diff --git a/sources/reactphysics3d/engine/CollisionEngine.cpp b/sources/reactphysics3d/engine/CollisionEngine.cpp
index c1bd50e3..772d1490 100644
--- a/sources/reactphysics3d/engine/CollisionEngine.cpp
+++ b/sources/reactphysics3d/engine/CollisionEngine.cpp
@@ -27,7 +27,6 @@ using namespace reactphysics3d;
 // Constructor
 CollisionEngine::CollisionEngine(CollisionWorld* world, const Time& timeStep)
                    :DynamicEngine(world, timeStep) {
-
 }
 
  // Destructor
@@ -37,43 +36,27 @@ CollisionEngine::~CollisionEngine() {
 
 // Update the physics simulation
 void CollisionEngine::update() {
-
     CollisionWorld* collisionWorld = dynamic_cast<CollisionWorld*>(world);
     assert(collisionWorld != 0);
 
     // While the time accumulator is not empty
     while(timer.getAccumulator() >= timer.getTimeStep().getValue()) {
+
         // Remove all old collision contact constraints
         collisionWorld->removeAllContactConstraints();
 
-        Time timeFirst(0);             // First collision time
-        Time timeLast(DBL_MAX);        // Last collision separation time
-
         // Compute the collision detection
-        if (collisionDetection.computeCollisionDetection(collisionWorld, timer.getTimeStep(), timeFirst)) {
-            // For each body in the dynamic world
-            for(std::vector<Body*>::const_iterator it = world->getBodyListStartIterator(); it != world->getBodyListEndIterator(); ++it) {
-                // If the body is a RigidBody and if the rigid body motion is enabled
-                RigidBody* rigidBody = dynamic_cast<RigidBody*>(*it);
-                if (rigidBody && rigidBody->getIsMotionEnabled()) {
-                    // Update the state of the rigid body
-                    updateBodyState(rigidBody, timeFirst);
-                }
-
-                // Stop the body (TO DELETE)
-                rigidBody->setIsMotionEnabled(false); // TODO : DELETE THIS
-            }
+        if (collisionDetection.computeCollisionDetection(collisionWorld)) {
+            // TODO : Do collision response here
         }
-        else {
-            // For each body in the dynamic world
-            for(std::vector<Body*>::const_iterator it = world->getBodyListStartIterator(); it != world->getBodyListEndIterator(); ++it) {
-                // If the body is a RigidBody and if the rigid body motion is enabled
-                RigidBody* rigidBody = dynamic_cast<RigidBody*>(*it);
-                if (rigidBody && rigidBody->getIsMotionEnabled()) {
-                    // Update the state of the rigid body with an entire time step
-                    updateBodyState(rigidBody, timer.getTimeStep());
-                    std::cout << "NO NO NO" << std::endl;   // TODO : DELETE THIS
-                }
+
+        // For each body in the dynamic world
+        for(std::vector<Body*>::const_iterator it = world->getBodyListStartIterator(); it != world->getBodyListEndIterator(); ++it) {
+            // If the body is a RigidBody and if the rigid body motion is enabled
+            RigidBody* rigidBody = dynamic_cast<RigidBody*>(*it);
+            if (rigidBody && rigidBody->getIsMotionEnabled()) {
+                // Update the state of the rigid body with an entire time step
+                updateBodyState(rigidBody, timer.getTimeStep());
             }
         }
 
@@ -81,7 +64,7 @@ void CollisionEngine::update() {
         timer.update();
     }
 
-    // For each body in the dynamic world
+    // For each body in the the dynamic world
     for(std::vector<Body*>::const_iterator it = world->getBodyListStartIterator(); it != world->getBodyListEndIterator(); ++it) {
         // If the body is a RigidBody and if the rigid body motion is enabled
         RigidBody* rigidBody = dynamic_cast<RigidBody*>(*it);
diff --git a/sources/reactphysics3d/engine/CollisionEngine.h b/sources/reactphysics3d/engine/CollisionEngine.h
index 96125210..d9bf99b8 100644
--- a/sources/reactphysics3d/engine/CollisionEngine.h
+++ b/sources/reactphysics3d/engine/CollisionEngine.h
@@ -36,7 +36,7 @@ namespace reactphysics3d {
 class CollisionEngine : public DynamicEngine {
     private :
         CollisionDetection collisionDetection;          // Collision detection
-        // ConstraintSolver constraintSolver;              // Constraint solver
+        // ConstraintSolver constraintSolver;           // Constraint solver
 
     public :
         CollisionEngine(CollisionWorld* world, const Time& timeStep);       // Constructor
diff --git a/sources/reactphysics3d/engine/DynamicEngine.cpp b/sources/reactphysics3d/engine/DynamicEngine.cpp
index e829c6a4..ee33b051 100644
--- a/sources/reactphysics3d/engine/DynamicEngine.cpp
+++ b/sources/reactphysics3d/engine/DynamicEngine.cpp
@@ -19,8 +19,7 @@
 
 // Libraries
 #include "DynamicEngine.h"
-#include "RK4.h"
-#include "Euler.h"
+#include "integration/RungeKutta.h"
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;
@@ -35,7 +34,7 @@ DynamicEngine::DynamicEngine(DynamicWorld* world, const Time& timeStep)
     }
 
     // Creation of the RK4 integration algorithm
-    integrationAlgorithm = new RK4();
+    integrationAlgorithm = new RungeKutta4();
 }
 
 // Copy-constructor
@@ -67,7 +66,6 @@ void DynamicEngine::updateBodyState(RigidBody* const rigidBody, const Time& time
 
     // If the body state has changed, we have to update some informations in the rigid body
     rigidBody->update();
-
 }
 
 // Update the physics simulation
diff --git a/sources/reactphysics3d/engine/DynamicEngine.h b/sources/reactphysics3d/engine/DynamicEngine.h
index 92886e6e..ef27d6ef 100644
--- a/sources/reactphysics3d/engine/DynamicEngine.h
+++ b/sources/reactphysics3d/engine/DynamicEngine.h
@@ -22,7 +22,7 @@
 
 // Libraries
 #include "PhysicsEngine.h"
-#include "IntegrationAlgorithm.h"
+#include "../integration/IntegrationAlgorithm.h"
 #include "../body/Body.h"
 #include "../body/RigidBody.h"
 #include "../body/BodyState.h"