diff --git a/CMakeLists.txt b/CMakeLists.txt
old mode 100644
new mode 100755
index 09a5ae73..f6eee880
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -15,6 +15,9 @@ SET(LIBRARY_OUTPUT_PATH "lib")
 # Where to build the executables
 SET(OUR_EXECUTABLE_OUTPUT_PATH "${PROJECT_BINARY_DIR}/bin")
 
+# CMake modules path
+SET(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/CMakeModules)
+
 ENABLE_TESTING()
 
 # Options
@@ -22,12 +25,21 @@ OPTION(COMPILE_TESTBED "Select this if you want to build the testbed application
 OPTION(COMPILE_TESTS "Select this if you want to build the tests" OFF)
 OPTION(PROFILING_ENABLED "Select this if you want to compile with enabled profiling" OFF)
 OPTION(LOGS_ENABLED "Select this if you want to compile with logs enabled during execution" OFF)
+OPTION(CODE_COVERAGE_ENABLED "Select this if you need to build for code coverage calculation" OFF)
 OPTION(DOUBLE_PRECISION_ENABLED "Select this if you want to compile using double precision floating
                                  values" OFF)
 
 # Warning Compiler flags
 SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
 
+IF(CODE_COVERAGE_ENABLED)
+    IF(CMAKE_COMPILER_IS_GNUCXX)
+        INCLUDE(CodeCoverage)
+        SETUP_TARGET_FOR_COVERAGE(${PROJECT_NAME}_coverage tests coverage)
+    ENDIF()
+    SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -O0 -fprofile-arcs -ftest-coverage")
+ENDIF()
+
 # C++11 flags
 IF(CMAKE_CXX_COMPILER_ID MATCHES "Clang" OR CMAKE_CXX_COMPILER_ID MATCHES "GNU")
 	include(CheckCXXCompilerFlag)
@@ -39,6 +51,10 @@ IF(CMAKE_CXX_COMPILER_ID MATCHES "Clang" OR CMAKE_CXX_COMPILER_ID MATCHES "GNU")
 	ENDIF()
 ENDIF()
 
+IF(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    SET(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -stdlib=libc++ -lc++abi")
+ENDIF()
+
 # Headers
 INCLUDE_DIRECTORIES(src)
 
diff --git a/CMakeModules/CodeCoverage.cmake b/CMakeModules/CodeCoverage.cmake
new file mode 100755
index 00000000..0b90a320
--- /dev/null
+++ b/CMakeModules/CodeCoverage.cmake
@@ -0,0 +1,197 @@
+# Copyright (c) 2012 - 2015, Lars Bilke
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without modification,
+# are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice, this
+#    list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+#    this list of conditions and the following disclaimer in the documentation
+#    and/or other materials provided with the distribution.
+#
+# 3. Neither the name of the copyright holder nor the names of its contributors
+#    may be used to endorse or promote products derived from this software without
+#    specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+# ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+# ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+#
+#
+#
+# 2012-01-31, Lars Bilke
+# - Enable Code Coverage
+#
+# 2013-09-17, Joakim Söderberg
+# - Added support for Clang.
+# - Some additional usage instructions.
+#
+# USAGE:
+
+# 0. (Mac only) If you use Xcode 5.1 make sure to patch geninfo as described here:
+#      http://stackoverflow.com/a/22404544/80480
+#
+# 1. Copy this file into your cmake modules path.
+#
+# 2. Add the following line to your CMakeLists.txt:
+#      INCLUDE(CodeCoverage)
+#
+# 3. Set compiler flags to turn off optimization and enable coverage:
+#    SET(CMAKE_CXX_FLAGS "-g -O0 -fprofile-arcs -ftest-coverage")
+#	 SET(CMAKE_C_FLAGS "-g -O0 -fprofile-arcs -ftest-coverage")
+#
+# 3. Use the function SETUP_TARGET_FOR_COVERAGE to create a custom make target
+#    which runs your test executable and produces a lcov code coverage report:
+#    Example:
+#	 SETUP_TARGET_FOR_COVERAGE(
+#				my_coverage_target  # Name for custom target.
+#				test_driver         # Name of the test driver executable that runs the tests.
+#									# NOTE! This should always have a ZERO as exit code
+#									# otherwise the coverage generation will not complete.
+#				coverage            # Name of output directory.
+#				)
+#
+# 4. Build a Debug build:
+#	 cmake -DCMAKE_BUILD_TYPE=Debug ..
+#	 make
+#	 make my_coverage_target
+#
+#
+
+# Check prereqs
+FIND_PROGRAM( GCOV_PATH gcov )
+FIND_PROGRAM( LCOV_PATH lcov )
+FIND_PROGRAM( GENHTML_PATH genhtml )
+FIND_PROGRAM( GCOVR_PATH gcovr PATHS ${CMAKE_SOURCE_DIR}/tests)
+
+IF(NOT GCOV_PATH)
+	MESSAGE(FATAL_ERROR "gcov not found! Aborting...")
+ENDIF() # NOT GCOV_PATH
+
+IF("${CMAKE_CXX_COMPILER_ID}" MATCHES "(Apple)?[Cc]lang")
+	IF("${CMAKE_CXX_COMPILER_VERSION}" VERSION_LESS 3)
+		MESSAGE(FATAL_ERROR "Clang version must be 3.0.0 or greater! Aborting...")
+	ENDIF()
+ELSEIF(NOT CMAKE_COMPILER_IS_GNUCXX)
+	MESSAGE(FATAL_ERROR "Compiler is not GNU gcc! Aborting...")
+ENDIF() # CHECK VALID COMPILER
+
+SET(CMAKE_CXX_FLAGS_COVERAGE
+    "-g -O0 --coverage -fprofile-arcs -ftest-coverage"
+    CACHE STRING "Flags used by the C++ compiler during coverage builds."
+    FORCE )
+SET(CMAKE_C_FLAGS_COVERAGE
+    "-g -O0 --coverage -fprofile-arcs -ftest-coverage"
+    CACHE STRING "Flags used by the C compiler during coverage builds."
+    FORCE )
+SET(CMAKE_EXE_LINKER_FLAGS_COVERAGE
+    ""
+    CACHE STRING "Flags used for linking binaries during coverage builds."
+    FORCE )
+SET(CMAKE_SHARED_LINKER_FLAGS_COVERAGE
+    ""
+    CACHE STRING "Flags used by the shared libraries linker during coverage builds."
+    FORCE )
+MARK_AS_ADVANCED(
+    CMAKE_CXX_FLAGS_COVERAGE
+    CMAKE_C_FLAGS_COVERAGE
+    CMAKE_EXE_LINKER_FLAGS_COVERAGE
+    CMAKE_SHARED_LINKER_FLAGS_COVERAGE )
+
+IF ( NOT (CMAKE_BUILD_TYPE STREQUAL "Debug" OR CMAKE_BUILD_TYPE STREQUAL "Coverage"))
+  MESSAGE( WARNING "Code coverage results with an optimized (non-Debug) build may be misleading" )
+ENDIF() # NOT CMAKE_BUILD_TYPE STREQUAL "Debug"
+
+
+# Param _targetname     The name of new the custom make target
+# Param _testrunner     The name of the target which runs the tests.
+#						MUST return ZERO always, even on errors.
+#						If not, no coverage report will be created!
+# Param _outputname     lcov output is generated as _outputname.info
+#                       HTML report is generated in _outputname/index.html
+# Optional fourth parameter is passed as arguments to _testrunner
+#   Pass them in list form, e.g.: "-j;2" for -j 2
+FUNCTION(SETUP_TARGET_FOR_COVERAGE _targetname _testrunner _outputname)
+
+	IF(NOT LCOV_PATH)
+		MESSAGE(FATAL_ERROR "lcov not found! Aborting...")
+	ENDIF() # NOT LCOV_PATH
+
+	IF(NOT GENHTML_PATH)
+		MESSAGE(FATAL_ERROR "genhtml not found! Aborting...")
+	ENDIF() # NOT GENHTML_PATH
+
+	SET(coverage_info "${CMAKE_BINARY_DIR}/${_outputname}.info")
+	SET(coverage_cleaned "${coverage_info}.cleaned")
+
+	SEPARATE_ARGUMENTS(test_command UNIX_COMMAND "${_testrunner}")
+
+	# Setup target
+	ADD_CUSTOM_TARGET(${_targetname}
+
+		# Cleanup lcov
+		${LCOV_PATH} --directory . --zerocounters
+
+		# Run tests
+		COMMAND ${test_command} ${ARGV3}
+
+		# Capturing lcov counters and generating report
+		COMMAND ${LCOV_PATH} --directory . --capture --output-file ${coverage_info}
+		COMMAND ${LCOV_PATH} --remove ${coverage_info} 'tests/*' '/usr/*' --output-file ${coverage_cleaned}
+		COMMAND ${GENHTML_PATH} -o ${_outputname} ${coverage_cleaned}
+		COMMAND ${CMAKE_COMMAND} -E remove ${coverage_info} ${coverage_cleaned}
+
+		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+		COMMENT "Resetting code coverage counters to zero.\nProcessing code coverage counters and generating report."
+	)
+
+	# Show info where to find the report
+	ADD_CUSTOM_COMMAND(TARGET ${_targetname} POST_BUILD
+		COMMAND ;
+		COMMENT "Open ./${_outputname}/index.html in your browser to view the coverage report."
+	)
+
+ENDFUNCTION() # SETUP_TARGET_FOR_COVERAGE
+
+# Param _targetname     The name of new the custom make target
+# Param _testrunner     The name of the target which runs the tests
+# Param _outputname     cobertura output is generated as _outputname.xml
+# Optional fourth parameter is passed as arguments to _testrunner
+#   Pass them in list form, e.g.: "-j;2" for -j 2
+FUNCTION(SETUP_TARGET_FOR_COVERAGE_COBERTURA _targetname _testrunner _outputname)
+
+	IF(NOT PYTHON_EXECUTABLE)
+		MESSAGE(FATAL_ERROR "Python not found! Aborting...")
+	ENDIF() # NOT PYTHON_EXECUTABLE
+
+	IF(NOT GCOVR_PATH)
+		MESSAGE(FATAL_ERROR "gcovr not found! Aborting...")
+	ENDIF() # NOT GCOVR_PATH
+
+	ADD_CUSTOM_TARGET(${_targetname}
+
+		# Run tests
+		${_testrunner} ${ARGV3}
+
+		# Running gcovr
+		COMMAND ${GCOVR_PATH} -x -r ${CMAKE_SOURCE_DIR} -e '${CMAKE_SOURCE_DIR}/tests/'  -o ${_outputname}.xml
+		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+		COMMENT "Running gcovr to produce Cobertura code coverage report."
+	)
+
+	# Show info where to find the report
+	ADD_CUSTOM_COMMAND(TARGET ${_targetname} POST_BUILD
+		COMMAND ;
+		COMMENT "Cobertura code coverage report saved in ${_outputname}.xml."
+	)
+
+ENDFUNCTION() # SETUP_TARGET_FOR_COVERAGE_COBERTURA
\ No newline at end of file
diff --git a/README.md b/README.md
index fb6df102..45ec8da4 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,6 @@
 [![Travis Build Status](https://travis-ci.org/DanielChappuis/reactphysics3d.svg?branch=master)](https://travis-ci.org/DanielChappuis/reactphysics3d)
 [![Codacy Badge](https://api.codacy.com/project/badge/Grade/3ae24e998e304e4da78ec848eade9e3a)](https://www.codacy.com/app/chappuis.daniel/reactphysics3d?utm_source=github.com&utm_medium=referral&utm_content=DanielChappuis/reactphysics3d&utm_campaign=Badge_Grade)
+[![codecov.io](https://codecov.io/github/DanielChappuis/reactphysics3d/coverage.svg?branch=develop)](https://codecov.io/github/DanielChappuis/reactphysics3d?branch=develop)
 
 ## ReactPhysics3D