diff --git a/src/collision/EPA/EPAAlgorithm.cpp b/src/collision/EPA/EPAAlgorithm.cpp
index f19562fd..045a3421 100644
--- a/src/collision/EPA/EPAAlgorithm.cpp
+++ b/src/collision/EPA/EPAAlgorithm.cpp
@@ -252,20 +252,18 @@ bool EPAAlgorithm::computePenetrationDepthAndContactPoints(Simplex simplex, cons
             suppPointsA[3] = boundingVolume1->getSupportPoint(n, OBJECT_MARGIN);
             suppPointsB[3] = boundingVolume2->getSupportPoint(n.getOpposite(), OBJECT_MARGIN);
             points[3] = suppPointsA[3] - suppPointsB[3];
-            suppPointsA[4] = boundingVolume1->getSupportPoint(n.getOpposite(), OBJECT_MARGIN);    // TODO : Uncomment this
-            suppPointsB[4] = boundingVolume2->getSupportPoint(n, OBJECT_MARGIN);                  // TODO : Uncomment this
-            points[4] = suppPointsA[4] - suppPointsB[4];                                          // TODO : Uncomment this
+            suppPointsA[4] = boundingVolume1->getSupportPoint(n.getOpposite(), OBJECT_MARGIN);
+            suppPointsB[4] = boundingVolume2->getSupportPoint(n, OBJECT_MARGIN);
+            points[4] = suppPointsA[4] - suppPointsB[4];
 
             // Construct the triangle faces
             TriangleEPA* face0 = triangleStore.newTriangle(points, 0, 1, 3);
             TriangleEPA* face1 = triangleStore.newTriangle(points, 1, 2, 3);
             TriangleEPA* face2 = triangleStore.newTriangle(points, 2, 0, 3);
-            //TriangleEPA* face3 = triangleStore.newTriangle(points, 0, 1, 2);    // TODO : Remove this
-            TriangleEPA* face3 = triangleStore.newTriangle(points, 0, 2, 4);// TODO : Uncomment this
-            TriangleEPA* face4 = triangleStore.newTriangle(points, 2, 1, 4);// TODO : Uncomment this
-            TriangleEPA* face5 = triangleStore.newTriangle(points, 1, 0, 4);// TODO : Uncomment this
+            TriangleEPA* face3 = triangleStore.newTriangle(points, 0, 2, 4);
+            TriangleEPA* face4 = triangleStore.newTriangle(points, 2, 1, 4);
+            TriangleEPA* face5 = triangleStore.newTriangle(points, 1, 0, 4);
 
-            // TODO : Uncomment this
             // If the polytope hasn't been correctly constructed
             if (!(face0 && face1 && face2 && face3 && face4 && face5 &&
                   face0->getDistSquare() > 0.0 && face1->getDistSquare() > 0.0 &&
@@ -273,16 +271,6 @@ bool EPAAlgorithm::computePenetrationDepthAndContactPoints(Simplex simplex, cons
                   face4->getDistSquare() > 0.0 && face5->getDistSquare() > 0.0)) {
                 return false;
             }
-            
-            
-            // TODO : Remove this
-            /*
-            if (!(face0 && face1 && face2 && face3 &&
-                  face0->getDistSquare() > 0.0 && face1->getDistSquare() > 0.0 &&
-                  face2->getDistSquare() > 0.0 && face3->getDistSquare() > 0.0)) {
-                return false;
-            }
-            */
 
             // Associate the edges of neighbouring faces
             link(EdgeEPA(face0, 1), EdgeEPA(face1, 2));
@@ -300,11 +288,10 @@ bool EPAAlgorithm::computePenetrationDepthAndContactPoints(Simplex simplex, cons
             addFaceCandidate(face1, triangleHeap, nbTriangles, DBL_MAX);
             addFaceCandidate(face2, triangleHeap, nbTriangles, DBL_MAX);
             addFaceCandidate(face3, triangleHeap, nbTriangles, DBL_MAX);
-            addFaceCandidate(face4, triangleHeap, nbTriangles, DBL_MAX);  // TODO : Uncomment this
-            addFaceCandidate(face5, triangleHeap, nbTriangles, DBL_MAX);  // TODO : Uncomment this
+            addFaceCandidate(face4, triangleHeap, nbTriangles, DBL_MAX);
+            addFaceCandidate(face5, triangleHeap, nbTriangles, DBL_MAX);
 
-            nbVertices = 5;   // TODO : Uncomment this
-            //nbVertices = 4;     // TODO : Remove this
+            nbVertices = 5;
         }
         break;
     }
diff --git a/src/collision/EPA/EdgeEPA.cpp b/src/collision/EPA/EdgeEPA.cpp
index 3f421985..2a66386e 100644
--- a/src/collision/EPA/EdgeEPA.cpp
+++ b/src/collision/EPA/EdgeEPA.cpp
@@ -74,39 +74,39 @@ bool EdgeEPA::computeSilhouette(const Vector3D* vertices, uint index, TrianglesS
 
             return false;
         }
-    }
-    else {
-        // The current triangle is visible and therefore obsolete
-        ownerTriangle->setIsObsolete(true);
+        else {
+            // The current triangle is visible and therefore obsolete
+            ownerTriangle->setIsObsolete(true);
 
-        int backup = triangleStore.getNbTriangles();
+            int backup = triangleStore.getNbTriangles();
 
-        if(!ownerTriangle->getAdjacentEdge(indexOfNextCounterClockwiseEdge(this->index)).computeSilhouette(vertices, index, triangleStore)) {
-            ownerTriangle->setIsObsolete(false);
+            if(!ownerTriangle->getAdjacentEdge(indexOfNextCounterClockwiseEdge(this->index)).computeSilhouette(vertices, index, triangleStore)) {
+                ownerTriangle->setIsObsolete(false);
 
-            TriangleEPA* triangle = triangleStore.newTriangle(vertices, index, getTarget(), getSource());
+                TriangleEPA* triangle = triangleStore.newTriangle(vertices, index, getTarget(), getSource());
 
-            // If the triangle has been created
-            if (triangle) {
-                halfLink(EdgeEPA(triangle, 1), *this);
-                return true;
+                // If the triangle has been created
+                if (triangle) {
+                    halfLink(EdgeEPA(triangle, 1), *this);
+                    return true;
+                }
+
+                return false;
             }
+            else if (!ownerTriangle->getAdjacentEdge(indexOfPreviousCounterClockwiseEdge(this->index)).computeSilhouette(vertices, index, triangleStore)) {
+                ownerTriangle->setIsObsolete(false);
 
-            return false;
-        }
-        else if (!ownerTriangle->getAdjacentEdge(indexOfPreviousCounterClockwiseEdge(this->index)).computeSilhouette(vertices, index, triangleStore)) {
-            ownerTriangle->setIsObsolete(false);
+                triangleStore.setNbTriangles(backup);
 
-            triangleStore.setNbTriangles(backup);
+                TriangleEPA* triangle = triangleStore.newTriangle(vertices, index, getTarget(), getSource());
 
-            TriangleEPA* triangle = triangleStore.newTriangle(vertices, index, getTarget(), getSource());
+                if (triangle) {
+                    halfLink(EdgeEPA(triangle, 1), *this);
+                    return true;
+                }
 
-            if (triangle) {
-                halfLink(EdgeEPA(triangle, 1), *this);
-                return true;
+                return false;
             }
-
-            return false;
         }
     }
 
diff --git a/src/collision/EPA/TrianglesStore.h b/src/collision/EPA/TrianglesStore.h
index d684f1ed..ac5984c3 100644
--- a/src/collision/EPA/TrianglesStore.h
+++ b/src/collision/EPA/TrianglesStore.h
@@ -94,6 +94,7 @@ inline TriangleEPA* TrianglesStore::newTriangle(const Vector3D* vertices, uint v
         new (newTriangle) TriangleEPA(v0, v1, v2);
         if (!newTriangle->computeClosestPoint(vertices)) {
             nbTriangles--;
+            // TODO : DO WE HAVE TO add "delete newTriangle;" here ??
             newTriangle = 0;
         }
     }