diff --git a/build/parry3d/Cargo.toml b/build/parry3d/Cargo.toml
index 7dbcd8ac..13000711 100644
--- a/build/parry3d/Cargo.toml
+++ b/build/parry3d/Cargo.toml
@@ -51,3 +51,6 @@ rustc-hash = "1"
 
 [dev-dependencies]
 oorandom = "11"
+rand = "0.8.0"
+nalgebra   = { version = "0.28", features = ["rand"]}
+rand_isaac = "0.3.0"
diff --git a/build/parry3d/benches/bounding_volume/mod.rs b/build/parry3d/benches/bounding_volume/mod.rs
index 085f28d2..582a980e 100644
--- a/build/parry3d/benches/bounding_volume/mod.rs
+++ b/build/parry3d/benches/bounding_volume/mod.rs
@@ -3,7 +3,7 @@ use na::Isometry3;
 use parry3d::bounding_volume::BoundingVolume;
 use parry3d::bounding_volume::{BoundingSphere, AABB};
 use parry3d::shape::{
-    Ball, Capsule, Cone, ConvexHull, Cuboid, Cylinder, Segment, TriMesh, Triangle,
+    Ball, Capsule, Cone, ConvexPolyhedron, Cuboid, Cylinder, Segment, TriMesh, Triangle,
 };
 use rand::SeedableRng;
 use rand_isaac::IsaacRng;
@@ -135,13 +135,13 @@ bench_method!(
 bench_method!(
     bench_convex_aabb,
     aabb: AABB,
-    c: ConvexHull,
+    c: ConvexPolyhedron,
     m: Isometry3<f32>
 );
 bench_method!(
     bench_convex_bounding_sphere,
     bounding_sphere: BoundingSphere,
-    c: ConvexHull,
+    c: ConvexPolyhedron,
     m: Isometry3<f32>
 );
 
diff --git a/build/parry3d/benches/common/default_gen.rs b/build/parry3d/benches/common/default_gen.rs
index 14a475da..baac4817 100644
--- a/build/parry3d/benches/common/default_gen.rs
+++ b/build/parry3d/benches/common/default_gen.rs
@@ -1,3 +1,4 @@
+#![feature(trivial_bounds)]
 use na::{
     self, Isometry2, Isometry3, Matrix2, Matrix3, Matrix4, Point2, Point3, Point4, RealField,
     Vector2, Vector3, Vector4,
@@ -5,10 +6,11 @@ use na::{
 use parry3d::bounding_volume::{BoundingSphere, AABB};
 use parry3d::math::{Point, Real, Vector};
 use parry3d::query::Ray;
-use parry3d::shape::{Ball, Capsule, Cone, ConvexHull, Cuboid, Cylinder, Segment, Triangle};
+use parry3d::shape::{Ball, Capsule, Cone, ConvexPolyhedron, Cuboid, Cylinder, Segment, Triangle};
 use rand::distributions::{Distribution, Standard};
 use rand::Rng;
 
+
 pub trait DefaultGen {
     fn generate<R: Rng>(rng: &mut R) -> Self;
 }
@@ -74,9 +76,10 @@ where
 impl DefaultGen for Capsule
 where
     Standard: Distribution<Real>,
+    Standard: Distribution<Point<Real>>,
 {
     fn generate<R: Rng>(rng: &mut R) -> Capsule {
-        Capsule::new(rng.gen::<Real>().abs(), rng.gen::<Real>().abs())
+        Capsule::new(rng.gen::<Point<Real>>(), rng.gen::<Point<Real>>(), rng.gen::<Real>().abs())
     }
 }
 
@@ -116,15 +119,15 @@ where
     }
 }
 
-impl DefaultGen for ConvexHull
+impl DefaultGen for ConvexPolyhedron
 where
     Standard: Distribution<Point<Real>>,
 {
-    fn generate<R: Rng>(rng: &mut R) -> ConvexHull {
+    fn generate<R: Rng>(rng: &mut R) -> ConvexPolyhedron {
         // It is recommended to have at most 100 points.
         // Otherwise, a smarter structure like the DK hierarchy would be needed.
         // let pts: Vec<_> = (0..100).map(|_| rng.gen()).collect();
-        // ConvexHull::try_from_points(&pts).unwrap()
+        // ConvexPolyhedron::try_from_points(&pts).unwrap()
         unimplemented!()
     }
 }
diff --git a/build/parry3d/benches/common/generators.rs b/build/parry3d/benches/common/generators.rs
index a1a5f61c..b70d1dec 100644
--- a/build/parry3d/benches/common/generators.rs
+++ b/build/parry3d/benches/common/generators.rs
@@ -1,13 +1,33 @@
 use na::{Point2, Point3};
 use parry3d::shape::TriMesh;
 use rand::Rng;
+use rand_isaac::IsaacRng;
 
 pub fn generate_trimesh_around_origin<R: Rng>(rng: &mut R) -> TriMesh {
-    let pts = (0..3000).map(|_| rng.gen::<Point3<f32>>() * 3.0).collect();
-    let uvs = (0..3000).map(|_| rng.gen::<Point2<f32>>() * 3.0).collect();
-    let indices = (0..1000)
-        .map(|i| Point3::new(i * 3, i * 3 + 1, i * 3 + 2))
+    let count = 1000;
+    let pts = (0..3 * count).map(|_| rng.gen::<Point3<f32>>() * 3.0).collect();
+    let indices = (0..count)
+        .map(|i| [i * 3, i * 3 + 1, i * 3 + 2])
         .collect();
 
-    TriMesh::new(pts, indices, Some(uvs))
+    TriMesh::new(pts, indices)
+}
+pub fn generate_trimesh_around_origin_100<R: Rng>(rng: &mut R) -> TriMesh {
+    let count = 100;
+    let pts = (0..3 * count).map(|_| rng.gen::<Point3<f32>>() * 3.0).collect();
+    let indices = (0..count)
+        .map(|i| [i * 3, i * 3 + 1, i * 3 + 2])
+        .collect();
+
+    TriMesh::new(pts, indices)
+}
+
+pub fn generate_trimesh_around_origin_10000<R: Rng>(rng: &mut R) -> TriMesh {
+    let count = 10000;
+    let pts = (0..3 * count).map(|_| rng.gen::<Point3<f32>>() * 3.0).collect();
+    let indices = (0..count)
+        .map(|i| [i * 3, i * 3 + 1, i * 3 + 2])
+        .collect();
+
+    TriMesh::new(pts, indices)
 }
diff --git a/build/parry3d/benches/common/mod.rs b/build/parry3d/benches/common/mod.rs
index 746805fc..b5a8ea1a 100644
--- a/build/parry3d/benches/common/mod.rs
+++ b/build/parry3d/benches/common/mod.rs
@@ -1,5 +1,7 @@
 pub use self::default_gen::generate;
 pub use self::generators::generate_trimesh_around_origin;
+pub use self::generators::generate_trimesh_around_origin_10000;
+pub use self::generators::generate_trimesh_around_origin_100;
 pub use self::unref::unref;
 
 mod default_gen;
diff --git a/build/parry3d/benches/query/contacts.rs b/build/parry3d/benches/query/contacts.rs
index 8b394b13..886049ce 100644
--- a/build/parry3d/benches/query/contacts.rs
+++ b/build/parry3d/benches/query/contacts.rs
@@ -13,8 +13,9 @@ mod macros;
 bench_free_fn!(
     bench_ball_against_ball,
     query::contact,
-    pos12: Isometry3<f32>,
+    pos1: Isometry3<f32>,
     b1: Ball,
+    pos2: Isometry3<f32>,
     b2: Ball,
     prediction: f32
 );
@@ -22,8 +23,9 @@ bench_free_fn!(
 bench_free_fn!(
     bench_cuboid_against_cuboid,
     query::contact,
-    pos12: Isometry3<f32>,
+    pos1: Isometry3<f32>,
     b1: Cuboid,
+    pos2: Isometry3<f32>,
     b2: Cuboid,
     prediction: f32
 );
@@ -31,8 +33,9 @@ bench_free_fn!(
 bench_free_fn!(
     bench_capsule_against_capsule,
     query::contact,
-    pos12: Isometry3<f32>,
+    pos1: Isometry3<f32>,
     b1: Capsule,
+    pos2: Isometry3<f32>,
     b2: Capsule,
     prediction: f32
 );
@@ -40,8 +43,9 @@ bench_free_fn!(
 bench_free_fn!(
     bench_cone_against_cone,
     query::contact,
-    pos12: Isometry3<f32>,
+    pos1: Isometry3<f32>,
     b1: Cone,
+    pos2: Isometry3<f32>,
     b2: Cone,
     prediction: f32
 );
@@ -49,8 +53,9 @@ bench_free_fn!(
 bench_free_fn!(
     bench_cylinder_against_cylinder,
     query::contact,
-    pos12: Isometry3<f32>,
+    pos1: Isometry3<f32>,
     b1: Cylinder,
+    pos2: Isometry3<f32>,
     b2: Cylinder,
     prediction: f32
 );
diff --git a/build/parry3d/benches/query/ray.rs b/build/parry3d/benches/query/ray.rs
index 0f6f43c2..75f1c4ec 100644
--- a/build/parry3d/benches/query/ray.rs
+++ b/build/parry3d/benches/query/ray.rs
@@ -1,9 +1,9 @@
-use crate::common::{generate, generate_trimesh_around_origin, unref};
+use crate::common::{generate, generate_trimesh_around_origin,generate_trimesh_around_origin_100, generate_trimesh_around_origin_10000, unref};
 use na::Isometry3;
 use parry3d::bounding_volume::{BoundingSphere, AABB};
 use parry3d::query::{Ray, RayCast};
 use parry3d::shape::{
-    Ball, Capsule, Cone, ConvexHull, Cuboid, Cylinder, Segment, TriMesh, Triangle,
+    Ball, Capsule, Cone, ConvexPolyhedron, Cuboid, Cylinder, Segment, TriMesh, Triangle,
 };
 use rand::SeedableRng;
 use rand_isaac::IsaacRng;
@@ -85,8 +85,8 @@ bench_method!(
 );
 
 bench_method!(
-    bench_ray_against_ball_with_normal_uv,
-    cast_ray_and_get_normal_and_uv,
+    bench_ray_against_ball_with_normal,
+    cast_ray_and_get_normal,
     b: Ball,
     pos: Isometry3<f32>,
     ray: Ray,
@@ -95,8 +95,8 @@ bench_method!(
 );
 
 bench_method!(
-    bench_ray_against_cuboid_with_normal_uv,
-    cast_ray_and_get_normal_and_uv,
+    bench_ray_against_cuboid_with_normal,
+    cast_ray_and_get_normal,
     c: Cuboid,
     pos: Isometry3<f32>,
     ray: Ray,
@@ -105,8 +105,8 @@ bench_method!(
 );
 
 bench_method!(
-    bench_ray_against_capsule_with_normal_uv,
-    cast_ray_and_get_normal_and_uv,
+    bench_ray_against_capsule_with_normal,
+    cast_ray_and_get_normal,
     c: Capsule,
     pos: Isometry3<f32>,
     ray: Ray,
@@ -115,8 +115,8 @@ bench_method!(
 );
 
 bench_method!(
-    bench_ray_against_cone_with_normal_uv,
-    cast_ray_and_get_normal_and_uv,
+    bench_ray_against_cone_with_normal,
+    cast_ray_and_get_normal,
     c: Cone,
     pos: Isometry3<f32>,
     ray: Ray,
@@ -125,8 +125,8 @@ bench_method!(
 );
 
 bench_method!(
-    bench_ray_against_cylinder_with_normal_uv,
-    cast_ray_and_get_normal_and_uv,
+    bench_ray_against_cylinder_with_normal,
+    cast_ray_and_get_normal,
     c: Cylinder,
     pos: Isometry3<f32>,
     ray: Ray,
@@ -135,8 +135,8 @@ bench_method!(
 );
 
 bench_method!(
-    bench_ray_against_segment_with_normal_uv,
-    cast_ray_and_get_normal_and_uv,
+    bench_ray_against_segment_with_normal,
+    cast_ray_and_get_normal,
     c: Segment,
     pos: Isometry3<f32>,
     ray: Ray,
@@ -145,8 +145,8 @@ bench_method!(
 );
 
 bench_method!(
-    bench_ray_against_triangle_with_normal_uv,
-    cast_ray_and_get_normal_and_uv,
+    bench_ray_against_triangle_with_normal,
+    cast_ray_and_get_normal,
     c: Triangle,
     pos: Isometry3<f32>,
     ray: Ray,
@@ -155,9 +155,9 @@ bench_method!(
 );
 
 bench_method!(
-    bench_ray_against_convex_with_normal_uv,
-    cast_ray_and_get_normal_and_uv,
-    c: ConvexHull,
+    bench_ray_against_convex_with_normal,
+    cast_ray_and_get_normal,
+    c: ConvexPolyhedron,
     pos: Isometry3<f32>,
     ray: Ray,
     max_toi: f32,
@@ -165,11 +165,31 @@ bench_method!(
 );
 
 bench_method_gen!(
-    bench_ray_against_trimesh_with_normal_uv,
-    cast_ray_and_get_normal_and_uv,
+    bench_ray_against_trimesh_with_normal,
+    cast_ray_and_get_normal,
     m: TriMesh = generate_trimesh_around_origin,
     pos: Isometry3<f32> = generate,
     ray: Ray = generate,
     max_toi: f32 = generate,
     solid: bool = generate
 );
+
+bench_method_gen!(
+    bench_ray_against_trimesh_with_normal_100,
+    cast_ray_and_get_normal,
+    m: TriMesh = generate_trimesh_around_origin_100,
+    pos: Isometry3<f32> = generate,
+    ray: Ray = generate,
+    max_toi: f32 = generate,
+    solid: bool = generate
+);
+
+bench_method_gen!(
+    bench_ray_against_trimesh_with_normal_10000,
+    cast_ray_and_get_normal,
+    m: TriMesh = generate_trimesh_around_origin_10000,
+    pos: Isometry3<f32> = generate,
+    ray: Ray = generate,
+    max_toi: f32 = generate,
+    solid: bool = generate
+);
diff --git a/build/parry3d/benches/support_map/mod.rs b/build/parry3d/benches/support_map/mod.rs
index 7a6259b8..994ceb0c 100644
--- a/build/parry3d/benches/support_map/mod.rs
+++ b/build/parry3d/benches/support_map/mod.rs
@@ -1,7 +1,7 @@
 use crate::common::{generate, unref};
 use na::{Isometry3, Vector3};
 use parry3d::shape::SupportMap;
-use parry3d::shape::{Ball, Capsule, Cone, ConvexHull, Cuboid, Cylinder, Segment, Triangle};
+use parry3d::shape::{Ball, Capsule, Cone, ConvexPolyhedron, Cuboid, Cylinder, Segment, Triangle};
 use rand::SeedableRng;
 use rand_isaac::IsaacRng;
 use test::Bencher;
@@ -62,7 +62,7 @@ bench_method!(
 bench_method!(
     bench_convex_support_map,
     support_point,
-    c: ConvexHull,
+    c: ConvexPolyhedron,
     m: Isometry3<f32>,
     dir: Vector3<f32>
 );