4 files changed, 19 insertions, 2 deletions
diff --git a/src/dynamics/joint/fixed_joint.rs b/src/dynamics/joint/fixed_joint.rs
index 10c4d7e..c7ca904 100644
--- a/src/dynamics/joint/fixed_joint.rs
+++ b/src/dynamics/joint/fixed_joint.rs
@@ -7,6 +7,12 @@ pub struct FixedJoint {
     data: JointData,
 }
 
+impl Default for FixedJoint {
+    fn default() -> Self {
+        FixedJoint::new()
+    }
+}
+
 impl FixedJoint {
     pub fn new() -> Self {
         #[cfg(feature = "dim2")]
diff --git a/src/dynamics/joint/multibody_joint/multibody.rs b/src/dynamics/joint/multibody_joint/multibody.rs
index e31a333..f2fa623 100644
--- a/src/dynamics/joint/multibody_joint/multibody.rs
+++ b/src/dynamics/joint/multibody_joint/multibody.rs
@@ -18,7 +18,7 @@ use na::{
 };
 
 #[repr(C)]
-#[derive(Copy, Clone, Debug)]
+#[derive(Copy, Clone, Debug, Default)]
 struct Force {
     linear: Vector<Real>,
     angular: AngVector<Real>,
@@ -91,7 +91,11 @@ pub struct Multibody {
     coriolis_w: Vec<OMatrix<Real, AngDim, Dynamic>>,
     i_coriolis_dt: Jacobian<Real>,
 }
-
+impl Default for Multibody {
+    fn default() -> Self {
+        Multibody::new()
+    }
+}
 impl Multibody {
     /// Creates a new multibody with no link.
     pub fn new() -> Self {
diff --git a/src/dynamics/joint/multibody_joint/multibody_joint_set.rs b/src/dynamics/joint/multibody_joint/multibody_joint_set.rs
index 24b329f..3e786e2 100644
--- a/src/dynamics/joint/multibody_joint/multibody_joint_set.rs
+++ b/src/dynamics/joint/multibody_joint/multibody_joint_set.rs
@@ -75,6 +75,7 @@ impl Default for MultibodyJointLink {
     }
 }
 
+#[derive(Default)]
 /// A set of rigid bodies that can be handled by a physics pipeline.
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[derive(Clone)]
diff --git a/src/dynamics/joint/spherical_joint.rs b/src/dynamics/joint/spherical_joint.rs
index 581b959..194682d 100644
--- a/src/dynamics/joint/spherical_joint.rs
+++ b/src/dynamics/joint/spherical_joint.rs
@@ -8,6 +8,12 @@ pub struct SphericalJoint {
     data: JointData,
 }
 
+impl Default for SphericalJoint {
+    fn default() -> Self {
+        SphericalJoint::new()
+    }
+}
+
 impl SphericalJoint {
     pub fn new() -> Self {
         let data =