diff --git a/CHANGELOG.md b/CHANGELOG.md
index f5c7bcd9..ff7b1ba9 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,7 @@
 
  - Make possible for the user to get vertices, normals and triangle indices of a ConcaveMeshShape
  - Make possible for the user to get vertices and height values of the HeightFieldShape
+ - Make possible for the user to use a custom single frame and pool memory allocator
 
 ### Fixed
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9793b4b5..410ff4c2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -148,7 +148,7 @@ SET (REACTPHYSICS3D_HEADERS
     "src/mathematics/Vector3.h"
     "src/mathematics/Ray.h"
     "src/memory/MemoryAllocator.h"
-    "src/memory/PoolAllocator.h"
+    "src/memory/DefaultPoolAllocator.h"
     "src/memory/DefaultSingleFrameAllocator.h"
     "src/memory/DefaultAllocator.h"
     "src/memory/MemoryManager.h"
@@ -226,7 +226,7 @@ SET (REACTPHYSICS3D_SOURCES
     "src/mathematics/Transform.cpp"
     "src/mathematics/Vector2.cpp"
     "src/mathematics/Vector3.cpp"
-    "src/memory/PoolAllocator.cpp"
+    "src/memory/DefaultPoolAllocator.cpp"
     "src/memory/DefaultSingleFrameAllocator.cpp"
     "src/memory/MemoryManager.cpp"
     "src/utils/Profiler.cpp"
diff --git a/src/body/CollisionBody.h b/src/body/CollisionBody.h
index 4123a055..ace349a6 100644
--- a/src/body/CollisionBody.h
+++ b/src/body/CollisionBody.h
@@ -42,7 +42,7 @@ class ProxyShape;
 class CollisionWorld;
 class CollisionShape;
 struct RaycastInfo;
-class PoolAllocator;
+class DefaultPoolAllocator;
 class Profiler;
 
 /// Enumeration for the type of a body
diff --git a/src/collision/ContactManifold.h b/src/collision/ContactManifold.h
index 3c2207e3..73f26a6e 100644
--- a/src/collision/ContactManifold.h
+++ b/src/collision/ContactManifold.h
@@ -38,7 +38,7 @@ class ContactManifoldInfo;
 struct ContactPointInfo;
 class CollisionBody;
 class ContactPoint;
-class PoolAllocator;
+class DefaultPoolAllocator;
 
 // Structure ContactManifoldListElement
 /**
diff --git a/src/collision/broadphase/BroadPhaseAlgorithm.cpp b/src/collision/broadphase/BroadPhaseAlgorithm.cpp
index 43a1122e..18618c4c 100644
--- a/src/collision/broadphase/BroadPhaseAlgorithm.cpp
+++ b/src/collision/broadphase/BroadPhaseAlgorithm.cpp
@@ -40,7 +40,7 @@ BroadPhaseAlgorithm::BroadPhaseAlgorithm(CollisionDetection& collisionDetection)
                      mNbPotentialPairs(0), mNbAllocatedPotentialPairs(8),
                      mCollisionDetection(collisionDetection) {
 
-    PoolAllocator& poolAllocator = collisionDetection.getMemoryManager().getPoolAllocator();
+    MemoryAllocator& poolAllocator = collisionDetection.getMemoryManager().getPoolAllocator();
 
     // Allocate memory for the array of potential overlapping pairs
     mPotentialPairs = static_cast<BroadPhasePair*>(poolAllocator.allocate(mNbAllocatedPotentialPairs * sizeof(BroadPhasePair)));
@@ -58,7 +58,7 @@ BroadPhaseAlgorithm::BroadPhaseAlgorithm(CollisionDetection& collisionDetection)
 BroadPhaseAlgorithm::~BroadPhaseAlgorithm() {
 
     // Get the memory pool allocatory
-    PoolAllocator& poolAllocator = mCollisionDetection.getMemoryManager().getPoolAllocator();
+    MemoryAllocator& poolAllocator = mCollisionDetection.getMemoryManager().getPoolAllocator();
 
     // Release the memory for the array of potential overlapping pairs
     poolAllocator.release(mPotentialPairs, mNbAllocatedPotentialPairs * sizeof(BroadPhasePair));
@@ -234,7 +234,7 @@ void BroadPhaseAlgorithm::computeOverlappingPairs(MemoryManager& memoryManager)
     // number of overlapping pairs
     if (mNbPotentialPairs < mNbAllocatedPotentialPairs / 4 && mNbPotentialPairs > 8) {
 
-        PoolAllocator& poolAllocator = mCollisionDetection.getMemoryManager().getPoolAllocator();
+        MemoryAllocator& poolAllocator = mCollisionDetection.getMemoryManager().getPoolAllocator();
 
         // Reduce the number of allocated potential overlapping pairs
         BroadPhasePair* oldPairs = mPotentialPairs;
@@ -260,7 +260,7 @@ void BroadPhaseAlgorithm::addOverlappingNodes(int referenceNodeId, const LinkedL
             // If we need to allocate more memory for the array of potential overlapping pairs
             if (mNbPotentialPairs == mNbAllocatedPotentialPairs) {
 
-                PoolAllocator& poolAllocator = mCollisionDetection.getMemoryManager().getPoolAllocator();
+                MemoryAllocator& poolAllocator = mCollisionDetection.getMemoryManager().getPoolAllocator();
 
                 // Allocate more memory for the array of potential pairs
                 BroadPhasePair* oldPairs = mPotentialPairs;
diff --git a/src/collision/narrowphase/NarrowPhaseAlgorithm.h b/src/collision/narrowphase/NarrowPhaseAlgorithm.h
index e7cdff25..dbb5ce49 100644
--- a/src/collision/narrowphase/NarrowPhaseAlgorithm.h
+++ b/src/collision/narrowphase/NarrowPhaseAlgorithm.h
@@ -34,7 +34,7 @@ namespace reactphysics3d {
 class CollisionDetection;
 class Body;
 class ContactManifoldInfo;
-class PoolAllocator;
+class DefaultPoolAllocator;
 class OverlappingPair;
 struct NarrowPhaseInfo;
 struct ContactPointInfo;
diff --git a/src/collision/shapes/CollisionShape.h b/src/collision/shapes/CollisionShape.h
index 4e1206d3..1f4bb8ad 100644
--- a/src/collision/shapes/CollisionShape.h
+++ b/src/collision/shapes/CollisionShape.h
@@ -35,7 +35,7 @@ namespace reactphysics3d {
 
 // Declarations
 class Profiler;
-class PoolAllocator;
+class DefaultPoolAllocator;
 class AABB;
 class Transform;
 struct Ray;
diff --git a/src/memory/PoolAllocator.cpp b/src/memory/DefaultPoolAllocator.cpp
similarity index 95%
rename from src/memory/PoolAllocator.cpp
rename to src/memory/DefaultPoolAllocator.cpp
index f73ab150..5d4f4ff0 100644
--- a/src/memory/PoolAllocator.cpp
+++ b/src/memory/DefaultPoolAllocator.cpp
@@ -24,7 +24,7 @@
 ********************************************************************************/
 
 // Libraries
-#include "PoolAllocator.h"
+#include "DefaultPoolAllocator.h"
 #include "MemoryManager.h"
 #include <cstdlib>
 #include <cassert>
@@ -32,12 +32,12 @@
 using namespace reactphysics3d;
 
 // Initialization of static variables
-bool PoolAllocator::isMapSizeToHeadIndexInitialized = false;
-size_t PoolAllocator::mUnitSizes[NB_HEAPS];
-int PoolAllocator::mMapSizeToHeapIndex[MAX_UNIT_SIZE + 1];
+bool DefaultPoolAllocator::isMapSizeToHeadIndexInitialized = false;
+size_t DefaultPoolAllocator::mUnitSizes[NB_HEAPS];
+int DefaultPoolAllocator::mMapSizeToHeapIndex[MAX_UNIT_SIZE + 1];
 
 // Constructor
-PoolAllocator::PoolAllocator() {
+DefaultPoolAllocator::DefaultPoolAllocator() {
 
     // Allocate some memory to manage the blocks
     mNbAllocatedMemoryBlocks = 64;
@@ -79,7 +79,7 @@ PoolAllocator::PoolAllocator() {
 }
 
 // Destructor
-PoolAllocator::~PoolAllocator() {
+DefaultPoolAllocator::~DefaultPoolAllocator() {
 
     // Release the memory allocated for each block
     for (uint i=0; i<mNbCurrentMemoryBlocks; i++) {
@@ -98,7 +98,7 @@ PoolAllocator::~PoolAllocator() {
 
 // Allocate memory of a given size (in bytes) and return a pointer to the
 // allocated memory.
-void* PoolAllocator::allocate(size_t size) {
+void* DefaultPoolAllocator::allocate(size_t size) {
 
     // We cannot allocate zero bytes
     if (size == 0) return nullptr;
@@ -171,7 +171,7 @@ void* PoolAllocator::allocate(size_t size) {
 }
 
 // Release previously allocated memory.
-void PoolAllocator::release(void* pointer, size_t size) {
+void DefaultPoolAllocator::release(void* pointer, size_t size) {
 
     // Cannot release a 0-byte allocated memory
     if (size == 0) return;
diff --git a/src/memory/PoolAllocator.h b/src/memory/DefaultPoolAllocator.h
similarity index 95%
rename from src/memory/PoolAllocator.h
rename to src/memory/DefaultPoolAllocator.h
index 27c4586d..172a3c6c 100644
--- a/src/memory/PoolAllocator.h
+++ b/src/memory/DefaultPoolAllocator.h
@@ -33,14 +33,14 @@
 /// ReactPhysics3D namespace
 namespace reactphysics3d {
 
-// Class PoolAllocator
+// Class DefaultPoolAllocator
 /**
  * This class is used to efficiently allocate memory on the heap.
  * It allows us to allocate small blocks of memory (smaller or equal to 1024 bytes)
  * efficiently. This implementation is inspired by the small block allocator
  * described here : http://www.codeproject.com/useritems/Small_Block_Allocator.asp
  */
-class PoolAllocator : public MemoryAllocator {
+class DefaultPoolAllocator : public MemoryAllocator {
 
     private :
 
@@ -126,13 +126,13 @@ class PoolAllocator : public MemoryAllocator {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        PoolAllocator();
+        DefaultPoolAllocator();
 
         /// Destructor
-        virtual ~PoolAllocator() override;
+        virtual ~DefaultPoolAllocator() override;
 
         /// Assignment operator
-        PoolAllocator& operator=(PoolAllocator& allocator) = default;
+        DefaultPoolAllocator& operator=(DefaultPoolAllocator& allocator) = default;
 
         /// Allocate memory of a given size (in bytes) and return a pointer to the
         /// allocated memory.
diff --git a/src/memory/DefaultSingleFrameAllocator.cpp b/src/memory/DefaultSingleFrameAllocator.cpp
index 62c586e7..de76ce57 100644
--- a/src/memory/DefaultSingleFrameAllocator.cpp
+++ b/src/memory/DefaultSingleFrameAllocator.cpp
@@ -33,8 +33,8 @@ using namespace reactphysics3d;
 
 // Constructor
 DefaultSingleFrameAllocator::DefaultSingleFrameAllocator()
-    : mTotalSizeBytes(INIT_SINGLE_FRAME_ALLOCATOR_NB_BYTES),
-      mBaseMemoryAllocator(&MemoryManager::getBaseAllocator()),
+    : mBaseMemoryAllocator(&MemoryManager::getBaseAllocator()),
+      mTotalSizeBytes(INIT_SINGLE_FRAME_ALLOCATOR_NB_BYTES),
       mCurrentOffset(0), mNbFramesTooMuchAllocated(0), mNeedToAllocatedMore(false) {
 
     // Allocate a whole block of memory at the beginning
diff --git a/src/memory/MemoryManager.cpp b/src/memory/MemoryManager.cpp
index e74422ef..7427bcdd 100644
--- a/src/memory/MemoryManager.cpp
+++ b/src/memory/MemoryManager.cpp
@@ -31,6 +31,8 @@ using namespace reactphysics3d;
 // Static variables
 DefaultAllocator MemoryManager::mDefaultAllocator;
 DefaultSingleFrameAllocator MemoryManager::mDefaultSingleFrameAllocator;
+DefaultPoolAllocator MemoryManager::mDefaultPoolAllocator;
 MemoryAllocator* MemoryManager::mBaseAllocator = &mDefaultAllocator;
+MemoryAllocator* MemoryManager::mPoolAllocator = &mDefaultPoolAllocator;
 SingleFrameAllocator* MemoryManager::mSingleFrameAllocator = &mDefaultSingleFrameAllocator;
 
diff --git a/src/memory/MemoryManager.h b/src/memory/MemoryManager.h
index 9ed6f6b4..b4269cbb 100644
--- a/src/memory/MemoryManager.h
+++ b/src/memory/MemoryManager.h
@@ -28,7 +28,8 @@
 
 // Libraries
 #include "memory/DefaultAllocator.h"
-#include "memory/PoolAllocator.h"
+#include "memory/DefaultPoolAllocator.h"
+#include "memory/MemoryAllocator.h"
 #include "memory/DefaultSingleFrameAllocator.h"
 
 /// Namespace ReactPhysics3D
@@ -49,9 +50,12 @@ class MemoryManager {
        /// Default malloc/free memory allocator
        static DefaultAllocator mDefaultAllocator;
 	   
-       /// Default malloc/free memory allocator
+       /// Default single frame memory allocator
        static DefaultSingleFrameAllocator mDefaultSingleFrameAllocator;
 
+       /// Default pool memory allocator
+       static DefaultPoolAllocator mDefaultPoolAllocator;
+
        /// Pointer to the base memory allocator to use
        static MemoryAllocator* mBaseAllocator;
 
@@ -59,7 +63,7 @@ class MemoryManager {
        static SingleFrameAllocator* mSingleFrameAllocator;
 
        /// Memory pool allocator
-       PoolAllocator mPoolAllocator;
+       static MemoryAllocator* mPoolAllocator;
 
     public:
 
@@ -83,7 +87,7 @@ class MemoryManager {
         void release(AllocationType allocationType, void* pointer, size_t size);
 
         /// Return the pool allocator
-        PoolAllocator& getPoolAllocator();
+        MemoryAllocator& getPoolAllocator();
 
         /// Return the single frame stack allocator
         SingleFrameAllocator& getSingleFrameAllocator();
@@ -95,7 +99,10 @@ class MemoryManager {
         static void setBaseAllocator(MemoryAllocator* memoryAllocator);
 
         /// Set the single frame memory allocator
-        static void setSingleFrameAllocator(SingleFrameAllocator* memoryAllocator);
+        static void setSingleFrameAllocator(SingleFrameAllocator* singleFrameAllocator);
+
+        /// Set the pool memory allocator
+        static void setPoolAllocator(MemoryAllocator* poolAllocator);
 
         /// Reset the single frame allocator
         void resetFrameAllocator();
@@ -106,7 +113,7 @@ inline void* MemoryManager::allocate(AllocationType allocationType, size_t size)
 
     switch (allocationType) {
        case AllocationType::Base: return mBaseAllocator->allocate(size);
-       case AllocationType::Pool: return mPoolAllocator.allocate(size);
+       case AllocationType::Pool: return mPoolAllocator->allocate(size);
        case AllocationType::Frame: return mSingleFrameAllocator->allocate(size);
     }
 
@@ -118,14 +125,14 @@ inline void MemoryManager::release(AllocationType allocationType, void* pointer,
 
     switch (allocationType) {
        case AllocationType::Base: mBaseAllocator->release(pointer, size); break;
-       case AllocationType::Pool: mPoolAllocator.release(pointer, size); break;
+       case AllocationType::Pool: mPoolAllocator->release(pointer, size); break;
        case AllocationType::Frame: mSingleFrameAllocator->release(pointer, size); break;
     }
 }
 
 // Return the pool allocator
-inline PoolAllocator& MemoryManager::getPoolAllocator() {
-   return mPoolAllocator;
+inline MemoryAllocator& MemoryManager::getPoolAllocator() {
+   return *mPoolAllocator;
 }
 
 // Return the single frame stack allocator
@@ -144,8 +151,13 @@ inline void MemoryManager::setBaseAllocator(MemoryAllocator* baseAllocator) {
 }
 
 // Set the base memory allocator
-inline void MemoryManager::setSingleFrameAllocator(SingleFrameAllocator* allocator) {
-    mSingleFrameAllocator = allocator;
+inline void MemoryManager::setSingleFrameAllocator(SingleFrameAllocator* singleFrameAllocator) {
+    mSingleFrameAllocator = singleFrameAllocator;
+}
+
+// Set the pool memory allocator
+inline void MemoryManager::setPoolAllocator(MemoryAllocator* poolAllocator) {
+    mPoolAllocator = poolAllocator;
 }
 
 // Reset the single frame allocator