diff --git a/src/narrowphase/narrowphase.cpp b/src/narrowphase/narrowphase.cpp
index 0931513aa39b7fcc553dfd2af4d80ebb5f3689ec..08c9e59d198dcc9ce658abaafd48ede89e24448e 100644
--- a/src/narrowphase/narrowphase.cpp
+++ b/src/narrowphase/narrowphase.cpp
@@ -2557,27 +2557,25 @@ bool planeIntersect(const Plane& s1, const Transform3f& tf1,
 
 // Shape intersect algorithms not using libccd
 //
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// |            | box | ellipsoid | sphere | capsule | cone | cylinder | plane | half-space | triangle |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | box        |  O  |           |        |         |      |          |   O   |      O     |          |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | ellipsoid  |/////|           |        |         |      |          |       |            |          |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | sphere     |/////|///////////|   O    |    O    |      |          |   O   |      O     |    O     |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | capsule    |/////|///////////|////////|         |      |          |   O   |      O     |          |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | cone       |/////|///////////|////////|/////////|      |          |   O   |      O     |          |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | cylinder   |/////|///////////|////////|/////////|//////|          |   O   |      O     |          |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | plane      |/////|///////////|////////|/////////|//////|//////////|   O   |      O     |    O     |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | half-space |/////|///////////|////////|/////////|//////|//////////|///////|      O     |    O     |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | triangle   |/////|///////////|////////|/////////|//////|//////////|///////|////////////|          |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// |            | box | sphere | capsule | cone | cylinder | plane | half-space | triangle |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// | box        |  O  |        |         |      |          |   O   |      O     |          |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// | sphere     |/////|   O    |    O    |      |          |   O   |      O     |    O     |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// | capsule    |/////|////////|         |      |          |   O   |      O     |          |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// | cone       |/////|////////|/////////|      |          |   O   |      O     |          |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// | cylinder   |/////|////////|/////////|//////|          |   O   |      O     |          |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// | plane      |/////|////////|/////////|//////|//////////|   O   |      O     |    O     |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// | half-space |/////|////////|/////////|//////|//////////|///////|      O     |    O     |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// | triangle   |/////|////////|/////////|//////|//////////|///////|////////////|          |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
 
 template<>
 bool GJKSolver_libccd::shapeIntersect<Sphere, Capsule>(const Sphere &s1, const Transform3f& tf1,
@@ -2870,27 +2868,25 @@ bool GJKSolver_libccd::shapeTriangleIntersect(const Plane& s, const Transform3f&
 
 // Shape distance algorithms not using libccd
 //
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// |            | box | ellipsoid | sphere | capsule | cone | cylinder | plane | half-space | triangle |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | box        |     |           |        |         |      |          |       |            |          |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | ellipsoid  |/////|           |        |         |      |          |       |            |          |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | sphere     |/////|///////////|   O    |    O    |      |          |       |            |    O     |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | capsule    |/////|///////////|////////|    O    |      |          |       |            |          |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | cone       |/////|///////////|////////|/////////|      |          |       |            |          |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | cylinder   |/////|///////////|////////|/////////|//////|          |       |            |          |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | plane      |/////|///////////|////////|/////////|//////|//////////|       |            |          |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | half-space |/////|///////////|////////|/////////|//////|//////////|///////|            |          |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | triangle   |/////|///////////|////////|/////////|//////|//////////|///////|////////////|          |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// |            | box | sphere | capsule | cone | cylinder | plane | half-space | triangle |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// | box        |     |        |         |      |          |       |            |          |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// | sphere     |/////|   O    |    O    |      |          |       |            |    O     |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// | capsule    |/////|////////|    O    |      |          |       |            |          |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// | cone       |/////|////////|/////////|      |          |       |            |          |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// | cylinder   |/////|////////|/////////|//////|          |       |            |          |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// | plane      |/////|////////|/////////|//////|//////////|       |            |          |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// | half-space |/////|////////|/////////|//////|//////////|///////|            |          |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// | triangle   |/////|////////|/////////|//////|//////////|///////|////////////|          |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
 
 template<>
 bool GJKSolver_libccd::shapeDistance<Sphere, Capsule>(const Sphere& s1, const Transform3f& tf1,
@@ -2945,27 +2941,25 @@ bool GJKSolver_libccd::shapeTriangleDistance<Sphere>(const Sphere& s, const Tran
 
 // Shape intersect algorithms not using built-in GJK algorithm
 //
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// |            | box | ellipsoid | sphere | capsule | cone | cylinder | plane | half-space | triangle |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | box        |  O  |           |        |         |      |          |   O   |      O     |          |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | ellipsoid  |/////|           |        |         |      |          |       |            |          |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | sphere     |/////|///////////|   O    |    O    |      |          |   O   |      O     |    O     |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | capsule    |/////|///////////|////////|         |      |          |   O   |      O     |          |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | cone       |/////|///////////|////////|/////////|      |          |   O   |      O     |          |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | cylinder   |/////|///////////|////////|/////////|//////|          |   O   |      O     |          |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | plane      |/////|///////////|////////|/////////|//////|//////////|   O   |      O     |    O     |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | half-space |/////|///////////|////////|/////////|//////|//////////|///////|      O     |    O     |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | triangle   |/////|///////////|////////|/////////|//////|//////////|///////|////////////|          |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// |            | box | sphere | capsule | cone | cylinder | plane | half-space | triangle |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// | box        |  O  |        |         |      |          |   O   |      O     |          |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// | sphere     |/////|   O    |    O    |      |          |   O   |      O     |    O     |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// | capsule    |/////|////////|         |      |          |   O   |      O     |          |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// | cone       |/////|////////|/////////|      |          |   O   |      O     |          |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// | cylinder   |/////|////////|/////////|//////|          |   O   |      O     |          |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// | plane      |/////|////////|/////////|//////|//////////|   O   |      O     |    O     |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// | half-space |/////|////////|/////////|//////|//////////|///////|      O     |    O     |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// | triangle   |/////|////////|/////////|//////|//////////|///////|////////////|          |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
 
 template<>
 bool GJKSolver_indep::shapeIntersect<Sphere, Capsule>(const Sphere &s1, const Transform3f& tf1,
@@ -3258,27 +3252,25 @@ bool GJKSolver_indep::shapeTriangleIntersect(const Plane& s, const Transform3f&
 
 // Shape distance algorithms not using built-in GJK algorithm
 //
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// |            | box | ellipsoid | sphere | capsule | cone | cylinder | plane | half-space | triangle |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | box        |     |           |        |         |      |          |       |            |          |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | ellipsoid  |/////|           |        |         |      |          |       |            |          |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | sphere     |/////|///////////|   O    |    O    |      |          |       |            |    O     |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | capsule    |/////|///////////|////////|    O    |      |          |       |            |          |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | cone       |/////|///////////|////////|/////////|      |          |       |            |          |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | cylinder   |/////|///////////|////////|/////////|//////|          |       |            |          |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | plane      |/////|///////////|////////|/////////|//////|//////////|       |            |          |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | half-space |/////|///////////|////////|/////////|//////|//////////|///////|            |          |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
-// | triangle   |/////|///////////|////////|/////////|//////|//////////|///////|////////////|          |
-// +------------+-----+-----------+--------+---------+------+----------+-------+------------+----------+
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// |            | box | sphere | capsule | cone | cylinder | plane | half-space | triangle |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// | box        |     |        |         |      |          |       |            |          |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// | sphere     |/////|   O    |    O    |      |          |       |            |    O     |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// | capsule    |/////|////////|    O    |      |          |       |            |          |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// | cone       |/////|////////|/////////|      |          |       |            |          |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// | cylinder   |/////|////////|/////////|//////|          |       |            |          |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// | plane      |/////|////////|/////////|//////|//////////|       |            |          |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// | half-space |/////|////////|/////////|//////|//////////|///////|            |          |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
+// | triangle   |/////|////////|/////////|//////|//////////|///////|////////////|          |
+// +------------+-----+--------+---------+------+----------+-------+------------+----------+
 
 template<>
 bool GJKSolver_indep::shapeDistance<Sphere, Capsule>(const Sphere& s1, const Transform3f& tf1,