diff --git a/sources/reactphysics3d/mathematics/Matrix.cpp b/sources/reactphysics3d/mathematics/Matrix.cpp
index 31eaf512..6a7699ea 100644
--- a/sources/reactphysics3d/mathematics/Matrix.cpp
+++ b/sources/reactphysics3d/mathematics/Matrix.cpp
@@ -45,6 +45,7 @@ Matrix::Matrix(int nbRow, int nbColumn) throw(std::invalid_argument)
             array[i] = new double[nbColumn];
         }
 
+        // TODO : This initialization loop must be removed carefully
         // Fill the matrix with zero's
         for (int i=0; i<nbRow; ++i) {
             for(int j=0; j<nbColumn; ++j) {
@@ -309,6 +310,15 @@ void Matrix::fillInSubMatrix(unsigned int rowIndex, unsigned int colIndex, const
     }
 }
 
+// Initialize all the matrix with the given value
+void Matrix::initWithValue(double value) {
+    for (unsigned int i=0; i<nbRow; ++i) {
+        for(unsigned int j=0; j<nbColumn; ++j) {
+            array[i][j] = value;
+        }
+    }
+}
+
 // Definition of the operator + for the sum of two matrices with references
 Matrix Matrix::operator+(const Matrix& matrix2) const throw(MathematicsException) {
     if (nbRow == matrix2.nbRow && nbColumn == matrix2.nbColumn) {
diff --git a/sources/reactphysics3d/mathematics/Matrix.h b/sources/reactphysics3d/mathematics/Matrix.h
index 54e360d6..54065459 100644
--- a/sources/reactphysics3d/mathematics/Matrix.h
+++ b/sources/reactphysics3d/mathematics/Matrix.h
@@ -59,7 +59,7 @@ class Matrix {
         double getTrace() const throw(MathematicsException);                            // Return the trace of a square matrix
         static Matrix identity(int dimension) throw(std::invalid_argument);             // Return the identity matrix I of the given dimension
         void fillInSubMatrix(unsigned int i, unsigned int j, const Matrix& subMatrix);  // Fill in a sub-matrix of the current matrix with another matrix
-
+        void initWithValue(double value);                                               // Initialize all the matrix with the given value
         void display() const;                                                           // TO DELETE
 
         // --- Overloaded operators --- //