diff --git a/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp b/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp
index 3d692501..8c0196b3 100644
--- a/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp
+++ b/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp
@@ -82,6 +82,17 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name)
 	mCapsule1->setColor(mGreyColorDemo);
 	mCapsule1->setSleepingColor(mRedColorDemo);
 
+    // ---------- Capsule 2 ---------- //
+    openglframework::Vector3 position4(-4, 0, 0);
+
+    // Create a cylinder and a corresponding collision body in the dynamics world
+    mCapsule2 = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, position4, mCollisionWorld, mMeshFolderPath);
+    mAllShapes.push_back(mCapsule2);
+
+    // Set the color
+    mCapsule2->setColor(mGreyColorDemo);
+    mCapsule2->setSleepingColor(mRedColorDemo);
+
     // ---------- Cone ---------- //
     //openglframework::Vector3 position4(0, 0, 0);
 
@@ -163,6 +174,12 @@ CollisionDetectionScene::~CollisionDetectionScene() {
     mCollisionWorld->destroyCollisionBody(mSphere2->getCollisionBody());
     delete mSphere2;
 
+    mCollisionWorld->destroyCollisionBody(mCapsule1->getCollisionBody());
+    delete mCapsule1;
+
+    mCollisionWorld->destroyCollisionBody(mCapsule2->getCollisionBody());
+    delete mCapsule2;
+
     /*
     // Destroy the corresponding rigid body from the dynamics world
     mCollisionWorld->destroyCollisionBody(mCone->getCollisionBody());
@@ -285,6 +302,7 @@ void CollisionDetectionScene::renderSinglePass(openglframework::Shader& shader,
     if (mSphere1->getCollisionBody()->isActive()) mSphere1->render(shader, worldToCameraMatrix, mIsWireframeEnabled);
     if (mSphere2->getCollisionBody()->isActive()) mSphere2->render(shader, worldToCameraMatrix, mIsWireframeEnabled);
 	if (mCapsule1->getCollisionBody()->isActive()) mCapsule1->render(shader, worldToCameraMatrix, mIsWireframeEnabled);
+    if (mCapsule2->getCollisionBody()->isActive()) mCapsule2->render(shader, worldToCameraMatrix, mIsWireframeEnabled);
 
     /*
     if (mBox->getCollisionBody()->isActive()) mBox->render(shader, worldToCameraMatrix);
diff --git a/testbed/scenes/collisiondetection/CollisionDetectionScene.h b/testbed/scenes/collisiondetection/CollisionDetectionScene.h
index c2aec0cd..2c33b3ac 100644
--- a/testbed/scenes/collisiondetection/CollisionDetectionScene.h
+++ b/testbed/scenes/collisiondetection/CollisionDetectionScene.h
@@ -51,8 +51,8 @@ const float CONE_RADIUS = 3.0f;
 const float CONE_HEIGHT = 5.0f;
 const float CYLINDER_RADIUS = 3.0f;
 const float CYLINDER_HEIGHT = 5.0f;
-const float CAPSULE_RADIUS = 3.0f;
-const float CAPSULE_HEIGHT = 5.0f;
+const float CAPSULE_RADIUS = 1.0f;
+const float CAPSULE_HEIGHT = 1.0f;
 const float DUMBBELL_HEIGHT = 5.0f;
 const int NB_RAYS = 100;
 const float RAY_LENGTH = 30.0f;
@@ -83,21 +83,29 @@ class ContactManager : public rp3d::CollisionCallback {
         /// This method will be called for each reported contact point
         virtual void notifyContact(const CollisionCallbackInfo& collisionCallbackInfo) override {
 
-            rp3d::Vector3 point1 = collisionCallbackInfo.contactPoint.localPoint1;
-            point1 = collisionCallbackInfo.proxyShape1->getLocalToWorldTransform() * point1;
-            openglframework::Vector3 position1(point1.x, point1.y, point1.z);
-            mContactPoints.push_back(ContactPoint(position1));
+            // For each contact point
+            rp3d::ContactPointInfo* contactPointInfo = collisionCallbackInfo.contactManifold.getFirstContactPointInfo();
+            while (contactPointInfo != nullptr) {
 
-            rp3d::Vector3 point2 = collisionCallbackInfo.contactPoint.localPoint2;
-            point2 = collisionCallbackInfo.proxyShape2->getLocalToWorldTransform() * point2;
-            openglframework::Vector3 position2(point2.x, point2.y, point2.z);
-            mContactPoints.push_back(ContactPoint(position2));
+                rp3d::Vector3 point1 = contactPointInfo->localPoint1;
+                point1 = collisionCallbackInfo.proxyShape1->getLocalToWorldTransform() * point1;
+                openglframework::Vector3 position1(point1.x, point1.y, point1.z);
+                mContactPoints.push_back(ContactPoint(position1));
 
-            // Create a line to display the normal at hit point
-            rp3d::Vector3 n = collisionCallbackInfo.contactPoint.normal;
-            openglframework::Vector3 normal(n.x, n.y, n.z);
-            Line* normalLine = new Line(position1, position1 + normal);
-            mNormals.push_back(normalLine);
+
+                rp3d::Vector3 point2 = contactPointInfo->localPoint2;
+                point2 = collisionCallbackInfo.proxyShape2->getLocalToWorldTransform() * point2;
+                openglframework::Vector3 position2(point2.x, point2.y, point2.z);
+                mContactPoints.push_back(ContactPoint(position2));
+
+                // Create a line to display the normal at hit point
+                rp3d::Vector3 n = contactPointInfo->normal;
+                openglframework::Vector3 normal(n.x, n.y, n.z);
+                Line* normalLine = new Line(position1, position1 + normal);
+                mNormals.push_back(normalLine);
+
+                contactPointInfo = contactPointInfo->next;
+            }
         }
 
         void resetPoints() {