diff --git a/OdeWorld.cc b/OdeWorld.cc
index f70f03e..c48af07 100644
--- a/OdeWorld.cc
+++ b/OdeWorld.cc
@@ -510,6 +510,22 @@ void OdeWorld::Object::getPosition(double * x, double * y, double * z)
     }
 }
 
+void OdeWorld::Object::setRotation(dReal x, dReal y, dReal z)
+{
+    dMatrix3 r;
+    dRFromEulerAngles(r, x, y, z);
+    if (m_is_static)
+    {
+        for (int i = 0, sz = m_geoms.size(); i < sz; i++)
+            dGeomSetRotation(m_geoms[i], r);
+    }
+    else
+    {
+        if (m_body != 0)
+            dBodySetRotation(m_body, r);
+    }
+}
+
 void OdeWorld::Object::addForce(dReal fx, dReal fy, dReal fz)
 {
     if (m_body != 0)
diff --git a/OdeWorld.h b/OdeWorld.h
index cf199cf..593c61c 100644
--- a/OdeWorld.h
+++ b/OdeWorld.h
@@ -24,6 +24,7 @@ class OdeWorld
                 void loadPhy(const std::string & path);
                 void setPosition(double x, double y, double z);
                 void getPosition(double * x, double * y, double * z);
+                void setRotation(dReal x, dReal y, dReal z);
                 const dReal * getPosition();
                 const dReal * getRotation();
                 std::vector<dGeomID> loadPhy(const std::string & path,