diff --git a/OdeWorld.cc b/OdeWorld.cc
index f631264..db79db1 100644
--- a/OdeWorld.cc
+++ b/OdeWorld.cc
@@ -530,3 +530,13 @@ void OdeWorld::Object::finalize()
         dBodySetMass(m_body, &m_mass);
     }
 }
+
+void OdeWorld::Object::setMass(dReal newmass)
+{
+    if (m_body != 0)
+    {
+        dMassAdjust(&m_mass, newmass);
+        dBodySetMass(m_body, &m_mass);
+    }
+}
+
diff --git a/OdeWorld.h b/OdeWorld.h
index c939cdb..80a3ba4 100644
--- a/OdeWorld.h
+++ b/OdeWorld.h
@@ -40,6 +40,8 @@ class OdeWorld
                 void addTorque(dReal fx, dReal fy, dReal fz);
                 void addRelTorque(dReal fx, dReal fy, dReal fz);
                 void finalize();
+                dReal getMass() { return m_mass.mass; }
+                void setMass(dReal newmass);
 
             protected:
                 bool    m_is_static;