diff --git a/src/collision/shapes/CollisionShape.h b/src/collision/shapes/CollisionShape.h
index 0e041e0f..e18532b1 100644
--- a/src/collision/shapes/CollisionShape.h
+++ b/src/collision/shapes/CollisionShape.h
@@ -40,8 +40,9 @@
 namespace reactphysics3d {
     
 /// Type of the collision shape
-enum CollisionShapeType {TRIANGLE, BOX, SPHERE, CONE, CYLINDER, CAPSULE, CONVEX_MESH, CONCAVE_MESH};
-const int NB_COLLISION_SHAPE_TYPES = 8;
+enum CollisionShapeType {TRIANGLE, BOX, SPHERE, CONE, CYLINDER,
+                         CAPSULE, CONVEX_MESH, CONCAVE_MESH, HEIGHTFIELD};
+const int NB_COLLISION_SHAPE_TYPES = 9;
 
 // Declarations
 class ProxyShape;
@@ -135,7 +136,7 @@ inline CollisionShapeType CollisionShape::getType() const {
 
 // Return true if the collision shape type is a convex shape
 inline bool CollisionShape::isConvex(CollisionShapeType shapeType) {
-    return shapeType != CONCAVE_MESH;
+    return shapeType != CONCAVE_MESH && shapeType != HEIGHTFIELD;
 }
 
 // Return the scaling vector of the collision shape
diff --git a/src/collision/shapes/HeightFieldShape.cpp b/src/collision/shapes/HeightFieldShape.cpp
index eee86c2e..3443ab70 100644
--- a/src/collision/shapes/HeightFieldShape.cpp
+++ b/src/collision/shapes/HeightFieldShape.cpp
@@ -42,7 +42,7 @@ using namespace reactphysics3d;
 HeightFieldShape::HeightFieldShape(int nbWidthGridPoints, int nbLengthGridPoints, decimal minHeight, decimal maxHeight,
                                    const void* heightFieldData, HeightDataType dataType, int upAxis,
                                    decimal integerHeightScale)
-                 : ConcaveShape(CONCAVE_MESH), mNbWidthGridPoints(nbWidthGridPoints), mNbLengthGridPoints(nbLengthGridPoints),
+                 : ConcaveShape(HEIGHTFIELD), mNbWidthGridPoints(nbWidthGridPoints), mNbLengthGridPoints(nbLengthGridPoints),
                    mWidth(nbWidthGridPoints - 1), mLength(nbLengthGridPoints - 1), mMinHeight(minHeight),
                    mMaxHeight(maxHeight), mUpAxis(upAxis), mIntegerHeightScale(integerHeightScale),
                    mHeightDataType(dataType) {
@@ -171,7 +171,7 @@ void HeightFieldShape::computeMinMaxGridCoordinates(int* minCoords, int* maxCoor
     // Translate the min/max points such that the we compute grid points from [0 ... mNbWidthGridPoints]
     // and from [0 ... mNbLengthGridPoints] because the AABB coordinates range are [-mWdith/2 ... mWidth/2]
     // and [-mLength/2 ... mLength/2]
-    const Vector3 translateVec = mAABB.getExtent();
+    const Vector3 translateVec = mAABB.getExtent() * decimal(0.5);
     minPoint += translateVec;
     maxPoint += translateVec;