diff --git a/sources/reactphysics3d/testing/TestSuite/Suite.cpp b/sources/reactphysics3d/testing/TestSuite/Suite.cpp
new file mode 100644
index 00000000..6e23b097
--- /dev/null
+++ b/sources/reactphysics3d/testing/TestSuite/Suite.cpp
@@ -0,0 +1,91 @@
+//: TestSuite:Suite.cpp {O}
+// From "Thinking in C++, Volume 2", by Bruce Eckel & Chuck Allison.
+// (c) 1995-2004 MindView, Inc. All Rights Reserved.
+// See source code use permissions stated in the file 'License.txt',
+// distributed with the code package available at www.MindView.net.
+#include "Suite.h"
+#include <iostream>
+#include <cassert>
+#include <cstddef>
+using namespace std;
+using namespace TestSuite;
+
+void Suite::addTest(Test* t) throw(TestSuiteError) {
+  // Verify test is valid and has a stream:
+  if(t == 0)
+    throw TestSuiteError("Null test in Suite::addTest");
+  else if(osptr && !t->getStream())
+    t->setStream(osptr);
+  tests.push_back(t);
+  t->reset();
+}
+
+void Suite::addSuite(const Suite& s) {
+   for(size_t i = 0; i < s.tests.size(); ++i) {
+     assert(tests[i]);
+      addTest(s.tests[i]);
+  }
+}
+
+void Suite::free() {
+  for(size_t i = 0; i < tests.size(); ++i) {
+    delete tests[i];
+    tests[i] = 0;
+  }
+}
+
+void Suite::run() {
+  reset();
+  for(size_t i = 0; i < tests.size(); ++i) {
+    assert(tests[i]);
+    tests[i]->run();
+  }
+}
+
+long Suite::report() const {
+  if(osptr) {
+    long totFail = 0;
+    *osptr << "Suite \"" << name
+             << "\"\n=======";
+    size_t i;
+    for(i = 0; i < name.size(); ++i)
+      *osptr << '=';
+    *osptr << "=" << endl;
+    for(i = 0; i < tests.size(); ++i) {
+      assert(tests[i]);
+      totFail += tests[i]->report();
+    }
+    *osptr << "=======";
+    for(i = 0; i < name.size(); ++i)
+      *osptr << '=';
+    *osptr << "=" << endl;
+    return totFail;
+  }
+  else
+    return getNumFailed();
+}
+
+long Suite::getNumPassed() const {
+  long totPass = 0;
+  for(size_t i = 0; i < tests.size(); ++i) {
+    assert(tests[i]);
+    totPass += tests[i]->getNumPassed();
+  }
+  return totPass;
+}
+
+long Suite::getNumFailed() const {
+  long totFail = 0;
+  for(size_t i = 0; i < tests.size(); ++i) {
+    assert(tests[i]);
+    totFail += tests[i]->getNumFailed();
+  }
+  return totFail;
+}
+
+void Suite::reset() {
+  for(size_t i = 0; i < tests.size(); ++i) {
+    assert(tests[i]);
+    tests[i]->reset();
+  }
+} ///:~
diff --git a/sources/reactphysics3d/testing/TestSuite/Suite.h b/sources/reactphysics3d/testing/TestSuite/Suite.h
new file mode 100644
index 00000000..e7329213
--- /dev/null
+++ b/sources/reactphysics3d/testing/TestSuite/Suite.h
@@ -0,0 +1,46 @@
+//: TestSuite:Suite.h
+// From "Thinking in C++, Volume 2", by Bruce Eckel & Chuck Allison.
+// (c) 1995-2004 MindView, Inc. All Rights Reserved.
+// See source code use permissions stated in the file 'License.txt',
+// distributed with the code package available at www.MindView.net.
+#ifndef SUITE_H
+#define SUITE_H
+#include <vector>
+#include <stdexcept>
+#include "../TestSuite/Test.h"
+using std::vector;
+using std::logic_error;
+
+namespace TestSuite {
+
+class TestSuiteError : public logic_error {
+public:
+  TestSuiteError(const string& s = "")
+  : logic_error(s) {}
+};
+
+class Suite {
+  string name;
+  ostream* osptr;
+  vector<Test*> tests;
+  void reset();
+  // Disallowed ops:
+  Suite(const Suite&);
+  Suite& operator=(const Suite&);
+public:
+  Suite(const string& name, ostream* osptr = &cout)
+  : name(name) { this->osptr = osptr; }
+  string getName() const { return name; }
+  long getNumPassed() const;
+  long getNumFailed() const;
+  const ostream* getStream() const { return osptr; }
+  void setStream(ostream* osptr) { this->osptr = osptr; }
+  void addTest(Test* t) throw(TestSuiteError);
+  void addSuite(const Suite&);
+  void run();  // Calls Test::run() repeatedly
+  long report() const;
+  void free();  // Deletes tests
+};
+
+} // namespace TestSuite
+#endif // SUITE_H ///:~
diff --git a/sources/reactphysics3d/testing/TestSuite/Test.cpp b/sources/reactphysics3d/testing/TestSuite/Test.cpp
new file mode 100644
index 00000000..8ad4ac4f
--- /dev/null
+++ b/sources/reactphysics3d/testing/TestSuite/Test.cpp
@@ -0,0 +1,38 @@
+//: TestSuite:Test.cpp {O}
+// From "Thinking in C++, Volume 2", by Bruce Eckel & Chuck Allison.
+// (c) 1995-2004 MindView, Inc. All Rights Reserved.
+// See source code use permissions stated in the file 'License.txt',
+// distributed with the code package available at www.MindView.net.
+#include "Test.h"
+#include <iostream>
+#include <typeinfo>
+using namespace std;
+using namespace TestSuite;
+
+void Test::do_test(bool cond, const std::string& lbl,
+  const char* fname, long lineno) {
+  if(!cond)
+    do_fail(lbl, fname, lineno);
+  else
+    succeed_();
+}
+
+void Test::do_fail(const std::string& lbl,
+  const char* fname, long lineno) {
+  ++nFail;
+  if(osptr) {
+    *osptr << typeid(*this).name()
+           << "failure: (" << lbl << ") , " << fname
+           << " (line " << lineno << ")" << endl;
+  }
+}
+
+long Test::report() const {
+  if(osptr) {
+    *osptr << "Test  \"" <<  typeid(*this).name()
+           << "\":\n\tPassed: " << nPass
+           << "\tFailed: " << nFail
+           << endl;
+  }
+  return nFail;
+} ///:~
diff --git a/sources/reactphysics3d/testing/TestSuite/Test.h b/sources/reactphysics3d/testing/TestSuite/Test.h
new file mode 100644
index 00000000..fb85c63a
--- /dev/null
+++ b/sources/reactphysics3d/testing/TestSuite/Test.h
@@ -0,0 +1,55 @@
+//: TestSuite:Test.h
+// From "Thinking in C++, Volume 2", by Bruce Eckel & Chuck Allison.
+// (c) 1995-2004 MindView, Inc. All Rights Reserved.
+// See source code use permissions stated in the file 'License.txt',
+// distributed with the code package available at www.MindView.net.
+#ifndef TEST_H
+#define TEST_H
+#include <string>
+#include <iostream>
+#include <cassert>
+using std::string;
+using std::ostream;
+using std::cout;
+
+// fail_() has an underscore to prevent collision with
+// ios::fail(). For consistency, test_() and succeed_()
+// also have underscores.
+
+#define test_(cond) \
+  do_test(cond, #cond, __FILE__, __LINE__)
+#define fail_(str) \
+  do_fail(str, __FILE__, __LINE__)
+
+namespace TestSuite {
+
+class Test {
+  ostream* osptr;
+  long nPass;
+  long nFail;
+  // Disallowed:
+  Test(const Test&);
+  Test& operator=(const Test&);
+protected:
+  void do_test(bool cond, const string& lbl,
+    const char* fname, long lineno);
+  void do_fail(const string& lbl,
+    const char* fname, long lineno);
+public:
+  Test(ostream* osptr = &cout) {
+    this->osptr = osptr;
+    nPass = nFail = 0;
+  }
+  virtual ~Test() {}
+  virtual void run() = 0;
+  long getNumPassed() const { return nPass; }
+  long getNumFailed() const { return nFail; }
+  const ostream* getStream() const { return osptr; }
+  void setStream(ostream* osptr) { this->osptr = osptr; }
+  void succeed_() { ++nPass; }
+  long report() const;
+  virtual void reset() { nPass = nFail = 0; }
+};
+
+} // namespace TestSuite
+#endif // TEST_H ///:~