diff --git a/include/reactphysics3d/components/RigidBodyComponents.h b/include/reactphysics3d/components/RigidBodyComponents.h
index 45ea6690..c78dd93d 100644
--- a/include/reactphysics3d/components/RigidBodyComponents.h
+++ b/include/reactphysics3d/components/RigidBodyComponents.h
@@ -151,10 +151,10 @@ class RigidBodyComponents : public Components {
         /// For each body, the array of the indices of contact pairs in which the body is involved
         Array<uint>* mContactPairs;
 
-        /// For each body, the array of lock translation vectors
+        /// For each body, the vector of lock translation vectors
         Vector3* mLinearLockAxisFactors;
 
-        /// For each body, the array of lock rotation vectors
+        /// For each body, the vector of lock rotation vectors
         Vector3* mAngularLockAxisFactors;
 
         // -------------------- Methods -------------------- //
diff --git a/src/body/RigidBody.cpp b/src/body/RigidBody.cpp
index ecf4acd7..1a367b11 100644
--- a/src/body/RigidBody.cpp
+++ b/src/body/RigidBody.cpp
@@ -864,21 +864,43 @@ bool RigidBody::isGravityEnabled() const {
 }
 
 // Return the linear lock axis factor
+/// The linear lock axis factor specify whether linear motion along world-space axes X,Y,Z is
+/// restricted or not.
+/**
+ * @return A Vector3 with the linear lock axis factor for each X,Y,Z world-space axis
+ */
 const Vector3& RigidBody::getLinearLockAxisFactor() const {
     return mWorld.mRigidBodyComponents.getLinearLockAxisFactor(mEntity);
 }
 
 // Set the linear lock axis factor
+/// This method allows to restrict the linear motion of a rigid body along the world-space
+/// axes X,Y and Z. For instance, it's possible to disable the linear motion of a body
+/// along a given axis by setting a lock axis factor of zero.
+/**
+ * @param linearLockAxisFactor A Vector3 with the lock factor for each world-space axis X,Y,Z
+ */
 void RigidBody::setLinearLockAxisFactor(const Vector3& linearLockAxisFactor) const {
     mWorld.mRigidBodyComponents.setLinearLockAxisFactor(mEntity, linearLockAxisFactor);
 }
 
 // Return the angular lock axis factor
+/// The angular lock axis factor specify whether angular motion around world-space axes X,Y,Z is
+/// restricted or not.
+/**
+ * @return A Vector3 with the angular lock axis factor for each X,Y,Z world-space axis
+ */
 const Vector3& RigidBody::getAngularLockAxisFactor() const {
     return mWorld.mRigidBodyComponents.getAngularLockAxisFactor(mEntity);
 }
 
 // Set the angular lock axis factor
+/// This method allows to restrict the angular motion of a rigid body around the world-space
+/// axes X,Y and Z. For instance, it's possible to disable the angular motion of a body
+/// around a given axis by setting a lock axis factor of zero.
+/**
+ * @param angularLockAxisFactor A Vector3 with the lock factor for each world-space axis X,Y,Z
+ */
 void RigidBody::setAngularLockAxisFactor(const Vector3& angularLockAxisFactor) const {
     mWorld.mRigidBodyComponents.setAngularLockAxisFactor(mEntity, angularLockAxisFactor);
 }
@@ -943,11 +965,17 @@ void RigidBody::resetTorque() {
 }
 
 // Return the total manually applied force on the body (in world-space)
+/**
+ * @return The total manually applied force on the body (in world-space)
+ */
 const Vector3& RigidBody::getForce() const {
     return mWorld.mRigidBodyComponents.getExternalForce(mEntity);
 }
 
 // Return the total manually applied torque on the body (in world-space)
+/**
+ * @return The total manually applied torque on the body (in world-space)
+ */
 const Vector3& RigidBody::getTorque() const {
     return mWorld.mRigidBodyComponents.getExternalTorque(mEntity);
 }
diff --git a/src/constraint/BallAndSocketJoint.cpp b/src/constraint/BallAndSocketJoint.cpp
index 68ca766b..60fafce4 100644
--- a/src/constraint/BallAndSocketJoint.cpp
+++ b/src/constraint/BallAndSocketJoint.cpp
@@ -62,6 +62,12 @@ BallAndSocketJoint::BallAndSocketJoint(Entity entity, PhysicsWorld& world, const
 }
 
 // Enable/disable the cone limit of the joint
+/// It is possible to enable a cone-limit for the BallAndSocketJoint in order to
+/// restrict the angular motion between the two bodies. Use this method to enable/disable
+/// the cone-limit.
+/**
+ * @param isLimitEnabled True if the limit must be enabled and false otherwise
+ */
 void BallAndSocketJoint::enableConeLimit(bool isLimitEnabled) {
     mWorld.mBallAndSocketJointsComponents.setIsConeLimitEnabled(mEntity, isLimitEnabled);
 
@@ -69,6 +75,9 @@ void BallAndSocketJoint::enableConeLimit(bool isLimitEnabled) {
 }
 
 // Return true if the cone limit or the joint is enabled
+/**
+ * @return True if the cone-limit is enabled for this joint
+ */
 bool BallAndSocketJoint::isConeLimitEnabled() const {
     return mWorld.mBallAndSocketJointsComponents.getIsConeLimitEnabled(mEntity);
 }
@@ -88,6 +97,9 @@ void BallAndSocketJoint::setConeLimitHalfAngle(decimal coneHalfAngle) {
 }
 
 // Set the normalized cone limit axis of body 1 in local-space of body 1
+/**
+ * @param localAxisBody1 The normalized axis for the cone-limit in local-space of body 1
+ */
 void BallAndSocketJoint::setConeLimitLocalAxisBody1(const Vector3& localAxisBody1) {
     mWorld.mBallAndSocketJointsComponents.setConeLimitLocalAxisBody1(mEntity, localAxisBody1);
 
@@ -95,6 +107,9 @@ void BallAndSocketJoint::setConeLimitLocalAxisBody1(const Vector3& localAxisBody
 }
 
 // Set the normalized cone limit axis of body 2 in local-space of body 2
+/**
+ * @param localAxisBody1 The normalized axis for the cone-limit in local-space of body 2
+ */
 void BallAndSocketJoint::setConeLimitLocalAxisBody2(const Vector3& localAxisBody2) {
     mWorld.mBallAndSocketJointsComponents.setConeLimitLocalAxisBody2(mEntity, localAxisBody2);
 
@@ -102,11 +117,17 @@ void BallAndSocketJoint::setConeLimitLocalAxisBody2(const Vector3& localAxisBody
 }
 
 // Return the cone angle limit (in radians) from [0; PI]
+/**
+ * @return The half-angle (in radians) of the cone-limit
+ */
 decimal BallAndSocketJoint::getConeLimitHalfAngle() const {
     return mWorld.mBallAndSocketJointsComponents.getConeLimitHalfAngle(mEntity);
 }
 
 // Return the current cone angle in radians (in [0, pi])
+/**
+ * @return The current half-angle (in radians) of the joint with respect to the cone-limit axis
+ */
 decimal BallAndSocketJoint::getConeHalfAngle() const {
 
     // Get the bodies entities
@@ -124,12 +145,18 @@ decimal BallAndSocketJoint::getConeHalfAngle() const {
 }
 
 // Return the force (in Newtons) on body 2 required to satisfy the joint constraint in world-space
+/**
+ * @return The current force (in Newtons) applied on body 2
+ */
 Vector3 BallAndSocketJoint::getReactionForce(decimal timeStep) const {
     assert(timeStep > MACHINE_EPSILON);
     return mWorld.mBallAndSocketJointsComponents.getImpulse(mEntity) / timeStep;
 }
 
 // Return the torque (in Newtons * meters) on body 2 required to satisfy the joint constraint in world-space
+/**
+ * @return The current torque (in Newtons * meters) on body 2
+ */
 Vector3 BallAndSocketJoint::getReactionTorque(decimal timeStep) const {
     assert(timeStep > MACHINE_EPSILON);
     return Vector3(0, 0, 0);
diff --git a/src/constraint/FixedJoint.cpp b/src/constraint/FixedJoint.cpp
index ac7f7f86..84383615 100644
--- a/src/constraint/FixedJoint.cpp
+++ b/src/constraint/FixedJoint.cpp
@@ -72,12 +72,18 @@ FixedJoint::FixedJoint(Entity entity, PhysicsWorld& world, const FixedJointInfo&
 }
 
 // Return the force (in Newtons) on body 2 required to satisfy the joint constraint in world-space
+/**
+ * @return The current force (in Newtons) applied on body 2
+ */
 Vector3 FixedJoint::getReactionForce(decimal timeStep) const {
     assert(timeStep > MACHINE_EPSILON);
     return mWorld.mFixedJointsComponents.getImpulseTranslation(mEntity) / timeStep;
 }
 
 // Return the torque (in Newtons * meters) on body 2 required to satisfy the joint constraint in world-space
+/**
+ * @return The current torque (in Newtons * meters) applied on body 2
+ */
 Vector3 FixedJoint::getReactionTorque(decimal timeStep) const {
     assert(timeStep > MACHINE_EPSILON);
     return mWorld.mFixedJointsComponents.getImpulseRotation(mEntity) / timeStep;
diff --git a/src/constraint/HingeJoint.cpp b/src/constraint/HingeJoint.cpp
index 99f3b2e5..9ca053ba 100644
--- a/src/constraint/HingeJoint.cpp
+++ b/src/constraint/HingeJoint.cpp
@@ -162,6 +162,9 @@ void HingeJoint::resetLimits() {
 }
 
 // Set the motor speed
+/**
+ * @param motorSpeed The speed of the motor
+ */
 void HingeJoint::setMotorSpeed(decimal motorSpeed) {
 
     if (motorSpeed != mWorld.mHingeJointsComponents.getMotorSpeed(mEntity)) {
@@ -267,12 +270,18 @@ decimal HingeJoint::getAngle() const {
 }
 
 // Return the force (in Newtons) on body 2 required to satisfy the joint constraint in world-space
+/**
+ * @return The current force (in Newtons) applied on body 2
+ */
 Vector3 HingeJoint::getReactionForce(decimal timeStep) const {
     assert(timeStep > MACHINE_EPSILON);
     return mWorld.mHingeJointsComponents.getImpulseTranslation(mEntity) / timeStep;
 }
 
 // Return the torque (in Newtons * meters) on body 2 required to satisfy the joint constraint in world-space
+/**
+ * @return The current torque (in Newtons * meters) applied on body 2
+ */
 Vector3 HingeJoint::getReactionTorque(decimal timeStep) const {
 
     assert(timeStep > MACHINE_EPSILON);
diff --git a/src/constraint/SliderJoint.cpp b/src/constraint/SliderJoint.cpp
index 0f02605e..af926b88 100644
--- a/src/constraint/SliderJoint.cpp
+++ b/src/constraint/SliderJoint.cpp
@@ -295,6 +295,9 @@ decimal SliderJoint::getMaxTranslationLimit() const {
 }
 
 // Return the force (in Newtons) on body 2 required to satisfy the joint constraint in world-space
+/**
+ * @return The current force (in Newtons) applied on body 2
+ */
 Vector3 SliderJoint::getReactionForce(decimal timeStep) const {
     assert(timeStep > MACHINE_EPSILON);
 
@@ -314,6 +317,9 @@ Vector3 SliderJoint::getReactionForce(decimal timeStep) const {
 }
 
 // Return the torque (in Newtons * meters) on body 2 required to satisfy the joint constraint in world-space
+/**
+ * @return The current torque (in Newtons * meters) applied on body 2
+ */
 Vector3 SliderJoint::getReactionTorque(decimal timeStep) const {
 
     assert(timeStep > MACHINE_EPSILON);