diff --git a/test/tests/collision/TestPointInside.h b/test/tests/collision/TestPointInside.h
new file mode 100644
index 00000000..b08616f6
--- /dev/null
+++ b/test/tests/collision/TestPointInside.h
@@ -0,0 +1,745 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/      *
+* Copyright (c) 2010-2013 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.    *
+*                                                                               *
+********************************************************************************/
+
+#ifndef TEST_POINT_INSIDE_H
+#define TEST_POINT_INSIDE_H
+
+// Libraries
+#include "../../Test.h"
+#include "../../src/engine/CollisionWorld.h"
+#include "../../src/collision/shapes/BoxShape.h"
+#include "../../src/collision/shapes/SphereShape.h"
+#include "../../src/collision/shapes/CapsuleShape.h"
+#include "../../src/collision/shapes/ConeShape.h"
+#include "../../src/collision/shapes/ConvexMeshShape.h"
+#include "../../src/collision/shapes/CylinderShape.h"
+
+/// Reactphysics3D namespace
+namespace reactphysics3d {
+
+// Class TestPointInside
+/**
+ * Unit test for the CollisionBody::testPointInside() method.
+ */
+class TestPointInside : public Test {
+
+    private :
+
+        // ---------- Atributes ---------- //
+
+        // Physics world
+        DynamicsWorld* mWorld;
+
+        // Bodies
+        CollisionBody* mBoxBody;
+        CollisionBody* mSphereBody;
+        CollisionBody* mCapsuleBody;
+        CollisionBody* mConeBody;
+        CollisionBody* mConvexMeshBody;
+        CollisionBody* mConvexMeshBodyEdgesInfo;
+        CollisionBody* mCylinderBody;
+        CollisionBody* mCompoundBody;
+
+        // Transform
+        Transform mBodyTransform;
+        Transform mShapeTransform;
+        Transform mLocalShapeToWorld;
+        Transform mLocalShape2ToWorld;
+
+        // Collision Shapes
+        ProxyBoxShape* mBoxShape;
+        ProxySphereShape* mSpherShape;
+        ProxyCapsuleShape* mCapsuleShape;
+        ProxyConeShape* mConeShape;
+        ProxyConvexMeshShape* mConvexMeshShape;
+        ProxyConvexMeshShape* mConvexMeshShapeEdgesInfo;
+        ProxyCylinderShape* mCylinderShape;
+
+    public :
+
+        // ---------- Methods ---------- //
+
+        /// Constructor
+        TestPointInside() {
+
+            // Create the world
+            mWorld = new rp3d::CollisionWorld();
+
+            // Body transform
+            Vector3 position(-3, 2, 7);
+            Quaternion orientation(PI / 5, PI / 6, PI / 7);
+            mBodyTransform = Transform(position, orientation);
+
+            // Create the bodies
+            mBoxBody = mWorld->createCollisionBody(bodyTransform);
+            mSphereBody = mWorld->createCollisionBody(bodyTransform);
+            mCapsuleBody = mWorld->createCollisionBody(bodyTransform);
+            mConeBody = mWorld->createCollisionBody(bodyTransform);
+            mConvexMeshBody = mWorld->createCollisionBody(bodyTransform);
+            mConvexMeshBodyEdgesInfo = mWorld->createCollisionBody(bodyTransform);
+            mCylinderBody = mWorld->createCollisionBody(bodyTransform);
+
+            // Collision shape transform
+            Vector3 shapePosition(1, -4, -3);
+            Quaternion shapeOrientation(3 * PI / 6 , -PI / 8, PI / 3);
+            mShapeTransform = Transform(shapePosition, shapeOrientation);
+
+            // Compute the the transform from a local shape point to world-space
+            mLocalShapeToWorld = mBodyTransform * mShapeTransform;
+
+            // Create collision shapes
+            BoxShape boxShape(Vector3(2, 3, 4), 0);
+            mBoxShape = mBoxBody->addCollisionShape(boxShape, shapeTransform);
+
+            SphereShape sphereShape(3);
+            mSphereShape = mSphereBody->addCollisionShape(sphereShape, shapeTransform);
+
+            CapsuleShape capsuleShape(2, 10);
+            mCapsuleShape = mCapsuleBody->addCollisionShape(capsuleShape, shapeTransform);
+
+            ConeShape coneShape(2, 6, 0);
+            mConeShape = mConeBody->addCollisionShape(coneShape, shapeTransform);
+
+            // TODO : IMPLEMENT THIS
+            ConvexMeshShape convexMeshShape(0);             // Box of dimension (2, 3, 4)
+            convexMeshShape.addVertex(Vector3(-2, -3, 4));
+            convexMeshShape.addVertex(Vector3(2, -3, 4));
+            convexMeshShape.addVertex(Vector3(-2, -3, 4));
+            convexMeshShape.addVertex(Vector3(2, -3, -4));
+            convexMeshShape.addVertex(Vector3(-2, 3, 4));
+            convexMeshShape.addVertex(Vector3(2, 3, 4));
+            convexMeshShape.addVertex(Vector3(-2, 3, -4));
+            convexMeshShape.addVertex(Vector3(2, 3, -4));
+            mConvexMeshShape = mConvexMeshBody->addCollisionShape(convexMeshShape, shapeTransform);
+
+            ConvexMeshShape convexMeshShapeEdgesInfo(0);
+            convexMeshShapeEdgesInfo.addVertex(Vector3(-2, -3, 4));
+            convexMeshShapeEdgesInfo.addVertex(Vector3(2, -3, 4));
+            convexMeshShapeEdgesInfo.addVertex(Vector3(-2, -3, 4));
+            convexMeshShapeEdgesInfo.addVertex(Vector3(2, -3, -4));
+            convexMeshShapeEdgesInfo.addVertex(Vector3(-2, 3, 4));
+            convexMeshShapeEdgesInfo.addVertex(Vector3(2, 3, 4));
+            convexMeshShapeEdgesInfo.addVertex(Vector3(-2, 3, -4));
+            convexMeshShapeEdgesInfo.addVertex(Vector3(2, 3, -4));
+            convexMeshShapeEdgesInfo.addEdge(0, 1);
+            convexMeshShapeEdgesInfo.addEdge(1, 3);
+            convexMeshShapeEdgesInfo.addEdge(2, 3);
+            convexMeshShapeEdgesInfo.addEdge(0, 2);
+            convexMeshShapeEdgesInfo.addEdge(4, 5);
+            convexMeshShapeEdgesInfo.addEdge(5, 7);
+            convexMeshShapeEdgesInfo.addEdge(6, 7);
+            convexMeshShapeEdgesInfo.addEdge(4, 6);
+            convexMeshShapeEdgesInfo.addEdge(0, 4);
+            convexMeshShapeEdgesInfo.addEdge(1, 5);
+            convexMeshShapeEdgesInfo.addEdge(2, 6);
+            convexMeshShapeEdgesInfo.addEdge(3, 7);
+            convexMeshShapeEdgesInfo.setIsEdgesInformationUsed(true);
+            mConvexMeshShapeEdgesInfo = mConvexMeshBodyEdgesInfo->addCollisionShape(
+                                                                     convexMeshShapeEdgesInfo);
+
+            CylinderShape cylinderShape(3, 8, 0);
+            mCylinderShape = mCylinderBody->addCollisionShape(cylinderShape, shapeTransform);
+
+            // Compound shape is a cylinder and a sphere
+            Vector3 positionShape2(Vector3(4, 2, -3));
+            Quaternion orientationShape2(-3 *PI / 8, 1.5 * PI/ 3, PI / 13);
+            Transform shapeTransform2(positionShape2, orientationShape2);
+            mLocalShape2ToWorld = mBodyTransform * shapeTransform2;
+            mCompoundBody->addCollisionShape(cylinderShape, shapeTransform);
+            mCompoundBody->addCollisionShape(sphereShape, shapeTransform2);
+        }
+
+        /// Run the tests
+        void run() {
+            testBox();
+            testSphere();
+            testCapsule();
+            testCone();
+            testConvexMesh();
+            testCylinder();
+            testCompound();
+        }
+
+        /// Test the ProxyBoxShape::testPointInside() and
+        /// CollisionBody::testPointInside() methods
+        void testBox() {
+
+            // Tests with CollisionBody
+            test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
+            test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
+            test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
+            test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
+            test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
+            test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9)));
+            test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9)));
+            test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9)));
+            test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9)));
+            test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
+            test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5)));
+            test(mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5)));
+
+            test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
+            test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
+            test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
+            test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
+            test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1)));
+            test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1)));
+            test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1)));
+            test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1)));
+            test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5)));
+            test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5)));
+            test(!mBoxBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5)));
+
+            // Tests with ProxyBoxShape
+            test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
+            test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
+            test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
+            test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
+            test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
+            test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9)));
+            test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9)));
+            test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9)));
+            test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9)));
+            test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
+            test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5)));
+            test(mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5)));
+
+            test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
+            test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
+            test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
+            test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
+            test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1)));
+            test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1)));
+            test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1)));
+            test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1)));
+            test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5)));
+            test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5)));
+            test(!mBoxShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5)));
+        }
+
+        /// Test the ProxySphereShape::testPointInside() and
+        /// CollisionBody::testPointInside() methods
+        void testSphere() {
+
+            // Tests with CollisionBody
+            test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
+            test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, 0, 0)));
+            test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 0, 0)));
+            test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
+            test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
+            test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
+            test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
+            test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
+            test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -1.5)));
+            test(mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 1.5)));
+
+            test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0)));
+            test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0)));
+            test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
+            test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
+            test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1)));
+            test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1)));
+            test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-2, -2, -2)));
+            test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(-2, 2, -1.5)));
+            test(!mSphereBody->testPointInside(mLocalShapeToWorld * Vector3(1.5, -2, 2.5)));
+
+            // Tests with ProxySphereShape
+            test(mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
+            test(mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(2.9, 0, 0)));
+            test(mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 0, 0)));
+            test(mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
+            test(mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
+            test(mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
+            test(mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
+            test(mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
+            test(mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -1.5)));
+            test(mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 1.5)));
+
+            test(!mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0)));
+            test(!mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0)));
+            test(!mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
+            test(!mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
+            test(!mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1)));
+            test(!mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1)));
+            test(!mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(-2, -2, -2)));
+            test(!mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(-2, 2, -1.5)));
+            test(!mSphereShape->testPointInside(mLocalShapeToWorld * Vector3(1.5, -2, 2.5)));
+        }
+
+        /// Test the ProxyCapsuleShape::testPointInside() and
+        /// CollisionBody::testPointInside() methods
+        void testCapsule() {
+
+            // Tests with CollisionBody
+            test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
+            test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 0)));
+            test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 0)));
+            test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -6.9, 0)));
+            test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 6.9, 0)));
+            test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 1.9)));
+            test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -1.9)));
+            test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
+            test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
+            test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, 0.9)));
+            test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, -0.9)));
+            test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 1.9)));
+            test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, -1.9)));
+            test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 5, 0)));
+            test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 5, 0)));
+            test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, 5, 0.9)));
+            test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, 5, -0.9)));
+            test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 1.9)));
+            test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, -1.9)));
+            test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, -5, 0)));
+            test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -5, 0)));
+            test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, -5, 0.9)));
+            test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, -5, -0.9)));
+            test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1.8, -4, -1)));
+            test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, 0.4)));
+            test(mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.3, 1, 1.6)));
+
+            test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -7.1, 0)));
+            test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 7.1, 0)));
+            test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.1)));
+            test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -2.1)));
+            test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
+            test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
+            test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 2.1)));
+            test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, 5, -2.1)));
+            test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, 5, 0)));
+            test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 5, 0)));
+            test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.5, 5, 1.6)));
+            test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.5, 5, -1.7)));
+            test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 2.1)));
+            test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(0, -5, -2.1)));
+            test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, -5, 0)));
+            test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -5, 0)));
+            test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.5, -5, 1.6)));
+            test(!mCapsuleBody->testPointInside(mLocalShapeToWorld * Vector3(1.5, -5, -1.7)));
+
+            // Tests with ProxyCapsuleShape
+            test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
+            test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 0)));
+            test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 0)));
+            test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, -6.9, 0)));
+            test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 6.9, 0)));
+            test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 1.9)));
+            test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -1.9)));
+            test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
+            test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
+            test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, 0.9)));
+            test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, -0.9)));
+            test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 1.9)));
+            test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, -1.9)));
+            test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 5, 0)));
+            test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 5, 0)));
+            test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, 5, 0.9)));
+            test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, 5, -0.9)));
+            test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 1.9)));
+            test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, -1.9)));
+            test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, -5, 0)));
+            test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -5, 0)));
+            test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, -5, 0.9)));
+            test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, -5, -0.9)));
+            test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(-1.8, -4, -1)));
+            test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, 0.4)));
+            test(mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(1.3, 1, 1.6)));
+
+            test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, -7.1, 0)));
+            test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 7.1, 0)));
+            test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.1)));
+            test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -2.1)));
+            test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
+            test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
+            test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, 2.1)));
+            test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, 5, -2.1)));
+            test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 5, 0)));
+            test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 5, 0)));
+            test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(1.5, 5, 1.6)));
+            test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(1.5, 5, -1.7)));
+            test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, 2.1)));
+            test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(0, -5, -2.1)));
+            test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, -5, 0)));
+            test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -5, 0)));
+            test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(1.5, -5, 1.6)));
+            test(!mCapsuleShape->testPointInside(mLocalShapeToWorld * Vector3(1.5, -5, -1.7)));
+        }
+
+        /// Test the ProxyConeShape::testPointInside() and
+        /// CollisionBody::testPointInside() methods
+        void testCone() {
+
+            // Tests with CollisionBody
+            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
+            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, 0)));
+            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-0.9, 0, 0)));
+            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0.9)));
+            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -0.9)));
+            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0.6, 0, -0.7)));
+            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0.6, 0, 0.7)));
+            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-0.6, 0, -0.7)));
+            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-0.6, 0, 0.7)));
+            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
+            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
+            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(1.96, -2.9, 0)));
+            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-1.96, -2.9, 0)));
+            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 1.96)));
+            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, -1.96)));
+            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(1.3, -2.9, -1.4)));
+            test(mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-1.3, -2.9, 1.4)));
+
+            test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(1.1, 0, 0)));
+            test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-1.1, 0, 0)));
+            test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 1.1)));
+            test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -1.1)));
+            test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0.8, 0, -0.8)));
+            test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0.8, 0, 0.8)));
+            test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-0.8, 0, -0.8)));
+            test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-0.8, 0, 0.8)));
+            test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
+            test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
+            test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(1.97, -2.9, 0)));
+            test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-1.97, -2.9, 0)));
+            test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 1.97)));
+            test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, -1.97)));
+            test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(1.5, -2.9, -1.5)));
+            test(!mConeBody->testPointInside(mLocalShapeToWorld * Vector3(-1.5, -2.9, 1.5)));
+
+            // Tests with ProxyConeShape
+            test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
+            test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0.9, 0, 0)));
+            test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(-0.9, 0, 0)));
+            test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0.9)));
+            test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -0.9)));
+            test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0.6, 0, -0.7)));
+            test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0.6, 0, 0.7)));
+            test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(-0.6, 0, -0.7)));
+            test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(-0.6, 0, 0.7)));
+            test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
+            test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
+            test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(1.96, -2.9, 0)));
+            test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(-1.96, -2.9, 0)));
+            test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 1.96)));
+            test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, -1.96)));
+            test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(1.3, -2.9, -1.4)));
+            test(mConeShape->testPointInside(mLocalShapeToWorld * Vector3(-1.3, -2.9, 1.4)));
+
+            test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(1.1, 0, 0)));
+            test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(-1.1, 0, 0)));
+            test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 1.1)));
+            test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -1.1)));
+            test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0.8, 0, -0.8)));
+            test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0.8, 0, 0.8)));
+            test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(-0.8, 0, -0.8)));
+            test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(-0.8, 0, 0.8)));
+            test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
+            test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
+            test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(1.97, -2.9, 0)));
+            test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(-1.97, -2.9, 0)));
+            test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 1.97)));
+            test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, -1.97)));
+            test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(1.5, -2.9, -1.5)));
+            test(!mConeShape->testPointInside(mLocalShapeToWorld * Vector3(-1.5, -2.9, 1.5)));
+        }
+
+        /// Test the ProxyConvexMeshShape::testPointInside() and
+        /// CollisionBody::testPointInside() methods
+        void testConvexMesh() {
+
+            // ----- Tests without using edges information ----- //
+
+            // Tests with CollisionBody
+            test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
+            test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
+            test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
+            test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
+            test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
+            test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9)));
+            test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9)));
+            test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9)));
+            test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9)));
+            test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
+            test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5)));
+            test(mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5)));
+
+            test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
+            test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
+            test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
+            test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
+            test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1)));
+            test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1)));
+            test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1)));
+            test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1)));
+            test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5)));
+            test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5)));
+            test(!mConvexMeshBody->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5)));
+
+            // Tests with ProxyConvexMeshShape
+            test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
+            test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
+            test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
+            test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
+            test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
+            test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9)));
+            test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9)));
+            test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9)));
+            test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9)));
+            test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
+            test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5)));
+            test(mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5)));
+
+            test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
+            test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
+            test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
+            test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
+            test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1)));
+            test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1)));
+            test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1)));
+            test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1)));
+            test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5)));
+            test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5)));
+            test(!mConvexMeshShape->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5)));
+
+            // ----- Tests using edges information ----- //
+
+            // Tests with CollisionBody
+            test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
+            test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
+            test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
+            test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
+            test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
+            test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9)));
+            test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9)));
+            test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9)));
+            test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9)));
+            test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
+            test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5)));
+            test(mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5)));
+
+            test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
+            test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
+            test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
+            test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
+            test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1)));
+            test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1)));
+            test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1)));
+            test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1)));
+            test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5)));
+            test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5)));
+            test(!mConvexMeshBodyEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5)));
+
+            // Tests with ProxyConvexMeshShape
+            test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
+            test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-1.9, 0, 0)));
+            test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(1.9, 0, 0)));
+            test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, -2.9, 0)));
+            test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 2.9, 0)));
+            test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.9)));
+            test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.9)));
+            test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-1.9, -2.9, -3.9)));
+            test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(1.9, 2.9, 3.9)));
+            test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-1, -2, -1.5)));
+            test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-1, 2, -2.5)));
+            test(mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 3.5)));
+
+            test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-2.1, 0, 0)));
+            test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(2.1, 0, 0)));
+            test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, -3.1, 0)));
+            test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 3.1, 0)));
+            test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -4.1)));
+            test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 4.1)));
+            test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-2.1, -3.1, -4.1)));
+            test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(2.1, 3.1, 4.1)));
+            test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-10, -2, -1.5)));
+            test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(-1, 4, -2.5)));
+            test(!mConvexMeshShapeEdgesInfo->testPointInside(mLocalShapeToWorld * Vector3(1, -2, 4.5)));
+        }
+
+        /// Test the ProxyCylinderShape::testPointInside() and
+        /// CollisionBody::testPointInside() methods
+        void testCylinder() {
+
+            // Tests with CollisionBody
+            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
+            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 0)));
+            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 0)));
+            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, 0, 0)));
+            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 0, 0)));
+            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
+            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -2.9)));
+            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 0, 1.7)));
+            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 0, -1.7)));
+            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 0, -1.7)));
+            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 0, 1.7)));
+            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, 3.9, 0)));
+            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 3.9, 0)));
+            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 2.9)));
+            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, -2.9)));
+            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 3.9, 1.7)));
+            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 3.9, -1.7)));
+            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 3.9, -1.7)));
+            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 3.9, 1.7)));
+            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, -3.9, 0)));
+            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, -3.9, 0)));
+            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 2.9)));
+            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, -2.9)));
+            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, -3.9, 1.7)));
+            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, -3.9, -1.7)));
+            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -3.9, -1.7)));
+            test(mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -3.9, 1.7)));
+
+            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 4.1, 0)));
+            test(!!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, -4.1, 0)));
+            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0)));
+            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0)));
+            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1)));
+            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1)));
+            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.2, 0, 2.2)));
+            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.2, 0, -2.2)));
+            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.2, 0, -2.2)));
+            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.2, 0, 1.7)));
+            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(3.1, 3.9, 0)));
+            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 3.9, 0)));
+            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 3.1)));
+            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, -3.1)));
+            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.2, 3.9, 2.2)));
+            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.2, 3.9, -2.2)));
+            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.2, 3.9, -2.2)));
+            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.2, 3.9, 2.2)));
+            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(3.1, -3.9, 0)));
+            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-3.1, -3.9, 0)));
+            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 3.1)));
+            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, -3.1)));
+            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.2, -3.9, 2.2)));
+            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(2.2, -3.9, -2.2)));
+            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.2, -3.9, -2.2)));
+            test(!mCylinderBody->testPointInside(mLocalShapeToWorld * Vector3(-2.2, -3.9, 2.2)));
+
+            // Tests with ProxyCylinderShape
+            test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
+            test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 0)));
+            test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 0)));
+            test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(2.9, 0, 0)));
+            test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 0, 0)));
+            test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
+            test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -2.9)));
+            test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(1.7, 0, 1.7)));
+            test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(1.7, 0, -1.7)));
+            test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 0, -1.7)));
+            test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 0, 1.7)));
+            test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(2.9, 3.9, 0)));
+            test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 3.9, 0)));
+            test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 2.9)));
+            test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, -2.9)));
+            test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(1.7, 3.9, 1.7)));
+            test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(1.7, 3.9, -1.7)));
+            test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 3.9, -1.7)));
+            test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 3.9, 1.7)));
+            test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(2.9, -3.9, 0)));
+            test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-2.9, -3.9, 0)));
+            test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 2.9)));
+            test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, -2.9)));
+            test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(1.7, -3.9, 1.7)));
+            test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(1.7, -3.9, -1.7)));
+            test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -3.9, -1.7)));
+            test(mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -3.9, 1.7)));
+
+            test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 4.1, 0)));
+            test(!!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, -4.1, 0)));
+            test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(3.1, 0, 0)));
+            test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 0, 0)));
+            test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 3.1)));
+            test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -3.1)));
+            test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(2.2, 0, 2.2)));
+            test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(2.2, 0, -2.2)));
+            test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-2.2, 0, -2.2)));
+            test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-2.2, 0, 1.7)));
+            test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(3.1, 3.9, 0)));
+            test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-3.1, 3.9, 0)));
+            test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 3.1)));
+            test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, -3.1)));
+            test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(2.2, 3.9, 2.2)));
+            test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(2.2, 3.9, -2.2)));
+            test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-2.2, 3.9, -2.2)));
+            test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-2.2, 3.9, 2.2)));
+            test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(3.1, -3.9, 0)));
+            test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-3.1, -3.9, 0)));
+            test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 3.1)));
+            test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, -3.1)));
+            test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(2.2, -3.9, 2.2)));
+            test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(2.2, -3.9, -2.2)));
+            test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-2.2, -3.9, -2.2)));
+            test(!mCylinderShape->testPointInside(mLocalShapeToWorld * Vector3(-2.2, -3.9, 2.2)));
+        }
+
+        /// Test the CollisionBody::testPointInside() method
+        void testCompound() {
+
+            // Points on the cylinder
+            test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 0)));
+            test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 0)));
+            test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 0)));
+            test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, 0, 0)));
+            test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 0, 0)));
+            test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, 2.9)));
+            test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 0, -2.9)));
+            test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 0, 1.7)));
+            test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 0, -1.7)));
+            test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 0, -1.7)));
+            test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 0, 1.7)));
+            test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, 3.9, 0)));
+            test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, 3.9, 0)));
+            test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, 2.9)));
+            test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, 3.9, -2.9)));
+            test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 3.9, 1.7)));
+            test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, 3.9, -1.7)));
+            test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 3.9, -1.7)));
+            test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, 3.9, 1.7)));
+            test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(2.9, -3.9, 0)));
+            test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-2.9, -3.9, 0)));
+            test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, 2.9)));
+            test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(0, -3.9, -2.9)));
+            test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, -3.9, 1.7)));
+            test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(1.7, -3.9, -1.7)));
+            test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -3.9, -1.7)));
+            test(mCompoundBody->testPointInside(mLocalShapeToWorld * Vector3(-1.7, -3.9, 1.7)));
+
+            // Points on the sphere
+            test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(0, 0, 0)));
+            test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(2.9, 0, 0)));
+            test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(-2.9, 0, 0)));
+            test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(0, 2.9, 0)));
+            test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(0, -2.9, 0)));
+            test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(0, 0, 2.9)));
+            test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(0, 0, 2.9)));
+            test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(-1, -2, -1.5)));
+            test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(-1, 2, -1.5)));
+            test(mCompoundBody->testPointInside(mLocalShape2ToWorld * Vector3(1, -2, 1.5)));
+        }
+ };
+
+}
+
+#endif