diff --git a/sources/reactphysics3d/collision/CollisionDetection.cpp b/sources/reactphysics3d/collision/CollisionDetection.cpp
index 13b29104..1ca1d194 100644
--- a/sources/reactphysics3d/collision/CollisionDetection.cpp
+++ b/sources/reactphysics3d/collision/CollisionDetection.cpp
@@ -25,9 +25,11 @@
 #include "../body/OBB.h"
 #include "../body/RigidBody.h"
 #include <cassert>
+#include <complex>
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;
+using namespace std;
 
 // Constructor
 CollisionDetection::CollisionDetection(PhysicsWorld* world) {
@@ -243,4 +245,4 @@ void CollisionDetection::computeContact(const ContactInfo* const contactInfo) {
             world->addConstraint(new Contact(obb1->getBodyPointer(), obb2->getBodyPointer(), normal, penetrationDepth, clippedFace.at(i)));
         }
     }
-}
+}
\ No newline at end of file
diff --git a/sources/reactphysics3d/collision/CollisionDetection.h b/sources/reactphysics3d/collision/CollisionDetection.h
index 832296a9..64e4e904 100644
--- a/sources/reactphysics3d/collision/CollisionDetection.h
+++ b/sources/reactphysics3d/collision/CollisionDetection.h
@@ -51,6 +51,7 @@ class CollisionDetection {
         void computeNarrowPhase();                                                  // Compute the narrow-phase collision detection
         void computeAllContacts();                                                  // Compute all the contacts from the collision info list
         void computeContact(const ContactInfo* const contactInfo);                  // Compute a contact (and add it to the physics world) for two colliding bodies
+        void computeContact2(const ContactInfo* const contactInfo);                  // Compute a contact (and add it to the physics world) for two colliding bodies
 
     public :
         CollisionDetection(PhysicsWorld* physicsWorld);                             // Constructor
diff --git a/sources/reactphysics3d/collision/ContactInfo.h b/sources/reactphysics3d/collision/ContactInfo.h
index a795526d..74975116 100644
--- a/sources/reactphysics3d/collision/ContactInfo.h
+++ b/sources/reactphysics3d/collision/ContactInfo.h
@@ -42,8 +42,8 @@ struct ContactInfo {
         const OBB* const obb2;                   // Body pointer of the second bounding volume
         const Vector3D normal;                   // Normal vector the the collision contact
         const double penetrationDepth;           // Penetration depth of the contact
-
-        ContactInfo(const OBB* const obb1, const OBB* const obb2, const Vector3D& normal, double penetrationDepth);   // Constructor
+        
+        ContactInfo(const OBB* const obb1, const OBB* const obb2, const Vector3D& normal, double penetrationDepth);                                                                // Constructor
 };
 
 } // End of the ReactPhysics3D namespace
diff --git a/sources/reactphysics3d/collision/SATAlgorithm.cpp b/sources/reactphysics3d/collision/SATAlgorithm.cpp
index 8d1afbfe..f8cf972d 100644
--- a/sources/reactphysics3d/collision/SATAlgorithm.cpp
+++ b/sources/reactphysics3d/collision/SATAlgorithm.cpp
@@ -27,6 +27,7 @@
 #include <cmath>
 #include <cassert>
 
+
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;
 
@@ -95,7 +96,7 @@ bool SATAlgorithm::computeCollisionTest(const OBB* const obb1, const OBB* const
     double absC[3][3];                          // absC[i][j] = abs(DotProduct(obb1.Ai, obb2.Bj))
     double udc1[3];                             // DotProduct(obb1.Ai, obb2.center - obb1.center)
     double udc2[3];                             // DotProduct(obb2.Ai, obb2.center - obb1.center)
-     
+    
     Vector3D boxDistance = obb2->getCenter() - obb1->getCenter();   // Vector between the centers of the OBBs
 
     // Axis A0
@@ -170,7 +171,6 @@ bool SATAlgorithm::computeCollisionTest(const OBB* const obb1, const OBB* const
     }
     else if (penetrationDepth < minPenetrationDepth) {  // Interval 1 and 2 overlap with a smaller penetration depth on this axis
         minPenetrationDepth = penetrationDepth;                         // Update the minimum penetration depth
-        normal = computeContactNormal(obb1->getAxis(2), boxDistance);   // Compute the contact normal with the correct sign
     }
 
     // Axis B0
diff --git a/sources/reactphysics3d/constraint/Contact.h b/sources/reactphysics3d/constraint/Contact.h
index 9cf238db..8a0ddfb1 100644
--- a/sources/reactphysics3d/constraint/Contact.h
+++ b/sources/reactphysics3d/constraint/Contact.h
@@ -30,7 +30,7 @@ namespace reactphysics3d {
 
 // Constants
 const double FRICTION_COEFFICIENT = 0.1;    // Friction coefficient
-const double PENETRATION_FACTOR = 0.6;      // Penetration factor (between 0 and 1) which specify the importance of the
+const double PENETRATION_FACTOR = 1.0;      // Penetration factor (between 0 and 1) which specify the importance of the
                                             // penetration depth in order to calculate the correct impulse for the contact
 
 /*  -------------------------------------------------------------------