diff --git a/src/collision/ProxyShape.h b/src/collision/ProxyShape.h
index 61118d45..9e4ea298 100644
--- a/src/collision/ProxyShape.h
+++ b/src/collision/ProxyShape.h
@@ -175,12 +175,6 @@ class ProxyShape {
         /// Return the next proxy shape in the linked list of proxy shapes
         const ProxyShape* getNext() const;
 
-        /// Return the local scaling vector of the collision shape
-        Vector3 getLocalScaling() const;
-
-        /// Set the local scaling vector of the collision shape
-        virtual void setLocalScaling(const Vector3& scaling);
-
         /// Return the broad-phase id
         int getBroadPhaseId() const;
 
@@ -361,35 +355,6 @@ inline void ProxyShape::setCollideWithMaskBits(unsigned short collideWithMaskBit
              std::to_string(mCollideWithMaskBits));
 }
 
-// Return the local scaling vector of the collision shape
-/**
- * @return The local scaling vector
- */
-inline Vector3 ProxyShape::getLocalScaling() const {
-    return mCollisionShape->getLocalScaling();
-}
-
-// Set the local scaling vector of the collision shape
-/**
- * @param scaling The new local scaling vector
- */
-inline void ProxyShape::setLocalScaling(const Vector3& scaling) {
-
-    // TODO : Do not use a local of the collision shape in case of shared collision shapes
-
-    // Set the local scaling of the collision shape
-    mCollisionShape->setLocalScaling(scaling);
-
-    mBody->setIsSleeping(false);
-
-    // Notify the body that the proxy shape has to be updated in the broad-phase
-    mBody->updateProxyShapeInBroadPhase(this, true);
-
-    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::ProxyShape,
-             "ProxyShape " + std::to_string(mBroadPhaseID) + ": Set localScaling=" +
-             mCollisionShape->getLocalScaling().to_string());
-}
-
 // Return the broad-phase id
 inline int ProxyShape::getBroadPhaseId() const {
     return mBroadPhaseID;
diff --git a/src/collision/shapes/BoxShape.h b/src/collision/shapes/BoxShape.h
index 0c261a6f..b1128582 100644
--- a/src/collision/shapes/BoxShape.h
+++ b/src/collision/shapes/BoxShape.h
@@ -88,9 +88,6 @@ class BoxShape : public ConvexPolyhedronShape {
         /// Return the extents of the box
         Vector3 getExtent() const;
 
-        /// Set the scaling vector of the collision shape
-        virtual void setLocalScaling(const Vector3& scaling) override;
-
         /// Return the local bounds of the shape in x, y and z directions
         virtual void getLocalBounds(Vector3& min, Vector3& max) const override;
 
@@ -136,14 +133,6 @@ inline Vector3 BoxShape::getExtent() const {
     return mExtent;
 }
 
-// Set the scaling vector of the collision shape
-inline void BoxShape::setLocalScaling(const Vector3& scaling) {
-
-    mExtent = (mExtent / mScaling) * scaling;
-
-    CollisionShape::setLocalScaling(scaling);
-}
-
 // Return the local bounds of the shape in x, y and z directions
 /// This method is used to compute the AABB of the box
 /**
diff --git a/src/collision/shapes/CapsuleShape.h b/src/collision/shapes/CapsuleShape.h
index 6a58f115..decf6474 100644
--- a/src/collision/shapes/CapsuleShape.h
+++ b/src/collision/shapes/CapsuleShape.h
@@ -94,9 +94,6 @@ class CapsuleShape : public ConvexShape {
         /// Return the height of the capsule
         decimal getHeight() const;
 
-        /// Set the scaling vector of the collision shape
-        virtual void setLocalScaling(const Vector3& scaling) override;
-
         /// Return the local bounds of the shape in x, y and z directions
         virtual void getLocalBounds(Vector3& min, Vector3& max) const override;
 
@@ -126,15 +123,6 @@ inline decimal CapsuleShape::getHeight() const {
     return mHalfHeight + mHalfHeight;
 }
 
-// Set the scaling vector of the collision shape
-inline void CapsuleShape::setLocalScaling(const Vector3& scaling) {
-
-    mHalfHeight = (mHalfHeight / mScaling.y) * scaling.y;
-    mMargin = (mMargin / mScaling.x) * scaling.x;
-
-    CollisionShape::setLocalScaling(scaling);
-}
-
 // Return the number of bytes used by the collision shape
 inline size_t CapsuleShape::getSizeInBytes() const {
     return sizeof(CapsuleShape);
diff --git a/src/collision/shapes/CollisionShape.cpp b/src/collision/shapes/CollisionShape.cpp
index 976c7a51..4e6e4b9b 100644
--- a/src/collision/shapes/CollisionShape.cpp
+++ b/src/collision/shapes/CollisionShape.cpp
@@ -33,7 +33,7 @@ using namespace reactphysics3d;
 
 // Constructor
 CollisionShape::CollisionShape(CollisionShapeName name, CollisionShapeType type)
-               : mType(type), mName(name), mScaling(1.0, 1.0, 1.0), mId(0) {
+               : mType(type), mName(name), mId(0) {
     
 }
 
diff --git a/src/collision/shapes/CollisionShape.h b/src/collision/shapes/CollisionShape.h
index a7b07fc3..990ef33f 100644
--- a/src/collision/shapes/CollisionShape.h
+++ b/src/collision/shapes/CollisionShape.h
@@ -68,9 +68,6 @@ class CollisionShape {
 		/// Name of the colision shape
 		CollisionShapeName mName;
 
-        /// Scaling vector of the collision shape
-        Vector3 mScaling;
-
         /// Unique identifier of the shape inside an overlapping pair
         uint mId;
 
@@ -126,9 +123,6 @@ class CollisionShape {
         /// Return the scaling vector of the collision shape
         Vector3 getLocalScaling() const;
 
-        /// Set the local scaling vector of the collision shape
-        virtual void setLocalScaling(const Vector3& scaling);
-
         /// Return the id of the shape
         uint getId() const;
 
@@ -170,16 +164,6 @@ inline CollisionShapeType CollisionShape::getType() const {
     return mType;
 }
 
-// Return the scaling vector of the collision shape
-inline Vector3 CollisionShape::getLocalScaling() const {
-    return mScaling;
-}
-
-// Set the scaling vector of the collision shape
-inline void CollisionShape::setLocalScaling(const Vector3& scaling) {
-    mScaling = scaling;
-}
-
 // Return the id of the shape
 inline uint CollisionShape::getId() const {
    return mId;
diff --git a/src/collision/shapes/ConcaveMeshShape.cpp b/src/collision/shapes/ConcaveMeshShape.cpp
index bde756e4..a6cfcb9c 100644
--- a/src/collision/shapes/ConcaveMeshShape.cpp
+++ b/src/collision/shapes/ConcaveMeshShape.cpp
@@ -30,8 +30,9 @@
 using namespace reactphysics3d;
 
 // Constructor
-ConcaveMeshShape::ConcaveMeshShape(TriangleMesh* triangleMesh)
-                 : ConcaveShape(CollisionShapeName::TRIANGLE_MESH), mDynamicAABBTree(MemoryManager::getBaseAllocator()) {
+ConcaveMeshShape::ConcaveMeshShape(TriangleMesh* triangleMesh, const Vector3& scaling)
+                 : ConcaveShape(CollisionShapeName::TRIANGLE_MESH), mDynamicAABBTree(MemoryManager::getBaseAllocator()),
+                   mScaling(scaling) {
     mTriangleMesh = triangleMesh;
     mRaycastTestType = TriangleRaycastSide::FRONT;
 
diff --git a/src/collision/shapes/ConcaveMeshShape.h b/src/collision/shapes/ConcaveMeshShape.h
index ccafbba9..e8ad78e5 100644
--- a/src/collision/shapes/ConcaveMeshShape.h
+++ b/src/collision/shapes/ConcaveMeshShape.h
@@ -140,6 +140,9 @@ class ConcaveMeshShape : public ConcaveShape {
         /// if the user did not provide its own vertices normals)
         Vector3** mComputedVerticesNormals;
 
+        /// Scaling
+        const Vector3 mScaling;
+
         // -------------------- Methods -------------------- //
 
         /// Raycast method with feedback information
@@ -163,7 +166,7 @@ class ConcaveMeshShape : public ConcaveShape {
     public:
 
         /// Constructor
-        ConcaveMeshShape(TriangleMesh* triangleMesh);
+        ConcaveMeshShape(TriangleMesh* triangleMesh, const Vector3& scaling = Vector3(1, 1, 1));
 
         /// Destructor
         virtual ~ConcaveMeshShape() = default;
@@ -174,12 +177,12 @@ class ConcaveMeshShape : public ConcaveShape {
         /// Deleted assignment operator
         ConcaveMeshShape& operator=(const ConcaveMeshShape& shape) = delete;
 
+        /// Return the scaling vector
+        const Vector3& getScaling() const;
+
         /// Return the local bounds of the shape in x, y and z directions.
         virtual void getLocalBounds(Vector3& min, Vector3& max) const override;
 
-        /// Set the local scaling vector of the collision shape
-        virtual void setLocalScaling(const Vector3& scaling) override;
-
         /// Return the local inertia tensor of the collision shape
         virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const override;
 
@@ -207,6 +210,11 @@ inline size_t ConcaveMeshShape::getSizeInBytes() const {
     return sizeof(ConcaveMeshShape);
 }
 
+// Return the scaling vector
+inline const Vector3& ConcaveMeshShape::getScaling() const {
+    return mScaling;
+}
+
 // Return the local bounds of the shape in x, y and z directions.
 // This method is used to compute the AABB of the box
 /**
@@ -222,18 +230,6 @@ inline void ConcaveMeshShape::getLocalBounds(Vector3& min, Vector3& max) const {
     max = treeAABB.getMax();
 }
 
-// Set the local scaling vector of the collision shape
-inline void ConcaveMeshShape::setLocalScaling(const Vector3& scaling) {
-
-    CollisionShape::setLocalScaling(scaling);
-
-    // Reset the Dynamic AABB Tree
-    mDynamicAABBTree.reset();
-
-    // Rebuild Dynamic AABB Tree here
-    initBVHTree();
-}
-
 // Return the local inertia tensor of the shape
 /**
  * @param[out] tensor The 3x3 inertia tensor matrix of the shape in local-space
diff --git a/src/collision/shapes/ConvexMeshShape.cpp b/src/collision/shapes/ConvexMeshShape.cpp
index 1c47b4d9..3dadfee4 100644
--- a/src/collision/shapes/ConvexMeshShape.cpp
+++ b/src/collision/shapes/ConvexMeshShape.cpp
@@ -38,8 +38,9 @@ using namespace reactphysics3d;
  * @param stride Stride between the beginning of two elements in the vertices array
  * @param margin Collision margin (in meters) around the collision shape
  */
-ConvexMeshShape::ConvexMeshShape(PolyhedronMesh* polyhedronMesh)
-                : ConvexPolyhedronShape(CollisionShapeName::CONVEX_MESH), mPolyhedronMesh(polyhedronMesh), mMinBounds(0, 0, 0), mMaxBounds(0, 0, 0) {
+ConvexMeshShape::ConvexMeshShape(PolyhedronMesh* polyhedronMesh, const Vector3& scaling)
+                : ConvexPolyhedronShape(CollisionShapeName::CONVEX_MESH), mPolyhedronMesh(polyhedronMesh),
+                  mMinBounds(0, 0, 0), mMaxBounds(0, 0, 0), mScaling(scaling) {
 
     // Recalculate the bounds of the mesh
     recalculateBounds();
diff --git a/src/collision/shapes/ConvexMeshShape.h b/src/collision/shapes/ConvexMeshShape.h
index ebec6a09..5ce02b19 100644
--- a/src/collision/shapes/ConvexMeshShape.h
+++ b/src/collision/shapes/ConvexMeshShape.h
@@ -30,7 +30,7 @@
 #include "ConvexPolyhedronShape.h"
 #include "engine/CollisionWorld.h"
 #include "mathematics/mathematics.h"
-#include "collision/TriangleMesh.h"
+
 #include "collision/PolyhedronMesh.h"
 #include "collision/narrowphase/GJK/GJKAlgorithm.h"
 
@@ -62,6 +62,9 @@ class ConvexMeshShape : public ConvexPolyhedronShape {
         /// Mesh maximum bounds in the three local x, y and z directions
         Vector3 mMaxBounds;
 
+        /// Local scaling
+        const Vector3 mScaling;
+
         // -------------------- Methods -------------------- //
 
         /// Recompute the bounds of the mesh
@@ -84,7 +87,7 @@ class ConvexMeshShape : public ConvexPolyhedronShape {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        ConvexMeshShape(PolyhedronMesh* polyhedronMesh);
+        ConvexMeshShape(PolyhedronMesh* polyhedronMesh, const Vector3& scaling = Vector3(1,1,1));
 
         /// Destructor
         virtual ~ConvexMeshShape() override = default;
@@ -95,8 +98,8 @@ class ConvexMeshShape : public ConvexPolyhedronShape {
         /// Deleted assignment operator
         ConvexMeshShape& operator=(const ConvexMeshShape& shape) = delete;
 
-        /// Set the scaling vector of the collision shape
-        virtual void setLocalScaling(const Vector3& scaling) override;
+        /// Return the scaling vector
+        const Vector3& getScaling() const;
 
         /// Return the local bounds of the shape in x, y and z directions
         virtual void getLocalBounds(Vector3& min, Vector3& max) const override;
@@ -135,17 +138,16 @@ class ConvexMeshShape : public ConvexPolyhedronShape {
         virtual std::string to_string() const override;
 };
 
-/// Set the scaling vector of the collision shape
-inline void ConvexMeshShape::setLocalScaling(const Vector3& scaling) {
-    ConvexShape::setLocalScaling(scaling);
-    recalculateBounds();
-}
-
 // Return the number of bytes used by the collision shape
 inline size_t ConvexMeshShape::getSizeInBytes() const {
     return sizeof(ConvexMeshShape);
 }
 
+// Return the scaling vector
+inline const Vector3& ConvexMeshShape::getScaling() const {
+    return mScaling;
+}
+
 // Return the local bounds of the shape in x, y and z directions
 /**
  * @param min The minimum bounds of the shape in local-space coordinates
diff --git a/src/collision/shapes/HeightFieldShape.cpp b/src/collision/shapes/HeightFieldShape.cpp
index 0b3a4044..0136c881 100644
--- a/src/collision/shapes/HeightFieldShape.cpp
+++ b/src/collision/shapes/HeightFieldShape.cpp
@@ -41,11 +41,11 @@ using namespace reactphysics3d;
  */
 HeightFieldShape::HeightFieldShape(int nbGridColumns, int nbGridRows, decimal minHeight, decimal maxHeight,
                                    const void* heightFieldData, HeightDataType dataType, int upAxis,
-                                   decimal integerHeightScale)
+                                   decimal integerHeightScale, const Vector3& scaling)
                  : ConcaveShape(CollisionShapeName::HEIGHTFIELD), mNbColumns(nbGridColumns), mNbRows(nbGridRows),
                    mWidth(nbGridColumns - 1), mLength(nbGridRows - 1), mMinHeight(minHeight),
                    mMaxHeight(maxHeight), mUpAxis(upAxis), mIntegerHeightScale(integerHeightScale),
-                   mHeightDataType(dataType) {
+                   mHeightDataType(dataType), mScaling(scaling) {
 
     assert(nbGridColumns >= 2);
     assert(nbGridRows >= 2);
diff --git a/src/collision/shapes/HeightFieldShape.h b/src/collision/shapes/HeightFieldShape.h
index e796e208..8d4574d2 100644
--- a/src/collision/shapes/HeightFieldShape.h
+++ b/src/collision/shapes/HeightFieldShape.h
@@ -141,6 +141,9 @@ class HeightFieldShape : public ConcaveShape {
         /// Local AABB of the height field (without scaling)
         AABB mAABB;
 
+        /// Scaling vector
+        const Vector3 mScaling;
+
         // -------------------- Methods -------------------- //
 
         /// Raycast method with feedback information
@@ -177,7 +180,8 @@ class HeightFieldShape : public ConcaveShape {
         /// Constructor
         HeightFieldShape(int nbGridColumns, int nbGridRows, decimal minHeight, decimal maxHeight,
                          const void* heightFieldData, HeightDataType dataType,
-                         int upAxis = 1, decimal integerHeightScale = 1.0f);
+                         int upAxis = 1, decimal integerHeightScale = 1.0f,
+                         const Vector3& scaling = Vector3(1,1,1));
 
         /// Destructor
         virtual ~HeightFieldShape() override = default;
@@ -188,6 +192,9 @@ class HeightFieldShape : public ConcaveShape {
         /// Deleted assignment operator
         HeightFieldShape& operator=(const HeightFieldShape& shape) = delete;
 
+        /// Return the scaling factor
+        const Vector3& getScaling() const;
+
         /// Return the number of rows in the height field
         int getNbRows() const;
 
@@ -200,9 +207,6 @@ class HeightFieldShape : public ConcaveShape {
         /// Return the local bounds of the shape in x, y and z directions.
         virtual void getLocalBounds(Vector3& min, Vector3& max) const override;
 
-        /// Set the local scaling vector of the collision shape
-        virtual void setLocalScaling(const Vector3& scaling) override;
-
         /// Return the local inertia tensor of the collision shape
         virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const override;
 
@@ -218,6 +222,11 @@ class HeightFieldShape : public ConcaveShape {
         friend class ConcaveMeshRaycastCallback;
 };
 
+// Return the scaling factor
+inline const Vector3& HeightFieldShape::getScaling() const {
+    return mScaling;
+}
+
 // Return the number of rows in the height field
 inline int HeightFieldShape::getNbRows() const {
     return mNbRows;
@@ -238,11 +247,6 @@ inline size_t HeightFieldShape::getSizeInBytes() const {
     return sizeof(HeightFieldShape);
 }
 
-// Set the local scaling vector of the collision shape
-inline void HeightFieldShape::setLocalScaling(const Vector3& scaling) {
-    CollisionShape::setLocalScaling(scaling);
-}
-
 // Return the height of a given (x,y) point in the height field
 inline decimal HeightFieldShape::getHeightAt(int x, int y) const {
 
diff --git a/src/collision/shapes/SphereShape.h b/src/collision/shapes/SphereShape.h
index a0010b06..01e2001e 100644
--- a/src/collision/shapes/SphereShape.h
+++ b/src/collision/shapes/SphereShape.h
@@ -82,9 +82,6 @@ class SphereShape : public ConvexShape {
         /// Return true if the collision shape is a polyhedron
         virtual bool isPolyhedron() const override;
 
-        /// Set the scaling vector of the collision shape
-        virtual void setLocalScaling(const Vector3& scaling) override;
-
         /// Return the local bounds of the shape in x, y and z directions.
         virtual void getLocalBounds(Vector3& min, Vector3& max) const override;
 
@@ -111,14 +108,6 @@ inline bool SphereShape::isPolyhedron() const {
         return false;
 }
 
-// Set the scaling vector of the collision shape
-inline void SphereShape::setLocalScaling(const Vector3& scaling) {
-
-    mMargin = (mMargin / mScaling.x) * scaling.x;
-
-    CollisionShape::setLocalScaling(scaling);
-}
-
 // Return the number of bytes used by the collision shape
 inline size_t SphereShape::getSizeInBytes() const {
     return sizeof(SphereShape);
diff --git a/src/collision/shapes/TriangleShape.h b/src/collision/shapes/TriangleShape.h
index 5a5a49b2..23a55c38 100644
--- a/src/collision/shapes/TriangleShape.h
+++ b/src/collision/shapes/TriangleShape.h
@@ -127,9 +127,6 @@ class TriangleShape : public ConvexPolyhedronShape {
         /// Return the local bounds of the shape in x, y and z directions.
         virtual void getLocalBounds(Vector3& min, Vector3& max) const override;
 
-        /// Set the local scaling vector of the collision shape
-        virtual void setLocalScaling(const Vector3& scaling) override;
-
         /// Return the local inertia tensor of the collision shape
         virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const override;
 
@@ -214,16 +211,6 @@ inline void TriangleShape::getLocalBounds(Vector3& min, Vector3& max) const {
     max += Vector3(mMargin, mMargin, mMargin);
 }
 
-// Set the local scaling vector of the collision shape
-inline void TriangleShape::setLocalScaling(const Vector3& scaling) {
-
-    mPoints[0] = (mPoints[0] / mScaling) * scaling;
-    mPoints[1] = (mPoints[1] / mScaling) * scaling;
-    mPoints[2] = (mPoints[2] / mScaling) * scaling;
-
-    CollisionShape::setLocalScaling(scaling);
-}
-
 // Return the local inertia tensor of the triangle shape
 /**
  * @param[out] tensor The 3x3 inertia tensor matrix of the shape in local-space
diff --git a/test/tests/collision/TestRaycast.h b/test/tests/collision/TestRaycast.h
index 7714264a..70397ed0 100644
--- a/test/tests/collision/TestRaycast.h
+++ b/test/tests/collision/TestRaycast.h
@@ -1303,7 +1303,6 @@ class TestRaycast : public Test {
             Vector3 point2 = mLocalShapeToWorld * Vector3(1, 2, -4);
             Ray ray(point1, point2);
             Vector3 hitPoint = mLocalShapeToWorld * Vector3(1, 2, 4);
-            Transform inverse = mLocalShapeToWorld.getInverse();
 
             mCallback.shapeToTest = mConvexMeshProxyShape;
 
diff --git a/testbed/common/Box.cpp b/testbed/common/Box.cpp
index 508fa516..6d685086 100644
--- a/testbed/common/Box.cpp
+++ b/testbed/common/Box.cpp
@@ -255,16 +255,3 @@ void Box::createVBOAndVAO() {
     // Unbind the VAO
     mVAO.unbind();
 }
-
-// Set the scaling of the object
-void Box::setScaling(const openglframework::Vector3& scaling) {
-
-    // Scale the collision shape
-    mProxyShape->setLocalScaling(rp3d::Vector3(scaling.x, scaling.y, scaling.z));
-
-    // Scale the graphics object
-    mScalingMatrix = openglframework::Matrix4(mSize[0] * scaling.x, 0, 0, 0,
-                                              0, mSize[1] * scaling.y, 0, 0,
-                                              0, 0, mSize[2] * scaling.z, 0,
-                                              0, 0, 0, 1);
-}
diff --git a/testbed/common/Box.h b/testbed/common/Box.h
index 42d234f9..21fe0ed1 100644
--- a/testbed/common/Box.h
+++ b/testbed/common/Box.h
@@ -88,9 +88,6 @@ class Box : public PhysicsObject {
 
         /// Update the transform matrix of the object
         virtual void updateTransform(float interpolationFactor) override;
-
-        /// Set the scaling of the object
-        void setScaling(const openglframework::Vector3& scaling) override;
 };
 
 // Update the transform matrix of the object
diff --git a/testbed/common/Capsule.cpp b/testbed/common/Capsule.cpp
index b48baf69..160030b7 100644
--- a/testbed/common/Capsule.cpp
+++ b/testbed/common/Capsule.cpp
@@ -235,16 +235,3 @@ void Capsule::createVBOAndVAO() {
     // Unbind the VAO
     mVAO.unbind();
 }
-
-// Set the scaling of the object
-void Capsule::setScaling(const openglframework::Vector3& scaling) {
-
-    // Scale the collision shape
-    mProxyShape->setLocalScaling(rp3d::Vector3(scaling.x, scaling.y, scaling.z));
-
-    // Scale the graphics object
-    mScalingMatrix = openglframework::Matrix4(mRadius * scaling.x, 0, 0, 0,
-                                              0, (mHeight * scaling.y + 2.0f * mRadius * scaling.x) / 3, 0,0,
-                                              0, 0, mRadius * scaling.x, 0,
-                                              0, 0, 0, 1.0f);
-}
diff --git a/testbed/common/Capsule.h b/testbed/common/Capsule.h
index d0e74436..1591f247 100644
--- a/testbed/common/Capsule.h
+++ b/testbed/common/Capsule.h
@@ -96,9 +96,6 @@ class Capsule : public PhysicsObject {
 
         /// Update the transform matrix of the object
         virtual void updateTransform(float interpolationFactor) override;
-
-        /// Set the scaling of the object
-        void setScaling(const openglframework::Vector3& scaling) override;
 };
 
 // Update the transform matrix of the object
diff --git a/testbed/common/ConcaveMesh.cpp b/testbed/common/ConcaveMesh.cpp
index f6b04b9c..553a83ca 100644
--- a/testbed/common/ConcaveMesh.cpp
+++ b/testbed/common/ConcaveMesh.cpp
@@ -244,17 +244,3 @@ void ConcaveMesh::createVBOAndVAO() {
     // Unbind the VAO
     mVAO.unbind();
 }
-
-// Set the scaling of the object
-void ConcaveMesh::setScaling(const openglframework::Vector3& scaling) {
-
-    // Scale the collision shape
-    mProxyShape->setLocalScaling(rp3d::Vector3(scaling.x, scaling.y, scaling.z));
-
-    // Scale the graphics object
-    mScalingMatrix = openglframework::Matrix4(scaling.x, 0, 0, 0,
-                                              0, scaling.y, 0,0,
-                                              0, 0, scaling.z, 0,
-                                              0, 0, 0, 1.0f);
-}
-
diff --git a/testbed/common/ConcaveMesh.h b/testbed/common/ConcaveMesh.h
index 17755352..21d40082 100644
--- a/testbed/common/ConcaveMesh.h
+++ b/testbed/common/ConcaveMesh.h
@@ -90,9 +90,6 @@ class ConcaveMesh : public PhysicsObject {
 
         /// Update the transform matrix of the object
         virtual void updateTransform(float interpolationFactor) override;
-
-        /// Set the scaling of the object
-        void setScaling(const openglframework::Vector3& scaling) override;
 };
 
 // Update the transform matrix of the object
diff --git a/testbed/common/ConvexMesh.cpp b/testbed/common/ConvexMesh.cpp
index a59c2f3d..95e41dd1 100644
--- a/testbed/common/ConvexMesh.cpp
+++ b/testbed/common/ConvexMesh.cpp
@@ -254,16 +254,3 @@ void ConvexMesh::createVBOAndVAO() {
     // Unbind the VAO
     mVAO.unbind();
 }
-
-// Set the scaling of the object
-void ConvexMesh::setScaling(const openglframework::Vector3& scaling) {
-
-    // Scale the collision shape
-    mProxyShape->setLocalScaling(rp3d::Vector3(scaling.x, scaling.y, scaling.z));
-
-    // Scale the graphics object
-    mScalingMatrix = openglframework::Matrix4(scaling.x, 0, 0, 0,
-                                              0, scaling.y, 0, 0,
-                                              0, 0, scaling.z, 0,
-                                              0, 0, 0, 1);
-}
diff --git a/testbed/common/ConvexMesh.h b/testbed/common/ConvexMesh.h
index 865921ca..cc8c1599 100644
--- a/testbed/common/ConvexMesh.h
+++ b/testbed/common/ConvexMesh.h
@@ -92,9 +92,6 @@ class ConvexMesh : public PhysicsObject {
 
         /// Update the transform matrix of the object
         virtual void updateTransform(float interpolationFactor) override;
-
-        /// Set the scaling of the object
-        void setScaling(const openglframework::Vector3& scaling) override;
 };
 
 // Update the transform matrix of the object
diff --git a/testbed/common/Dumbbell.cpp b/testbed/common/Dumbbell.cpp
index f90f0cc9..866c35b1 100644
--- a/testbed/common/Dumbbell.cpp
+++ b/testbed/common/Dumbbell.cpp
@@ -272,30 +272,3 @@ void Dumbbell::createVBOAndVAO() {
     // Unbind the VAO
     mVAO.unbind();
 }
-
-// Set the scaling of the object
-void Dumbbell::setScaling(const openglframework::Vector3& scaling) {
-
-    // Scale the collision shape
-    rp3d::Vector3 newScaling(scaling.x, scaling.y, scaling.z);
-    mProxyShapeCapsule->setLocalScaling(newScaling);
-    mProxyShapeSphere1->setLocalScaling(newScaling);
-    mProxyShapeSphere2->setLocalScaling(newScaling);
-
-    mDistanceBetweenSphere = (mDistanceBetweenSphere / mScalingMatrix.getValue(1, 1)) * scaling.y;
-
-    // Initial transform of the first sphere collision shape of the dumbbell (in local-space)
-    rp3d::Transform transformSphereShape1(rp3d::Vector3(0, mDistanceBetweenSphere / 2.0f, 0), rp3d::Quaternion::identity());
-
-    // Initial transform of the second sphere collision shape of the dumbell (in local-space)
-    rp3d::Transform transformSphereShape2(rp3d::Vector3(0, -mDistanceBetweenSphere / 2.0f, 0), rp3d::Quaternion::identity());
-
-    mProxyShapeSphere1->setLocalToBodyTransform(transformSphereShape1);
-    mProxyShapeSphere2->setLocalToBodyTransform(transformSphereShape2);
-
-    // Scale the graphics object
-    mScalingMatrix = openglframework::Matrix4(scaling.x, 0, 0, 0,
-                                              0, scaling.y, 0, 0,
-                                              0, 0, scaling.z, 0,
-                                              0, 0, 0, 1);
-}
diff --git a/testbed/common/Dumbbell.h b/testbed/common/Dumbbell.h
index 135beabc..8044e434 100644
--- a/testbed/common/Dumbbell.h
+++ b/testbed/common/Dumbbell.h
@@ -95,9 +95,6 @@ class Dumbbell : public PhysicsObject {
 
         /// Update the transform matrix of the object
         virtual void updateTransform(float interpolationFactor) override;
-
-        /// Set the scaling of the object
-        void setScaling(const openglframework::Vector3& scaling) override;
 };
 
 // Update the transform matrix of the object
diff --git a/testbed/common/HeightField.cpp b/testbed/common/HeightField.cpp
index e979936d..b1077fad 100644
--- a/testbed/common/HeightField.cpp
+++ b/testbed/common/HeightField.cpp
@@ -303,16 +303,3 @@ void HeightField::createVBOAndVAO() {
     // Unbind the VAO
     mVAO.unbind();
 }
-
-// Set the scaling of the object
-void HeightField::setScaling(const openglframework::Vector3& scaling) {
-
-    // Scale the collision shape
-    mProxyShape->setLocalScaling(rp3d::Vector3(scaling.x, scaling.y, scaling.z));
-
-    // Scale the graphics object
-    mScalingMatrix = openglframework::Matrix4(scaling.x, 0, 0, 0,
-                                              0, scaling.y, 0,0,
-                                              0, 0, scaling.z, 0,
-                                              0, 0, 0, 1.0f);
-}
diff --git a/testbed/common/HeightField.h b/testbed/common/HeightField.h
index 1ff390ee..e68c8388 100644
--- a/testbed/common/HeightField.h
+++ b/testbed/common/HeightField.h
@@ -103,9 +103,6 @@ class HeightField : public PhysicsObject {
 
         /// Update the transform matrix of the object
         virtual void updateTransform(float interpolationFactor) override;
-
-        /// Set the scaling of the object
-        void setScaling(const openglframework::Vector3& scaling) override;
 };
 
 // Update the transform matrix of the object
diff --git a/testbed/common/PhysicsObject.h b/testbed/common/PhysicsObject.h
index e1714048..31e01c4f 100644
--- a/testbed/common/PhysicsObject.h
+++ b/testbed/common/PhysicsObject.h
@@ -82,9 +82,6 @@ class PhysicsObject : public openglframework::Mesh {
 
         /// Return a pointer to the rigid body of the box
         reactphysics3d::RigidBody* getRigidBody();
-
-        /// Set the scaling of the object
-        virtual void setScaling(const openglframework::Vector3& scaling)=0;
 };
 
 // Set the color of the box
diff --git a/testbed/common/Sphere.cpp b/testbed/common/Sphere.cpp
index f7c53579..15375e05 100644
--- a/testbed/common/Sphere.cpp
+++ b/testbed/common/Sphere.cpp
@@ -234,16 +234,3 @@ void Sphere::createVBOAndVAO() {
     // Unbind the VAO
     mVAO.unbind();
 }
-
-// Set the scaling of the object
-void Sphere::setScaling(const openglframework::Vector3& scaling) {
-
-    // Scale the collision shape
-    mProxyShape->setLocalScaling(rp3d::Vector3(scaling.x, scaling.y, scaling.z));
-
-    // Scale the graphics object
-    mScalingMatrix = openglframework::Matrix4(mRadius * scaling.x, 0, 0, 0,
-                                              0, mRadius * scaling.y, 0, 0,
-                                              0, 0, mRadius * scaling.z, 0,
-                                              0, 0, 0, 1);
-}
diff --git a/testbed/common/Sphere.h b/testbed/common/Sphere.h
index fe2b3f83..e1ba6ed6 100644
--- a/testbed/common/Sphere.h
+++ b/testbed/common/Sphere.h
@@ -92,9 +92,6 @@ class Sphere : public PhysicsObject {
 
         /// Update the transform matrix of the object
         virtual void updateTransform(float interpolationFactor) override;
-
-        /// Set the scaling of the object
-        void setScaling(const openglframework::Vector3& scaling) override;
 };
 
 // Update the transform matrix of the object