diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h
index 1d359a9c..d292c728 100644
--- a/src/engine/CollisionWorld.h
+++ b/src/engine/CollisionWorld.h
@@ -165,6 +165,9 @@ class CollisionWorld {
         /// Test and report collisions between all shapes of the world
         void testCollision(CollisionCallback* callback);
 
+        /// Return a reference to the memory manager of the world
+        MemoryManager& getMemoryManager();
+
 #ifdef IS_PROFILING_ACTIVE
 
         /// Return a reference to the profiler
@@ -255,6 +258,11 @@ inline void CollisionWorld::testOverlap(CollisionBody* body, OverlapCallback* ov
     mCollisionDetection.testOverlap(body, overlapCallback, categoryMaskBits);
 }
 
+// Return a reference to the memory manager of the world
+inline MemoryManager& CollisionWorld::getMemoryManager() {
+    return mMemoryManager;
+}
+
 // Return the name of the world
 /**
  * @return Name of the world
diff --git a/src/memory/DefaultAllocator.h b/src/memory/DefaultAllocator.h
index c8432438..fcfb8e15 100644
--- a/src/memory/DefaultAllocator.h
+++ b/src/memory/DefaultAllocator.h
@@ -29,7 +29,6 @@
 // Libraries
 #include "memory/MemoryAllocator.h"
 #include <cstdlib>
-#include <mutex>
 
 /// ReactPhysics3D namespace
 namespace reactphysics3d {
@@ -42,9 +41,6 @@ class DefaultAllocator : public MemoryAllocator {
 
     protected:
 
-        /// Mutex
-        std::mutex mMutex;
-
     public:
 
         /// Destructor
@@ -57,18 +53,12 @@ class DefaultAllocator : public MemoryAllocator {
         /// allocated memory.
         virtual void* allocate(size_t size) override {
 
-            // Lock the method with a mutex
-            std::lock_guard<std::mutex> lock(mMutex);
-
             return malloc(size);
         }
 
         /// Release previously allocated memory.
         virtual void release(void* pointer, size_t size) override {
 
-            // Lock the method with a mutex
-            std::lock_guard<std::mutex> lock(mMutex);
-
             free(pointer);
         }
 };
diff --git a/src/memory/DefaultPoolAllocator.cpp b/src/memory/DefaultPoolAllocator.cpp
index fddcc2f8..39f84eee 100644
--- a/src/memory/DefaultPoolAllocator.cpp
+++ b/src/memory/DefaultPoolAllocator.cpp
@@ -100,9 +100,6 @@ DefaultPoolAllocator::~DefaultPoolAllocator() {
 // allocated memory.
 void* DefaultPoolAllocator::allocate(size_t size) {
 
-    // Lock the method with a mutex
-    std::lock_guard<std::mutex> lock(mMutex);
-
     // We cannot allocate zero bytes
     if (size == 0) return nullptr;
 
@@ -176,9 +173,6 @@ void* DefaultPoolAllocator::allocate(size_t size) {
 // Release previously allocated memory.
 void DefaultPoolAllocator::release(void* pointer, size_t size) {
 
-    // Lock the method with a mutex
-    std::lock_guard<std::mutex> lock(mMutex);
-
     // Cannot release a 0-byte allocated memory
     if (size == 0) return;
 
diff --git a/src/memory/DefaultPoolAllocator.h b/src/memory/DefaultPoolAllocator.h
index 8610da0c..172a3c6c 100644
--- a/src/memory/DefaultPoolAllocator.h
+++ b/src/memory/DefaultPoolAllocator.h
@@ -29,7 +29,6 @@
 // Libraries
 #include "configuration.h"
 #include "MemoryAllocator.h"
-#include <mutex>
 
 /// ReactPhysics3D namespace
 namespace reactphysics3d {
@@ -102,9 +101,6 @@ class DefaultPoolAllocator : public MemoryAllocator {
         /// True if the mMapSizeToHeapIndex array has already been initialized
         static bool isMapSizeToHeadIndexInitialized;
 
-        /// Mutex
-        std::mutex mMutex;
-
         /// Pointers to the first free memory unit for each heap
         MemoryUnit* mFreeMemoryUnits[NB_HEAPS];
 
diff --git a/src/memory/DefaultSingleFrameAllocator.cpp b/src/memory/DefaultSingleFrameAllocator.cpp
index 3037488e..de76ce57 100644
--- a/src/memory/DefaultSingleFrameAllocator.cpp
+++ b/src/memory/DefaultSingleFrameAllocator.cpp
@@ -54,9 +54,6 @@ DefaultSingleFrameAllocator::~DefaultSingleFrameAllocator() {
 // allocated memory.
 void* DefaultSingleFrameAllocator::allocate(size_t size) {
 
-    // Lock the method with a mutex
-    std::lock_guard<std::mutex> lock(mMutex);
-
     // Check that there is enough remaining memory in the buffer
     if (mCurrentOffset + size > mTotalSizeBytes) {
 
@@ -80,9 +77,6 @@ void* DefaultSingleFrameAllocator::allocate(size_t size) {
 // Release previously allocated memory.
 void DefaultSingleFrameAllocator::release(void* pointer, size_t size) {
 
-    // Lock the method with a mutex
-    std::lock_guard<std::mutex> lock(mMutex);
-
     // If allocated memory is not within the single frame allocation range
     char* p = static_cast<char*>(pointer);
     if (p < mMemoryBufferStart || p > mMemoryBufferStart + mTotalSizeBytes) {
diff --git a/src/memory/DefaultSingleFrameAllocator.h b/src/memory/DefaultSingleFrameAllocator.h
index 1ad98769..5e4c736a 100644
--- a/src/memory/DefaultSingleFrameAllocator.h
+++ b/src/memory/DefaultSingleFrameAllocator.h
@@ -29,7 +29,6 @@
 // Libraries
 #include "MemoryAllocator.h"
 #include "configuration.h"
-#include <mutex>
 
 /// ReactPhysics3D namespace
 namespace reactphysics3d {
@@ -54,9 +53,6 @@ class DefaultSingleFrameAllocator : public SingleFrameAllocator {
 
         // -------------------- Attributes -------------------- //
 
-        /// Mutex
-        std::mutex mMutex;
-
         /// Cached memory allocator used on construction
 		MemoryAllocator* mBaseMemoryAllocator;
 
diff --git a/src/memory/MemoryManager.cpp b/src/memory/MemoryManager.cpp
index 7427bcdd..e9954f55 100644
--- a/src/memory/MemoryManager.cpp
+++ b/src/memory/MemoryManager.cpp
@@ -30,9 +30,11 @@ 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;
 
+// Constructor
+MemoryManager::MemoryManager() {
+
+    mSingleFrameAllocator = &mDefaultSingleFrameAllocator;
+    mPoolAllocator = &mDefaultPoolAllocator;
+}
diff --git a/src/memory/MemoryManager.h b/src/memory/MemoryManager.h
index b4269cbb..d0495543 100644
--- a/src/memory/MemoryManager.h
+++ b/src/memory/MemoryManager.h
@@ -51,19 +51,19 @@ class MemoryManager {
        static DefaultAllocator mDefaultAllocator;
 	   
        /// Default single frame memory allocator
-       static DefaultSingleFrameAllocator mDefaultSingleFrameAllocator;
+       DefaultSingleFrameAllocator mDefaultSingleFrameAllocator;
 
        /// Default pool memory allocator
-       static DefaultPoolAllocator mDefaultPoolAllocator;
+       DefaultPoolAllocator mDefaultPoolAllocator;
 
        /// Pointer to the base memory allocator to use
        static MemoryAllocator* mBaseAllocator;
 
        /// Single frame stack allocator
-       static SingleFrameAllocator* mSingleFrameAllocator;
+       SingleFrameAllocator* mSingleFrameAllocator;
 
        /// Memory pool allocator
-       static MemoryAllocator* mPoolAllocator;
+       MemoryAllocator* mPoolAllocator;
 
     public:
 
@@ -75,7 +75,7 @@ class MemoryManager {
        };
 
        /// Constructor
-       MemoryManager() = default;
+       MemoryManager();
 
        /// Destructor
        ~MemoryManager() = default;
@@ -99,10 +99,10 @@ class MemoryManager {
         static void setBaseAllocator(MemoryAllocator* memoryAllocator);
 
         /// Set the single frame memory allocator
-        static void setSingleFrameAllocator(SingleFrameAllocator* singleFrameAllocator);
+        void setSingleFrameAllocator(SingleFrameAllocator* singleFrameAllocator);
 
         /// Set the pool memory allocator
-        static void setPoolAllocator(MemoryAllocator* poolAllocator);
+        void setPoolAllocator(MemoryAllocator* poolAllocator);
 
         /// Reset the single frame allocator
         void resetFrameAllocator();