diff --git a/OdeWorld.h b/OdeWorld.h
index b983887..12861d4 100644
--- a/OdeWorld.h
+++ b/OdeWorld.h
@@ -7,6 +7,10 @@
 #include <string>
 #include <map>
 #include "refptr/refptr.h"
+#ifdef DEBUG_AMOTOR
+#include <iostream>
+using namespace std;
+#endif
 
 class OdeWorld
 {
@@ -75,31 +79,53 @@ class OdeWorld
         dJointID createAMotor(dBodyID b1, dBodyID b2);
         void setAMotorNumAxes(dJointID j, int num_axes)
         {
+#ifdef DEBUG_AMOTOR
+            cout << "num axes: " << num_axes << endl;
+#endif
             dJointSetAMotorNumAxes(j, num_axes);
         }
         void setAMotorAxis(dJointID j, int anum, int rel,
                 dReal x, dReal y, dReal z)
         {
+#ifdef DEBUG_AMOTOR
+            cout << "axis: " << anum << ", " << rel
+                << ", (" << x << ", " << y << ", " << z << ")" << endl;
+#endif
             dJointSetAMotorAxis(j, anum, rel, x, y, z);
         }
         void setAMotorLoStop(dJointID j, dReal val)
         {
+#ifdef DEBUG_AMOTOR
+            cout << "lo stop: " << val << endl;
+#endif
             dJointSetAMotorParam(j, dParamLoStop, val);
         }
         void setAMotorHiStop(dJointID j, dReal val)
         {
+#ifdef DEBUG_AMOTOR
+            cout << "hi stop: " << val << endl;
+#endif
             dJointSetAMotorParam(j, dParamHiStop, val);
         }
         void setAMotorVel(dJointID j, dReal val)
         {
+#ifdef DEBUG_AMOTOR
+            cout << "vel: " << val << endl;
+#endif
             dJointSetAMotorParam(j, dParamVel, val);
         }
         void setAMotorFMax(dJointID j, dReal val)
         {
+#ifdef DEBUG_AMOTOR
+            cout << "fmax: " << val << endl;
+#endif
             dJointSetAMotorParam(j, dParamFMax, val);
         }
         void setAMotorBounce(dJointID j, dReal val)
         {
+#ifdef DEBUG_AMOTOR
+            cout << "bounce: " << val << endl;
+#endif
             dJointSetAMotorParam(j, dParamBounce, val);
         }