diff --git a/sources/reactphysics3d/constraint/Contact.cpp b/sources/reactphysics3d/constraint/Contact.cpp
index 4bf86736..70a80979 100644
--- a/sources/reactphysics3d/constraint/Contact.cpp
+++ b/sources/reactphysics3d/constraint/Contact.cpp
@@ -24,8 +24,8 @@
 using namespace reactphysics3d;
 
 // Constructor
-Contact::Contact(Body* const body1, Body* const body2, const Vector3D& normal, const std::vector<Vector3D>& points)
-                 :Constraint(body1, body2), normal(normal), points(points) {
+Contact::Contact(Body* const body1, Body* const body2, const Vector3D& normal, double penetrationDepth, const std::vector<Vector3D>& points)
+                 :Constraint(body1, body2), normal(normal), penetrationDepth(penetrationDepth), points(points){
 
 }
 
diff --git a/sources/reactphysics3d/constraint/Contact.h b/sources/reactphysics3d/constraint/Contact.h
index 85b7bc06..8fb90f50 100644
--- a/sources/reactphysics3d/constraint/Contact.h
+++ b/sources/reactphysics3d/constraint/Contact.h
@@ -39,11 +39,12 @@ namespace reactphysics3d {
 class Contact : public Constraint {
     private :
         Vector3D normal;                                // Normal vector of the contact (From body1 toward body2)
-        std::vector<Vector3D> points;                  // Contact points
+        double penetrationDepth;                        // Penetration depth
+        std::vector<Vector3D> points;                   // Contact points
 
     public :
-        Contact(Body* const body1, Body* const body2, const Vector3D& normal, const std::vector<Vector3D>& points);     // Constructor
-        virtual ~Contact();                                                                                             // Destructor
+        Contact(Body* const body1, Body* const body2, const Vector3D& normal, double penetrationDepth, const std::vector<Vector3D>& points);    // Constructor
+        virtual ~Contact();                                                                                                                     // Destructor
 
         Vector3D getNormal() const;                     // Return the normal vector of the contact
 };