diff --git a/OdeWorld.cc b/OdeWorld.cc
index 1207a78..2e569ab 100644
--- a/OdeWorld.cc
+++ b/OdeWorld.cc
@@ -152,7 +152,7 @@ dGeomID OdeWorld::addCube(const string & name, bool static_data,
     dMass mass;
     dMassSetBox(&mass, 1.0, args[0], args[1], args[2]);
     dMassTranslate(&mass, args[3], args[4], args[5]);
-    setupGeom(name, static_data, body, id, true, &mass,
+    setupGeom(name, static_data, body, id, &mass,
             args[3], args[4], args[5],
             args[6], args[7], args[8]);
     return id;
@@ -167,7 +167,7 @@ dGeomID OdeWorld::addSphere(const string & name, bool static_data,
     dMass mass;
     dMassSetSphere(&mass, 1.0, args[0]);
     dMassTranslate(&mass, args[1], args[2], args[3]);
-    setupGeom(name, static_data, body, id, true, &mass,
+    setupGeom(name, static_data, body, id, &mass,
             args[1], args[2], args[3],
             0.0, 0.0, 0.0);
     return id;
@@ -182,7 +182,7 @@ dGeomID OdeWorld::addCylinder(const string & name, bool static_data,
     dMass mass;
     dMassSetCylinder(&mass, 1.0, 3, args[0], args[1]);
     dMassTranslate(&mass, args[2], args[3], args[4]);
-    setupGeom(name, static_data, body, id, true, &mass,
+    setupGeom(name, static_data, body, id, &mass,
             args[2], args[3], args[4],
             args[5], args[6], args[7]);
     return id;
@@ -195,9 +195,9 @@ dGeomID OdeWorld::addCCylinder(const string & name, bool static_data,
         return 0;
     dGeomID id = dCreateCCylinder(m_space, args[0], args[1]);
     dMass mass;
-    dMassSetCylinder(&mass, 1.0, 3, args[0], args[1]);
+    dMassSetCappedCylinder(&mass, 1.0, 3, args[0], args[1]);
     dMassTranslate(&mass, args[2], args[3], args[4]);
-    setupGeom(name, static_data, body, id, true, &mass,
+    setupGeom(name, static_data, body, id, &mass,
             args[2], args[3], args[4],
             args[5], args[6], args[7]);
     return id;
@@ -211,23 +211,21 @@ dGeomID OdeWorld::addPlane(const string & name, bool static_data,
     float a, b, c, d;
     /* TODO: find a, b, c, d from args */
     dGeomID id = dCreatePlane(m_space, a, b, c, d);
-    setupGeom(name, static_data, body, id, false, NULL,
-            0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
     return id;
 }
 
 void OdeWorld::setupGeom(const std::string & name, bool static_data,
-        dBodyID * body, dGeomID geom, bool placeable, dMass * mass,
+        dBodyID * body, dGeomID geom, dMass * mass,
         float locx, float locy, float locz,
         float rotx, float roty, float rotz)
 {
-    if (placeable && !static_data && *body == 0)
-        *body = dBodyCreate(m_world);
-    if (placeable)
-        dGeomSetBody(geom, *body);
-    /* TODO: set up mass, location, and rotation */
-    if (placeable)
+    if (!static_data)
     {
+        if (*body == 0)
+            *body = dBodyCreate(m_world);
+
+        dGeomSetBody(geom, *body);
+
         dMatrix3 rot;
         dRFromEulerAngles(rot, rotx, roty, rotz);
         dGeomSetRotation(geom, rot);
diff --git a/OdeWorld.h b/OdeWorld.h
index 91bbe0d..83300b3 100644
--- a/OdeWorld.h
+++ b/OdeWorld.h
@@ -40,7 +40,7 @@ class OdeWorld
         std::map<std::string, dGeomID> m_objects;
 
         void setupGeom(const std::string & name, bool static_data,
-                dBodyID * body, dGeomID geom, bool placeable, dMass * mass,
+                dBodyID * body, dGeomID geom, dMass * mass,
                 float locx, float locy, float locz,
                 float rotx, float roty, float rotz);
 };