diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp
index 6929a6c0..e9354080 100644
--- a/src/body/CollisionBody.cpp
+++ b/src/body/CollisionBody.cpp
@@ -92,6 +92,9 @@ Collider* CollisionBody::addCollider(CollisionShape* collisionShape, const Trans
 
     mWorld.mCollisionBodyComponents.addColliderToBody(mEntity, colliderEntity);
 
+    // Assign the collider with the collision shape
+    collisionShape->addCollider(collider);
+
 #ifdef IS_PROFILING_ACTIVE
 
 	// Set the profiler
@@ -175,6 +178,9 @@ void CollisionBody::removeCollider(Collider* collider) {
 
     mWorld.mCollisionBodyComponents.removeColliderFromBody(mEntity, collider->getEntity());
 
+    // Unassign the collider from the collision shape
+    collider->getCollisionShape()->removeCollider(collider);
+
     // Remove the collider component
     mWorld.mCollidersComponents.removeComponent(collider->getEntity());
 
diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp
index 165ebe10..f68ad07b 100644
--- a/src/body/RigidBody.cpp
+++ b/src/body/RigidBody.cpp
@@ -341,6 +341,9 @@ Collider* RigidBody::addCollider(CollisionShape* collisionShape, const Transform
 
     mWorld.mCollisionBodyComponents.addColliderToBody(mEntity, colliderEntity);
 
+    // Assign the collider with the collision shape
+    collisionShape->addCollider(collider);
+
 #ifdef IS_PROFILING_ACTIVE
 
 	// Set the profiler
diff --git a/src/collision/Collider.cpp b/src/collision/Collider.cpp
index 8f2afaf7..14176b29 100644
--- a/src/collision/Collider.cpp
+++ b/src/collision/Collider.cpp
@@ -42,8 +42,7 @@ using namespace reactphysics3d;
 Collider::Collider(Entity entity, CollisionBody* body, MemoryManager& memoryManager)
            :mMemoryManager(memoryManager), mEntity(entity), mBody(body),
             mMaterial(body->mWorld.mConfig.defaultFrictionCoefficient, body->mWorld.mConfig.defaultRollingRestistance,
-                      body->mWorld.mConfig.defaultBounciness),
-            mUserData(nullptr) {
+                      body->mWorld.mConfig.defaultBounciness), mUserData(nullptr) {
 
 }
 
@@ -144,19 +143,11 @@ const AABB Collider::getWorldAABB() const {
     return aabb;
 }
 
-// Return the collision shape
+// Return a pointer to the collision shape
 /**
  * @return Pointer to the internal collision shape
  */
-const CollisionShape* Collider::getCollisionShape() const {
-    return mBody->mWorld.mCollidersComponents.getCollisionShape(mEntity);
-}
-
-// Return the collision shape
-/**
-* @return Pointer to the internal collision shape
-*/
-CollisionShape* Collider::getCollisionShape() {
+CollisionShape* Collider::getCollisionShape() const {
     return mBody->mWorld.mCollidersComponents.getCollisionShape(mEntity);
 }
 
@@ -220,6 +211,11 @@ unsigned short Collider::getCollideWithMaskBits() const {
     return mBody->mWorld.mCollidersComponents.getCollideWithMaskBits(mEntity);
 }
 
+// Notify the collider that the size of the collision shape has been changed by the user
+void Collider::setHasCollisionShapeChangedSize(bool hasCollisionShapeChangedSize) {
+    mBody->mWorld.mCollidersComponents.setHasCollisionShapeChangedSize(mEntity, hasCollisionShapeChangedSize);
+}
+
 // Return the local to world transform
 /**
  * @return The transformation that transforms the local-space of the collision
diff --git a/src/collision/Collider.h b/src/collision/Collider.h
index 7d2b46f0..50599103 100644
--- a/src/collision/Collider.h
+++ b/src/collision/Collider.h
@@ -80,8 +80,9 @@ class Collider {
 
 		// -------------------- Methods -------------------- //
 
-		/// Return the collision shape
-		CollisionShape* getCollisionShape();
+        /// Notify the collider that the size of the collision shape has been
+        /// changed by the user
+        void setHasCollisionShapeChangedSize(bool hasCollisionShapeChangedSize);
 
     public:
 
@@ -102,8 +103,8 @@ class Collider {
         /// Return the corresponding entity of the collider
         Entity getEntity() const;
 
-        /// Return the collision shape
-        const CollisionShape* getCollisionShape() const;
+        /// Return a pointer to the collision shape
+        CollisionShape* getCollisionShape() const;
 
         /// Return the parent body
         CollisionBody* getBody() const;
@@ -183,7 +184,8 @@ class Collider {
         friend class PhysicsWorld;
         friend class GJKAlgorithm;
         friend class ConvexMeshShape;
-		friend class ContactManifoldSet;
+        friend class CollisionShape;
+        friend class ContactManifoldSet;
 		friend class MiddlePhaseTriangleCallback;
 
 };
diff --git a/src/collision/broadphase/DynamicAABBTree.cpp b/src/collision/broadphase/DynamicAABBTree.cpp
index 17c3f83e..60d2c568 100644
--- a/src/collision/broadphase/DynamicAABBTree.cpp
+++ b/src/collision/broadphase/DynamicAABBTree.cpp
@@ -169,8 +169,10 @@ void DynamicAABBTree::removeObject(int32 nodeID) {
 /// nothing is done. Otherwise, the corresponding node is removed and reinserted into the tree.
 /// The method returns true if the object has been reinserted into the tree. The "displacement"
 /// argument is the linear velocity of the AABB multiplied by the elapsed time between two
-/// frames.
-bool DynamicAABBTree::updateObject(int32 nodeID, const AABB& newAABB, const Vector3& displacement) {
+/// frames. If the "forceReInsert" parameter is true, we force the existing AABB to take the size
+/// of the "newAABB" parameter even if it is larger than "newAABB". This can be used to shrink the
+/// AABB in the tree for instance if the corresponding collision shape has been shrunk.
+bool DynamicAABBTree::updateObject(int32 nodeID, const AABB& newAABB, const Vector3& displacement, bool forceReinsert) {
 
     RP3D_PROFILE("DynamicAABBTree::updateObject()", mProfiler);
 
@@ -179,7 +181,7 @@ bool DynamicAABBTree::updateObject(int32 nodeID, const AABB& newAABB, const Vect
     assert(mNodes[nodeID].height >= 0);
 
     // If the new AABB is still inside the fat AABB of the node
-    if (mNodes[nodeID].aabb.contains(newAABB)) {
+    if (!forceReinsert && mNodes[nodeID].aabb.contains(newAABB)) {
         return false;
     }
 
@@ -194,22 +196,22 @@ bool DynamicAABBTree::updateObject(int32 nodeID, const AABB& newAABB, const Vect
 
     // Inflate the fat AABB in direction of the linear motion of the AABB
     if (displacement.x < decimal(0.0)) {
-      mNodes[nodeID].aabb.mMinCoordinates.x += DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER *displacement.x;
+      mNodes[nodeID].aabb.mMinCoordinates.x += DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER * displacement.x;
     }
     else {
-      mNodes[nodeID].aabb.mMaxCoordinates.x += DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER *displacement.x;
+      mNodes[nodeID].aabb.mMaxCoordinates.x += DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER * displacement.x;
     }
     if (displacement.y < decimal(0.0)) {
-      mNodes[nodeID].aabb.mMinCoordinates.y += DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER *displacement.y;
+      mNodes[nodeID].aabb.mMinCoordinates.y += DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER * displacement.y;
     }
     else {
-      mNodes[nodeID].aabb.mMaxCoordinates.y += DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER *displacement.y;
+      mNodes[nodeID].aabb.mMaxCoordinates.y += DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER * displacement.y;
     }
     if (displacement.z < decimal(0.0)) {
-      mNodes[nodeID].aabb.mMinCoordinates.z += DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER *displacement.z;
+      mNodes[nodeID].aabb.mMinCoordinates.z += DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER * displacement.z;
     }
     else {
-      mNodes[nodeID].aabb.mMaxCoordinates.z += DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER *displacement.z;
+      mNodes[nodeID].aabb.mMaxCoordinates.z += DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER * displacement.z;
     }
 
     assert(mNodes[nodeID].aabb.contains(newAABB));
diff --git a/src/collision/broadphase/DynamicAABBTree.h b/src/collision/broadphase/DynamicAABBTree.h
index a2919ada..3f6415b5 100644
--- a/src/collision/broadphase/DynamicAABBTree.h
+++ b/src/collision/broadphase/DynamicAABBTree.h
@@ -225,7 +225,8 @@ class DynamicAABBTree {
         void removeObject(int32 nodeID);
 
         /// Update the dynamic tree after an object has moved.
-        bool updateObject(int32 nodeID, const AABB& newAABB, const Vector3& displacement);
+        bool updateObject(int32 nodeID, const AABB& newAABB, const Vector3& displacement,
+                          bool forceReinsert = false);
 
         /// Return the fat AABB corresponding to a given node ID
         const AABB& getFatAABB(int32 nodeID) const;
diff --git a/src/collision/shapes/BoxShape.cpp b/src/collision/shapes/BoxShape.cpp
index 01b3c08c..7f4c410f 100644
--- a/src/collision/shapes/BoxShape.cpp
+++ b/src/collision/shapes/BoxShape.cpp
@@ -38,7 +38,7 @@ using namespace reactphysics3d;
  * @param halfExtents The vector with the three half-extents of the box
  */
 BoxShape::BoxShape(const Vector3& halfExtents, MemoryAllocator& allocator)
-         : ConvexPolyhedronShape(CollisionShapeName::BOX), mHalfExtents(halfExtents),
+         : ConvexPolyhedronShape(CollisionShapeName::BOX, allocator), mHalfExtents(halfExtents),
            mHalfEdgeStructure(allocator, 6, 8, 24) {
 
     assert(halfExtents.x > decimal(0.0));
diff --git a/src/collision/shapes/BoxShape.h b/src/collision/shapes/BoxShape.h
index ebec551c..ded03c63 100644
--- a/src/collision/shapes/BoxShape.h
+++ b/src/collision/shapes/BoxShape.h
@@ -149,6 +149,8 @@ inline Vector3 BoxShape::getHalfExtents() const {
  */
 inline void BoxShape::setHalfExtents(const Vector3& halfExtents) {
     mHalfExtents = halfExtents;
+
+    notifyColliderAboutChangedSize();
 }
 
 // Return the local bounds of the shape in x, y and z directions
diff --git a/src/collision/shapes/CapsuleShape.cpp b/src/collision/shapes/CapsuleShape.cpp
index 7730c5fa..d7cf2189 100644
--- a/src/collision/shapes/CapsuleShape.cpp
+++ b/src/collision/shapes/CapsuleShape.cpp
@@ -37,8 +37,8 @@ using namespace reactphysics3d;
  * @param radius The radius of the capsule (in meters)
  * @param height The height of the capsule (in meters)
  */
-CapsuleShape::CapsuleShape(decimal radius, decimal height)
-            : ConvexShape(CollisionShapeName::CAPSULE, CollisionShapeType::CAPSULE, radius), mHalfHeight(height * decimal(0.5)) {
+CapsuleShape::CapsuleShape(decimal radius, decimal height, MemoryAllocator& allocator)
+            : ConvexShape(CollisionShapeName::CAPSULE, CollisionShapeType::CAPSULE, allocator, radius), mHalfHeight(height * decimal(0.5)) {
     // TODO : Throw a library error here if radius or height is not larger than zero
     assert(radius > decimal(0.0));
     assert(height > decimal(0.0));
diff --git a/src/collision/shapes/CapsuleShape.h b/src/collision/shapes/CapsuleShape.h
index 37d87d55..4b37bdc5 100644
--- a/src/collision/shapes/CapsuleShape.h
+++ b/src/collision/shapes/CapsuleShape.h
@@ -58,7 +58,7 @@ class CapsuleShape : public ConvexShape {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        CapsuleShape(decimal radius, decimal height);
+        CapsuleShape(decimal radius, decimal height, MemoryAllocator& allocator);
 
         /// Return a local support point in a given direction without the object margin
         virtual Vector3 getLocalSupportPointWithoutMargin(const Vector3& direction) const override;
@@ -137,6 +137,8 @@ inline void CapsuleShape::setRadius(decimal radius) {
     // TODO : Throw a library error here if radius is not larger than zero
     assert(radius > decimal(0.0));
     mMargin = radius;
+
+    notifyColliderAboutChangedSize();
 }
 
 // Return the height of the capsule
@@ -158,6 +160,8 @@ inline void CapsuleShape::setHeight(decimal height) {
     // TODO : Throw a library error here if radius is not larger than zero
     assert(height > decimal(0.0));
     mHalfHeight = height * decimal(0.5);
+
+    notifyColliderAboutChangedSize();
 }
 
 // Return the number of bytes used by the collision shape
diff --git a/src/collision/shapes/CollisionShape.cpp b/src/collision/shapes/CollisionShape.cpp
index 0acfcc34..576e6ff4 100644
--- a/src/collision/shapes/CollisionShape.cpp
+++ b/src/collision/shapes/CollisionShape.cpp
@@ -27,13 +27,14 @@
 #include "CollisionShape.h"
 #include "utils/Profiler.h"
 #include "body/CollisionBody.h"
+#include "collision/Collider.h"
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;
 
 // Constructor
-CollisionShape::CollisionShape(CollisionShapeName name, CollisionShapeType type)
-               : mType(type), mName(name), mId(0) {
+CollisionShape::CollisionShape(CollisionShapeName name, CollisionShapeType type, MemoryAllocator &allocator)
+               : mType(type), mName(name), mId(0), mColliders(allocator) {
 
 #ifdef IS_PROFILING_ACTIVE
         mProfiler = nullptr;
@@ -90,3 +91,11 @@ void CollisionShape::computeAABB(AABB& aabb, const Transform& transform) const {
     aabb.setMin(resultMin);
     aabb.setMax(resultMax);
 }
+
+/// Notify all the assign colliders that the size of the collision shape has changed
+void CollisionShape::notifyColliderAboutChangedSize() {
+
+    for (uint i=0; i < mColliders.size(); i++) {
+        mColliders[i]->setHasCollisionShapeChangedSize(true);
+    }
+}
diff --git a/src/collision/shapes/CollisionShape.h b/src/collision/shapes/CollisionShape.h
index ea0beb8c..853de58a 100644
--- a/src/collision/shapes/CollisionShape.h
+++ b/src/collision/shapes/CollisionShape.h
@@ -75,6 +75,9 @@ class CollisionShape {
         /// Unique identifier of the shape inside an overlapping pair
         uint32 mId;
 
+        /// List of the colliders associated with this shape
+        List<Collider*> mColliders;
+
 #ifdef IS_PROFILING_ACTIVE
 
 		/// Pointer to the profiler
@@ -93,12 +96,21 @@ class CollisionShape {
         /// Return the number of bytes used by the collision shape
         virtual size_t getSizeInBytes() const = 0;
 
+        /// Assign a new collider to the collision shape
+        void addCollider(Collider* collider);
+
+        /// Remove an assigned collider from the collision shape
+        void removeCollider(Collider* collider);
+
+        /// Notify all the assign colliders that the size of the collision shape has changed
+        void notifyColliderAboutChangedSize();
+
     public :
 
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        CollisionShape(CollisionShapeName name, CollisionShapeType type);
+        CollisionShape(CollisionShapeName name, CollisionShapeType type, MemoryAllocator& allocator);
 
         /// Destructor
         virtual ~CollisionShape() = default;
@@ -146,7 +158,10 @@ class CollisionShape {
         // -------------------- Friendship -------------------- //
 
         friend class Collider;
+        friend class CollisionBody;
+        friend class RigidBody;
         friend class PhyscisWorld;
+        friend class BroadPhaseSystem;
 };
 
 // Return the name of the collision shape
@@ -170,6 +185,16 @@ inline uint32 CollisionShape::getId() const {
    return mId;
 }
 
+// Assign a new collider to the collision shape
+inline void CollisionShape::addCollider(Collider* collider) {
+    mColliders.add(collider);
+}
+
+// Remove an assigned collider from the collision shape
+inline void CollisionShape::removeCollider(Collider* collider) {
+    mColliders.remove(collider);
+}
+
 #ifdef IS_PROFILING_ACTIVE
 
 // Set the profiler
diff --git a/src/collision/shapes/ConcaveMeshShape.cpp b/src/collision/shapes/ConcaveMeshShape.cpp
index 0a332914..a5f873fc 100644
--- a/src/collision/shapes/ConcaveMeshShape.cpp
+++ b/src/collision/shapes/ConcaveMeshShape.cpp
@@ -35,7 +35,7 @@ using namespace reactphysics3d;
 
 // Constructor
 ConcaveMeshShape::ConcaveMeshShape(TriangleMesh* triangleMesh, MemoryAllocator& allocator, const Vector3& scaling)
-                 : ConcaveShape(CollisionShapeName::TRIANGLE_MESH, scaling), mDynamicAABBTree(allocator) {
+                 : ConcaveShape(CollisionShapeName::TRIANGLE_MESH, allocator, scaling), mDynamicAABBTree(allocator) {
 
     mTriangleMesh = triangleMesh;
     mRaycastTestType = TriangleRaycastSide::FRONT;
diff --git a/src/collision/shapes/ConcaveShape.cpp b/src/collision/shapes/ConcaveShape.cpp
index de8dae05..41f4069b 100644
--- a/src/collision/shapes/ConcaveShape.cpp
+++ b/src/collision/shapes/ConcaveShape.cpp
@@ -31,8 +31,8 @@
 using namespace reactphysics3d;
 
 // Constructor
-ConcaveShape::ConcaveShape(CollisionShapeName name, const Vector3& scaling)
-             : CollisionShape(name, CollisionShapeType::CONCAVE_SHAPE), mRaycastTestType(TriangleRaycastSide::FRONT),
+ConcaveShape::ConcaveShape(CollisionShapeName name, MemoryAllocator& allocator, const Vector3& scaling)
+             : CollisionShape(name, CollisionShapeType::CONCAVE_SHAPE, allocator), mRaycastTestType(TriangleRaycastSide::FRONT),
                mScale(scaling) {
 
 }
diff --git a/src/collision/shapes/ConcaveShape.h b/src/collision/shapes/ConcaveShape.h
index bebf12f2..421a57ea 100644
--- a/src/collision/shapes/ConcaveShape.h
+++ b/src/collision/shapes/ConcaveShape.h
@@ -78,7 +78,7 @@ class ConcaveShape : public CollisionShape {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        ConcaveShape(CollisionShapeName name, const Vector3& scaling);
+        ConcaveShape(CollisionShapeName name, MemoryAllocator& allocator, const Vector3& scaling);
 
         /// Destructor
         virtual ~ConcaveShape() override = default;
@@ -151,6 +151,8 @@ inline const Vector3& ConcaveShape::getScale() const {
 /// after changing the scale of a collision shape
 inline void ConcaveShape::setScale(const Vector3& scale) {
     mScale = scale;
+
+    notifyColliderAboutChangedSize();
 }
 
 }
diff --git a/src/collision/shapes/ConvexMeshShape.cpp b/src/collision/shapes/ConvexMeshShape.cpp
index 6cc1322f..df105a5e 100644
--- a/src/collision/shapes/ConvexMeshShape.cpp
+++ b/src/collision/shapes/ConvexMeshShape.cpp
@@ -39,8 +39,8 @@ 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, const Vector3& scale)
-                : ConvexPolyhedronShape(CollisionShapeName::CONVEX_MESH), mPolyhedronMesh(polyhedronMesh),
+ConvexMeshShape::ConvexMeshShape(PolyhedronMesh* polyhedronMesh, MemoryAllocator& allocator, const Vector3& scale)
+                : ConvexPolyhedronShape(CollisionShapeName::CONVEX_MESH, allocator), mPolyhedronMesh(polyhedronMesh),
                   mMinBounds(0, 0, 0), mMaxBounds(0, 0, 0), mScale(scale) {
 
     // Recalculate the bounds of the mesh
diff --git a/src/collision/shapes/ConvexMeshShape.h b/src/collision/shapes/ConvexMeshShape.h
index bbcc8319..8313fe92 100644
--- a/src/collision/shapes/ConvexMeshShape.h
+++ b/src/collision/shapes/ConvexMeshShape.h
@@ -66,7 +66,7 @@ class ConvexMeshShape : public ConvexPolyhedronShape {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        ConvexMeshShape(PolyhedronMesh* polyhedronMesh, const Vector3& scale = Vector3(1,1,1));
+        ConvexMeshShape(PolyhedronMesh* polyhedronMesh,  MemoryAllocator& allocator, const Vector3& scale = Vector3(1,1,1));
 
         /// Recompute the bounds of the mesh
         void recalculateBounds();
@@ -159,6 +159,7 @@ inline const Vector3& ConvexMeshShape::getScale() const {
 inline void ConvexMeshShape::setScale(const Vector3& scale) {
     mScale = scale;
     recalculateBounds();
+    notifyColliderAboutChangedSize();
 }
 
 // Return the local bounds of the shape in x, y and z directions
diff --git a/src/collision/shapes/ConvexPolyhedronShape.cpp b/src/collision/shapes/ConvexPolyhedronShape.cpp
index f4df61d8..53bb92c8 100644
--- a/src/collision/shapes/ConvexPolyhedronShape.cpp
+++ b/src/collision/shapes/ConvexPolyhedronShape.cpp
@@ -31,8 +31,8 @@
 using namespace reactphysics3d;
 
 // Constructor
-ConvexPolyhedronShape::ConvexPolyhedronShape(CollisionShapeName name)
-            : ConvexShape(name, CollisionShapeType::CONVEX_POLYHEDRON) {
+ConvexPolyhedronShape::ConvexPolyhedronShape(CollisionShapeName name, MemoryAllocator& allocator)
+            : ConvexShape(name, CollisionShapeType::CONVEX_POLYHEDRON, allocator) {
 
 }
 
diff --git a/src/collision/shapes/ConvexPolyhedronShape.h b/src/collision/shapes/ConvexPolyhedronShape.h
index c316d4bf..2bd41437 100644
--- a/src/collision/shapes/ConvexPolyhedronShape.h
+++ b/src/collision/shapes/ConvexPolyhedronShape.h
@@ -47,7 +47,7 @@ class ConvexPolyhedronShape : public ConvexShape {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        ConvexPolyhedronShape(CollisionShapeName name);
+        ConvexPolyhedronShape(CollisionShapeName name, MemoryAllocator& allocator);
 
         /// Destructor
         virtual ~ConvexPolyhedronShape() override = default;
diff --git a/src/collision/shapes/ConvexShape.cpp b/src/collision/shapes/ConvexShape.cpp
index e93a1d06..2b9c3d81 100644
--- a/src/collision/shapes/ConvexShape.cpp
+++ b/src/collision/shapes/ConvexShape.cpp
@@ -31,8 +31,8 @@
 using namespace reactphysics3d;
 
 // Constructor
-ConvexShape::ConvexShape(CollisionShapeName name, CollisionShapeType type, decimal margin)
-            : CollisionShape(name, type), mMargin(margin) {
+ConvexShape::ConvexShape(CollisionShapeName name, CollisionShapeType type, MemoryAllocator& allocator, decimal margin)
+            : CollisionShape(name, type, allocator), mMargin(margin) {
 
 }
 
diff --git a/src/collision/shapes/ConvexShape.h b/src/collision/shapes/ConvexShape.h
index 7e5484bf..49266389 100644
--- a/src/collision/shapes/ConvexShape.h
+++ b/src/collision/shapes/ConvexShape.h
@@ -59,7 +59,7 @@ class ConvexShape : public CollisionShape {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        ConvexShape(CollisionShapeName name, CollisionShapeType type, decimal margin = decimal(0.0));
+        ConvexShape(CollisionShapeName name, CollisionShapeType type, MemoryAllocator& allocator, decimal margin = decimal(0.0));
 
         /// Destructor
         virtual ~ConvexShape() override = default;
diff --git a/src/collision/shapes/HeightFieldShape.cpp b/src/collision/shapes/HeightFieldShape.cpp
index e038d6a1..f2ffa0b5 100644
--- a/src/collision/shapes/HeightFieldShape.cpp
+++ b/src/collision/shapes/HeightFieldShape.cpp
@@ -42,9 +42,9 @@ using namespace reactphysics3d;
  * @param integerHeightScale Scaling factor used to scale the height values (only when height values type is integer)
  */
 HeightFieldShape::HeightFieldShape(int nbGridColumns, int nbGridRows, decimal minHeight, decimal maxHeight,
-                                   const void* heightFieldData, HeightDataType dataType, int upAxis,
+                                   const void* heightFieldData, HeightDataType dataType, MemoryAllocator& allocator, int upAxis,
                                    decimal integerHeightScale, const Vector3& scaling)
-                 : ConcaveShape(CollisionShapeName::HEIGHTFIELD, scaling), mNbColumns(nbGridColumns), mNbRows(nbGridRows),
+                 : ConcaveShape(CollisionShapeName::HEIGHTFIELD, allocator, scaling), mNbColumns(nbGridColumns), mNbRows(nbGridRows),
                    mWidth(nbGridColumns - 1), mLength(nbGridRows - 1), mMinHeight(minHeight),
                    mMaxHeight(maxHeight), mUpAxis(upAxis), mIntegerHeightScale(integerHeightScale),
                    mHeightDataType(dataType) {
diff --git a/src/collision/shapes/HeightFieldShape.h b/src/collision/shapes/HeightFieldShape.h
index c2044349..d3092dd8 100644
--- a/src/collision/shapes/HeightFieldShape.h
+++ b/src/collision/shapes/HeightFieldShape.h
@@ -95,7 +95,7 @@ class HeightFieldShape : public ConcaveShape {
 
         /// Constructor
         HeightFieldShape(int nbGridColumns, int nbGridRows, decimal minHeight, decimal maxHeight,
-                         const void* heightFieldData, HeightDataType dataType,
+                         const void* heightFieldData, HeightDataType dataType, MemoryAllocator& allocator,
                          int upAxis = 1, decimal integerHeightScale = 1.0f,
                          const Vector3& scaling = Vector3(1,1,1));
 
diff --git a/src/collision/shapes/SphereShape.cpp b/src/collision/shapes/SphereShape.cpp
index 613ded67..db3955bc 100644
--- a/src/collision/shapes/SphereShape.cpp
+++ b/src/collision/shapes/SphereShape.cpp
@@ -36,8 +36,8 @@ using namespace reactphysics3d;
 /**
  * @param radius Radius of the sphere
  */
-SphereShape::SphereShape(decimal radius)
-            : ConvexShape(CollisionShapeName::SPHERE, CollisionShapeType::SPHERE, radius) {
+SphereShape::SphereShape(decimal radius, MemoryAllocator& allocator)
+            : ConvexShape(CollisionShapeName::SPHERE, CollisionShapeType::SPHERE, allocator, radius) {
     assert(radius > decimal(0.0));
 }
 
diff --git a/src/collision/shapes/SphereShape.h b/src/collision/shapes/SphereShape.h
index 61f18eeb..a5d7bd95 100644
--- a/src/collision/shapes/SphereShape.h
+++ b/src/collision/shapes/SphereShape.h
@@ -51,7 +51,7 @@ class SphereShape : public ConvexShape {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        SphereShape(decimal radius);
+        SphereShape(decimal radius, MemoryAllocator& allocator);
 
         /// Return a local support point in a given direction without the object margin
         virtual Vector3 getLocalSupportPointWithoutMargin(const Vector3& direction) const override;
@@ -121,6 +121,8 @@ inline decimal SphereShape::getRadius() const {
 inline void SphereShape::setRadius(decimal radius) {
    assert(radius > decimal(0.0));
    mMargin = radius;
+
+   notifyColliderAboutChangedSize();
 }
 
 // Return true if the collision shape is a polyhedron
diff --git a/src/collision/shapes/TriangleShape.cpp b/src/collision/shapes/TriangleShape.cpp
index 4163057f..fda8c200 100644
--- a/src/collision/shapes/TriangleShape.cpp
+++ b/src/collision/shapes/TriangleShape.cpp
@@ -47,7 +47,7 @@ using namespace reactphysics3d;
  */
 TriangleShape::TriangleShape(const Vector3* vertices, const Vector3* verticesNormals, uint shapeId,
                              MemoryAllocator& allocator)
-    : ConvexPolyhedronShape(CollisionShapeName::TRIANGLE), mFaces{HalfEdgeStructure::Face(allocator), HalfEdgeStructure::Face(allocator)} {
+    : ConvexPolyhedronShape(CollisionShapeName::TRIANGLE, allocator), mFaces{HalfEdgeStructure::Face(allocator), HalfEdgeStructure::Face(allocator)} {
 
     mPoints[0] = vertices[0];
     mPoints[1] = vertices[1];
diff --git a/src/components/ColliderComponents.cpp b/src/components/ColliderComponents.cpp
index 24bff83f..7cd9de62 100644
--- a/src/components/ColliderComponents.cpp
+++ b/src/components/ColliderComponents.cpp
@@ -37,7 +37,7 @@ using namespace reactphysics3d;
 ColliderComponents::ColliderComponents(MemoryAllocator& allocator)
                     :Components(allocator, sizeof(Entity) + sizeof(Entity) + sizeof(Collider*) + sizeof(int) +
                 sizeof(Transform) + sizeof(CollisionShape*) + sizeof(decimal) + sizeof(unsigned short) +
-                sizeof(unsigned short) + sizeof(Transform) + sizeof(List<uint64>)) {
+                sizeof(unsigned short) + sizeof(Transform) + sizeof(List<uint64>) + sizeof(bool)) {
 
     // Allocate memory for the components data
     allocate(INIT_NB_ALLOCATED_COMPONENTS);
@@ -67,6 +67,7 @@ void ColliderComponents::allocate(uint32 nbComponentsToAllocate) {
     unsigned short* newCollideWithMaskBits = reinterpret_cast<unsigned short*>(newCollisionCategoryBits + nbComponentsToAllocate);
     Transform* newLocalToWorldTransforms = reinterpret_cast<Transform*>(newCollideWithMaskBits + nbComponentsToAllocate);
     List<uint64>* newOverlappingPairs = reinterpret_cast<List<uint64>*>(newLocalToWorldTransforms + nbComponentsToAllocate);
+    bool* hasCollisionShapeChangedSize = reinterpret_cast<bool*>(newOverlappingPairs + nbComponentsToAllocate);
 
     // If there was already components before
     if (mNbComponents > 0) {
@@ -83,6 +84,7 @@ void ColliderComponents::allocate(uint32 nbComponentsToAllocate) {
         memcpy(newCollideWithMaskBits, mCollideWithMaskBits, mNbComponents * sizeof(unsigned short));
         memcpy(newLocalToWorldTransforms, mLocalToWorldTransforms, mNbComponents * sizeof(Transform));
         memcpy(newOverlappingPairs, mOverlappingPairs, mNbComponents * sizeof(List<uint64>));
+        memcpy(hasCollisionShapeChangedSize, mHasCollisionShapeChangedSize, mNbComponents * sizeof(bool));
 
         // Deallocate previous memory
         mMemoryAllocator.release(mBuffer, mNbAllocatedComponents * mComponentDataSize);
@@ -101,6 +103,7 @@ void ColliderComponents::allocate(uint32 nbComponentsToAllocate) {
     mCollideWithMaskBits = newCollideWithMaskBits;
     mLocalToWorldTransforms = newLocalToWorldTransforms;
     mOverlappingPairs = newOverlappingPairs;
+    mHasCollisionShapeChangedSize = hasCollisionShapeChangedSize;
 
     mNbAllocatedComponents = nbComponentsToAllocate;
 }
@@ -123,6 +126,7 @@ void ColliderComponents::addComponent(Entity colliderEntity, bool isSleeping, co
     new (mCollideWithMaskBits + index) unsigned short(component.collideWithMaskBits);
     new (mLocalToWorldTransforms + index) Transform(component.localToWorldTransform);
     new (mOverlappingPairs + index) List<uint64>(mMemoryAllocator);
+    mHasCollisionShapeChangedSize[index] = false;
 
     // Map the entity with the new component lookup index
     mMapEntityToComponentIndex.add(Pair<Entity, uint32>(colliderEntity, index));
@@ -150,6 +154,7 @@ void ColliderComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex)
     new (mCollideWithMaskBits + destIndex) unsigned short(mCollideWithMaskBits[srcIndex]);
     new (mLocalToWorldTransforms + destIndex) Transform(mLocalToWorldTransforms[srcIndex]);
     new (mOverlappingPairs + destIndex) List<uint64>(mOverlappingPairs[srcIndex]);
+    mHasCollisionShapeChangedSize[destIndex] = mHasCollisionShapeChangedSize[srcIndex];
 
     // Destroy the source component
     destroyComponent(srcIndex);
@@ -177,6 +182,7 @@ void ColliderComponents::swapComponents(uint32 index1, uint32 index2) {
     unsigned short collideWithMaskBits1 = mCollideWithMaskBits[index1];
     Transform localToWorldTransform1 = mLocalToWorldTransforms[index1];
     List<uint64> overlappingPairs = mOverlappingPairs[index1];
+    bool hasCollisionShapeChangedSize = mHasCollisionShapeChangedSize[index1];
 
     // Destroy component 1
     destroyComponent(index1);
@@ -195,6 +201,7 @@ void ColliderComponents::swapComponents(uint32 index1, uint32 index2) {
     new (mCollideWithMaskBits + index2) unsigned short(collideWithMaskBits1);
     new (mLocalToWorldTransforms + index2) Transform(localToWorldTransform1);
     new (mOverlappingPairs + index2) List<uint64>(overlappingPairs);
+    mHasCollisionShapeChangedSize[index2] = hasCollisionShapeChangedSize;
 
     // Update the entity to component index mapping
     mMapEntityToComponentIndex.add(Pair<Entity, uint32>(colliderEntity1, index2));
diff --git a/src/components/ColliderComponents.h b/src/components/ColliderComponents.h
index 0c16a6a3..e30a844b 100644
--- a/src/components/ColliderComponents.h
+++ b/src/components/ColliderComponents.h
@@ -95,6 +95,11 @@ class ColliderComponents : public Components {
         /// Array with the list of involved overlapping pairs for each collider
         List<uint64>* mOverlappingPairs;
 
+        /// True if the size of the collision shape associated with the collider
+        /// has been changed by the user
+        bool* mHasCollisionShapeChangedSize;
+
+
         // -------------------- Methods -------------------- //
 
         /// Allocate memory for a given number of components
@@ -191,6 +196,12 @@ class ColliderComponents : public Components {
         /// Return a reference to the list of overlapping pairs for a given collider
         List<uint64>& getOverlappingPairs(Entity colliderEntity);
 
+        /// Return true if the size of collision shape of the collider has been changed by the user
+        bool getHasCollisionShapeChangedSize(Entity colliderEntity) const;
+
+        /// Return true if the size of collision shape of the collider has been changed by the user
+        void setHasCollisionShapeChangedSize(Entity colliderEntity, bool hasCollisionShapeChangedSize);
+
         // -------------------- Friendship -------------------- //
 
         friend class BroadPhaseSystem;
@@ -319,6 +330,22 @@ inline List<uint64>& ColliderComponents::getOverlappingPairs(Entity colliderEnti
     return mOverlappingPairs[mMapEntityToComponentIndex[colliderEntity]];
 }
 
+// Return true if the size of collision shape of the collider has been changed by the user
+inline bool ColliderComponents::getHasCollisionShapeChangedSize(Entity colliderEntity) const {
+
+    assert(mMapEntityToComponentIndex.containsKey(colliderEntity));
+
+    return mHasCollisionShapeChangedSize[mMapEntityToComponentIndex[colliderEntity]];
+}
+
+// Return true if the size of collision shape of the collider has been changed by the user
+inline void ColliderComponents::setHasCollisionShapeChangedSize(Entity colliderEntity, bool hasCollisionShapeChangedSize) {
+
+    assert(mMapEntityToComponentIndex.containsKey(colliderEntity));
+
+    mHasCollisionShapeChangedSize[mMapEntityToComponentIndex[colliderEntity]] = hasCollisionShapeChangedSize;
+}
+
 }
 
 #endif
diff --git a/src/engine/PhysicsCommon.cpp b/src/engine/PhysicsCommon.cpp
index 3f4a256e..e2d93fe6 100644
--- a/src/engine/PhysicsCommon.cpp
+++ b/src/engine/PhysicsCommon.cpp
@@ -159,7 +159,7 @@ void PhysicsCommon::destroyPhysicsWorld(PhysicsWorld* world) {
 // Create and return a sphere collision shape
 SphereShape* PhysicsCommon::createSphereShape(const decimal radius) {
 
-    SphereShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(SphereShape))) SphereShape(radius);
+    SphereShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(SphereShape))) SphereShape(radius, mMemoryManager.getHeapAllocator());
     mSphereShapes.add(shape);
 
     return shape;
@@ -202,7 +202,7 @@ void PhysicsCommon::destroyBoxShape(BoxShape* boxShape) {
 // Create and return a capsule shape
 CapsuleShape* PhysicsCommon::createCapsuleShape(decimal radius, decimal height) {
 
-    CapsuleShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(CapsuleShape))) CapsuleShape(radius, height);
+    CapsuleShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(CapsuleShape))) CapsuleShape(radius, height, mMemoryManager.getHeapAllocator());
 
     mCapsuleShapes.add(shape);
 
@@ -224,7 +224,7 @@ void PhysicsCommon::destroyCapsuleShape(CapsuleShape* capsuleShape) {
 // Create and return a convex mesh shape
 ConvexMeshShape* PhysicsCommon::createConvexMeshShape(PolyhedronMesh* polyhedronMesh, const Vector3& scaling) {
 
-    ConvexMeshShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(ConvexMeshShape))) ConvexMeshShape(polyhedronMesh, scaling);
+    ConvexMeshShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(ConvexMeshShape))) ConvexMeshShape(polyhedronMesh, mMemoryManager.getHeapAllocator(), scaling);
 
     mConvexMeshShapes.add(shape);
 
@@ -249,7 +249,7 @@ HeightFieldShape* PhysicsCommon::createHeightFieldShape(int nbGridColumns, int n
                                          int upAxis, decimal integerHeightScale, const Vector3& scaling) {
 
     HeightFieldShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(HeightFieldShape))) HeightFieldShape(nbGridColumns, nbGridRows, minHeight, maxHeight,
-                                         heightFieldData, dataType, upAxis, integerHeightScale, scaling);
+                                         heightFieldData, dataType, mMemoryManager.getHeapAllocator(), upAxis, integerHeightScale, scaling);
 
     mHeightFieldShapes.add(shape);
 
diff --git a/src/systems/BroadPhaseSystem.cpp b/src/systems/BroadPhaseSystem.cpp
index 2135080d..2e6cb7bd 100644
--- a/src/systems/BroadPhaseSystem.cpp
+++ b/src/systems/BroadPhaseSystem.cpp
@@ -89,7 +89,7 @@ void BroadPhaseSystem::addCollider(Collider* collider, const AABB& aabb) {
 
     // Add the collision shape into the array of bodies that have moved (or have been created)
     // during the last simulation step
-    addMovedCollisionShape(collider->getBroadPhaseId(), collider);
+    addMovedCollider(collider->getBroadPhaseId(), collider);
 }
 
 // Remove a collider from the broad-phase collision detection
@@ -106,7 +106,7 @@ void BroadPhaseSystem::removeCollider(Collider* collider) {
 
     // Remove the collision shape into the array of shapes that have moved (or have been created)
     // during the last simulation step
-    removeMovedCollisionShape(broadPhaseID);
+    removeMovedCollider(broadPhaseID);
 }
 
 // Update the broad-phase state of a single collider
@@ -133,12 +133,13 @@ void BroadPhaseSystem::updateColliders(decimal timeStep) {
 }
 
 // Notify the broad-phase that a collision shape has moved and need to be updated
-void BroadPhaseSystem::updateColliderInternal(int32 broadPhaseId, Collider* collider, const AABB& aabb, const Vector3& displacement) {
+void BroadPhaseSystem::updateColliderInternal(int32 broadPhaseId, Collider* collider, const AABB& aabb, const Vector3& displacement,
+                                              bool forceReInsert) {
 
     assert(broadPhaseId >= 0);
 
     // Update the dynamic AABB tree according to the movement of the collision shape
-    bool hasBeenReInserted = mDynamicAABBTree.updateObject(broadPhaseId, aabb, displacement);
+    bool hasBeenReInserted = mDynamicAABBTree.updateObject(broadPhaseId, aabb, displacement, forceReInsert);
 
     // If the collision shape has moved out of its fat AABB (and therefore has been reinserted
     // into the tree).
@@ -146,7 +147,7 @@ void BroadPhaseSystem::updateColliderInternal(int32 broadPhaseId, Collider* coll
 
         // Add the collision shape into the array of shapes that have moved (or have been created)
         // during the last simulation step
-        addMovedCollisionShape(broadPhaseId, collider);
+        addMovedCollider(broadPhaseId, collider);
     }
 }
 
@@ -189,16 +190,22 @@ void BroadPhaseSystem::updateCollidersComponents(uint32 startIndex, uint32 nbIte
             AABB aabb;
             mCollidersComponents.mCollisionShapes[i]->computeAABB(aabb, transform * mCollidersComponents.mLocalToBodyTransforms[i]);
 
-            // Update the broad-phase state for the collider
-            updateColliderInternal(broadPhaseId, mCollidersComponents.mColliders[i], aabb, displacement);
+            // If the size of the collision shape has been changed by the user,
+            // we need to reset the broad-phase AABB to its new size
+            const bool forceReInsert = mCollidersComponents.mHasCollisionShapeChangedSize[i];
+
+            // Update the broad-phase state of the collider
+            updateColliderInternal(broadPhaseId, mCollidersComponents.mColliders[i], aabb, displacement, forceReInsert);
+
+            mCollidersComponents.mHasCollisionShapeChangedSize[i] = false;
         }
     }
 }
 
 
-// Add a collision shape in the array of shapes that have moved in the last simulation step
+// Add a collider in the array of colliders that have moved in the last simulation step
 // and that need to be tested again for broad-phase overlapping.
-void BroadPhaseSystem::addMovedCollisionShape(int broadPhaseID, Collider* collider) {
+void BroadPhaseSystem::addMovedCollider(int broadPhaseID, Collider* collider) {
 
     assert(broadPhaseID != -1);
 
diff --git a/src/systems/BroadPhaseSystem.h b/src/systems/BroadPhaseSystem.h
index 710527c9..b550b62f 100644
--- a/src/systems/BroadPhaseSystem.h
+++ b/src/systems/BroadPhaseSystem.h
@@ -140,7 +140,8 @@ class BroadPhaseSystem {
         // -------------------- Methods -------------------- //
 
         /// Notify the Dynamic AABB tree that a collider needs to be updated
-        void updateColliderInternal(int32 broadPhaseId, Collider* collider, const AABB& aabb, const Vector3& displacement);
+        void updateColliderInternal(int32 broadPhaseId, Collider* collider, const AABB& aabb, const Vector3& displacement,
+                                    bool forceReInsert);
 
         /// Update the broad-phase state of some colliders components
         void updateCollidersComponents(uint32 startIndex, uint32 nbItems, decimal timeStep);
@@ -174,13 +175,13 @@ class BroadPhaseSystem {
         /// Update the broad-phase state of all the enabled colliders
         void updateColliders(decimal timeStep);
 
-        /// Add a collision shape in the array of shapes that have moved in the last simulation step
+        /// Add a collider in the array of colliders that have moved in the last simulation step
         /// and that need to be tested again for broad-phase overlapping.
-        void addMovedCollisionShape(int broadPhaseID, Collider* collider);
+        void addMovedCollider(int broadPhaseID, Collider* collider);
 
-        /// Remove a collision shape from the array of shapes that have moved in the last simulation
+        /// Remove a collider from the array of colliders that have moved in the last simulation
         /// step and that need to be tested again for broad-phase overlapping.
-        void removeMovedCollisionShape(int broadPhaseID);
+        void removeMovedCollider(int broadPhaseID);
 
         /// Compute all the overlapping pairs of collision shapes
         void computeOverlappingPairs(MemoryManager& memoryManager, List<Pair<int32, int32>>& overlappingNodes);
@@ -211,9 +212,9 @@ inline const AABB& BroadPhaseSystem::getFatAABB(int broadPhaseId) const  {
     return mDynamicAABBTree.getFatAABB(broadPhaseId);
 }
 
-// Remove a collision shape from the array of shapes that have moved in the last simulation step
+// Remove a collider from the array of colliders that have moved in the last simulation step
 // and that need to be tested again for broad-phase overlapping.
-inline void BroadPhaseSystem::removeMovedCollisionShape(int broadPhaseID) {
+inline void BroadPhaseSystem::removeMovedCollider(int broadPhaseID) {
 
     // Remove the broad-phase ID from the set
     mMovedShapes.remove(broadPhaseID);
diff --git a/src/systems/CollisionDetectionSystem.cpp b/src/systems/CollisionDetectionSystem.cpp
index a9ba5357..9f872399 100644
--- a/src/systems/CollisionDetectionSystem.cpp
+++ b/src/systems/CollisionDetectionSystem.cpp
@@ -99,7 +99,7 @@ void CollisionDetectionSystem::computeBroadPhase() {
 
     RP3D_PROFILE("CollisionDetectionSystem::computeBroadPhase()", mProfiler);
 
-    // Ask the broad-phase to compute all the shapes overlapping the shapes that
+    // Ask the broad-phase to compute all the shapes overlapping with the shapes that
     // have moved or have been added in the last frame. This call can only add new
     // overlapping pairs in the collision detection.
     List<Pair<int32, int32>> overlappingNodes(mMemoryManager.getPoolAllocator(), 32);
diff --git a/src/systems/CollisionDetectionSystem.h b/src/systems/CollisionDetectionSystem.h
index 48d982c1..bb56d0d5 100644
--- a/src/systems/CollisionDetectionSystem.h
+++ b/src/systems/CollisionDetectionSystem.h
@@ -396,7 +396,7 @@ inline void CollisionDetectionSystem::removeNoCollisionPair(Entity body1Entity,
 inline void CollisionDetectionSystem::askForBroadPhaseCollisionCheck(Collider* shape) {
 
     if (shape->getBroadPhaseId() != -1) {
-        mBroadPhaseSystem.addMovedCollisionShape(shape->getBroadPhaseId(), shape);
+        mBroadPhaseSystem.addMovedCollider(shape->getBroadPhaseId(), shape);
     }
 }