diff --git a/OdeWorld.cc b/OdeWorld.cc
index 397a88d..10d6d87 100644
--- a/OdeWorld.cc
+++ b/OdeWorld.cc
@@ -185,7 +185,7 @@ dGeomID OdeWorld::Object::cloneGeom(dGeomID geom, dBodyID body)
                 id = dCreateBox(space, size[0], size[1], size[2]);
             }
             break;
-        case dCCylinderClass:
+        case dCapsuleClass:
             {
                 dReal radius, length;
                 dGeomCylinderGetParams(geom, &radius, &length);
@@ -195,8 +195,8 @@ dGeomID OdeWorld::Object::cloneGeom(dGeomID geom, dBodyID body)
         case dCylinderClass:
             {
                 dReal radius, length;
-                dGeomCCylinderGetParams(geom, &radius, &length);
-                id = dCreateCCylinder(space, radius, length);
+                dGeomCapsuleGetParams(geom, &radius, &length);
+                id = dCreateCapsule(space, radius, length);
             }
             break;
         case dPlaneClass:
@@ -294,11 +294,11 @@ bool OdeWorld::Object::addCylinder(refptr< std::vector<float> > args)
     return true;
 }
 
-bool OdeWorld::Object::addCCylinder(refptr< std::vector<float> > args)
+bool OdeWorld::Object::addCapsule(refptr< std::vector<float> > args)
 {
     if (args->size() != 8)
         return false;
-    dGeomID id = dCreateCCylinder(0,
+    dGeomID id = dCreateCapsule(0,
             m_scale * (*args)[0], m_scale * (*args)[1]);
     dMass mass;
     dMassSetCappedCylinder(&mass, 1.0, 3, m_scale * (*args)[0],
diff --git a/OdeWorld.h b/OdeWorld.h
index 7813cab..69a7f36 100644
--- a/OdeWorld.h
+++ b/OdeWorld.h
@@ -32,7 +32,7 @@ class OdeWorld
                 bool addBox(refptr< std::vector<float> > args);
                 bool addSphere(refptr< std::vector<float> > args);
                 bool addCylinder(refptr< std::vector<float> > args);
-                bool addCCylinder(refptr< std::vector<float> > args);
+                bool addCapsule(refptr< std::vector<float> > args);
                 bool addPlane(refptr< std::vector<float> > args);
                 void addForce(dReal fx, dReal fy, dReal fz);
                 void addRelForce(dReal fx, dReal fy, dReal fz);