diff --git a/src/collision/shapes/HeightFieldShape.cpp b/src/collision/shapes/HeightFieldShape.cpp
index d978b99c..0d3a9265 100644
--- a/src/collision/shapes/HeightFieldShape.cpp
+++ b/src/collision/shapes/HeightFieldShape.cpp
@@ -57,7 +57,7 @@ HeightFieldShape::HeightFieldShape(int nbWidthGridPoints, int nbLengthGridPoints
     mHeightFieldData = heightFieldData;
 
     decimal halfHeight = (mMaxHeight - mMinHeight) * decimal(0.5);
-    assert(halfHeight > 0);
+    assert(halfHeight >= 0);
 
     // Compute the local AABB of the height field
     if (mUpAxis == 0) {
diff --git a/src/collision/shapes/HeightFieldShape.h b/src/collision/shapes/HeightFieldShape.h
index bfbfec22..1aa1e1c9 100644
--- a/src/collision/shapes/HeightFieldShape.h
+++ b/src/collision/shapes/HeightFieldShape.h
@@ -198,22 +198,23 @@ inline Vector3 HeightFieldShape::getVertexAt(int x, int y) const {
     // Get the height value
     const decimal height = getHeightAt(x, y);
 
-    // Get the difference between the center of AABB and zero level of the height field
-    const decimal originToZeroHeight = (mMaxHeight - mMinHeight) * decimal(0.5);
+    // Height values origin
+    const decimal heightOrigin = -(mMaxHeight - mMinHeight) * decimal(0.5) - mMinHeight;
 
     Vector3 vertex;
     switch (mUpAxis) {
-        case 0: vertex = Vector3(height - originToZeroHeight, -mWidth * decimal(0.5) + x, -mLength * decimal(0.5) + y) * mScaling;
+        case 0: vertex = Vector3(heightOrigin + height, -mWidth * decimal(0.5) + x, -mLength * decimal(0.5) + y);
                 break;
-        case 1: vertex = Vector3(-mWidth * decimal(0.5) + x, height - originToZeroHeight, -mLength * decimal(0.5) + y) * mScaling;
+        case 1: vertex = Vector3(-mWidth * decimal(0.5) + x, heightOrigin + height, -mLength * decimal(0.5) + y);
                 break;
-        case 2: vertex = Vector3(-mWidth * decimal(0.5) + x, -mLength * decimal(0.5) + y, height - originToZeroHeight) * mScaling;
+        case 2: vertex = Vector3(-mWidth * decimal(0.5) + x, -mLength * decimal(0.5) + y, heightOrigin + height);
                 break;
         default: assert(false);
     }
 
     assert(mAABB.contains(vertex));
-    return vertex;
+
+    return vertex * mScaling;
 }
 
 // Return the height of a given (x,y) point in the height field
diff --git a/testbed/common/HeightField.cpp b/testbed/common/HeightField.cpp
index d32f85bc..b30d7768 100644
--- a/testbed/common/HeightField.cpp
+++ b/testbed/common/HeightField.cpp
@@ -25,6 +25,7 @@
 
 // Libraries
 #include "HeightField.h"
+#include "PerlinNoise.h"
 
 // Constructor
 HeightField::HeightField(const openglframework::Vector3 &position,
@@ -47,7 +48,7 @@ HeightField::HeightField(const openglframework::Vector3 &position,
 
     // Create the collision shape for the rigid body (convex mesh shape) and
     // do not forget to delete it at the end
-    mHeightFieldShape = new rp3d::HeightFieldShape(HEIGHTFIELD_WIDTH, HEIGHTFIELD_LENGTH, 0, 5,
+    mHeightFieldShape = new rp3d::HeightFieldShape(NB_POINTS_WIDTH, NB_POINTS_LENGTH, mMinHeight, mMaxHeight,
                                                mHeightData, rp3d::HeightFieldShape::HEIGHT_FLOAT_TYPE);
 
     // Initial position and orientation of the rigid body
@@ -90,7 +91,7 @@ HeightField::HeightField(const openglframework::Vector3 &position, float mass,
 
     // Create the collision shape for the rigid body (convex mesh shape) and
     // do not forget to delete it at the end
-    mHeightFieldShape = new rp3d::HeightFieldShape(HEIGHTFIELD_WIDTH, HEIGHTFIELD_LENGTH, 0, 5,
+    mHeightFieldShape = new rp3d::HeightFieldShape(NB_POINTS_WIDTH, NB_POINTS_LENGTH, mMinHeight, mMaxHeight,
                                                    mHeightData, rp3d::HeightFieldShape::HEIGHT_FLOAT_TYPE);
 
     // Initial position and orientation of the rigid body
@@ -188,12 +189,33 @@ void HeightField::render(openglframework::Shader& shader,
 // Compute the heights of the height field
 void HeightField::generateHeightField() {
 
-    mMinHeight = 0.0;
-    mMaxHeight = 5.0;
+    double persistence = 6;
+    double frequency = 0.13;
+    double amplitude = 18;
+    int octaves = 1;
+    int randomseed = 779;
+    PerlinNoise perlinNoise(persistence, frequency, amplitude, octaves, randomseed);
 
-    for (int i=0; i<HEIGHTFIELD_WIDTH; i++) {
-        for (int j=0; j<HEIGHTFIELD_LENGTH; j++) {
-            mHeightData[i][j] = 5.0f;
+    mMinHeight = 0;
+    mMaxHeight = 5;
+
+    float width = (NB_POINTS_WIDTH - 1);
+    float length = (NB_POINTS_LENGTH - 1);
+
+    for (int i=0; i<NB_POINTS_WIDTH; i++) {
+        for (int j=0; j<NB_POINTS_LENGTH; j++) {
+
+            int arrayIndex = j * NB_POINTS_WIDTH + i;
+
+            mHeightData[arrayIndex] = (float)(perlinNoise.GetHeight(-width * 0.5 + i, -length * 0.5 + j));
+
+            if (i==0 && j==0) {
+                mMinHeight = mHeightData[arrayIndex] ;
+                mMaxHeight = mHeightData[arrayIndex] ;
+            }
+
+            if (mHeightData[arrayIndex]  > mMaxHeight) mMaxHeight = mHeightData[arrayIndex] ;
+            if (mHeightData[arrayIndex]  < mMinHeight) mMinHeight = mHeightData[arrayIndex] ;
         }
     }
 }
@@ -204,21 +226,27 @@ void HeightField::generateGraphicsMesh() {
     std::vector<uint> indices;
     int vertexId = 0;
 
-    for (int i=0; i<HEIGHTFIELD_WIDTH; i++) {
-        for (int j=0; j<HEIGHTFIELD_LENGTH; j++) {
+    float horizontalScale = 1.0f;
 
-            float height = mHeightData[i][j] - (mMaxHeight - mMinHeight) * 0.5f;
-            openglframework::Vector3 vertex(-(HEIGHTFIELD_WIDTH - 1) * 0.5f + i, height, -(HEIGHTFIELD_LENGTH - 1) * 0.5 + j);
+    for (int i=0; i<NB_POINTS_WIDTH; i++) {
+        for (int j=0; j<NB_POINTS_LENGTH; j++) {
+
+            float originHeight = -(mMaxHeight - mMinHeight) * 0.5f - mMinHeight;
+            float height = originHeight + mHeightData[j * NB_POINTS_WIDTH + i];
+            openglframework::Vector3 vertex(-(NB_POINTS_WIDTH - 1) * 0.5f + i, height, -(NB_POINTS_LENGTH - 1) * 0.5f + j);
+
+            vertex.x *= horizontalScale;
+            vertex.z *= horizontalScale;
 
             mVertices.push_back(vertex);
 
             // Triangle indices
-            if ((i < HEIGHTFIELD_WIDTH - 1) && (j < HEIGHTFIELD_LENGTH - 1)) {
+            if ((i < NB_POINTS_WIDTH - 1) && (j < NB_POINTS_LENGTH - 1)) {
 
                 int v1 = vertexId;
                 int v2 = vertexId + 1;
-                int v3 = vertexId + HEIGHTFIELD_LENGTH;
-                int v4 = vertexId + HEIGHTFIELD_LENGTH + 1;
+                int v3 = vertexId + NB_POINTS_LENGTH;
+                int v4 = vertexId + NB_POINTS_LENGTH + 1;
 
                 // First triangle
                 indices.push_back(v1);
@@ -326,4 +354,3 @@ void HeightField::setScaling(const openglframework::Vector3& scaling) {
                                               0, 0, scaling.z, 0,
                                               0, 0, 0, 1.0f);
 }
-
diff --git a/testbed/common/HeightField.h b/testbed/common/HeightField.h
index 3424e241..dc7b87b2 100644
--- a/testbed/common/HeightField.h
+++ b/testbed/common/HeightField.h
@@ -31,18 +31,19 @@
 #include "reactphysics3d.h"
 #include "PhysicsObject.h"
 
+
 // Class HeightField
 class HeightField : public openglframework::Mesh, public PhysicsObject {
 
     private :
 
-        static const int HEIGHTFIELD_WIDTH = 10;
-        static const int HEIGHTFIELD_LENGTH = 5;
+        static const int NB_POINTS_WIDTH = 100;
+        static const int NB_POINTS_LENGTH = 100;
 
         // -------------------- Attributes -------------------- //
 
         /// Height field data
-        float mHeightData[HEIGHTFIELD_WIDTH][HEIGHTFIELD_LENGTH];
+        float mHeightData[NB_POINTS_WIDTH * NB_POINTS_LENGTH];
 
         /// Previous transform (for interpolation)
         rp3d::Transform mPreviousTransform;
@@ -74,13 +75,13 @@ class HeightField : public openglframework::Mesh, public PhysicsObject {
 
         // -------------------- Methods -------------------- //
 
-        // Create the Vertex Buffer Objects used to render with OpenGL.
+        /// Create the Vertex Buffer Objects used to render with OpenGL.
         void createVBOAndVAO();
 
-        // Compute the heights of the height field
+        /// Compute the heights of the height field
         void generateHeightField();
 
-        // Generate the graphics mesh to render the height field
+        /// Generate the graphics mesh to render the height field
         void generateGraphicsMesh();
 
     public :
diff --git a/testbed/common/PerlinNoise.cpp b/testbed/common/PerlinNoise.cpp
new file mode 100644
index 00000000..c4befc21
--- /dev/null
+++ b/testbed/common/PerlinNoise.cpp
@@ -0,0 +1,111 @@
+#include "PerlinNoise.h"
+
+PerlinNoise::PerlinNoise()
+{
+  persistence = 0;
+  frequency = 0;
+  amplitude  = 0;
+  octaves = 0;
+  randomseed = 0;
+}
+
+PerlinNoise::PerlinNoise(double _persistence, double _frequency, double _amplitude, int _octaves, int _randomseed)
+{
+  persistence = _persistence;
+  frequency = _frequency;
+  amplitude  = _amplitude;
+  octaves = _octaves;
+  randomseed = 2 + _randomseed * _randomseed;
+}
+
+void PerlinNoise::Set(double _persistence, double _frequency, double _amplitude, int _octaves, int _randomseed)
+{
+  persistence = _persistence;
+  frequency = _frequency;
+  amplitude  = _amplitude;
+  octaves = _octaves;
+  randomseed = 2 + _randomseed * _randomseed;
+}
+
+double PerlinNoise::GetHeight(double x, double y) const
+{
+  return amplitude * Total(x, y);
+}
+
+double PerlinNoise::Total(double i, double j) const
+{
+    //properties of one octave (changing each loop)
+    double t = 0.0f;
+    double _amplitude = 1;
+    double freq = frequency;
+
+    for(int k = 0; k < octaves; k++)
+    {
+        t += GetValue(j * freq + randomseed, i * freq + randomseed) * _amplitude;
+        _amplitude *= persistence;
+        freq *= 2;
+    }
+
+    return t;
+}
+
+double PerlinNoise::GetValue(double x, double y) const
+{
+    int Xint = (int)x;
+    int Yint = (int)y;
+    double Xfrac = x - Xint;
+    double Yfrac = y - Yint;
+
+  //noise values
+  double n01 = Noise(Xint-1, Yint-1);
+  double n02 = Noise(Xint+1, Yint-1);
+  double n03 = Noise(Xint-1, Yint+1);
+  double n04 = Noise(Xint+1, Yint+1);
+  double n05 = Noise(Xint-1, Yint);
+  double n06 = Noise(Xint+1, Yint);
+  double n07 = Noise(Xint, Yint-1);
+  double n08 = Noise(Xint, Yint+1);
+  double n09 = Noise(Xint, Yint);
+
+  double n12 = Noise(Xint+2, Yint-1);
+  double n14 = Noise(Xint+2, Yint+1);
+  double n16 = Noise(Xint+2, Yint);
+
+  double n23 = Noise(Xint-1, Yint+2);
+  double n24 = Noise(Xint+1, Yint+2);
+  double n28 = Noise(Xint, Yint+2);
+
+  double n34 = Noise(Xint+2, Yint+2);
+
+    //find the noise values of the four corners
+    double x0y0 = 0.0625*(n01+n02+n03+n04) + 0.125*(n05+n06+n07+n08) + 0.25*(n09);
+    double x1y0 = 0.0625*(n07+n12+n08+n14) + 0.125*(n09+n16+n02+n04) + 0.25*(n06);
+    double x0y1 = 0.0625*(n05+n06+n23+n24) + 0.125*(n03+n04+n09+n28) + 0.25*(n08);
+    double x1y1 = 0.0625*(n09+n16+n28+n34) + 0.125*(n08+n14+n06+n24) + 0.25*(n04);
+
+    //interpolate between those values according to the x and y fractions
+    double v1 = Interpolate(x0y0, x1y0, Xfrac); //interpolate in x direction (y)
+    double v2 = Interpolate(x0y1, x1y1, Xfrac); //interpolate in x direction (y+1)
+    double fin = Interpolate(v1, v2, Yfrac);  //interpolate in y direction
+
+    return fin;
+}
+
+double PerlinNoise::Interpolate(double x, double y, double a) const
+{
+    double negA = 1.0 - a;
+  double negASqr = negA * negA;
+    double fac1 = 3.0 * (negASqr) - 2.0 * (negASqr * negA);
+  double aSqr = a * a;
+    double fac2 = 3.0 * aSqr - 2.0 * (aSqr * a);
+
+    return x * fac1 + y * fac2; //add the weighted factors
+}
+
+double PerlinNoise::Noise(int x, int y) const
+{
+    int n = x + y * 57;
+    n = (n << 13) ^ n;
+  int t = (n * (n * n * 15731 + 789221) + 1376312589) & 0x7fffffff;
+    return 1.0 - double(t) * 0.931322574615478515625e-9;/// 1073741824.0);
+}
diff --git a/testbed/common/PerlinNoise.h b/testbed/common/PerlinNoise.h
new file mode 100644
index 00000000..8fa2dd4a
--- /dev/null
+++ b/testbed/common/PerlinNoise.h
@@ -0,0 +1,44 @@
+#ifndef PERLIN_NOISE_H
+#define PERLIN_NOISE_H
+
+/// Class PerlinNoise
+/// Code from http://stackoverflow.com/questions/4753055/perlin-noise-generation-for-terrain
+class PerlinNoise {
+
+    public:
+
+      // Constructor
+      PerlinNoise();
+      PerlinNoise(double _persistence, double _frequency, double _amplitude, int _octaves, int _randomseed);
+
+      // Get Height
+      double GetHeight(double x, double y) const;
+
+      // Get
+      double Persistence() const { return persistence; }
+      double Frequency()   const { return frequency;   }
+      double Amplitude()   const { return amplitude;   }
+      int    Octaves()     const { return octaves;     }
+      int    RandomSeed()  const { return randomseed;  }
+
+      // Set
+      void Set(double _persistence, double _frequency, double _amplitude, int _octaves, int _randomseed);
+
+      void SetPersistence(double _persistence) { persistence = _persistence; }
+      void SetFrequency(  double _frequency)   { frequency = _frequency;     }
+      void SetAmplitude(  double _amplitude)   { amplitude = _amplitude;     }
+      void SetOctaves(    int    _octaves)     { octaves = _octaves;         }
+      void SetRandomSeed( int    _randomseed)  { randomseed = _randomseed;   }
+
+    private:
+
+        double Total(double i, double j) const;
+        double GetValue(double x, double y) const;
+        double Interpolate(double x, double y, double a) const;
+        double Noise(int x, int y) const;
+
+        double persistence, frequency, amplitude;
+        int octaves, randomseed;
+};
+
+#endif
diff --git a/testbed/scenes/heightfield/HeightFieldScene.cpp b/testbed/scenes/heightfield/HeightFieldScene.cpp
index 01d7613f..7ee6edd3 100644
--- a/testbed/scenes/heightfield/HeightFieldScene.cpp
+++ b/testbed/scenes/heightfield/HeightFieldScene.cpp
@@ -164,7 +164,7 @@ void HeightFieldScene::reset() {
     rp3d::Transform transform(rp3d::Vector3(0, 0, 0), initOrientation);
     mHeightField->resetTransform(transform);
 
-    rp3d::Vector3 spherePos(-3.6, 15, 1.7);
+    rp3d::Vector3 spherePos(0, 13, 0);
     rp3d::Transform sphereTransform(spherePos, initOrientation);
     mBox->resetTransform(sphereTransform);
 }