diff --git a/include/reactphysics3d/constraint/HingeJoint.h b/include/reactphysics3d/constraint/HingeJoint.h
index 10b0c590..f673b3af 100644
--- a/include/reactphysics3d/constraint/HingeJoint.h
+++ b/include/reactphysics3d/constraint/HingeJoint.h
@@ -210,6 +210,9 @@ class HingeJoint : public Joint {
         /// Return the intensity of the current torque applied for the joint motor
         decimal getMotorTorque(decimal timeStep) const;
 
+        /// Return the current hinge angle
+        decimal getAngle() const;
+
         /// Return a string representation
         virtual std::string to_string() const override;
 };
diff --git a/include/reactphysics3d/systems/ConstraintSolverSystem.h b/include/reactphysics3d/systems/ConstraintSolverSystem.h
index 54021aaa..9d574e0e 100644
--- a/include/reactphysics3d/systems/ConstraintSolverSystem.h
+++ b/include/reactphysics3d/systems/ConstraintSolverSystem.h
@@ -216,6 +216,9 @@ class ConstraintSolverSystem {
 
 #endif
 
+        // ---------- Friendship ----------
+
+        friend class HingeJoint;
 };
 
 #ifdef IS_RP3D_PROFILING_ENABLED
diff --git a/include/reactphysics3d/systems/SolveHingeJointSystem.h b/include/reactphysics3d/systems/SolveHingeJointSystem.h
index 05e5f059..aa5342e4 100644
--- a/include/reactphysics3d/systems/SolveHingeJointSystem.h
+++ b/include/reactphysics3d/systems/SolveHingeJointSystem.h
@@ -92,8 +92,7 @@ class SolveHingeJointSystem {
                                                     decimal upperLimitAngle) const;
 
         /// Compute the current angle around the hinge axis
-        decimal computeCurrentHingeAngle(Entity jointEntity, const Quaternion& orientationBody1,
-                                         const Quaternion& orientationBody2);
+        decimal computeCurrentHingeAngle(Entity jointEntity, const Quaternion& orientationBody1, const Quaternion& orientationBody2);
 
     public :
 
@@ -133,6 +132,10 @@ class SolveHingeJointSystem {
 
 #endif
 
+        // ---------- Friendship ----------
+
+        friend class HingeJoint;
+
 };
 
 #ifdef IS_RP3D_PROFILING_ENABLED
diff --git a/src/constraint/HingeJoint.cpp b/src/constraint/HingeJoint.cpp
index f6523908..5f18c79c 100644
--- a/src/constraint/HingeJoint.cpp
+++ b/src/constraint/HingeJoint.cpp
@@ -207,7 +207,7 @@ decimal HingeJoint::getMaxAngleLimit() const {
 /**
  * @return The current speed of the joint motor (in radian per second)
  */
- decimal HingeJoint::getMotorSpeed() const {
+decimal HingeJoint::getMotorSpeed() const {
     return mWorld.mHingeJointsComponents.getMotorSpeed(mEntity);
 }
 
@@ -215,7 +215,7 @@ decimal HingeJoint::getMaxAngleLimit() const {
 /**
  * @return The maximum torque of the joint motor (in Newtons)
  */
- decimal HingeJoint::getMaxMotorTorque() const {
+decimal HingeJoint::getMaxMotorTorque() const {
     return mWorld.mHingeJointsComponents.getMaxMotorTorque(mEntity);
 }
 
@@ -224,10 +224,27 @@ decimal HingeJoint::getMaxAngleLimit() const {
  * @param timeStep The current time step (in seconds)
  * @return The intensity of the current torque (in Newtons) of the joint motor
  */
- decimal HingeJoint::getMotorTorque(decimal timeStep) const {
+decimal HingeJoint::getMotorTorque(decimal timeStep) const {
     return mWorld.mHingeJointsComponents.getImpulseMotor(mEntity) / timeStep;
 }
 
+// Return the current hinge angle
+/**
+ * @return The current hinge angle (in radians)
+ */
+decimal HingeJoint::getAngle() const {
+
+    // Get the bodies entities
+    const Entity body1Entity = mWorld.mJointsComponents.getBody1Entity(mEntity);
+    const Entity body2Entity = mWorld.mJointsComponents.getBody2Entity(mEntity);
+
+    const Quaternion& orientationBody1 = mWorld.mTransformComponents.getTransform(body1Entity).getOrientation();
+    const Quaternion& orientationBody2 = mWorld.mTransformComponents.getTransform(body2Entity).getOrientation();
+
+    // Compute the current angle around the hinge axis
+    return mWorld.mConstraintSolverSystem.mSolveHingeJointSystem.computeCurrentHingeAngle(mEntity, orientationBody1, orientationBody2);
+}
+
 // Return the number of bytes used by the joint
  size_t HingeJoint::getSizeInBytes() const {
     return sizeof(HingeJoint);