diff --git a/include/reactphysics3d/constraint/Joint.h b/include/reactphysics3d/constraint/Joint.h
index 737f92e0..e3856830 100644
--- a/include/reactphysics3d/constraint/Joint.h
+++ b/include/reactphysics3d/constraint/Joint.h
@@ -62,7 +62,7 @@ struct JointInfo {
         JointType type;
 
         /// Position correction technique used for the constraint (used for joints).
-        /// By default, the BAUMGARTE technique is used
+        /// By default, the NON_LINEAR_GAUSS_SEIDEL technique is used
         JointsPositionCorrectionTechnique positionCorrectionTechnique;
 
         /// True if the two bodies of the joint are allowed to collide with each other
diff --git a/include/reactphysics3d/engine/PhysicsWorld.h b/include/reactphysics3d/engine/PhysicsWorld.h
index 9aa3da2c..2d7d2f8d 100644
--- a/include/reactphysics3d/engine/PhysicsWorld.h
+++ b/include/reactphysics3d/engine/PhysicsWorld.h
@@ -377,9 +377,6 @@ class PhysicsWorld {
         /// Set the position correction technique used for contacts
         void setContactsPositionCorrectionTechnique(ContactsPositionCorrectionTechnique technique);
 
-        /// Set the position correction technique used for joints
-        void setJointsPositionCorrectionTechnique(JointsPositionCorrectionTechnique technique);
-
         /// Create a rigid body into the physics world.
         RigidBody* createRigidBody(const Transform& transform);
 
@@ -629,20 +626,6 @@ inline void PhysicsWorld::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 PhysicsWorld::setJointsPositionCorrectionTechnique(
-                              JointsPositionCorrectionTechnique technique) {
-    if (technique == JointsPositionCorrectionTechnique::BAUMGARTE_JOINTS) {
-        mConstraintSolverSystem.setIsNonLinearGaussSeidelPositionCorrectionActive(false);
-    }
-    else {
-        mConstraintSolverSystem.setIsNonLinearGaussSeidelPositionCorrectionActive(true);
-    }
-}
-
 // Return the gravity vector of the world
 /**
  * @return The current gravity vector (in meter per seconds squared)
diff --git a/include/reactphysics3d/systems/ConstraintSolverSystem.h b/include/reactphysics3d/systems/ConstraintSolverSystem.h
index 54021aaa..f3b68d80 100644
--- a/include/reactphysics3d/systems/ConstraintSolverSystem.h
+++ b/include/reactphysics3d/systems/ConstraintSolverSystem.h
@@ -203,12 +203,6 @@ class ConstraintSolverSystem {
         /// Solve the position constraints
         void solvePositionConstraints();
 
-        /// Return true if the Non-Linear-Gauss-Seidel position correction technique is active
-        bool getIsNonLinearGaussSeidelPositionCorrectionActive() const;
-
-        /// Enable/Disable the Non-Linear-Gauss-Seidel position correction technique.
-        void setIsNonLinearGaussSeidelPositionCorrectionActive(bool isActive);
-
 #ifdef IS_RP3D_PROFILING_ENABLED
 
 		/// Set the profiler