diff --git a/sources/demo/Context.cpp b/sources/demo/Context.cpp
index 55dff409..8f7d9144 100755
--- a/sources/demo/Context.cpp
+++ b/sources/demo/Context.cpp
@@ -29,12 +29,12 @@ using namespace reactphysics3d;
 // Constructor of the class Context
 Context::Context() {
 
-    Cube* cube1 = new Cube(Vector3D(0.0,14.0, 5.0), Quaternion(0.0, 1.0, 0.0, 0.0), 3.0, Kilogram(3.0));
+    Cube* cube1 = new Cube(Vector3D(11.0,14.0, 4.0), Quaternion(1.0, 1.0, 0.0, 0.0), 4.0, Kilogram(3.0));
     cube1->getRigidBody()->setLinearVelocity(Vector3D(0.0, -5.0, 0.0));
 
     //Cube* cube2 = new Cube(Vector3D(0.0, 17, 8.0), Quaternion(0.0, 1.0, 0.0, 0.0), 3.0, Kilogram(2.0));
     //Cube* cube3 = new Cube(Vector3D(4.0, 17, -2.0), Quaternion(0.0, 1.0, 0.0, 0.0), 2.0, Kilogram(11.0));
-    Plane* plane1 = new Plane(Vector3D(0.0, 0.0, 0.0), Quaternion(0.0, 1.0, 0.0, 0.0), 20.0, 30.0, Vector3D(-1.0, 0.0, 0.0), Vector3D(0.0, 0.0, 1.0), Kilogram(10.0));
+    Plane* plane1 = new Plane(Vector3D(0.0, 0.0, 0.0), Quaternion(0.0, 1.0, 0.0, 0.0), 20.0, 30.0, Vector3D(-1.0, 0.0, 0.0), Vector3D(0.0, 0.0, 1.0), Kilogram(10.0));
 
     addObject(cube1);
     //addObject(cube2);
diff --git a/sources/demo/Scene.cpp b/sources/demo/Scene.cpp
index 5da40ec5..2ab5cfdf 100755
--- a/sources/demo/Scene.cpp
+++ b/sources/demo/Scene.cpp
@@ -19,10 +19,15 @@
 
 // Librairies
 #include "Scene.h"
-#include "Objects.h"
+#include "Objects.h"
+#include <GL/gl.h>
+#include <GL/glu.h>
 
 // Constructor of the class Scene
-Scene::Scene() {
+Scene::Scene(rp3d::PhysicsWorld* world) {
+
+    this->world = world;
+
     // Initialise the material specular color
     mat_specular[0] = 1.0;
     mat_specular[1] = 1.0;
@@ -107,6 +112,25 @@ void Scene::display(const Context& context) const {
 
        // Remove the matrix on the top of the matrix stack
        glPopMatrix();
+    }
+
+    // Draw all the contact points
+    for (std::vector<Constraint*>::const_iterator it = world->getConstraintListStartIterator(); it != world->getConstraintListEndIterator(); ++it) {
+        RigidBody* rigidBody1 = dynamic_cast<RigidBody*>((*it)->getBody1());
+        RigidBody* rigidBody2 = dynamic_cast<RigidBody*>((*it)->getBody2());
+        rigidBody1->setIsMotionEnabled(false);
+        rigidBody2->setIsMotionEnabled(false);
+
+        Contact* contact = dynamic_cast<Contact*>((*it));
+        assert(contact != 0);
+
+        // Draw the contact points
+        for (unsigned int i=0; i<contact->getPoints().size(); ++i) {
+            glPushMatrix();
+            glTranslatef(contact->getPoints()[i].getX(), contact->getPoints()[i].getY(), contact->getPoints()[i].getZ());
+            contact->draw();
+            glPopMatrix();
+        }
     }
 
 	// Change the buffers
diff --git a/sources/demo/Scene.h b/sources/demo/Scene.h
index ac326fc5..dc9409a9 100755
--- a/sources/demo/Scene.h
+++ b/sources/demo/Scene.h
@@ -37,10 +37,11 @@ class Scene {
         GLfloat light_position[4];                       // Position of the light source
         GLfloat ambient_color[4];                        // Ambient color of the light
         GLfloat white_light[4];                          // White light color
-        OutSideCamera outsideCamera;                     // OutSide camera (Camera that can move around the scene)
+        OutSideCamera outsideCamera;                     // OutSide camera (Camera that can move around the scene)
+        rp3d::PhysicsWorld* world;                     //"Pointer to the physics world
 
     public  :
-        Scene();                                        // constructor of the class
+        Scene(rp3d::PhysicsWorld* world);                                        // constructor of the class
         ~Scene();                                       // Destructor of the class
         void init();                                    // Initialize the values of OpenGL
         void display(const Context& context) const;     // display the scene
diff --git a/sources/demo/Simulation.cpp b/sources/demo/Simulation.cpp
index fd1b7aed..c0cddde8 100755
--- a/sources/demo/Simulation.cpp
+++ b/sources/demo/Simulation.cpp
@@ -27,7 +27,7 @@ using namespace reactphysics3d;
 
 // Constructor of the class Simulation
 Simulation::Simulation()
-           :world(new DynamicWorld(Vector3D(0.0, -0.6, 0.0))), engine(world, Time(0.01)) {
+           :world(new PhysicsWorld(Vector3D(0.0, -0.6, 0.0))), engine(world, Time(0.01)), scene(this->world) {
     simRunning = false;
     mouseButtonPressed = false;
     nbFrame = 0;
diff --git a/sources/demo/Simulation.h b/sources/demo/Simulation.h
index 4704bf2a..b5e70afe 100755
--- a/sources/demo/Simulation.h
+++ b/sources/demo/Simulation.h
@@ -27,11 +27,11 @@
 
 // Class Simulation
 class Simulation {
-    private :
+    private :
+        rp3d::PhysicsWorld* world;    // Pointer to the collision world that contains bodies of the simulation
         Scene scene;                    // Scene object for displaying the simulation
         Context context;                // Context of the simulation
-        rp3d::DynamicWorld* world;    // Pointer to the collision world that contains bodies of the simulation
-        rp3d::DynamicEngine engine;   // Collision engine for the physics of the simulation
+        rp3d::CollisionEngine engine;   // Collision engine for the physics of the simulation
         bool simRunning;                // True if the simulation is running and false otherwise
         bool mouseButtonPressed;        // True if the left mouse button is pressed
         double lastFrameTime;           // Last frame time
diff --git a/sources/demo/main.cpp b/sources/demo/main.cpp
index 0a5dff67..02120d89 100755
--- a/sources/demo/main.cpp
+++ b/sources/demo/main.cpp
@@ -25,7 +25,6 @@
 #include <iostream>
 #include <SDL/SDL.h>
 
-
 // Prototypes
 int initSDL();
 
@@ -33,7 +32,7 @@ int initSDL();
 SDL_Surface * pScreen;                          // Pointer to the SDL windows
 
 // Main function
-int main(int argc, char** argv) {
+int main(int argc, char** argv) {
 
     if(initSDL() > 0) {
         // If initSDL return an error then we exit the program
@@ -56,8 +55,6 @@ int main(int argc, char** argv) {
     (argv);
 
     return (EXIT_SUCCESS);
-
-    return 0;
 }
 
 // Methode to initialise the SDL and the windows