diff --git a/documentation/UserManual/ReactPhysics3D-UserManual.pdf b/documentation/UserManual/ReactPhysics3D-UserManual.pdf
index d4b10c5c..c8db0274 100644
Binary files a/documentation/UserManual/ReactPhysics3D-UserManual.pdf and b/documentation/UserManual/ReactPhysics3D-UserManual.pdf differ
diff --git a/documentation/UserManual/ReactPhysics3D-UserManual.tex b/documentation/UserManual/ReactPhysics3D-UserManual.tex
index 6b1000bb..7cb5daa0 100644
--- a/documentation/UserManual/ReactPhysics3D-UserManual.tex
+++ b/documentation/UserManual/ReactPhysics3D-UserManual.tex
@@ -1569,7 +1569,25 @@ BallAndSocketJoint* joint;
 joint = dynamic_cast<BallAndSocketJoint*>(world->createJoint(jointInfo));
   \end{lstlisting}
 
-    \vspace{0.6cm}
+    \subsubsection{Cone limit}
+
+    With the ball and socket joint, it is possible to enable a cone limit. The idea is to constrain the rotation of body 2 around the anchor point
+    in to stay inside a cone. This can be used to limit the rotation angle of body 2 with respect to the main cone axis. \\
+    
+    In the following example, we enable the cone limit for a given ball and socket joint. We limit the rotation with a maximum angle with respect to
+    the main axis of the cone (here the local-space Y axis of each body). \\
+
+    \begin{lstlisting}
+// Set the main axis of the cone (in both local-spaces of body 1 and 2)
+joint->setConeLimitLocalAxisBody1(rp3d::Vector3(0, 1, 0));
+joint->setConeLimitLocalAxisBody2(rp3d::Vector3(0, 1, 0));
+
+// Set the maximum half angle (in radians) 
+joint->setConeLimitHalfAngle(45.0 * PI / 180.0);
+
+// Enable the cone limit for this joint
+joint->enableConeLimit(true);
+  \end{lstlisting}
 
     \subsection{Hinge Joint}