diff --git a/src/collision/ContactManifoldSet.cpp b/src/collision/ContactManifoldSet.cpp
index 86c31371..49362032 100644
--- a/src/collision/ContactManifoldSet.cpp
+++ b/src/collision/ContactManifoldSet.cpp
@@ -163,10 +163,11 @@ short int ContactManifoldSet::computeCubemapNormalId(const Vector3& normal) cons
 }
 
 // Update the contact manifolds
-void ContactManifoldSet::update(const Transform& transform1, const Transform& transform2) {
+void ContactManifoldSet::update() {
 
     for (int i=0; i<mNbManifolds; i++) {
-        mManifolds[i]->update(transform1, transform2);
+        mManifolds[i]->update(mShape1->getBody()->getTransform() * mShape1->getLocalToBodyTransform(),
+                              mShape2->getBody()->getTransform() * mShape2->getLocalToBodyTransform());
     }
 }
 
diff --git a/src/collision/ContactManifoldSet.h b/src/collision/ContactManifoldSet.h
index 9df75ae3..cb0bd2a7 100644
--- a/src/collision/ContactManifoldSet.h
+++ b/src/collision/ContactManifoldSet.h
@@ -93,11 +93,17 @@ class ContactManifoldSet {
         /// Destructor
         ~ContactManifoldSet();
 
+        /// Return the first proxy shape
+        ProxyShape* getShape1() const;
+
+        /// Return the second proxy shape
+        ProxyShape* getShape2() const;
+
         /// Add a contact point to the manifold set
         void addContactPoint(ContactPoint* contact);
 
         /// Update the contact manifolds
-        void update(const Transform& transform1, const Transform& transform2);
+        void update();
 
         /// Clear the contact manifold set
         void clear();
@@ -112,6 +118,16 @@ class ContactManifoldSet {
         int getTotalNbContactPoints() const;
 };
 
+// Return the first proxy shape
+inline ProxyShape* ContactManifoldSet::getShape1() const {
+    return mShape1;
+}
+
+// Return the second proxy shape
+inline ProxyShape* ContactManifoldSet::getShape2() const {
+    return mShape2;
+}
+
 // Return the number of manifolds in the set
 inline int ContactManifoldSet::getNbContactManifolds() const {
     return mNbManifolds;
diff --git a/src/engine/OverlappingPair.cpp b/src/engine/OverlappingPair.cpp
index d08b3f5f..300c4527 100644
--- a/src/engine/OverlappingPair.cpp
+++ b/src/engine/OverlappingPair.cpp
@@ -32,8 +32,7 @@ using namespace reactphysics3d;
 // Constructor
 OverlappingPair::OverlappingPair(ProxyShape* shape1, ProxyShape* shape2,
                                  int nbMaxContactManifolds, MemoryAllocator& memoryAllocator)
-                : mShape1(shape1), mShape2(shape2),
-                  mContactManifoldSet(shape1, shape2, memoryAllocator, nbMaxContactManifolds),
+                : mContactManifoldSet(shape1, shape2, memoryAllocator, nbMaxContactManifolds),
                   mCachedSeparatingAxis(1.0, 1.0, 1.0) {
     
 }
diff --git a/src/engine/OverlappingPair.h b/src/engine/OverlappingPair.h
index 89c612b9..134770f0 100644
--- a/src/engine/OverlappingPair.h
+++ b/src/engine/OverlappingPair.h
@@ -51,12 +51,6 @@ class OverlappingPair {
 
         // -------------------- Attributes -------------------- //
 
-        /// Pointer to the first proxy collision shape
-        ProxyShape* mShape1;
-
-        /// Pointer to the second proxy collision shape
-        ProxyShape* mShape2;
-
         /// Set of persistent contact manifolds
         ContactManifoldSet mContactManifoldSet;
 
@@ -122,12 +116,12 @@ class OverlappingPair {
 
 // Return the pointer to first body
 inline ProxyShape* OverlappingPair::getShape1() const {
-    return mShape1;
+    return mContactManifoldSet.getShape1();
 }          
 
 // Return the pointer to second body
 inline ProxyShape* OverlappingPair::getShape2() const {
-    return mShape2;
+    return mContactManifoldSet.getShape2();
 }                
 
 // Add a contact to the contact manifold
@@ -137,8 +131,7 @@ inline void OverlappingPair::addContact(ContactPoint* contact) {
 
 // Update the contact manifold
 inline void OverlappingPair::update() {
-    mContactManifoldSet.update(mShape1->getBody()->getTransform() * mShape1->getLocalToBodyTransform(),
-                               mShape2->getBody()->getTransform() *mShape2->getLocalToBodyTransform());
+    mContactManifoldSet.update();
 }
 
 // Return the cached separating axis