diff --git a/dist/cannon-es.cjs.js b/dist/cannon-es.cjs.js
index d7caa2c8d..139ee69ce 100644
--- a/dist/cannon-es.cjs.js
+++ b/dist/cannon-es.cjs.js
@@ -3326,7 +3326,7 @@ class Body extends EventTarget {
     }
 
     this.allowSleep = typeof options.allowSleep !== 'undefined' ? options.allowSleep : true;
-    this.sleepState = 0;
+    this.sleepState = Body.AWAKE;
     this.sleepSpeedLimit = typeof options.sleepSpeedLimit !== 'undefined' ? options.sleepSpeedLimit : 0.1;
     this.sleepTimeLimit = typeof options.sleepTimeLimit !== 'undefined' ? options.sleepTimeLimit : 1;
     this.timeLastSleepy = 0;
@@ -3393,7 +3393,7 @@ class Body extends EventTarget {
 
   wakeUp() {
     const prevState = this.sleepState;
-    this.sleepState = 0;
+    this.sleepState = Body.AWAKE;
     this.wakeUpAfterNarrowphase = false;
 
     if (prevState === Body.SLEEPING) {
@@ -5042,6 +5042,7 @@ const Ray_intersectSphere_normal = new Vec3();
 Ray.prototype[Shape.types.SPHERE] = Ray.prototype._intersectSphere;
 const intersectConvex_normal = new Vec3();
 const intersectConvex_vector = new Vec3();
+Ray.prototype[Shape.types.CYLINDER] = Ray.prototype._intersectConvex;
 Ray.prototype[Shape.types.CONVEXPOLYHEDRON] = Ray.prototype._intersectConvex;
 const intersectTrimesh_normal = new Vec3();
 const intersectTrimesh_localDirection = new Vec3();
@@ -7758,7 +7759,15 @@ const SPHSystem_update_u = new Vec3();
  */
 
 class Cylinder extends ConvexPolyhedron {
-  constructor(radiusTop, radiusBottom, height, numSegments) {
+  constructor(radiusTop = 1, radiusBottom = 1, height = 1, numSegments = 8) {
+    if (radiusTop < 0) {
+      throw new Error('The cylinder radiusTop cannot be negative.');
+    }
+
+    if (radiusBottom < 0) {
+      throw new Error('The cylinder radiusBottom cannot be negative.');
+    }
+
     const N = numSegments;
     const vertices = [];
     const axes = [];
@@ -7812,6 +7821,11 @@ class Cylinder extends ConvexPolyhedron {
       faces,
       axes
     });
+    this.type = Shape.types.CYLINDER;
+    this.radiusTop = radiusTop;
+    this.radiusBottom = radiusBottom;
+    this.height = height;
+    this.numSegments = numSegments;
   }
 
 }
@@ -9711,6 +9725,10 @@ class Vec3Pool extends Pool {
 
 }
 
+// Naming rule: based of the order in SHAPE_TYPES,
+// the first part of the method is formed by the
+// shape type that comes before, in the second part
+// there is the shape type that comes after in the SHAPE_TYPES list
 const COLLISION_TYPES = {
   sphereSphere: Shape.types.SPHERE,
   spherePlane: Shape.types.SPHERE | Shape.types.PLANE,
@@ -9728,6 +9746,13 @@ const COLLISION_TYPES = {
   planeParticle: Shape.types.PLANE | Shape.types.PARTICLE,
   boxParticle: Shape.types.BOX | Shape.types.PARTICLE,
   convexParticle: Shape.types.PARTICLE | Shape.types.CONVEXPOLYHEDRON,
+  cylinderCylinder: Shape.types.CYLINDER,
+  sphereCylinder: Shape.types.SPHERE | Shape.types.CYLINDER,
+  planeCylinder: Shape.types.PLANE | Shape.types.CYLINDER,
+  boxCylinder: Shape.types.BOX | Shape.types.CYLINDER,
+  convexCylinder: Shape.types.CONVEXPOLYHEDRON | Shape.types.CYLINDER,
+  heightfieldCylinder: Shape.types.HEIGHTFIELD | Shape.types.CYLINDER,
+  particleCylinder: Shape.types.PARTICLE | Shape.types.CYLINDER,
   sphereTrimesh: Shape.types.SPHERE | Shape.types.TRIMESH,
   planeTrimesh: Shape.types.PLANE | Shape.types.TRIMESH
 };
@@ -10895,6 +10920,14 @@ class Narrowphase {
     }
   }
 
+  heightfieldCylinder(hfShape, convexShape, hfPos, convexPos, hfQuat, convexQuat, hfBody, convexBody, rsi, rsj, justTest) {
+    return this.convexHeightfield(convexShape, hfShape, convexPos, hfPos, convexQuat, hfQuat, convexBody, hfBody, rsi, rsj, justTest);
+  }
+
+  particleCylinder(si, sj, xi, xj, qi, qj, bi, bj, rsi, rsj, justTest) {
+    return this.convexParticle(sj, si, xj, xi, qj, qi, bj, bi, rsi, rsj, justTest);
+  }
+
   sphereTrimesh(sphereShape, trimeshShape, spherePos, trimeshPos, sphereQuat, trimeshQuat, sphereBody, trimeshBody, rsi, rsj, justTest) {
     const edgeVertexA = sphereTrimesh_edgeVertexA;
     const edgeVertexB = sphereTrimesh_edgeVertexB;
@@ -11247,7 +11280,14 @@ const particlePlane_relpos = new Vec3();
 const particlePlane_projected = new Vec3();
 Narrowphase.prototype[COLLISION_TYPES.planeParticle] = Narrowphase.prototype.planeParticle;
 const particleSphere_normal = new Vec3();
-Narrowphase.prototype[COLLISION_TYPES.sphereParticle] = Narrowphase.prototype.sphereParticle; // WIP
+Narrowphase.prototype[COLLISION_TYPES.sphereParticle] = Narrowphase.prototype.sphereParticle;
+Narrowphase.prototype[COLLISION_TYPES.cylinderCylinder] = Narrowphase.prototype.convexConvex;
+Narrowphase.prototype[COLLISION_TYPES.sphereCylinder] = Narrowphase.prototype.sphereConvex;
+Narrowphase.prototype[COLLISION_TYPES.planeCylinder] = Narrowphase.prototype.planeConvex;
+Narrowphase.prototype[COLLISION_TYPES.boxCylinder] = Narrowphase.prototype.boxConvex;
+Narrowphase.prototype[COLLISION_TYPES.convexCylinder] = Narrowphase.prototype.convexConvex;
+Narrowphase.prototype[COLLISION_TYPES.heightfieldCylinder] = Narrowphase.prototype.heightfieldCylinder;
+Narrowphase.prototype[COLLISION_TYPES.particleCylinder] = Narrowphase.prototype.particleCylinder; // WIP
 
 const cqj = new Quaternion();
 const convexParticle_local = new Vec3();
@@ -11820,9 +11860,9 @@ class World extends EventTarget {
         this.accumulator -= dt;
         substeps++;
 
-        if (performance.now() - t0 > dt * 2 * 1000) {
+        if (performance.now() - t0 > dt * 1000) {
           // The framerate is not interactive anymore.
-          // We are at half of the target framerate.
+          // We are below the target framerate.
           // Better bail out.
           break;
         }
diff --git a/dist/cannon-es.d.ts b/dist/cannon-es.d.ts
index bb6aa6a55..dae833bdb 100644
--- a/dist/cannon-es.d.ts
+++ b/dist/cannon-es.d.ts
@@ -143,15 +143,15 @@ declare module "shapes/Shape" {
     import type { Body } from "objects/Body";
     import type { Material } from "material/Material";
     export const SHAPE_TYPES: {
-        SPHERE: 1;
-        PLANE: 2;
-        BOX: 4;
-        COMPOUND: 8;
-        CONVEXPOLYHEDRON: 16;
-        HEIGHTFIELD: 32;
-        PARTICLE: 64;
-        CYLINDER: 128;
-        TRIMESH: 256;
+        readonly SPHERE: 1;
+        readonly PLANE: 2;
+        readonly BOX: 4;
+        readonly COMPOUND: 8;
+        readonly CONVEXPOLYHEDRON: 16;
+        readonly HEIGHTFIELD: 32;
+        readonly PARTICLE: 64;
+        readonly CYLINDER: 128;
+        readonly TRIMESH: 256;
     };
     export type ShapeType = typeof SHAPE_TYPES[keyof typeof SHAPE_TYPES];
     export type ShapeOptions = {
@@ -568,6 +568,16 @@ declare module "shapes/Particle" {
         calculateWorldAABB(pos: Vec3, quat: Quaternion, min: Vec3, max: Vec3): void;
     }
 }
+declare module "shapes/Cylinder" {
+    import { ConvexPolyhedron } from "shapes/ConvexPolyhedron";
+    export class Cylinder extends ConvexPolyhedron {
+        radiusTop: number;
+        radiusBottom: number;
+        height: number;
+        numSegments: number;
+        constructor(radiusTop?: number, radiusBottom?: number, height?: number, numSegments?: number);
+    }
+}
 declare module "material/ContactMaterial" {
     import type { Material } from "material/Material";
     export type ContactMaterialOptions = {
@@ -606,6 +616,7 @@ declare module "world/Narrowphase" {
     import type { Plane } from "shapes/Plane";
     import type { Trimesh } from "shapes/Trimesh";
     import type { Heightfield } from "shapes/Heightfield";
+    import { Cylinder } from "shapes/Cylinder";
     import type { ContactMaterial } from "material/ContactMaterial";
     import type { World } from "world/World";
     export const COLLISION_TYPES: {
@@ -625,6 +636,13 @@ declare module "world/Narrowphase" {
         planeParticle: 66;
         boxParticle: 68;
         convexParticle: 80;
+        cylinderCylinder: 128;
+        sphereCylinder: 129;
+        planeCylinder: 130;
+        boxCylinder: 132;
+        convexCylinder: 144;
+        heightfieldCylinder: 160;
+        particleCylinder: 192;
         sphereTrimesh: 257;
         planeTrimesh: 258;
     };
@@ -654,6 +672,13 @@ declare module "world/Narrowphase" {
         [COLLISION_TYPES.planeParticle]: typeof Narrowphase.prototype.planeParticle;
         [COLLISION_TYPES.boxParticle]: typeof Narrowphase.prototype.boxParticle;
         [COLLISION_TYPES.convexParticle]: typeof Narrowphase.prototype.convexParticle;
+        [COLLISION_TYPES.cylinderCylinder]: typeof Narrowphase.prototype.convexConvex;
+        [COLLISION_TYPES.sphereCylinder]: typeof Narrowphase.prototype.sphereConvex;
+        [COLLISION_TYPES.planeCylinder]: typeof Narrowphase.prototype.planeConvex;
+        [COLLISION_TYPES.boxCylinder]: typeof Narrowphase.prototype.boxConvex;
+        [COLLISION_TYPES.convexCylinder]: typeof Narrowphase.prototype.convexConvex;
+        [COLLISION_TYPES.heightfieldCylinder]: typeof Narrowphase.prototype.heightfieldCylinder;
+        [COLLISION_TYPES.particleCylinder]: typeof Narrowphase.prototype.particleCylinder;
         [COLLISION_TYPES.sphereTrimesh]: typeof Narrowphase.prototype.sphereTrimesh;
         [COLLISION_TYPES.planeTrimesh]: typeof Narrowphase.prototype.planeTrimesh;
         constructor(world: World);
@@ -677,6 +702,8 @@ declare module "world/Narrowphase" {
         planeParticle(sj: Plane, si: Particle, xj: Vec3, xi: Vec3, qj: Quaternion, qi: Quaternion, bj: Body, bi: Body, rsi?: Shape | null, rsj?: Shape | null, justTest?: boolean): true | void;
         boxParticle(si: Box, sj: Particle, xi: Vec3, xj: Vec3, qi: Quaternion, qj: Quaternion, bi: Body, bj: Body, rsi?: Shape | null, rsj?: Shape | null, justTest?: boolean): true | void;
         convexParticle(sj: ConvexPolyhedron, si: Particle, xj: Vec3, xi: Vec3, qj: Quaternion, qi: Quaternion, bj: Body, bi: Body, rsi?: Shape | null, rsj?: Shape | null, justTest?: boolean): true | void;
+        heightfieldCylinder(hfShape: Heightfield, convexShape: Cylinder, hfPos: Vec3, convexPos: Vec3, hfQuat: Quaternion, convexQuat: Quaternion, hfBody: Body, convexBody: Body, rsi?: Shape | null, rsj?: Shape | null, justTest?: boolean): true | void;
+        particleCylinder(si: Particle, sj: Cylinder, xi: Vec3, xj: Vec3, qi: Quaternion, qj: Quaternion, bi: Body, bj: Body, rsi?: Shape | null, rsj?: Shape | null, justTest?: boolean): true | void;
         sphereTrimesh(sphereShape: Sphere, trimeshShape: Trimesh, spherePos: Vec3, trimeshPos: Vec3, sphereQuat: Quaternion, trimeshQuat: Quaternion, sphereBody: Body, trimeshBody: Body, rsi?: Shape | null, rsj?: Shape | null, justTest?: boolean): true | void;
         planeTrimesh(planeShape: Plane, trimeshShape: Trimesh, planePos: Vec3, trimeshPos: Vec3, planeQuat: Quaternion, trimeshQuat: Quaternion, planeBody: Body, trimeshBody: Body, rsi?: Shape | null, rsj?: Shape | null, justTest?: boolean): true | void;
     }
@@ -883,6 +910,7 @@ declare module "collision/Ray" {
         [Shape.types.SPHERE]: typeof Ray.prototype._intersectSphere;
         [Shape.types.PLANE]: typeof Ray.prototype._intersectPlane;
         [Shape.types.BOX]: typeof Ray.prototype._intersectBox;
+        [Shape.types.CYLINDER]: typeof Ray.prototype._intersectConvex;
         [Shape.types.CONVEXPOLYHEDRON]: typeof Ray.prototype._intersectConvex;
         [Shape.types.HEIGHTFIELD]: typeof Ray.prototype._intersectHeightfield;
         [Shape.types.TRIMESH]: typeof Ray.prototype._intersectTrimesh;
@@ -1478,12 +1506,6 @@ declare module "objects/SPHSystem" {
         nablaw(r: number): number;
     }
 }
-declare module "shapes/Cylinder" {
-    import { ConvexPolyhedron } from "shapes/ConvexPolyhedron";
-    export class Cylinder extends ConvexPolyhedron {
-        constructor(radiusTop: number, radiusBottom: number, height: number, numSegments: number);
-    }
-}
 declare module "solver/SplitSolver" {
     import { Solver } from "solver/Solver";
     import { Body } from "objects/Body";
diff --git a/dist/cannon-es.js b/dist/cannon-es.js
index 0b1b72a09..900fa04d2 100644
--- a/dist/cannon-es.js
+++ b/dist/cannon-es.js
@@ -3322,7 +3322,7 @@ class Body extends EventTarget {
     }
 
     this.allowSleep = typeof options.allowSleep !== 'undefined' ? options.allowSleep : true;
-    this.sleepState = 0;
+    this.sleepState = Body.AWAKE;
     this.sleepSpeedLimit = typeof options.sleepSpeedLimit !== 'undefined' ? options.sleepSpeedLimit : 0.1;
     this.sleepTimeLimit = typeof options.sleepTimeLimit !== 'undefined' ? options.sleepTimeLimit : 1;
     this.timeLastSleepy = 0;
@@ -3389,7 +3389,7 @@ class Body extends EventTarget {
 
   wakeUp() {
     const prevState = this.sleepState;
-    this.sleepState = 0;
+    this.sleepState = Body.AWAKE;
     this.wakeUpAfterNarrowphase = false;
 
     if (prevState === Body.SLEEPING) {
@@ -5038,6 +5038,7 @@ const Ray_intersectSphere_normal = new Vec3();
 Ray.prototype[Shape.types.SPHERE] = Ray.prototype._intersectSphere;
 const intersectConvex_normal = new Vec3();
 const intersectConvex_vector = new Vec3();
+Ray.prototype[Shape.types.CYLINDER] = Ray.prototype._intersectConvex;
 Ray.prototype[Shape.types.CONVEXPOLYHEDRON] = Ray.prototype._intersectConvex;
 const intersectTrimesh_normal = new Vec3();
 const intersectTrimesh_localDirection = new Vec3();
@@ -7754,7 +7755,15 @@ const SPHSystem_update_u = new Vec3();
  */
 
 class Cylinder extends ConvexPolyhedron {
-  constructor(radiusTop, radiusBottom, height, numSegments) {
+  constructor(radiusTop = 1, radiusBottom = 1, height = 1, numSegments = 8) {
+    if (radiusTop < 0) {
+      throw new Error('The cylinder radiusTop cannot be negative.');
+    }
+
+    if (radiusBottom < 0) {
+      throw new Error('The cylinder radiusBottom cannot be negative.');
+    }
+
     const N = numSegments;
     const vertices = [];
     const axes = [];
@@ -7808,6 +7817,11 @@ class Cylinder extends ConvexPolyhedron {
       faces,
       axes
     });
+    this.type = Shape.types.CYLINDER;
+    this.radiusTop = radiusTop;
+    this.radiusBottom = radiusBottom;
+    this.height = height;
+    this.numSegments = numSegments;
   }
 
 }
@@ -9707,6 +9721,10 @@ class Vec3Pool extends Pool {
 
 }
 
+// Naming rule: based of the order in SHAPE_TYPES,
+// the first part of the method is formed by the
+// shape type that comes before, in the second part
+// there is the shape type that comes after in the SHAPE_TYPES list
 const COLLISION_TYPES = {
   sphereSphere: Shape.types.SPHERE,
   spherePlane: Shape.types.SPHERE | Shape.types.PLANE,
@@ -9724,6 +9742,13 @@ const COLLISION_TYPES = {
   planeParticle: Shape.types.PLANE | Shape.types.PARTICLE,
   boxParticle: Shape.types.BOX | Shape.types.PARTICLE,
   convexParticle: Shape.types.PARTICLE | Shape.types.CONVEXPOLYHEDRON,
+  cylinderCylinder: Shape.types.CYLINDER,
+  sphereCylinder: Shape.types.SPHERE | Shape.types.CYLINDER,
+  planeCylinder: Shape.types.PLANE | Shape.types.CYLINDER,
+  boxCylinder: Shape.types.BOX | Shape.types.CYLINDER,
+  convexCylinder: Shape.types.CONVEXPOLYHEDRON | Shape.types.CYLINDER,
+  heightfieldCylinder: Shape.types.HEIGHTFIELD | Shape.types.CYLINDER,
+  particleCylinder: Shape.types.PARTICLE | Shape.types.CYLINDER,
   sphereTrimesh: Shape.types.SPHERE | Shape.types.TRIMESH,
   planeTrimesh: Shape.types.PLANE | Shape.types.TRIMESH
 };
@@ -10891,6 +10916,14 @@ class Narrowphase {
     }
   }
 
+  heightfieldCylinder(hfShape, convexShape, hfPos, convexPos, hfQuat, convexQuat, hfBody, convexBody, rsi, rsj, justTest) {
+    return this.convexHeightfield(convexShape, hfShape, convexPos, hfPos, convexQuat, hfQuat, convexBody, hfBody, rsi, rsj, justTest);
+  }
+
+  particleCylinder(si, sj, xi, xj, qi, qj, bi, bj, rsi, rsj, justTest) {
+    return this.convexParticle(sj, si, xj, xi, qj, qi, bj, bi, rsi, rsj, justTest);
+  }
+
   sphereTrimesh(sphereShape, trimeshShape, spherePos, trimeshPos, sphereQuat, trimeshQuat, sphereBody, trimeshBody, rsi, rsj, justTest) {
     const edgeVertexA = sphereTrimesh_edgeVertexA;
     const edgeVertexB = sphereTrimesh_edgeVertexB;
@@ -11243,7 +11276,14 @@ const particlePlane_relpos = new Vec3();
 const particlePlane_projected = new Vec3();
 Narrowphase.prototype[COLLISION_TYPES.planeParticle] = Narrowphase.prototype.planeParticle;
 const particleSphere_normal = new Vec3();
-Narrowphase.prototype[COLLISION_TYPES.sphereParticle] = Narrowphase.prototype.sphereParticle; // WIP
+Narrowphase.prototype[COLLISION_TYPES.sphereParticle] = Narrowphase.prototype.sphereParticle;
+Narrowphase.prototype[COLLISION_TYPES.cylinderCylinder] = Narrowphase.prototype.convexConvex;
+Narrowphase.prototype[COLLISION_TYPES.sphereCylinder] = Narrowphase.prototype.sphereConvex;
+Narrowphase.prototype[COLLISION_TYPES.planeCylinder] = Narrowphase.prototype.planeConvex;
+Narrowphase.prototype[COLLISION_TYPES.boxCylinder] = Narrowphase.prototype.boxConvex;
+Narrowphase.prototype[COLLISION_TYPES.convexCylinder] = Narrowphase.prototype.convexConvex;
+Narrowphase.prototype[COLLISION_TYPES.heightfieldCylinder] = Narrowphase.prototype.heightfieldCylinder;
+Narrowphase.prototype[COLLISION_TYPES.particleCylinder] = Narrowphase.prototype.particleCylinder; // WIP
 
 const cqj = new Quaternion();
 const convexParticle_local = new Vec3();
@@ -11816,9 +11856,9 @@ class World extends EventTarget {
         this.accumulator -= dt;
         substeps++;
 
-        if (performance.now() - t0 > dt * 2 * 1000) {
+        if (performance.now() - t0 > dt * 1000) {
           // The framerate is not interactive anymore.
-          // We are at half of the target framerate.
+          // We are below the target framerate.
           // Better bail out.
           break;
         }
diff --git a/examples/convex.html b/examples/convex.html
index 66340b1cb..4ad75028a 100644
--- a/examples/convex.html
+++ b/examples/convex.html
@@ -70,7 +70,7 @@
         world.addBody(tetraBody)
         demo.addVisual(tetraBody)
 
-        // ConvexPolyhedron cylinder shape
+        // The Cylinder is a ConvexPolyhedron under the hood
         const height = 2
         const radius = 0.5
         const detail = 20
diff --git a/examples/shapes.html b/examples/shapes.html
index 53a900d97..f5379ab11 100644
--- a/examples/shapes.html
+++ b/examples/shapes.html
@@ -66,12 +66,10 @@
 
         // Cylinder shape 2
         const cylinderShape2 = new CANNON.Cylinder(size, size, size * 2, 10)
-        const quaternion = new CANNON.Quaternion()
-        quaternion.setFromEuler(Math.PI / 2, Math.PI / 2, 0)
-        cylinderShape2.transformAllPoints(new CANNON.Vec3(), quaternion)
         const cylinderBody2 = new CANNON.Body({ mass })
         cylinderBody2.addShape(cylinderShape2)
         cylinderBody2.position.set(size * 2, size * 4 + 1, size * 2)
+        cylinderBody2.quaternion.setFromEuler(Math.PI / 2, Math.PI / 2, 0)
         world.addBody(cylinderBody2)
         demo.addVisual(cylinderBody2)
 
diff --git a/examples/stacks.html b/examples/stacks.html
index 8f9e30bc5..fe5700bcc 100644
--- a/examples/stacks.html
+++ b/examples/stacks.html
@@ -149,6 +149,26 @@
         demo.addVisual(body2)
       })
 
+      demo.addScene('sphere/cylinder', () => {
+        const world = setupWorld(demo)
+
+        // Sphere
+        const sphereShape = new CANNON.Sphere(size * 0.5)
+        const body1 = new CANNON.Body({ mass })
+        body1.addShape(sphereShape)
+        body1.position.set(0, size * 6, 0)
+        world.addBody(body1)
+        demo.addVisual(body1)
+
+        // Cylinder
+        const cylinderShape = new CANNON.Cylinder(size, size, size * 2, 10)
+        const body2 = new CANNON.Body({ mass })
+        body2.addShape(cylinderShape)
+        body2.position.set(0, size * 3, 0)
+        world.addBody(body2)
+        demo.addVisual(body2)
+      })
+
       demo.addScene('sphere/particle', () => {
         const world = setupWorld(demo)
 
@@ -202,6 +222,18 @@
         demo.addVisual(body)
       })
 
+      demo.addScene('plane/cylinder', () => {
+        const world = setupWorld(demo)
+
+        // Cylinder
+        const cylinderShape = new CANNON.Cylinder(size, size, size * 2, 10)
+        const body = new CANNON.Body({ mass })
+        body.addShape(cylinderShape)
+        body.position.set(0, size * 3, 0)
+        world.addBody(body)
+        demo.addVisual(body)
+      })
+
       demo.addScene('plane/particle', () => {
         const world = setupWorld(demo)
 
@@ -270,6 +302,26 @@
         demo.addVisual(body2)
       })
 
+      demo.addScene('box/cylinder', () => {
+        const world = setupWorld(demo)
+
+        // Box
+        const boxShape = new CANNON.Box(new CANNON.Vec3(size * 0.5, size * 0.5, size * 0.5))
+        const body1 = new CANNON.Body({ mass })
+        body1.addShape(boxShape)
+        body1.position.set(0, size * 5, 0)
+        world.addBody(body1)
+        demo.addVisual(body1)
+
+        // Cylinder
+        const cylinderShape = new CANNON.Cylinder(size, size, size * 2, 10)
+        const body2 = new CANNON.Body({ mass })
+        body2.addShape(cylinderShape)
+        body2.position.set(0, size * 2, 0)
+        world.addBody(body2)
+        demo.addVisual(body2)
+      })
+
       demo.addScene('box/particle', () => {
         const world = setupWorld(demo)
 
@@ -323,6 +375,24 @@
         demo.addVisual(body2)
       })
 
+      demo.addScene('compound/cylinder', () => {
+        const world = setupWorld(demo)
+
+        // Cylinder
+        const cylinderShape = new CANNON.Cylinder(size, size, size * 2, 10)
+        const body1 = new CANNON.Body({ mass })
+        body1.addShape(cylinderShape)
+        body1.position.set(0, size * 5, 0)
+        world.addBody(body1)
+        demo.addVisual(body1)
+
+        // Compound
+        const body2 = createCompound(5)
+        body2.position.set(0, size, 0)
+        world.addBody(body2)
+        demo.addVisual(body2)
+      })
+
       demo.addScene('compound/particle', () => {
         const world = setupWorld(demo)
 
@@ -361,6 +431,26 @@
         demo.addVisual(body2)
       })
 
+      demo.addScene('convex/cylinder', () => {
+        const world = setupWorld(demo)
+
+        // Convex tetra
+        const tetraShape = createTetra()
+        const body1 = new CANNON.Body({ mass })
+        body1.addShape(tetraShape)
+        body1.position.set(-0.1, size * 5, 0.1)
+        world.addBody(body1)
+        demo.addVisual(body1)
+
+        // Cylinder
+        const cylinderShape = new CANNON.Cylinder(size, size, size * 2, 10)
+        const body2 = new CANNON.Body({ mass })
+        body2.addShape(cylinderShape)
+        body2.position.set(0, size * 2, 0)
+        world.addBody(body2)
+        demo.addVisual(body2)
+      })
+
       demo.addScene('convex/particle', () => {
         const world = setupWorld(demo)
 
@@ -381,6 +471,45 @@
         demo.addVisual(particle)
       })
 
+      demo.addScene('cylinder/cylinder', () => {
+        const world = setupWorld(demo)
+
+        // Cylinder
+        const cylinderShape = new CANNON.Cylinder(size, size, size * 2, 10)
+        const body1 = new CANNON.Body({ mass })
+        body1.addShape(cylinderShape)
+        body1.position.set(0, size * 3, 0)
+        world.addBody(body1)
+        demo.addVisual(body1)
+
+        // Cylinder
+        const body2 = new CANNON.Body({ mass })
+        body2.addShape(cylinderShape)
+        body2.position.set(0, size * 6, 0)
+        body2.quaternion.setFromEuler(-Math.PI / 2, 0, 0)
+        world.addBody(body2)
+        demo.addVisual(body2)
+      })
+
+      demo.addScene('cylinder/particle', () => {
+        const world = setupWorld(demo)
+
+        // Cylinder
+        const cylinderShape = new CANNON.Cylinder(size, size, size * 2, 10)
+        const body1 = new CANNON.Body({ mass })
+        body1.addShape(cylinderShape)
+        body1.position.set(0, size * 2, 0)
+        world.addBody(body1)
+        demo.addVisual(body1)
+
+        // Particle
+        const particle = new CANNON.Body({ mass: 1 })
+        particle.addShape(new CANNON.Particle())
+        particle.position.set(0, size * 4, 0)
+        world.addBody(particle)
+        demo.addVisual(particle)
+      })
+
       demo.start()
 
       function setupWorld(demo) {
diff --git a/readme.md b/readme.md
index 22a1166ca..0a129d46b 100644
--- a/readme.md
+++ b/readme.md
@@ -9,6 +9,7 @@ These minor changes and improvements were also made:
 - These PRs from the original repo were merged: [schteppe/cannon.js#433](https://github.com/schteppe/cannon.js/pull/433), [schteppe/cannon.js#430](https://github.com/schteppe/cannon.js/pull/430), [schteppe/cannon.js#418](https://github.com/schteppe/cannon.js/pull/418), [schteppe/cannon.js#360](https://github.com/schteppe/cannon.js/pull/360), [schteppe/cannon.js#265](https://github.com/schteppe/cannon.js/pull/265), [schteppe/cannon.js#392](https://github.com/schteppe/cannon.js/pull/392)
 - The `ConvexPolyhedron` constructor now accepts an object instead of a list of arguments. [#6](https://github.com/pmndrs/cannon-es/pull/6)
 - The `Cylinder` is now oriented on the Y axis. [#30](https://github.com/pmndrs/cannon-es/pull/30)
+- The `type` property of the `Cylinder` is now equal to `Shape.types.CYLINDER`. [#59](https://github.com/pmndrs/cannon-es/pull/59)
 - `Body.applyImpulse()` and `Body.applyForce()` are now relative to the center of the body instead of the center of the world [86b0444](https://github.com/schteppe/cannon.js/commit/86b0444c93356aeaa25dd1af795fa162574c6f4b)
 - Added a property `World.hasActiveBodies: boolean` which will be false when all physics bodies are sleeping. This allows for invalidating frames when physics aren't active for increased performance.
 - Deprecated properties and methods have been removed.
diff --git a/src/collision/Ray.ts b/src/collision/Ray.ts
index a5d1d7834..c261145d0 100644
--- a/src/collision/Ray.ts
+++ b/src/collision/Ray.ts
@@ -65,6 +65,7 @@ export class Ray {
   [Shape.types.SPHERE]: typeof Ray.prototype._intersectSphere;
   [Shape.types.PLANE]: typeof Ray.prototype._intersectPlane;
   [Shape.types.BOX]: typeof Ray.prototype._intersectBox;
+  [Shape.types.CYLINDER]: typeof Ray.prototype._intersectConvex;
   [Shape.types.CONVEXPOLYHEDRON]: typeof Ray.prototype._intersectConvex;
   [Shape.types.HEIGHTFIELD]: typeof Ray.prototype._intersectHeightfield;
   [Shape.types.TRIMESH]: typeof Ray.prototype._intersectTrimesh
@@ -199,9 +200,9 @@ export class Ray {
       return
     }
 
-    const intersectMethod = this[shape.type as RayMode]
+    const intersectMethod = this[shape.type as RayMode] as any
     if (intersectMethod) {
-      ;(intersectMethod as any).call(this, shape, quat, position, body, shape)
+      intersectMethod.call(this, shape, quat, position, body, shape)
     }
   }
 
@@ -714,6 +715,8 @@ const intersectConvex_minDistNormal = new Vec3()
 const intersectConvex_minDistIntersect = new Vec3()
 const intersectConvex_vector = new Vec3()
 
+Ray.prototype[Shape.types.CYLINDER] = Ray.prototype._intersectConvex
+
 Ray.prototype[Shape.types.CONVEXPOLYHEDRON] = Ray.prototype._intersectConvex
 
 const intersectTrimesh_normal = new Vec3()
diff --git a/src/shapes/Cylinder.ts b/src/shapes/Cylinder.ts
index 169139eba..2d0b370b5 100644
--- a/src/shapes/Cylinder.ts
+++ b/src/shapes/Cylinder.ts
@@ -1,5 +1,6 @@
 import { ConvexPolyhedron } from '../shapes/ConvexPolyhedron'
 import { Vec3 } from '../math/Vec3'
+import { Shape } from './Shape'
 
 /**
  * @class Cylinder
@@ -12,7 +13,20 @@ import { Vec3 } from '../math/Vec3'
  * @param {Number} numSegments The number of segments to build the cylinder out of
  */
 export class Cylinder extends ConvexPolyhedron {
-  constructor(radiusTop: number, radiusBottom: number, height: number, numSegments: number) {
+  radiusTop: number
+  radiusBottom: number
+  height: number
+  numSegments: number
+
+  constructor(radiusTop: number = 1, radiusBottom: number = 1, height: number = 1, numSegments: number = 8) {
+    if (radiusTop < 0) {
+      throw new Error('The cylinder radiusTop cannot be negative.')
+    }
+
+    if (radiusBottom < 0) {
+      throw new Error('The cylinder radiusBottom cannot be negative.')
+    }
+
     const N = numSegments
     const vertices = []
     const axes = []
@@ -63,5 +77,11 @@ export class Cylinder extends ConvexPolyhedron {
     faces.push(temp)
 
     super({ vertices, faces, axes })
+
+    this.type = Shape.types.CYLINDER
+    this.radiusTop = radiusTop
+    this.radiusBottom = radiusBottom
+    this.height = height
+    this.numSegments = numSegments
   }
 }
diff --git a/src/shapes/Shape.ts b/src/shapes/Shape.ts
index e0240e5a6..84f802649 100644
--- a/src/shapes/Shape.ts
+++ b/src/shapes/Shape.ts
@@ -4,16 +4,16 @@ import type { Body } from '../objects/Body'
 import type { Material } from '../material/Material'
 
 export const SHAPE_TYPES = {
-  SPHERE: 1 as const,
-  PLANE: 2 as const,
-  BOX: 4 as const,
-  COMPOUND: 8 as const,
-  CONVEXPOLYHEDRON: 16 as const,
-  HEIGHTFIELD: 32 as const,
-  PARTICLE: 64 as const,
-  CYLINDER: 128 as const,
-  TRIMESH: 256 as const,
-}
+  SPHERE: 1,
+  PLANE: 2,
+  BOX: 4,
+  COMPOUND: 8,
+  CONVEXPOLYHEDRON: 16,
+  HEIGHTFIELD: 32,
+  PARTICLE: 64,
+  CYLINDER: 128,
+  TRIMESH: 256,
+} as const
 
 export type ShapeType = typeof SHAPE_TYPES[keyof typeof SHAPE_TYPES]
 
diff --git a/src/world/Narrowphase.ts b/src/world/Narrowphase.ts
index 870671bb8..1bf464324 100644
--- a/src/world/Narrowphase.ts
+++ b/src/world/Narrowphase.ts
@@ -15,9 +15,14 @@ import type { Particle } from '../shapes/Particle'
 import type { Plane } from '../shapes/Plane'
 import type { Trimesh } from '../shapes/Trimesh'
 import type { Heightfield } from '../shapes/Heightfield'
+import { Cylinder } from '../shapes/Cylinder'
 import type { ContactMaterial } from '../material/ContactMaterial'
 import type { World } from '../world/World'
 
+// Naming rule: based of the order in SHAPE_TYPES,
+// the first part of the method is formed by the
+// shape type that comes before, in the second part
+// there is the shape type that comes after in the SHAPE_TYPES list
 export const COLLISION_TYPES = {
   sphereSphere: Shape.types.SPHERE as 1,
   spherePlane: (Shape.types.SPHERE | Shape.types.PLANE) as 3,
@@ -35,6 +40,13 @@ export const COLLISION_TYPES = {
   planeParticle: (Shape.types.PLANE | Shape.types.PARTICLE) as 66,
   boxParticle: (Shape.types.BOX | Shape.types.PARTICLE) as 68,
   convexParticle: (Shape.types.PARTICLE | Shape.types.CONVEXPOLYHEDRON) as 80,
+  cylinderCylinder: Shape.types.CYLINDER as 128,
+  sphereCylinder: (Shape.types.SPHERE | Shape.types.CYLINDER) as 129,
+  planeCylinder: (Shape.types.PLANE | Shape.types.CYLINDER) as 130,
+  boxCylinder: (Shape.types.BOX | Shape.types.CYLINDER) as 132,
+  convexCylinder: (Shape.types.CONVEXPOLYHEDRON | Shape.types.CYLINDER) as 144,
+  heightfieldCylinder: (Shape.types.HEIGHTFIELD | Shape.types.CYLINDER) as 160,
+  particleCylinder: (Shape.types.PARTICLE | Shape.types.CYLINDER) as 192,
   sphereTrimesh: (Shape.types.SPHERE | Shape.types.TRIMESH) as 257,
   planeTrimesh: (Shape.types.PLANE | Shape.types.TRIMESH) as 258,
 }
@@ -75,6 +87,13 @@ export class Narrowphase {
   [COLLISION_TYPES.planeParticle]: typeof Narrowphase.prototype.planeParticle;
   [COLLISION_TYPES.boxParticle]: typeof Narrowphase.prototype.boxParticle;
   [COLLISION_TYPES.convexParticle]: typeof Narrowphase.prototype.convexParticle;
+  [COLLISION_TYPES.cylinderCylinder]: typeof Narrowphase.prototype.convexConvex;
+  [COLLISION_TYPES.sphereCylinder]: typeof Narrowphase.prototype.sphereConvex;
+  [COLLISION_TYPES.planeCylinder]: typeof Narrowphase.prototype.planeConvex;
+  [COLLISION_TYPES.boxCylinder]: typeof Narrowphase.prototype.boxConvex;
+  [COLLISION_TYPES.convexCylinder]: typeof Narrowphase.prototype.convexConvex;
+  [COLLISION_TYPES.heightfieldCylinder]: typeof Narrowphase.prototype.heightfieldCylinder;
+  [COLLISION_TYPES.particleCylinder]: typeof Narrowphase.prototype.particleCylinder;
   [COLLISION_TYPES.sphereTrimesh]: typeof Narrowphase.prototype.sphereTrimesh;
   [COLLISION_TYPES.planeTrimesh]: typeof Narrowphase.prototype.planeTrimesh
 
@@ -1551,6 +1570,50 @@ export class Narrowphase {
     }
   }
 
+  heightfieldCylinder(
+    hfShape: Heightfield,
+    convexShape: Cylinder,
+    hfPos: Vec3,
+    convexPos: Vec3,
+    hfQuat: Quaternion,
+    convexQuat: Quaternion,
+    hfBody: Body,
+    convexBody: Body,
+    rsi?: Shape | null,
+    rsj?: Shape | null,
+    justTest?: boolean
+  ): true | void {
+    return this.convexHeightfield(
+      convexShape as ConvexPolyhedron,
+      hfShape,
+      convexPos,
+      hfPos,
+      convexQuat,
+      hfQuat,
+      convexBody,
+      hfBody,
+      rsi,
+      rsj,
+      justTest
+    )
+  }
+
+  particleCylinder(
+    si: Particle,
+    sj: Cylinder,
+    xi: Vec3,
+    xj: Vec3,
+    qi: Quaternion,
+    qj: Quaternion,
+    bi: Body,
+    bj: Body,
+    rsi?: Shape | null,
+    rsj?: Shape | null,
+    justTest?: boolean
+  ): true | void {
+    return this.convexParticle(sj as ConvexPolyhedron, si, xj, xi, qj, qi, bj, bi, rsi, rsj, justTest)
+  }
+
   sphereTrimesh(
     sphereShape: Sphere,
     trimeshShape: Trimesh,
@@ -2016,6 +2079,14 @@ const particleSphere_normal = new Vec3()
 
 Narrowphase.prototype[COLLISION_TYPES.sphereParticle] = Narrowphase.prototype.sphereParticle
 
+Narrowphase.prototype[COLLISION_TYPES.cylinderCylinder] = Narrowphase.prototype.convexConvex
+Narrowphase.prototype[COLLISION_TYPES.sphereCylinder] = Narrowphase.prototype.sphereConvex
+Narrowphase.prototype[COLLISION_TYPES.planeCylinder] = Narrowphase.prototype.planeConvex
+Narrowphase.prototype[COLLISION_TYPES.boxCylinder] = Narrowphase.prototype.boxConvex
+Narrowphase.prototype[COLLISION_TYPES.convexCylinder] = Narrowphase.prototype.convexConvex
+Narrowphase.prototype[COLLISION_TYPES.heightfieldCylinder] = Narrowphase.prototype.heightfieldCylinder
+Narrowphase.prototype[COLLISION_TYPES.particleCylinder] = Narrowphase.prototype.particleCylinder
+
 // WIP
 const cqj = new Quaternion()
 const convexParticle_local = new Vec3()