diff --git a/documentation/API/Doxyfile b/documentation/API/Doxyfile
index 5373c5f0..c257ecd7 100644
--- a/documentation/API/Doxyfile
+++ b/documentation/API/Doxyfile
@@ -32,7 +32,7 @@ PROJECT_NAME           = "ReactPhysics3D"
 # This could be handy for archiving the generated documentation or
 # if some version control system is used.
 
-PROJECT_NUMBER         = "0.4.0"
+PROJECT_NUMBER         = "0.5.0"
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer
diff --git a/src/body/Body.cpp b/src/body/Body.cpp
index 297afa7e..3dc57437 100644
--- a/src/body/Body.cpp
+++ b/src/body/Body.cpp
@@ -31,6 +31,9 @@
 using namespace reactphysics3d;
 
 // Constructor
+/**
+ * @param id ID of the new body
+ */
 Body::Body(bodyindex id)
      : mID(id), mIsAlreadyInIsland(false), mIsAllowedToSleep(true), mIsActive(true),
        mIsSleeping(false), mSleepTime(0), mUserData(NULL) {
diff --git a/src/body/Body.h b/src/body/Body.h
index a4dc54f6..2dc1e455 100644
--- a/src/body/Body.h
+++ b/src/body/Body.h
@@ -37,7 +37,9 @@ namespace reactphysics3d {
 // TODO : Make this class abstract
 // Class Body
 /**
- * This class is an abstract class to represent a body of the physics engine.
+ * This class to represent a body of the physics engine. You should not
+ * instantiante this class but instantiate the CollisionBody or RigidBody
+ * classes instead.
  */
 class Body {
 
@@ -81,6 +83,9 @@ class Body {
         /// Private assignment operator
         Body& operator=(const Body& body);
 
+        /// Set the variable to know whether or not the body is sleeping
+        virtual void setIsSleeping(bool isSleeping);
+
     public :
 
         // -------------------- Methods -------------------- //
@@ -91,7 +96,7 @@ class Body {
         /// Destructor
         virtual ~Body();
 
-        /// Return the id of the body
+        /// Return the ID of the body
         bodyindex getID() const;
 
         /// Return whether or not the body is allowed to sleep
@@ -109,9 +114,6 @@ class Body {
         /// Set whether or not the body is active
         virtual void setIsActive(bool isActive);
 
-        /// Set the variable to know whether or not the body is sleeping
-        virtual void setIsSleeping(bool isSleeping);
-
         /// Return a pointer to the user data attached to this body
         void* getUserData() const;
 
@@ -136,16 +138,25 @@ class Body {
 };
 
 // Return the id of the body
+/**
+ * @return The ID of the body
+ */
 inline bodyindex Body::getID() const {
     return mID;
 }
 
 // Return whether or not the body is allowed to sleep
+/**
+ * @return True if the body is allowed to sleep and false otherwise
+ */
 inline bool Body::isAllowedToSleep() const {
     return mIsAllowedToSleep;
 }
 
 // Set whether or not the body is allowed to go to sleep
+/**
+ * @param isAllowedToSleep True if the body is allowed to sleep
+ */
 inline void Body::setIsAllowedToSleep(bool isAllowedToSleep) {
     mIsAllowedToSleep = isAllowedToSleep;
 
@@ -153,16 +164,25 @@ inline void Body::setIsAllowedToSleep(bool isAllowedToSleep) {
 }
 
 // Return whether or not the body is sleeping
+/**
+ * @return True if the body is currently sleeping and false otherwise
+ */
 inline bool Body::isSleeping() const {
     return mIsSleeping;
 }
 
 // Return true if the body is active
+/**
+ * @return True if the body currently active and false otherwise
+ */
 inline bool Body::isActive() const {
     return mIsActive;
 }
 
 // Set whether or not the body is active
+/**
+ * @param isActive True if you want to activate the body
+ */
 inline void Body::setIsActive(bool isActive) {
     mIsActive = isActive;
 }
@@ -183,11 +203,17 @@ inline void Body::setIsSleeping(bool isSleeping) {
 }
 
 // Return a pointer to the user data attached to this body
+/**
+ * @return A pointer to the user data you have attached to the body
+ */
 inline void* Body::getUserData() const {
     return mUserData;
 }
 
 // Attach user data to this body
+/**
+ * @param userData A pointer to the user data you want to attach to the body
+ */
 inline void Body::setUserData(void* userData) {
     mUserData = userData;
 }
diff --git a/src/body/CollisionBody.cpp b/src/body/CollisionBody.cpp
index 2b8af243..fda23f22 100644
--- a/src/body/CollisionBody.cpp
+++ b/src/body/CollisionBody.cpp
@@ -32,6 +32,11 @@
 using namespace reactphysics3d;
 
 // Constructor
+/**
+ * @param transform The transform of the body
+ * @param world The physics world where the body is created
+ * @param id ID of the body
+ */
 CollisionBody::CollisionBody(const Transform& transform, CollisionWorld& world, bodyindex id)
               : Body(id), mType(DYNAMIC), mTransform(transform), mProxyCollisionShapes(NULL),
                 mNbCollisionShapes(0), mContactManifoldsList(NULL), mWorld(world) {
@@ -51,15 +56,20 @@ CollisionBody::~CollisionBody() {
 }
 
 // Add a collision shape to the body.
-/// This methods will create a copy of the collision shape you provided inside the world and
-/// return a pointer to the actual collision shape in the world. You can use this pointer to
-/// remove the collision from the body. Note that when the body is destroyed, all the collision
-/// shapes will also be destroyed automatically. Because an internal copy of the collision shape
-/// you provided is performed, you can delete it right after calling this method. The second
-/// parameter is the transformation that transform the local-space of the collision shape into
-/// the local-space of the body.
-/// This method will return a pointer to the proxy collision shape that links the body with
-/// the collision shape you have added.
+/// When you add a collision shape to the body, an internal copy of this
+/// collision shape will be created internally. Therefore, you can delete it
+/// right after calling this method or use it later to add it to another body.
+/// This method will return a pointer to a new proxy shape. A proxy shape is
+/// an object that links a collision shape and a given body. You can use the
+/// returned proxy shape to get and set information about the corresponding
+/// collision shape for that body.
+/**
+ * @param collisionShape The collision shape you want to add to the body
+ * @param transform The transformation of the collision shape that transforms the
+ *        local-space of the collision shape into the local-space of the body
+ * @return A pointer to the proxy shape that has been created to link the body to
+ *         the new collision shape you have added.
+ */
 ProxyShape* CollisionBody::addCollisionShape(const CollisionShape& collisionShape,
                                              const Transform& transform) {
 
@@ -94,6 +104,12 @@ ProxyShape* CollisionBody::addCollisionShape(const CollisionShape& collisionShap
 }
 
 // Remove a collision shape from the body
+/// To remove a collision shape, you need to specify the pointer to the proxy
+/// shape that has been returned when you have added the collision shape to the
+/// body
+/**
+ * @param proxyShape The pointer of the proxy shape you want to remove
+ */
 void CollisionBody::removeCollisionShape(const ProxyShape* proxyShape) {
 
     ProxyShape* current = mProxyCollisionShapes;
@@ -201,6 +217,9 @@ void CollisionBody::updateBroadPhaseState() const {
 }
 
 // Set whether or not the body is active
+/**
+ * @param isActive True if you want to activate the body
+ */
 void CollisionBody::setIsActive(bool isActive) {
 
     // If the state does not change
@@ -268,6 +287,11 @@ int CollisionBody::resetIsAlreadyInIslandAndCountManifolds() {
 }
 
 // Return true if a point is inside the collision body
+/// This method returns true if a point is inside any collision shape of the body
+/**
+ * @param worldPoint The point to test (in world-space coordinates)
+ * @return True if the point is inside the body
+ */
 bool CollisionBody::testPointInside(const Vector3& worldPoint) const {
 
     // For each collision shape of the body
@@ -282,6 +306,12 @@ bool CollisionBody::testPointInside(const Vector3& worldPoint) const {
 
 // Raycast method with feedback information
 /// The method returns the closest hit among all the collision shapes of the body
+/**
+* @param ray The ray used to raycast agains the body
+* @param[out] raycastInfo Structure that contains the result of the raycasting
+*                         (valid only if the method returned true)
+* @return True if the ray hit the body and false otherwise
+*/
 bool CollisionBody::raycast(const Ray& ray, RaycastInfo& raycastInfo) {
 
     // If the body is not active, it cannot be hit by rays
@@ -304,6 +334,9 @@ bool CollisionBody::raycast(const Ray& ray, RaycastInfo& raycastInfo) {
 }
 
 // Compute and return the AABB of the body by merging all proxy shapes AABBs
+/**
+* @return The axis-aligned bounding box (AABB) of the body in world-space coordinates
+*/
 AABB CollisionBody::getAABB() const {
 
     AABB bodyAABB;
diff --git a/src/body/CollisionBody.h b/src/body/CollisionBody.h
index 7a656b96..2f8db75c 100644
--- a/src/body/CollisionBody.h
+++ b/src/body/CollisionBody.h
@@ -118,6 +118,9 @@ class CollisionBody : public Body {
         /// Reset the mIsAlreadyInIsland variable of the body and contact manifolds
         int resetIsAlreadyInIslandAndCountManifolds();
 
+        /// Set the interpolation factor of the body
+        void setInterpolationFactor(decimal factor);
+
     public :
 
         // -------------------- Methods -------------------- //
@@ -153,15 +156,6 @@ class CollisionBody : public Body {
         /// Return the interpolated transform for rendering
         Transform getInterpolatedTransform() const;
 
-        /// Set the interpolation factor of the body
-        void setInterpolationFactor(decimal factor);
-
-        /// Return true if the body can collide with others bodies
-        bool isCollisionEnabled() const;
-
-        /// Enable/disable the collision with this body
-        void enableCollision(bool isCollisionEnabled);
-
         /// Return the first element of the linked list of contact manifolds involving this body
         const ContactManifoldListElement* getContactManifoldsList() const;
 
@@ -203,11 +197,26 @@ class CollisionBody : public Body {
 };
 
 // Return the type of the body
+/**
+ * @return the type of the body (STATIC, KINEMATIC, DYNAMIC)
+ */
 inline BodyType CollisionBody::getType() const {
     return mType;
 }
 
 // Set the type of the body
+/// The type of the body can either STATIC, KINEMATIC or DYNAMIC as described bellow:
+/// STATIC : A static body has infinite mass, zero velocity but the position can be
+///          changed manually. A static body does not collide with other static or kinematic bodies.
+/// KINEMATIC : A kinematic body has infinite mass, the velocity can be changed manually and its
+///             position is computed by the physics engine. A kinematic body does not collide with
+///             other static or kinematic bodies.
+/// DYNAMIC : A dynamic body has non-zero mass, non-zero velocity determined by forces and its
+///           position is determined by the physics engine. A dynamic body can collide with other
+///           dynamic, static or kinematic bodies.
+/**
+ * @param type The type of the body (STATIC, KINEMATIC, DYNAMIC)
+ */
 inline void CollisionBody::setType(BodyType type) {
     mType = type;
 
@@ -219,6 +228,9 @@ inline void CollisionBody::setType(BodyType type) {
 }
 
 // Return the interpolated transform for rendering
+/**
+ * @return The current interpolated transformation (between previous and current frame)
+ */
 inline Transform CollisionBody::getInterpolatedTransform() const {
     return Transform::interpolateTransforms(mOldTransform, mTransform, mInterpolationFactor);
 }
@@ -230,11 +242,19 @@ inline void CollisionBody::setInterpolationFactor(decimal factor) {
 }
 
 // Return the current position and orientation
+/**
+ * @return The current transformation of the body that transforms the local-space
+ *         of the body into world-space
+ */
 inline const Transform& CollisionBody::getTransform() const {
     return mTransform;
 }
 
 // Set the current position and orientation
+/**
+ * @param transform The transformation of the body that transforms the local-space
+ *                  of the body into world-space
+ */
 inline void CollisionBody::setTransform(const Transform& transform) {
 
     // Update the transform of the body
@@ -251,36 +271,64 @@ inline void CollisionBody::updateOldTransform() {
 }
 
 // Return the first element of the linked list of contact manifolds involving this body
+/**
+ * @return A pointer to the first element of the linked-list with the contact
+ *         manifolds of this body
+ */
 inline const ContactManifoldListElement* CollisionBody::getContactManifoldsList() const {
     return mContactManifoldsList;
 }
 
 // Return the linked list of proxy shapes of that body
+/**
+* @return The pointer of the first proxy shape of the linked-list of all the
+*         proxy shapes of the body
+*/
 inline ProxyShape* CollisionBody::getProxyShapesList() {
     return mProxyCollisionShapes;
 }
 
 // Return the linked list of proxy shapes of that body
+/**
+* @return The pointer of the first proxy shape of the linked-list of all the
+*         proxy shapes of the body
+*/
 inline const ProxyShape* CollisionBody::getProxyShapesList() const {
     return mProxyCollisionShapes;
 }
 
 // Return the world-space coordinates of a point given the local-space coordinates of the body
+/**
+* @param localPoint A point in the local-space coordinates of the body
+* @return The point in world-space coordinates
+*/
 inline Vector3 CollisionBody::getWorldPoint(const Vector3& localPoint) const {
     return mTransform * localPoint;
 }
 
 // Return the world-space vector of a vector given in local-space coordinates of the body
+/**
+* @param localVector A vector in the local-space coordinates of the body
+* @return The vector in world-space coordinates
+*/
 inline Vector3 CollisionBody::getWorldVector(const Vector3& localVector) const {
     return mTransform.getOrientation() * localVector;
 }
 
 // Return the body local-space coordinates of a point given in the world-space coordinates
+/**
+* @param worldPoint A point in world-space coordinates
+* @return The point in the local-space coordinates of the body
+*/
 inline Vector3 CollisionBody::getLocalPoint(const Vector3& worldPoint) const {
     return mTransform.getInverse() * worldPoint;
 }
 
 // Return the body local-space coordinates of a vector given in the world-space coordinates
+/**
+* @param worldVector A vector in world-space coordinates
+* @return The vector in the local-space coordinates of the body
+*/
 inline Vector3 CollisionBody::getLocalVector(const Vector3& worldVector) const {
     return mTransform.getOrientation().getInverse() * worldVector;
 }
diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp
index 2cf2f0cd..dcaae9a2 100644
--- a/src/body/RigidBody.cpp
+++ b/src/body/RigidBody.cpp
@@ -33,6 +33,11 @@
 using namespace reactphysics3d;
 
 // Constructor
+/**
+* @param transform The transformation of the body
+* @param world The world where the body has been added
+* @param id The ID of the body
+*/
 RigidBody::RigidBody(const Transform& transform, CollisionWorld& world, bodyindex id)
           : CollisionBody(transform, world, id), mInitMass(decimal(1.0)),
             mCenterOfMassLocal(0, 0, 0), mCenterOfMassWorld(transform.getPosition()),
@@ -48,7 +53,19 @@ RigidBody::~RigidBody() {
     assert(mJointsList == NULL);
 }
 
-// Set the type of the body (static, kinematic or dynamic)
+// Set the type of the body
+/// The type of the body can either STATIC, KINEMATIC or DYNAMIC as described bellow:
+/// STATIC : A static body has infinite mass, zero velocity but the position can be
+///          changed manually. A static body does not collide with other static or kinematic bodies.
+/// KINEMATIC : A kinematic body has infinite mass, the velocity can be changed manually and its
+///             position is computed by the physics engine. A kinematic body does not collide with
+///             other static or kinematic bodies.
+/// DYNAMIC : A dynamic body has non-zero mass, non-zero velocity determined by forces and its
+///           position is determined by the physics engine. A dynamic body can collide with other
+///           dynamic, static or kinematic bodies.
+/**
+ * @param type The type of the body (STATIC, KINEMATIC, DYNAMIC)
+ */
 void RigidBody::setType(BodyType type) {
 
     if (mType == type) return;
@@ -96,6 +113,10 @@ void RigidBody::setType(BodyType type) {
 }
 
 // Set the local inertia tensor of the body (in local-space coordinates)
+/**
+ * @param inertiaTensorLocal The 3x3 inertia tensor matrix of the body in local-space
+ *                           coordinates
+ */
 void RigidBody::setInertiaTensorLocal(const Matrix3x3& inertiaTensorLocal) {
 
     if (mType != DYNAMIC) return;
@@ -107,6 +128,10 @@ void RigidBody::setInertiaTensorLocal(const Matrix3x3& inertiaTensorLocal) {
 }
 
 // Set the local center of mass of the body (in local-space coordinates)
+/**
+ * @param centerOfMassLocal The center of mass of the body in local-space
+ *                          coordinates
+ */
 void RigidBody::setCenterOfMassLocal(const Vector3& centerOfMassLocal) {
 
     if (mType != DYNAMIC) return;
@@ -122,6 +147,9 @@ void RigidBody::setCenterOfMassLocal(const Vector3& centerOfMassLocal) {
 }
 
 // Set the mass of the rigid body
+/**
+ * @param mass The mass (in kilograms) of the body
+ */
 void RigidBody::setMass(decimal mass) {
 
     if (mType != DYNAMIC) return;
@@ -166,15 +194,21 @@ void RigidBody::removeJointFromJointsList(MemoryAllocator& memoryAllocator, cons
 }
 
 // Add a collision shape to the body.
-/// This methods will create a copy of the collision shape you provided inside the world and
-/// return a pointer to the actual collision shape in the world. You can use this pointer to
-/// remove the collision from the body. Note that when the body is destroyed, all the collision
-/// shapes will also be destroyed automatically. Because an internal copy of the collision shape
-/// you provided is performed, you can delete it right after calling this method.
-/// The second parameter is the mass of the collision shape (this will used to compute the
-/// total mass of the rigid body and its inertia tensor). The mass must be positive. The third
-/// parameter is the transformation that transform the local-space of the collision shape into
-/// the local-space of the body. By default, the second parameter is the identity transform.
+/// When you add a collision shape to the body, an internal copy of this
+/// collision shape will be created internally. Therefore, you can delete it
+/// right after calling this method or use it later to add it to another body.
+/// This method will return a pointer to a new proxy shape. A proxy shape is
+/// an object that links a collision shape and a given body. You can use the
+/// returned proxy shape to get and set information about the corresponding
+/// collision shape for that body.
+/**
+ * @param collisionShape The collision shape you want to add to the body
+ * @param transform The transformation of the collision shape that transforms the
+ *        local-space of the collision shape into the local-space of the body
+ * @param mass Mass (in kilograms) of the collision shape you want to add
+ * @return A pointer to the proxy shape that has been created to link the body to
+ *         the new collision shape you have added.
+ */
 ProxyShape* RigidBody::addCollisionShape(const CollisionShape& collisionShape,
                                          const Transform& transform,
                                          decimal mass) {
@@ -216,10 +250,16 @@ ProxyShape* RigidBody::addCollisionShape(const CollisionShape& collisionShape,
 }
 
 // Remove a collision shape from the body
-void RigidBody::removeCollisionShape(const ProxyShape* proxyCollisionShape) {
+/// To remove a collision shape, you need to specify the pointer to the proxy
+/// shape that has been returned when you have added the collision shape to the
+/// body
+/**
+ * @param proxyShape The pointer of the proxy shape you want to remove
+ */
+void RigidBody::removeCollisionShape(const ProxyShape* proxyShape) {
 
     // Remove the collision shape
-    CollisionBody::removeCollisionShape(proxyCollisionShape);
+    CollisionBody::removeCollisionShape(proxyShape);
 
     // Recompute the total mass, center of mass and inertia tensor
     recomputeMassInformation();
diff --git a/src/body/RigidBody.h b/src/body/RigidBody.h
index e1415d65..38ba604b 100644
--- a/src/body/RigidBody.h
+++ b/src/body/RigidBody.h
@@ -118,6 +118,9 @@ class RigidBody : public CollisionBody {
         /// Update the broad-phase state for this body (because it has moved for instance)
         virtual void updateBroadPhaseState() const;
 
+        /// Set the variable to know whether or not the body is sleeping
+        virtual void setIsSleeping(bool isSleeping);
+
     public :
 
         // -------------------- Methods -------------------- //
@@ -194,9 +197,6 @@ class RigidBody : public CollisionBody {
         /// Return the first element of the linked list of joints involving this body
         JointListElement* getJointsList();
 
-        /// Set the variable to know whether or not the body is sleeping
-        virtual void setIsSleeping(bool isSleeping);
-
         /// Apply an external force to the body at its center of mass.
         void applyForceToCenterOfMass(const Vector3& force);
 
@@ -212,7 +212,7 @@ class RigidBody : public CollisionBody {
                                               decimal mass);
 
         /// Remove a collision shape from the body
-        virtual void removeCollisionShape(const ProxyShape* proxyCollisionShape);
+        virtual void removeCollisionShape(const ProxyShape* proxyShape);
 
         /// Recompute the center of mass, total mass and inertia tensor of the body using all
         /// the collision shapes attached to the body.
@@ -229,16 +229,25 @@ class RigidBody : public CollisionBody {
 };
 
 // Method that return the mass of the body
+/**
+ * @return The mass (in kilograms) of the body
+ */
 inline decimal RigidBody::getMass() const {
     return mInitMass;
 }
 
 // Return the linear velocity
+/**
+ * @return The linear velocity vector of the body
+ */
 inline Vector3 RigidBody::getLinearVelocity() const {
     return mLinearVelocity;
 }
 
 // Return the angular velocity of the body
+/**
+ * @return The angular velocity vector of the body
+ */
 inline Vector3 RigidBody::getAngularVelocity() const {
     return mAngularVelocity;
 }
@@ -246,6 +255,9 @@ inline Vector3 RigidBody::getAngularVelocity() const {
 // Set the angular velocity.
 /// You should only call this method for a kinematic body. Otherwise, it
 /// will do nothing.
+/**
+* @param angularVelocity The angular velocity vector of the body
+*/
 inline void RigidBody::setAngularVelocity(const Vector3& angularVelocity) {
 
     // If it is a kinematic body
@@ -254,7 +266,10 @@ inline void RigidBody::setAngularVelocity(const Vector3& angularVelocity) {
     }
 }
 
-// Return the local inertia tensor of the body (in body coordinates)
+// Return the local inertia tensor of the body (in local-space coordinates)
+/**
+ * @return The 3x3 inertia tensor matrix of the body (in local-space coordinates)
+ */
 inline const Matrix3x3& RigidBody::getInertiaTensorLocal() const {
     return mInertiaTensorLocal;
 }
@@ -265,6 +280,9 @@ inline const Matrix3x3& RigidBody::getInertiaTensorLocal() const {
 /// by I_w = R * I_b * R^T
 /// where R is the rotation matrix (and R^T its transpose) of
 /// the current orientation quaternion of the body
+/**
+ * @return The 3x3 inertia tensor matrix of the body in world-space coordinates
+ */
 inline Matrix3x3 RigidBody::getInertiaTensorWorld() const {
 
     // Compute and return the inertia tensor in world coordinates
@@ -278,10 +296,15 @@ inline Matrix3x3 RigidBody::getInertiaTensorWorld() const {
 /// by I_w = R * I_b^-1 * R^T
 /// where R is the rotation matrix (and R^T its transpose) of the
 /// current orientation quaternion of the body
-// TODO : DO NOT RECOMPUTE THE MATRIX MULTIPLICATION EVERY TIME. WE NEED TO STORE THE
-//        INVERSE WORLD TENSOR IN THE CLASS AND UPLDATE IT WHEN THE ORIENTATION OF THE BODY CHANGES
+/**
+ * @return The 3x3 inverse inertia tensor matrix of the body in world-space
+ *         coordinates
+ */
 inline Matrix3x3 RigidBody::getInertiaTensorInverseWorld() const {
 
+    // TODO : DO NOT RECOMPUTE THE MATRIX MULTIPLICATION EVERY TIME. WE NEED TO STORE THE
+    //        INVERSE WORLD TENSOR IN THE CLASS AND UPLDATE IT WHEN THE ORIENTATION OF THE BODY CHANGES
+
     // Compute and return the inertia tensor in world coordinates
     return mTransform.getOrientation().getMatrix() * mInertiaTensorLocalInverse *
            mTransform.getOrientation().getMatrix().getTranspose();
@@ -290,6 +313,9 @@ inline Matrix3x3 RigidBody::getInertiaTensorInverseWorld() const {
 // Set the linear velocity of the rigid body.
 /// You should only call this method for a kinematic body. Otherwise, it
 /// will do nothing.
+/**
+ * @param linearVelocity Linear velocity vector of the body
+ */
 inline void RigidBody::setLinearVelocity(const Vector3& linearVelocity) {
 
     // If it is a kinematic body
@@ -301,53 +327,83 @@ inline void RigidBody::setLinearVelocity(const Vector3& linearVelocity) {
 }
 
 // Return true if the gravity needs to be applied to this rigid body
+/**
+ * @return True if the gravity is applied to the body
+ */
 inline bool RigidBody::isGravityEnabled() const {
     return mIsGravityEnabled;
 }
 
 // Set the variable to know if the gravity is applied to this rigid body
+/**
+ * @param isEnabled True if you want the gravity to be applied to this body
+ */
 inline void RigidBody::enableGravity(bool isEnabled) {
     mIsGravityEnabled = isEnabled;
 }
 
 // Return a reference to the material properties of the rigid body
+/**
+ * @return A reference to the material of the body
+ */
 inline Material& RigidBody::getMaterial() {
     return mMaterial;
 }
 
 // Set a new material for this rigid body
+/**
+ * @param material The material you want to set to the body
+ */
 inline void RigidBody::setMaterial(const Material& material) {
     mMaterial = material;
 }
 
 // Return the linear velocity damping factor
+/**
+ * @return The linear damping factor of this body
+ */
 inline decimal RigidBody::getLinearDamping() const {
     return mLinearDamping;
 }
 
 // Set the linear damping factor
+/**
+ * @param linearDamping The linear damping factor of this body
+ */
 inline void RigidBody::setLinearDamping(decimal linearDamping) {
     assert(linearDamping >= decimal(0.0));
     mLinearDamping = linearDamping;
 }
 
 // Return the angular velocity damping factor
+/**
+ * @return The angular damping factor of this body
+ */
 inline decimal RigidBody::getAngularDamping() const {
     return mAngularDamping;
 }
 
 // Set the angular damping factor
+/**
+ * @param angularDamping The angular damping factor of this body
+ */
 inline void RigidBody::setAngularDamping(decimal angularDamping) {
     assert(angularDamping >= decimal(0.0));
     mAngularDamping = angularDamping;
 }
 
 // Return the first element of the linked list of joints involving this body
+/**
+ * @return The first element of the linked-list of all the joints involving this body
+ */
 inline const JointListElement* RigidBody::getJointsList() const {
     return mJointsList;
 }
 
 // Return the first element of the linked list of joints involving this body
+/**
+ * @return The first element of the linked-list of all the joints involving this body
+ */
 inline JointListElement* RigidBody::getJointsList() {
     return mJointsList;
 }
@@ -370,6 +426,9 @@ inline void RigidBody::setIsSleeping(bool isSleeping) {
 /// force will we added to the sum of the applied forces and that this sum will be
 /// reset to zero at the end of each call of the DynamicsWorld::update() method.
 /// You can only apply a force to a dynamic body otherwise, this method will do nothing.
+/**
+ * @param force The external force to apply on the center of mass of the body
+ */
 inline void RigidBody::applyForceToCenterOfMass(const Vector3& force) {
 
     // If it is not a dynamic body, we do nothing
@@ -391,6 +450,10 @@ inline void RigidBody::applyForceToCenterOfMass(const Vector3& force) {
 /// force will we added to the sum of the applied forces and that this sum will be
 /// reset to zero at the end of each call of the DynamicsWorld::update() method.
 /// You can only apply a force to a dynamic body otherwise, this method will do nothing.
+/**
+ * @param force The force to apply on the body
+ * @param point The point where the force is applied (in world-space coordinates)
+ */
 inline void RigidBody::applyForce(const Vector3& force, const Vector3& point) {
 
     // If it is not a dynamic body, we do nothing
@@ -411,6 +474,9 @@ inline void RigidBody::applyForce(const Vector3& force, const Vector3& point) {
 /// force will we added to the sum of the applied torques and that this sum will be
 /// reset to zero at the end of each call of the DynamicsWorld::update() method.
 /// You can only apply a force to a dynamic body otherwise, this method will do nothing.
+/**
+ * @param torque The external torque to apply on the body
+ */
 inline void RigidBody::applyTorque(const Vector3& torque) {
 
     // If it is not a dynamic body, we do nothing
diff --git a/src/collision/ProxyShape.cpp b/src/collision/ProxyShape.cpp
index d0f90ae3..dee97d9f 100644
--- a/src/collision/ProxyShape.cpp
+++ b/src/collision/ProxyShape.cpp
@@ -5,6 +5,12 @@
 using namespace reactphysics3d;
 
 // Constructor
+/**
+ * @param body Pointer to the parent body
+ * @param shape Pointer to the collision shape
+ * @param transform Transformation from collision shape local-space to body local-space
+ * @param mass Mass of the collision shape (in kilograms)
+ */
 ProxyShape::ProxyShape(CollisionBody* body, CollisionShape* shape, const Transform& transform,
                        decimal mass)
            :mBody(body), mCollisionShape(shape), mLocalToBodyTransform(transform), mMass(mass),
@@ -23,6 +29,10 @@ ProxyShape::~ProxyShape() {
 }
 
 // Return true if a point is inside the collision shape
+/**
+ * @param worldPoint Point to test in world-space coordinates
+ * @return True if the point is inside the collision shape
+ */
 bool ProxyShape::testPointInside(const Vector3& worldPoint) {
     const Transform localToWorld = mBody->getTransform() * mLocalToBodyTransform;
     const Vector3 localPoint = localToWorld.getInverse() * worldPoint;
diff --git a/src/collision/ProxyShape.h b/src/collision/ProxyShape.h
index 25be73ab..e122e34a 100644
--- a/src/collision/ProxyShape.h
+++ b/src/collision/ProxyShape.h
@@ -77,12 +77,6 @@ class ProxyShape {
         /// Return the collision shape margin
         decimal getMargin() const;
 
-        /// Return the next proxy shape in the linked list of proxy shapes
-        ProxyShape* getNext();
-
-        /// Return the next proxy shape in the linked list of proxy shapes
-        const ProxyShape* getNext() const;
-
     public:
 
         // -------------------- Methods -------------------- //
@@ -121,17 +115,23 @@ class ProxyShape {
         /// Raycast method with feedback information
         bool raycast(const Ray& ray, RaycastInfo& raycastInfo);
 
+        /// Return the collision bits mask
+        unsigned short getCollideWithMaskBits() const;
+
+        /// Set the collision bits mask
+        void setCollideWithMaskBits(unsigned short collideWithMaskBits);
+
         /// Return the collision category bits
         unsigned short getCollisionCategoryBits() const;
 
         /// Set the collision category bits
         void setCollisionCategoryBits(unsigned short collisionCategoryBits);
 
-        /// Return the collision bits mask
-        unsigned short getCollideWithMaskBits() const;
+        /// Return the next proxy shape in the linked list of proxy shapes
+        ProxyShape* getNext();
 
-        /// Set the collision bits mask
-        void setCollideWithMaskBits(unsigned short collideWithMaskBits);
+        /// Return the next proxy shape in the linked list of proxy shapes
+        const ProxyShape* getNext() const;
 
         // -------------------- Friendship -------------------- //
 
@@ -149,36 +149,59 @@ class ProxyShape {
 };
 
 /// Return the collision shape
+/**
+ * @return Pointer to the internal collision shape
+ */
 inline const CollisionShape* ProxyShape::getCollisionShape() const {
     return mCollisionShape;
 }
 
 // Return the parent body
+/**
+ * @return Pointer to the parent body
+ */
 inline CollisionBody* ProxyShape::getBody() const {
     return mBody;
 }
 
 // Return the mass of the collision shape
+/**
+ * @return Mass of the collision shape (in kilograms)
+ */
 inline decimal ProxyShape::getMass() const {
     return mMass;
 }
 
 // Return a pointer to the user data attached to this body
+/**
+ * @return A pointer to the user data stored into the proxy shape
+ */
 inline void* ProxyShape::getUserData() const {
     return mUserData;
 }
 
 // Attach user data to this body
+/**
+ * @param userData Pointer to the user data you want to store within the proxy shape
+ */
 inline void ProxyShape::setUserData(void* userData) {
     mUserData = userData;
 }
 
 // Return the local to parent body transform
+/**
+ * @return The transformation that transforms the local-space of the collision shape
+ *         to the local-space of the parent body
+ */
 inline const Transform& ProxyShape::getLocalToBodyTransform() const {
     return mLocalToBodyTransform;
 }
 
 // Return the local to world transform
+/**
+ * @return The transformation that transforms the local-space of the collision
+ *         shape to the world-space
+ */
 inline const Transform ProxyShape::getLocalToWorldTransform() const {
     return mBody->mTransform * mLocalToBodyTransform;
 }
@@ -199,6 +222,12 @@ inline decimal ProxyShape::getMargin() const {
 }
 
 // Raycast method with feedback information
+/**
+ * @param ray Ray to use for the raycasting
+ * @param[out] raycastInfo Result of the raycasting that is valid only if the
+ *             methods returned true
+ * @return True if the ray hit the collision shape
+ */
 inline bool ProxyShape::raycast(const Ray& ray, RaycastInfo& raycastInfo) {
 
     // If the corresponding body is not active, it cannot be hit by rays
@@ -208,31 +237,49 @@ inline bool ProxyShape::raycast(const Ray& ray, RaycastInfo& raycastInfo) {
 }
 
 // Return the next proxy shape in the linked list of proxy shapes
+/**
+ * @return Pointer to the next proxy shape in the linked list of proxy shapes
+ */
 inline ProxyShape* ProxyShape::getNext() {
     return mNext;
 }
 
 // Return the next proxy shape in the linked list of proxy shapes
+/**
+ * @return Pointer to the next proxy shape in the linked list of proxy shapes
+ */
 inline const ProxyShape* ProxyShape::getNext() const {
     return mNext;
 }
 
 // Return the collision category bits
+/**
+ * @return The collision category bits mask of the proxy shape
+ */
 inline unsigned short ProxyShape::getCollisionCategoryBits() const {
     return mCollisionCategoryBits;
 }
 
 // Set the collision category bits
+/**
+ * @param collisionCategoryBits The collision category bits mask of the proxy shape
+ */
 inline void ProxyShape::setCollisionCategoryBits(unsigned short collisionCategoryBits) {
     mCollisionCategoryBits = collisionCategoryBits;
 }
 
 // Return the collision bits mask
+/**
+ * @return The bits mask that specifies with which collision category this shape will collide
+ */
 inline unsigned short ProxyShape::getCollideWithMaskBits() const {
     return mCollideWithMaskBits;
 }
 
 // Set the collision bits mask
+/**
+ * @param collideWithMaskBits The bits mask that specifies with which collision category this shape will collide
+ */
 inline void ProxyShape::setCollideWithMaskBits(unsigned short collideWithMaskBits) {
     mCollideWithMaskBits = collideWithMaskBits;
 }
diff --git a/src/collision/RaycastInfo.h b/src/collision/RaycastInfo.h
index 3eb4de42..dfba996c 100644
--- a/src/collision/RaycastInfo.h
+++ b/src/collision/RaycastInfo.h
@@ -116,6 +116,10 @@ class RaycastCallback {
         /// value in the RaycastInfo object), the current ray will be clipped
         /// to this fraction in the next queries. If you return -1.0, it will
         /// ignore this ProxyShape and continue the ray cast.
+        /**
+         * @param raycastInfo Information about the raycast hit
+         * @return Value that controls the continuation of the ray after a hit
+         */
         virtual decimal notifyRaycastHit(const RaycastInfo& raycastInfo)=0;
 
 };
diff --git a/src/collision/shapes/BoxShape.cpp b/src/collision/shapes/BoxShape.cpp
index 38a69d15..1536bef5 100644
--- a/src/collision/shapes/BoxShape.cpp
+++ b/src/collision/shapes/BoxShape.cpp
@@ -33,6 +33,10 @@
 using namespace reactphysics3d;
 
 // Constructor
+/**
+ * @param extent The vector with the three extents of the box (in meters)
+ * @param margin The collision margin (in meters) around the collision shape
+ */
 BoxShape::BoxShape(const Vector3& extent, decimal margin)
          : CollisionShape(BOX, margin), mExtent(extent - Vector3(margin, margin, margin)) {
     assert(extent.x > decimal(0.0) && extent.x > margin);
@@ -52,6 +56,11 @@ BoxShape::~BoxShape() {
 }
 
 // Return the local inertia tensor of the collision shape
+/**
+ * @param[out] tensor The 3x3 inertia tensor matrix of the shape in local-space
+ *                    coordinates
+ * @param mass Mass to use to compute the inertia tensor of the collision shape
+ */
 void BoxShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const {
     decimal factor = (decimal(1.0) / decimal(3.0)) * mass;
     Vector3 realExtent = mExtent + Vector3(mMargin, mMargin, mMargin);
diff --git a/src/collision/shapes/BoxShape.h b/src/collision/shapes/BoxShape.h
index 53d6e4bd..a9b82133 100644
--- a/src/collision/shapes/BoxShape.h
+++ b/src/collision/shapes/BoxShape.h
@@ -81,6 +81,12 @@ class BoxShape : public CollisionShape {
         /// Raycast method with feedback information
         virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape) const;
 
+        /// Allocate and return a copy of the object
+        virtual BoxShape* clone(void* allocatedMemory) const;
+
+        /// Return the number of bytes used by the collision shape
+        virtual size_t getSizeInBytes() const;
+
     public :
 
         // -------------------- Methods -------------------- //
@@ -91,18 +97,12 @@ class BoxShape : public CollisionShape {
         /// Destructor
         virtual ~BoxShape();
 
-        /// Allocate and return a copy of the object
-        virtual BoxShape* clone(void* allocatedMemory) const;
-
         /// Return the extents of the box
         Vector3 getExtent() const;
 
         /// Return the local bounds of the shape in x, y and z directions
         virtual void getLocalBounds(Vector3& min, Vector3& max) const;
 
-        /// Return the number of bytes used by the collision shape
-        virtual size_t getSizeInBytes() const;
-
         /// Return the local inertia tensor of the collision shape
         virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const;
 
@@ -116,12 +116,19 @@ inline BoxShape* BoxShape::clone(void* allocatedMemory) const {
 }
 
 // Return the extents of the box
+/**
+ * @return The vector with the three extents of the box shape (in meters)
+ */
 inline Vector3 BoxShape::getExtent() const {
     return mExtent + Vector3(mMargin, mMargin, mMargin);
 }
 
 // Return the local bounds of the shape in x, y and z directions
 /// This method is used to compute the AABB of the box
+/**
+ * @param min The minimum bounds of the shape in local-space coordinates
+ * @param max The maximum bounds of the shape in local-space coordinates
+ */
 inline void BoxShape::getLocalBounds(Vector3& min, Vector3& max) const {
 
     // Maximum bounds
diff --git a/src/collision/shapes/CapsuleShape.cpp b/src/collision/shapes/CapsuleShape.cpp
index 976b8f3c..4e7777a5 100644
--- a/src/collision/shapes/CapsuleShape.cpp
+++ b/src/collision/shapes/CapsuleShape.cpp
@@ -32,6 +32,10 @@
 using namespace reactphysics3d;
 
 // Constructor
+/**
+ * @param radius The radius of the capsule (in meters)
+ * @param height The height of the capsule (in meters)
+ */
 CapsuleShape::CapsuleShape(decimal radius, decimal height)
             : CollisionShape(CAPSULE, radius), mRadius(radius), mHalfHeight(height * decimal(0.5)) {
     assert(radius > decimal(0.0));
@@ -107,6 +111,11 @@ Vector3 CapsuleShape::getLocalSupportPointWithoutMargin(const Vector3& direction
 }
 
 // Return the local inertia tensor of the capsule
+/**
+ * @param[out] tensor The 3x3 inertia tensor matrix of the shape in local-space
+ *                    coordinates
+ * @param mass Mass to use to compute the inertia tensor of the collision shape
+ */
 void CapsuleShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const {
 
 	// The inertia tensor formula for a capsule can be found in : Game Engine Gems, Volume 1
diff --git a/src/collision/shapes/CapsuleShape.h b/src/collision/shapes/CapsuleShape.h
index f0591aaf..2cc8cb33 100644
--- a/src/collision/shapes/CapsuleShape.h
+++ b/src/collision/shapes/CapsuleShape.h
@@ -83,6 +83,12 @@ class CapsuleShape : public CollisionShape {
                                      const Vector3& sphereCenter, decimal maxFraction,
                                      Vector3& hitLocalPoint, decimal& hitFraction) const;
 
+        /// Allocate and return a copy of the object
+        virtual CapsuleShape* clone(void* allocatedMemory) const;
+
+        /// Return the number of bytes used by the collision shape
+        virtual size_t getSizeInBytes() const;
+
     public :
 
         // -------------------- Methods -------------------- //
@@ -93,18 +99,12 @@ class CapsuleShape : public CollisionShape {
         /// Destructor
         virtual ~CapsuleShape();
 
-        /// Allocate and return a copy of the object
-        virtual CapsuleShape* clone(void* allocatedMemory) const;
-
         /// Return the radius of the capsule
         decimal getRadius() const;
 
         /// Return the height of the capsule
         decimal getHeight() const;
 
-        /// Return the number of bytes used by the collision shape
-        virtual size_t getSizeInBytes() const;
-
         /// Return the local bounds of the shape in x, y and z directions
         virtual void getLocalBounds(Vector3& min, Vector3& max) const;
 
@@ -121,11 +121,17 @@ inline CapsuleShape* CapsuleShape::clone(void* allocatedMemory) const {
 }
 
 // Get the radius of the capsule
+/**
+ * @return The radius of the capsule shape (in meters)
+ */
 inline decimal CapsuleShape::getRadius() const {
     return mRadius;
 }
 
 // Return the height of the capsule
+/**
+ * @return The height of the capsule shape (in meters)
+ */
 inline decimal CapsuleShape::getHeight() const {
     return mHalfHeight + mHalfHeight;
 }
@@ -137,6 +143,10 @@ inline size_t CapsuleShape::getSizeInBytes() const {
 
 // Return the local bounds of the shape in x, y and z directions
 // This method is used to compute the AABB of the box
+/**
+ * @param min The minimum bounds of the shape in local-space coordinates
+ * @param max The maximum bounds of the shape in local-space coordinates
+ */
 inline void CapsuleShape::getLocalBounds(Vector3& min, Vector3& max) const {
 
     // Maximum bounds
diff --git a/src/collision/shapes/CollisionShape.cpp b/src/collision/shapes/CollisionShape.cpp
index e35bf8cf..e61d5358 100644
--- a/src/collision/shapes/CollisionShape.cpp
+++ b/src/collision/shapes/CollisionShape.cpp
@@ -50,6 +50,11 @@ CollisionShape::~CollisionShape() {
 }
 
 // Compute the world-space AABB of the collision shape given a transform
+/**
+ * @param[out] aabb The axis-aligned bounding box (AABB) of the collision shape
+ *                  computed in world-space coordinates
+ * @param transform Transform used to compute the AABB of the collision shape
+ */
 void CollisionShape::computeAABB(AABB& aabb, const Transform& transform) const {
 
     PROFILE("CollisionShape::computeAABB()");
diff --git a/src/collision/shapes/CollisionShape.h b/src/collision/shapes/CollisionShape.h
index f8699f75..96e4fffc 100644
--- a/src/collision/shapes/CollisionShape.h
+++ b/src/collision/shapes/CollisionShape.h
@@ -88,6 +88,21 @@ class CollisionShape {
         /// Raycast method with feedback information
         virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape) const=0;
 
+        /// Return the number of similar created shapes
+        uint getNbSimilarCreatedShapes() const;
+
+        /// Allocate and return a copy of the object
+        virtual CollisionShape* clone(void* allocatedMemory) const=0;
+
+        /// Return the number of bytes used by the collision shape
+        virtual size_t getSizeInBytes() const = 0;
+
+        /// Increment the number of similar allocated collision shapes
+        void incrementNbSimilarCreatedShapes();
+
+        /// Decrement the number of similar allocated collision shapes
+        void decrementNbSimilarCreatedShapes();
+
     public :
 
         // -------------------- Methods -------------------- //
@@ -98,21 +113,12 @@ class CollisionShape {
         /// Destructor
         virtual ~CollisionShape();
 
-        /// Allocate and return a copy of the object
-        virtual CollisionShape* clone(void* allocatedMemory) const=0;
-
         /// Return the type of the collision shapes
         CollisionShapeType getType() const;
 
-        /// Return the number of similar created shapes
-        uint getNbSimilarCreatedShapes() const;
-
         /// Return the current object margin
         decimal getMargin() const;
 
-        /// Return the number of bytes used by the collision shape
-        virtual size_t getSizeInBytes() const = 0;
-
         /// Return the local bounds of the shape in x, y and z directions
         virtual void getLocalBounds(Vector3& min, Vector3& max) const=0;
 
@@ -122,12 +128,6 @@ class CollisionShape {
         /// Compute the world-space AABB of the collision shape given a transform
         virtual void computeAABB(AABB& aabb, const Transform& transform) const;
 
-        /// Increment the number of similar allocated collision shapes
-        void incrementNbSimilarCreatedShapes();
-
-        /// Decrement the number of similar allocated collision shapes
-        void decrementNbSimilarCreatedShapes();
-
         /// Equality operator between two collision shapes.
         bool operator==(const CollisionShape& otherCollisionShape) const;
 
@@ -137,12 +137,16 @@ class CollisionShape {
         // -------------------- Friendship -------------------- //
 
         friend class ProxyShape;
+        friend class CollisionWorld;
 };
 
 
 
 
 // Return the type of the collision shape
+/**
+ * @return The type of the collision shape (box, sphere, cylinder, ...)
+ */
 inline CollisionShapeType CollisionShape::getType() const {
     return mType;
 }
@@ -152,7 +156,10 @@ inline uint CollisionShape::getNbSimilarCreatedShapes() const {
     return mNbSimilarCreatedShapes;
 }
 
-// Return the current object margin
+// Return the current collision shape margin
+/**
+ * @return The margin (in meters) around the collision shape
+ */
 inline decimal CollisionShape::getMargin() const {
     return mMargin;
 }
diff --git a/src/collision/shapes/ConeShape.cpp b/src/collision/shapes/ConeShape.cpp
index 83ff73c4..6390501c 100644
--- a/src/collision/shapes/ConeShape.cpp
+++ b/src/collision/shapes/ConeShape.cpp
@@ -32,6 +32,11 @@
 using namespace reactphysics3d;
 
 // Constructor
+/**
+ * @param radius Radius of the cone (in meters)
+ * @param height Height of the cone (in meters)
+ * @param margin Collision margin (in meters) around the collision shape
+ */
 ConeShape::ConeShape(decimal radius, decimal height, decimal margin)
           : CollisionShape(CONE, margin), mRadius(radius), mHalfHeight(height * decimal(0.5)) {
     assert(mRadius > decimal(0.0));
diff --git a/src/collision/shapes/ConeShape.h b/src/collision/shapes/ConeShape.h
index 74cdc8e1..4c1fd108 100644
--- a/src/collision/shapes/ConeShape.h
+++ b/src/collision/shapes/ConeShape.h
@@ -85,6 +85,12 @@ class ConeShape : public CollisionShape {
 
         /// Raycast method with feedback information
         virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape) const;
+
+        /// Allocate and return a copy of the object
+        virtual ConeShape* clone(void* allocatedMemory) const;
+
+        /// Return the number of bytes used by the collision shape
+        virtual size_t getSizeInBytes() const;
         
     public :
 
@@ -96,18 +102,12 @@ class ConeShape : public CollisionShape {
         /// Destructor
         virtual ~ConeShape();
 
-        /// Allocate and return a copy of the object
-        virtual ConeShape* clone(void* allocatedMemory) const;
-
         /// Return the radius
         decimal getRadius() const;
 
         /// Return the height
         decimal getHeight() const;
 
-        /// Return the number of bytes used by the collision shape
-        virtual size_t getSizeInBytes() const;
-
         /// Return the local bounds of the shape in x, y and z directions
         virtual void getLocalBounds(Vector3& min, Vector3& max) const;
 
@@ -124,11 +124,17 @@ inline ConeShape* ConeShape::clone(void* allocatedMemory) const {
 }
 
 // Return the radius
+/**
+ * @return Radius of the cone (in meters)
+ */
 inline decimal ConeShape::getRadius() const {
     return mRadius;
 }
 
 // Return the height
+/**
+ * @return Height of the cone (in meters)
+ */
 inline decimal ConeShape::getHeight() const {
     return decimal(2.0) * mHalfHeight;
 }
@@ -139,6 +145,10 @@ inline size_t ConeShape::getSizeInBytes() const {
 }
 
 // Return the local bounds of the shape in x, y and z directions
+/**
+ * @param min The minimum bounds of the shape in local-space coordinates
+ * @param max The maximum bounds of the shape in local-space coordinates
+ */
 inline void ConeShape::getLocalBounds(Vector3& min, Vector3& max) const {
 
     // Maximum bounds
@@ -153,6 +163,11 @@ inline void ConeShape::getLocalBounds(Vector3& min, Vector3& max) const {
 }
 
 // Return the local inertia tensor of the collision shape
+/**
+ * @param[out] tensor The 3x3 inertia tensor matrix of the shape in local-space
+ *                    coordinates
+ * @param mass Mass to use to compute the inertia tensor of the collision shape
+ */
 inline void ConeShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const {
     decimal rSquare = mRadius * mRadius;
     decimal diagXZ = decimal(0.15) * mass * (rSquare + mHalfHeight);
diff --git a/src/collision/shapes/ConvexMeshShape.cpp b/src/collision/shapes/ConvexMeshShape.cpp
index b3567b4f..a6d3cf2a 100644
--- a/src/collision/shapes/ConvexMeshShape.cpp
+++ b/src/collision/shapes/ConvexMeshShape.cpp
@@ -32,6 +32,12 @@ using namespace reactphysics3d;
 
 // Constructor to initialize with a array of 3D vertices.
 /// This method creates an internal copy of the input vertices.
+/**
+ * @param arrayVertices Array with the vertices of the convex mesh
+ * @param nbVertices Number of vertices in the convex mesh
+ * @param stride Stride between the beginning of two elements in the vertices array
+ * @param margin Collision margin (in meters) around the collision shape
+ */
 ConvexMeshShape::ConvexMeshShape(const decimal* arrayVertices, uint nbVertices, int stride,
                                  decimal margin)
                 : CollisionShape(CONVEX_MESH, margin), mNbVertices(nbVertices), mMinBounds(0, 0, 0),
diff --git a/src/collision/shapes/ConvexMeshShape.h b/src/collision/shapes/ConvexMeshShape.h
index c0bcd27f..385050ee 100644
--- a/src/collision/shapes/ConvexMeshShape.h
+++ b/src/collision/shapes/ConvexMeshShape.h
@@ -107,6 +107,12 @@ class ConvexMeshShape : public CollisionShape {
         /// Raycast method with feedback information
         virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape) const;
 
+        /// Allocate and return a copy of the object
+        virtual ConvexMeshShape* clone(void* allocatedMemory) const;
+
+        /// Return the number of bytes used by the collision shape
+        virtual size_t getSizeInBytes() const;
+
     public :
 
         // -------------------- Methods -------------------- //
@@ -121,12 +127,6 @@ class ConvexMeshShape : public CollisionShape {
         /// Destructor
         virtual ~ConvexMeshShape();
 
-        /// Allocate and return a copy of the object
-        virtual ConvexMeshShape* clone(void* allocatedMemory) const;
-
-        /// Return the number of bytes used by the collision shape
-        virtual size_t getSizeInBytes() const;
-
         /// Return the local bounds of the shape in x, y and z directions
         virtual void getLocalBounds(Vector3& min, Vector3& max) const;
 
@@ -161,6 +161,10 @@ inline size_t ConvexMeshShape::getSizeInBytes() const {
 }
 
 // Return the local bounds of the shape in x, y and z directions
+/**
+ * @param min The minimum bounds of the shape in local-space coordinates
+ * @param max The maximum bounds of the shape in local-space coordinates
+ */
 inline void ConvexMeshShape::getLocalBounds(Vector3& min, Vector3& max) const {
     min = mMinBounds;
     max = mMaxBounds;
@@ -169,6 +173,11 @@ inline void ConvexMeshShape::getLocalBounds(Vector3& min, Vector3& max) const {
 // Return the local inertia tensor of the collision shape.
 /// The local inertia tensor of the convex mesh is approximated using the inertia tensor
 /// of its bounding box.
+/**
+* @param[out] tensor The 3x3 inertia tensor matrix of the shape in local-space
+*                    coordinates
+* @param mass Mass to use to compute the inertia tensor of the collision shape
+*/
 inline void ConvexMeshShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const {
     decimal factor = (decimal(1.0) / decimal(3.0)) * mass;
     Vector3 realExtent = decimal(0.5) * (mMaxBounds - mMinBounds);
@@ -182,6 +191,9 @@ inline void ConvexMeshShape::computeLocalInertiaTensor(Matrix3x3& tensor, decima
 }
 
 // Add a vertex into the convex mesh
+/**
+ * @param vertex Vertex to be added
+ */
 inline void ConvexMeshShape::addVertex(const Vector3& vertex) {
 
     // Add the vertex in to vertices array
@@ -201,6 +213,10 @@ inline void ConvexMeshShape::addVertex(const Vector3& vertex) {
 /// Note that the vertex indices start at zero and need to correspond to the order of
 /// the vertices in the vertices array in the constructor or the order of the calls
 /// of the addVertex() methods that you use to add vertices into the convex mesh.
+/**
+* @param v1 Index of the first vertex of the edge to add
+* @param v2 Index of the second vertex of the edge to add
+*/
 inline void ConvexMeshShape::addEdge(uint v1, uint v2) {
 
     assert(v1 >= 0);
@@ -222,12 +238,19 @@ inline void ConvexMeshShape::addEdge(uint v1, uint v2) {
 }
 
 // Return true if the edges information is used to speed up the collision detection
+/**
+ * @return True if the edges information is used and false otherwise
+ */
 inline bool ConvexMeshShape::isEdgesInformationUsed() const {
     return mIsEdgesInformationUsed;
 }
 
 // Set the variable to know if the edges information is used to speed up the
 // collision detection
+/**
+ * @param isEdgesUsed True if you want to use the edges information to speed up
+ *                    the collision detection with the convex mesh shape
+ */
 inline void ConvexMeshShape::setIsEdgesInformationUsed(bool isEdgesUsed) {
     mIsEdgesInformationUsed = isEdgesUsed;
 }
diff --git a/src/collision/shapes/CylinderShape.cpp b/src/collision/shapes/CylinderShape.cpp
index 60247516..13a7f7d0 100644
--- a/src/collision/shapes/CylinderShape.cpp
+++ b/src/collision/shapes/CylinderShape.cpp
@@ -31,6 +31,11 @@
 using namespace reactphysics3d;
 
 // Constructor
+/**
+ * @param radius Radius of the cylinder (in meters)
+ * @param height Height of the cylinder (in meters)
+ * @param margin Collision margin (in meters) around the collision shape
+ */
 CylinderShape::CylinderShape(decimal radius, decimal height, decimal margin)
               : CollisionShape(CYLINDER, margin), mRadius(radius),
                 mHalfHeight(height/decimal(2.0)) {
diff --git a/src/collision/shapes/CylinderShape.h b/src/collision/shapes/CylinderShape.h
index 878278ea..87a8d190 100644
--- a/src/collision/shapes/CylinderShape.h
+++ b/src/collision/shapes/CylinderShape.h
@@ -83,6 +83,12 @@ class CylinderShape : public CollisionShape {
         /// Raycast method with feedback information
         virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape) const;
 
+        /// Allocate and return a copy of the object
+        virtual CylinderShape* clone(void* allocatedMemory) const;
+
+        /// Return the number of bytes used by the collision shape
+        virtual size_t getSizeInBytes() const;
+
     public :
 
         // -------------------- Methods -------------------- //
@@ -93,18 +99,12 @@ class CylinderShape : public CollisionShape {
         /// Destructor
         virtual ~CylinderShape();
 
-        /// Allocate and return a copy of the object
-        virtual CylinderShape* clone(void* allocatedMemory) const;
-
         /// Return the radius
         decimal getRadius() const;
 
         /// Return the height
         decimal getHeight() const;
 
-        /// Return the number of bytes used by the collision shape
-        virtual size_t getSizeInBytes() const;
-
         /// Return the local bounds of the shape in x, y and z directions
         virtual void getLocalBounds(Vector3& min, Vector3& max) const;
 
@@ -121,11 +121,17 @@ inline CylinderShape* CylinderShape::clone(void* allocatedMemory) const {
 }
 
 // Return the radius
+/**
+ * @return Radius of the cylinder (in meters)
+ */
 inline decimal CylinderShape::getRadius() const {
     return mRadius;
 }
 
 // Return the height
+/**
+ * @return Height of the cylinder (in meters)
+ */
 inline decimal CylinderShape::getHeight() const {
     return mHalfHeight + mHalfHeight;
 }
@@ -136,6 +142,10 @@ inline size_t CylinderShape::getSizeInBytes() const {
 }
 
 // Return the local bounds of the shape in x, y and z directions
+/**
+ * @param min The minimum bounds of the shape in local-space coordinates
+ * @param max The maximum bounds of the shape in local-space coordinates
+ */
 inline void CylinderShape::getLocalBounds(Vector3& min, Vector3& max) const {
 
     // Maximum bounds
@@ -150,6 +160,11 @@ inline void CylinderShape::getLocalBounds(Vector3& min, Vector3& max) const {
 }
 
 // Return the local inertia tensor of the cylinder
+/**
+ * @param[out] tensor The 3x3 inertia tensor matrix of the shape in local-space
+ *                    coordinates
+ * @param mass Mass to use to compute the inertia tensor of the collision shape
+ */
 inline void CylinderShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const {
     decimal height = decimal(2.0) * mHalfHeight;
     decimal diag = (decimal(1.0) / decimal(12.0)) * mass * (3 * mRadius * mRadius + height * height);
diff --git a/src/collision/shapes/SphereShape.cpp b/src/collision/shapes/SphereShape.cpp
index 4c38fae5..374148be 100644
--- a/src/collision/shapes/SphereShape.cpp
+++ b/src/collision/shapes/SphereShape.cpp
@@ -32,6 +32,9 @@
 using namespace reactphysics3d;
 
 // Constructor
+/**
+ * @param radius Radius of the sphere (in meters)
+ */
 SphereShape::SphereShape(decimal radius) : CollisionShape(SPHERE, radius), mRadius(radius) {
     assert(radius > decimal(0.0));
 }
diff --git a/src/collision/shapes/SphereShape.h b/src/collision/shapes/SphereShape.h
index c9ee75e9..4ee3c163 100644
--- a/src/collision/shapes/SphereShape.h
+++ b/src/collision/shapes/SphereShape.h
@@ -73,6 +73,12 @@ class SphereShape : public CollisionShape {
         /// Raycast method with feedback information
         virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape) const;
 
+        /// Allocate and return a copy of the object
+        virtual SphereShape* clone(void* allocatedMemory) const;
+
+        /// Return the number of bytes used by the collision shape
+        virtual size_t getSizeInBytes() const;
+
     public :
 
         // -------------------- Methods -------------------- //
@@ -83,15 +89,9 @@ class SphereShape : public CollisionShape {
         /// Destructor
         virtual ~SphereShape();
 
-        /// Allocate and return a copy of the object
-        virtual SphereShape* clone(void* allocatedMemory) const;
-
         /// Return the radius of the sphere
         decimal getRadius() const;
 
-        /// Return the number of bytes used by the collision shape
-        virtual size_t getSizeInBytes() const;
-
         /// Return the local bounds of the shape in x, y and z directions.
         virtual void getLocalBounds(Vector3& min, Vector3& max) const;
 
@@ -111,6 +111,9 @@ inline SphereShape* SphereShape::clone(void* allocatedMemory) const {
 }
 
 // Get the radius of the sphere
+/**
+ * @return Radius of the sphere (in meters)
+ */
 inline decimal SphereShape::getRadius() const {
     return mRadius;
 }
@@ -146,6 +149,10 @@ inline Vector3 SphereShape::getLocalSupportPointWithoutMargin(const Vector3& dir
 
 // Return the local bounds of the shape in x, y and z directions.
 // This method is used to compute the AABB of the box
+/**
+ * @param min The minimum bounds of the shape in local-space coordinates
+ * @param max The maximum bounds of the shape in local-space coordinates
+ */
 inline void SphereShape::getLocalBounds(Vector3& min, Vector3& max) const {
 
     // Maximum bounds
@@ -160,6 +167,11 @@ inline void SphereShape::getLocalBounds(Vector3& min, Vector3& max) const {
 }
 
 // Return the local inertia tensor of the sphere
+/**
+ * @param[out] tensor The 3x3 inertia tensor matrix of the shape in local-space
+ *                    coordinates
+ * @param mass Mass to use to compute the inertia tensor of the collision shape
+ */
 inline void SphereShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const {
     decimal diag = decimal(0.4) * mass * mRadius * mRadius;
     tensor.setAllValues(diag, 0.0, 0.0,
@@ -168,6 +180,11 @@ inline void SphereShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal ma
 }
 
 // Update the AABB of a body using its collision shape
+/**
+ * @param[out] aabb The axis-aligned bounding box (AABB) of the collision shape
+ *                  computed in world-space coordinates
+ * @param transform Transform used to compute the AABB of the collision shape
+ */
 inline void SphereShape::computeAABB(AABB& aabb, const Transform& transform) {
 
     // Get the local extents in x,y and z direction
diff --git a/src/constraint/BallAndSocketJoint.h b/src/constraint/BallAndSocketJoint.h
index b194dc0d..69776fd6 100644
--- a/src/constraint/BallAndSocketJoint.h
+++ b/src/constraint/BallAndSocketJoint.h
@@ -47,6 +47,12 @@ struct BallAndSocketJointInfo : public JointInfo {
         Vector3 anchorPointWorldSpace;
 
         /// Constructor
+        /**
+         * @param rigidBody1 Pointer to the first body of the joint
+         * @param rigidBody2 Pointer to the second body of the joint
+         * @param initAnchorPointWorldSpace The anchor point in world-space
+         *                                  coordinates
+         */
         BallAndSocketJointInfo(RigidBody* rigidBody1, RigidBody* rigidBody2,
                                const Vector3& initAnchorPointWorldSpace)
                               : JointInfo(rigidBody1, rigidBody2, BALLSOCKETJOINT),
diff --git a/src/constraint/FixedJoint.h b/src/constraint/FixedJoint.h
index 9a9e9bac..da2a0f56 100644
--- a/src/constraint/FixedJoint.h
+++ b/src/constraint/FixedJoint.h
@@ -47,6 +47,12 @@ struct FixedJointInfo : public JointInfo {
         Vector3 anchorPointWorldSpace;
 
         /// Constructor
+        /**
+         * @param rigidBody1 The first body of the joint
+         * @param rigidBody2 The second body of the joint
+         * @param initAnchorPointWorldSpace The initial anchor point of the joint in
+         *                                  world-space coordinates
+         */
         FixedJointInfo(RigidBody* rigidBody1, RigidBody* rigidBody2,
                        const Vector3& initAnchorPointWorldSpace)
                        : JointInfo(rigidBody1, rigidBody2, FIXEDJOINT),
diff --git a/src/constraint/HingeJoint.cpp b/src/constraint/HingeJoint.cpp
index fce93901..1e30d3d3 100644
--- a/src/constraint/HingeJoint.cpp
+++ b/src/constraint/HingeJoint.cpp
@@ -613,6 +613,10 @@ void HingeJoint::solvePositionConstraint(const ConstraintSolverData& constraintS
 
 
 // Enable/Disable the limits of the joint
+/**
+ * @param isLimitEnabled True if you want to enable the limits of the joint and
+ *                       false otherwise
+ */
 void HingeJoint::enableLimit(bool isLimitEnabled) {
 
     if (isLimitEnabled != mIsLimitEnabled) {
@@ -625,6 +629,10 @@ void HingeJoint::enableLimit(bool isLimitEnabled) {
 }
 
 // Enable/Disable the motor of the joint
+/**
+ * @param isMotorEnabled True if you want to enable the motor of the joint and
+ *                       false otherwise
+ */
 void HingeJoint::enableMotor(bool isMotorEnabled) {
 
     mIsMotorEnabled = isMotorEnabled;
@@ -636,6 +644,9 @@ void HingeJoint::enableMotor(bool isMotorEnabled) {
 }
 
 // Set the minimum angle limit
+/**
+ * @param lowerLimit The minimum limit angle of the joint (in radian)
+ */
 void HingeJoint::setMinAngleLimit(decimal lowerLimit) {
 
     assert(mLowerLimit <= 0 && mLowerLimit >= -2.0 * PI);
@@ -650,6 +661,9 @@ void HingeJoint::setMinAngleLimit(decimal lowerLimit) {
 }
 
 // Set the maximum angle limit
+/**
+ * @param upperLimit The maximum limit angle of the joint (in radian)
+ */
 void HingeJoint::setMaxAngleLimit(decimal upperLimit) {
 
     assert(upperLimit >= 0 && upperLimit <= 2.0 * PI);
@@ -689,6 +703,9 @@ void HingeJoint::setMotorSpeed(decimal motorSpeed) {
 }
 
 // Set the maximum motor torque
+/**
+ * @param maxMotorTorque The maximum torque (in Newtons) of the joint motor
+ */
 void HingeJoint::setMaxMotorTorque(decimal maxMotorTorque) {
 
     if (maxMotorTorque != mMaxMotorTorque) {
diff --git a/src/constraint/HingeJoint.h b/src/constraint/HingeJoint.h
index 143cda4e..9ca1ba53 100644
--- a/src/constraint/HingeJoint.h
+++ b/src/constraint/HingeJoint.h
@@ -71,6 +71,14 @@ struct HingeJointInfo : public JointInfo {
         decimal maxMotorTorque;
 
         /// Constructor without limits and without motor
+        /**
+         * @param rigidBody1 The first body of the joint
+         * @param rigidBody2 The second body of the joint
+         * @param initAnchorPointWorldSpace The initial anchor point in world-space
+         *                                  coordinates
+         * @param initRotationAxisWorld The initial rotation axis in world-space
+         *                              coordinates
+         */
         HingeJointInfo(RigidBody* rigidBody1, RigidBody* rigidBody2,
                                const Vector3& initAnchorPointWorldSpace,
                                const Vector3& initRotationAxisWorld)
@@ -81,6 +89,14 @@ struct HingeJointInfo : public JointInfo {
                                 motorSpeed(0), maxMotorTorque(0) {}
 
         /// Constructor with limits but without motor
+        /**
+         * @param rigidBody1 The first body of the joint
+         * @param rigidBody2 The second body of the joint
+         * @param initAnchorPointWorldSpace The initial anchor point in world-space coordinates
+         * @param initRotationAxisWorld The intial rotation axis in world-space coordinates
+         * @param initMinAngleLimit The initial minimum limit angle (in radian)
+         * @param initMaxAngleLimit The initial maximum limit angle (in radian)
+         */
         HingeJointInfo(RigidBody* rigidBody1, RigidBody* rigidBody2,
                                const Vector3& initAnchorPointWorldSpace,
                                const Vector3& initRotationAxisWorld,
@@ -93,6 +109,16 @@ struct HingeJointInfo : public JointInfo {
                                 maxMotorTorque(0) {}
 
         /// Constructor with limits and motor
+        /**
+         * @param rigidBody1 The first body of the joint
+         * @param rigidBody2 The second body of the joint
+         * @param initAnchorPointWorldSpace The initial anchor point in world-space
+         * @param initRotationAxisWorld The initial rotation axis in world-space
+         * @param initMinAngleLimit The initial minimum limit angle (in radian)
+         * @param initMaxAngleLimit The initial maximum limit angle (in radian)
+         * @param initMotorSpeed The initial motor speed of the joint (in radian per second)
+         * @param initMaxMotorTorque The initial maximum motor torque (in Newtons)
+         */
         HingeJointInfo(RigidBody* rigidBody1, RigidBody* rigidBody2,
                                const Vector3& initAnchorPointWorldSpace,
                                const Vector3& initRotationAxisWorld,
@@ -204,7 +230,7 @@ class HingeJoint : public Joint {
         /// True if the motor of the joint in enabled
         bool mIsMotorEnabled;
 
-        /// Lower limit (minimum allowed rotation angle in radi)
+        /// Lower limit (minimum allowed rotation angle in radian)
         decimal mLowerLimit;
 
         /// Upper limit (maximum translation distance)
@@ -216,7 +242,7 @@ class HingeJoint : public Joint {
         /// True if the upper limit is violated
         bool mIsUpperLimitViolated;
 
-        /// Motor speed
+        /// Motor speed (in rad/s)
         decimal mMotorSpeed;
 
         /// Maximum motor torque (in Newtons) that can be applied to reach to desired motor speed
@@ -312,37 +338,59 @@ class HingeJoint : public Joint {
         decimal getMotorTorque(decimal timeStep) const;
 };
 
-// Return true if the limits or the joint are enabled
+// Return true if the limits of the joint are enabled
+/**
+ * @return True if the limits of the joint are enabled and false otherwise
+ */
 inline bool HingeJoint::isLimitEnabled() const {
     return mIsLimitEnabled;
 }
 
 // Return true if the motor of the joint is enabled
+/**
+ * @return True if the motor of joint is enabled and false otherwise
+ */
 inline bool HingeJoint::isMotorEnabled() const {
     return mIsMotorEnabled;
 }
 
 // Return the minimum angle limit
+/**
+ * @return The minimum limit angle of the joint (in radian)
+ */
 inline decimal HingeJoint::getMinAngleLimit() const {
     return mLowerLimit;
 }
 
 // Return the maximum angle limit
+/**
+ * @return The maximum limit angle of the joint (in radian)
+ */
 inline decimal HingeJoint::getMaxAngleLimit() const {
     return mUpperLimit;
 }
 
 // Return the motor speed
+/**
+ * @return The current speed of the joint motor (in radian per second)
+ */
 inline decimal HingeJoint::getMotorSpeed() const {
     return mMotorSpeed;
 }
 
 // Return the maximum motor torque
+/**
+ * @return The maximum torque of the joint motor (in Newtons)
+ */
 inline decimal HingeJoint::getMaxMotorTorque() const {
     return mMaxMotorTorque;
 }
 
 // Return the intensity of the current torque applied for the joint motor
+/**
+ * @param timeStep The current time step (in seconds)
+ * @return The intensity of the current torque (in Newtons) of the joint motor
+ */
 inline decimal HingeJoint::getMotorTorque(decimal timeStep) const {
     return mImpulseMotor / timeStep;
 }
diff --git a/src/constraint/Joint.h b/src/constraint/Joint.h
index 082ffd4b..d2382148 100644
--- a/src/constraint/Joint.h
+++ b/src/constraint/Joint.h
@@ -203,26 +203,42 @@ class Joint {
 };
 
 // Return the reference to the body 1
+/**
+ * @return The first body involved in the joint
+ */
 inline RigidBody* const Joint::getBody1() const {
     return mBody1;
 }
 
 // Return the reference to the body 2
+/**
+ * @return The second body involved in the joint
+ */
 inline RigidBody* const Joint::getBody2() const {
     return mBody2;
 }
 
 // Return true if the joint is active
+/**
+ * @return True if the joint is active
+ */
 inline bool Joint::isActive() const {
     return (mBody1->isActive() && mBody2->isActive());
 }
 
 // Return the type of the joint
+/**
+ * @return The type of the joint
+ */
 inline JointType Joint::getType() const {
     return mType;
 }
 
 // Return true if the collision between the two bodies of the joint is enabled
+/**
+ * @return True if the collision is enabled between the two bodies of the joint
+ *              is enabled and false otherwise
+ */
 inline bool Joint::isCollisionEnabled() const {
     return mIsCollisionEnabled;
 }
diff --git a/src/constraint/SliderJoint.cpp b/src/constraint/SliderJoint.cpp
index b3cfbb14..e51b1739 100644
--- a/src/constraint/SliderJoint.cpp
+++ b/src/constraint/SliderJoint.cpp
@@ -656,6 +656,10 @@ void SliderJoint::solvePositionConstraint(const ConstraintSolverData& constraint
 }
 
 // Enable/Disable the limits of the joint
+/**
+ * @param isLimitEnabled True if you want to enable the joint limits and false
+ *                       otherwise
+ */
 void SliderJoint::enableLimit(bool isLimitEnabled) {
 
     if (isLimitEnabled != mIsLimitEnabled) {
@@ -668,6 +672,10 @@ void SliderJoint::enableLimit(bool isLimitEnabled) {
 }
 
 // Enable/Disable the motor of the joint
+/**
+ * @param isMotorEnabled True if you want to enable the joint motor and false
+ *                       otherwise
+ */
 void SliderJoint::enableMotor(bool isMotorEnabled) {
 
     mIsMotorEnabled = isMotorEnabled;
@@ -679,9 +687,13 @@ void SliderJoint::enableMotor(bool isMotorEnabled) {
 }
 
 // Return the current translation value of the joint
-// TODO : Check if we need to compare rigid body position or center of mass here
+/**
+ * @return The current translation distance of the joint (in meters)
+ */
 decimal SliderJoint::getTranslation() const {
 
+    // TODO : Check if we need to compare rigid body position or center of mass here
+
     // Get the bodies positions and orientations
     const Vector3& x1 = mBody1->getTransform().getPosition();
     const Vector3& x2 = mBody2->getTransform().getPosition();
@@ -704,6 +716,9 @@ decimal SliderJoint::getTranslation() const {
 }
 
 // Set the minimum translation limit
+/**
+ * @param lowerLimit The minimum translation limit of the joint (in meters)
+ */
 void SliderJoint::setMinTranslationLimit(decimal lowerLimit) {
 
     assert(lowerLimit <= mUpperLimit);
@@ -718,6 +733,9 @@ void SliderJoint::setMinTranslationLimit(decimal lowerLimit) {
 }
 
 // Set the maximum translation limit
+/**
+ * @param lowerLimit The maximum translation limit of the joint (in meters)
+ */
 void SliderJoint::setMaxTranslationLimit(decimal upperLimit) {
 
     assert(mLowerLimit <= upperLimit);
@@ -744,6 +762,9 @@ void SliderJoint::resetLimits() {
 }
 
 // Set the motor speed
+/**
+ * @param motorSpeed The speed of the joint motor (in meters per second)
+ */
 void SliderJoint::setMotorSpeed(decimal motorSpeed) {
 
     if (motorSpeed != mMotorSpeed) {
@@ -757,6 +778,9 @@ void SliderJoint::setMotorSpeed(decimal motorSpeed) {
 }
 
 // Set the maximum motor force
+/**
+ * @param maxMotorForce The maximum force of the joint motor (in Newton x meters)
+ */
 void SliderJoint::setMaxMotorForce(decimal maxMotorForce) {
 
     if (maxMotorForce != mMaxMotorForce) {
diff --git a/src/constraint/SliderJoint.h b/src/constraint/SliderJoint.h
index 2938baac..512309ad 100644
--- a/src/constraint/SliderJoint.h
+++ b/src/constraint/SliderJoint.h
@@ -68,6 +68,12 @@ struct SliderJointInfo : public JointInfo {
         decimal maxMotorForce;
 
         /// Constructor without limits and without motor
+        /**
+         * @param rigidBody1 The first body of the joint
+         * @param rigidBody2 The second body of the joint
+         * @param initAnchorPointWorldSpace The initial anchor point in world-space
+         * @param initSliderAxisWorldSpace The initial slider axis in world-space
+         */
         SliderJointInfo(RigidBody* rigidBody1, RigidBody* rigidBody2,
                         const Vector3& initAnchorPointWorldSpace,
                         const Vector3& initSliderAxisWorldSpace)
@@ -78,6 +84,14 @@ struct SliderJointInfo : public JointInfo {
                          maxTranslationLimit(1.0), motorSpeed(0), maxMotorForce(0) {}
 
         /// Constructor with limits and no motor
+        /**
+         * @param rigidBody1 The first body of the joint
+         * @param rigidBody2 The second body of the joint
+         * @param initAnchorPointWorldSpace The initial anchor point in world-space
+         * @param initSliderAxisWorldSpace The initial slider axis in world-space
+         * @param initMinTranslationLimit The initial minimum translation limit (in meters)
+         * @param initMaxTranslationLimit The initial maximum translation limit (in meters)
+         */
         SliderJointInfo(RigidBody* rigidBody1, RigidBody* rigidBody2,
                         const Vector3& initAnchorPointWorldSpace,
                         const Vector3& initSliderAxisWorldSpace,
@@ -91,6 +105,16 @@ struct SliderJointInfo : public JointInfo {
                          maxMotorForce(0) {}
 
         /// Constructor with limits and motor
+        /**
+         * @param rigidBody1 The first body of the joint
+         * @param rigidBody2 The second body of the joint
+         * @param initAnchorPointWorldSpace The initial anchor point in world-space
+         * @param initSliderAxisWorldSpace The initial slider axis in world-space
+         * @param initMinTranslationLimit The initial minimum translation limit (in meters)
+         * @param initMaxTranslationLimit The initial maximum translation limit (in meters)
+         * @param initMotorSpeed The initial speed of the joint motor (in meters per second)
+         * @param initMaxMotorForce The initial maximum motor force of the joint (in Newtons x meters)
+         */
         SliderJointInfo(RigidBody* rigidBody1, RigidBody* rigidBody2,
                         const Vector3& initAnchorPointWorldSpace,
                         const Vector3& initSliderAxisWorldSpace,
@@ -230,7 +254,7 @@ class SliderJoint : public Joint {
         /// True if the upper limit is violated
         bool mIsUpperLimitViolated;
 
-        /// Motor speed
+        /// Motor speed (in m/s)
         decimal mMotorSpeed;
 
         /// Maximum motor force (in Newtons) that can be applied to reach to desired motor speed
@@ -316,36 +340,58 @@ class SliderJoint : public Joint {
 };
 
 // Return true if the limits or the joint are enabled
+/**
+ * @return True if the joint limits are enabled
+ */
 inline bool SliderJoint::isLimitEnabled() const {
     return mIsLimitEnabled;
 }
 
 // Return true if the motor of the joint is enabled
+/**
+ * @return True if the joint motor is enabled
+ */
 inline bool SliderJoint::isMotorEnabled() const {
     return mIsMotorEnabled;
 }
 
 // Return the minimum translation limit
+/**
+ * @return The minimum translation limit of the joint (in meters)
+ */
 inline decimal SliderJoint::getMinTranslationLimit() const {
     return mLowerLimit;
 }
 
 // Return the maximum translation limit
+/**
+ * @return The maximum translation limit of the joint (in meters)
+ */
 inline decimal SliderJoint::getMaxTranslationLimit() const {
     return mUpperLimit;
 }
 
 // Return the motor speed
+/**
+ * @return The current motor speed of the joint (in meters per second)
+ */
 inline decimal SliderJoint::getMotorSpeed() const {
     return mMotorSpeed;
 }
 
 // Return the maximum motor force
+/**
+ * @return The maximum force of the joint motor (in Newton x meters)
+ */
 inline decimal SliderJoint::getMaxMotorForce() const {
     return mMaxMotorForce;
 }
 
 // Return the intensity of the current force applied for the joint motor
+/**
+ * @param timeStep Time step (in seconds)
+ * @return The current force of the joint motor (in Newton x meters)
+ */
 inline decimal SliderJoint::getMotorForce(decimal timeStep) const {
     return mImpulseMotor / timeStep;
 }
diff --git a/src/engine/CollisionWorld.cpp b/src/engine/CollisionWorld.cpp
index c3747134..9b3dc54d 100644
--- a/src/engine/CollisionWorld.cpp
+++ b/src/engine/CollisionWorld.cpp
@@ -45,6 +45,10 @@ CollisionWorld::~CollisionWorld() {
 }
 
 // Create a collision body and add it to the world
+/**
+ * @param transform Transformation mapping the local-space of the body to world-space
+ * @return A pointer to the body that has been created in the world
+ */
 CollisionBody* CollisionWorld::createCollisionBody(const Transform& transform) {
 
     // Get the next available body ID
@@ -67,6 +71,9 @@ CollisionBody* CollisionWorld::createCollisionBody(const Transform& transform) {
 }
 
 // Destroy a collision body
+/**
+ * @param collisionBody Pointer to the body to destroy
+ */
 void CollisionWorld::destroyCollisionBody(CollisionBody* collisionBody) {
 
     // Remove all the collision shapes of the body
@@ -178,6 +185,11 @@ void CollisionWorld::resetContactManifoldListsOfBodies() {
 }
 
 // Test if the AABBs of two bodies overlap
+/**
+ * @param body1 Pointer to the first body to test
+ * @param body2 Pointer to the second body to test
+ * @return True if the AABBs of the two bodies overlap and false otherwise
+ */
 bool CollisionWorld::testAABBOverlap(const CollisionBody* body1,
                                      const CollisionBody* body2) const {
 
@@ -194,6 +206,10 @@ bool CollisionWorld::testAABBOverlap(const CollisionBody* body1,
 
 // Test and report collisions between a given shape and all the others
 // shapes of the world.
+/**
+ * @param shape Pointer to the proxy shape to test
+ * @param callback Pointer to the object with the callback method
+ */
 void CollisionWorld::testCollision(const ProxyShape* shape,
                                    CollisionCallback* callback) {
 
@@ -210,6 +226,11 @@ void CollisionWorld::testCollision(const ProxyShape* shape,
 }
 
 // Test and report collisions between two given shapes
+/**
+ * @param shape1 Pointer to the first proxy shape to test
+ * @param shape2 Pointer to the second proxy shape to test
+ * @param callback Pointer to the object with the callback method
+ */
 void CollisionWorld::testCollision(const ProxyShape* shape1,
                                    const ProxyShape* shape2,
                                    CollisionCallback* callback) {
@@ -229,6 +250,10 @@ void CollisionWorld::testCollision(const ProxyShape* shape1,
 
 // Test and report collisions between a body and all the others bodies of the
 // world
+/**
+ * @param body Pointer to the first body to test
+ * @param callback Pointer to the object with the callback method
+ */
 void CollisionWorld::testCollision(const CollisionBody* body,
                                    CollisionCallback* callback) {
 
@@ -251,6 +276,11 @@ void CollisionWorld::testCollision(const CollisionBody* body,
 }
 
 // Test and report collisions between two bodies
+/**
+ * @param body1 Pointer to the first body to test
+ * @param body2 Pointer to the second body to test
+ * @param callback Pointer to the object with the callback method
+ */
 void CollisionWorld::testCollision(const CollisionBody* body1,
                                    const CollisionBody* body2,
                                    CollisionCallback* callback) {
@@ -276,6 +306,9 @@ void CollisionWorld::testCollision(const CollisionBody* body1,
 }
 
 // Test and report collisions between all shapes of the world
+/**
+ * @param callback Pointer to the object with the callback method
+ */
 void CollisionWorld::testCollision(CollisionCallback* callback) {
 
     // Reset all the contact manifolds lists of each body
diff --git a/src/engine/CollisionWorld.h b/src/engine/CollisionWorld.h
index 8a89ac35..a400b29e 100644
--- a/src/engine/CollisionWorld.h
+++ b/src/engine/CollisionWorld.h
@@ -167,16 +167,28 @@ class CollisionWorld {
 };
 
 // Return an iterator to the beginning of the bodies of the physics world
+/**
+ * @return An starting iterator to the set of bodies of the world
+ */
 inline std::set<CollisionBody*>::iterator CollisionWorld::getBodiesBeginIterator() {
     return mBodies.begin();
 }
 
 // Return an iterator to the end of the bodies of the physics world
+/**
+ * @return An ending iterator to the set of bodies of the world
+ */
 inline std::set<CollisionBody*>::iterator CollisionWorld::getBodiesEndIterator() {
     return mBodies.end();
 }
 
 // Ray cast method
+/**
+ * @param ray Ray to use for raycasting
+ * @param raycastCallback Pointer to the class with the callback method
+ * @param raycastWithCategoryMaskBits Bits mask corresponding to the category of
+ *                                    bodies to be raycasted
+ */
 inline void CollisionWorld::raycast(const Ray& ray,
                                     RaycastCallback* raycastCallback,
                                     unsigned short raycastWithCategoryMaskBits) const {
@@ -184,6 +196,11 @@ inline void CollisionWorld::raycast(const Ray& ray,
 }
 
 // Test if the AABBs of two proxy shapes overlap
+/**
+ * @param shape1 Pointer to the first proxy shape to test
+ * @param shape2 Pointer to the second proxy shape to test
+ * @return
+ */
 inline bool CollisionWorld::testAABBOverlap(const ProxyShape* shape1,
                                             const ProxyShape* shape2) const {
 
diff --git a/src/engine/DynamicsWorld.cpp b/src/engine/DynamicsWorld.cpp
index c541e3eb..357ce125 100644
--- a/src/engine/DynamicsWorld.cpp
+++ b/src/engine/DynamicsWorld.cpp
@@ -35,6 +35,10 @@ using namespace reactphysics3d;
 using namespace std;
 
 // Constructor
+/**
+ * @param gravity Gravity vector in the world (in meters per second squared)
+ * @param timeStep Time step for an internal physics tick (in seconds)
+ */
 DynamicsWorld::DynamicsWorld(const Vector3 &gravity, decimal timeStep = DEFAULT_TIMESTEP)
               : CollisionWorld(), mTimer(timeStep),
                 mContactSolver(mMapBodyToConstrainedVelocityIndex),
@@ -453,6 +457,10 @@ void DynamicsWorld::solvePositionCorrection() {
 }
 
 // Create a rigid body into the physics world
+/**
+ * @param transform Transformation from body local-space to world-space
+ * @return A pointer to the body that has been created in the world
+ */
 RigidBody* DynamicsWorld::createRigidBody(const Transform& transform) {
 
     // Compute the body ID
@@ -475,6 +483,9 @@ RigidBody* DynamicsWorld::createRigidBody(const Transform& transform) {
 }
 
 // Destroy a rigid body and all the joints which it belongs
+/**
+ * @param rigidBody Pointer to the body you want to destroy
+ */
 void DynamicsWorld::destroyRigidBody(RigidBody* rigidBody) {
 
     // Remove all the collision shapes of the body
@@ -504,6 +515,10 @@ void DynamicsWorld::destroyRigidBody(RigidBody* rigidBody) {
 }
 
 // Create a joint between two bodies in the world and return a pointer to the new joint
+/**
+ * @param jointInfo The information that is necessary to create the joint
+ * @return A pointer to the joint that has been created in the world
+ */
 Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) {
 
     Joint* newJoint = NULL;
@@ -573,6 +588,9 @@ Joint* DynamicsWorld::createJoint(const JointInfo& jointInfo) {
 }
 
 // Destroy a joint
+/**
+ * @param joint Pointer to the joint you want to destroy
+ */
 void DynamicsWorld::destroyJoint(Joint* joint) {
 
     assert(joint != NULL);
@@ -842,7 +860,13 @@ void DynamicsWorld::updateSleepingBodies() {
     }
 }
 
-// Enable/Disable the sleeping technique
+// Enable/Disable the sleeping technique.
+/// The sleeping technique is used to put bodies that are not moving into sleep
+/// to speed up the simulation.
+/**
+ * @param isSleepingEnabled True if you want to enable the sleeping technique
+ *                          and false otherwise
+ */
 void DynamicsWorld::enableSleeping(bool isSleepingEnabled) {
     mIsSleepingEnabled = isSleepingEnabled;
 
@@ -862,6 +886,10 @@ void DynamicsWorld::enableSleeping(bool isSleepingEnabled) {
 // shapes of the world.
 /// This method should be called after calling the
 /// DynamicsWorld::update() method that will compute the collisions.
+/**
+ * @param shape Pointer to the proxy shape to test
+ * @param callback Pointer to the object with the callback method
+ */
 void DynamicsWorld::testCollision(const ProxyShape* shape,
                                    CollisionCallback* callback) {
 
@@ -877,6 +905,11 @@ void DynamicsWorld::testCollision(const ProxyShape* shape,
 // Test and report collisions between two given shapes.
 /// This method should be called after calling the
 /// DynamicsWorld::update() method that will compute the collisions.
+/**
+ * @param shape1 Pointer to the first proxy shape to test
+ * @param shape2 Pointer to the second proxy shape to test
+ * @param callback Pointer to the object with the callback method
+ */
 void DynamicsWorld::testCollision(const ProxyShape* shape1,
                                    const ProxyShape* shape2,
                                    CollisionCallback* callback) {
@@ -895,6 +928,10 @@ void DynamicsWorld::testCollision(const ProxyShape* shape1,
 // world.
 /// This method should be called after calling the
 /// DynamicsWorld::update() method that will compute the collisions.
+/**
+ * @param body Pointer to the first body to test
+ * @param callback Pointer to the object with the callback method
+ */
 void DynamicsWorld::testCollision(const CollisionBody* body,
                                    CollisionCallback* callback) {
 
@@ -916,6 +953,11 @@ void DynamicsWorld::testCollision(const CollisionBody* body,
 // Test and report collisions between two bodies.
 /// This method should be called after calling the
 /// DynamicsWorld::update() method that will compute the collisions.
+/**
+ * @param body1 Pointer to the first body to test
+ * @param body2 Pointer to the second body to test
+ * @param callback Pointer to the object with the callback method
+ */
 void DynamicsWorld::testCollision(const CollisionBody* body1,
                                    const CollisionBody* body2,
                                    CollisionCallback* callback) {
@@ -940,6 +982,9 @@ void DynamicsWorld::testCollision(const CollisionBody* body1,
 // Test and report collisions between all shapes of the world.
 /// This method should be called after calling the
 /// DynamicsWorld::update() method that will compute the collisions.
+/**
+ * @param callback Pointer to the object with the callback method
+ */
 void DynamicsWorld::testCollision(CollisionCallback* callback) {
 
     std::set<uint> emptySet;
diff --git a/src/engine/DynamicsWorld.h b/src/engine/DynamicsWorld.h
index 83e5d6d2..4ffd08f9 100644
--- a/src/engine/DynamicsWorld.h
+++ b/src/engine/DynamicsWorld.h
@@ -174,6 +174,9 @@ class DynamicsWorld : public CollisionWorld {
         /// Put bodies to sleep if needed.
         void updateSleepingBodies();
 
+        /// Add the joint to the list of joints of the two bodies involved in the joint
+        void addJointToBody(Joint* joint);
+
     public :
 
         // -------------------- Methods -------------------- //
@@ -221,9 +224,6 @@ class DynamicsWorld : public CollisionWorld {
         /// Destroy a joint
         void destroyJoint(Joint* joint);
 
-        /// Add the joint to the list of joints of the two bodies involved in the joint
-        void addJointToBody(Joint* joint);
-
         /// Return the gravity vector of the world
         Vector3 getGravity() const;
 
@@ -324,16 +324,25 @@ inline void DynamicsWorld::stop() {
 }                
 
 // Set the number of iterations for the velocity constraint solver
+/**
+ * @param nbIterations Number of iterations for the velocity solver
+ */
 inline void DynamicsWorld::setNbIterationsVelocitySolver(uint nbIterations) {
     mNbVelocitySolverIterations = nbIterations;
 }
 
 // Set the number of iterations for the position constraint solver
+/**
+ * @param nbIterations Number of iterations for the position solver
+ */
 inline void DynamicsWorld::setNbIterationsPositionSolver(uint nbIterations) {
     mNbPositionSolverIterations = nbIterations;
 }
 
 // Set the position correction technique used for contacts
+/**
+ * @param technique Technique used for the position correction (Baumgarte or Split Impulses)
+ */
 inline void DynamicsWorld::setContactsPositionCorrectionTechnique(
                               ContactsPositionCorrectionTechnique technique) {
     if (technique == BAUMGARTE_CONTACTS) {
@@ -345,6 +354,9 @@ inline void DynamicsWorld::setContactsPositionCorrectionTechnique(
 }
 
 // Set the position correction technique used for joints
+/**
+ * @param technique Technique used for the joins position correction (Baumgarte or Non Linear Gauss Seidel)
+ */
 inline void DynamicsWorld::setJointsPositionCorrectionTechnique(
                               JointsPositionCorrectionTechnique technique) {
     if (technique == BAUMGARTE_JOINTS) {
@@ -357,56 +369,91 @@ inline void DynamicsWorld::setJointsPositionCorrectionTechnique(
 
 // Activate or deactivate the solving of friction constraints at the center of
 // the contact manifold instead of solving them at each contact point
+/**
+ * @param isActive True if you want the friction to be solved at the center of
+ *                 the contact manifold and false otherwise
+ */
 inline void DynamicsWorld::setIsSolveFrictionAtContactManifoldCenterActive(bool isActive) {
     mContactSolver.setIsSolveFrictionAtContactManifoldCenterActive(isActive);
 }
 
 // Return the gravity vector of the world
+/**
+ * @return The current gravity vector (in meter per seconds squared)
+ */
 inline Vector3 DynamicsWorld::getGravity() const {
     return mGravity;
 }
 
 // Return if the gravity is enaled
+/**
+ * @return True if the gravity is enabled in the world
+ */
 inline bool DynamicsWorld::isGravityEnabled() const {
     return mIsGravityEnabled;
 }
 
 // Enable/Disable the gravity
+/**
+ * @param isGravityEnabled True if you want to enable the gravity in the world
+ *                         and false otherwise
+ */
 inline void DynamicsWorld::setIsGratityEnabled(bool isGravityEnabled) {
     mIsGravityEnabled = isGravityEnabled;
 }
 
 // Return the number of rigid bodies in the world
+/**
+ * @return Number of rigid bodies in the world
+ */
 inline uint DynamicsWorld::getNbRigidBodies() const {
     return mRigidBodies.size();
 }
 
 /// Return the number of joints in the world
+/**
+ * @return Number of joints in the world
+ */
 inline uint DynamicsWorld::getNbJoints() const {
     return mJoints.size();
 }
 
 // Return an iterator to the beginning of the bodies of the physics world
+/**
+ * @return Starting iterator of the set of rigid bodies
+ */
 inline std::set<RigidBody*>::iterator DynamicsWorld::getRigidBodiesBeginIterator() {
     return mRigidBodies.begin();
 }
 
 // Return an iterator to the end of the bodies of the physics world
+/**
+ * @return Ending iterator of the set of rigid bodies
+ */
 inline std::set<RigidBody*>::iterator DynamicsWorld::getRigidBodiesEndIterator() {
     return mRigidBodies.end();
 }
 
 // Return the current physics time (in seconds)
+/**
+ * @return The current physics time (in seconds)
+ */
 inline long double DynamicsWorld::getPhysicsTime() const {
     return mTimer.getPhysicsTime();
 }
 
 // Return true if the sleeping technique is enabled
+/**
+ * @return True if the sleeping technique is enabled and false otherwise
+ */
 inline bool DynamicsWorld::isSleepingEnabled() const {
     return mIsSleepingEnabled;
 }
 
 // Return the current sleep linear velocity
+/**
+ * @return The sleep linear velocity (in meters per second)
+ */
 inline decimal DynamicsWorld::getSleepLinearVelocity() const {
     return mSleepLinearVelocity;
 }
@@ -415,12 +462,18 @@ inline decimal DynamicsWorld::getSleepLinearVelocity() const {
 /// When the velocity of a body becomes smaller than the sleep linear/angular
 /// velocity for a given amount of time, the body starts sleeping and does not need
 /// to be simulated anymore.
+/**
+ * @param sleepLinearVelocity The sleep linear velocity (in meters per second)
+ */
 inline void DynamicsWorld::setSleepLinearVelocity(decimal sleepLinearVelocity) {
     assert(sleepLinearVelocity >= decimal(0.0));
     mSleepLinearVelocity = sleepLinearVelocity;
 }
 
 // Return the current sleep angular velocity
+/**
+ * @return The sleep angular velocity (in radian per second)
+ */
 inline decimal DynamicsWorld::getSleepAngularVelocity() const {
     return mSleepAngularVelocity;
 }
@@ -429,18 +482,27 @@ inline decimal DynamicsWorld::getSleepAngularVelocity() const {
 /// When the velocity of a body becomes smaller than the sleep linear/angular
 /// velocity for a given amount of time, the body starts sleeping and does not need
 /// to be simulated anymore.
+/**
+ * @param sleepAngularVelocity The sleep angular velocity (in radian per second)
+ */
 inline void DynamicsWorld::setSleepAngularVelocity(decimal sleepAngularVelocity) {
     assert(sleepAngularVelocity >= decimal(0.0));
     mSleepAngularVelocity = sleepAngularVelocity;
 }
 
 // Return the time a body is required to stay still before sleeping
+/**
+ * @return Time a body is required to stay still before sleeping (in seconds)
+ */
 inline decimal DynamicsWorld::getTimeBeforeSleep() const {
     return mTimeBeforeSleep;
 }
 
 
 // Set the time a body is required to stay still before sleeping
+/**
+ * @param timeBeforeSleep Time a body is required to stay still before sleeping (in seconds)
+ */
 inline void DynamicsWorld::setTimeBeforeSleep(decimal timeBeforeSleep) {
     assert(timeBeforeSleep >= decimal(0.0));
     mTimeBeforeSleep = timeBeforeSleep;
@@ -448,6 +510,10 @@ inline void DynamicsWorld::setTimeBeforeSleep(decimal timeBeforeSleep) {
 
 // Set an event listener object to receive events callbacks.
 /// If you use NULL as an argument, the events callbacks will be disabled.
+/**
+ * @param eventListener Pointer to the event listener object that will receive
+ *                      event callbacks during the simulation
+ */
 inline void DynamicsWorld::setEventListener(EventListener* eventListener) {
     mEventListener = eventListener;
 }
diff --git a/src/engine/EventListener.h b/src/engine/EventListener.h
index 1a8fca05..01ec87eb 100644
--- a/src/engine/EventListener.h
+++ b/src/engine/EventListener.h
@@ -50,9 +50,15 @@ class EventListener {
         virtual ~EventListener() {}
 
         /// Called when a new contact point is found between two bodies that were separated before
+        /**
+         * @param contact Information about the contact
+         */
         virtual void beginContact(const ContactPointInfo& contact) {}
 
         /// Called when a new contact point is found between two bodies
+        /**
+         * @param contact Information about the contact
+         */
         virtual void newContact(const ContactPointInfo& contact) {}
 
         /// Called at the beginning of an internal tick of the simulation step.
diff --git a/src/engine/Material.h b/src/engine/Material.h
index 3909c6b9..f924b9aa 100644
--- a/src/engine/Material.h
+++ b/src/engine/Material.h
@@ -80,6 +80,9 @@ class Material {
 };
 
 // Return the bounciness
+/**
+ * @return Bounciness factor (between 0 and 1) where 1 is very bouncy
+ */
 inline decimal Material::getBounciness() const {
     return mBounciness;
 }
@@ -87,12 +90,18 @@ inline decimal Material::getBounciness() const {
 // 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.
+/**
+ * @param bounciness Bounciness factor (between 0 and 1) where 1 is very bouncy
+ */
 inline void Material::setBounciness(decimal bounciness) {
     assert(bounciness >= decimal(0.0) && bounciness <= decimal(1.0));
     mBounciness = bounciness;
 }
 
 // Return the friction coefficient
+/**
+ * @return Friction coefficient (positive value)
+ */
 inline decimal Material::getFrictionCoefficient() const {
     return mFrictionCoefficient;
 }
@@ -100,6 +109,9 @@ inline decimal Material::getFrictionCoefficient() const {
 // Set the friction coefficient.
 /// The friction coefficient has to be a positive value. The value zero is used for no
 /// friction at all.
+/**
+ * @param frictionCoefficient Friction coefficient (positive value)
+ */
 inline void Material::setFrictionCoefficient(decimal frictionCoefficient) {
     assert(frictionCoefficient >= decimal(0.0));
     mFrictionCoefficient = frictionCoefficient;