diff --git a/Engine.cc b/Engine.cc
index 806edfe..0aa2eea 100644
--- a/Engine.cc
+++ b/Engine.cc
@@ -297,6 +297,18 @@ int Engine::addObject(bool is_static, OdeWorld::GeomType geom_type,
     return id;
 }
 
+int Engine::addAMotor(Object * o1, Object * o2)
+{
+    dBodyID b1 = 0;
+    dBodyID b2 = 0;
+    if (o1 != NULL)
+        b1 = o1->getBody();
+    if (o2 != NULL)
+        b2 = o2->getBody();
+    dJointID j = dJointCreateAMotor(m_world.getWorldID(), 0);
+    /* TODO: finish */
+}
+
 void Engine::removeObject(int id)
 {
     Object * obj = getObject(id);
diff --git a/Engine.h b/Engine.h
index 349075f..d7c329b 100644
--- a/Engine.h
+++ b/Engine.h
@@ -77,6 +77,7 @@ class Engine
                 dReal getMass() { return m_ode_object->getMass(); }
                 void setMass(dReal mass) { m_ode_object->setMass(mass); }
                 const float * getAABB() { return m_aabb; }
+                dBodyID getBody() { return m_ode_object->getBody(); }
 
             protected:
                 void createManagedObject();
@@ -123,6 +124,7 @@ class Engine
         int addObject(WFObj * obj, bool is_static, float scale = 1.0f);
         int addObject(bool is_static, OdeWorld::GeomType geom_type,
                 refptr< std::vector<float> > args);
+        int addAMotor(Object * o1, Object * o2);
         void removeObject(int id);
         int cloneObject(const Object * obj);
         Object * getObject(int id);
@@ -209,6 +211,7 @@ class Engine
         std::string     m_engine_path;
         OdeWorld        m_world;
         std::map<int, Object *> m_objects;
+        std::map<int, dJointID> m_joints;
         int             m_next_object_index;
         int             m_next_text_index;
         GLdouble        m_eye[3];
diff --git a/ag.cc b/ag.cc
index 24fc466..56ee029 100644
--- a/ag.cc
+++ b/ag.cc
@@ -98,6 +98,19 @@ namespace ag
                "end\n"
 
                "ag.createAMotor = function(obj1, obj2, axis1, axis2, axis3)\n"
+               "    local o1 = obj1\n"
+               "    local o2 = obj2\n"
+               "    local num_axes = 1\n"
+               "    if (type(obj1) == \"number\") then\n"
+               "        if (obj1 == 0) then\n"
+               "            o1 = { id = 0 }\n"
+               "        end\n"
+               "    end\n"
+               "    if (type(obj2) == \"number\") then\n"
+               "        if (obj2 == 0) then\n"
+               "            o2 = { id = 0 }\n"
+               "        end\n"
+               "    end\n"
                "end\n"
                );
         lua_pcall(L, 0, 0, 0);