diff --git a/sources/reactphysics3d/constraint/EdgeEdgeContact.cpp b/sources/reactphysics3d/constraint/EdgeEdgeContact.cpp
new file mode 100644
index 00000000..e29e58c6
--- /dev/null
+++ b/sources/reactphysics3d/constraint/EdgeEdgeContact.cpp
@@ -0,0 +1,35 @@
+/***************************************************************************
+* Copyright (C) 2009      Daniel Chappuis                                  *
+****************************************************************************
+* This file is part of ReactPhysics3D.                                     *
+*                                                                          *
+* ReactPhysics3D is free software: you can redistribute it and/or modify   *
+* it under the terms of the GNU Lesser General Public License as published *
+* by the Free Software Foundation, either version 3 of the License, or     *
+* (at your option) any later version.                                      *
+*                                                                          *
+* ReactPhysics3D is distributed in the hope that it will be useful,        *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of           *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the             *
+* GNU Lesser General Public License for more details.                      *
+*                                                                          *
+* You should have received a copy of the GNU Lesser General Public License *
+* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
+***************************************************************************/
+
+// Libraries
+#include "EdgeEdgeContact.h"
+
+// We want to use the ReactPhysics3D namespace
+using namespace reactphysics3d;
+
+// Constructor
+EdgeEdgeContact::EdgeEdgeContact(Body& body1, Body& body2, const Vector3D normalVector, const Segment3D& contactSegment)
+                :Contact(body1, body2, normalVector), contactSegment(contactSegment) {
+
+}
+
+// Destructor
+EdgeEdgeContact::~EdgeEdgeContact() {
+
+}
diff --git a/sources/reactphysics3d/constraint/EdgeEdgeContact.h b/sources/reactphysics3d/constraint/EdgeEdgeContact.h
new file mode 100644
index 00000000..2309fb23
--- /dev/null
+++ b/sources/reactphysics3d/constraint/EdgeEdgeContact.h
@@ -0,0 +1,55 @@
+/***************************************************************************
+* Copyright (C) 2009      Daniel Chappuis                                  *
+****************************************************************************
+* This file is part of ReactPhysics3D.                                     *
+*                                                                          *
+* ReactPhysics3D is free software: you can redistribute it and/or modify   *
+* it under the terms of the GNU Lesser General Public License as published *
+* by the Free Software Foundation, either version 3 of the License, or     *
+* (at your option) any later version.                                      *
+*                                                                          *
+* ReactPhysics3D is distributed in the hope that it will be useful,        *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of           *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the             *
+* GNU Lesser General Public License for more details.                      *
+*                                                                          *
+* You should have received a copy of the GNU Lesser General Public License *
+* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
+***************************************************************************/
+
+#ifndef EDGEEDGECONTACT_H
+#define EDGEEDGECONTACT_H
+
+// Libraries
+#include "Contact.h"
+#include "../mathematics/mathematics.h"
+
+// ReactPhysics3D namespace
+namespace reactphysics3d {
+
+/*  -------------------------------------------------------------------
+    Class EdgeEdgeContact :
+        This class represents a edge-edge collision contact between two
+        bodies in the physics engine.
+    -------------------------------------------------------------------
+*/
+class EdgeEdgeContact : public Contact {
+    private :
+        Segment3D contactSegment;               // Contact segment
+
+    public :
+        EdgeEdgeContact(Body& body1, Body& body2, const Vector3D normalVector, const Segment3D& contactSegment);    // Constructor
+        virtual ~EdgeEdgeContact();                                                                                 // Destructor
+
+        Segment3D getContactSegment() const;        // Return the contact segment
+};
+
+// Return the contact segment
+inline Segment3D EdgeEdgeContact::getContactSegment() const {
+    return contactSegment;
+}
+
+} // End of the ReactPhysics3D namespace
+
+#endif
+
diff --git a/sources/reactphysics3d/constraint/EdgeVertexContact.cpp b/sources/reactphysics3d/constraint/EdgeVertexContact.cpp
new file mode 100644
index 00000000..b0ccd742
--- /dev/null
+++ b/sources/reactphysics3d/constraint/EdgeVertexContact.cpp
@@ -0,0 +1,35 @@
+/***************************************************************************
+* Copyright (C) 2009      Daniel Chappuis                                  *
+****************************************************************************
+* This file is part of ReactPhysics3D.                                     *
+*                                                                          *
+* ReactPhysics3D is free software: you can redistribute it and/or modify   *
+* it under the terms of the GNU Lesser General Public License as published *
+* by the Free Software Foundation, either version 3 of the License, or     *
+* (at your option) any later version.                                      *
+*                                                                          *
+* ReactPhysics3D is distributed in the hope that it will be useful,        *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of           *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the             *
+* GNU Lesser General Public License for more details.                      *
+*                                                                          *
+* You should have received a copy of the GNU Lesser General Public License *
+* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
+***************************************************************************/
+
+// Libraries
+#include "EdgeVertexContact.h"
+
+// We want to use the ReactPhysics3D namespace
+using namespace reactphysics3d;
+
+// Constructor
+EdgeVertexContact::EdgeVertexContact(Body& body1, Body& body2, const Vector3D& normalVector, const Vector3D& contactVertex)
+                  :Contact(body1, body2, normalVector), contactVertex(contactVertex) {
+
+}
+
+// Destructor
+EdgeVertexContact::~EdgeVertexContact() {
+
+}
diff --git a/sources/reactphysics3d/constraint/EdgeVertexContact.h b/sources/reactphysics3d/constraint/EdgeVertexContact.h
new file mode 100644
index 00000000..c79614d8
--- /dev/null
+++ b/sources/reactphysics3d/constraint/EdgeVertexContact.h
@@ -0,0 +1,54 @@
+/***************************************************************************
+* Copyright (C) 2009      Daniel Chappuis                                  *
+****************************************************************************
+* This file is part of ReactPhysics3D.                                     *
+*                                                                          *
+* ReactPhysics3D is free software: you can redistribute it and/or modify   *
+* it under the terms of the GNU Lesser General Public License as published *
+* by the Free Software Foundation, either version 3 of the License, or     *
+* (at your option) any later version.                                      *
+*                                                                          *
+* ReactPhysics3D is distributed in the hope that it will be useful,        *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of           *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the             *
+* GNU Lesser General Public License for more details.                      *
+*                                                                          *
+* You should have received a copy of the GNU Lesser General Public License *
+* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
+***************************************************************************/
+
+#ifndef EDGEVERTEXCONTACT_H
+#define EDGEVERTEXCONTACT_H
+
+// Libraries
+#include "Contact.h"
+#include "../mathematics/mathematics.h"
+
+// ReactPhysics3D namespace
+namespace reactphysics3d {
+
+
+/*  -------------------------------------------------------------------
+    Class EdgeVertexContact :
+        This class represents a edge-vertex collision contact between two
+        bodies in the physics engine.
+    -------------------------------------------------------------------
+*/
+class EdgeVertexContact : public Contact {
+    private :
+        Vector3D contactVertex;         // Contact vertex
+
+    public :
+        EdgeVertexContact(Body& body1, Body& body2, const Vector3D& normalVector, const Vector3D& contactVertex);       // Constructor
+        virtual ~EdgeVertexContact();                                                                                   // Destructor
+
+        Vector3D getContactVertex() const;          // Return the contact vertex
+};
+
+// Return the contact vertex
+inline Vector3D EdgeVertexContact::getContactVertex() const {
+    return contactVertex;
+}
+
+} // End of the ReactPhysics3D namespace
+#endif
diff --git a/sources/reactphysics3d/constraint/FaceEdgeContact.cpp b/sources/reactphysics3d/constraint/FaceEdgeContact.cpp
new file mode 100644
index 00000000..38eb9c28
--- /dev/null
+++ b/sources/reactphysics3d/constraint/FaceEdgeContact.cpp
@@ -0,0 +1,37 @@
+/***************************************************************************
+* Copyright (C) 2009      Daniel Chappuis                                  *
+****************************************************************************
+* This file is part of ReactPhysics3D.                                     *
+*                                                                          *
+* ReactPhysics3D is free software: you can redistribute it and/or modify   *
+* it under the terms of the GNU Lesser General Public License as published *
+* by the Free Software Foundation, either version 3 of the License, or     *
+* (at your option) any later version.                                      *
+*                                                                          *
+* ReactPhysics3D is distributed in the hope that it will be useful,        *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of           *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the             *
+* GNU Lesser General Public License for more details.                      *
+*                                                                          *
+* You should have received a copy of the GNU Lesser General Public License *
+* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
+***************************************************************************/
+
+// Libraries
+#include "FaceEdgeContact.h"
+
+// We want to use the ReactPhysics3D namespace
+using namespace reactphysics3d;
+
+// Constructor
+FaceEdgeContact::FaceEdgeContact(Body& body1, Body& body2, const Vector3D& normalVector, Segment3D& contactSegment)
+                :Contact(body1, body2, normalVector), contactSegment(contactSegment) {
+
+}
+
+// Destructor
+FaceEdgeContact::~FaceEdgeContact() {
+
+}
+
+
diff --git a/sources/reactphysics3d/constraint/FaceEdgeContact.h b/sources/reactphysics3d/constraint/FaceEdgeContact.h
new file mode 100644
index 00000000..c613f0ae
--- /dev/null
+++ b/sources/reactphysics3d/constraint/FaceEdgeContact.h
@@ -0,0 +1,54 @@
+/****************************************************************************
+* Copyright (C) 2009      Daniel Chappuis                                  *
+****************************************************************************
+* This file is part of ReactPhysics3D.                                     *
+*                                                                          *
+* ReactPhysics3D is free software: you can redistribute it and/or modify   *
+* it under the terms of the GNU Lesser General Public License as published *
+* by the Free Software Foundation, either version 3 of the License, or     *
+* (at your option) any later version.                                      *
+*                                                                          *
+* ReactPhysics3D is distributed in the hope that it will be useful,        *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of           *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the             *
+* GNU Lesser General Public License for more details.                      *
+*                                                                          *
+* You should have received a copy of the GNU Lesser General Public License *
+* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
+***************************************************************************/
+
+#ifndef FACEEDGECONTACT_H
+#define FACEEDGECONTACT_H
+
+// Libraries
+#include "Contact.h"
+#include "../mathematics/mathematics.h"
+
+// ReactPhysics3D namespace
+namespace reactphysics3d {
+
+/*  -------------------------------------------------------------------
+    Class FaceEdgeContact :
+        This class represents a face-edge collision contact between two
+        bodies in the physics engine.
+    -------------------------------------------------------------------
+*/
+class FaceEdgeContact : public contact {
+    private :
+        Segment3D contactSegment;
+
+    public :
+        FaceEdgeContact(Body& body1, Body& body2, const Vector3D& normalVector, Segment3D& contactSegment); // Constructor
+        virtual ~FaceEdgeContact();                                                                         // Destructor
+
+        Segment3D getContactSegment() const;            // Return the contact segment
+};
+
+// Return the contact segment
+inline Segment3D FaceEdgeContact::getContactSegment() const {
+    return contactSegment;
+}
+
+} // End of the ReactPhysics3D namespace
+
+#endif
diff --git a/sources/reactphysics3d/constraint/FaceFaceContact.cpp b/sources/reactphysics3d/constraint/FaceFaceContact.cpp
new file mode 100644
index 00000000..dfe71f70
--- /dev/null
+++ b/sources/reactphysics3d/constraint/FaceFaceContact.cpp
@@ -0,0 +1,35 @@
+/****************************************************************************
+* Copyright (C) 2009      Daniel Chappuis                                  *
+****************************************************************************
+* This file is part of ReactPhysics3D.                                     *
+*                                                                          *
+* ReactPhysics3D is free software: you can redistribute it and/or modify   *
+* it under the terms of the GNU Lesser General Public License as published *
+* by the Free Software Foundation, either version 3 of the License, or     *
+* (at your option) any later version.                                      *
+*                                                                          *
+* ReactPhysics3D is distributed in the hope that it will be useful,        *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of           *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the             *
+* GNU Lesser General Public License for more details.                      *
+*                                                                          *
+* You should have received a copy of the GNU Lesser General Public License *
+* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
+***************************************************************************/
+
+// Libraries
+#include "FaceFaceContact.h"
+
+// We want to use the ReactPhysics3D namespace
+using namespace reactphysics3d;
+
+// Constructor
+FaceFaceContact::FaceFaceContact(Body& body1, Body& body2, const Vector3D& normalVector, const Polygon3D& contactPolygon)
+                :Contact(body1, body2, normalVector), contactPolygon(contactPolygon) {
+
+}
+
+// Destructor
+FaceFaceContact::~FaceFaceContact() {
+
+}
diff --git a/sources/reactphysics3d/constraint/FaceFaceContact.h b/sources/reactphysics3d/constraint/FaceFaceContact.h
new file mode 100644
index 00000000..2a038c4c
--- /dev/null
+++ b/sources/reactphysics3d/constraint/FaceFaceContact.h
@@ -0,0 +1,54 @@
+/****************************************************************************
+* Copyright (C) 2009      Daniel Chappuis                                  *
+****************************************************************************
+* This file is part of ReactPhysics3D.                                     *
+*                                                                          *
+* ReactPhysics3D is free software: you can redistribute it and/or modify   *
+* it under the terms of the GNU Lesser General Public License as published *
+* by the Free Software Foundation, either version 3 of the License, or     *
+* (at your option) any later version.                                      *
+*                                                                          *
+* ReactPhysics3D is distributed in the hope that it will be useful,        *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of           *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the             *
+* GNU Lesser General Public License for more details.                      *
+*                                                                          *
+* You should have received a copy of the GNU Lesser General Public License *
+* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
+***************************************************************************/
+
+#ifndef FACEFACECONTACT_H
+#define FACEFACECONTACT_H
+
+// Libraries
+#include "Contact.h"
+#include "../mathematics/mathematics.h"
+
+// ReactPhysics3D namespace
+namespace reactphysics3d {
+
+/*  -------------------------------------------------------------------
+    Class FaceFaceContact :
+        This class represents a face-face collision contact between two
+        bodies in the physics engine.
+    -------------------------------------------------------------------
+*/
+class FaceFaceContact : public Contact {
+    private :
+        Polygon3D contactPolygon;
+
+    public :
+        FaceFaceContact(Body& body1, Body& body2, const Vector3D& normalVector, const Polygon3D& contactPolygon);   // Constructor
+        virtual ~FaceFaceContact();                                                                                 // Destructor
+
+        Polygon3D getContactPolygon() const;                // Return the contact polygon
+
+};
+
+// Return the contact polygon
+inline Polygon3D FaceFaceContact::getContactPolygon() const {
+    return contactPolygon;
+}
+
+} // End of the ReactPhysics3D namespace
+#endif
diff --git a/sources/reactphysics3d/constraint/FaceVertexContact.cpp b/sources/reactphysics3d/constraint/FaceVertexContact.cpp
new file mode 100644
index 00000000..af69723a
--- /dev/null
+++ b/sources/reactphysics3d/constraint/FaceVertexContact.cpp
@@ -0,0 +1,35 @@
+/****************************************************************************
+* Copyright (C) 2009      Daniel Chappuis                                  *
+****************************************************************************
+* This file is part of ReactPhysics3D.                                     *
+*                                                                          *
+* ReactPhysics3D is free software: you can redistribute it and/or modify   *
+* it under the terms of the GNU Lesser General Public License as published *
+* by the Free Software Foundation, either version 3 of the License, or     *
+* (at your option) any later version.                                      *
+*                                                                          *
+* ReactPhysics3D is distributed in the hope that it will be useful,        *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of           *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the             *
+* GNU Lesser General Public License for more details.                      *
+*                                                                          *
+* You should have received a copy of the GNU Lesser General Public License *
+* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
+***************************************************************************/
+
+// Libraries
+#include "FaceVertexContact.h"
+
+// We want to use the ReactPhysics3D namespace
+using namespace reactphysics3d;
+
+// Constructor
+FaceVertexContact::FaceVertexContact(Body& body1, Body& body2, const Vector3D& normalVector, const Vector3D& contactVertex)
+                  :Contact(body1, body2, normalVector), contactVertex(contactVertex) {
+
+}
+
+// Destructor
+FaceVertexContact::~FaceVertexContact() {
+
+}
diff --git a/sources/reactphysics3d/constraint/FaceVertexContact.h b/sources/reactphysics3d/constraint/FaceVertexContact.h
new file mode 100644
index 00000000..15617346
--- /dev/null
+++ b/sources/reactphysics3d/constraint/FaceVertexContact.h
@@ -0,0 +1,54 @@
+/****************************************************************************
+* Copyright (C) 2009      Daniel Chappuis                                  *
+****************************************************************************
+* This file is part of ReactPhysics3D.                                     *
+*                                                                          *
+* ReactPhysics3D is free software: you can redistribute it and/or modify   *
+* it under the terms of the GNU Lesser General Public License as published *
+* by the Free Software Foundation, either version 3 of the License, or     *
+* (at your option) any later version.                                      *
+*                                                                          *
+* ReactPhysics3D is distributed in the hope that it will be useful,        *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of           *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the             *
+* GNU Lesser General Public License for more details.                      *
+*                                                                          *
+* You should have received a copy of the GNU Lesser General Public License *
+* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
+***************************************************************************/
+
+#ifndef FACEVERTEXCONTACT_H
+#define FACEVERTEXCONTACT_H
+
+// Libraries
+#include "Contact.h"
+#include "../mathematics/mathematics.h"
+
+// ReactPhysics3D namespace
+namespace reactphysics3d {
+
+/*  -------------------------------------------------------------------
+    Class FaceVertexContact :
+        This class represents a face-vertex collision contact between two
+        bodies in the physics engine.
+    -------------------------------------------------------------------
+*/
+class FaceVertexContact : public Contact {
+    private :
+        Vector3D contactVertex;             // Contact vertex
+
+    public :
+        FaceVertexContact(Body& body1, Body& body2, const Vector3D& normalVector, const Vector3D& contactVertex);   // Constructor
+        virtual ~FaceVertexContact();                                                                               // Destructor
+
+        Vector3D getContactVertex() const;              // Return the contact vertex
+};
+
+// Return the contact vertex
+inline Vector3D FaceVertexContact::getContactVertex() const {
+    return contactVertex;
+}
+
+} // End of the ReactPhysics3D namespace
+
+#endif
diff --git a/sources/reactphysics3d/constraint/VertexVertexContact.cpp b/sources/reactphysics3d/constraint/VertexVertexContact.cpp
new file mode 100644
index 00000000..5ed6b790
--- /dev/null
+++ b/sources/reactphysics3d/constraint/VertexVertexContact.cpp
@@ -0,0 +1,35 @@
+/****************************************************************************
+* Copyright (C) 2009      Daniel Chappuis                                  *
+****************************************************************************
+* This file is part of ReactPhysics3D.                                     *
+*                                                                          *
+* ReactPhysics3D is free software: you can redistribute it and/or modify   *
+* it under the terms of the GNU Lesser General Public License as published *
+* by the Free Software Foundation, either version 3 of the License, or     *
+* (at your option) any later version.                                      *
+*                                                                          *
+* ReactPhysics3D is distributed in the hope that it will be useful,        *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of           *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the             *
+* GNU Lesser General Public License for more details.                      *
+*                                                                          *
+* You should have received a copy of the GNU Lesser General Public License *
+* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
+***************************************************************************/
+
+// Libraries
+#include "VertexVertexContact.h"
+
+// We want to use the ReactPhysics3D namespace
+using namespace reactphysics3d;
+
+// Constructor
+VertexVertexContact::VertexVertexContact(Body& body1, Body& body2, const Vector3D& normalVector, const Vector3D& contactVertex)
+                    :Contact(body1, body2, normalVector), contactVertex(contactVertex) {
+
+}
+
+// Destructor
+VertexVertexContact::~VertexVertexContact() {
+
+}
diff --git a/sources/reactphysics3d/constraint/VertexVertexContact.h b/sources/reactphysics3d/constraint/VertexVertexContact.h
new file mode 100644
index 00000000..6344b065
--- /dev/null
+++ b/sources/reactphysics3d/constraint/VertexVertexContact.h
@@ -0,0 +1,55 @@
+/****************************************************************************
+* Copyright (C) 2009      Daniel Chappuis                                  *
+****************************************************************************
+* This file is part of ReactPhysics3D.                                     *
+*                                                                          *
+* ReactPhysics3D is free software: you can redistribute it and/or modify   *
+* it under the terms of the GNU Lesser General Public License as published *
+* by the Free Software Foundation, either version 3 of the License, or     *
+* (at your option) any later version.                                      *
+*                                                                          *
+* ReactPhysics3D is distributed in the hope that it will be useful,        *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of           *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the             *
+* GNU Lesser General Public License for more details.                      *
+*                                                                          *
+* You should have received a copy of the GNU Lesser General Public License *
+* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
+***************************************************************************/
+
+#ifndef VERTEXVERTEXCONTACT_H
+#define VERTEXVERTEXCONTACT_H
+
+// Libraries
+#include "Contact.h"
+#include "../mathematics/mathematics.h"
+
+// ReactPhysics3D namespace
+namespace reactphysics3d {
+
+/*  -------------------------------------------------------------------
+    Class VertexVertexContact :
+        This class represents a vertex-vertex collision contact between two
+        bodies in the physics engine.
+    -------------------------------------------------------------------
+*/
+class VertexVertexContact : public Contact {
+    private :
+        Vector3D contactVertex;         // Contact vertex
+
+    public :
+        VertexVertexContact(Body& body1, Body& body2, const Vector3D& normalVector, const Vector3D& contactVertex);     // Constructor
+        virtual ~VertexVertexContact();                                                                                 // Destructor
+
+        Vector3D getContactVertex() const;      // Return the contact vertex
+
+};
+
+// Return the contact vertex
+inline Vector3D VertexVertexContact::getContactVertex() const {
+    return contactVertex;
+}
+
+
+} // End of the ReactPhysics3D namespace
+#endif