diff --git a/src/collision/ContactInfo.h b/src/collision/ContactInfo.h
index e9f15824..6b599725 100644
--- a/src/collision/ContactInfo.h
+++ b/src/collision/ContactInfo.h
@@ -76,7 +76,7 @@ struct ContactInfo {
                     const Vector3& localPoint1, const Vector3& localPoint2);
 };
 
-} // End of the ReactPhysics3D namespace
+}
 
 #endif
 
diff --git a/src/collision/broadphase/NoBroadPhaseAlgorithm.h b/src/collision/broadphase/NoBroadPhaseAlgorithm.h
index 745ca459..b8b6b8df 100644
--- a/src/collision/broadphase/NoBroadPhaseAlgorithm.h
+++ b/src/collision/broadphase/NoBroadPhaseAlgorithm.h
@@ -82,9 +82,7 @@ class NoBroadPhaseAlgorithm : public BroadPhaseAlgorithm {
         
 // Notify the broad-phase about a new object in the world
 inline void NoBroadPhaseAlgorithm::addObject(CollisionBody* body, const AABB& aabb) {
-    
-    std::cout << "New body in broadphase with id=" << body->getID() << std::endl;
-    
+        
     // For each body that is already in the world
     for (std::set<CollisionBody*>::iterator it = mBodies.begin(); it != mBodies.end(); ++it) {
         
diff --git a/src/collision/broadphase/PairManager.cpp b/src/collision/broadphase/PairManager.cpp
index 4ba35866..fcbae22e 100644
--- a/src/collision/broadphase/PairManager.cpp
+++ b/src/collision/broadphase/PairManager.cpp
@@ -36,9 +36,9 @@ bodyindex PairManager::INVALID_INDEX = std::numeric_limits<reactphysics3d::bodyi
 // Constructor of PairManager
 PairManager::PairManager(CollisionDetection& collisionDetection)
             : mCollisionDetection(collisionDetection) {
-    mHashTable = 0;
-    mOverlappingPairs = 0;
-    mOffsetNextPair = 0;
+    mHashTable = NULL;
+    mOverlappingPairs = NULL;
+    mOffsetNextPair = NULL;
     mNbOverlappingPairs = 0;
     mHashMask = 0;
     mNbElementsHashTable = 0;
@@ -123,7 +123,7 @@ bool PairManager::removePair(bodyindex id1, bodyindex id2) {
     BodyPair* pair = findPairWithHashValue(id1, id2, hashValue);
     
     // If we have not found the pair
-    if (!pair) {
+    if (pair == NULL) {
         return false;
     }
     
@@ -236,8 +236,7 @@ BodyPair* PairManager::lookForAPair(bodyindex id1, bodyindex id2, luint hashValu
     
     // If the pair has not been found in the overlapping pairs
     if (offset == INVALID_INDEX) {
-        // Return null
-        return 0;
+        return NULL;
     }
     
     assert(offset < mNbOverlappingPairs);
@@ -253,7 +252,7 @@ void PairManager::reallocatePairs() {
     // Reallocate the hash table and initialize it
     free(mHashTable);
     mHashTable = (bodyindex*) malloc(mNbElementsHashTable * sizeof(bodyindex));
-    assert(mHashTable);
+    assert(mHashTable != NULL);
     for (bodyindex i=0; i<mNbElementsHashTable; i++) {
         mHashTable[i] = INVALID_INDEX;
     }
@@ -262,8 +261,8 @@ void PairManager::reallocatePairs() {
     BodyPair* newOverlappingPairs = (BodyPair*) malloc(mNbElementsHashTable * sizeof(BodyPair));
     bodyindex* newOffsetNextPair = (bodyindex*) malloc(mNbElementsHashTable * sizeof(bodyindex));
     
-    assert(newOverlappingPairs);
-    assert(newOffsetNextPair);
+    assert(newOverlappingPairs != NULL);
+    assert(newOffsetNextPair != NULL);
     
     // If there is already some overlapping pairs
     if (mNbOverlappingPairs) {
@@ -286,5 +285,4 @@ void PairManager::reallocatePairs() {
     // Replace by the new data
     mOverlappingPairs = newOverlappingPairs;
     mOffsetNextPair = newOffsetNextPair;
-}                                
-
+}
diff --git a/src/collision/broadphase/PairManager.h b/src/collision/broadphase/PairManager.h
index c127544d..43bc0b6a 100644
--- a/src/collision/broadphase/PairManager.h
+++ b/src/collision/broadphase/PairManager.h
@@ -260,7 +260,7 @@ inline int PairManager::computeHash32Bits(int key) const {
 inline BodyPair* PairManager::findPair(bodyindex id1, bodyindex id2) const {
     
     // Check if the hash table has been allocated yet
-    if (!mHashTable) return 0;
+    if (mHashTable == NULL) return NULL;
     
     // Sort the IDs
     sortIDs(id1, id2);
@@ -279,7 +279,7 @@ inline BodyPair* PairManager::findPairWithHashValue(bodyindex id1, bodyindex id2
                                                     luint hashValue) const {
     
     // Check if the hash table has been allocated yet
-    if (!mHashTable) return 0;
+    if (mHashTable == NULL) return NULL;
     
     // Look for the pair in the set of overlapping pairs
     return lookForAPair(id1, id2, hashValue);
diff --git a/src/collision/broadphase/SweepAndPruneAlgorithm.cpp b/src/collision/broadphase/SweepAndPruneAlgorithm.cpp
index 354a11c8..30747e22 100644
--- a/src/collision/broadphase/SweepAndPruneAlgorithm.cpp
+++ b/src/collision/broadphase/SweepAndPruneAlgorithm.cpp
@@ -47,10 +47,10 @@ AABBInt::AABBInt(const AABB& aabb) {
 // Constructor
 SweepAndPruneAlgorithm::SweepAndPruneAlgorithm(CollisionDetection& collisionDetection)
              :BroadPhaseAlgorithm(collisionDetection) {
-    mBoxes = 0;
-    mEndPoints[0] = 0;
-    mEndPoints[1] = 0;
-    mEndPoints[2] = 0;
+    mBoxes = NULL;
+    mEndPoints[0] = NULL;
+    mEndPoints[1] = NULL;
+    mEndPoints[2] = NULL;
     mNbBoxes = 0;
     mNbMaxBoxes = 0;
 }
@@ -399,10 +399,10 @@ void SweepAndPruneAlgorithm::resizeArrays() {
     EndPoint* newEndPointsYArray = new EndPoint[newNbEndPoints];
     EndPoint* newEndPointsZArray = new EndPoint[newNbEndPoints];
     
-    assert(newBoxesArray);
-    assert(newEndPointsXArray);
-    assert(newEndPointsYArray);
-    assert(newEndPointsZArray);
+    assert(newBoxesArray != NULL);
+    assert(newEndPointsXArray != NULL);
+    assert(newEndPointsYArray != NULL);
+    assert(newEndPointsZArray != NULL);
     
     // If the arrays were not empty before
     if (mNbBoxes > 0) {
diff --git a/src/collision/narrowphase/EPA/EPAAlgorithm.cpp b/src/collision/narrowphase/EPA/EPAAlgorithm.cpp
index c940a0e3..e81b6796 100644
--- a/src/collision/narrowphase/EPA/EPAAlgorithm.cpp
+++ b/src/collision/narrowphase/EPA/EPAAlgorithm.cpp
@@ -225,9 +225,9 @@ bool EPAAlgorithm::computePenetrationDepthAndContactPoints(const Simplex& simple
                 TriangleEPA* face3 = triangleStore.newTriangle(points, 1, 3, 2);
 
                 // If the constructed tetrahedron is not correct
-                if (!(face0 && face1 && face2 && face3 && face0->getDistSquare() > 0.0 &&
-                      face1->getDistSquare() > 0.0 && face2->getDistSquare() > 0.0 &&
-                      face3->getDistSquare() > 0.0)) {
+                if (!((face0 != NULL) && (face1 != NULL) && (face2 != NULL) && (face3 != NULL)
+                   && face0->getDistSquare() > 0.0 && face1->getDistSquare() > 0.0
+                   && face2->getDistSquare() > 0.0 && face3->getDistSquare() > 0.0)) {
                     return false;
                 }
 
@@ -250,6 +250,7 @@ bool EPAAlgorithm::computePenetrationDepthAndContactPoints(const Simplex& simple
 
             // If the tetrahedron contains a wrong vertex (the origin is not inside the tetrahedron)
             if (badVertex < 4) {
+
                 // Replace the wrong vertex with the point 5 (if it exists)
                 suppPointsA[badVertex-1] = suppPointsA[4];
                 suppPointsB[badVertex-1] = suppPointsB[4];
@@ -290,7 +291,8 @@ bool EPAAlgorithm::computePenetrationDepthAndContactPoints(const Simplex& simple
             TriangleEPA* face5 = triangleStore.newTriangle(points, 1, 0, 4);
 
             // If the polytope hasn't been correctly constructed
-            if (!(face0 && face1 && face2 && face3 && face4 && face5 &&
+            if (!((face0 != NULL) && (face1 != NULL) && (face2 != NULL) && (face3 != NULL)
+                  && (face4 != NULL) && (face5 != NULL) &&
                   face0->getDistSquare() > 0.0 && face1->getDistSquare() > 0.0 &&
                   face2->getDistSquare() > 0.0 && face3->getDistSquare() > 0.0 &&
                   face4->getDistSquare() > 0.0 && face5->getDistSquare() > 0.0)) {
diff --git a/src/collision/narrowphase/EPA/EdgeEPA.cpp b/src/collision/narrowphase/EPA/EdgeEPA.cpp
index 873c8101..8806962a 100644
--- a/src/collision/narrowphase/EPA/EdgeEPA.cpp
+++ b/src/collision/narrowphase/EPA/EdgeEPA.cpp
@@ -70,6 +70,7 @@ bool EdgeEPA::computeSilhouette(const Vector3* vertices, uint indexNewVertex,
                                 TrianglesStore& triangleStore) {
     // If the edge has not already been visited
     if (!mOwnerTriangle->getIsObsolete()) {
+
         // If the triangle of this edge is not visible from the given point
         if (!mOwnerTriangle->isVisibleFromVertex(vertices, indexNewVertex)) {
             TriangleEPA* triangle = triangleStore.newTriangle(vertices, indexNewVertex,
@@ -77,7 +78,7 @@ bool EdgeEPA::computeSilhouette(const Vector3* vertices, uint indexNewVertex,
                                                               getSourceVertexIndex());
 
             // If the triangle has been created
-            if (triangle) {
+            if (triangle != NULL) {
                 halfLink(EdgeEPA(triangle, 1), *this);
                 return true;
             }
@@ -85,6 +86,7 @@ bool EdgeEPA::computeSilhouette(const Vector3* vertices, uint indexNewVertex,
             return false;
         }
         else {
+
             // The current triangle is visible and therefore obsolete
             mOwnerTriangle->setIsObsolete(true);
 
@@ -101,7 +103,7 @@ bool EdgeEPA::computeSilhouette(const Vector3* vertices, uint indexNewVertex,
                                                                   getSourceVertexIndex());
 
                 // If the triangle has been created
-                if (triangle) {
+                if (triangle != NULL) {
                     halfLink(EdgeEPA(triangle, 1), *this);
                     return true;
                 }
@@ -120,7 +122,7 @@ bool EdgeEPA::computeSilhouette(const Vector3* vertices, uint indexNewVertex,
                                                                   getTargetVertexIndex(),
                                                                   getSourceVertexIndex());
 
-                if (triangle) {
+                if (triangle != NULL) {
                     halfLink(EdgeEPA(triangle, 1), *this);
                     return true;
                 }
diff --git a/src/collision/narrowphase/EPA/TrianglesStore.h b/src/collision/narrowphase/EPA/TrianglesStore.h
index ae2b4d17..4d8cc459 100644
--- a/src/collision/narrowphase/EPA/TrianglesStore.h
+++ b/src/collision/narrowphase/EPA/TrianglesStore.h
@@ -118,7 +118,7 @@ inline TriangleEPA& TrianglesStore::last() {
 // Create a new triangle
 inline TriangleEPA* TrianglesStore::newTriangle(const Vector3* vertices,
                                                 uint v0,uint v1, uint v2) {
-    TriangleEPA* newTriangle = 0;
+    TriangleEPA* newTriangle = NULL;
 
     // If we have not reached the maximum number of triangles
     if (mNbTriangles != MAX_TRIANGLES) {
@@ -126,7 +126,7 @@ inline TriangleEPA* TrianglesStore::newTriangle(const Vector3* vertices,
         new (newTriangle) TriangleEPA(v0, v1, v2);
         if (!newTriangle->computeClosestPoint(vertices)) {
             mNbTriangles--;
-            newTriangle = 0;
+            newTriangle = NULL;
         }
     }
 
diff --git a/src/collision/narrowphase/GJK/GJKAlgorithm.cpp b/src/collision/narrowphase/GJK/GJKAlgorithm.cpp
index 33779795..bf6b8f5d 100644
--- a/src/collision/narrowphase/GJK/GJKAlgorithm.cpp
+++ b/src/collision/narrowphase/GJK/GJKAlgorithm.cpp
@@ -117,6 +117,7 @@ bool GJKAlgorithm::testCollision(const CollisionShape* collisionShape1,
 
         // If the objects intersect only in the margins
         if (simplex.isPointInSimplex(w) || distSquare - vDotw <= distSquare * REL_ERROR_SQUARE) {
+
             // Compute the closet points of both objects (without the margins)
             simplex.computeClosestPointsOfAandB(pA, pB);
 
@@ -148,6 +149,7 @@ bool GJKAlgorithm::testCollision(const CollisionShape* collisionShape1,
 
         // If the simplex is affinely dependent
         if (simplex.isAffinelyDependent()) {
+
             // Compute the closet points of both objects (without the margins)
             simplex.computeClosestPointsOfAandB(pA, pB);
 
@@ -177,6 +179,7 @@ bool GJKAlgorithm::testCollision(const CollisionShape* collisionShape1,
         // Compute the point of the simplex closest to the origin
         // If the computation of the closest point fail
         if (!simplex.computeClosestPoint(v)) {
+
             // Compute the closet points of both objects (without the margins)
             simplex.computeClosestPointsOfAandB(pA, pB);
 
@@ -290,6 +293,7 @@ bool GJKAlgorithm::computePenetrationDepthForEnlargedObjects(const CollisionShap
 
         // If the enlarge objects do not intersect
         if (vDotw > 0.0) {
+
             // No intersection, we return false
             return false;
         }
diff --git a/src/collision/narrowphase/GJK/Simplex.cpp b/src/collision/narrowphase/GJK/Simplex.cpp
index 243feef6..0bae65df 100644
--- a/src/collision/narrowphase/GJK/Simplex.cpp
+++ b/src/collision/narrowphase/GJK/Simplex.cpp
@@ -120,8 +120,10 @@ unsigned int Simplex::getSimplex(Vector3* suppPointsA, Vector3* suppPointsB,
 
     // For each four point in the possible simplex
     for (i=0, bit=0x1; i<4; i++, bit <<=1) {
+
         // If the current point is in the simplex
         if (overlap(mBitsCurrentSimplex, bit)) {
+
             // Store the points
             suppPointsA[nbVertices] = this->mSuppPointsA[nbVertices];
             suppPointsB[nbVertices] = this->mSuppPointsB[nbVertices];
diff --git a/src/collision/narrowphase/NarrowPhaseAlgorithm.cpp b/src/collision/narrowphase/NarrowPhaseAlgorithm.cpp
index 8b2af219..d8778ce8 100644
--- a/src/collision/narrowphase/NarrowPhaseAlgorithm.cpp
+++ b/src/collision/narrowphase/NarrowPhaseAlgorithm.cpp
@@ -31,7 +31,7 @@ using namespace reactphysics3d;
 
 // Constructor
 NarrowPhaseAlgorithm::NarrowPhaseAlgorithm(MemoryPool<ContactInfo>& memoryPool)
-                     :mMemoryPoolContactInfos(memoryPool), mCurrentOverlappingPair(0) {
+                     :mMemoryPoolContactInfos(memoryPool), mCurrentOverlappingPair(NULL) {
 
 }
 
diff --git a/src/collision/shapes/AABB.cpp b/src/collision/shapes/AABB.cpp
index a3826c6e..e8e317fc 100644
--- a/src/collision/shapes/AABB.cpp
+++ b/src/collision/shapes/AABB.cpp
@@ -45,7 +45,7 @@ using namespace reactphysics3d;
 using namespace std;
 
 // Constructor
-AABB::AABB() : mBodyPointer(0) {
+AABB::AABB() : mBodyPointer(NULL) {
     
 }
 
@@ -56,7 +56,7 @@ AABB::AABB(const Vector3& minCoordinates, const Vector3& maxCoordinates, Body* m
 }
 
 // Constructor
-AABB::AABB(const Transform& transform, const Vector3& extents) : mBodyPointer(0) {
+AABB::AABB(const Transform& transform, const Vector3& extents) : mBodyPointer(NULL) {
     update(transform, extents);
 }
 
diff --git a/src/collision/shapes/AABB.h b/src/collision/shapes/AABB.h
index f4fb9498..1c744b15 100644
--- a/src/collision/shapes/AABB.h
+++ b/src/collision/shapes/AABB.h
@@ -158,6 +158,6 @@ inline void AABB::update(const Transform& newTransform, const Vector3& extents)
     mMaxCoordinates = newTransform.getPosition() + worldExtents;
 }
 
-}; // End of the ReactPhysics3D namespace
+}
 
 #endif
diff --git a/src/collision/shapes/BoxShape.h b/src/collision/shapes/BoxShape.h
index a2aa2918..d0922c3a 100644
--- a/src/collision/shapes/BoxShape.h
+++ b/src/collision/shapes/BoxShape.h
@@ -112,10 +112,10 @@ inline Vector3 BoxShape::getLocalSupportPoint(const Vector3& direction, decimal
     assert(margin >= 0.0);
     
     return Vector3(direction.x < 0.0 ? -mExtent.x - margin : mExtent.x + margin,
-                    direction.y < 0.0 ? -mExtent.y - margin : mExtent.y + margin,
-                    direction.z < 0.0 ? -mExtent.z - margin : mExtent.z + margin);
+                   direction.y < 0.0 ? -mExtent.y - margin : mExtent.y + margin,
+                   direction.z < 0.0 ? -mExtent.z - margin : mExtent.z + margin);
 }
 
-}; // End of the ReactPhysics3D namespace
+}
 
 #endif
diff --git a/src/collision/shapes/ConeShape.h b/src/collision/shapes/ConeShape.h
index 4aaeddb7..ed43a1b1 100644
--- a/src/collision/shapes/ConeShape.h
+++ b/src/collision/shapes/ConeShape.h
@@ -143,6 +143,6 @@ inline void ConeShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass
                         0.0, 0.0, 0.0, diagXZ);
 }
 
-}; // End of the ReactPhysics3D namespace
+}
 
 #endif
diff --git a/src/collision/shapes/CylinderShape.h b/src/collision/shapes/CylinderShape.h
index 97381e05..3c554180 100644
--- a/src/collision/shapes/CylinderShape.h
+++ b/src/collision/shapes/CylinderShape.h
@@ -133,7 +133,7 @@ inline void CylinderShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal
                         0.0, 0.0, diag);
 }
 
-}; // End of the ReactPhysics3D namespace
+}
 
 #endif
 
diff --git a/src/collision/shapes/SphereShape.h b/src/collision/shapes/SphereShape.h
index afc42bba..ac398f7a 100644
--- a/src/collision/shapes/SphereShape.h
+++ b/src/collision/shapes/SphereShape.h
@@ -127,6 +127,6 @@ inline void SphereShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal ma
                         0.0, 0.0, diag);
 }
 
-}; // End of the ReactPhysics3D namespace
+}
 
 #endif
diff --git a/src/constraint/Constraint.h b/src/constraint/Constraint.h
index 9f5d8508..4f46ee66 100644
--- a/src/constraint/Constraint.h
+++ b/src/constraint/Constraint.h
@@ -148,8 +148,6 @@ inline void Constraint::setCachedLambda(int index, decimal lambda) {
     mCachedLambdas[index] = lambda;
 }                                                   
 
-
-
-} // End of the ReactPhysics3D namespace
+}
 
 #endif
diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp
index 52203b11..b0f9136c 100644
--- a/src/engine/CollisionWorld.cpp
+++ b/src/engine/CollisionWorld.cpp
@@ -78,6 +78,8 @@ CollisionBody* CollisionWorld::createCollisionBody(const Transform& transform,
     CollisionBody* collisionBody = new (mMemoryPoolCollisionBodies.allocateObject())
                                         CollisionBody(transform, collisionShape, bodyID);
 
+    assert(collisionBody != NULL);
+
     // Add the collision body to the world
     mBodies.insert(collisionBody);
 
diff --git a/src/engine/ContactManifold.cpp b/src/engine/ContactManifold.cpp
index 389a59d6..8bee1c39 100644
--- a/src/engine/ContactManifold.cpp
+++ b/src/engine/ContactManifold.cpp
@@ -149,6 +149,7 @@ int ContactManifold::getIndexOfDeepestPenetration(ContactPoint* newContact) cons
 
     // For each contact in the cache
     for (uint i=0; i<mNbContactPoints; i++) {
+
         // If the current contact has a larger penetration depth
         if (mContactPoints[i]->getPenetrationDepth() > maxPenetrationDepth) {
             maxPenetrationDepth = mContactPoints[i]->getPenetrationDepth();
diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp
index e4b16d7c..55b8d1e7 100644
--- a/src/engine/DynamicsWorld.cpp
+++ b/src/engine/DynamicsWorld.cpp
@@ -111,7 +111,7 @@ void DynamicsWorld::updateRigidBodiesPositionAndOrientation() {
     for (set<RigidBody*>::iterator it=getRigidBodiesBeginIterator(); it != getRigidBodiesEndIterator(); ++it) {
 
         RigidBody* rigidBody = *it;
-        assert(rigidBody);
+        assert(rigidBody != NULL);
 
         // If the body is allowed to move
         if (rigidBody->getIsMotionEnabled()) {
@@ -214,10 +214,11 @@ void DynamicsWorld::applyGravity() {
     for (set<RigidBody*>::iterator it=getRigidBodiesBeginIterator(); it != getRigidBodiesEndIterator(); ++it) {
 
         RigidBody* rigidBody = dynamic_cast<RigidBody*>(*it);
-        assert(rigidBody);
+        assert(rigidBody != NULL);
    
         // If the gravity force is on
         if(mIsGravityOn) {
+
             // Apply the current gravity force to the body
             rigidBody->setExternalForce(rigidBody->getMass() * mGravity);
         }
@@ -237,6 +238,7 @@ RigidBody* DynamicsWorld::createRigidBody(const Transform& transform, decimal ma
 
     // Create the rigid body
     RigidBody* rigidBody = new (mMemoryPoolRigidBodies.allocateObject()) RigidBody(transform, mass, inertiaTensorLocal, collisionShape, bodyID);
+    assert(rigidBody != NULL);
 
     // Add the rigid body to the physics world
     mBodies.insert(rigidBody);
@@ -282,8 +284,8 @@ void DynamicsWorld::notifyAddedOverlappingPair(const BroadPhasePair* addedPair)
 
     // Add the pair into the set of overlapping pairs (if not there yet)
     OverlappingPair* newPair = new (mMemoryPoolOverlappingPairs.allocateObject()) OverlappingPair(addedPair->body1, addedPair->body2, mMemoryPoolContacts);
+    assert(newPair != NULL);
     std::pair<map<std::pair<bodyindex, bodyindex>, OverlappingPair*>::iterator, bool> check = mOverlappingPairs.insert(make_pair(indexPair, newPair));
-    assert(check.second);
 }
 
 // Notify the world about a removed broad-phase overlapping pair
@@ -304,35 +306,21 @@ void DynamicsWorld::notifyNewContact(const BroadPhasePair* broadPhasePair, const
     RigidBody* const rigidBody1 = dynamic_cast<RigidBody* const>(broadPhasePair->body1);
     RigidBody* const rigidBody2 = dynamic_cast<RigidBody* const>(broadPhasePair->body2);
 
-    assert(rigidBody1);
-    assert(rigidBody2);
+    assert(rigidBody1 != NULL);
+    assert(rigidBody2 != NULL);
 
     // Create a new contact
     ContactPoint* contact = new (mMemoryPoolContacts.allocateObject()) ContactPoint(rigidBody1, rigidBody2, contactInfo);
-    assert(contact);
+    assert(contact != NULL);
 
     // Get the corresponding overlapping pair
     pair<bodyindex, bodyindex> indexPair = broadPhasePair->getBodiesIndexPair();
     OverlappingPair* overlappingPair = mOverlappingPairs[indexPair];
-    assert(overlappingPair);
+    assert(overlappingPair != NULL);
 
     // Add the contact to the contact cache of the corresponding overlapping pair
     overlappingPair->addContact(contact);
 
-    // TODO : Remove this
-    /*
-    // Create a contact manifold with the contact points of the two bodies
-    ContactManifold contactManifold;
-    contactManifold.nbContacts = 0;
-
-    // Add all the contacts in the contact cache of the two bodies
-    // to the set of constraints in the physics world
-    for (uint i=0; i<overlappingPair->getNbContacts(); i++) {
-        contactManifold.contacts[i] = overlappingPair->getContact(i);
-        contactManifold.nbContacts++;
-    }
-    */
-
     // Add the contact manifold to the world
     mContactManifolds.push_back(overlappingPair->getContactManifold());
 }
diff --git a/src/engine/DynamicsWorld.h b/src/engine/DynamicsWorld.h
index 7bddf900..e800cd7e 100644
--- a/src/engine/DynamicsWorld.h
+++ b/src/engine/DynamicsWorld.h
@@ -219,8 +219,6 @@ public :
         std::set<RigidBody*>::iterator getRigidBodiesEndIterator();
 };
 
-// --- Inline functions --- //
-
 // Start the physics simulation
 inline void DynamicsWorld::start() {
     mTimer.start();
@@ -283,7 +281,7 @@ inline void DynamicsWorld::addConstraint(Constraint* constraint) {
 inline void DynamicsWorld::removeConstraint(Constraint* constraint) {
     std::vector<Constraint*>::iterator it;
 
-    assert(constraint);
+    assert(constraint != NULL);
     it = std::find(mConstraints.begin(), mConstraints.end(), constraint);
     assert(*it == constraint);
     delete *it;
diff --git a/src/engine/OverlappingPair.h b/src/engine/OverlappingPair.h
index d8d977eb..a0b67cb2 100644
--- a/src/engine/OverlappingPair.h
+++ b/src/engine/OverlappingPair.h
@@ -97,14 +97,10 @@ class OverlappingPair {
         void setCachedSeparatingAxis(const Vector3& axis);
 
         // Return the number of contacts in the cache
-        uint getNbContacts() const;
+        uint getNbContactPoints() const;
 
         // Return the contact manifold
         ContactManifold* getContactManifold();
-
-        // Return a contact of the cache
-        // TODO : Maybe remove this method
-        ContactPoint* getContact(uint index) const;
 };
 
 // Return the pointer to first body
@@ -120,26 +116,26 @@ inline CollisionBody* const OverlappingPair::getBody2() const {
 // Add a contact to the contact manifold
 inline void OverlappingPair::addContact(ContactPoint* contact) {
     mContactManifold.addContactPoint(contact);
-}  
+}
 
 // Update the contact manifold
 inline void OverlappingPair::update() {
     mContactManifold.update(mBody1->getTransform(), mBody2->getTransform());
-}                                
+}
 
 // Return the cached separating axis
 inline Vector3 OverlappingPair::getCachedSeparatingAxis() const {
     return mCachedSeparatingAxis;
-} 
+}
 
 // Set the cached separating axis
 inline void OverlappingPair::setCachedSeparatingAxis(const Vector3& axis) {
     mCachedSeparatingAxis = axis;
-}              
+}
 
 
-// Return the number of contacts in the cache
-inline uint OverlappingPair::getNbContacts() const {
+// Return the number of contact points in the contact manifold
+inline uint OverlappingPair::getNbContactPoints() const {
     return mContactManifold.getNbContactPoints();
 }
 
@@ -148,11 +144,6 @@ inline ContactManifold* OverlappingPair::getContactManifold() {
     return &mContactManifold;
 }
 
-// Return a contact of the cache    
-inline ContactPoint* OverlappingPair::getContact(uint index) const {
-    return mContactManifold.getContactPoint(index);
-}         
-
 } // End of the ReactPhysics3D namespace
 
 #endif
diff --git a/src/memory/MemoryPool.h b/src/memory/MemoryPool.h
index 52151193..2c4db5b3 100644
--- a/src/memory/MemoryPool.h
+++ b/src/memory/MemoryPool.h
@@ -131,9 +131,9 @@ template<class T> const uint MemoryPool<T>::NB_OBJECTS_FIRST_BLOCK = 100;
 template<class T>
 MemoryPool<T>::MemoryPool(uint capacity) throw(std::bad_alloc)
               : mCurrentNbObjects(0), mCapacity(capacity) {
-    mPBlocks = 0;
-    mPAllocatedUnits = 0;
-    mPFreeUnits = 0;
+    mPBlocks = NULL;
+    mPAllocatedUnits = NULL;
+    mPFreeUnits = NULL;
     mNbObjectsNextBlock = (capacity == 0) ? NB_OBJECTS_FIRST_BLOCK : capacity;
 
     // Allocate the first memory block if the capacity is
@@ -172,12 +172,12 @@ void* MemoryPool<T>::allocateObject() {
     }
 
     assert(mCurrentNbObjects < mCapacity);
-    assert(mPFreeUnits);
+    assert(mPFreeUnits != NULL);
     
     MemoryUnit* currentUnit = mPFreeUnits;
     mPFreeUnits = currentUnit->pNext;
     if (mPFreeUnits) {
-        mPFreeUnits->pPrevious = 0;
+        mPFreeUnits->pPrevious = NULL;
     }
 
     currentUnit->pNext = mPAllocatedUnits;
@@ -206,7 +206,7 @@ void MemoryPool<T>::freeObject(void* pObjectToFree) {
     MemoryUnit* currentUnit = (MemoryUnit*)((char*)pObjectToFree - sizeof(MemoryUnit));
     mPAllocatedUnits = currentUnit->pNext;
     if (mPAllocatedUnits) {
-        mPAllocatedUnits->pPrevious = 0;
+        mPAllocatedUnits->pPrevious = NULL;
     }
 
     currentUnit->pNext = mPFreeUnits;
@@ -232,8 +232,8 @@ void MemoryPool<T>::allocateMemory() {
     // Allocate a new memory block
     mPBlocks = malloc(sizeBlock);
 
-    // Check that the allocation didn't fail
-    if (!mPBlocks) throw std::bad_alloc();
+    // Check that the allocation did not fail
+    if (mPBlocks == NULL) throw std::bad_alloc();
 
     MemoryBlock* block = (MemoryBlock*) mPBlocks;
     block->pNext = tempBlocks;
@@ -245,7 +245,7 @@ void MemoryPool<T>::allocateMemory() {
         MemoryUnit* currentUnit = (MemoryUnit*)( (char*)mPBlocks + i *
                                                  (sizeof(T) + sizeof(MemoryUnit)) );
 
-        currentUnit->pPrevious = 0;
+        currentUnit->pPrevious = NULL;
         currentUnit->pNext = mPFreeUnits;
 
         if (mPFreeUnits) {