diff --git a/include/reactphysics3d/collision/broadphase/DynamicAABBTree.h b/include/reactphysics3d/collision/broadphase/DynamicAABBTree.h
index a354de7c..d565ca39 100644
--- a/include/reactphysics3d/collision/broadphase/DynamicAABBTree.h
+++ b/include/reactphysics3d/collision/broadphase/DynamicAABBTree.h
@@ -90,6 +90,11 @@ struct TreeNode {
 
     // -------------------- Methods -------------------- //
 
+    /// Constructor
+    TreeNode() : nextNodeID(NULL_TREE_NODE), height(-1) {
+
+    }
+
     /// Return true if the node is a leaf of the tree
     bool isLeaf() const;
 };
diff --git a/include/reactphysics3d/components/BallAndSocketJointComponents.h b/include/reactphysics3d/components/BallAndSocketJointComponents.h
index 52886d94..1a080bb6 100644
--- a/include/reactphysics3d/components/BallAndSocketJointComponents.h
+++ b/include/reactphysics3d/components/BallAndSocketJointComponents.h
@@ -131,8 +131,12 @@ class BallAndSocketJointComponents : public Components {
         /// Structure for the data of a transform component
         struct BallAndSocketJointComponent {
 
+            bool isConeLimitEnabled;
+            decimal coneLimitHalfAngle;
+
             /// Constructor
-            BallAndSocketJointComponent() {
+            BallAndSocketJointComponent(bool isConeLimitEnabled, decimal coneLimitHalfAngle)
+                : isConeLimitEnabled(isConeLimitEnabled), coneLimitHalfAngle(coneLimitHalfAngle) {
 
             }
         };
diff --git a/include/reactphysics3d/containers/Array.h b/include/reactphysics3d/containers/Array.h
index 74c9a507..9d01c6ff 100755
--- a/include/reactphysics3d/containers/Array.h
+++ b/include/reactphysics3d/containers/Array.h
@@ -93,12 +93,6 @@ class Array {
 
                 }
 
-                /// Copy constructor
-                Iterator(const Iterator& it)
-                     :mCurrentIndex(it.mCurrentIndex), mBuffer(it.mBuffer), mSize(it.mSize) {
-
-                }
-
                 /// Deferencable
                 reference operator*() {
                     assert(mCurrentIndex >= 0 && mCurrentIndex < mSize);
diff --git a/include/reactphysics3d/containers/Map.h b/include/reactphysics3d/containers/Map.h
index 42bc3474..c46f22ef 100755
--- a/include/reactphysics3d/containers/Map.h
+++ b/include/reactphysics3d/containers/Map.h
@@ -162,12 +162,6 @@ class Map {
 
                 }
 
-                /// Copy constructor
-                Iterator(const Iterator& it)
-                     :mMap(it.mMap), mCurrentBucketIndex(it.mCurrentBucketIndex), mCurrentEntryIndex(it.mCurrentEntryIndex) {
-
-                }
-
                 /// Deferencable
                 reference operator*() const {
                     assert(mCurrentEntryIndex < mMap->mNbAllocatedEntries);
@@ -204,20 +198,6 @@ class Map {
                 bool operator!=(const Iterator& iterator) const {
                     return !(*this == iterator);
                 }
-
-                /// Overloaded assignment operator
-                Iterator& operator=(const Iterator& it) {
-
-                    // Check for self assignment
-                    if (this != &it) {
-
-                        mMap = it.mMap;
-                        mCurrentBucketIndex = it.mCurrentBucketIndex;
-                        mCurrentEntryIndex = it.mCurrentEntryIndex;
-                    }
-
-                    return *this;
-                }
         };
 
 
diff --git a/include/reactphysics3d/containers/Pair.h b/include/reactphysics3d/containers/Pair.h
index e07c070e..a9143693 100644
--- a/include/reactphysics3d/containers/Pair.h
+++ b/include/reactphysics3d/containers/Pair.h
@@ -59,14 +59,6 @@ class Pair {
 
         }
 
-        /// Copy constructor
-        Pair(const Pair<T1, T2>& pair) : first(pair.first), second(pair.second) {
-
-        }
-
-        /// Destructor
-        ~Pair() = default;
-
         /// Overloaded equality operator
         bool operator==(const Pair<T1, T2>& pair) const {
             return first == pair.first && second == pair.second;
@@ -76,13 +68,6 @@ class Pair {
         bool operator!=(const Pair<T1, T2>& pair) const {
             return !((*this) == pair);
         }
-
-        /// Overloaded assignment operator
-        Pair<T1, T2>& operator=(const Pair<T1, T2>& pair) {
-            first = pair.first;
-            second = pair.second;
-            return *this;
-        }
 };
 
 }
diff --git a/include/reactphysics3d/containers/Set.h b/include/reactphysics3d/containers/Set.h
index f524d17a..5db0b7f1 100755
--- a/include/reactphysics3d/containers/Set.h
+++ b/include/reactphysics3d/containers/Set.h
@@ -162,12 +162,6 @@ class Set {
 
                 }
 
-                /// Copy constructor
-                Iterator(const Iterator& it)
-                     :mSet(it.mSet), mCurrentBucketIndex(it.mCurrentBucketIndex), mCurrentEntryIndex(it.mCurrentEntryIndex) {
-
-                }
-
                 /// Deferencable
                 reference operator*() const {
                     assert(mCurrentEntryIndex < mSet->mNbAllocatedEntries);
@@ -204,20 +198,6 @@ class Set {
                 bool operator!=(const Iterator& iterator) const {
                     return !(*this == iterator);
                 }
-
-                /// Overloaded assignment operator
-                Iterator& operator=(const Iterator& it) {
-
-                    // Check for self assignment
-                    if (this != &it) {
-
-                        mSet = it.mSet;
-                        mCurrentBucketIndex = it.mCurrentBucketIndex;
-                        mCurrentEntryIndex = it.mCurrentEntryIndex;
-                    }
-
-                    return *this;
-                }
         };
 
 
diff --git a/src/collision/broadphase/DynamicAABBTree.cpp b/src/collision/broadphase/DynamicAABBTree.cpp
index e01fbe16..ddcb3c7e 100644
--- a/src/collision/broadphase/DynamicAABBTree.cpp
+++ b/src/collision/broadphase/DynamicAABBTree.cpp
@@ -58,7 +58,11 @@ void DynamicAABBTree::init() {
     // Allocate memory for the nodes of the tree
     mNodes = static_cast<TreeNode*>(mAllocator.allocate(static_cast<size_t>(mNbAllocatedNodes) * sizeof(TreeNode)));
     assert(mNodes);
-    std::memset(mNodes, 0, static_cast<size_t>(mNbAllocatedNodes) * sizeof(TreeNode));
+
+    // Construct the nodes
+    for (int32 i=0; i < mNbAllocatedNodes; i++) {
+        new (mNodes + i) TreeNode();
+    }
 
     // Initialize the allocated nodes
     for (int32 i=0; i<mNbAllocatedNodes - 1; i++) {
@@ -73,6 +77,11 @@ void DynamicAABBTree::init() {
 // Clear all the nodes and reset the tree
 void DynamicAABBTree::reset() {
 
+    // Call the destructor of all the nodes
+    for (int32 i=0; i < mNbAllocatedNodes; i++) {
+        mNodes[i].~TreeNode();
+    }
+
     // Free the allocated memory for the nodes
     mAllocator.release(mNodes, static_cast<size_t>(mNbAllocatedNodes) * sizeof(TreeNode));
 
@@ -94,11 +103,15 @@ int32 DynamicAABBTree::allocateNode() {
         TreeNode* oldNodes = mNodes;
         mNodes = static_cast<TreeNode*>(mAllocator.allocate(static_cast<size_t>(mNbAllocatedNodes) * sizeof(TreeNode)));
         assert(mNodes);
-        memcpy(mNodes, oldNodes, static_cast<size_t>(mNbNodes) * sizeof(TreeNode));
+
+        // Copy the elements to the new allocated memory location
+        std::uninitialized_copy(oldNodes, oldNodes + mNbNodes, mNodes);
+
         mAllocator.release(oldNodes, static_cast<size_t>(oldNbAllocatedNodes) * sizeof(TreeNode));
 
         // Initialize the allocated nodes
         for (int32 i=mNbNodes; i<mNbAllocatedNodes - 1; i++) {
+            new (mNodes + i) TreeNode();
             mNodes[i].nextNodeID = i + 1;
             mNodes[i].height = -1;
         }
diff --git a/src/components/BallAndSocketJointComponents.cpp b/src/components/BallAndSocketJointComponents.cpp
index a7cf2017..54e5fd16 100644
--- a/src/components/BallAndSocketJointComponents.cpp
+++ b/src/components/BallAndSocketJointComponents.cpp
@@ -150,9 +150,9 @@ void BallAndSocketJointComponents::addComponent(Entity jointEntity, bool isSleep
     new (mBiasVector + index) Vector3(0, 0, 0);
     new (mInverseMassMatrix + index) Matrix3x3();
     new (mImpulse + index) Vector3(0, 0, 0);
-    mIsConeLimitEnabled[index] = false;
+    mIsConeLimitEnabled[index] = component.isConeLimitEnabled;
     mConeLimitImpulse[index] = decimal(0.0);
-    mConeLimitHalfAngle[index] = PI_RP3D;
+    mConeLimitHalfAngle[index] = component.coneLimitHalfAngle;
     mInverseMassMatrixConeLimit[index] = decimal(0.0);
     mBConeLimit[index] = decimal(0.0);
     mIsConeLimitViolated[index] = false;
diff --git a/src/components/FixedJointComponents.cpp b/src/components/FixedJointComponents.cpp
index 4ae8552a..a12f057d 100644
--- a/src/components/FixedJointComponents.cpp
+++ b/src/components/FixedJointComponents.cpp
@@ -117,7 +117,7 @@ void FixedJointComponents::allocate(uint32 nbComponentsToAllocate) {
 }
 
 // Add a component
-void FixedJointComponents::addComponent(Entity jointEntity, bool isSleeping, const FixedJointComponent& component) {
+void FixedJointComponents::addComponent(Entity jointEntity, bool isSleeping, const FixedJointComponent& /*component*/) {
 
     // Prepare to add new component (allocate memory if necessary and compute insertion index)
     uint32 index = prepareAddComponent(isSleeping);
diff --git a/src/engine/PhysicsWorld.cpp b/src/engine/PhysicsWorld.cpp
index f63b0596..528072b5 100644
--- a/src/engine/PhysicsWorld.cpp
+++ b/src/engine/PhysicsWorld.cpp
@@ -50,7 +50,12 @@ uint PhysicsWorld::mNbWorlds = 0;
  * @param worldSettings The settings of the world
  * @param profiler Pointer to the profiler
  */
-PhysicsWorld::PhysicsWorld(MemoryManager& memoryManager, PhysicsCommon& physicsCommon, const WorldSettings& worldSettings, Profiler* profiler)
+PhysicsWorld::PhysicsWorld(MemoryManager& memoryManager, PhysicsCommon& physicsCommon, const WorldSettings& worldSettings,
+#ifdef IS_RP3D_PROFILING_ENABLED
+                           Profiler* profiler)
+#else
+                           Profiler* /*profiler*/)
+#endif
               : mMemoryManager(memoryManager), mConfig(worldSettings), mEntityManager(mMemoryManager.getHeapAllocator()), mDebugRenderer(mMemoryManager.getHeapAllocator()),
                 mCollisionBodyComponents(mMemoryManager.getHeapAllocator()), mRigidBodyComponents(mMemoryManager.getHeapAllocator()),
                 mTransformComponents(mMemoryManager.getHeapAllocator()), mCollidersComponents(mMemoryManager.getHeapAllocator()),
@@ -558,7 +563,7 @@ Joint* PhysicsWorld::createJoint(const JointInfo& jointInfo) {
         case JointType::BALLSOCKETJOINT:
         {
             // Create a BallAndSocketJoint component
-            BallAndSocketJointComponents::BallAndSocketJointComponent ballAndSocketJointComponent;
+            BallAndSocketJointComponents::BallAndSocketJointComponent ballAndSocketJointComponent(false, PI_RP3D);
             mBallAndSocketJointsComponents.addComponent(entity, isJointDisabled, ballAndSocketJointComponent);
 
             void* allocatedMemory = mMemoryManager.allocate(MemoryManager::AllocationType::Pool,