diff --git a/OdeWorld.cc b/OdeWorld.cc
index b812640..2d53712 100644
--- a/OdeWorld.cc
+++ b/OdeWorld.cc
@@ -157,9 +157,38 @@ refptr< vector< OdeWorld::PickedObjectRef > > OdeWorld::pickObjects(
             this, OdeWorld_pick_collide_callback);
     std::sort(m_pick_points.begin(), m_pick_points.end(),
             RPPickedObjectComparator);
+    dGeomDestroy(m_pick_ray);
     return new vector<OdeWorld::PickedObjectRef>(m_pick_points);
 }
 
+OdeWorld::PickedObjectRef OdeWorld::pickOne(
+        float start_x, float start_y, float start_z,
+        float dir_x, float dir_y, float dir_z,
+        OdeWorld::Object * o)
+{
+    dGeomID pick_ray = dCreateRay(0, dInfinity);
+    dGeomRaySet(pick_ray, start_x, start_y, start_z, dir_x, dir_y, dir_z);
+
+    PickedObjectRef por;
+    bool found_one = false;
+
+    dContactGeom contact_geom;
+    for (vector<dGeomID>::iterator it = o->getGeoms().begin();
+         it != o->getGeoms().end();
+         it++)
+    {
+        dGeomID g = *it;
+        int num = dCollide(pick_ray, g, 1, &contact_geom, sizeof(contact_geom));
+        if (num > 0 && (!found_one || contact_geom.depth < por->dist))
+        {
+            por = new OdeWorld::PickedObject(g, contact_geom);
+            found_one = true;
+        }
+    }
+    dGeomDestroy(pick_ray);
+    return por;
+}
+
 void OdeWorld::destroyBody(dBodyID body)
 {
     m_bodies.erase(body);
diff --git a/OdeWorld.h b/OdeWorld.h
index dedf6c7..de75333 100644
--- a/OdeWorld.h
+++ b/OdeWorld.h
@@ -56,6 +56,7 @@ class OdeWorld
                     m_user_data = user_data;
                 }
                 void * getUserData() { return m_user_data; }
+                std::vector<dGeomID> & getGeoms() { return m_geoms; }
 
             protected:
                 bool    m_is_static;
@@ -175,6 +176,10 @@ class OdeWorld
         refptr< std::vector<PickedObjectRef> > pickObjects(
                 float start_x, float start_y, float start_z,
                 float dir_x, float dir_y, float dir_z);
+        PickedObjectRef pickOne(
+                float start_x, float start_y, float start_z,
+                float dir_x, float dir_y, float dir_z,
+                Object * o);
 
         friend void OdeWorld_collide_callback(void * data,
                 dGeomID o1, dGeomID o2);