diff --git a/OdeWorld.cc b/OdeWorld.cc
index 96acb03..342c2a9 100644
--- a/OdeWorld.cc
+++ b/OdeWorld.cc
@@ -108,6 +108,13 @@ void OdeWorld::enableAllBodies()
     }
 }
 
+dJointID OdeWorld::createAMotor(dBodyID b1, dBodyID b2)
+{
+    dJointID j = dJointCreateAMotor(m_world, 0);
+    dJointAttach(j, b1, b2);
+    return j;
+}
+
 void OdeWorld::destroyBody(dBodyID body)
 {
     m_bodies.erase(body);
diff --git a/OdeWorld.h b/OdeWorld.h
index 8c2b900..f47db25 100644
--- a/OdeWorld.h
+++ b/OdeWorld.h
@@ -72,6 +72,31 @@ class OdeWorld
         void step();
         void enableAllBodies();
         dWorldID getWorldID() { return m_world; }
+        dJointID createAMotor(dBodyID b1, dBodyID b2);
+        void setAMotorNumAxes(dJointID j, int num_axes)
+        {
+            dJointSetAMotorNumAxes(j, num_axes);
+        }
+        void setAMotorLoStop(dJointID j, dReal val)
+        {
+            dJointSetAMotorParam(j, dParamLoStop, val);
+        }
+        void setAMotorHiStop(dJointID j, dReal val)
+        {
+            dJointSetAMotorParam(j, dParamHiStop, val);
+        }
+        void setAMotorVel(dJointID j, dReal val)
+        {
+            dJointSetAMotorParam(j, dParamVel, val);
+        }
+        void setAMotorFMax(dJointID j, dReal val)
+        {
+            dJointSetAMotorParam(j, dParamFMax, val);
+        }
+        void setAMotorBounce(dJointID j, dReal val)
+        {
+            dJointSetAMotorParam(j, dParamBounce, val);
+        }
 
         friend void OdeWorld_collide_callback(void * data,
                 dGeomID o1, dGeomID o2);