diff --git a/OdeWorld.h b/OdeWorld.h
index f47db25..b983887 100644
--- a/OdeWorld.h
+++ b/OdeWorld.h
@@ -77,6 +77,11 @@ class OdeWorld
         {
             dJointSetAMotorNumAxes(j, num_axes);
         }
+        void setAMotorAxis(dJointID j, int anum, int rel,
+                dReal x, dReal y, dReal z)
+        {
+            dJointSetAMotorAxis(j, anum, rel, x, y, z);
+        }
         void setAMotorLoStop(dJointID j, dReal val)
         {
             dJointSetAMotorParam(j, dParamLoStop, val);