diff --git a/OdeWorld.cc b/OdeWorld.cc
index fc5f437..00effa2 100644
--- a/OdeWorld.cc
+++ b/OdeWorld.cc
@@ -509,3 +509,27 @@ void OdeWorld::Object::getPosition(double * x, double * y, double * z)
         *z = m_position[2];
     }
 }
+
+void OdeWorld::Object::addForce(dReal fx, dReal fy, dReal fz)
+{
+    if (m_body != 0)
+        dBodyAddForce(m_body, fx, fy, fz);
+}
+
+void OdeWorld::Object::addRelForce(dReal fx, dReal fy, dReal fz)
+{
+    if (m_body != 0)
+        dBodyAddRelForce(m_body, fx, fy, fz);
+}
+
+void OdeWorld::Object::addTorque(dReal fx, dReal fy, dReal fz)
+{
+    if (m_body != 0)
+        dBodyAddTorque(m_body, fx, fy, fz);
+}
+
+void OdeWorld::Object::addRelTorque(dReal fx, dReal fy, dReal fz)
+{
+    if (m_body != 0)
+        dBodyAddRelTorque(m_body, fx, fy, fz);
+}
diff --git a/OdeWorld.h b/OdeWorld.h
index 46bdaba..cf199cf 100644
--- a/OdeWorld.h
+++ b/OdeWorld.h
@@ -33,6 +33,10 @@ class OdeWorld
                 void addCylinder(const std::vector<float> args);
                 void addCCylinder(const std::vector<float> args);
                 void addPlane(const std::vector<float> args);
+                void addForce(dReal fx, dReal fy, dReal fz);
+                void addRelForce(dReal fx, dReal fy, dReal fz);
+                void addTorque(dReal fx, dReal fy, dReal fz);
+                void addRelTorque(dReal fx, dReal fy, dReal fz);
 
             protected:
                 bool    m_is_static;