diff --git a/CHANGELOG.md b/CHANGELOG.md
index ee79fbe3..3e101e13 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -28,8 +28,8 @@
 ## Unreleased
 
 ## 0.5.4 - in progress
-Known Bugs: TrimeshHeightfield and LayeredTrimeshHeightfield don't work with Convex
-
+- Fixed javadoc for `DPUJoint`, `DVector` and `DWorld` [#155](https://github.com/tzaeschke/ode4j/pull/154)
+- Fixed exception when colliding DConvex with DTrimeshHeightfield [#152](https://github.com/tzaeschke/ode4j/issues/152)
 - Improved javadoc for `DContact` and `DCapsule` (AustinHoover) [#150](https://github.com/tzaeschke/ode4j/pull/149)
 - Add some math functions for element wise multiplication and division (Hadamard) 
   [#145](https://github.com/tzaeschke/ode4j/issues/145):
@@ -44,13 +44,13 @@ Known Bugs: TrimeshHeightfield and LayeredTrimeshHeightfield don't work with Con
 - Post 0.16.6 cleanup [#148](https://github.com/tzaeschke/ode4j/pull/148)
   - Re-enabled new BoxPlane collider
   - deprecated `DWorld.step()`
-  - DemoCrash cleanup
+  - `DemoCrash` cleanup
 - Port updates until 0.16.6 (previous: 0.16.2/.3) ([#147](https://github.com/tzaeschke/ode4j/pull/147)). This includes:
   - Fixed porting bug in `dxQuickStepIsland_Stage4LCP_IterationStep`:
     `fc_ptr2P = b2 * CFE__MAX;` was declared `int` and thus overwrote the existing variable.
     This appears to fix known stability issues, e.g. large walls of boxes. 
   - New box-plane collider
-  - new DemoTrimeshCollision
+  - new `DemoTrimeshCollision`
   - new API method in DPUJoint: `void addTorques (double torque1, double torque2);`
   - Cleanup:
     - Lots of typos fixed
@@ -67,9 +67,6 @@ Known Bugs: TrimeshHeightfield and LayeredTrimeshHeightfield don't work with Con
     - ThrsafeDecrement
     - Multithrading: verify calculateThreadingLimitedThreadCount()
 
-MAYBE BROKEN:
-- sizeint is "long"!!!!
-
 ## 0.5.3 - 2024-04-28
 
 - Fix INTERNAL ERROR in `FastLSolve.solveL1Straight()` caused by bug in `DLCP.solve1()`.
diff --git a/core-cpp/pom.xml b/core-cpp/pom.xml
index 2c982e79..c125c586 100644
--- a/core-cpp/pom.xml
+++ b/core-cpp/pom.xml
@@ -6,7 +6,7 @@
 	<parent>
 		<groupId>org.ode4j</groupId>
 		<artifactId>parent</artifactId>
-		<version>0.5.4-SNAPSHOT</version>
+		<version>0.5.5-SNAPSHOT</version>
 	</parent>
 
 	<artifactId>core-cpp</artifactId>
diff --git a/core/pom.xml b/core/pom.xml
index c1a4230b..8c1f4e12 100644
--- a/core/pom.xml
+++ b/core/pom.xml
@@ -6,7 +6,7 @@
 	<parent>
 		<groupId>org.ode4j</groupId>
 		<artifactId>parent</artifactId>
-		<version>0.5.4-SNAPSHOT</version>
+		<version>0.5.5-SNAPSHOT</version>
 	</parent>
 
 	<artifactId>core</artifactId>
diff --git a/core/src/main/java/org/ode4j/math/DVector3.java b/core/src/main/java/org/ode4j/math/DVector3.java
index 0845e982..7b0dfe50 100644
--- a/core/src/main/java/org/ode4j/math/DVector3.java
+++ b/core/src/main/java/org/ode4j/math/DVector3.java
@@ -729,6 +729,7 @@ public final DVector3 addHadDiv(DVector3C v, DVector3C w, double d) {
 	/**
 	 * Perform Hadamard multiplication with vector v.
 	 *
+	 * @param v vector
 	 * @return (this0 * v0, this1 * v1, this2 * v2)
 	 */
 	public final DVector3 eqHadMul(DVector3C v) {
@@ -741,6 +742,7 @@ public final DVector3 eqHadMul(DVector3C v) {
 	/**
 	 * Perform Hadamard division by vector v.
 	 *
+	 * @param v vector
 	 * @return (this0 / v0, this1 / v1, this2 / v2)
 	 */
 	public final DVector3 eqHadDiv(DVector3C v) {
diff --git a/core/src/main/java/org/ode4j/ode/DPUJoint.java b/core/src/main/java/org/ode4j/ode/DPUJoint.java
index af70d249..578f1415 100644
--- a/core/src/main/java/org/ode4j/ode/DPUJoint.java
+++ b/core/src/main/java/org/ode4j/ode/DPUJoint.java
@@ -270,6 +270,9 @@ void setAnchorOffset(double x, double y, double z, double dx, double dy,
 	 * direction to body 2.
 	 * <p>
 	 * <b>REMARKS:</b> This function is just a wrapper for {@link DBody#addTorque(DVector3C)}.
+	 *
+	 * @param torque1 torque about the universal axis 1
+	 * @param torque2 torque about the universal axis 2
 	 */
 	void addTorques (double torque1, double torque2);
 
diff --git a/core/src/main/java/org/ode4j/ode/DWorld.java b/core/src/main/java/org/ode4j/ode/DWorld.java
index 4d67d1f5..8aa9a995 100644
--- a/core/src/main/java/org/ode4j/ode/DWorld.java
+++ b/core/src/main/java/org/ode4j/ode/DWorld.java
@@ -209,7 +209,8 @@ class dWorldSteppingThreadingParameters
 	{
 		/* must always be defined */
 		// unsigned
-		public int param_set; /**< Combination of dWSTP_... flags */
+		/** Combination of dWSTP_... flags */
+		public int param_set;
 		// unsigned
 		public int world_islands_iteration_max_threads;
 		// unsigned
diff --git a/demo-cpp/pom.xml b/demo-cpp/pom.xml
index a672ec11..35fde391 100644
--- a/demo-cpp/pom.xml
+++ b/demo-cpp/pom.xml
@@ -6,7 +6,7 @@
 	<parent>
 		<groupId>org.ode4j</groupId>
 		<artifactId>parent</artifactId>
-		<version>0.5.4-SNAPSHOT</version>
+		<version>0.5.5-SNAPSHOT</version>
 	</parent>
 
 	<artifactId>demo-cpp</artifactId>
diff --git a/demo/pom.xml b/demo/pom.xml
index e4c3cd4a..469e0e8c 100644
--- a/demo/pom.xml
+++ b/demo/pom.xml
@@ -5,7 +5,7 @@
 	<parent>
 		<groupId>org.ode4j</groupId>
 		<artifactId>parent</artifactId>
-		<version>0.5.4-SNAPSHOT</version>
+		<version>0.5.5-SNAPSHOT</version>
 	</parent>
 
 	<artifactId>demo</artifactId>
diff --git a/pom.xml b/pom.xml
index d39dbda2..a2722008 100644
--- a/pom.xml
+++ b/pom.xml
@@ -11,7 +11,7 @@
 
 	<groupId>org.ode4j</groupId>
 	<artifactId>parent</artifactId>
-	<version>0.5.4-SNAPSHOT</version>
+	<version>0.5.5-SNAPSHOT</version>
 	<packaging>pom</packaging>
 
 	<modules>