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The Hebrew Bible and Rabbinical literature contain numerous references to Joy in connection with complete devotion and sincere subjection of our free will and conduct to Avodat Hashem (divine worship of G-d and observance of the Torah Mitzvot or commandments).
Maimonides
Rambam (Maimonides or Rabbi Moshe Ben Maimon) DOES MENTION JOY SPECIFICALLY IN CONNECTION WITH SUCCOTH, chapter 8, Halakha 15, as quoted by Rabbi Yoel Liberman (yeshiva.org).
He also quotes sources that state that a person may even make a fool of himself in the process of over-joy for the sake of the Torah. For example, King David mightily danced in front of the Holy Ark and Sefer Torah, upon their return to Jerusalem (Samuel II 6:14), as he appeared to make a fool of himself (so to speak).
For not being happy in good heart when keeping the Torah commandments, the Torah prescribes curses and punishments, as quoted in Devarim Deuteronomy 28:45-47:
Raneinu Bechaye Ibn Pekuda
Raneinu Bechaye Ibn Pekuda [RBIP], a giant rabbinical scholar and philosopher, 11th century, Spain, writes in his monumental magnum opus book - Duties of the Heart (Chovot Halevavot), source: Aspklaria, an online Jewish Alphabetical reference):
A person should keep away from pure physical joy that leads to over-indulgence in physical pleasure which could lead to sin, and he should not rejoice in the misfortune of others, or be depressed.
The latter could be detrimental to his health as melancholy could dry his bones (see Mishlei Proverbs 17:5 & 22). According to RBIP; the joy involved in fulfilling a Mitzva (Torah commandment) brings about a reward GREATER than the reward for fulfilling the Mitzva itself! This is truly amazing.
Shulchan Arukh
While Shulchan Arukh (codified Jewish law) does not mention being happy as a specific positive Torah commandment, indirectly it does so, because being happy contributes to good health, as mentioned above.
Our tradition of Simcha
According to the sages, in particular Chassidic teaching; excessive rejoicing on Purim and Succoth, for the sake of the Torah, has an immense power to atone for and convert our transgressions to merits.
Simchat Torah (rejoicing with the Torah) at the end of Succoth is a uniquely momentous occasion, which we should all grasp, to merit another wonderful year in health, wealth and happiness, and hasten our final redemption.
Such moment of true divine joy should remain with us for the rest of the year.
Selective sources about being joyful
Devarim Deuteronomy 12:7-12, Psalms 2:11, 35:27, 97:11-12, 100:2, and 113:9.
Rabbis in Midrash
Lessons
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Kuzari -Rabbi Ari Shvat Kuzari class 6 - The Parable of the King of India
The advantages of testimony over circumstantial evidence or philosophical speculation.
Kuzari -Rabbi Ari Shvat Kuzari class 5- "Proofs of G-d"
This may be the most important class of the entire book, where we finally get to the Jewish proof of the existence of G-d and truth of the Torah. We should follow His own direction where He tells us how to get to Him: through the Nation of Israel: Jewish history, Jewish prophets (and today, prophecies fulfilled), and national reward & punishment towards Am Yisrael.
Ein Aya One Humanity, One Creator, One Jerusalem
Rav Kook innovatively and beautifully explains this aggadeta where our sages say that after Jerusalem was destroyed her cinnamon fragrance is only found locked in a particular kingdom's treasury.
Shlach Lecha "Why So Many Don't Make Aliya?" - Parshat Shlach
This short article deals with the weird phenomena that every single time Am Yisrael is meant to enter the Land of Israel, throughout the Tanach, 2nd Temple and until today, they "chicken out" and look for excuses. What's the problem with this mitzvah that proves so challenging. The article, based on sources, suggests that the difficulties of Eretz Yisrael is precisely her secret and beauty!
Kuzari -Rabbi Ari Shvat Kuzari class 4
The class deals with Islam and how the Muslim tries convincing the King of the Khazars, and why he was also rejected.
Beha'alotcha JEWISH STATE= GUIDE TO G-DLINESS & SELFLESSNESS
A Jewish State not only is a good idea, but educates us towards selflessness, altruism and G-dliness in our daily lives.
Ein Aya In Zion Even the Smoke of the Bark is Sweet
Just as Jewish nationalism is different from others, so too our capitol of Jerusalem is totally different than other national capitols. Rav Kook beautifully explains the passage in the Talmud that the trees of Yerushalayim were cinnamon trees.