diff --git a/Gulpfile.js b/Gulpfile.js
index f12fa97a..9f4ad982 100644
--- a/Gulpfile.js
+++ b/Gulpfile.js
@@ -8,7 +8,6 @@ const sequence = require('run-sequence');
 const gutil = require('gulp-util');
 const pkg = require('./package.json');
 const exec = require('child_process').exec;
-const buildDirectory = 'build';
 
 const shellExec = (command, callback) => {
     const args = process.argv.slice(3).join(' '),
@@ -34,25 +33,7 @@ gulp.task('test', hint('npm run test'));
 gulp.task('lint', hint('npm run lint'));
 
 gulp.task('doc', callback => {
-    const options = {
-        paths: ['src'],
-        themedir: 'matter-doc-theme',
-        outdir: 'doc/build',
-        linkNatives: true,
-        project: {
-            name: pkg.name + ' ' + pkg.version + ' Physics Engine API Docs',
-            description: pkg.description,
-            version: pkg.version,
-            url: pkg.homepage
-        }
-    };
-
-    const doc = require('yuidocjs');
-    const json = new doc.YUIDoc(options).run();
-    json.project = options.project;
-
-    const builder = new doc.DocBuilder(options, json);
-    builder.compile(callback);
+    shellExec(`yuidoc --config yuidoc.json --project-version ${pkg.version}`, callback);
 });
 
 gulp.task('bump', () => {
diff --git a/package-lock.json b/package-lock.json
index 002df938..9359b8c5 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -1112,12 +1112,6 @@
       "integrity": "sha512-+Ryf6g3BKoRc7jfp7ad8tM4TtMiaWvbF/1/sQcZPkkS7ag3D5nMBCe2UfOTONtAkaG0tO0ij3C5Lwmf1EiyjHg==",
       "dev": true
     },
-    "async": {
-      "version": "0.9.2",
-      "resolved": "https://registry.npmjs.org/async/-/async-0.9.2.tgz",
-      "integrity": "sha1-rqdNXmHB+JlhO/ZL2mbUx48v0X0=",
-      "dev": true
-    },
     "async-done": {
       "version": "1.3.2",
       "resolved": "https://registry.npmjs.org/async-done/-/async-done-1.3.2.tgz",
@@ -1389,41 +1383,6 @@
       "integrity": "sha512-Un7MIEDdUC5gNpcGDV97op1Ywk748MpHcFTHoYs6qnj1Z3j7I53VG3nwZhKzoBZmbdRNnb6WRdFlwl7tSDuZGw==",
       "dev": true
     },
-    "bl": {
-      "version": "0.9.5",
-      "resolved": "https://registry.npmjs.org/bl/-/bl-0.9.5.tgz",
-      "integrity": "sha1-wGt5evCF6gC8Unr8jvzxHeIjIFQ=",
-      "dev": true,
-      "requires": {
-        "readable-stream": "~1.0.26"
-      },
-      "dependencies": {
-        "isarray": {
-          "version": "0.0.1",
-          "resolved": "https://registry.npmjs.org/isarray/-/isarray-0.0.1.tgz",
-          "integrity": "sha1-ihis/Kmo9Bd+Cav8YDiTmwXR7t8=",
-          "dev": true
-        },
-        "readable-stream": {
-          "version": "1.0.34",
-          "resolved": "https://registry.npmjs.org/readable-stream/-/readable-stream-1.0.34.tgz",
-          "integrity": "sha1-Elgg40vIQtLyqq+v5MKRbuMsFXw=",
-          "dev": true,
-          "requires": {
-            "core-util-is": "~1.0.0",
-            "inherits": "~2.0.1",
-            "isarray": "0.0.1",
-            "string_decoder": "~0.10.x"
-          }
-        },
-        "string_decoder": {
-          "version": "0.10.31",
-          "resolved": "https://registry.npmjs.org/string_decoder/-/string_decoder-0.10.31.tgz",
-          "integrity": "sha1-YuIDvEF2bGwoyfyEMB2rHFMQ+pQ=",
-          "dev": true
-        }
-      }
-    },
     "bluebird": {
       "version": "3.5.5",
       "resolved": "https://registry.npmjs.org/bluebird/-/bluebird-3.5.5.tgz",
@@ -1497,15 +1456,6 @@
         "multicast-dns-service-types": "^1.1.0"
       }
     },
-    "boom": {
-      "version": "0.4.2",
-      "resolved": "https://registry.npmjs.org/boom/-/boom-0.4.2.tgz",
-      "integrity": "sha1-emNune1O/O+xnO9JR6PGffrukRs=",
-      "dev": true,
-      "requires": {
-        "hoek": "0.9.x"
-      }
-    },
     "brace-expansion": {
       "version": "1.1.11",
       "resolved": "https://registry.npmjs.org/brace-expansion/-/brace-expansion-1.1.11.tgz",
@@ -2815,16 +2765,6 @@
         }
       }
     },
-    "cryptiles": {
-      "version": "0.2.2",
-      "resolved": "https://registry.npmjs.org/cryptiles/-/cryptiles-0.2.2.tgz",
-      "integrity": "sha1-7ZH/HxetE9N0gohZT4pIoNJvMlw=",
-      "dev": true,
-      "optional": true,
-      "requires": {
-        "boom": "0.4.x"
-      }
-    },
     "crypto-browserify": {
       "version": "3.12.0",
       "resolved": "https://registry.npmjs.org/crypto-browserify/-/crypto-browserify-3.12.0.tgz",
@@ -2859,13 +2799,6 @@
         "cssom": "0.3.x"
       }
     },
-    "ctype": {
-      "version": "0.5.3",
-      "resolved": "https://registry.npmjs.org/ctype/-/ctype-0.5.3.tgz",
-      "integrity": "sha1-gsGMJGH3QRTvFsE1IkrQuRRMoS8=",
-      "dev": true,
-      "optional": true
-    },
     "currently-unhandled": {
       "version": "0.4.1",
       "resolved": "https://registry.npmjs.org/currently-unhandled/-/currently-unhandled-0.4.1.tgz",
@@ -3294,12 +3227,6 @@
         "safer-buffer": "^2.1.0"
       }
     },
-    "editor": {
-      "version": "1.0.0",
-      "resolved": "https://registry.npmjs.org/editor/-/editor-1.0.0.tgz",
-      "integrity": "sha1-YMf4e9YrzGqJT6jM1q+3gjok90I=",
-      "dev": true
-    },
     "ee-first": {
       "version": "1.1.1",
       "resolved": "https://registry.npmjs.org/ee-first/-/ee-first-1.1.1.tgz",
@@ -3359,12 +3286,6 @@
         "tapable": "^1.0.0"
       }
     },
-    "entities": {
-      "version": "1.1.2",
-      "resolved": "https://registry.npmjs.org/entities/-/entities-1.1.2.tgz",
-      "integrity": "sha512-f2LZMYl1Fzu7YSBKg+RoROelpOaNrcGmE9AZubeDfrCEia483oW4MI4VyFd5VNHIgQ/7qm1I0wUHK1eJnn2y2w==",
-      "dev": true
-    },
     "errno": {
       "version": "0.1.7",
       "resolved": "https://registry.npmjs.org/errno/-/errno-0.1.7.tgz",
@@ -4854,19 +4775,6 @@
         "assert-plus": "^1.0.0"
       }
     },
-    "ghauth": {
-      "version": "2.0.1",
-      "resolved": "https://registry.npmjs.org/ghauth/-/ghauth-2.0.1.tgz",
-      "integrity": "sha1-ebfWiwvPjn0IUqI7FHU539MUrPY=",
-      "dev": true,
-      "requires": {
-        "bl": "~0.9.4",
-        "hyperquest": "~1.2.0",
-        "mkdirp": "~0.5.0",
-        "read": "~1.0.5",
-        "xtend": "~4.0.0"
-      }
-    },
     "git-raw-commits": {
       "version": "1.3.6",
       "resolved": "https://registry.npmjs.org/git-raw-commits/-/git-raw-commits-1.3.6.tgz",
@@ -5213,15 +5121,6 @@
         "ini": "^1.3.2"
       }
     },
-    "github-url-to-object": {
-      "version": "1.6.0",
-      "resolved": "https://registry.npmjs.org/github-url-to-object/-/github-url-to-object-1.6.0.tgz",
-      "integrity": "sha1-iR73+7+rqP7XFRCs2xtOk0apcNw=",
-      "dev": true,
-      "requires": {
-        "is-url": "^1.1.0"
-      }
-    },
     "glob": {
       "version": "7.1.4",
       "resolved": "https://registry.npmjs.org/glob/-/glob-7.1.4.tgz",
@@ -5482,17 +5381,6 @@
         }
       }
     },
-    "gulp-github-release": {
-      "version": "1.2.1",
-      "resolved": "https://registry.npmjs.org/gulp-github-release/-/gulp-github-release-1.2.1.tgz",
-      "integrity": "sha1-4IIXiA/dQdijojDSF/UNj/IfR88=",
-      "dev": true,
-      "requires": {
-        "gulp-util": "^3.0.7",
-        "publish-release": "^1.3.2",
-        "through2": "^2.0.1"
-      }
-    },
     "gulp-tag-version": {
       "version": "1.3.1",
       "resolved": "https://registry.npmjs.org/gulp-tag-version/-/gulp-tag-version-1.3.1.tgz",
@@ -5808,19 +5696,6 @@
         "minimalistic-assert": "^1.0.1"
       }
     },
-    "hawk": {
-      "version": "1.1.1",
-      "resolved": "https://registry.npmjs.org/hawk/-/hawk-1.1.1.tgz",
-      "integrity": "sha1-h81JH5tG5OKurKM1QWdmiF0tHtk=",
-      "dev": true,
-      "optional": true,
-      "requires": {
-        "boom": "0.4.x",
-        "cryptiles": "0.2.x",
-        "hoek": "0.9.x",
-        "sntp": "0.2.x"
-      }
-    },
     "hmac-drbg": {
       "version": "1.0.1",
       "resolved": "https://registry.npmjs.org/hmac-drbg/-/hmac-drbg-1.0.1.tgz",
@@ -5832,12 +5707,6 @@
         "minimalistic-crypto-utils": "^1.0.1"
       }
     },
-    "hoek": {
-      "version": "0.9.1",
-      "resolved": "https://registry.npmjs.org/hoek/-/hoek-0.9.1.tgz",
-      "integrity": "sha1-PTIkYrrfB3Fup+uFuviAec3c5QU=",
-      "dev": true
-    },
     "homedir-polyfill": {
       "version": "1.0.3",
       "resolved": "https://registry.npmjs.org/homedir-polyfill/-/homedir-polyfill-1.0.3.tgz",
@@ -5953,52 +5822,6 @@
       "integrity": "sha1-7AbBDgo0wPL68Zn3/X/Hj//QPHM=",
       "dev": true
     },
-    "hyperquest": {
-      "version": "1.2.0",
-      "resolved": "https://registry.npmjs.org/hyperquest/-/hyperquest-1.2.0.tgz",
-      "integrity": "sha1-OeH+9miI3Hzg3sbA3YFPb8iUStU=",
-      "dev": true,
-      "requires": {
-        "duplexer2": "~0.0.2",
-        "through2": "~0.6.3"
-      },
-      "dependencies": {
-        "isarray": {
-          "version": "0.0.1",
-          "resolved": "https://registry.npmjs.org/isarray/-/isarray-0.0.1.tgz",
-          "integrity": "sha1-ihis/Kmo9Bd+Cav8YDiTmwXR7t8=",
-          "dev": true
-        },
-        "readable-stream": {
-          "version": "1.0.34",
-          "resolved": "https://registry.npmjs.org/readable-stream/-/readable-stream-1.0.34.tgz",
-          "integrity": "sha1-Elgg40vIQtLyqq+v5MKRbuMsFXw=",
-          "dev": true,
-          "requires": {
-            "core-util-is": "~1.0.0",
-            "inherits": "~2.0.1",
-            "isarray": "0.0.1",
-            "string_decoder": "~0.10.x"
-          }
-        },
-        "string_decoder": {
-          "version": "0.10.31",
-          "resolved": "https://registry.npmjs.org/string_decoder/-/string_decoder-0.10.31.tgz",
-          "integrity": "sha1-YuIDvEF2bGwoyfyEMB2rHFMQ+pQ=",
-          "dev": true
-        },
-        "through2": {
-          "version": "0.6.5",
-          "resolved": "https://registry.npmjs.org/through2/-/through2-0.6.5.tgz",
-          "integrity": "sha1-QaucZ7KdVyCQcUEOHXp6lozTrUg=",
-          "dev": true,
-          "requires": {
-            "readable-stream": ">=1.0.33-1 <1.1.0-0",
-            "xtend": ">=4.0.0 <4.1.0-0"
-          }
-        }
-      }
-    },
     "iconv-lite": {
       "version": "0.4.24",
       "resolved": "https://registry.npmjs.org/iconv-lite/-/iconv-lite-0.4.24.tgz",
@@ -6464,12 +6287,6 @@
         "unc-path-regex": "^0.1.2"
       }
     },
-    "is-url": {
-      "version": "1.2.4",
-      "resolved": "https://registry.npmjs.org/is-url/-/is-url-1.2.4.tgz",
-      "integrity": "sha512-ITvGim8FhRiYe4IQ5uHSkj7pVaPDrCTkNd3yq3cV7iZAcJdHTUMPMEHcqSOy9xZ9qFenQCvi+2wjH9a1nXqHww==",
-      "dev": true
-    },
     "is-utf8": {
       "version": "0.2.1",
       "resolved": "https://registry.npmjs.org/is-utf8/-/is-utf8-0.2.1.tgz",
@@ -7553,15 +7370,6 @@
         "resolve": "^1.1.7"
       }
     },
-    "linkify-it": {
-      "version": "1.2.4",
-      "resolved": "https://registry.npmjs.org/linkify-it/-/linkify-it-1.2.4.tgz",
-      "integrity": "sha1-B3NSbDF8j9E71TTuHRgP+Iq/iBo=",
-      "dev": true,
-      "requires": {
-        "uc.micro": "^1.0.1"
-      }
-    },
     "load-json-file": {
       "version": "1.1.0",
       "resolved": "https://registry.npmjs.org/load-json-file/-/load-json-file-1.1.0.tgz",
@@ -7868,19 +7676,6 @@
         "object-visit": "^1.0.0"
       }
     },
-    "markdown-it": {
-      "version": "4.4.0",
-      "resolved": "https://registry.npmjs.org/markdown-it/-/markdown-it-4.4.0.tgz",
-      "integrity": "sha1-PfNz2+pYepp/7z5WMRtokI91xBQ=",
-      "dev": true,
-      "requires": {
-        "argparse": "~1.0.2",
-        "entities": "~1.1.1",
-        "linkify-it": "~1.2.0",
-        "mdurl": "~1.0.0",
-        "uc.micro": "^1.0.0"
-      }
-    },
     "matchdep": {
       "version": "2.0.0",
       "resolved": "https://registry.npmjs.org/matchdep/-/matchdep-2.0.0.tgz",
@@ -7927,18 +7722,6 @@
         "safe-buffer": "^5.1.2"
       }
     },
-    "mdn-links": {
-      "version": "0.1.0",
-      "resolved": "https://registry.npmjs.org/mdn-links/-/mdn-links-0.1.0.tgz",
-      "integrity": "sha1-4kyDuXy0xYhsw58veAcF+/4nOqU=",
-      "dev": true
-    },
-    "mdurl": {
-      "version": "1.0.1",
-      "resolved": "https://registry.npmjs.org/mdurl/-/mdurl-1.0.1.tgz",
-      "integrity": "sha1-/oWy7HWlkDfyrf7BAP1sYBdhFS4=",
-      "dev": true
-    },
     "media-typer": {
       "version": "0.3.0",
       "resolved": "https://registry.npmjs.org/media-typer/-/media-typer-0.3.0.tgz",
@@ -9035,12 +8818,6 @@
         }
       }
     },
-    "pkginfo": {
-      "version": "0.3.1",
-      "resolved": "https://registry.npmjs.org/pkginfo/-/pkginfo-0.3.1.tgz",
-      "integrity": "sha1-Wyn2qB9wcXFC4J52W76rl7T4HiE=",
-      "dev": true
-    },
     "plugin-error": {
       "version": "0.1.2",
       "resolved": "https://registry.npmjs.org/plugin-error/-/plugin-error-0.1.2.tgz",
@@ -9197,16 +8974,6 @@
       "integrity": "sha1-IZMqVJ9eUv/ZqCf1cOBL5iqX2lQ=",
       "dev": true
     },
-    "pretty-bytes": {
-      "version": "1.0.4",
-      "resolved": "https://registry.npmjs.org/pretty-bytes/-/pretty-bytes-1.0.4.tgz",
-      "integrity": "sha1-CiLoIQYJrTVUL4yNXSFZr/B1HIQ=",
-      "dev": true,
-      "requires": {
-        "get-stdin": "^4.0.1",
-        "meow": "^3.1.0"
-      }
-    },
     "pretty-format": {
       "version": "24.9.0",
       "resolved": "https://registry.npmjs.org/pretty-format/-/pretty-format-24.9.0.tgz",
@@ -9251,67 +9018,6 @@
       "integrity": "sha512-7PiHtLll5LdnKIMw100I+8xJXR5gW2QwWYkT6iJva0bXitZKa/XMrSbdmg3r2Xnaidz9Qumd0VPaMrZlF9V9sA==",
       "dev": true
     },
-    "progress-stream": {
-      "version": "1.2.0",
-      "resolved": "https://registry.npmjs.org/progress-stream/-/progress-stream-1.2.0.tgz",
-      "integrity": "sha1-LNPP6jO6OonJwSHsM0er6asSX3c=",
-      "dev": true,
-      "requires": {
-        "speedometer": "~0.1.2",
-        "through2": "~0.2.3"
-      },
-      "dependencies": {
-        "isarray": {
-          "version": "0.0.1",
-          "resolved": "https://registry.npmjs.org/isarray/-/isarray-0.0.1.tgz",
-          "integrity": "sha1-ihis/Kmo9Bd+Cav8YDiTmwXR7t8=",
-          "dev": true
-        },
-        "object-keys": {
-          "version": "0.4.0",
-          "resolved": "https://registry.npmjs.org/object-keys/-/object-keys-0.4.0.tgz",
-          "integrity": "sha1-KKaq50KN0sOpLz2V8hM13SBOAzY=",
-          "dev": true
-        },
-        "readable-stream": {
-          "version": "1.1.14",
-          "resolved": "https://registry.npmjs.org/readable-stream/-/readable-stream-1.1.14.tgz",
-          "integrity": "sha1-fPTFTvZI44EwhMY23SB54WbAgdk=",
-          "dev": true,
-          "requires": {
-            "core-util-is": "~1.0.0",
-            "inherits": "~2.0.1",
-            "isarray": "0.0.1",
-            "string_decoder": "~0.10.x"
-          }
-        },
-        "string_decoder": {
-          "version": "0.10.31",
-          "resolved": "https://registry.npmjs.org/string_decoder/-/string_decoder-0.10.31.tgz",
-          "integrity": "sha1-YuIDvEF2bGwoyfyEMB2rHFMQ+pQ=",
-          "dev": true
-        },
-        "through2": {
-          "version": "0.2.3",
-          "resolved": "https://registry.npmjs.org/through2/-/through2-0.2.3.tgz",
-          "integrity": "sha1-6zKE2k6jEbbMis42U3SKUqvyWj8=",
-          "dev": true,
-          "requires": {
-            "readable-stream": "~1.1.9",
-            "xtend": "~2.1.1"
-          }
-        },
-        "xtend": {
-          "version": "2.1.2",
-          "resolved": "https://registry.npmjs.org/xtend/-/xtend-2.1.2.tgz",
-          "integrity": "sha1-bv7MKk2tjmlixJAbM3znuoe10os=",
-          "dev": true,
-          "requires": {
-            "object-keys": "~0.4.0"
-          }
-        }
-      }
-    },
     "promise-inflight": {
       "version": "1.0.1",
       "resolved": "https://registry.npmjs.org/promise-inflight/-/promise-inflight-1.0.1.tgz",
@@ -9364,123 +9070,6 @@
         "safe-buffer": "^5.1.2"
       }
     },
-    "publish-release": {
-      "version": "1.6.1",
-      "resolved": "https://registry.npmjs.org/publish-release/-/publish-release-1.6.1.tgz",
-      "integrity": "sha512-HpL1MwQzJL/zciYnlWAM8P2h8HFkMF3BUnE6Go0Hcy5bZ5dJTHA8bE9VZOabaUHCqVcrMNR8fZOpCWz4x5xZNA==",
-      "dev": true,
-      "requires": {
-        "async": "^0.9.0",
-        "ghauth": "^2.0.0",
-        "github-url-to-object": "^1.4.2",
-        "inquirer": "^0.8.2",
-        "lodash": "^4.17.15",
-        "mime": "^1.3.4",
-        "minimist": "^1.1.1",
-        "pkginfo": "^0.3.0",
-        "pretty-bytes": "^1.0.4",
-        "progress-stream": "^1.0.1",
-        "request": "^2.54.0",
-        "single-line-log": "^0.4.1",
-        "string-editor": "^0.1.0"
-      },
-      "dependencies": {
-        "ansi-regex": {
-          "version": "1.1.1",
-          "resolved": "https://registry.npmjs.org/ansi-regex/-/ansi-regex-1.1.1.tgz",
-          "integrity": "sha1-QchHGUZGN15qGl0Qw8oFTvn8mA0=",
-          "dev": true
-        },
-        "ansi-styles": {
-          "version": "2.2.1",
-          "resolved": "https://registry.npmjs.org/ansi-styles/-/ansi-styles-2.2.1.tgz",
-          "integrity": "sha1-tDLdM1i2NM914eRmQ2gkBTPB3b4=",
-          "dev": true
-        },
-        "chalk": {
-          "version": "1.1.3",
-          "resolved": "https://registry.npmjs.org/chalk/-/chalk-1.1.3.tgz",
-          "integrity": "sha1-qBFcVeSnAv5NFQq9OHKCKn4J/Jg=",
-          "dev": true,
-          "requires": {
-            "ansi-styles": "^2.2.1",
-            "escape-string-regexp": "^1.0.2",
-            "has-ansi": "^2.0.0",
-            "strip-ansi": "^3.0.0",
-            "supports-color": "^2.0.0"
-          }
-        },
-        "cli-width": {
-          "version": "1.1.1",
-          "resolved": "https://registry.npmjs.org/cli-width/-/cli-width-1.1.1.tgz",
-          "integrity": "sha1-pNKT72frt7iNSk1CwMzwDE0eNm0=",
-          "dev": true
-        },
-        "figures": {
-          "version": "1.7.0",
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 }
diff --git a/package.json b/package.json
index dcf8ee96..ec3f5f33 100644
--- a/package.json
+++ b/package.json
@@ -30,8 +30,7 @@
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     "webpack": "^4.39.3",
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+    "webpack-dev-server": "^3.8.0"
   },
   "scripts": {
     "dev": "webpack-dev-server",
diff --git a/yuidoc.json b/yuidoc.json
new file mode 100644
index 00000000..d1635746
--- /dev/null
+++ b/yuidoc.json
@@ -0,0 +1,11 @@
+{
+  "name": "Matter.js Physics Engine API Docs",
+  "description": "a 2D rigid body physics engine for the web",
+  "url": "http://brm.io/matter-js/",
+  "options": {
+      "linkNatives": true,
+      "outdir": "doc/build",
+      "themedir": "matter-doc-theme",
+      "paths": "src"
+  }
+}
\ No newline at end of file