diff --git a/sources/reactphysics3d/collision/BroadPhaseAlgorithm.h b/sources/reactphysics3d/collision/BroadPhaseAlgorithm.h
index d13b8c94..909fd5be 100644
--- a/sources/reactphysics3d/collision/BroadPhaseAlgorithm.h
+++ b/sources/reactphysics3d/collision/BroadPhaseAlgorithm.h
@@ -46,7 +46,7 @@ class BroadPhaseAlgorithm {
         BroadPhaseAlgorithm();              // Constructor
         virtual ~BroadPhaseAlgorithm();     // Destructor
 
-        virtual bool testCollisionPair(const BoundingVolume& boundingVolume1, const BoundingVolume& boundingVolume2)=0;  // Return true is the two bounding volume can collide
+        virtual bool testCollisionPair(const BoundingVolume& boundingVolume1, const BoundingVolume& boundingVolume2)=0;  // Return true if the two bounding volume can collide
 };
 
 } // End of reactphysics3d namespace
diff --git a/sources/reactphysics3d/collision/CollisionDetection.cpp b/sources/reactphysics3d/collision/CollisionDetection.cpp
index 53981aaf..866ab0c6 100644
--- a/sources/reactphysics3d/collision/CollisionDetection.cpp
+++ b/sources/reactphysics3d/collision/CollisionDetection.cpp
@@ -19,6 +19,8 @@
 
 // Libraries
 #include "CollisionDetection.h"
+#include "SeparatingAxisAABB.h"
+#include "SeparatingAxisOBB.h"
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;
@@ -26,15 +28,15 @@ using namespace reactphysics3d;
 // Constructor
 CollisionDetection::CollisionDetection() {
 
-    // Construct the broad-phase algorithm that will be used
-    broadPhaseAlgorithm =
+    // Construct the broad-phase algorithm that will be used (Separating axis with AABB)
+    broadPhaseAlgorithm = new SeparatingAxisAABB();
 
-    // Construct the narrow-phase algorithm that will be used
-    narrowPhaseAlgorithm = new SeparatingAxis();
+    // Construct the narrow-phase algorithm that will be used (Separating axis with OBB)
+    narrowPhaseAlgorithm = new SeparatingAxisOBB();
 }
 
 // Destructor
-~CollisionDetection() {
+CollisionDetection::~CollisionDetection() {
 
 }
 
diff --git a/sources/reactphysics3d/collision/CollisionDetection.h b/sources/reactphysics3d/collision/CollisionDetection.h
index 4b516585..eaa44625 100644
--- a/sources/reactphysics3d/collision/CollisionDetection.h
+++ b/sources/reactphysics3d/collision/CollisionDetection.h
@@ -26,7 +26,6 @@
 #include "../body/Body.h"
 #include "../engine/CollisionWorld.h"
 #include <vector>
-#include <utility>
 
 // ReactPhysics3D namespace
 namespace reactphysics3d {
@@ -41,12 +40,14 @@ namespace reactphysics3d {
 */
 class CollisionDetection {
     private :
-        std::vector<(std::pair<Body*, Body*>)> possibleCollisionPairList;     // List that contains the possible collision pairs of bodies
+        std::vector< std::pair<Body*, Body*> > possibleCollisionPairList;     // List that contains the possible collision pairs of bodies
         BroadPhaseAlgorithm* broadPhaseAlgorithm;                            // Broad-phase algorithm
         NarrowPhaseAlgorithm* narrowPhaseAlgorithm;                          // Narrow-phase algorithm
 
-        void computePossibleCollisionPairs();   // Compute all the possible collisions pairs of bodies (broad-phase)
-        void computeCollisionContacts();        // Compute all collision contacts between bodies (narrow-phase)
+        void computePossibleCollisionPairs();                       // Compute all the possible collisions pairs of bodies (broad-phase)
+        void computeCollisionContacts();                            // Compute all collision contacts between bodies (narrow-phase)
+        void addPossibleCollisionPair(Body* body1, Body* body2);    // Add a possible collision pair of bodies in the possibleCollisionPairList
+        void initPossibleCollisionPairList();                       // Initialize the possibleCollisionPairList
 
     public :
         CollisionDetection();       // Constructor
@@ -55,6 +56,17 @@ class CollisionDetection {
         void computeCollisionDetection(CollisionWorld& collisionWorld);     // Compute the collision detection
 };
 
+// Add a possible collision pair of bodies in the possibleCollisionPairList
+inline void CollisionDetection::addPossibleCollisionPair(Body* body1, Body* body2) {
+    // TODO : Implement this method
+}
+
+// Initialize the possibleCollisionPairList
+inline void CollisionDetection::initPossibleCollisionPairList() {
+    // TODO : Implement this method
+}
+
+
 } // End of the ReactPhysics3D namespace
 
 #endif
diff --git a/sources/reactphysics3d/collision/SeparatingAxisOBB.cpp b/sources/reactphysics3d/collision/SeparatingAxisOBB.cpp
index 4bb528b2..6a9970d8 100644
--- a/sources/reactphysics3d/collision/SeparatingAxisOBB.cpp
+++ b/sources/reactphysics3d/collision/SeparatingAxisOBB.cpp
@@ -18,23 +18,24 @@
 ***************************************************************************/
 
 // Libraries
-#include "SeparatingAxis.h"
+#include "SeparatingAxisOBB.h"
+#include "../body/OBB.h"
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;
 
 // Constructor
-SeparatingAxis::SeparatingAxis() {
+SeparatingAxisOBB::SeparatingAxisOBB() {
 
 }
 
 // Destructor
-SeparatingAxis::~SeparatingAxis() {
+SeparatingAxisOBB::~SeparatingAxisOBB() {
 
 }
 
 // Return true and compute a collision contact if the two bounding volume collide.
 // The method returns false if there is no collision between the two bounding volumes.
-bool SeparatingAxis::testCollision(const BoundingVolume& boundingVolume1, const BoundingVolume& boundingVolume2, Contact* const contact) {
+bool SeparatingAxisOBB::testCollision(const BoundingVolume& boundingVolume1, const BoundingVolume& boundingVolume2, Contact* const contact) {
     // TODO : Implement this method
 }
diff --git a/sources/reactphysics3d/collision/SeparatingAxisOBB.h b/sources/reactphysics3d/collision/SeparatingAxisOBB.h
index d843d781..af6ab52a 100644
--- a/sources/reactphysics3d/collision/SeparatingAxisOBB.h
+++ b/sources/reactphysics3d/collision/SeparatingAxisOBB.h
@@ -17,23 +17,22 @@
 * along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
 ***************************************************************************/
 
-#ifndef SEPARATINGAXIS_H
-#define SEPARATINGAXIS_H
+#ifndef SEPARATINGAXISOBB_H
+#define SEPARATINGAXISOBB_H
 
 // Libraries
 #include "NarrowPhaseAlgorithm.h"
 #include "../constraint/Contact.h"
-#include "../body/OBB.h"
 
 // ReactPhysics3D namespace
 namespace reactphysics3d {
 
-class SeparatingAxis : public NarrowPhaseAlgorithm {
+class SeparatingAxisOBB : public NarrowPhaseAlgorithm {
     private :
 
     public :
-        SeparatingAxis();           // Constructor
-        ~SeparatingAxis();          // Destructor
+        SeparatingAxisOBB();           // Constructor
+        ~SeparatingAxisOBB();          // Destructor
 
         virtual bool testCollision(const BoundingVolume& boundingVolume1, const BoundingVolume& boundingVolume2, Contact* const contact);    // Return true and compute a collision contact if the two bounding volume collide