diff --git a/include/sch/S_Object/S_Capsule.h b/include/sch/S_Object/S_Capsule.h
index 3b0b61e1..115cd5f7 100644
--- a/include/sch/S_Object/S_Capsule.h
+++ b/include/sch/S_Object/S_Capsule.h
@@ -12,11 +12,15 @@ namespace sch
     SCH_API S_Capsule(Point3 p1, Point3 p2, Scalar radius);
     SCH_API ~S_Capsule();
 
+    SCH_API const Point3 & getP1() const;
 
+    SCH_API const Point3 & getP2() const;
+
+    SCH_API Scalar getRadius() const;
 
   protected:
     SCH_API virtual Point3 l_Support(const Vector3& v, int& lastFeature)const;
-    SCH_API virtual	S_ObjectType getType() const;
+    SCH_API virtual S_ObjectType getType() const;
 
     Point3 p1_, p2_;
 
diff --git a/include/sch/S_Object/S_Cylinder.h b/include/sch/S_Object/S_Cylinder.h
new file mode 100644
index 00000000..ecda7a26
--- /dev/null
+++ b/include/sch/S_Object/S_Cylinder.h
@@ -0,0 +1,33 @@
+#ifndef _S_CYLINDER_H
+#define _S_CYLINDER_H
+
+#include <sch/S_Object/S_ObjectNormalized.h>
+
+namespace sch
+{
+  class S_Cylinder :
+    public S_ObjectNormalized
+  {
+  public:
+    SCH_API S_Cylinder(Point3 p1, Point3 p2, Scalar radius);
+    SCH_API ~S_Cylinder();
+
+    SCH_API const Point3 & getP1() const;
+
+    SCH_API const Point3 & getP2() const;
+
+    SCH_API Scalar getRadius() const;
+
+  protected:
+    SCH_API virtual Point3 l_Support(const Vector3& v, int& lastFeature)const;
+    SCH_API virtual S_ObjectType getType() const;
+
+    Point3 p1_, p2_;
+
+    Vector3 normal_;
+
+    Scalar radius_;
+  };
+}
+#endif //_S_CYLINDER_H
+
diff --git a/include/sch/S_Object/S_Object.h b/include/sch/S_Object/S_Object.h
index c8ab8690..aa3fcf6e 100644
--- a/include/sch/S_Object/S_Object.h
+++ b/include/sch/S_Object/S_Object.h
@@ -230,7 +230,8 @@ namespace sch
       TSTP_BV_WithPolyhedron,
       TPoint,
       TCapsule,
-      TCone
+      TCone,
+      TCylinder
     };
 
     /*!
diff --git a/include/sch/SourcesLib.cmake b/include/sch/SourcesLib.cmake
index a98d4fdf..20ba521e 100644
--- a/include/sch/SourcesLib.cmake
+++ b/include/sch/SourcesLib.cmake
@@ -63,6 +63,7 @@ set(HEADERS_S_Object
   S_Object/S_Point.h
   S_Object/S_Capsule.h
   S_Object/S_Cone.h
+  S_Object/S_Cylinder.h
 )
 InstallFiles(HEADERS_S_Object  "S_Object")
 
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 56c29cd8..3c3afc93 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -50,6 +50,7 @@ SET(SOURCES_S_Object
   S_Object/S_Point.cpp
   S_Object/S_Capsule.cpp
   S_Object/S_Cone.cpp
+  S_Object/S_Cylinder.cpp
 )
 AddSourceGroup(SOURCES_S_Object "S_Object")
 
diff --git a/src/S_Object/S_Capsule.cpp b/src/S_Object/S_Capsule.cpp
index d153be76..19e66f1e 100644
--- a/src/S_Object/S_Capsule.cpp
+++ b/src/S_Object/S_Capsule.cpp
@@ -1,6 +1,7 @@
 #include <sch/S_Object/S_Capsule.h>
 
 using namespace sch;
+
 S_Capsule::S_Capsule(Point3 p1, Point3 p2, Scalar radius): p1_(p1),p2_(p2),radius_(radius)
 {
 }
@@ -32,3 +33,18 @@ S_Object::S_ObjectType S_Capsule::getType() const
 {
   return S_Object::TCapsule;
 }
+
+const Point3 & S_Capsule::getP1() const
+{
+  return p1_;
+}
+
+const Point3 & S_Capsule::getP2() const
+{
+  return p2_;
+}
+
+Scalar S_Capsule::getRadius() const
+{
+  return radius_;
+}
diff --git a/src/S_Object/S_Cylinder.cpp b/src/S_Object/S_Cylinder.cpp
new file mode 100644
index 00000000..fd6d7786
--- /dev/null
+++ b/src/S_Object/S_Cylinder.cpp
@@ -0,0 +1,54 @@
+#include <sch/S_Object/S_Cylinder.h>
+
+using namespace sch;
+
+S_Cylinder::S_Cylinder(Point3 p1, Point3 p2, Scalar radius): p1_(p1),p2_(p2),radius_(radius)
+{
+  normal_ = p2_ - p1_;
+  assert(normal_.norm() != 0);
+  normal_.normalize();
+}
+
+S_Cylinder::~S_Cylinder()
+{
+}
+
+Point3 S_Cylinder::l_Support(const Vector3& v, int& /*lastFeature*/)const
+{
+  Point3 d = p1_;
+  double dot = normal_ * v;
+  if (dot > 0)
+  {
+    d = p2_;
+  }
+  Vector3 proj = v - normal_ * dot;
+  double proj_norm = proj.norm();
+  if(proj_norm != 0)
+  {
+    return d + proj * (radius_ / proj_norm);
+  }
+  else
+  {
+    return d;
+  }
+}
+
+S_Object::S_ObjectType S_Cylinder::getType() const
+{
+  return S_Object::TCylinder;
+}
+
+const Point3 & S_Cylinder::getP1() const
+{
+  return p1_;
+}
+
+const Point3 & S_Cylinder::getP2() const
+{
+  return p2_;
+}
+
+Scalar S_Cylinder::getRadius() const
+{
+  return radius_;
+}