diff --git a/OdeWorld.cc b/OdeWorld.cc
index fe0c5a6..0e62880 100644
--- a/OdeWorld.cc
+++ b/OdeWorld.cc
@@ -134,6 +134,28 @@ OdeWorld::Object::Object(const OdeWorld::Object & orig)
         dBodySetPosition(m_body, pos[0], pos[1], pos[2]);
         const dReal * rot = dBodyGetRotation(orig.m_body);
         dBodySetRotation(m_body, rot);
+        dBodySetAutoDisableFlag(m_body,
+                dBodyGetAutoDisableFlag(orig.m_body));
+        dBodySetAutoDisableLinearThreshold(m_body,
+                dBodyGetAutoDisableLinearThreshold(orig.m_body));
+        dBodySetAutoDisableAngularThreshold(m_body,
+                dBodyGetAutoDisableAngularThreshold(orig.m_body));
+        dBodySetAutoDisableSteps(m_body,
+                dBodyGetAutoDisableSteps(orig.m_body));
+        dBodySetAutoDisableTime(m_body,
+                dBodyGetAutoDisableTime(orig.m_body));
+        int finite_rotation_mode = dBodyGetFiniteRotationMode(orig.m_body);
+        dBodySetFiniteRotationMode(m_body, finite_rotation_mode);
+        if (finite_rotation_mode)
+        {
+            dVector3 finite_rotation_axis;
+            dBodyGetFiniteRotationAxis(orig.m_body, finite_rotation_axis);
+            dBodySetFiniteRotationAxis(m_body,
+                    finite_rotation_axis[0],
+                    finite_rotation_axis[1],
+                    finite_rotation_axis[2]);
+        }
+        dBodySetGravityMode(m_body, dBodyGetGravityMode(orig.m_body));
     }
     else
     {
@@ -148,20 +170,55 @@ OdeWorld::Object::Object(const OdeWorld::Object & orig)
 
 dGeomID OdeWorld::Object::cloneGeom(dGeomID geom, dBodyID body)
 {
-    /* TODO: clone the geom */
+    dGeomID id = 0;
+    dSpaceID space = dGeomGetSpace(geom);
     switch (dGeomGetClass(geom))
     {
         case dSphereClass:
+            id = dCreateSphere(space, dGeomSphereGetRadius(geom));
             break;
         case dBoxClass:
+            {
+                dVector3 size;
+                dGeomBoxGetLengths(geom, size);
+                id = dCreateBox(space, size[0], size[1], size[2]);
+            }
             break;
         case dCCylinderClass:
+            {
+                dReal radius, length;
+                dGeomCylinderGetParams(geom, &radius, &length);
+                id = dCreateCylinder(space, radius, length);
+            }
             break;
         case dCylinderClass:
+            {
+                dReal radius, length;
+                dGeomCCylinderGetParams(geom, &radius, &length);
+                id = dCreateCCylinder(space, radius, length);
+            }
             break;
         case dPlaneClass:
+            {
+                dVector4 params;
+                dGeomPlaneGetParams(geom, params);
+                id = dCreatePlane(space,
+                        params[0], params[1], params[2], params[3]);
+            }
             break;
         case dGeomTransformClass:
+            {
+                dGeomID old_inner_geom = dGeomTransformGetGeom(geom);
+                dGeomID new_inner_geom = cloneGeom(old_inner_geom, body);
+                if (new_inner_geom != 0)
+                {
+                    id = dCreateGeomTransform(space);
+                    dGeomTransformSetGeom(id, new_inner_geom);
+                    dGeomTransformSetCleanup(id,
+                            dGeomTransformGetCleanup(geom));
+                    dGeomTransformSetInfo(id, dGeomTransformGetInfo(geom));
+                }
+            }
             break;
         case dRayClass:
         case dTriMeshClass:
@@ -170,6 +227,25 @@ dGeomID OdeWorld::Object::cloneGeom(dGeomID geom, dBodyID body)
             /* unsupported for cloning */
             break;
     }
+    if (id != 0)
+    {
+        if (dGeomGetBody(geom) != 0)
+        {
+            /* if the original geom was attached to a body
+             * (i.e., a non-static geom), then attach it to the new body */
+            dGeomSetBody(id, body);
+        }
+        else if (dGeomGetClass(id) != dPlaneClass)
+        {
+            /* if the original geom was static, then copy the
+             * position and rotation to the new geom */
+            const dReal * pos = dGeomGetPosition(geom);
+            const dReal * rot = dGeomGetRotation(geom);
+            dGeomSetPosition(id, pos[0], pos[1], pos[2]);
+            dGeomSetRotation(id, rot);
+        }
+    }
+    return id;
 }
 
 void OdeWorld::Object::setPosition(double x, double y, double z)