diff --git a/CHANGELOG.md b/CHANGELOG.md
index 29b8b182..097bce98 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -12,6 +12,14 @@
  - It is now possible to change the scale of a HeightFieldShape using the HeightFieldShape::setScale() method
  - A method PhysicsWorld::getCollisionBody(uint index) has been added on a physics world to retrieve a given CollisionBody
  - A method PhysicsWorld::getRigidBody(uint index) has been added on a physics world to retrieve a given RigidBody
+ - The Material of a Collider now has a mass density parameter that is used to compute its mass
+ - A RigidBody::getLocalCenterOfMass() method has been added to retrieve the current center of mass of a rigid body
+ - Add PhysicsCommon class that needs to be instanciated at the beginning and is used as a factory for other objects of the library
+ - The RigidBody::updateLocalCenterOfMassFromColliders() method has been added to compute and set the center of mass of a body using its colliders
+ - The RigidBody::updateLocalInertiaTensorFromColliders() method has been added to compute and set the local inertia tensor of a body using its colliders
+ - The RigidBody::getLocalInertiaTensor() method has been added to retrieve the local-space inertia tensor of a rigid body.
+ - The RigidBody::updateMassFromColliders() method has been added to compute and set the mass of a body using its colliders
+ - A Material nows has a mass density parameter that can be set using the Material::setMassDensity() method. The mass density is used to compute the mass of a collider when computing the mass of a rigid body
 
 ### Changed
 
@@ -37,6 +45,11 @@
  - An instance of the PolyhedronMesh class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createPolyhedronMesh() method.
  - An instance of the TriangleMesh class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createTriangleMesh() method.
  - The ProxyShape class has been renamed to Collider. The CollisionBody::addCollider(), RigidBody::addCollider() methods have to be used to create and add a collider to a body. Then methods CollisionBody::removeCollider(), RigidBody::removeCollider() need to be used to remove a collider.
+ - The RigidBody::addCollider() method (previously addProxyShape() method) does not take a "mass" parameter anymore.
+ - The RigidBody::setCenterOfMassLocal() method has been renamed to RigidBody::setLocalCenterOfMass()
+ - The RigidBody::setInertiaTensorLocal() method has been renamed to RigidBody::setLocalInertiaTensor()
+ - The RigidBody::recomputeMassInformation() method has been renamed to RigidBody::updateMassPropertiesFromColliders.
+ - Now, you need to manually call the RigidBody::recomputeMassInformation() method after adding colliders to a rigid body to recompute its inertia tensor, center of mass and mass
  - The rendering in the testbed application has been improved
 
 ### Removed
@@ -48,6 +61,9 @@
  - The EventListener::endInternalTick() method has been removed (because internal ticks do not exist anymore).
  - The RigidBody::getJointsList() method has been removed.
  - It is not possible anymore to set custom pool and stack frame allocators. Only the base allocator can be customized when creating a PhysicsCommon instance.
+ - The RigidBody::setInverseInertiaTensorLocal() method has been removed. The RigidBody::setInertiaTensorLocal() has to be used instead.
+ - The RigidBody::getInverseInertiaTensorWorld() method has been removed.
+ - The Collider::getMass() method has been removed.
 
 ## Version 0.7.1 (July 01, 2019)
 
@@ -55,7 +71,6 @@
 
  - 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
- - Add PhysicsCommon class that needs to be instanciated at the beginning and is used as a factory for other objects of the library
 
 ### Fixed
 
diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp
index fdd8b12b..e21884e4 100644
--- a/src/body/CollisionBody.cpp
+++ b/src/body/CollisionBody.cpp
@@ -86,7 +86,7 @@ Collider* CollisionBody::addCollider(CollisionShape* collisionShape, const Trans
     const Transform localToWorldTransform = mWorld.mTransformComponents.getTransform(mEntity) * transform;
     ColliderComponents::ColliderComponent colliderComponent(mEntity, collider,
                                                                   AABB(localBoundsMin, localBoundsMax),
-                                                                  transform, collisionShape, decimal(1), 0x0001, 0xFFFF, localToWorldTransform);
+                                                                  transform, collisionShape, 0x0001, 0xFFFF, localToWorldTransform);
     bool isActive = mWorld.mCollisionBodyComponents.getIsActive(mEntity);
     mWorld.mCollidersComponents.addComponent(colliderEntity, !isActive, colliderComponent);
 
@@ -196,8 +196,8 @@ void CollisionBody::removeCollider(Collider* collider) {
     mWorld.mMemoryManager.release(MemoryManager::AllocationType::Pool, collider, sizeof(Collider));
 }
 
-// Remove all the collision shapes
-void CollisionBody::removeAllCollisionShapes() {
+// Remove all the colliders
+void CollisionBody::removeAllColliders() {
 
     // Look for the collider that contains the collision shape in parameter.
     // Note that we need to copy the list of collider entities because we are deleting them in a loop.
diff --git a/src/body/CollisionBody.h b/src/body/CollisionBody.h
index 5c6c7f8c..402b2169 100644
--- a/src/body/CollisionBody.h
+++ b/src/body/CollisionBody.h
@@ -79,7 +79,7 @@ class CollisionBody {
         // -------------------- Methods -------------------- //
 
         /// Remove all the collision shapes
-        void removeAllCollisionShapes();
+        void removeAllColliders();
 
         /// Update the broad-phase state for this body (because it has moved for instance)
         void updateBroadPhaseState(decimal timeStep) const;
diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp
index f68ad07b..f7e83dec 100644
--- a/src/body/RigidBody.cpp
+++ b/src/body/RigidBody.cpp
@@ -38,8 +38,7 @@ using namespace reactphysics3d;
 * @param world The world where the body has been added
 * @param id The ID of the body
 */
-RigidBody::RigidBody(PhysicsWorld& world, Entity entity)
-          : CollisionBody(world, entity), mIsCenterOfMassSetByUser(false), mIsInertiaTensorSetByUser(false) {
+RigidBody::RigidBody(PhysicsWorld& world, Entity entity) : CollisionBody(world, entity) {
 
 }
 
@@ -50,12 +49,12 @@ BodyType RigidBody::getType() const {
 
 // Set the type of the body
 /// The type of the body can either STATIC, KINEMATIC or DYNAMIC as described bellow:
-/// STATIC : A static body has infinite mass, zero velocity but the position can be
+/// STATIC : A static body is simulated as if it has infinite mass, zero velocity but its position can be
 ///          changed manually. A static body does not collide with other static or kinematic bodies.
-/// KINEMATIC : A kinematic body has infinite mass, the velocity can be changed manually and its
+/// KINEMATIC : A kinematic body is simulated as if it has infinite mass, its velocity can be changed manually and its
 ///             position is computed by the physics engine. A kinematic body does not collide with
 ///             other static or kinematic bodies.
-/// DYNAMIC : A dynamic body has non-zero mass, non-zero velocity determined by forces and its
+/// DYNAMIC : A dynamic body has non-zero mass, its velocity is determined by forces and its
 ///           position is determined by the physics engine. A dynamic body can collide with other
 ///           dynamic, static or kinematic bodies.
 /**
@@ -67,9 +66,6 @@ void RigidBody::setType(BodyType type) {
 
     mWorld.mRigidBodyComponents.setBodyType(mEntity, type);
 
-    // Recompute the total mass, center of mass and inertia tensor
-    recomputeMassInformation();
-
     // If it is a static body
     if (type == BodyType::STATIC) {
 
@@ -86,10 +82,23 @@ void RigidBody::setType(BodyType type) {
         mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, Matrix3x3::zero());
     }
     else {  // If it is a dynamic body
-        mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(1.0) / mWorld.mRigidBodyComponents.getInitMass(mEntity));
 
-        if (mIsInertiaTensorSetByUser) {
-            mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, mUserInertiaTensorLocalInverse);
+        const decimal mass = mWorld.mRigidBodyComponents.getMass(mEntity);
+
+        if (mass > decimal(0.0)) {
+            mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(1.0) / mass) ;
+        }
+        else {
+            mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(0.0));
+        }
+
+        // Compute the inverse local inertia tensor
+        const Matrix3x3& inertiaTensorLocal = mWorld.mRigidBodyComponents.getLocalInertiaTensor(mEntity);
+        if (approxEqual(inertiaTensorLocal.getDeterminant(), decimal(0.0))) {
+            mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, Matrix3x3::zero());
+        }
+        else {
+            mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inertiaTensorLocal.getInverse());
         }
     }
 
@@ -112,32 +121,12 @@ void RigidBody::setType(BodyType type) {
              (type == BodyType::STATIC ? "Static" : (type == BodyType::DYNAMIC ? "Dynamic" : "Kinematic")));
 }
 
-// Get the inverse local inertia tensor of the body (in body coordinates)
-const Matrix3x3& RigidBody::getInverseInertiaTensorLocal() const {
-    return mWorld.mRigidBodyComponents.getInertiaTensorLocalInverse(mEntity);
-}
-
-// Return the inverse of the inertia tensor in world coordinates.
-/// The inertia tensor I_w in world coordinates is computed with the
-/// local inverse inertia tensor I_b^-1 in body coordinates
-/// by I_w = R * I_b^-1 * R^T
-/// where R is the rotation matrix (and R^T its transpose) of the
-/// current orientation quaternion of the body
-/**
- * @return The 3x3 inverse inertia tensor matrix of the body in world-space
- *         coordinates
- */
-const Matrix3x3 RigidBody::getInertiaTensorInverseWorld() const {
-
-    return getInertiaTensorInverseWorld(mWorld, mEntity);
-}
-
 // Method that return the mass of the body
 /**
  * @return The mass (in kilograms) of the body
  */
 decimal RigidBody::getMass() const {
-    return mWorld.mRigidBodyComponents.getInitMass(mEntity);
+    return mWorld.mRigidBodyComponents.getMass(mEntity);
 }
 
 // Apply an external force to the body at a given point (in world-space coordinates).
@@ -171,22 +160,29 @@ void RigidBody::applyForce(const Vector3& force, const Vector3& point) {
     mWorld.mRigidBodyComponents.setExternalTorque(mEntity, externalTorque + (point - centerOfMassWorld).cross(force));
 }
 
+// Return the local inertia tensor of the body (in body coordinates)
+const Matrix3x3& RigidBody::getLocalInertiaTensor() const {
+
+    return mWorld.mRigidBodyComponents.getLocalInertiaTensor(mEntity);
+}
+
 // Set the local inertia tensor of the body (in local-space coordinates)
-/// If the inertia tensor is set with this method, it will not be computed
-/// using the collision shapes of the body.
+/// Note that an inertia tensor with a zero value on its diagonal is interpreted as infinite inertia.
 /**
  * @param inertiaTensorLocal The 3x3 inertia tensor matrix of the body in local-space
  *                           coordinates
  */
-void RigidBody::setInertiaTensorLocal(const Matrix3x3& inertiaTensorLocal) {
+void RigidBody::setLocalInertiaTensor(const Matrix3x3& inertiaTensorLocal) {
 
-    mUserInertiaTensorLocalInverse = inertiaTensorLocal.getInverse();
-    mIsInertiaTensorSetByUser = true;
-
-    if (mWorld.mRigidBodyComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return;
+    mWorld.mRigidBodyComponents.setLocalInertiaTensor(mEntity, inertiaTensorLocal);
 
     // Compute the inverse local inertia tensor
-    mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, mUserInertiaTensorLocalInverse);
+    if (approxEqual(inertiaTensorLocal.getDeterminant(), decimal(0.0))) {
+        mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, Matrix3x3::zero());
+    }
+    else {
+        mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inertiaTensorLocal.getInverse());
+    }
 
     RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
              "Body " + std::to_string(mEntity.id) + ": Set inertiaTensorLocal=" + inertiaTensorLocal.to_string());
@@ -231,45 +227,18 @@ decimal RigidBody::getAngularDamping() const {
     return mWorld.mRigidBodyComponents.getAngularDamping(mEntity);
 }
 
-// Set the inverse local inertia tensor of the body (in local-space coordinates)
-/// If the inverse inertia tensor is set with this method, it will not be computed
-/// using the collision shapes of the body.
+// Set the center of mass of the body (in local-space coordinates)
+/// This method does not move the rigid body in the world.
 /**
- * @param inverseInertiaTensorLocal The 3x3 inverse inertia tensor matrix of the body in local-space
- *                           		coordinates
+ * @param centerOfMass The center of mass of the body in local-space coordinates
  */
-void RigidBody::setInverseInertiaTensorLocal(const Matrix3x3& inverseInertiaTensorLocal) {
-
-    mUserInertiaTensorLocalInverse = inverseInertiaTensorLocal;
-    mIsInertiaTensorSetByUser = true;
-
-    if (mWorld.mRigidBodyComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return;
-
-    // Compute the inverse local inertia tensor
-    mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, mUserInertiaTensorLocalInverse);
-
-    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
-             "Body " + std::to_string(mEntity.id) + ": Set inverseInertiaTensorLocal=" + inverseInertiaTensorLocal.to_string());
-}
-
-// Set the local center of mass of the body (in local-space coordinates)
-/// If you set the center of mass with the method, it will not be computed
-/// automatically using collision shapes.
-/**
- * @param centerOfMassLocal The center of mass of the body in local-space
- *                          coordinates
- */
-void RigidBody::setCenterOfMassLocal(const Vector3& centerOfMassLocal) {
-
-    if (mWorld.mRigidBodyComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return;
-
-    mIsCenterOfMassSetByUser = true;
+void RigidBody::setLocalCenterOfMass(const Vector3& centerOfMass) {
 
     const Vector3 oldCenterOfMass = mWorld.mRigidBodyComponents.getCenterOfMassWorld(mEntity);
-    mWorld.mRigidBodyComponents.setCenterOfMassLocal(mEntity, centerOfMassLocal);
+    mWorld.mRigidBodyComponents.setCenterOfMassLocal(mEntity, centerOfMass);
 
     // Compute the center of mass in world-space coordinates
-    mWorld.mRigidBodyComponents.setCenterOfMassWorld(mEntity, mWorld.mTransformComponents.getTransform(mEntity) * centerOfMassLocal);
+    mWorld.mRigidBodyComponents.setCenterOfMassWorld(mEntity, mWorld.mTransformComponents.getTransform(mEntity) * centerOfMass);
 
     // Update the linear velocity of the center of mass
     Vector3 linearVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity);
@@ -278,26 +247,258 @@ void RigidBody::setCenterOfMassLocal(const Vector3& centerOfMassLocal) {
     linearVelocity += angularVelocity.cross(centerOfMassWorld - oldCenterOfMass);
     mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, linearVelocity);
 
+    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
+             "Body " + std::to_string(mEntity.id) + ": Set centerOfMassLocal=" + centerOfMass.to_string());
+}
+
+// Return the center of mass of the body (in local-space coordinates)
+const Vector3& RigidBody::getLocalCenterOfMass() const {
+    return mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity);
+}
+
+// Compute and set the local-space center of mass of the body using its colliders
+/// This method uses the shape, mass density and transforms of the colliders to set
+/// the center of mass of the body. Note that calling this method will overwrite the
+/// mass that has been previously set with the RigidBody::setCenterOfMass() method. Moreover, this method
+/// does not use the mass set by the user with the RigidBody::setMass() method to compute the center
+/// of mass but only the mass density and volume of the colliders.
+void RigidBody::updateLocalCenterOfMassFromColliders() {
+
+    const Vector3 oldCenterOfMassWorld = mWorld.mRigidBodyComponents.getCenterOfMassWorld(mEntity);
+
+    Vector3 centerOfMassLocal = computeCenterOfMass();
+
+    const Vector3 centerOfMassWorld = mWorld.mTransformComponents.getTransform(mEntity) * centerOfMassLocal;
+
+    // Set the center of mass
+    mWorld.mRigidBodyComponents.setCenterOfMassLocal(mEntity, centerOfMassLocal);
+    mWorld.mRigidBodyComponents.setCenterOfMassWorld(mEntity, centerOfMassWorld);
+
+    // Update the linear velocity of the center of mass
+    Vector3 linearVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity);
+    const Vector3& angularVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity);
+    linearVelocity += angularVelocity.cross(centerOfMassWorld - oldCenterOfMassWorld);
+    mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, linearVelocity);
+
     RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
              "Body " + std::to_string(mEntity.id) + ": Set centerOfMassLocal=" + centerOfMassLocal.to_string());
 }
 
+// Compute and return the local-space center of mass of the body using its colliders
+Vector3 RigidBody::computeCenterOfMass() const {
+
+    decimal totalMass = decimal(0.0);
+    Vector3 centerOfMassLocal(0, 0, 0);
+
+    // Compute the local center of mass
+    const List<Entity>& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity);
+    for (uint i=0; i < colliderEntities.size(); i++) {
+
+        Collider* collider = mWorld.mCollidersComponents.getCollider(colliderEntities[i]);
+
+        const decimal colliderVolume = mWorld.mCollidersComponents.getCollisionShape(colliderEntities[i])->getVolume();
+        const decimal colliderMassDensity = collider->getMaterial().getMassDensity();
+
+        const decimal colliderMass = colliderVolume * colliderMassDensity;
+
+        totalMass += colliderMass;
+        centerOfMassLocal += colliderMass * mWorld.mCollidersComponents.getLocalToBodyTransform(colliderEntities[i]).getPosition();
+    }
+
+    if (totalMass > decimal(0.0)) {
+        centerOfMassLocal /= totalMass;
+    }
+
+    return centerOfMassLocal;
+}
+
+// Compute the local-space inertia tensor and total mass of the body using its colliders
+void RigidBody::computeMassAndInertiaTensorLocal(Matrix3x3& inertiaTensorLocal, decimal& totalMass) const {
+
+    inertiaTensorLocal.setToZero();
+    totalMass = decimal(0.0);
+
+    const Vector3 centerOfMassLocal = mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity);
+
+    // Compute the inertia tensor using all the colliders
+    const List<Entity>& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity);
+    for (uint i=0; i < colliderEntities.size(); i++) {
+
+        Collider* collider = mWorld.mCollidersComponents.getCollider(colliderEntities[i]);
+
+        const decimal colliderVolume = mWorld.mCollidersComponents.getCollisionShape(colliderEntities[i])->getVolume();
+        const decimal colliderMassDensity = collider->getMaterial().getMassDensity();
+        const decimal colliderMass = colliderVolume * colliderMassDensity;
+
+        totalMass += colliderMass;
+
+        // Get the inertia tensor of the collider in its local-space
+        Matrix3x3 inertiaTensor;
+        collider->getCollisionShape()->computeLocalInertiaTensor(inertiaTensor, colliderMass);
+
+        // Convert the collider inertia tensor into the local-space of the body
+        const Transform& shapeTransform = collider->getLocalToBodyTransform();
+        Matrix3x3 rotationMatrix = shapeTransform.getOrientation().getMatrix();
+        inertiaTensor = rotationMatrix * inertiaTensor * rotationMatrix.getTranspose();
+
+        // Use the parallel axis theorem to convert the inertia tensor w.r.t the collider
+        // center into a inertia tensor w.r.t to the body origin.
+        Vector3 offset = shapeTransform.getPosition() - centerOfMassLocal;
+        decimal offsetSquare = offset.lengthSquare();
+        Matrix3x3 offsetMatrix;
+        offsetMatrix[0].setAllValues(offsetSquare, decimal(0.0), decimal(0.0));
+        offsetMatrix[1].setAllValues(decimal(0.0), offsetSquare, decimal(0.0));
+        offsetMatrix[2].setAllValues(decimal(0.0), decimal(0.0), offsetSquare);
+        offsetMatrix[0] += offset * (-offset.x);
+        offsetMatrix[1] += offset * (-offset.y);
+        offsetMatrix[2] += offset * (-offset.z);
+        offsetMatrix *= colliderMass;
+
+        inertiaTensorLocal += inertiaTensor + offsetMatrix;
+    }
+}
+
+// Compute and set the local-space inertia tensor of the body using its colliders
+/// This method uses the shape, mass density and transforms of the colliders to set
+/// the local-space inertia tensor of the body. Note that calling this method will overwrite the
+/// mass that has been set with the RigidBody::setInertiaTensorLocal() method.
+void RigidBody::updateLocalInertiaTensorFromColliders() {
+
+    const Vector3 centerOfMassLocal = mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity);
+
+    // Compute the local-space inertia tensor
+    Matrix3x3 inertiaTensorLocal;
+    decimal totalMass;
+    computeMassAndInertiaTensorLocal(inertiaTensorLocal, totalMass);
+
+    mWorld.mRigidBodyComponents.setLocalInertiaTensor(mEntity, inertiaTensorLocal);
+
+    // Compute the inverse local inertia tensor
+    if (approxEqual(inertiaTensorLocal.getDeterminant(), decimal(0.0))) {
+        mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, Matrix3x3::zero());
+    }
+    else {
+        mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inertiaTensorLocal.getInverse());
+    }
+
+    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
+             "Body " + std::to_string(mEntity.id) + ": Set inertiaTensorLocal=" + inertiaTensorLocal.to_string());
+}
+
+// Compute and set the mass of the body using its colliders
+/// This method uses the shape, mass density and transforms of the colliders to set
+/// the total mass of the body. Note that calling this method will overwrite the
+/// mass that has been set with the RigidBody::setMass() method
+void RigidBody::updateMassFromColliders() {
+
+    decimal totalMass = decimal(0.0);
+
+    // Compute the total mass of the body
+    const List<Entity>& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity);
+    for (uint i=0; i < colliderEntities.size(); i++) {
+        Collider* collider = mWorld.mCollidersComponents.getCollider(colliderEntities[i]);
+
+        const decimal colliderVolume = mWorld.mCollidersComponents.getCollisionShape(colliderEntities[i])->getVolume();
+        const decimal colliderMassDensity = collider->getMaterial().getMassDensity();
+
+        const decimal colliderMass = colliderVolume * colliderMassDensity;
+
+        totalMass += colliderMass;
+    }
+
+    // Set the mass
+    mWorld.mRigidBodyComponents.setMass(mEntity, totalMass);
+
+    // Compute the inverse mass
+    if (totalMass > decimal(0.0)) {
+        mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(1.0) / totalMass);
+    }
+    else {
+        mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(0.0));
+    }
+
+    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
+             "Body " + std::to_string(mEntity.id) + ": Set mass=" + std::to_string(totalMass));
+}
+
+// Compute and set the center of mass, the mass and the local-space inertia tensor of the body using its colliders
+/// This method uses the shape, mass density and transform of the colliders of the body to set
+/// the total mass, the center of mass and the local inertia tensor of the body.
+/// Note that calling this method will overwrite the
+/// mass that has been set with the RigidBody::setMass(), the center of mass that has been
+/// set with RigidBody::setCenterOfMass() and the local inertia tensor that has been set with
+/// RigidBody::setInertiaTensorLocal().
+void RigidBody::updateMassPropertiesFromColliders() {
+
+    const Vector3 oldCenterOfMassWorld = mWorld.mRigidBodyComponents.getCenterOfMassWorld(mEntity);
+
+    // Compute the local center of mass
+    Vector3 centerOfMassLocal = computeCenterOfMass();
+
+    const Vector3 centerOfMassWorld = mWorld.mTransformComponents.getTransform(mEntity) * centerOfMassLocal;
+
+    // Set the center of mass
+    mWorld.mRigidBodyComponents.setCenterOfMassLocal(mEntity, centerOfMassLocal);
+    mWorld.mRigidBodyComponents.setCenterOfMassWorld(mEntity, centerOfMassWorld);
+
+    // Update the linear velocity of the center of mass
+    Vector3 linearVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity);
+    const Vector3& angularVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity);
+    linearVelocity += angularVelocity.cross(centerOfMassWorld - oldCenterOfMassWorld);
+    mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, linearVelocity);
+
+    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
+             "Body " + std::to_string(mEntity.id) + ": Set centerOfMassLocal=" + centerOfMassLocal.to_string());
+
+    // Compute the mass and local-space inertia tensor
+    Matrix3x3 inertiaTensorLocal;
+    decimal totalMass;
+    computeMassAndInertiaTensorLocal(inertiaTensorLocal, totalMass);
+
+    mWorld.mRigidBodyComponents.setLocalInertiaTensor(mEntity, inertiaTensorLocal);
+
+    // Compute the inverse local inertia tensor
+    if (approxEqual(inertiaTensorLocal.getDeterminant(), decimal(0.0))) {
+        mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, Matrix3x3::zero());
+    }
+    else {
+        mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inertiaTensorLocal.getInverse());
+    }
+
+    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
+             "Body " + std::to_string(mEntity.id) + ": Set inertiaTensorLocal=" + inertiaTensorLocal.to_string());
+
+    // Set the mass
+    mWorld.mRigidBodyComponents.setMass(mEntity, totalMass);
+
+    // Compute the inverse mass
+    if (totalMass > decimal(0.0)) {
+        mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(1.0) / totalMass);
+    }
+    else {
+        mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(0.0));
+    }
+
+    RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
+             "Body " + std::to_string(mEntity.id) + ": Set mass=" + std::to_string(totalMass));
+}
+
 // Set the mass of the rigid body
+/// Note that a mass of zero is interpreted as infinite mass.
 /**
  * @param mass The mass (in kilograms) of the body
  */
 void RigidBody::setMass(decimal mass) {
 
-    if (mWorld.mRigidBodyComponents.getBodyType(mEntity) != BodyType::DYNAMIC) return;
+    mWorld.mRigidBodyComponents.setMass(mEntity, mass);
 
-    mWorld.mRigidBodyComponents.setInitMass(mEntity, mass);
+    // TODO : Report error if mass is negative
 
-    if (mWorld.mRigidBodyComponents.getInitMass(mEntity) > decimal(0.0)) {
-        mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(1.0) / mWorld.mRigidBodyComponents.getInitMass(mEntity));
+    if (mWorld.mRigidBodyComponents.getMass(mEntity) > decimal(0.0)) {
+        mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(1.0) / mass);
     }
     else {
-        mWorld.mRigidBodyComponents.setInitMass(mEntity, decimal(1.0));
-        mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(1.0));
+        mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(0.0));
     }
 
     RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
@@ -315,10 +516,9 @@ void RigidBody::setMass(decimal mass) {
  * @param collisionShape The collision shape of the new collider
  * @param transform The transformation of the collider that transforms the
  *        local-space of the collider into the local-space of the body
- * @param mass Mass (in kilograms) of the collider you want to add
  * @return A pointer to the collider that has been created
  */
-Collider* RigidBody::addCollider(CollisionShape* collisionShape, const Transform& transform, decimal mass) {
+Collider* RigidBody::addCollider(CollisionShape* collisionShape, const Transform& transform) {
 
     // Create a new entity for the collider
     Entity colliderEntity = mWorld.mEntityManager.createEntity();
@@ -333,9 +533,8 @@ Collider* RigidBody::addCollider(CollisionShape* collisionShape, const Transform
     // TODO : Maybe this method can directly returns an AABB
     collisionShape->getLocalBounds(localBoundsMin, localBoundsMax);
     const Transform localToWorldTransform = mWorld.mTransformComponents.getTransform(mEntity) * transform;
-    ColliderComponents::ColliderComponent colliderComponent(mEntity, collider,
-                                                                   AABB(localBoundsMin, localBoundsMax),
-                                                                   transform, collisionShape, mass, 0x0001, 0xFFFF, localToWorldTransform);
+    ColliderComponents::ColliderComponent colliderComponent(mEntity, collider, AABB(localBoundsMin, localBoundsMax),
+                                                            transform, collisionShape, 0x0001, 0xFFFF, localToWorldTransform);
     bool isSleeping = mWorld.mRigidBodyComponents.getIsSleeping(mEntity);
     mWorld.mCollidersComponents.addComponent(colliderEntity, isSleeping, colliderComponent);
 
@@ -365,10 +564,6 @@ Collider* RigidBody::addCollider(CollisionShape* collisionShape, const Transform
     // Notify the collision detection about this new collision shape
     mWorld.mCollisionDetection.addCollider(collider, aabb);
 
-    // Recompute the center of mass, total mass and inertia tensor of the body with the new
-    // collision shape
-    recomputeMassInformation();
-
     RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
              "Body " + std::to_string(mEntity.id) + ": Collider " + std::to_string(collider->getBroadPhaseId()) + " added to body");
 
@@ -389,9 +584,6 @@ void RigidBody::removeCollider(Collider* collider) {
 
     // Remove the collision shape
     CollisionBody::removeCollider(collider);
-
-    // Recompute the total mass, center of mass and inertia tensor
-    recomputeMassInformation();
 }
 
 // Set the variable to know if the gravity is applied to this rigid body
@@ -500,101 +692,6 @@ void RigidBody::setTransform(const Transform& transform) {
     setIsSleeping(false);
 }
 
-// Recompute the center of mass, total mass and inertia tensor of the body using all
-// the collision shapes attached to the body.
-void RigidBody::recomputeMassInformation() {
-
-    mWorld.mRigidBodyComponents.setInitMass(mEntity, decimal(0.0));
-    mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(0.0));
-    if (!mIsInertiaTensorSetByUser) mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, Matrix3x3::zero());
-    if (!mIsCenterOfMassSetByUser) mWorld.mRigidBodyComponents.setCenterOfMassLocal(mEntity, Vector3::zero());
-    Matrix3x3 inertiaTensorLocal;
-    inertiaTensorLocal.setToZero();
-
-    const Transform& transform = mWorld.mTransformComponents.getTransform(mEntity);
-
-    // If it is a STATIC or a KINEMATIC body
-    BodyType type = mWorld.mRigidBodyComponents.getBodyType(mEntity);
-    if (type == BodyType::STATIC || type == BodyType::KINEMATIC) {
-        mWorld.mRigidBodyComponents.setCenterOfMassWorld(mEntity, transform.getPosition());
-        return;
-    }
-
-    assert(mWorld.mRigidBodyComponents.getBodyType(mEntity) == BodyType::DYNAMIC);
-
-    // Compute the total mass of the body
-    const List<Entity>& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity);
-    for (uint i=0; i < colliderEntities.size(); i++) {
-        Collider* collider = mWorld.mCollidersComponents.getCollider(colliderEntities[i]);
-        mWorld.mRigidBodyComponents.setInitMass(mEntity, mWorld.mRigidBodyComponents.getInitMass(mEntity) + collider->getMass());
-
-        if (!mIsCenterOfMassSetByUser) {
-            mWorld.mRigidBodyComponents.setCenterOfMassLocal(mEntity, mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity) +
-                                                            collider->getLocalToBodyTransform().getPosition() * collider->getMass());
-        }
-    }
-
-    if (mWorld.mRigidBodyComponents.getInitMass(mEntity) > decimal(0.0)) {
-        mWorld.mRigidBodyComponents.setMassInverse(mEntity, decimal(1.0) / mWorld.mRigidBodyComponents.getInitMass(mEntity));
-    }
-    else {
-        mWorld.mRigidBodyComponents.setCenterOfMassWorld(mEntity, transform.getPosition());
-        return;
-    }
-
-    // Compute the center of mass
-    const Vector3 oldCenterOfMass = mWorld.mRigidBodyComponents.getCenterOfMassWorld(mEntity);
-
-    if (!mIsCenterOfMassSetByUser) {
-        mWorld.mRigidBodyComponents.setCenterOfMassLocal(mEntity, mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity) * mWorld.mRigidBodyComponents.getMassInverse(mEntity));
-    }
-
-    mWorld.mRigidBodyComponents.setCenterOfMassWorld(mEntity, transform * mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity));
-
-    if (!mIsInertiaTensorSetByUser) {
-
-        // Compute the inertia tensor using all the colliders
-        const List<Entity>& colliderEntities = mWorld.mCollisionBodyComponents.getColliders(mEntity);
-        for (uint i=0; i < colliderEntities.size(); i++) {
-
-            Collider* collider = mWorld.mCollidersComponents.getCollider(colliderEntities[i]);
-
-            // Get the inertia tensor of the collider in its local-space
-            Matrix3x3 inertiaTensor;
-            collider->getCollisionShape()->computeLocalInertiaTensor(inertiaTensor, collider->getMass());
-
-            // Convert the collider inertia tensor into the local-space of the body
-            const Transform& shapeTransform = collider->getLocalToBodyTransform();
-            Matrix3x3 rotationMatrix = shapeTransform.getOrientation().getMatrix();
-            inertiaTensor = rotationMatrix * inertiaTensor * rotationMatrix.getTranspose();
-
-            // Use the parallel axis theorem to convert the inertia tensor w.r.t the collider
-            // center into a inertia tensor w.r.t to the body origin.
-            Vector3 offset = shapeTransform.getPosition() - mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity);
-            decimal offsetSquare = offset.lengthSquare();
-            Matrix3x3 offsetMatrix;
-            offsetMatrix[0].setAllValues(offsetSquare, decimal(0.0), decimal(0.0));
-            offsetMatrix[1].setAllValues(decimal(0.0), offsetSquare, decimal(0.0));
-            offsetMatrix[2].setAllValues(decimal(0.0), decimal(0.0), offsetSquare);
-            offsetMatrix[0] += offset * (-offset.x);
-            offsetMatrix[1] += offset * (-offset.y);
-            offsetMatrix[2] += offset * (-offset.z);
-            offsetMatrix *= collider->getMass();
-
-            inertiaTensorLocal += inertiaTensor + offsetMatrix;
-        }
-
-        // Compute the local inverse inertia tensor
-        mWorld.mRigidBodyComponents.setInverseInertiaTensorLocal(mEntity, inertiaTensorLocal.getInverse());
-    }
-
-    // Update the linear velocity of the center of mass
-    Vector3 linearVelocity = mWorld.mRigidBodyComponents.getLinearVelocity(mEntity);
-    Vector3 angularVelocity = mWorld.mRigidBodyComponents.getAngularVelocity(mEntity);
-    linearVelocity += angularVelocity.cross(mWorld.mRigidBodyComponents.getCenterOfMassWorld(mEntity) - oldCenterOfMass);
-    mWorld.mRigidBodyComponents.setLinearVelocity(mEntity, linearVelocity);
-}
-
 // Return the linear velocity
 /**
  * @return The linear velocity vector of the body
diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h
index 5f1b780a..2ecee142 100644
--- a/src/body/RigidBody.h
+++ b/src/body/RigidBody.h
@@ -51,18 +51,6 @@ class RigidBody : public CollisionBody {
 
     protected :
 
-        // -------------------- Attributes -------------------- //
-
-        /// Inverse Local inertia tensor of the body (in local-space) set
-        /// by the user with respect to the center of mass of the body
-        Matrix3x3 mUserInertiaTensorLocalInverse;
-
-        /// True if the center of mass is set by the user
-        bool mIsCenterOfMassSetByUser;
-
-        /// True if the inertia tensor is set by the user
-        bool mIsInertiaTensorSetByUser;
-
         // -------------------- Methods -------------------- //
 
         /// Set the variable to know whether or not the body is sleeping
@@ -71,6 +59,12 @@ class RigidBody : public CollisionBody {
         /// Update whether the current overlapping pairs where this body is involed are active or not
         void updateOverlappingPairs();
 
+        /// Compute and return the local-space center of mass of the body using its colliders
+        Vector3 computeCenterOfMass() const;
+
+        /// Compute the local-space inertia tensor and total mass of the body using its colliders
+        void computeMassAndInertiaTensorLocal(Matrix3x3& inertiaTensorLocal, decimal& totalMass) const;
+
         /// Return the inverse of the inertia tensor in world coordinates.
         static const Matrix3x3 getInertiaTensorInverseWorld(PhysicsWorld& world, Entity bodyEntity);
 
@@ -96,6 +90,9 @@ class RigidBody : public CollisionBody {
         /// Return the mass of the body
         decimal getMass() const;
 
+        /// Set the mass of the rigid body
+        void setMass(decimal mass);
+
         /// Return the linear velocity
         Vector3 getLinearVelocity() const;
 
@@ -108,23 +105,29 @@ class RigidBody : public CollisionBody {
         /// Set the angular velocity.
         void setAngularVelocity(const Vector3& angularVelocity);
 
+        /// Return the local inertia tensor of the body (in body coordinates)
+        const Matrix3x3& getLocalInertiaTensor() const;
+
         /// Set the local inertia tensor of the body (in body coordinates)
-        void setInertiaTensorLocal(const Matrix3x3& inertiaTensorLocal);
+        void setLocalInertiaTensor(const Matrix3x3& inertiaTensorLocal);
 
-        /// Set the inverse local inertia tensor of the body (in body coordinates)
-        void setInverseInertiaTensorLocal(const Matrix3x3& inverseInertiaTensorLocal);
+        /// Return the center of mass of the body (in local-space coordinates)
+        const Vector3& getLocalCenterOfMass() const;
 
-        /// Get the inverse local inertia tensor of the body (in body coordinates)
-        const Matrix3x3& getInverseInertiaTensorLocal() const;
+        /// Set the center of mass of the body (in local-space coordinates)
+        void setLocalCenterOfMass(const Vector3& centerOfMass);
 
-        /// Return the inverse of the inertia tensor in world coordinates.
-        const Matrix3x3 getInertiaTensorInverseWorld() const;
+        /// Compute and set the local-space center of mass of the body using its colliders
+        void updateLocalCenterOfMassFromColliders();
 
-        /// Set the local center of mass of the body (in local-space coordinates)
-        void setCenterOfMassLocal(const Vector3& centerOfMassLocal);
+        /// Compute and set the local-space inertia tensor of the body using its colliders
+        void updateLocalInertiaTensorFromColliders();
 
-        /// Set the mass of the rigid body
-        void setMass(decimal mass);
+        /// Compute and set the mass of the body using its colliders
+        void updateMassFromColliders();
+
+        /// Compute and set the center of mass, the mass and the local-space inertia tensor of the body using its colliders
+        void updateMassPropertiesFromColliders();
 
         /// Return the type of the body
         BodyType getType() const;
@@ -172,17 +175,11 @@ class RigidBody : public CollisionBody {
         virtual void setIsActive(bool isActive) override;
 
         /// Create a new collider and add it to the body
-        // TODO : Remove the mass from this parameter so that we can correctly use inheritance here
-        //        The user will then need to call Collider->setMass() to set the mass of the shape
-        virtual Collider* addCollider(CollisionShape* collisionShape, const Transform& transform, decimal mass);
+        virtual Collider* addCollider(CollisionShape* collisionShape, const Transform& transform) override;
 
         /// Remove a collider from the body
         virtual void removeCollider(Collider* collider) override;
 
-        /// Recompute the center of mass, total mass and inertia tensor of the body using all
-        /// the collision shapes attached to the body.
-        void recomputeMassInformation();
-
 #ifdef IS_PROFILING_ACTIVE
 
 		/// Set the profiler
diff --git a/src/collision/Collider.cpp b/src/collision/Collider.cpp
index d2c24076..2ada633a 100644
--- a/src/collision/Collider.cpp
+++ b/src/collision/Collider.cpp
@@ -51,15 +51,6 @@ Collider::~Collider() {
 
 }
 
-// Return the mass of the collision shape
-/**
- * @return Mass of the collision shape (in kilograms)
- */
-decimal Collider::getMass() const {
-    return mBody->mWorld.mCollidersComponents.getMass(mEntity);
-}
-
-
 // Return true if a point is inside the collision shape
 /**
  * @param worldPoint Point to test in world-space coordinates
diff --git a/src/collision/Collider.h b/src/collision/Collider.h
index 66f9f818..fd849800 100644
--- a/src/collision/Collider.h
+++ b/src/collision/Collider.h
@@ -112,9 +112,6 @@ class Collider {
         /// Return the parent body
         CollisionBody* getBody() const;
 
-        /// Return the mass of the collision shape
-        decimal getMass() const;
-
         /// Return a pointer to the user data attached to this body
         void* getUserData() const;
 
diff --git a/src/collision/PolyhedronMesh.cpp b/src/collision/PolyhedronMesh.cpp
index 3245ff19..e4f53ed3 100644
--- a/src/collision/PolyhedronMesh.cpp
+++ b/src/collision/PolyhedronMesh.cpp
@@ -27,6 +27,7 @@
 #include "PolyhedronMesh.h"
 #include "memory/MemoryManager.h"
 #include "collision/PolygonVertexArray.h"
+#include <cstdlib>
 
 using namespace reactphysics3d;
 
@@ -153,3 +154,48 @@ void PolyhedronMesh::computeCentroid() {
 
     mCentroid /= getNbVertices();
 }
+
+// Compute and return the area of a face
+decimal PolyhedronMesh::getFaceArea(uint faceIndex) const {
+
+    Vector3 sumCrossProducts(0, 0, 0);
+
+    const HalfEdgeStructure::Face& face = mHalfEdgeStructure.getFace(faceIndex);
+    assert(face.faceVertices.size() >= 3);
+
+    Vector3 v1 = getVertex(face.faceVertices[0]);
+
+    // For each vertex of the face
+    for (uint i=2; i < face.faceVertices.size(); i++) {
+
+        const Vector3 v2 = getVertex(face.faceVertices[i-1]);
+        const Vector3 v3 = getVertex(face.faceVertices[i]);
+
+        const Vector3 v1v2 = v2 - v1;
+        const Vector3 v1v3 = v3 - v1;
+
+        sumCrossProducts +=  v1v2.cross(v1v3);
+    }
+
+    return decimal(0.5) * sumCrossProducts.length();
+}
+
+// Compute and return the volume of the polyhedron
+/// We use the divergence theorem to compute the volume of the polyhedron using a sum over its faces.
+decimal PolyhedronMesh::getVolume() const {
+
+    decimal sum = 0.0;
+
+    // For each face of the polyhedron
+    for (uint f=0; f < getNbFaces(); f++) {
+
+        const HalfEdgeStructure::Face& face = mHalfEdgeStructure.getFace(f);
+        const decimal faceArea = getFaceArea(f);
+        const Vector3 faceNormal = mFacesNormals[f];
+        const Vector3 faceVertex = getVertex(face.faceVertices[0]);
+
+        sum += faceVertex.dot(faceNormal) * faceArea;
+    }
+
+    return std::abs(sum) / decimal(3.0);
+}
diff --git a/src/collision/PolyhedronMesh.h b/src/collision/PolyhedronMesh.h
index a5ae6114..4b3696f4 100644
--- a/src/collision/PolyhedronMesh.h
+++ b/src/collision/PolyhedronMesh.h
@@ -77,6 +77,9 @@ class PolyhedronMesh {
         /// Compute the centroid of the polyhedron
         void computeCentroid() ;
 
+        /// Compute and return the area of a face
+        decimal getFaceArea(uint faceIndex) const;
+
     public:
 
         // -------------------- Methods -------------------- //
@@ -102,6 +105,9 @@ class PolyhedronMesh {
         /// Return the centroid of the polyhedron
         Vector3 getCentroid() const;
 
+        /// Compute and return the volume of the polyhedron
+        decimal getVolume() const;
+
         // ---------- Friendship ---------- //
 
         friend class PhysicsCommon;
diff --git a/src/collision/shapes/BoxShape.h b/src/collision/shapes/BoxShape.h
index ded03c63..a885662a 100644
--- a/src/collision/shapes/BoxShape.h
+++ b/src/collision/shapes/BoxShape.h
@@ -98,6 +98,9 @@ class BoxShape : public ConvexPolyhedronShape {
         /// Return the local inertia tensor of the collision shape
         virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const override;
 
+        /// Compute and return the volume of the collision shape
+        virtual decimal getVolume() const override;
+
         /// Return the number of faces of the polyhedron
         virtual uint getNbFaces() const override;
 
@@ -253,6 +256,11 @@ inline Vector3 BoxShape::getCentroid() const {
     return Vector3::zero();
 }
 
+// Compute and return the volume of the collision shape
+inline decimal BoxShape::getVolume() const {
+    return 8 * mHalfExtents.x * mHalfExtents.y * mHalfExtents.z;
+}
+
 // Return the string representation of the shape
 inline std::string BoxShape::to_string() const {
     return "BoxShape{extents=" + mHalfExtents.to_string() + "}";
diff --git a/src/collision/shapes/CapsuleShape.h b/src/collision/shapes/CapsuleShape.h
index 4b37bdc5..0e8565c1 100644
--- a/src/collision/shapes/CapsuleShape.h
+++ b/src/collision/shapes/CapsuleShape.h
@@ -105,6 +105,9 @@ class CapsuleShape : public ConvexShape {
         /// Return the local bounds of the shape in x, y and z directions
         virtual void getLocalBounds(Vector3& min, Vector3& max) const override;
 
+        /// Compute and return the volume of the collision shape
+        virtual decimal getVolume() const override;
+
         /// Return true if the collision shape is a polyhedron
         virtual bool isPolyhedron() const override;
 
@@ -188,6 +191,11 @@ inline void CapsuleShape::getLocalBounds(Vector3& min, Vector3& max) const {
     min.z = min.x;
 }
 
+// Compute and return the volume of the collision shape
+inline decimal CapsuleShape::getVolume() const {
+    return reactphysics3d::PI * mMargin * mMargin * (decimal(4.0) * mMargin / decimal(3.0) + decimal(2.0) * mHalfHeight);
+}
+
 // Return true if the collision shape is a polyhedron
 inline bool CapsuleShape::isPolyhedron() const {
     return false;
diff --git a/src/collision/shapes/CollisionShape.h b/src/collision/shapes/CollisionShape.h
index 853de58a..8d609946 100644
--- a/src/collision/shapes/CollisionShape.h
+++ b/src/collision/shapes/CollisionShape.h
@@ -30,6 +30,7 @@
 #include <cassert>
 #include "configuration.h"
 #include "utils/Profiler.h"
+#include "containers/List.h"
 
 /// ReactPhysics3D namespace
 namespace reactphysics3d {
@@ -142,6 +143,9 @@ class CollisionShape {
         /// Return the local inertia tensor of the collision shapes
         virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const=0;
 
+        /// Compute and return the volume of the collision shape
+        virtual decimal getVolume() const=0;
+
         /// Compute the world-space AABB of the collision shape given a transform
         virtual void computeAABB(AABB& aabb, const Transform& transform) const;
 
diff --git a/src/collision/shapes/ConcaveShape.cpp b/src/collision/shapes/ConcaveShape.cpp
index 41f4069b..d60862d0 100644
--- a/src/collision/shapes/ConcaveShape.cpp
+++ b/src/collision/shapes/ConcaveShape.cpp
@@ -36,3 +36,19 @@ ConcaveShape::ConcaveShape(CollisionShapeName name, MemoryAllocator& allocator,
                mScale(scaling) {
 
 }
+
+// Compute and return the volume of the collision shape
+/// Note that we approximate the volume of a concave shape with the volume of its AABB
+decimal ConcaveShape::getVolume() const {
+    Vector3 minBounds, maxBounds;
+
+    // Compute the local bounds
+    getLocalBounds(minBounds, maxBounds);
+
+    const decimal lengthX = maxBounds.x - minBounds.x;
+    const decimal lengthY = maxBounds.y - minBounds.y;
+    const decimal lengthZ = maxBounds.z - minBounds.z;
+
+    // Approximate the volume of the concave shape as the volume of its AABB
+    return lengthX * lengthY * lengthZ;
+}
diff --git a/src/collision/shapes/ConcaveShape.h b/src/collision/shapes/ConcaveShape.h
index 421a57ea..3eeb5285 100644
--- a/src/collision/shapes/ConcaveShape.h
+++ b/src/collision/shapes/ConcaveShape.h
@@ -111,6 +111,9 @@ class ConcaveShape : public CollisionShape {
         virtual void computeOverlappingTriangles(const AABB& localAABB, List<Vector3>& triangleVertices,
                                                  List<Vector3>& triangleVerticesNormals, List<uint>& shapeIds,
                                                  MemoryAllocator& allocator) const=0;
+
+        /// Compute and return the volume of the collision shape
+        virtual decimal getVolume() const override;
 };
 
 // Return true if the collision shape is convex, false if it is concave
@@ -155,6 +158,7 @@ inline void ConcaveShape::setScale(const Vector3& scale) {
     notifyColliderAboutChangedSize();
 }
 
+
 }
 
 #endif
diff --git a/src/collision/shapes/ConvexMeshShape.h b/src/collision/shapes/ConvexMeshShape.h
index 8313fe92..af2c4e4d 100644
--- a/src/collision/shapes/ConvexMeshShape.h
+++ b/src/collision/shapes/ConvexMeshShape.h
@@ -135,6 +135,9 @@ class ConvexMeshShape : public ConvexPolyhedronShape {
         /// Return the centroid of the polyhedron
         virtual Vector3 getCentroid() const override;
 
+        /// Compute and return the volume of the collision shape
+        virtual decimal getVolume() const override;
+
         /// Return the string representation of the shape
         virtual std::string to_string() const override;
 
@@ -242,6 +245,12 @@ inline Vector3 ConvexMeshShape::getCentroid() const {
     return mPolyhedronMesh->getCentroid() * mScale;
 }
 
+
+// Compute and return the volume of the collision shape
+inline decimal ConvexMeshShape::getVolume() const {
+    return mPolyhedronMesh->getVolume();
+}
+
 }
 
 #endif
diff --git a/src/collision/shapes/SphereShape.h b/src/collision/shapes/SphereShape.h
index a5d7bd95..6f2cd086 100644
--- a/src/collision/shapes/SphereShape.h
+++ b/src/collision/shapes/SphereShape.h
@@ -93,6 +93,9 @@ class SphereShape : public ConvexShape {
         /// Return the local inertia tensor of the collision shape
         virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const override;
 
+        /// Compute and return the volume of the collision shape
+        virtual decimal getVolume() const override;
+
         /// Update the AABB of a body using its collision shape
         virtual void computeAABB(AABB& aabb, const Transform& transform) const override;
 
@@ -180,6 +183,11 @@ inline void SphereShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal ma
                         0.0, 0.0, diag);
 }
 
+// Compute and return the volume of the collision shape
+inline decimal SphereShape::getVolume() const {
+    return decimal(4.0) / decimal(3.0) * reactphysics3d::PI * mMargin * mMargin * mMargin;
+}
+
 // Return true if a point is inside the collision shape
 inline bool SphereShape::testPointInside(const Vector3& localPoint, Collider* collider) const {
     return (localPoint.lengthSquare() < mMargin * mMargin);
diff --git a/src/collision/shapes/TriangleShape.h b/src/collision/shapes/TriangleShape.h
index e7a40882..9d2a827c 100644
--- a/src/collision/shapes/TriangleShape.h
+++ b/src/collision/shapes/TriangleShape.h
@@ -166,6 +166,9 @@ class TriangleShape : public ConvexPolyhedronShape {
         /// Return the centroid of the polyhedron
         virtual Vector3 getCentroid() const override;
 
+        /// Compute and return the volume of the collision shape
+        virtual decimal getVolume() const override;
+
         /// This method compute the smooth mesh contact with a triangle in case one of the two collision shapes is a triangle. The idea in this case is to use a smooth vertex normal of the triangle mesh
         static void computeSmoothTriangleMeshContact(const CollisionShape* shape1, const CollisionShape* shape2,
                                                      Vector3& localContactPointShape1, Vector3& localContactPointShape2,
@@ -304,6 +307,11 @@ inline std::string TriangleShape::to_string() const {
             "v3=" + mPoints[2].to_string() + "}";
 }
 
+// Compute and return the volume of the collision shape
+inline decimal TriangleShape::getVolume() const {
+    return decimal(0.0);
+}
+
 }
 
 #endif
diff --git a/src/components/ColliderComponents.cpp b/src/components/ColliderComponents.cpp
index 7cd9de62..7d890e39 100644
--- a/src/components/ColliderComponents.cpp
+++ b/src/components/ColliderComponents.cpp
@@ -35,8 +35,8 @@ using namespace reactphysics3d;
 
 // Constructor
 ColliderComponents::ColliderComponents(MemoryAllocator& allocator)
-                    :Components(allocator, sizeof(Entity) + sizeof(Entity) + sizeof(Collider*) + sizeof(int) +
-                sizeof(Transform) + sizeof(CollisionShape*) + sizeof(decimal) + sizeof(unsigned short) +
+                    :Components(allocator, sizeof(Entity) + sizeof(Entity) + sizeof(Collider*) + sizeof(int32) +
+                sizeof(Transform) + sizeof(CollisionShape*) + sizeof(unsigned short) +
                 sizeof(unsigned short) + sizeof(Transform) + sizeof(List<uint64>) + sizeof(bool)) {
 
     // Allocate memory for the components data
@@ -62,8 +62,7 @@ void ColliderComponents::allocate(uint32 nbComponentsToAllocate) {
     int32* newBroadPhaseIds = reinterpret_cast<int32*>(newColliders + nbComponentsToAllocate);
     Transform* newLocalToBodyTransforms = reinterpret_cast<Transform*>(newBroadPhaseIds + nbComponentsToAllocate);
     CollisionShape** newCollisionShapes = reinterpret_cast<CollisionShape**>(newLocalToBodyTransforms + nbComponentsToAllocate);
-    decimal* newMasses = reinterpret_cast<decimal*>(newCollisionShapes + nbComponentsToAllocate);
-    unsigned short* newCollisionCategoryBits = reinterpret_cast<unsigned short*>(newMasses + nbComponentsToAllocate);
+    unsigned short* newCollisionCategoryBits = reinterpret_cast<unsigned short*>(newCollisionShapes + nbComponentsToAllocate);
     unsigned short* newCollideWithMaskBits = reinterpret_cast<unsigned short*>(newCollisionCategoryBits + nbComponentsToAllocate);
     Transform* newLocalToWorldTransforms = reinterpret_cast<Transform*>(newCollideWithMaskBits + nbComponentsToAllocate);
     List<uint64>* newOverlappingPairs = reinterpret_cast<List<uint64>*>(newLocalToWorldTransforms + nbComponentsToAllocate);
@@ -79,7 +78,6 @@ void ColliderComponents::allocate(uint32 nbComponentsToAllocate) {
         memcpy(newBroadPhaseIds, mBroadPhaseIds, mNbComponents * sizeof(int32));
         memcpy(newLocalToBodyTransforms, mLocalToBodyTransforms, mNbComponents * sizeof(Transform));
         memcpy(newCollisionShapes, mCollisionShapes, mNbComponents * sizeof(CollisionShape*));
-        memcpy(newMasses, mMasses, mNbComponents * sizeof(decimal));
         memcpy(newCollisionCategoryBits, mCollisionCategoryBits, mNbComponents * sizeof(unsigned short));
         memcpy(newCollideWithMaskBits, mCollideWithMaskBits, mNbComponents * sizeof(unsigned short));
         memcpy(newLocalToWorldTransforms, mLocalToWorldTransforms, mNbComponents * sizeof(Transform));
@@ -98,7 +96,6 @@ void ColliderComponents::allocate(uint32 nbComponentsToAllocate) {
     mBroadPhaseIds = newBroadPhaseIds;
     mLocalToBodyTransforms = newLocalToBodyTransforms;
     mCollisionShapes = newCollisionShapes;
-    mMasses = newMasses;
     mCollisionCategoryBits = newCollisionCategoryBits;
     mCollideWithMaskBits = newCollideWithMaskBits;
     mLocalToWorldTransforms = newLocalToWorldTransforms;
@@ -121,7 +118,6 @@ void ColliderComponents::addComponent(Entity colliderEntity, bool isSleeping, co
     new (mBroadPhaseIds + index) int32(-1);
     new (mLocalToBodyTransforms + index) Transform(component.localToBodyTransform);
     mCollisionShapes[index] = component.collisionShape;
-    new (mMasses + index) decimal(component.mass);
     new (mCollisionCategoryBits + index) unsigned short(component.collisionCategoryBits);
     new (mCollideWithMaskBits + index) unsigned short(component.collideWithMaskBits);
     new (mLocalToWorldTransforms + index) Transform(component.localToWorldTransform);
@@ -149,7 +145,6 @@ void ColliderComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex)
     new (mBroadPhaseIds + destIndex) int32(mBroadPhaseIds[srcIndex]);
     new (mLocalToBodyTransforms + destIndex) Transform(mLocalToBodyTransforms[srcIndex]);
     mCollisionShapes[destIndex] = mCollisionShapes[srcIndex];
-    new (mMasses + destIndex) decimal(mMasses[srcIndex]);
     new (mCollisionCategoryBits + destIndex) unsigned short(mCollisionCategoryBits[srcIndex]);
     new (mCollideWithMaskBits + destIndex) unsigned short(mCollideWithMaskBits[srcIndex]);
     new (mLocalToWorldTransforms + destIndex) Transform(mLocalToWorldTransforms[srcIndex]);
@@ -177,7 +172,6 @@ void ColliderComponents::swapComponents(uint32 index1, uint32 index2) {
     int32 broadPhaseId1 = mBroadPhaseIds[index1];
     Transform localToBodyTransform1 = mLocalToBodyTransforms[index1];
     CollisionShape* collisionShape1 = mCollisionShapes[index1];
-    decimal mass1 = mMasses[index1];
     unsigned short collisionCategoryBits1 = mCollisionCategoryBits[index1];
     unsigned short collideWithMaskBits1 = mCollideWithMaskBits[index1];
     Transform localToWorldTransform1 = mLocalToWorldTransforms[index1];
@@ -196,7 +190,6 @@ void ColliderComponents::swapComponents(uint32 index1, uint32 index2) {
     new (mBroadPhaseIds + index2) int32(broadPhaseId1);
     new (mLocalToBodyTransforms + index2) Transform(localToBodyTransform1);
     mCollisionShapes[index2] = collisionShape1;
-    new (mMasses + index2) decimal(mass1);
     new (mCollisionCategoryBits + index2) unsigned short(collisionCategoryBits1);
     new (mCollideWithMaskBits + index2) unsigned short(collideWithMaskBits1);
     new (mLocalToWorldTransforms + index2) Transform(localToWorldTransform1);
diff --git a/src/components/ColliderComponents.h b/src/components/ColliderComponents.h
index e30a844b..e96d72c1 100644
--- a/src/components/ColliderComponents.h
+++ b/src/components/ColliderComponents.h
@@ -73,9 +73,6 @@ class ColliderComponents : public Components {
         /// Pointers to the collision shapes of the colliders
         CollisionShape** mCollisionShapes;
 
-        /// Masses (in kilogramms) of the colliders
-        decimal* mMasses;
-
         /// Array of bits used to define the collision category of this shape.
         /// You can set a single bit to one to define a category value for this
         /// shape. This value is one (0x0001) by default. This variable can be used
@@ -124,17 +121,16 @@ class ColliderComponents : public Components {
             AABB localBounds;
             const Transform& localToBodyTransform;
             CollisionShape* collisionShape;
-            decimal mass;
             unsigned short collisionCategoryBits;
             unsigned short collideWithMaskBits;
             const Transform& localToWorldTransform;
 
             /// Constructor
             ColliderComponent(Entity bodyEntity, Collider* collider, AABB localBounds, const Transform& localToBodyTransform,
-                                CollisionShape* collisionShape, decimal mass, unsigned short collisionCategoryBits,
+                                CollisionShape* collisionShape, unsigned short collisionCategoryBits,
                                 unsigned short collideWithMaskBits, const Transform& localToWorldTransform)
                  :bodyEntity(bodyEntity), collider(collider), localBounds(localBounds), localToBodyTransform(localToBodyTransform),
-                  collisionShape(collisionShape), mass(mass), collisionCategoryBits(collisionCategoryBits), collideWithMaskBits(collideWithMaskBits),
+                  collisionShape(collisionShape), collisionCategoryBits(collisionCategoryBits), collideWithMaskBits(collideWithMaskBits),
                   localToWorldTransform(localToWorldTransform) {
 
             }
@@ -154,9 +150,6 @@ class ColliderComponents : public Components {
         /// Return the body entity of a given collider
         Entity getBody(Entity colliderEntity) const;
 
-        /// Return the mass of a collider
-        decimal getMass(Entity colliderEntity) const;
-
         /// Return a pointer to a given collider
         Collider* getCollider(Entity colliderEntity) const;
 
@@ -218,14 +211,6 @@ inline Entity ColliderComponents::getBody(Entity colliderEntity) const {
    return mBodiesEntities[mMapEntityToComponentIndex[colliderEntity]];
 }
 
-// Return the mass of a collider
-inline decimal ColliderComponents::getMass(Entity colliderEntity) const {
-
-   assert(mMapEntityToComponentIndex.containsKey(colliderEntity));
-
-   return mMasses[mMapEntityToComponentIndex[colliderEntity]];
-}
-
 // Return a pointer to a given collider
 inline Collider *ColliderComponents::getCollider(Entity colliderEntity) const {
 
diff --git a/src/components/RigidBodyComponents.cpp b/src/components/RigidBodyComponents.cpp
index ae15df20..7e12fc5c 100644
--- a/src/components/RigidBodyComponents.cpp
+++ b/src/components/RigidBodyComponents.cpp
@@ -40,7 +40,7 @@ RigidBodyComponents::RigidBodyComponents(MemoryAllocator& allocator)
                                 sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) +
                                 sizeof(Vector3) + sizeof(decimal) + sizeof(decimal) +
                                 sizeof(decimal) + sizeof(decimal) + sizeof(Matrix3x3) +
-                                sizeof(Vector3) + sizeof(Vector3) +
+                                sizeof(Matrix3x3) + sizeof(Vector3) + sizeof(Vector3) +
                                 sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) +
                                 sizeof(Quaternion) + sizeof(Vector3) + sizeof(Vector3) +
                                 sizeof(bool) + sizeof(bool) + sizeof(List<Entity>)) {
@@ -74,9 +74,10 @@ void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) {
     Vector3* newExternalTorques = reinterpret_cast<Vector3*>(newExternalForces + nbComponentsToAllocate);
     decimal* newLinearDampings = reinterpret_cast<decimal*>(newExternalTorques + nbComponentsToAllocate);
     decimal* newAngularDampings = reinterpret_cast<decimal*>(newLinearDampings + nbComponentsToAllocate);
-    decimal* newInitMasses = reinterpret_cast<decimal*>(newAngularDampings + nbComponentsToAllocate);
-    decimal* newInverseMasses = reinterpret_cast<decimal*>(newInitMasses + nbComponentsToAllocate);
-    Matrix3x3* newInertiaTensorLocalInverses = reinterpret_cast<Matrix3x3*>(newInverseMasses + nbComponentsToAllocate);
+    decimal* newMasses = reinterpret_cast<decimal*>(newAngularDampings + nbComponentsToAllocate);
+    decimal* newInverseMasses = reinterpret_cast<decimal*>(newMasses + nbComponentsToAllocate);
+    Matrix3x3* newInertiaTensorLocal = reinterpret_cast<Matrix3x3*>(newInverseMasses + nbComponentsToAllocate);
+    Matrix3x3* newInertiaTensorLocalInverses = reinterpret_cast<Matrix3x3*>(newInertiaTensorLocal + nbComponentsToAllocate);
     Vector3* newConstrainedLinearVelocities = reinterpret_cast<Vector3*>(newInertiaTensorLocalInverses + nbComponentsToAllocate);
     Vector3* newConstrainedAngularVelocities = reinterpret_cast<Vector3*>(newConstrainedLinearVelocities + nbComponentsToAllocate);
     Vector3* newSplitLinearVelocities = reinterpret_cast<Vector3*>(newConstrainedAngularVelocities + nbComponentsToAllocate);
@@ -105,8 +106,9 @@ void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) {
         memcpy(newExternalTorques, mExternalTorques, mNbComponents * sizeof(Vector3));
         memcpy(newLinearDampings, mLinearDampings, mNbComponents * sizeof(decimal));
         memcpy(newAngularDampings, mAngularDampings, mNbComponents * sizeof(decimal));
-        memcpy(newInitMasses, mInitMasses, mNbComponents * sizeof(decimal));
+        memcpy(newMasses, mMasses, mNbComponents * sizeof(decimal));
         memcpy(newInverseMasses, mInverseMasses, mNbComponents * sizeof(decimal));
+        memcpy(newInertiaTensorLocal, mLocalInertiaTensors, mNbComponents * sizeof(Matrix3x3));
         memcpy(newInertiaTensorLocalInverses, mInverseInertiaTensorsLocal, mNbComponents * sizeof(Matrix3x3));
         memcpy(newConstrainedLinearVelocities, mConstrainedLinearVelocities, mNbComponents * sizeof(Vector3));
         memcpy(newConstrainedAngularVelocities, mConstrainedAngularVelocities, mNbComponents * sizeof(Vector3));
@@ -138,8 +140,9 @@ void RigidBodyComponents::allocate(uint32 nbComponentsToAllocate) {
     mExternalTorques = newExternalTorques;
     mLinearDampings = newLinearDampings;
     mAngularDampings = newAngularDampings;
-    mInitMasses = newInitMasses;
+    mMasses = newMasses;
     mInverseMasses = newInverseMasses;
+    mLocalInertiaTensors = newInertiaTensorLocal;
     mInverseInertiaTensorsLocal = newInertiaTensorLocalInverses;
     mConstrainedLinearVelocities = newConstrainedLinearVelocities;
     mConstrainedAngularVelocities = newConstrainedAngularVelocities;
@@ -173,8 +176,9 @@ void RigidBodyComponents::addComponent(Entity bodyEntity, bool isSleeping, const
     new (mExternalTorques + index) Vector3(0, 0, 0);
     mLinearDampings[index] = decimal(0.0);
     mAngularDampings[index] = decimal(0.0);
-    mInitMasses[index] = decimal(1.0);
+    mMasses[index] = decimal(1.0);
     mInverseMasses[index] = decimal(1.0);
+    new (mLocalInertiaTensors + index) Matrix3x3(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0);
     new (mInverseInertiaTensorsLocal + index) Matrix3x3(1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0);
     new (mConstrainedLinearVelocities + index) Vector3(0, 0, 0);
     new (mConstrainedAngularVelocities + index) Vector3(0, 0, 0);
@@ -216,8 +220,9 @@ void RigidBodyComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex
     new (mExternalTorques + destIndex) Vector3(mExternalTorques[srcIndex]);
     mLinearDampings[destIndex] = mLinearDampings[srcIndex];
     mAngularDampings[destIndex] = mAngularDampings[srcIndex];
-    mInitMasses[destIndex] = mInitMasses[srcIndex];
+    mMasses[destIndex] = mMasses[srcIndex];
     mInverseMasses[destIndex] = mInverseMasses[srcIndex];
+    new (mLocalInertiaTensors + destIndex) Matrix3x3(mLocalInertiaTensors[srcIndex]);
     new (mInverseInertiaTensorsLocal + destIndex) Matrix3x3(mInverseInertiaTensorsLocal[srcIndex]);
     new (mConstrainedLinearVelocities + destIndex) Vector3(mConstrainedLinearVelocities[srcIndex]);
     new (mConstrainedAngularVelocities + destIndex) Vector3(mConstrainedAngularVelocities[srcIndex]);
@@ -258,8 +263,9 @@ void RigidBodyComponents::swapComponents(uint32 index1, uint32 index2) {
     Vector3 externalTorque1(mExternalTorques[index1]);
     decimal linearDamping1 = mLinearDampings[index1];
     decimal angularDamping1 = mAngularDampings[index1];
-    decimal initMass1 = mInitMasses[index1];
+    decimal mass1 = mMasses[index1];
     decimal inverseMass1 = mInverseMasses[index1];
+    Matrix3x3 inertiaTensorLocal1 = mLocalInertiaTensors[index1];
     Matrix3x3 inertiaTensorLocalInverse1 = mInverseInertiaTensorsLocal[index1];
     Vector3 constrainedLinearVelocity1(mConstrainedLinearVelocities[index1]);
     Vector3 constrainedAngularVelocity1(mConstrainedAngularVelocities[index1]);
@@ -291,8 +297,9 @@ void RigidBodyComponents::swapComponents(uint32 index1, uint32 index2) {
     new (mExternalTorques + index2) Vector3(externalTorque1);
     mLinearDampings[index2] = linearDamping1;
     mAngularDampings[index2] = angularDamping1;
-    mInitMasses[index2] = initMass1;
+    mMasses[index2] = mass1;
     mInverseMasses[index2] = inverseMass1;
+    mLocalInertiaTensors[index2] = inertiaTensorLocal1;
     mInverseInertiaTensorsLocal[index2] = inertiaTensorLocalInverse1;
     new (mConstrainedLinearVelocities + index2) Vector3(constrainedLinearVelocity1);
     new (mConstrainedAngularVelocities + index2) Vector3(constrainedAngularVelocity1);
@@ -329,6 +336,7 @@ void RigidBodyComponents::destroyComponent(uint32 index) {
     mAngularVelocities[index].~Vector3();
     mExternalForces[index].~Vector3();
     mExternalTorques[index].~Vector3();
+    mLocalInertiaTensors[index].~Matrix3x3();
     mInverseInertiaTensorsLocal[index].~Matrix3x3();
     mConstrainedLinearVelocities[index].~Vector3();
     mConstrainedAngularVelocities[index].~Vector3();
diff --git a/src/components/RigidBodyComponents.h b/src/components/RigidBodyComponents.h
index ef000b3c..12fbb425 100644
--- a/src/components/RigidBodyComponents.h
+++ b/src/components/RigidBodyComponents.h
@@ -100,13 +100,17 @@ class RigidBodyComponents : public Components {
         /// Array with the angular damping factor of each component
         decimal* mAngularDampings;
 
-        /// Array with the initial mass of each component
-        decimal* mInitMasses;
+        /// Array with the mass of each component
+        decimal* mMasses;
 
         /// Array with the inverse mass of each component
         decimal* mInverseMasses;
 
+        /// Array with the inertia tensor of each component
+        Matrix3x3* mLocalInertiaTensors;
+
         /// Array with the inverse of the inertia tensor of each component
+        // TODO : We should use a Vector3 here for the diagonal instead of a Matrix3x3
         Matrix3x3* mInverseInertiaTensorsLocal;
 
         /// Array with the constrained linear velocity of each component
@@ -234,12 +238,24 @@ class RigidBodyComponents : public Components {
         /// Return the angular damping factor of an entity
         decimal getAngularDamping(Entity bodyEntity) const;
 
-        /// Return the initial mass of an entity
-        decimal getInitMass(Entity bodyEntity) const;
+        /// Return the mass of an entity
+        decimal getMass(Entity bodyEntity) const;
+
+        /// Set the mass of an entity
+        void setMass(Entity bodyEntity, decimal mass);
 
         /// Return the mass inverse of an entity
         decimal getMassInverse(Entity bodyEntity) const;
 
+        /// Set the inverse mass of an entity
+        void setMassInverse(Entity bodyEntity, decimal inverseMass);
+
+        /// Return the local inertia tensor of an entity
+        const Matrix3x3& getLocalInertiaTensor(Entity bodyEntity);
+
+        /// Set the local inertia tensor of an entity
+        void setLocalInertiaTensor(Entity bodyEntity, const Matrix3x3& inertiaTensorLocal);
+
         /// Return the inverse local inertia tensor of an entity
         const Matrix3x3& getInertiaTensorLocalInverse(Entity bodyEntity);
 
@@ -255,12 +271,6 @@ class RigidBodyComponents : public Components {
         /// Set the angular damping factor of an entity
         void setAngularDamping(Entity bodyEntity, decimal angularDamping);
 
-        /// Set the initial mass of an entity
-        void setInitMass(Entity bodyEntity, decimal initMass);
-
-        /// Set the inverse mass of an entity
-        void setMassInverse(Entity bodyEntity, decimal inverseMass);
-
         /// Set the inverse local inertia tensor of an entity
         void setInverseInertiaTensorLocal(Entity bodyEntity, const Matrix3x3& inertiaTensorLocalInverse);
 
@@ -484,12 +494,12 @@ inline decimal RigidBodyComponents::getAngularDamping(Entity bodyEntity) const {
    return mAngularDampings[mMapEntityToComponentIndex[bodyEntity]];
 }
 
-// Return the initial mass of an entity
-inline decimal RigidBodyComponents::getInitMass(Entity bodyEntity) const {
+// Return the mass of an entity
+inline decimal RigidBodyComponents::getMass(Entity bodyEntity) const {
 
    assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
 
-   return mInitMasses[mMapEntityToComponentIndex[bodyEntity]];
+   return mMasses[mMapEntityToComponentIndex[bodyEntity]];
 }
 
 // Return the inverse mass of an entity
@@ -540,12 +550,12 @@ inline void RigidBodyComponents::setAngularDamping(Entity bodyEntity, decimal an
    mAngularDampings[mMapEntityToComponentIndex[bodyEntity]] = angularDamping;
 }
 
-// Set the initial mass of an entity
-inline void RigidBodyComponents::setInitMass(Entity bodyEntity, decimal initMass) {
+// Set the  mass of an entity
+inline void RigidBodyComponents::setMass(Entity bodyEntity, decimal mass) {
 
    assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
 
-   mInitMasses[mMapEntityToComponentIndex[bodyEntity]] = initMass;
+   mMasses[mMapEntityToComponentIndex[bodyEntity]] = mass;
 }
 
 // Set the mass inverse of an entity
@@ -556,6 +566,22 @@ inline void RigidBodyComponents::setMassInverse(Entity bodyEntity, decimal inver
    mInverseMasses[mMapEntityToComponentIndex[bodyEntity]] = inverseMass;
 }
 
+// Return the local inertia tensor of an entity
+inline const Matrix3x3& RigidBodyComponents::getLocalInertiaTensor(Entity bodyEntity) {
+
+   assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
+
+   return mLocalInertiaTensors[mMapEntityToComponentIndex[bodyEntity]];
+}
+
+// Set the local inertia tensor of an entity
+inline void RigidBodyComponents::setLocalInertiaTensor(Entity bodyEntity, const Matrix3x3& inertiaTensorLocal) {
+
+   assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
+
+   mLocalInertiaTensors[mMapEntityToComponentIndex[bodyEntity]] = inertiaTensorLocal;
+}
+
 // Set the inverse local inertia tensor of an entity
 inline void RigidBodyComponents::setInverseInertiaTensorLocal(Entity bodyEntity, const Matrix3x3& inertiaTensorLocalInverse) {
 
diff --git a/src/engine/Material.cpp b/src/engine/Material.cpp
index 22a751e5..f121c589 100644
--- a/src/engine/Material.cpp
+++ b/src/engine/Material.cpp
@@ -29,8 +29,9 @@
 using namespace reactphysics3d;
 
 // Constructor
-Material::Material(decimal frictionCoefficient, decimal rollingResistance, decimal bounciness)
-         : mFrictionCoefficient(frictionCoefficient), mRollingResistance(rollingResistance), mBounciness(bounciness) {
+Material::Material(decimal frictionCoefficient, decimal rollingResistance, decimal bounciness, decimal massDensity)
+         : mFrictionCoefficient(frictionCoefficient), mRollingResistance(rollingResistance), mBounciness(bounciness),
+           mMassDensity(massDensity) {
 
 }
 
diff --git a/src/engine/Material.h b/src/engine/Material.h
index a989f4bc..342beec4 100644
--- a/src/engine/Material.h
+++ b/src/engine/Material.h
@@ -34,7 +34,7 @@ namespace reactphysics3d {
 
 // Class Material
 /**
- * This class contains the material properties of a rigid body that will be use for
+ * This class contains the material properties of a collider that will be use for
  * the dynamics simulation like the friction coefficient or the bounciness of the rigid
  * body.
  */
@@ -53,10 +53,14 @@ class Material {
         /// Bounciness during collisions (between 0 and 1) where 1 is for a very bouncy body
         decimal mBounciness;
 
+        /// Density of mass used to compute the mass of the collider
+        decimal mMassDensity;
+
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        Material(decimal frictionCoefficient, decimal rollingResistance, decimal bounciness);
+        Material(decimal frictionCoefficient, decimal rollingResistance, decimal bounciness,
+                 decimal massDensity = decimal(1.0));
 
         /// Copy-constructor
         Material(const Material& material);
@@ -86,6 +90,12 @@ class Material {
         /// Set the rolling resistance factor
         void setRollingResistance(decimal rollingResistance);
 
+        /// Return the mass density of the collider
+        decimal getMassDensity() const;
+
+        /// Set the mass density of the collider
+        void setMassDensity(decimal massDensity);
+
         /// Return a string representation for the material
         std::string to_string() const;
 
@@ -156,6 +166,19 @@ inline void Material::setRollingResistance(decimal rollingResistance) {
     mRollingResistance = rollingResistance;
 }
 
+// Return the mass density of the collider
+inline decimal Material::getMassDensity() const {
+   return mMassDensity;
+}
+
+// Set the mass density of the collider
+/**
+ * @param massDensity The mass density of the collider
+ */
+inline void Material::setMassDensity(decimal massDensity) {
+   mMassDensity = massDensity;
+}
+
 // Return a string representation for the material
 inline std::string Material::to_string() const {
 
diff --git a/src/engine/PhysicsCommon.cpp b/src/engine/PhysicsCommon.cpp
index e2d93fe6..fb2b9d90 100644
--- a/src/engine/PhysicsCommon.cpp
+++ b/src/engine/PhysicsCommon.cpp
@@ -95,15 +95,26 @@ void PhysicsCommon::release() {
         destroyTriangleMesh(*it);
     }
 
+// If logging is enabled
+#ifdef IS_LOGGING_ACTIVE
+
     // Destroy the loggers
     for (auto it = mLoggers.begin(); it != mLoggers.end(); ++it) {
         destroyLogger(*it);
     }
 
+#endif
+
+// If profiling is enabled
+#ifdef IS_PROFILING_ACTIVE
+
     // Destroy the profilers
     for (auto it = mProfilers.begin(); it != mProfilers.end(); ++it) {
         destroyProfiler(*it);
     }
+
+#endif
+
 }
 
 // Create and return an instance of PhysicsWorld
@@ -168,6 +179,10 @@ SphereShape* PhysicsCommon::createSphereShape(const decimal radius) {
 // Destroy a sphere collision shape
 void PhysicsCommon::destroySphereShape(SphereShape* sphereShape) {
 
+    // TODO Test if collision shape is still part of some colliders, if so throw error
+
+    assert(sphereShape->mColliders.size() == 0);
+
    // Call the destructor of the shape
    sphereShape->~SphereShape();
 
@@ -190,6 +205,10 @@ BoxShape* PhysicsCommon::createBoxShape(const Vector3& extent) {
 // Destroy a box collision shape
 void PhysicsCommon::destroyBoxShape(BoxShape* boxShape) {
 
+    // TODO Test if collision shape is still part of some colliders, if so throw error
+
+    assert(boxShape->mColliders.size() == 0);
+
    // Call the destructor of the shape
    boxShape->~BoxShape();
 
@@ -212,6 +231,10 @@ CapsuleShape* PhysicsCommon::createCapsuleShape(decimal radius, decimal height)
 // Destroy a capsule collision shape
 void PhysicsCommon::destroyCapsuleShape(CapsuleShape* capsuleShape) {
 
+    // TODO Test if collision shape is still part of some colliders, if so throw error
+
+    assert(capsuleShape->mColliders.size() == 0);
+
    // Call the destructor of the shape
    capsuleShape->~CapsuleShape();
 
@@ -234,6 +257,10 @@ ConvexMeshShape* PhysicsCommon::createConvexMeshShape(PolyhedronMesh* polyhedron
 // Destroy a convex mesh shape
 void PhysicsCommon::destroyConvexMeshShape(ConvexMeshShape* convexMeshShape) {
 
+    // TODO Test if collision shape is still part of some colliders, if so throw error
+
+    assert(convexMeshShape->mColliders.size() == 0);
+
    // Call the destructor of the shape
    convexMeshShape->~ConvexMeshShape();
 
@@ -259,6 +286,10 @@ HeightFieldShape* PhysicsCommon::createHeightFieldShape(int nbGridColumns, int n
 // Destroy a height-field shape
 void PhysicsCommon::destroyHeightFieldShape(HeightFieldShape* heightFieldShape) {
 
+   // TODO Test if collision shape is still part of some colliders, if so throw error
+
+   assert(heightFieldShape->mColliders.size() == 0);
+
    // Call the destructor of the shape
    heightFieldShape->~HeightFieldShape();
 
@@ -281,6 +312,10 @@ ConcaveMeshShape* PhysicsCommon::createConcaveMeshShape(TriangleMesh* triangleMe
 // Destroy a concave mesh shape
 void PhysicsCommon::destroyConcaveMeshShape(ConcaveMeshShape* concaveMeshShape) {
 
+   // TODO Test if collision shape is still part of some colliders, if so throw error
+
+   assert(concaveMeshShape->mColliders.size() == 0);
+
    // Call the destructor of the shape
    concaveMeshShape->~ConcaveMeshShape();
 
@@ -334,6 +369,9 @@ void PhysicsCommon::destroyTriangleMesh(TriangleMesh* triangleMesh) {
    mTriangleMeshes.remove(triangleMesh);
 }
 
+// If logging is enabled
+#ifdef IS_LOGGING_ACTIVE
+
 // Create and return a new logger
 Logger* PhysicsCommon::createLogger() {
 
@@ -356,6 +394,11 @@ void PhysicsCommon::destroyLogger(Logger* logger) {
    mLoggers.remove(logger);
 }
 
+#endif
+
+// If profiling is enabled
+#ifdef IS_PROFILING_ACTIVE
+
 // Create and return a new profiler
 /// Note that you need to use a different profiler for each PhysicsWorld.
 Profiler* PhysicsCommon::createProfiler() {
@@ -378,3 +421,5 @@ void PhysicsCommon::destroyProfiler(Profiler* profiler) {
 
    mProfilers.remove(profiler);
 }
+
+#endif
diff --git a/src/engine/PhysicsCommon.h b/src/engine/PhysicsCommon.h
index 8d1dc977..a983ec86 100644
--- a/src/engine/PhysicsCommon.h
+++ b/src/engine/PhysicsCommon.h
@@ -167,17 +167,28 @@ class PhysicsCommon {
         /// Destroy a triangle mesh
         void destroyTriangleMesh(TriangleMesh* triangleMesh);
 
+// If logging is enabled
+#ifdef IS_LOGGING_ACTIVE
+
         /// Create and return a new logger
         Logger* createLogger();
 
         /// Destroy a logger
         void destroyLogger(Logger* logger);
 
+#endif
+
+// If profiling is enabled
+#ifdef IS_PROFILING_ACTIVE
+
         /// Create and return a new profiler
         Profiler* createProfiler();
 
         /// Destroy a profiler
         void destroyProfiler(Profiler* profiler);
+
+#endif
+
 };
 
 }
diff --git a/src/engine/PhysicsWorld.cpp b/src/engine/PhysicsWorld.cpp
index efe1ec73..4a600efd 100644
--- a/src/engine/PhysicsWorld.cpp
+++ b/src/engine/PhysicsWorld.cpp
@@ -209,7 +209,7 @@ void PhysicsWorld::destroyCollisionBody(CollisionBody* collisionBody) {
              "Body " + std::to_string(collisionBody->getEntity().id) + ": collision body destroyed");
 
     // Remove all the collision shapes of the body
-    collisionBody->removeAllCollisionShapes();
+    collisionBody->removeAllColliders();
 
     mCollisionBodyComponents.removeComponent(collisionBody->getEntity());
     mTransformComponents.removeComponent(collisionBody->getEntity());
@@ -458,7 +458,7 @@ RigidBody* PhysicsWorld::createRigidBody(const Transform& transform) {
     mRigidBodyComponents.addComponent(entity, false, rigidBodyComponent);
 
     // Compute the inverse mass
-    mRigidBodyComponents.setMassInverse(entity, decimal(1.0) / mRigidBodyComponents.getInitMass(entity));
+    mRigidBodyComponents.setMassInverse(entity, decimal(1.0) / mRigidBodyComponents.getMass(entity));
 
     // Add the rigid body to the physics world
     mRigidBodies.add(rigidBody);
@@ -488,7 +488,7 @@ void PhysicsWorld::destroyRigidBody(RigidBody* rigidBody) {
              "Body " + std::to_string(rigidBody->getEntity().id) + ": rigid body destroyed");
 
     // Remove all the collision shapes of the body
-    rigidBody->removeAllCollisionShapes();
+    rigidBody->removeAllColliders();
 
     // Destroy all the joints in which the rigid body to be destroyed is involved
     const List<Entity>& joints = mRigidBodyComponents.getJoints(rigidBody->getEntity());
diff --git a/src/systems/DynamicsSystem.cpp b/src/systems/DynamicsSystem.cpp
index 071adb7a..1539add2 100644
--- a/src/systems/DynamicsSystem.cpp
+++ b/src/systems/DynamicsSystem.cpp
@@ -88,7 +88,7 @@ void DynamicsSystem::updateBodiesState() {
         mTransformComponents.getTransform(mRigidBodyComponents.mBodiesEntities[i]).setOrientation(constrainedOrientation.getUnit());
     }
 
-    // Update the transform of the body (using the new center of mass and new orientation)
+    // Update the position of the body (using the new center of mass and new orientation)
     for (uint32 i=0; i < mRigidBodyComponents.getNbEnabledComponents(); i++) {
 
         Transform& transform = mTransformComponents.getTransform(mRigidBodyComponents.mBodiesEntities[i]);
@@ -144,7 +144,7 @@ void DynamicsSystem::integrateRigidBodiesVelocities(decimal timeStep) {
 
                 // Integrate the gravity force
                 mRigidBodyComponents.mConstrainedLinearVelocities[i] = mRigidBodyComponents.mConstrainedLinearVelocities[i] + timeStep *
-                                                                       mRigidBodyComponents.mInverseMasses[i] * mRigidBodyComponents.mInitMasses[i] * mGravity;
+                                                                       mRigidBodyComponents.mInverseMasses[i] * mRigidBodyComponents.mMasses[i] * mGravity;
             }
         }
     }
diff --git a/test/tests/collision/TestCollisionWorld.h b/test/tests/collision/TestCollisionWorld.h
index c2ce10d9..3b89d777 100644
--- a/test/tests/collision/TestCollisionWorld.h
+++ b/test/tests/collision/TestCollisionWorld.h
@@ -461,6 +461,8 @@ class TestCollisionWorld : public Test {
         /// Destructor
         virtual ~TestCollisionWorld() {
 
+            mPhysicsCommon.destroyPhysicsWorld(mWorld);
+
             mPhysicsCommon.destroyBoxShape(mBoxShape1);
             mPhysicsCommon.destroyBoxShape(mBoxShape2);
 
@@ -486,7 +488,6 @@ class TestCollisionWorld : public Test {
 
             delete mConcaveMeshTriangleVertexArray;
 
-            mPhysicsCommon.destroyPhysicsWorld(mWorld);
         }
 
         /// Run the tests
diff --git a/test/tests/collision/TestPointInside.h b/test/tests/collision/TestPointInside.h
index f5398f02..9606898d 100644
--- a/test/tests/collision/TestPointInside.h
+++ b/test/tests/collision/TestPointInside.h
@@ -176,11 +176,11 @@ class TestPointInside : public Test {
 
         /// Destructor
         virtual ~TestPointInside() {
+            mPhysicsCommon.destroyPhysicsWorld(mWorld);
             mPhysicsCommon.destroyBoxShape(mBoxShape);
             mPhysicsCommon.destroySphereShape(mSphereShape);
             mPhysicsCommon.destroyCapsuleShape(mCapsuleShape);
             mPhysicsCommon.destroyConvexMeshShape(mConvexMeshShape);
-            mPhysicsCommon.destroyPhysicsWorld(mWorld);
             mPhysicsCommon.destroyPolyhedronMesh(mConvexMeshPolyhedronMesh);
             delete[] mConvexMeshPolygonFaces;
             delete mConvexMeshPolygonVertexArray;
diff --git a/test/tests/collision/TestRaycast.h b/test/tests/collision/TestRaycast.h
index 20afac7a..4b876df1 100644
--- a/test/tests/collision/TestRaycast.h
+++ b/test/tests/collision/TestRaycast.h
@@ -304,6 +304,7 @@ class TestRaycast : public Test {
         /// Destructor
         virtual ~TestRaycast() {
 
+            mPhysicsCommon.destroyPhysicsWorld(mWorld);
             mPhysicsCommon.destroyBoxShape(mBoxShape);
             mPhysicsCommon.destroySphereShape(mSphereShape);
             mPhysicsCommon.destroyCapsuleShape(mCapsuleShape);
@@ -311,7 +312,6 @@ class TestRaycast : public Test {
             mPhysicsCommon.destroyConcaveMeshShape(mConcaveMeshShape);
             mPhysicsCommon.destroyHeightFieldShape(mHeightFieldShape);
 
-            mPhysicsCommon.destroyPhysicsWorld(mWorld);
             delete mConcaveMeshVertexArray;
 
             delete mPolygonVertexArray;
diff --git a/testbed/common/Box.cpp b/testbed/common/Box.cpp
index a4bbc95f..4e8bd28a 100644
--- a/testbed/common/Box.cpp
+++ b/testbed/common/Box.cpp
@@ -38,7 +38,7 @@ openglframework::VertexArrayObject Box::mVAO;
 int Box::totalNbBoxes = 0;
 
 // Constructor
-Box::Box(const openglframework::Vector3& size, reactphysics3d::PhysicsCommon& physicsCommon, reactphysics3d::PhysicsWorld* world,
+Box::Box(bool createRigidBody, const openglframework::Vector3& size, reactphysics3d::PhysicsCommon& physicsCommon, reactphysics3d::PhysicsWorld* world,
          const std::string& meshFolderPath)
     : PhysicsObject(physicsCommon, meshFolderPath + "cube.obj") {
 
@@ -57,58 +57,23 @@ Box::Box(const openglframework::Vector3& size, reactphysics3d::PhysicsCommon& ph
     // ReactPhysics3D will clone this object to create an internal one. Therefore,
     // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
     mBoxShape = mPhysicsCommon.createBoxShape(rp3d::Vector3(mSize[0], mSize[1], mSize[2]));
-    //mBoxShape->setLocalScaling(rp3d::Vector3(2, 2, 2));
 
     mPreviousTransform = rp3d::Transform::identity();
 
-    // Create a rigid body in the physics world
-    mBody = world->createCollisionBody(mPreviousTransform);
+    if (createRigidBody) {
 
-    // Add the collision shape to the body
-    mCollider = mBody->addCollider(mBoxShape, rp3d::Transform::identity());
-
-    // If the Vertex Buffer object has not been created yet
-    if (totalNbBoxes == 0) {
-
-        // Create the Vertex Buffer
-        createVBOAndVAO();
+        // Create a rigid body in the physics world
+        rp3d::RigidBody* body = world->createRigidBody(mPreviousTransform);
+        mCollider = body->addCollider(mBoxShape, rp3d::Transform::identity());
+        body->updateMassPropertiesFromColliders();
+        mBody = body;
     }
+    else {
 
-    totalNbBoxes++;
-
-    mTransformMatrix = mTransformMatrix * mScalingMatrix;
-}
-
-// Constructor
-Box::Box(const openglframework::Vector3& size, float mass, reactphysics3d::PhysicsCommon &physicsCommon, reactphysics3d::PhysicsWorld* world,
-         const std::string& meshFolderPath)
-    : PhysicsObject(physicsCommon, meshFolderPath + "cube.obj") {
-
-    // Initialize the size of the box
-    mSize[0] = size.x * 0.5f;
-    mSize[1] = size.y * 0.5f;
-    mSize[2] = size.z * 0.5f;
-
-    // Compute the scaling matrix
-    mScalingMatrix = openglframework::Matrix4(mSize[0], 0, 0, 0,
-                                              0, mSize[1], 0, 0,
-                                              0, 0, mSize[2], 0,
-                                              0, 0, 0, 1);
-
-    // Create the collision shape for the rigid body (box shape)
-    // ReactPhysics3D will clone this object to create an internal one. Therefore,
-    // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
-    mBoxShape = mPhysicsCommon.createBoxShape(rp3d::Vector3(mSize[0], mSize[1], mSize[2]));
-
-    mPreviousTransform = rp3d::Transform::identity();
-
-    // Create a rigid body in the physics world
-    rp3d::RigidBody* body = world->createRigidBody(mPreviousTransform);
-
-    // Add the collision shape to the body
-    mCollider = body->addCollider(mBoxShape, rp3d::Transform::identity(), mass);
-
-    mBody = body;
+        // Create a body in the physics world
+        mBody = world->createCollisionBody(mPreviousTransform);
+        mCollider = mBody->addCollider(mBoxShape, rp3d::Transform::identity());
+    }
 
     // If the Vertex Buffer object has not been created yet
     if (totalNbBoxes == 0) {
diff --git a/testbed/common/Box.h b/testbed/common/Box.h
index 9ff20b1d..9564bf6f 100644
--- a/testbed/common/Box.h
+++ b/testbed/common/Box.h
@@ -75,12 +75,9 @@ class Box : public PhysicsObject {
 		// -------------------- Methods -------------------- //
 
 		/// Constructor
-        Box(const openglframework::Vector3& size, reactphysics3d::PhysicsCommon& physicsCommon,
+        Box(bool createRigidBody, const openglframework::Vector3& size, reactphysics3d::PhysicsCommon& physicsCommon,
             reactphysics3d::PhysicsWorld* world, const std::string& meshFolderPath);
 
-		/// Constructor
-        Box(const openglframework::Vector3& size, float mass, reactphysics3d::PhysicsCommon& physicsCommon, reactphysics3d::PhysicsWorld *world, const std::string& meshFolderPath);
-
 		/// Destructor
         virtual ~Box() override;
 
diff --git a/testbed/common/Capsule.cpp b/testbed/common/Capsule.cpp
index faca6239..4d7a46a9 100644
--- a/testbed/common/Capsule.cpp
+++ b/testbed/common/Capsule.cpp
@@ -34,7 +34,7 @@ openglframework::VertexArrayObject Capsule::mVAO;
 int Capsule::totalNbCapsules = 0;
 
 // Constructor
-Capsule::Capsule(bool createRigidBody, float radius, float height, float mass, reactphysics3d::PhysicsCommon &physicsCommon, rp3d::PhysicsWorld* physicsWorld,
+Capsule::Capsule(bool createRigidBody, float radius, float height, reactphysics3d::PhysicsCommon &physicsCommon, rp3d::PhysicsWorld* physicsWorld,
                  const std::string& meshFolderPath)
         : PhysicsObject(physicsCommon, meshFolderPath + "capsule.obj"), mRadius(radius), mHeight(height) {
 
@@ -55,18 +55,14 @@ Capsule::Capsule(bool createRigidBody, float radius, float height, float mass, r
     if (createRigidBody) {
 
         rp3d::RigidBody* body = physicsWorld->createRigidBody(mPreviousTransform);
-
-        // Add a collision shape to the body and specify the mass of the shape
-        mCollider = body->addCollider(mCapsuleShape, rp3d::Transform::identity(), mass);
-
+        mCollider = body->addCollider(mCapsuleShape, rp3d::Transform::identity());
+        body->updateMassPropertiesFromColliders();
         mBody = body;
     }
     else {
 
         // Create a rigid body corresponding in the physics world
         mBody = physicsWorld->createCollisionBody(mPreviousTransform);
-
-        // Add a collision shape to the body and specify the mass of the shape
         mCollider = mBody->addCollider(mCapsuleShape, rp3d::Transform::identity());
     }
 
diff --git a/testbed/common/Capsule.h b/testbed/common/Capsule.h
index 92f11066..289b0b9f 100644
--- a/testbed/common/Capsule.h
+++ b/testbed/common/Capsule.h
@@ -79,7 +79,7 @@ class Capsule : public PhysicsObject {
 		// -------------------- Methods -------------------- //
 
 		/// Constructor
-        Capsule(bool createRigidBody, float radius, float height, float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld,
+        Capsule(bool createRigidBody, float radius, float height, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld,
                 const std::string& meshFolderPath);
 
 		/// Destructor
diff --git a/testbed/common/ConcaveMesh.cpp b/testbed/common/ConcaveMesh.cpp
index e3d1e81b..16a2226f 100644
--- a/testbed/common/ConcaveMesh.cpp
+++ b/testbed/common/ConcaveMesh.cpp
@@ -27,7 +27,7 @@
 #include "ConcaveMesh.h"
 
 // Constructor
-ConcaveMesh::ConcaveMesh(bool createRigidBody, float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath)
+ConcaveMesh::ConcaveMesh(bool createRigidBody, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath)
            : PhysicsObject(physicsCommon, meshPath), mVBOVertices(GL_ARRAY_BUFFER),
              mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER),
              mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) {
@@ -60,7 +60,8 @@ ConcaveMesh::ConcaveMesh(bool createRigidBody, float mass, reactphysics3d::Physi
     // Create the body
     if (createRigidBody) {
         rp3d::RigidBody* body = physicsWorld->createRigidBody(mPreviousTransform);
-        mCollider = body->addCollider(mConcaveShape, rp3d::Transform::identity(), mass);
+        mCollider = body->addCollider(mConcaveShape, rp3d::Transform::identity());
+        body->updateMassPropertiesFromColliders();
         mBody = body;
     }
     else {
diff --git a/testbed/common/ConcaveMesh.h b/testbed/common/ConcaveMesh.h
index 8fadf835..9fdc3271 100644
--- a/testbed/common/ConcaveMesh.h
+++ b/testbed/common/ConcaveMesh.h
@@ -73,7 +73,7 @@ class ConcaveMesh : public PhysicsObject {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        ConcaveMesh(bool createRigidBody, float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath);
+        ConcaveMesh(bool createRigidBody, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath);
 
         /// Destructor
         virtual ~ConcaveMesh() override;
diff --git a/testbed/common/ConvexMesh.cpp b/testbed/common/ConvexMesh.cpp
index 77d4f5c5..38178b23 100644
--- a/testbed/common/ConvexMesh.cpp
+++ b/testbed/common/ConvexMesh.cpp
@@ -28,7 +28,7 @@
 #include <unordered_set>
 
 // Constructor
-ConvexMesh::ConvexMesh(bool createRigidBody, float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath)
+ConvexMesh::ConvexMesh(bool createRigidBody, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath)
            : PhysicsObject(physicsCommon, meshPath), mVBOVertices(GL_ARRAY_BUFFER),
              mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER),
              mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) {
@@ -39,7 +39,7 @@ ConvexMesh::ConvexMesh(bool createRigidBody, float mass, rp3d::PhysicsCommon& ph
     // Polygon faces descriptions for the polyhedron
     mPolygonFaces = new rp3d::PolygonVertexArray::PolygonFace[getNbFaces(0)];
     rp3d::PolygonVertexArray::PolygonFace* face = mPolygonFaces;
-    for (int f=0; f < getNbFaces(0); f++) {
+    for (uint f=0; f < getNbFaces(0); f++) {
 
 		for (int v = 0; v < 3; v++) {
 			
@@ -78,7 +78,8 @@ ConvexMesh::ConvexMesh(bool createRigidBody, float mass, rp3d::PhysicsCommon& ph
     // Create a rigid body corresponding to the sphere in the physics world
     if (createRigidBody) {
         rp3d::RigidBody* body = physicsWorld->createRigidBody(mPreviousTransform);
-        mCollider = body->addCollider(mConvexShape, rp3d::Transform::identity(), mass);
+        mCollider = body->addCollider(mConvexShape, rp3d::Transform::identity());
+        body->updateMassPropertiesFromColliders();
         mBody = body;
     }
     else {
@@ -87,6 +88,7 @@ ConvexMesh::ConvexMesh(bool createRigidBody, float mass, rp3d::PhysicsCommon& ph
         mCollider = mBody->addCollider(mConvexShape, rp3d::Transform::identity());
     }
 
+
     // Create the VBOs and VAO
     createVBOAndVAO();
 
diff --git a/testbed/common/ConvexMesh.h b/testbed/common/ConvexMesh.h
index eac1e86c..0060ca5b 100644
--- a/testbed/common/ConvexMesh.h
+++ b/testbed/common/ConvexMesh.h
@@ -86,7 +86,7 @@ class ConvexMesh : public PhysicsObject {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        ConvexMesh(bool createRigidBody, float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath);
+        ConvexMesh(bool createRigidBody, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath);
 
         /// Destructor
         virtual ~ConvexMesh() override;
diff --git a/testbed/common/Dumbbell.cpp b/testbed/common/Dumbbell.cpp
index 1dda496e..6dcff269 100644
--- a/testbed/common/Dumbbell.cpp
+++ b/testbed/common/Dumbbell.cpp
@@ -46,7 +46,6 @@ Dumbbell::Dumbbell(bool createRigidBody, rp3d::PhysicsCommon& physicsCommon, rp3
     // ReactPhysics3D will clone this object to create an internal one. Therefore,
     // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
     const rp3d::decimal radiusSphere = rp3d::decimal(1.5);
-    const rp3d::decimal massSphere = rp3d::decimal(2.0);
     mSphereShape = mPhysicsCommon.createSphereShape(radiusSphere);
 
     // Create a capsule collision shape for the middle of the dumbbell
@@ -54,7 +53,6 @@ Dumbbell::Dumbbell(bool createRigidBody, rp3d::PhysicsCommon& physicsCommon, rp3
     // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
     const rp3d::decimal radiusCapsule = rp3d::decimal(0.5);
     const rp3d::decimal heightCapsule = rp3d::decimal(7.0);
-    const rp3d::decimal massCylinder = rp3d::decimal(1.0);
     mCapsuleShape = mPhysicsCommon.createCapsuleShape(radiusCapsule, heightCapsule);
 
     mPreviousTransform = rp3d::Transform::identity();
@@ -71,26 +69,24 @@ Dumbbell::Dumbbell(bool createRigidBody, rp3d::PhysicsCommon& physicsCommon, rp3
     // Create a body corresponding to the dumbbell in the physics world
     if (createRigidBody) {
 
-        rp3d::RigidBody* body;
-        body = physicsWorld->createRigidBody(mPreviousTransform);
-
-        // Add the three collision shapes to the body and specify the mass and transform of the shapes
-        mColliderSphere1 = body->addCollider(mSphereShape, transformSphereShape1, massSphere);
-        mColliderSphere2 = body->addCollider(mSphereShape, transformSphereShape2, massSphere);
-        mColliderCapsule = body->addCollider(mCapsuleShape, transformCylinderShape, massCylinder);
-
+        rp3d::RigidBody* body = physicsWorld->createRigidBody(mPreviousTransform);
+        mColliderSphere1 = body->addCollider(mSphereShape, transformSphereShape1);
+        mColliderSphere2 = body->addCollider(mSphereShape, transformSphereShape2);
+        mColliderCapsule = body->addCollider(mCapsuleShape, transformCylinderShape);
+        mColliderSphere1->getMaterial().setMassDensity(2);
+        mColliderSphere2->getMaterial().setMassDensity(2);
+        body->updateMassPropertiesFromColliders();
         mBody = body;
     }
     else {
 
         mBody = physicsWorld->createCollisionBody(mPreviousTransform);
-
-        // Add the three collision shapes to the body and specify the mass and transform of the shapes
         mColliderSphere1 = mBody->addCollider(mSphereShape, transformSphereShape1);
         mColliderSphere2 = mBody->addCollider(mSphereShape, transformSphereShape2);
         mColliderCapsule = mBody->addCollider(mCapsuleShape, transformCylinderShape);
     }
 
+
     mTransformMatrix = mTransformMatrix * mScalingMatrix;
 
     // Create the VBOs and VAO
diff --git a/testbed/common/HeightField.cpp b/testbed/common/HeightField.cpp
index 0238d6b8..a03e9d2f 100644
--- a/testbed/common/HeightField.cpp
+++ b/testbed/common/HeightField.cpp
@@ -28,7 +28,7 @@
 #include "PerlinNoise.h"
 
 // Constructor
-HeightField::HeightField(bool createRigidBody, float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld)
+HeightField::HeightField(bool createRigidBody, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld)
            : PhysicsObject(physicsCommon), mVBOVertices(GL_ARRAY_BUFFER),
              mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER),
              mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) {
@@ -54,7 +54,8 @@ HeightField::HeightField(bool createRigidBody, float mass, reactphysics3d::Physi
     // Create a body
     if (createRigidBody) {
         rp3d::RigidBody* body = physicsWorld->createRigidBody(mPreviousTransform);
-        mCollider = body->addCollider(mHeightFieldShape, rp3d::Transform::identity(), mass);
+        mCollider = body->addCollider(mHeightFieldShape, rp3d::Transform::identity());
+        body->updateMassPropertiesFromColliders();
         mBody = body;
     }
     else {
@@ -62,6 +63,7 @@ HeightField::HeightField(bool createRigidBody, float mass, reactphysics3d::Physi
         mCollider = mBody->addCollider(mHeightFieldShape, rp3d::Transform::identity());
     }
 
+
     // Create the VBOs and VAO
     createVBOAndVAO();
 
diff --git a/testbed/common/HeightField.h b/testbed/common/HeightField.h
index fde7c026..c896a593 100644
--- a/testbed/common/HeightField.h
+++ b/testbed/common/HeightField.h
@@ -86,7 +86,7 @@ class HeightField : public PhysicsObject {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        HeightField(bool createRigidBody, float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld);
+        HeightField(bool createRigidBody, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld);
 
         /// Destructor
         virtual ~HeightField() override;
diff --git a/testbed/common/Sphere.cpp b/testbed/common/Sphere.cpp
index ba46f143..016511a2 100644
--- a/testbed/common/Sphere.cpp
+++ b/testbed/common/Sphere.cpp
@@ -34,7 +34,7 @@ openglframework::VertexArrayObject Sphere::mVAO;
 int Sphere::totalNbSpheres = 0;
 
 // Constructor
-Sphere::Sphere(float radius, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* world,
+Sphere::Sphere(bool createRigidBody, float radius, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* world,
                const std::string& meshFolderPath)
        : PhysicsObject(physicsCommon, meshFolderPath + "sphere.obj"), mRadius(radius) {
 
@@ -48,51 +48,23 @@ Sphere::Sphere(float radius, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWo
     // ReactPhysics3D will clone this object to create an internal one. Therefore,
     // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
     mCollisionShape = mPhysicsCommon.createSphereShape(mRadius);
-    //mCollisionShape->setLocalScaling(rp3d::Vector3(2, 2, 2));
 
     mPreviousTransform = rp3d::Transform::identity();
 
-    // Create a rigid body corresponding to the sphere in the physics world
-    mBody = world->createCollisionBody(mPreviousTransform);
+    if (createRigidBody) {
 
-    // Add a collision shape to the body and specify the mass of the shape
-    mCollider = mBody->addCollider(mCollisionShape, rp3d::Transform::identity());
-
-    mTransformMatrix = mTransformMatrix * mScalingMatrix;
-
-    // Create the VBOs and VAO
-    if (totalNbSpheres == 0) {
-        createVBOAndVAO();
+        // Create a rigid body corresponding to the sphere in the physics world
+        rp3d::RigidBody* body = world->createRigidBody(mPreviousTransform);
+        mCollider = body->addCollider(mCollisionShape, rp3d::Transform::identity());
+        body->updateMassPropertiesFromColliders();
+        mBody = body;
     }
+    else {
 
-    totalNbSpheres++;
-}
-
-// Constructor
-Sphere::Sphere(float radius, float mass,  rp3d::PhysicsCommon& physicsCommon,reactphysics3d::PhysicsWorld* world,
-               const std::string& meshFolderPath)
-       : PhysicsObject(physicsCommon, meshFolderPath + "sphere.obj"), mRadius(radius) {
-
-    // Compute the scaling matrix
-    mScalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0,
-                                              0, mRadius, 0, 0,
-                                              0, 0, mRadius, 0,
-                                              0, 0, 0, 1);
-
-    // Create the collision shape for the rigid body (sphere shape)
-    // ReactPhysics3D will clone this object to create an internal one. Therefore,
-    // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
-    mCollisionShape = mPhysicsCommon.createSphereShape(mRadius);
-
-    mPreviousTransform = rp3d::Transform::identity();
-
-    // Create a rigid body corresponding to the sphere in the physics world
-    rp3d::RigidBody* body = world->createRigidBody(mPreviousTransform);
-
-    // Add a collision shape to the body and specify the mass of the shape
-    mCollider = body->addCollider(mCollisionShape, rp3d::Transform::identity(), mass);
-
-    mBody = body;
+        // Create a body corresponding to the sphere in the physics world
+        mBody = world->createCollisionBody(mPreviousTransform);
+        mCollider = mBody->addCollider(mCollisionShape, rp3d::Transform::identity());
+    }
 
     mTransformMatrix = mTransformMatrix * mScalingMatrix;
 
diff --git a/testbed/common/Sphere.h b/testbed/common/Sphere.h
index a31d287c..8cdfdd1e 100644
--- a/testbed/common/Sphere.h
+++ b/testbed/common/Sphere.h
@@ -76,10 +76,7 @@ class Sphere : public PhysicsObject {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        Sphere(float radius, rp3d::PhysicsCommon& physicsCommon, reactphysics3d::PhysicsWorld* world, const std::string& meshFolderPath);
-
-        /// Constructor
-        Sphere(float radius, float mass, reactphysics3d::PhysicsCommon &physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshFolderPath);
+        Sphere(bool createRigidBody, float radius, rp3d::PhysicsCommon& physicsCommon, reactphysics3d::PhysicsWorld* world, const std::string& meshFolderPath);
 
         /// Destructor
         virtual ~Sphere() override;
diff --git a/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp b/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp
index 542adfaf..6b1f54e0 100644
--- a/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp
+++ b/testbed/scenes/collisiondetection/CollisionDetectionScene.cpp
@@ -57,7 +57,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine
     // ---------- Sphere 1 ---------- //
 
     // Create a sphere and a corresponding collision body in the physics world
-    mSphere1 = new Sphere(4, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+    mSphere1 = new Sphere(false, 4, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
     mAllShapes.push_back(mSphere1);
 
     // Set the color
@@ -69,7 +69,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine
     // ---------- Sphere 2 ---------- //
 
     // Create a sphere and a corresponding collision body in the physics world
-    mSphere2 = new Sphere(2, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+    mSphere2 = new Sphere(false, 2, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
     mAllShapes.push_back(mSphere2);
 
     // Set the color
@@ -81,7 +81,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine
     // ---------- Capsule 1 ---------- //
 
     // Create a cylinder and a corresponding collision body in the physics world
-    mCapsule1 = new Capsule(false, CAPSULE_RADIUS, CAPSULE_HEIGHT, 1.0, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+    mCapsule1 = new Capsule(false, CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
     mAllShapes.push_back(mCapsule1);
 
     // Set the color
@@ -92,7 +92,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine
     // ---------- Capsule 2 ---------- //
 
     // Create a cylinder and a corresponding collision body in the physics world
-    mCapsule2 = new Capsule(false, CAPSULE_RADIUS, CAPSULE_HEIGHT, 1.0, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+    mCapsule2 = new Capsule(false, CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
     mAllShapes.push_back(mCapsule2);
 
     // Set the color
@@ -103,7 +103,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine
     // ---------- Concave Mesh ---------- //
 
     // Create a convex mesh and a corresponding collision body in the physics world
-    mConcaveMesh = new ConcaveMesh(false, 1.0f, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "city.obj");
+    mConcaveMesh = new ConcaveMesh(false, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "city.obj");
     mAllShapes.push_back(mConcaveMesh);
 
     // Set the color
@@ -114,7 +114,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine
     // ---------- Box 1 ---------- //
 
     // Create a cylinder and a corresponding collision body in the physics world
-    mBox1 = new Box(BOX_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+    mBox1 = new Box(false, BOX_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
     mAllShapes.push_back(mBox1);
 
     // Set the color
@@ -125,7 +125,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine
     // ---------- Box 2 ---------- //
 
     // Create a cylinder and a corresponding collision body in the physics world
-    mBox2 = new Box(openglframework::Vector3(3, 2, 5), mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+    mBox2 = new Box(false, openglframework::Vector3(3, 2, 5), mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
     mAllShapes.push_back(mBox2);
 
     // Set the color
@@ -136,7 +136,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine
     // ---------- Convex Mesh ---------- //
 
     // Create a convex mesh and a corresponding collision body in the physics world
-    mConvexMesh = new ConvexMesh(false, 1.0f, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "convexmesh.obj");
+    mConvexMesh = new ConvexMesh(false, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "convexmesh.obj");
     mAllShapes.push_back(mConvexMesh);
 
     // Set the color
@@ -147,7 +147,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine
     // ---------- Heightfield ---------- //
 
     // Create a convex mesh and a corresponding collision body in the physics world
-    mHeightField = new HeightField(false, 1.0f, mPhysicsCommon, mPhysicsWorld);
+    mHeightField = new HeightField(false, mPhysicsCommon, mPhysicsWorld);
 
     // Set the color
     mHeightField->setColor(mObjectColorDemo);
diff --git a/testbed/scenes/collisionshapes/CollisionShapesScene.cpp b/testbed/scenes/collisionshapes/CollisionShapesScene.cpp
index 07fb1b0d..d4aac4b3 100644
--- a/testbed/scenes/collisionshapes/CollisionShapesScene.cpp
+++ b/testbed/scenes/collisionshapes/CollisionShapesScene.cpp
@@ -79,7 +79,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
     for (int i=0; i<NB_BOXES; i++) {
 
         // Create a sphere and a corresponding rigid in the physics world
-        Box* box = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+        Box* box = new Box(true, BOX_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
 
         // Set the box color
         box->setColor(mObjectColorDemo);
@@ -98,7 +98,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
     for (int i=0; i<NB_SPHERES; i++) {
 
         // Create a sphere and a corresponding rigid in the physics world
-        Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
+        Sphere* sphere = new Sphere(true, SPHERE_RADIUS, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
 
         // Add some rolling resistance
         sphere->getCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
@@ -120,7 +120,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
     for (int i=0; i<NB_CAPSULES; i++) {
 
         // Create a cylinder and a corresponding rigid in the physics world
-        Capsule* capsule = new Capsule(true, CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS,
+        Capsule* capsule = new Capsule(true, CAPSULE_RADIUS, CAPSULE_HEIGHT,
                                        mPhysicsCommon, mPhysicsWorld, meshFolderPath);
 
         capsule->getCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08f));
@@ -142,7 +142,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
     for (int i=0; i<NB_MESHES; i++) {
 
         // Create a convex mesh and a corresponding rigid in the physics world
-        ConvexMesh* mesh = new ConvexMesh(true, MESH_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "convexmesh.obj");
+        ConvexMesh* mesh = new ConvexMesh(true, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "convexmesh.obj");
 
         // Set the box color
         mesh->setColor(mObjectColorDemo);
@@ -159,7 +159,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
 
     // ---------- Create the floor ---------
 
-    mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+    mFloor = new Box(true, FLOOR_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
 	mPhysicsObjects.push_back(mFloor);
 
     // Set the box color
diff --git a/testbed/scenes/collisionshapes/CollisionShapesScene.h b/testbed/scenes/collisionshapes/CollisionShapesScene.h
index d10b3644..2b074a9e 100644
--- a/testbed/scenes/collisionshapes/CollisionShapesScene.h
+++ b/testbed/scenes/collisionshapes/CollisionShapesScene.h
@@ -57,12 +57,6 @@ const float CAPSULE_RADIUS = 1.0f;
 const float CAPSULE_HEIGHT = 1.0f;
 const float DUMBBELL_HEIGHT = 1.0f;
 const openglframework::Vector3 FLOOR_SIZE(50, 0.5f, 50);        // Floor dimensions in meters
-const float BOX_MASS = 1.0f;
-const float CONE_MASS = 1.0f;
-const float CYLINDER_MASS = 1.0f;
-const float CAPSULE_MASS = 1.0f;
-const float MESH_MASS = 1.0f;
-const float FLOOR_MASS = 100.0f;                            // Floor mass in kilograms
 
 // Class CollisionShapesScene
 class CollisionShapesScene : public SceneDemo {
diff --git a/testbed/scenes/concavemesh/ConcaveMeshScene.cpp b/testbed/scenes/concavemesh/ConcaveMeshScene.cpp
index fcbd925a..7139de6f 100644
--- a/testbed/scenes/concavemesh/ConcaveMeshScene.cpp
+++ b/testbed/scenes/concavemesh/ConcaveMeshScene.cpp
@@ -80,7 +80,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
     for (int i = 0; i<NB_BOXES; i++) {
 
         // Create a sphere and a corresponding rigid in the physics world
-        Box* box = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+        Box* box = new Box(true, BOX_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
 
         // Set the box color
         box->setColor(mObjectColorDemo);
@@ -99,7 +99,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
     for (int i = 0; i<NB_SPHERES; i++) {
 
         // Create a sphere and a corresponding rigid in the physics world
-        Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
+        Sphere* sphere = new Sphere(true, SPHERE_RADIUS, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
 
         // Add some rolling resistance
         sphere->getCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
@@ -121,7 +121,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
     for (int i = 0; i<NB_CAPSULES; i++) {
 
         // Create a cylinder and a corresponding rigid in the physics world
-        Capsule* capsule = new Capsule(true, CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS,
+        Capsule* capsule = new Capsule(true, CAPSULE_RADIUS, CAPSULE_HEIGHT,
                                        mPhysicsCommon, mPhysicsWorld, meshFolderPath);
 
         capsule->getCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
@@ -143,7 +143,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
     for (int i = 0; i<NB_MESHES; i++) {
 
         // Create a convex mesh and a corresponding rigid in the physics world
-        ConvexMesh* mesh = new ConvexMesh(true, MESH_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "convexmesh.obj");
+        ConvexMesh* mesh = new ConvexMesh(true, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "convexmesh.obj");
 
         // Set the box color
         mesh->setColor(mObjectColorDemo);
@@ -160,11 +160,8 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
 
     // ---------- Create the triangular mesh ---------- //
 
-    // Position
-    rp3d::decimal mass = 1.0;
-
     // Create a convex mesh and a corresponding rigid in the physics world
-    mConcaveMesh = new ConcaveMesh(true, mass, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "city.obj");
+    mConcaveMesh = new ConcaveMesh(true, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "city.obj");
 
     // Set the mesh as beeing static
     mConcaveMesh->getRigidBody()->setType(rp3d::BodyType::STATIC);
diff --git a/testbed/scenes/concavemesh/ConcaveMeshScene.h b/testbed/scenes/concavemesh/ConcaveMeshScene.h
index 16dcb753..e3e450a3 100644
--- a/testbed/scenes/concavemesh/ConcaveMeshScene.h
+++ b/testbed/scenes/concavemesh/ConcaveMeshScene.h
@@ -56,11 +56,6 @@ const float CYLINDER_HEIGHT = 5.0f;
 const float CAPSULE_RADIUS = 1.0f;
 const float CAPSULE_HEIGHT = 1.0f;
 const float DUMBBELL_HEIGHT = 1.0f;
-const float BOX_MASS = 1.0f;
-const float CONE_MASS = 1.0f;
-const float CYLINDER_MASS = 1.0f;
-const float CAPSULE_MASS = 1.0f;
-const float MESH_MASS = 1.0f;
 
 // Class TriangleMeshScene
 class ConcaveMeshScene : public SceneDemo {
diff --git a/testbed/scenes/cubes/CubesScene.cpp b/testbed/scenes/cubes/CubesScene.cpp
index c1283c2d..228aff4f 100644
--- a/testbed/scenes/cubes/CubesScene.cpp
+++ b/testbed/scenes/cubes/CubesScene.cpp
@@ -34,6 +34,8 @@ using namespace cubesscene;
 CubesScene::CubesScene(const std::string& name, EngineSettings& settings)
       : SceneDemo(name, settings, true, SCENE_RADIUS) {
 
+    iter = 0;
+
     // Compute the radius and the center of the scene
     openglframework::Vector3 center(0, 5, 0);
 
@@ -55,7 +57,7 @@ CubesScene::CubesScene(const std::string& name, EngineSettings& settings)
     for (int i=0; i<NB_CUBES; i++) {
 
         // Create a cube and a corresponding rigid in the physics world
-        Box* cube = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+        Box* cube = new Box(true, BOX_SIZE,  mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
 
         // Set the box color
         cube->setColor(mObjectColorDemo);
@@ -73,7 +75,7 @@ CubesScene::CubesScene(const std::string& name, EngineSettings& settings)
 	// ------------------------- FLOOR ----------------------- //
 
     // Create the floor
-    mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+    mFloor = new Box(true, FLOOR_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
     mFloor->setColor(mFloorColorDemo);
     mFloor->setSleepingColor(mFloorColorDemo);
 
diff --git a/testbed/scenes/cubes/CubesScene.h b/testbed/scenes/cubes/CubesScene.h
index 4e39637a..dcd2a71a 100755
--- a/testbed/scenes/cubes/CubesScene.h
+++ b/testbed/scenes/cubes/CubesScene.h
@@ -39,8 +39,6 @@ const float SCENE_RADIUS = 30.0f;                           // Radius of the sce
 const int NB_CUBES = 30;                                    // Number of boxes in the scene
 const openglframework::Vector3 BOX_SIZE(2, 2, 2);          // Box dimensions in meters
 const openglframework::Vector3 FLOOR_SIZE(50, 1, 50);   // Floor dimensions in meters
-const float BOX_MASS = 1.0f;                               // Box mass in kilograms
-const float FLOOR_MASS = 100.0f;                           // Floor mass in kilograms
 
 // Class CubesScene
 class CubesScene : public SceneDemo {
@@ -55,6 +53,8 @@ class CubesScene : public SceneDemo {
         /// Box for the floor
         Box* mFloor;
 
+        uint iter;
+
     public:
 
         // -------------------- Methods -------------------- //
diff --git a/testbed/scenes/cubestack/CubeStackScene.cpp b/testbed/scenes/cubestack/CubeStackScene.cpp
index 4df85758..c03fa1c7 100644
--- a/testbed/scenes/cubestack/CubeStackScene.cpp
+++ b/testbed/scenes/cubestack/CubeStackScene.cpp
@@ -57,7 +57,7 @@ CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings
         for (int j=0; j<i; j++) {
 
             // Create a cube and a corresponding rigid in the physics world
-            Box* cube = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+            Box* cube = new Box(true, BOX_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
 
             // Set the box color
             cube->setColor(mObjectColorDemo);
@@ -76,7 +76,7 @@ CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings
     // ------------------------- FLOOR ----------------------- //
 
     // Create the floor
-    mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+    mFloor = new Box(true, FLOOR_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
     mFloor->setColor(mFloorColorDemo);
     mFloor->setSleepingColor(mFloorColorDemo);
 
diff --git a/testbed/scenes/cubestack/CubeStackScene.h b/testbed/scenes/cubestack/CubeStackScene.h
index 3e3abd2e..2bd25a70 100644
--- a/testbed/scenes/cubestack/CubeStackScene.h
+++ b/testbed/scenes/cubestack/CubeStackScene.h
@@ -39,8 +39,6 @@ const float SCENE_RADIUS = 30.0f;                           // Radius of the sce
 const int NB_FLOORS = 15;                                    // Number of boxes in the scene
 const openglframework::Vector3 BOX_SIZE(2, 2, 2);          // Box dimensions in meters
 const openglframework::Vector3 FLOOR_SIZE(50, 1, 50);   // Floor dimensions in meters
-const float BOX_MASS = 1.0f;                               // Box mass in kilograms
-const float FLOOR_MASS = 100.0f;                           // Floor mass in kilograms
 
 // Class CubeStackScene
 class CubeStackScene : public SceneDemo {
diff --git a/testbed/scenes/heightfield/HeightFieldScene.cpp b/testbed/scenes/heightfield/HeightFieldScene.cpp
index 27d8e97e..593a4675 100644
--- a/testbed/scenes/heightfield/HeightFieldScene.cpp
+++ b/testbed/scenes/heightfield/HeightFieldScene.cpp
@@ -79,7 +79,7 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
 	for (int i = 0; i<NB_BOXES; i++) {
 
         // Create a sphere and a corresponding rigid in the physics world
-        Box* box = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+        Box* box = new Box(true, BOX_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
 
 		// Set the box color
 		box->setColor(mObjectColorDemo);
@@ -98,7 +98,7 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
 	for (int i = 0; i<NB_SPHERES; i++) {
 
         // Create a sphere and a corresponding rigid in the physics world
-        Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
+        Sphere* sphere = new Sphere(true, SPHERE_RADIUS, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
 
 		// Add some rolling resistance
         sphere->getCollider()->getMaterial().setRollingResistance(0.08f);
@@ -120,8 +120,7 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
 	for (int i = 0; i<NB_CAPSULES; i++) {
 
         // Create a cylinder and a corresponding rigid in the physics world
-        Capsule* capsule = new Capsule(true, CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS,
-                                       mPhysicsCommon, mPhysicsWorld, meshFolderPath);
+        Capsule* capsule = new Capsule(true, CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
 
         capsule->getCollider()->getMaterial().setRollingResistance(0.08f);
 
@@ -142,7 +141,7 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
 	for (int i = 0; i<NB_MESHES; i++) {
 
         // Create a convex mesh and a corresponding rigid in the physics world
-        ConvexMesh* mesh = new ConvexMesh(true, MESH_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "convexmesh.obj");
+        ConvexMesh* mesh = new ConvexMesh(true, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "convexmesh.obj");
 
 		// Set the box color
 		mesh->setColor(mObjectColorDemo);
@@ -159,11 +158,8 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
 
     // ---------- Create the height field ---------- //
 
-    // Position
-    rp3d::decimal mass = 1.0;
-
     // Create a convex mesh and a corresponding rigid in the physics world
-    mHeightField = new HeightField(true, mass, mPhysicsCommon, mPhysicsWorld);
+    mHeightField = new HeightField(true, mPhysicsCommon, mPhysicsWorld);
 
     // Set the mesh as beeing static
     mHeightField->getRigidBody()->setType(rp3d::BodyType::STATIC);
diff --git a/testbed/scenes/heightfield/HeightFieldScene.h b/testbed/scenes/heightfield/HeightFieldScene.h
index 5ceee07c..c427f349 100644
--- a/testbed/scenes/heightfield/HeightFieldScene.h
+++ b/testbed/scenes/heightfield/HeightFieldScene.h
@@ -56,12 +56,6 @@ const float CAPSULE_RADIUS = 1.0f;
 const float CAPSULE_HEIGHT = 1.0f;
 const float DUMBBELL_HEIGHT = 1.0f;
 const openglframework::Vector3 FLOOR_SIZE(50, 0.5f, 50);        // Floor dimensions in meters
-const float BOX_MASS = 1.0f;
-const float CONE_MASS = 1.0f;
-const float CYLINDER_MASS = 1.0f;
-const float CAPSULE_MASS = 1.0f;
-const float MESH_MASS = 1.0f;
-const float FLOOR_MASS = 100.0f;
 
 // Class HeightFieldScene
 class HeightFieldScene : public SceneDemo {
diff --git a/testbed/scenes/joints/JointsScene.cpp b/testbed/scenes/joints/JointsScene.cpp
index c8f03ce7..e6bbd067 100644
--- a/testbed/scenes/joints/JointsScene.cpp
+++ b/testbed/scenes/joints/JointsScene.cpp
@@ -213,8 +213,7 @@ void JointsScene::createBallAndSocketJoints() {
     for (int i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {
 
         // Create a box and a corresponding rigid in the physics world
-        mBallAndSocketJointChainBoxes[i] = new Box(boxDimension, boxMass,
-                                                   mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+        mBallAndSocketJointChainBoxes[i] = new Box(true, boxDimension,  mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
         mBallAndSocketJointChainBoxes[i]->setTransform(rp3d::Transform(positionBox, rp3d::Quaternion::identity()));
 
         // Set the box color
@@ -266,7 +265,7 @@ void JointsScene::createSliderJoint() {
 
     // Create a box and a corresponding rigid in the physics world
     openglframework::Vector3 box1Dimension(2, 4, 2);
-    mSliderJointBottomBox = new Box(box1Dimension , BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+    mSliderJointBottomBox = new Box(true, box1Dimension, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
     mSliderJointBottomBox->setTransform(rp3d::Transform(positionBox1, rp3d::Quaternion::identity()));
 
     // Set the box color
@@ -288,7 +287,7 @@ void JointsScene::createSliderJoint() {
 
     // Create a box and a corresponding rigid in the physics world
     openglframework::Vector3 box2Dimension(1.5f, 4, 1.5f);
-    mSliderJointTopBox = new Box(box2Dimension, BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+    mSliderJointTopBox = new Box(true, box2Dimension, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
     mSliderJointTopBox->setTransform(rp3d::Transform(positionBox2, rp3d::Quaternion::identity()));
 
     // Set the box color
@@ -330,7 +329,7 @@ void JointsScene::createPropellerHingeJoint() {
 
     // Create a box and a corresponding rigid in the physics world
     openglframework::Vector3 boxDimension(10, 1, 1);
-    mPropellerBox = new Box(boxDimension, BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+    mPropellerBox = new Box(true, boxDimension, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
     mPropellerBox->setTransform(rp3d::Transform(positionBox1, rp3d::Quaternion::identity()));
 
     // Set the box color
@@ -371,7 +370,7 @@ void JointsScene::createFixedJoints() {
 
     // Create a box and a corresponding rigid in the physics world
     openglframework::Vector3 boxDimension(1.5, 1.5, 1.5);
-    mFixedJointBox1 = new Box(boxDimension, BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+    mFixedJointBox1 = new Box(true, boxDimension, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
     mFixedJointBox1->setTransform(rp3d::Transform(positionBox1, rp3d::Quaternion::identity()));
 
     // Set the box color
@@ -389,7 +388,7 @@ void JointsScene::createFixedJoints() {
     rp3d::Vector3 positionBox2(-5, 7, 0);
 
     // Create a box and a corresponding rigid in the physics world
-    mFixedJointBox2 = new Box(boxDimension, BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+    mFixedJointBox2 = new Box(true, boxDimension, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
     mFixedJointBox2->setTransform(rp3d::Transform(positionBox2, rp3d::Quaternion::identity()));
 
     // Set the box color
@@ -430,7 +429,7 @@ void JointsScene::createFloor() {
 
     // Create the floor
     rp3d::Vector3 floorPosition(0, 0, 0);
-    mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+    mFloor = new Box(true, FLOOR_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
 
     // Set the box color
     mFloor->setColor(mFloorColorDemo);
diff --git a/testbed/scenes/joints/JointsScene.h b/testbed/scenes/joints/JointsScene.h
index 4a4d1c2d..c1567904 100644
--- a/testbed/scenes/joints/JointsScene.h
+++ b/testbed/scenes/joints/JointsScene.h
@@ -38,8 +38,6 @@ namespace jointsscene {
 const float SCENE_RADIUS = 30.0f;
 const openglframework::Vector3 BOX_SIZE(2, 2, 2);           // Box dimensions in meters
 const openglframework::Vector3 FLOOR_SIZE(50, 0.5f, 50);    // Floor dimensions in meters
-const float BOX_MASS = 1.0f;                                // Box mass in kilograms
-const float FLOOR_MASS = 100.0f;                            // Floor mass in kilograms
 const int NB_BALLSOCKETJOINT_BOXES = 7;                     // Number of Ball-And-Socket chain boxes
 const int NB_HINGE_BOXES = 7;                               // Number of Hinge chain boxes
 
diff --git a/testbed/scenes/pile/PileScene.cpp b/testbed/scenes/pile/PileScene.cpp
index 83ad00ce..da5bfd26 100644
--- a/testbed/scenes/pile/PileScene.cpp
+++ b/testbed/scenes/pile/PileScene.cpp
@@ -77,7 +77,7 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
     for (int i=0; i<NB_BOXES; i++) {
 
         // Create a sphere and a corresponding rigid in the physics world
-        Box* box = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+        Box* box = new Box(true, BOX_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
 
         // Set the box color
         box->setColor(mObjectColorDemo);
@@ -96,7 +96,7 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
     for (int i=0; i<NB_SPHERES; i++) {
 
         // Create a sphere and a corresponding rigid in the physics world
-        Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
+        Sphere* sphere = new Sphere(true, SPHERE_RADIUS, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
 
         // Add some rolling resistance
         sphere->getCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
@@ -118,7 +118,7 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
     for (int i=0; i<NB_CAPSULES; i++) {
 
         // Create a cylinder and a corresponding rigid in the physics world
-        Capsule* capsule = new Capsule(true, CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS,
+        Capsule* capsule = new Capsule(true, CAPSULE_RADIUS, CAPSULE_HEIGHT,
                                        mPhysicsCommon, mPhysicsWorld, meshFolderPath);
 
         capsule->getCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08f));
@@ -140,7 +140,7 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
     for (int i=0; i<NB_MESHES; i++) {
 
         // Create a convex mesh and a corresponding rigid in the physics world
-        ConvexMesh* mesh = new ConvexMesh(true, MESH_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "convexmesh.obj");
+        ConvexMesh* mesh = new ConvexMesh(true, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "convexmesh.obj");
 
         // Set the box color
         mesh->setColor(mObjectColorDemo);
@@ -161,7 +161,7 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
     rp3d::decimal mass = 1.0;
 
     // Create a convex mesh and a corresponding rigid in the physics world
-    mSandbox = new ConcaveMesh(true, mass, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "sandbox.obj");
+    mSandbox = new ConcaveMesh(true, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "sandbox.obj");
 
     // Set the mesh as beeing static
     mSandbox->getRigidBody()->setType(rp3d::BodyType::STATIC);
diff --git a/testbed/scenes/pile/PileScene.h b/testbed/scenes/pile/PileScene.h
index d199f663..e85b747d 100644
--- a/testbed/scenes/pile/PileScene.h
+++ b/testbed/scenes/pile/PileScene.h
@@ -57,12 +57,6 @@ const float CAPSULE_RADIUS = 1.0f;
 const float CAPSULE_HEIGHT = 1.0f;
 const float DUMBBELL_HEIGHT = 1.0f;
 const openglframework::Vector3 FLOOR_SIZE(50, 0.5f, 50);        // Floor dimensions in meters
-const float BOX_MASS = 1.0f;
-const float CONE_MASS = 1.0f;
-const float CYLINDER_MASS = 1.0f;
-const float CAPSULE_MASS = 1.0f;
-const float MESH_MASS = 1.0f;
-const float FLOOR_MASS = 100.0f;                            // Floor mass in kilograms
 
 // Class PileScene
 class PileScene : public SceneDemo {
diff --git a/testbed/scenes/raycast/RaycastScene.cpp b/testbed/scenes/raycast/RaycastScene.cpp
index 02d3a114..98c1f62c 100644
--- a/testbed/scenes/raycast/RaycastScene.cpp
+++ b/testbed/scenes/raycast/RaycastScene.cpp
@@ -63,7 +63,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
     // ---------- Box ---------- //
 
     // Create a box and a corresponding collision body in the physics world
-    mBox = new Box(BOX_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+    mBox = new Box(false, BOX_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
     mBox->getCollisionBody()->setIsActive(false);
 
     // Set the box color
@@ -74,7 +74,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
     // ---------- Sphere ---------- //
 
     // Create a sphere and a corresponding collision body in the physics world
-    mSphere = new Sphere(SPHERE_RADIUS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+    mSphere = new Sphere(false, SPHERE_RADIUS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
 
     // Set the color
     mSphere->setColor(mObjectColorDemo);
@@ -85,7 +85,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
     openglframework::Vector3 position6(0, 0, 0);
 
     // Create a cylinder and a corresponding collision body in the physics world
-    mCapsule = new Capsule(false, CAPSULE_RADIUS, CAPSULE_HEIGHT, 1.0, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
+    mCapsule = new Capsule(false, CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
 
     // Set the color
     mCapsule->setColor(mObjectColorDemo);
@@ -95,7 +95,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
     // ---------- Convex Mesh ---------- //
 
     // Create a convex mesh and a corresponding collision body in the physics world
-    mConvexMesh = new ConvexMesh(false, 1.0f, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "convexmesh.obj");
+    mConvexMesh = new ConvexMesh(false,  mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "convexmesh.obj");
 
     // Set the color
     mConvexMesh->setColor(mObjectColorDemo);
@@ -105,7 +105,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
     // ---------- Concave Mesh ---------- //
 
     // Create a convex mesh and a corresponding collision body in the physics world
-    mConcaveMesh = new ConcaveMesh(false, 1.0f, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "city.obj");
+    mConcaveMesh = new ConcaveMesh(false, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "city.obj");
 
     // Set the color
     mConcaveMesh->setColor(mObjectColorDemo);
@@ -115,7 +115,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
     // ---------- Heightfield ---------- //
 
     // Create a convex mesh and a corresponding collision body in the physics world
-    mHeightField = new HeightField(false, 1.0f, mPhysicsCommon, mPhysicsWorld);
+    mHeightField = new HeightField(false, mPhysicsCommon, mPhysicsWorld);
 
     // Set the color
     mHeightField->setColor(mObjectColorDemo);