diff --git a/sources/reactphysics3d/engine/CollisionEngine.cpp b/sources/reactphysics3d/engine/CollisionEngine.cpp
index 2489c6a0..22a4dbe3 100644
--- a/sources/reactphysics3d/engine/CollisionEngine.cpp
+++ b/sources/reactphysics3d/engine/CollisionEngine.cpp
@@ -27,7 +27,7 @@
 using namespace reactphysics3d;
 
 // Constructor
-CollisionEngine::CollisionEngine(CollisionWorld* world, const Time& timeStep)
+CollisionEngine::CollisionEngine(PhysicsWorld* world, const Time& timeStep)
                    :DynamicEngine(world, timeStep) {
 }
 
@@ -38,20 +38,18 @@ 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();
+        world->removeAllContactConstraints();
 
         // Compute the collision detection
-        if (collisionDetection.computeCollisionDetection(collisionWorld)) {
+        if (collisionDetection.computeCollisionDetection(world)) {
 
             // TODO : Delete this ----------------------------------------------------------
-            for (std::vector<Constraint*>::const_iterator it = collisionWorld->getConstraintListStartIterator(); it != collisionWorld->getConstraintListEndIterator(); ++it) {
+            for (std::vector<Constraint*>::const_iterator it = world->getConstraintListStartIterator(); it != world->getConstraintListEndIterator(); ++it) {
                 RigidBody* rigidBody1 = dynamic_cast<RigidBody*>((*it)->getBody1());
                 RigidBody* rigidBody2 = dynamic_cast<RigidBody*>((*it)->getBody2());
                 rigidBody1->setIsMotionEnabled(false);
diff --git a/sources/reactphysics3d/engine/CollisionEngine.h b/sources/reactphysics3d/engine/CollisionEngine.h
index d9bf99b8..d63cf384 100644
--- a/sources/reactphysics3d/engine/CollisionEngine.h
+++ b/sources/reactphysics3d/engine/CollisionEngine.h
@@ -39,7 +39,7 @@ class CollisionEngine : public DynamicEngine {
         // ConstraintSolver constraintSolver;           // Constraint solver
 
     public :
-        CollisionEngine(CollisionWorld* world, const Time& timeStep);       // Constructor
+        CollisionEngine(PhysicsWorld* world, const Time& timeStep);       // Constructor
         virtual ~CollisionEngine();                                         // Destructor
 
         virtual void update();                           // Update the physics simulation
diff --git a/sources/reactphysics3d/engine/DynamicEngine.cpp b/sources/reactphysics3d/engine/DynamicEngine.cpp
index b25e3502..73469100 100644
--- a/sources/reactphysics3d/engine/DynamicEngine.cpp
+++ b/sources/reactphysics3d/engine/DynamicEngine.cpp
@@ -27,7 +27,7 @@
 using namespace reactphysics3d;
 
 // Constructor
-DynamicEngine::DynamicEngine(DynamicWorld* world, const Time& timeStep)
+DynamicEngine::DynamicEngine(PhysicsWorld* world, const Time& timeStep)
               :PhysicsEngine(world, timeStep) {
     // Check if the pointer to the world is not NULL
     if (world == 0) {
diff --git a/sources/reactphysics3d/engine/DynamicEngine.h b/sources/reactphysics3d/engine/DynamicEngine.h
index ef27d6ef..e74aa8ac 100644
--- a/sources/reactphysics3d/engine/DynamicEngine.h
+++ b/sources/reactphysics3d/engine/DynamicEngine.h
@@ -26,7 +26,7 @@
 #include "../body/Body.h"
 #include "../body/RigidBody.h"
 #include "../body/BodyState.h"
-#include "DynamicWorld.h"
+#include "PhysicsWorld.h"
 #include "../physics/physics.h"
 
 // Namespace ReactPhysics3D
@@ -46,7 +46,7 @@ class DynamicEngine : public PhysicsEngine {
         void updateBodyState(RigidBody* const rigidBody, const Time& timeStep);                                                           // Update the state of a rigid body
 
     public :
-        DynamicEngine(DynamicWorld* world, const Time& timeStep);       // Constructor
+        DynamicEngine(PhysicsWorld* world, const Time& timeStep);       // Constructor
         DynamicEngine(const DynamicEngine& engine);                     // Copy-constructor
         virtual ~DynamicEngine();                                       // Destructor