diff --git a/include/reactphysics3d/collision/shapes/CapsuleShape.h b/include/reactphysics3d/collision/shapes/CapsuleShape.h
index c42619e3..b9cfbc63 100644
--- a/include/reactphysics3d/collision/shapes/CapsuleShape.h
+++ b/include/reactphysics3d/collision/shapes/CapsuleShape.h
@@ -192,7 +192,7 @@ inline void CapsuleShape::getLocalBounds(Vector3& min, Vector3& max) const {
 
 // Compute and return the volume of the collision shape
 inline decimal CapsuleShape::getVolume() const {
-    return reactphysics3d::PI * mMargin * mMargin * (decimal(4.0) * mMargin / decimal(3.0) + decimal(2.0) * mHalfHeight);
+    return reactphysics3d::PI_RP3D * mMargin * mMargin * (decimal(4.0) * mMargin / decimal(3.0) + decimal(2.0) * mHalfHeight);
 }
 
 // Return true if the collision shape is a polyhedron
diff --git a/include/reactphysics3d/collision/shapes/SphereShape.h b/include/reactphysics3d/collision/shapes/SphereShape.h
index cba750fd..97126eec 100644
--- a/include/reactphysics3d/collision/shapes/SphereShape.h
+++ b/include/reactphysics3d/collision/shapes/SphereShape.h
@@ -181,7 +181,7 @@ inline Vector3 SphereShape::getLocalInertiaTensor(decimal mass) const {
 
 // Compute and return the volume of the collision shape
 inline decimal SphereShape::getVolume() const {
-    return decimal(4.0) / decimal(3.0) * reactphysics3d::PI * mMargin * mMargin * mMargin;
+    return decimal(4.0) / decimal(3.0) * reactphysics3d::PI_RP3D * mMargin * mMargin * mMargin;
 }
 
 // Return true if a point is inside the collision shape
diff --git a/include/reactphysics3d/configuration.h b/include/reactphysics3d/configuration.h
index 8dc3bd90..6283a488 100644
--- a/include/reactphysics3d/configuration.h
+++ b/include/reactphysics3d/configuration.h
@@ -93,7 +93,7 @@ const decimal DECIMAL_LARGEST = std::numeric_limits<decimal>::max();
 const decimal MACHINE_EPSILON = std::numeric_limits<decimal>::epsilon();
 
 /// Pi constant
-constexpr decimal PI = decimal(3.14159265);
+constexpr decimal PI_RP3D = decimal(3.141592653589);
 
 /// 2*Pi constant
 constexpr decimal PI_TIMES_2 = decimal(6.28318530);
diff --git a/include/reactphysics3d/engine/PhysicsWorld.h b/include/reactphysics3d/engine/PhysicsWorld.h
index 065f2a66..0d564bd7 100644
--- a/include/reactphysics3d/engine/PhysicsWorld.h
+++ b/include/reactphysics3d/engine/PhysicsWorld.h
@@ -138,7 +138,7 @@ class PhysicsWorld {
                 defaultPositionSolverNbIterations = 5;
                 defaultTimeBeforeSleep = 1.0f;
                 defaultSleepLinearVelocity = decimal(0.02);
-                defaultSleepAngularVelocity = decimal(3.0) * (PI / decimal(180.0));
+                defaultSleepAngularVelocity = decimal(3.0) * (PI_RP3D / decimal(180.0));
                 nbMaxContactManifolds = 3;
                 cosAngleSimilarContactManifold = decimal(0.95);
             }
diff --git a/src/constraint/HingeJoint.cpp b/src/constraint/HingeJoint.cpp
index 624ed373..fbebd900 100644
--- a/src/constraint/HingeJoint.cpp
+++ b/src/constraint/HingeJoint.cpp
@@ -65,8 +65,8 @@ HingeJoint::HingeJoint(Entity entity, PhysicsWorld &world, const HingeJointInfo&
 
     const decimal lowerLimit = mWorld.mHingeJointsComponents.getLowerLimit(mEntity);
     const decimal upperLimit = mWorld.mHingeJointsComponents.getUpperLimit(mEntity);
-    assert(lowerLimit <= decimal(0) && lowerLimit >= decimal(-2.0) * PI);
-    assert(upperLimit >= decimal(0) && upperLimit <= decimal(2.0) * PI);
+    assert(lowerLimit <= decimal(0) && lowerLimit >= decimal(-2.0) * PI_RP3D);
+    assert(upperLimit >= decimal(0) && upperLimit <= decimal(2.0) * PI_RP3D);
 
     mWorld.mHingeJointsComponents.setLocalAnchorPointBody1(mEntity, anchorPointBody1Local);
     mWorld.mHingeJointsComponents.setLocalAnchorPointBody2(mEntity, anchorPointBody2Local);
@@ -120,7 +120,7 @@ void HingeJoint::setMinAngleLimit(decimal lowerLimit) {
 
     const decimal limit = mWorld.mHingeJointsComponents.getLowerLimit(mEntity);
 
-    assert(limit <= decimal(0.0) && limit >= decimal(-2.0) * PI);
+    assert(limit <= decimal(0.0) && limit >= decimal(-2.0) * PI_RP3D);
 
     if (lowerLimit != limit) {
 
@@ -139,7 +139,7 @@ void HingeJoint::setMaxAngleLimit(decimal upperLimit) {
 
     const decimal limit = mWorld.mHingeJointsComponents.getUpperLimit(mEntity);
 
-    assert(limit >= decimal(0) && limit <= decimal(2.0) * PI);
+    assert(limit >= decimal(0) && limit <= decimal(2.0) * PI_RP3D);
 
     if (upperLimit != limit) {
 
diff --git a/src/systems/SolveHingeJointSystem.cpp b/src/systems/SolveHingeJointSystem.cpp
index cd89b3fa..a1582750 100644
--- a/src/systems/SolveHingeJointSystem.cpp
+++ b/src/systems/SolveHingeJointSystem.cpp
@@ -828,10 +828,10 @@ decimal SolveHingeJointSystem::computeNormalizedAngle(decimal angle) const {
     angle = std::fmod(angle, PI_TIMES_2);
 
     // Convert it into the range [-pi; pi]
-    if (angle < -PI) {
+    if (angle < -PI_RP3D) {
         return angle + PI_TIMES_2;
     }
-    else if (angle > PI) {
+    else if (angle > PI_RP3D) {
         return angle - PI_TIMES_2;
     }
     else {
diff --git a/src/utils/DebugRenderer.cpp b/src/utils/DebugRenderer.cpp
index e403253b..845fd8b3 100644
--- a/src/utils/DebugRenderer.cpp
+++ b/src/utils/DebugRenderer.cpp
@@ -124,12 +124,12 @@ void DebugRenderer::drawSphere(const Vector3& position, decimal radius, uint32 c
     Vector3 vertices[(NB_SECTORS_SPHERE + 1) * (NB_STACKS_SPHERE + 1) + (NB_SECTORS_SPHERE + 1)];
 	
 	// Vertices
-	const decimal sectorStep = 2 * PI / NB_SECTORS_SPHERE;
-	const decimal stackStep = PI / NB_STACKS_SPHERE;
+    const decimal sectorStep = 2 * PI_RP3D / NB_SECTORS_SPHERE;
+    const decimal stackStep = PI_RP3D / NB_STACKS_SPHERE;
 	
 	for (uint i = 0; i <= NB_STACKS_SPHERE; i++) {
 
-		const decimal stackAngle = PI / 2 - i * stackStep;
+        const decimal stackAngle = PI_RP3D / 2 - i * stackStep;
 		const decimal radiusCosStackAngle = radius * std::cos(stackAngle);
 		const decimal z = radius * std::sin(stackAngle);
 
@@ -178,15 +178,15 @@ void DebugRenderer::drawCapsule(const Transform& transform, decimal radius, deci
 	const uint nbHalfStacks = nbStacks / 2;
 	
 	// Vertices
-	const decimal sectorStep = 2 * PI / NB_SECTORS_SPHERE;
-	const decimal stackStep = PI / nbStacks;
+    const decimal sectorStep = 2 * PI_RP3D / NB_SECTORS_SPHERE;
+    const decimal stackStep = PI_RP3D / nbStacks;
 	
 	uint vertexIndex = 0;
 	
 	// Top cap sphere vertices
     for (uint i = 0; i <= nbHalfStacks; i++) {
 
-		const decimal stackAngle = PI / 2 - i * stackStep;
+        const decimal stackAngle = PI_RP3D / 2 - i * stackStep;
 		const decimal radiusCosStackAngle = radius * std::cos(stackAngle);
         const decimal y = radius * std::sin(stackAngle);
 
@@ -206,7 +206,7 @@ void DebugRenderer::drawCapsule(const Transform& transform, decimal radius, deci
 	// Bottom cap sphere vertices
     for (uint i = 0; i <= nbHalfStacks; i++) {
 
-        const decimal stackAngle = PI / 2 - (nbHalfStacks + i) * stackStep;
+        const decimal stackAngle = PI_RP3D / 2 - (nbHalfStacks + i) * stackStep;
 		const decimal radiusCosStackAngle = radius * std::cos(stackAngle);
         const decimal y = radius * std::sin(stackAngle);