +94,7 @@ void BodyComponents::allocate(uint32 nbComponentsToAllocate) {
 }
 
 // Add a component
-void BodyComponents::addComponent(Entity bodyEntity, bool isSleeping, const BodyComponent& component) {
+void CollisionBodyComponents::addComponent(Entity bodyEntity, bool isSleeping, const BodyComponent& component) {
 
     // Prepare to add new component (allocate memory if necessary and compute insertion index)
     uint32 index = prepareAddComponent(isSleeping);
@@ -120,7 +120,7 @@ void BodyComponents::addComponent(Entity bodyEntity, bool isSleeping, const Body
 
 // Move a component from a source to a destination index in the components array
 // The destination location must contain a constructed object
-void BodyComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) {
+void CollisionBodyComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) {
 
     const Entity entity = mBodiesEntities[srcIndex];
 
@@ -146,7 +146,7 @@ void BodyComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex) {
 }
 
 // Swap two components in the array
-void BodyComponents::swapComponents(uint32 index1, uint32 index2) {
+void CollisionBodyComponents::swapComponents(uint32 index1, uint32 index2) {
 
     // Copy component 1 data
     Entity entity1(mBodiesEntities[index1]);
@@ -181,7 +181,7 @@ void BodyComponents::swapComponents(uint32 index1, uint32 index2) {
 }
 
 // Destroy a component at a given index
-void BodyComponents::destroyComponent(uint32 index) {
+void CollisionBodyComponents::destroyComponent(uint32 index) {
 
     Components::destroyComponent(index);
 
diff --git a/src/components/BodyComponents.h b/src/components/CollisionBodyComponents.h
similarity index 85%
rename from src/components/BodyComponents.h
rename to src/components/CollisionBodyComponents.h
index b99ac1f9..be53ceef 100644
--- a/src/components/BodyComponents.h
+++ b/src/components/CollisionBodyComponents.h
@@ -40,12 +40,12 @@ class MemoryAllocator;
 class EntityManager;
 class CollisionBody;
 
-// Class BodyComponents
+// Class CollisionBodyComponents
 /**
- * This class represent the component of the ECS that contains data about a physics body.
+ * This class represent the component of the ECS that contains data about a collision body.
  * The components of the sleeping entities (bodies) are always stored at the end of the array.
  */
-class BodyComponents : public Components {
+class CollisionBodyComponents : public Components {
 
     private:
 
@@ -105,10 +105,10 @@ class BodyComponents : public Components {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        BodyComponents(MemoryAllocator& allocator);
+        CollisionBodyComponents(MemoryAllocator& allocator);
 
         /// Destructor
-        virtual ~BodyComponents() override = default;
+        virtual ~CollisionBodyComponents() override = default;
 
         /// Add a component
         void addComponent(Entity bodyEntity, bool isSleeping, const BodyComponent& component);
@@ -157,7 +157,7 @@ class BodyComponents : public Components {
 };
 
 // Add a proxy-shape to a body component
-inline void BodyComponents::addProxyShapeToBody(Entity bodyEntity, Entity proxyShapeEntity) {
+inline void CollisionBodyComponents::addProxyShapeToBody(Entity bodyEntity, Entity proxyShapeEntity) {
 
     assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
 
@@ -165,7 +165,7 @@ inline void BodyComponents::addProxyShapeToBody(Entity bodyEntity, Entity proxyS
 }
 
 // Set the transform of an entity
-inline void BodyComponents::removeProxyShapeFromBody(Entity bodyEntity, Entity proxyShapeEntity) {
+inline void CollisionBodyComponents::removeProxyShapeFromBody(Entity bodyEntity, Entity proxyShapeEntity) {
 
     assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
 
@@ -173,7 +173,7 @@ inline void BodyComponents::removeProxyShapeFromBody(Entity bodyEntity, Entity p
 }
 
 // Return a pointer to a body
-inline CollisionBody *BodyComponents::getBody(Entity bodyEntity) {
+inline CollisionBody *CollisionBodyComponents::getBody(Entity bodyEntity) {
 
     assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
 
@@ -181,7 +181,7 @@ inline CollisionBody *BodyComponents::getBody(Entity bodyEntity) {
 }
 
 // Return the list of proxy-shapes of a body
-inline const List<Entity>& BodyComponents::getProxyShapes(Entity bodyEntity) const {
+inline const List<Entity>& CollisionBodyComponents::getProxyShapes(Entity bodyEntity) const {
 
     assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
 
@@ -189,7 +189,7 @@ inline const List<Entity>& BodyComponents::getProxyShapes(Entity bodyEntity) con
 }
 
 // Return true if the body is allowed to sleep
-inline bool BodyComponents::getIsAllowedToSleep(Entity bodyEntity) const {
+inline bool CollisionBodyComponents::getIsAllowedToSleep(Entity bodyEntity) const {
 
     assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
 
@@ -197,7 +197,7 @@ inline bool BodyComponents::getIsAllowedToSleep(Entity bodyEntity) const {
 }
 
 // Set the value to know if the body is allowed to sleep
-inline void BodyComponents::setIsAllowedToSleep(Entity bodyEntity, bool isAllowedToSleep) const {
+inline void CollisionBodyComponents::setIsAllowedToSleep(Entity bodyEntity, bool isAllowedToSleep) const {
 
     assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
 
@@ -205,7 +205,7 @@ inline void BodyComponents::setIsAllowedToSleep(Entity bodyEntity, bool isAllowe
 }
 
 // Return true if the body is active
-inline bool BodyComponents::getIsActive(Entity bodyEntity) const {
+inline bool CollisionBodyComponents::getIsActive(Entity bodyEntity) const {
 
     assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
 
@@ -213,7 +213,7 @@ inline bool BodyComponents::getIsActive(Entity bodyEntity) const {
 }
 
 // Set the value to know if the body is active
-inline void BodyComponents::setIsActive(Entity bodyEntity, bool isActive) const {
+inline void CollisionBodyComponents::setIsActive(Entity bodyEntity, bool isActive) const {
 
     assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
 
@@ -221,7 +221,7 @@ inline void BodyComponents::setIsActive(Entity bodyEntity, bool isActive) const
 }
 
 // Return true if the body is sleeping
-inline bool BodyComponents::getIsSleeping(Entity bodyEntity) const {
+inline bool CollisionBodyComponents::getIsSleeping(Entity bodyEntity) const {
 
     assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
 
@@ -229,7 +229,7 @@ inline bool BodyComponents::getIsSleeping(Entity bodyEntity) const {
 }
 
 // Set the value to know if the body is sleeping
-inline void BodyComponents::setIsSleeping(Entity bodyEntity, bool isSleeping) const {
+inline void CollisionBodyComponents::setIsSleeping(Entity bodyEntity, bool isSleeping) const {
 
     assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
 
@@ -237,7 +237,7 @@ inline void BodyComponents::setIsSleeping(Entity bodyEntity, bool isSleeping) co
 }
 
 // Return the sleep time
-inline decimal BodyComponents::getSleepTime(Entity bodyEntity) const {
+inline decimal CollisionBodyComponents::getSleepTime(Entity bodyEntity) const {
 
     assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
 
@@ -245,7 +245,7 @@ inline decimal BodyComponents::getSleepTime(Entity bodyEntity) const {
 }
 
 // Set the sleep time
-inline void BodyComponents::setSleepTime(Entity bodyEntity, decimal sleepTime) const {
+inline void CollisionBodyComponents::setSleepTime(Entity bodyEntity, decimal sleepTime) const {
 
     assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
 
@@ -253,7 +253,7 @@ inline void BodyComponents::setSleepTime(Entity bodyEntity, decimal sleepTime) c
 }
 
 // Return the user data associated with the body
-inline void* BodyComponents::getUserData(Entity bodyEntity) const {
+inline void* CollisionBodyComponents::getUserData(Entity bodyEntity) const {
 
     assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
 
@@ -261,7 +261,7 @@ inline void* BodyComponents::getUserData(Entity bodyEntity) const {
 }
 
 // Set the user data associated with the body
-inline void BodyComponents::setUserData(Entity bodyEntity, void* userData) const {
+inline void CollisionBodyComponents::setUserData(Entity bodyEntity, void* userData) const {
 
     assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
 
diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp
index 4476dae5..4d906e98 100644
--- a/src/engine/CollisionWorld.cpp
+++ b/src/engine/CollisionWorld.cpp
@@ -157,7 +157,7 @@ CollisionBody* CollisionWorld::createCollisionBody(const Transform& transform) {
     assert(collisionBody != nullptr);
 
     // Add the components
-    BodyComponents::BodyComponent bodyComponent(collisionBody);
+    CollisionBodyComponents::BodyComponent bodyComponent(collisionBody);
     mBodyComponents.addComponent(entity, false, bodyComponent);
 
     // Add the collision body to the world
diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h
index aef8201d..c627469b 100644
--- a/src/engine/CollisionWorld.h
+++ b/src/engine/CollisionWorld.h
@@ -33,7 +33,7 @@
 #include "constraint/Joint.h"
 #include "memory/MemoryManager.h"
 #include "engine/EntityManager.h"
-#include "components/BodyComponents.h"
+#include "components/CollisionBodyComponents.h"
 #include "components/TransformComponents.h"
 #include "components/ProxyShapeComponents.h"
 #include "components/DynamicsComponents.h"
@@ -77,7 +77,7 @@ class CollisionWorld {
         EntityManager mEntityManager;
 
         /// Body Components
-        BodyComponents mBodyComponents;
+        CollisionBodyComponents mBodyComponents;
 
         /// Transform Components
         TransformComponents mTransformComponents;
diff --git a/src/engine/ContactSolver.cpp b/src/engine/ContactSolver.cpp
index a290a9d0..d4f1e45f 100644
--- a/src/engine/ContactSolver.cpp
+++ b/src/engine/ContactSolver.cpp
@@ -30,7 +30,7 @@
 #include "constraint/ContactPoint.h"
 #include "utils/Profiler.h"
 #include "engine/Island.h"
-#include "components/BodyComponents.h"
+#include "components/CollisionBodyComponents.h"
 #include "components/DynamicsComponents.h"
 #include "components/ProxyShapeComponents.h"
 #include "collision/ContactManifold.h"
@@ -44,7 +44,7 @@ const decimal ContactSolver::BETA_SPLIT_IMPULSE = decimal(0.2);
 const decimal ContactSolver::SLOP = decimal(0.01);
 
 // Constructor
-ContactSolver::ContactSolver(MemoryManager& memoryManager, Islands& islands, BodyComponents& bodyComponents, DynamicsComponents& dynamicsComponents,
+ContactSolver::ContactSolver(MemoryManager& memoryManager, Islands& islands, CollisionBodyComponents& bodyComponents, DynamicsComponents& dynamicsComponents,
                              ProxyShapeComponents& proxyShapeComponents, const WorldSettings& worldSettings)
               :mMemoryManager(memoryManager), mContactConstraints(nullptr), mContactPoints(nullptr),
                mIslands(islands), mAllContactManifolds(nullptr), mAllContactPoints(nullptr), mBodyComponents(bodyComponents),
diff --git a/src/engine/ContactSolver.h b/src/engine/ContactSolver.h
index 5edfc38c..245dac07 100644
--- a/src/engine/ContactSolver.h
+++ b/src/engine/ContactSolver.h
@@ -43,7 +43,7 @@ class MemoryManager;
 class Profiler;
 class Island;
 class RigidBody;
-class BodyComponents;
+class CollisionBodyComponents;
 class DynamicsComponents;
 class ProxyShapeComponents;
 
@@ -310,7 +310,7 @@ class ContactSolver {
         List<ContactPoint>* mAllContactPoints;
 
         /// Reference to the body components
-        BodyComponents& mBodyComponents;
+        CollisionBodyComponents& mBodyComponents;
 
         /// Reference to the dynamics components
         DynamicsComponents& mDynamicsComponents;
@@ -359,7 +359,7 @@ class ContactSolver {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        ContactSolver(MemoryManager& memoryManager, Islands& islands, BodyComponents& bodyComponents,
+        ContactSolver(MemoryManager& memoryManager, Islands& islands, CollisionBodyComponents& bodyComponents,
                       DynamicsComponents& dynamicsComponents, ProxyShapeComponents& proxyShapeComponents,
                       const WorldSettings& worldSettings);
 
diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp
index 958dd7e6..620ce9e1 100644
--- a/src/engine/DynamicsWorld.cpp
+++ b/src/engine/DynamicsWorld.cpp
@@ -384,7 +384,7 @@ RigidBody* DynamicsWorld::createRigidBody(const Transform& transform) {
                                      sizeof(RigidBody))) RigidBody(transform, *this, entity);
     assert(rigidBody != nullptr);
 
-    BodyComponents::BodyComponent bodyComponent(rigidBody);
+    CollisionBodyComponents::BodyComponent bodyComponent(rigidBody);
     mBodyComponents.addComponent(entity, false, bodyComponent);
 
     // Add the rigid body to the physics world