diff --git a/CMakeLists.txt b/CMakeLists.txt
index 65ce371a..f538a201 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,8 +4,14 @@ CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
 # Project configuration
 PROJECT(REACTPHYSICS3D)
 
+# Default build type
+SET(CMAKE_BUILD_TYPE "Debug")
+
 # Where to build the library
-SET(LIBRARY_OUTPUT_PATH lib/)
+SET(LIBRARY_OUTPUT_PATH "lib")
+
+# Where to build the executables
+SET(OUR_EXECUTABLE_OUTPUT_PATH "${PROJECT_BINARY_DIR}/bin")
 
 # Options
 OPTION(COMPILE_EXAMPLES "Select this if you want to build the examples" OFF)
diff --git a/VERSION b/VERSION
index 9325c3cc..60a2d3e9 100644
--- a/VERSION
+++ b/VERSION
@@ -1 +1 @@
-0.3.0
\ No newline at end of file
+0.4.0
\ No newline at end of file
diff --git a/examples/collisionshapes/CMakeLists.txt b/examples/collisionshapes/CMakeLists.txt
index ffbdebbe..2bd5a930 100644
--- a/examples/collisionshapes/CMakeLists.txt
+++ b/examples/collisionshapes/CMakeLists.txt
@@ -4,8 +4,11 @@ cmake_minimum_required(VERSION 2.6)
 # Project configuration
 PROJECT(CollisionShapes)
 
-# Where to build the executable
-SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin/collisionshapes/)
+# Where to build the executables
+SET(EXECUTABLE_OUTPUT_PATH "${OUR_EXECUTABLE_OUTPUT_PATH}/collisionshapes")
+SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${EXECUTABLE_OUTPUT_PATH})
+SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${EXECUTABLE_OUTPUT_PATH})
+SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${EXECUTABLE_OUTPUT_PATH})
 
 # Copy the shaders used for the demo into the build directory
 FILE(COPY "${OPENGLFRAMEWORK_DIR}/src/shaders/" DESTINATION "${EXECUTABLE_OUTPUT_PATH}/shaders/")
diff --git a/examples/cubes/CMakeLists.txt b/examples/cubes/CMakeLists.txt
index f6b44f3a..efdcf263 100644
--- a/examples/cubes/CMakeLists.txt
+++ b/examples/cubes/CMakeLists.txt
@@ -4,8 +4,11 @@ cmake_minimum_required(VERSION 2.6)
 # Project configuration
 PROJECT(Cubes)
 
-# Where to build the executable
-SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin/cubes/)
+# Where to build the executables
+SET(EXECUTABLE_OUTPUT_PATH "${OUR_EXECUTABLE_OUTPUT_PATH}/cubes")
+SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${EXECUTABLE_OUTPUT_PATH})
+SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${EXECUTABLE_OUTPUT_PATH})
+SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${EXECUTABLE_OUTPUT_PATH})
 
 # Copy the shaders used for the demo into the build directory
 FILE(COPY "${OPENGLFRAMEWORK_DIR}/src/shaders/" DESTINATION "${EXECUTABLE_OUTPUT_PATH}/shaders/")
diff --git a/examples/joints/CMakeLists.txt b/examples/joints/CMakeLists.txt
index 9b4f71e6..343f5c7d 100644
--- a/examples/joints/CMakeLists.txt
+++ b/examples/joints/CMakeLists.txt
@@ -4,8 +4,11 @@ cmake_minimum_required(VERSION 2.6)
 # Project configuration
 PROJECT(Joints)
 
-# Where to build the executable
-SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin/joints/)
+# Where to build the executables
+SET(EXECUTABLE_OUTPUT_PATH "${OUR_EXECUTABLE_OUTPUT_PATH}/joints")
+SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${EXECUTABLE_OUTPUT_PATH})
+SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${EXECUTABLE_OUTPUT_PATH})
+SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${EXECUTABLE_OUTPUT_PATH})
 
 # Copy the shaders used for the demo into the build directory
 FILE(COPY "${OPENGLFRAMEWORK_DIR}/src/shaders/" DESTINATION "${EXECUTABLE_OUTPUT_PATH}/shaders/")
diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h
index 4b7980e8..cbd123e1 100644
--- a/src/body/RigidBody.h
+++ b/src/body/RigidBody.h
@@ -188,7 +188,7 @@ class RigidBody : public CollisionBody {
         /// Apply an external force to the body at its gravity center.
         void applyForceToCenter(const Vector3& force);
 
-        /// Apply an external force to the body at a given point (in world-coordinates).
+        /// Apply an external force to the body at a given point (in world-space coordinates).
         void applyForce(const Vector3& force, const Vector3& point);
 
         /// Apply an external torque to the body.
@@ -361,7 +361,7 @@ inline void RigidBody::applyForceToCenter(const Vector3& force) {
     mExternalForce += force;
 }
 
-// Apply an external force to the body at a given point (in world-coordinates).
+// Apply an external force to the body at a given point (in world-space coordinates).
 /// If the point is not at the center of gravity of the body, it will also
 /// generate some torque and therefore, change the angular velocity of the body.
 /// If the body is sleeping, calling this method will wake it up. Note that the
diff --git a/src/engine/Material.h b/src/engine/Material.h
index 4ab4a9c7..4d06f1a9 100644
--- a/src/engine/Material.h
+++ b/src/engine/Material.h
@@ -66,13 +66,13 @@ class Material {
         /// Return the bounciness
         decimal getBounciness() const;
 
-        /// Set the bounciness
+        /// Set the bounciness.
         void setBounciness(decimal bounciness);
 
         /// Return the friction coefficient
         decimal getFrictionCoefficient() const;
 
-        /// Set the friction coefficient
+        /// Set the friction coefficient.
         void setFrictionCoefficient(decimal frictionCoefficient);
 
         /// Overloaded assignment operator
@@ -84,7 +84,9 @@ inline decimal Material::getBounciness() const {
     return mBounciness;
 }
 
-// Set the bounciness
+// Set the bounciness.
+/// The bounciness should be a value between 0 and 1. The value 1 is used for a
+/// very bouncy body and zero is used for a body that is not bouncy at all.
 inline void Material::setBounciness(decimal bounciness) {
     assert(bounciness >= decimal(0.0) && bounciness <= decimal(1.0));
     mBounciness = bounciness;
@@ -95,7 +97,9 @@ inline decimal Material::getFrictionCoefficient() const {
     return mFrictionCoefficient;
 }
 
-// Set the friction coefficient
+// Set the friction coefficient.
+/// The friction coefficient has to be a positive value. The value zero is used for no
+/// friction at all.
 inline void Material::setFrictionCoefficient(decimal frictionCoefficient) {
     assert(frictionCoefficient >= decimal(0.0));
     mFrictionCoefficient = frictionCoefficient;