diff --git a/sources/reactphysics3d/body/OBB.cpp b/sources/reactphysics3d/body/OBB.cpp
index 4e452e9d..66976b41 100644
--- a/sources/reactphysics3d/body/OBB.cpp
+++ b/sources/reactphysics3d/body/OBB.cpp
@@ -24,8 +24,30 @@
 using namespace reactphysics3d;
 
 // Constructor
-OBB::OBB() {
+OBB::OBB(const Vector3D& center, const Vector3D& axis1, const Vector3D& axis2,
+            const Vector3D& axis3, double extent1, double extent2, double extent3) {
+    this->center = center;
 
+    this->axis[0] = axis1;
+    this->axis[1] = axis2;
+    this->axis[2] = axis3;
+
+    this->extent[0] = extent1;
+    this->extent[1] = extent2;
+    this->extent[2] = extent3;
+}
+
+// Copy-Constructor
+OBB::OBB(const OBB& obb) {
+    this->center = obb.center;
+
+    this->axis[0] = obb.axis[0];
+    this->axis[1] = obb.axis[1];
+    this->axis[2] = obb.axis[2];
+
+    this->extent[0] = obb.extent[0];
+    this->extent[1] = obb.extent[1];
+    this->extent[2] = obb.extent[2];
 }
 
 // Destructor
diff --git a/sources/reactphysics3d/body/OBB.h b/sources/reactphysics3d/body/OBB.h
index 29ac9742..3d16509c 100644
--- a/sources/reactphysics3d/body/OBB.h
+++ b/sources/reactphysics3d/body/OBB.h
@@ -20,6 +20,10 @@
 #ifndef OBB_H
 #define OBB_H
 
+// Libraries
+#include "BoundingVolume.h"
+#include "../mathematics/mathematics.h"
+
 // ReactPhysics3D namespace
 namespace reactphysics3d {
 
@@ -31,12 +35,86 @@ namespace reactphysics3d {
 */
 class OBB : public BoundingVolume {
     private :
+        Vector3D center;            // Center point of the OBB
+        Vector3D axis[3];           // Array that contains the three axis of the OBB
+        double extent[3];           // Array that contains the three extents size of the OBB
 
     public :
-        OBB();              // Constructor
-        virtual ~OBB();     // Destructor
+        OBB(const Vector3D& center, const Vector3D& axis1, const Vector3D& axis2,
+            const Vector3D& axis3, double extent1, double extent2, double extent3);     // Constructor
+        OBB(const OBB& obb);                                                            // Copy-Constructor
+        virtual ~OBB();                                                                 // Destructor
+
+        Vector3D getCenter() const;                                                     // Return the center point of the OBB
+        void setCenter(const Vector3D& center);                                         // Set the center point
+        Vector3D getAxis(int index) const throw(std::invalid_argument);                 // Return an axis of the OBB
+        void setAxis(int index, const Vector3D& axis) throw(std::invalid_argument);     // Set an axis
+        double getExtent(int index) const throw(std::invalid_argument);                 // Return an extent value
+        void setExtent(int index, double extent) throw(std::invalid_argument);          // Set an extent value
 };
 
+// TODO : Don't forget that we need to code a way that a change in the orientation of a rigid body imply
+//        a change in the orientation (center and axis) of the corresponding OBB.
+
+// Return the center point of the OBB
+inline Vector3D OBB::getCenter() const {
+    return center;
+}
+
+// Set the center point
+inline void OBB::setCenter(const Vector3D& center) {
+    this->center = center;
+}
+
+// Return an axis of the OBB
+inline Vector3D OBB::getAxis(int index) const throw(std::invalid_argument) {
+    // Check if the index value is valid
+    if (index >= 0 && index <3) {
+        return axis[index];
+    }
+    else {
+        // The index value is not valid, we throw an exception
+        throw std::invalid_argument("Exception : The index value has to be between 0 and 2");
+    }
+}
+
+// Set an axis
+inline void OBB::setAxis(int index, const Vector3D& axis) throw(std::invalid_argument) {
+    // Check if the index value is valid
+    if (index >= 0 && index <3) {
+        this->axis[index] = axis;
+    }
+    else {
+        // The index value is not valid, we throw an exception
+        throw std::invalid_argument("Exception : The index value has to be between 0 and 2");
+    }
+}
+
+// Return an extent value
+inline double OBB::getExtent(int index) const throw(std::invalid_argument) {
+    // Check if the index value is valid
+    if (index >= 0 && index <3) {
+        return extent[index];
+    }
+    else {
+        // The index value is not valid, we throw an exception
+        throw std::invalid_argument("Exception : The index value has to be between 0 and 2");
+    }
+}
+
+// Set an extent value
+inline void OBB::setExtent(int index, double extent) throw(std::invalid_argument) {
+    // Check if the index value is valid
+    if (index >= 0 && index <3) {
+        this->extent[index] = extent;
+    }
+    else {
+        // The index value is not valid, we throw an exception
+        throw std::invalid_argument("Exception : The index value has to be between 0 and 2");
+    }
+}
+
+
 }; // End of the ReactPhysics3D namespace
 
 #endif
diff --git a/sources/reactphysics3d/body/RigidBody.h b/sources/reactphysics3d/body/RigidBody.h
index 74cebbc5..8b9a60ef 100644
--- a/sources/reactphysics3d/body/RigidBody.h
+++ b/sources/reactphysics3d/body/RigidBody.h
@@ -1,21 +1,21 @@
 /****************************************************************************
- * Copyright (C) 2009      Daniel Chappuis                                  *
- ****************************************************************************
- * This file is part of ReactPhysics3D.                                     *
- *                                                                          *
- * ReactPhysics3D is free software: you can redistribute it and/or modify   *
- * it under the terms of the GNU Lesser General Public License as published *
- * by the Free Software Foundation, either version 3 of the License, or     *
- * (at your option) any later version.                                      *
- *                                                                          *
- * ReactPhysics3D is distributed in the hope that it will be useful,        *
- * but WITHOUT ANY WARRANTY; without even the implied warranty of           *
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the             *
- * GNU Lesser General Public License for more details.                      *
- *                                                                          *
- * You should have received a copy of the GNU Lesser General Public License *
- * along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
- ***************************************************************************/
+* Copyright (C) 2009      Daniel Chappuis                                  *
+****************************************************************************
+* This file is part of ReactPhysics3D.                                     *
+*                                                                          *
+* ReactPhysics3D is free software: you can redistribute it and/or modify   *
+* it under the terms of the GNU Lesser General Public License as published *
+* by the Free Software Foundation, either version 3 of the License, or     *
+* (at your option) any later version.                                      *
+*                                                                          *
+* ReactPhysics3D is distributed in the hope that it will be useful,        *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of           *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the             *
+* GNU Lesser General Public License for more details.                      *
+*                                                                          *
+* You should have received a copy of the GNU Lesser General Public License *
+* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>.   *
+***************************************************************************/
 
  #ifndef RIGIDBODY_H
  #define RIGIDBODY_H