diff --git a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
index 4c3a25a0..7d70e146 100644
--- a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
+++ b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.cpp
@@ -47,7 +47,7 @@ API_Impl::~API_Impl()
 }
 
 // Bullet physics
-ICustomBody* API_Impl::AddCollisionSphere(float radius, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass)
+ICustomBody* API_Impl::AddCollisionSphere(float radius, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction)
 {
 	SimpleRigidBody* body = new SimpleRigidBody;
 
@@ -73,7 +73,8 @@ ICustomBody* API_Impl::AddCollisionSphere(float radius, ::Oyster::Math::Float4 r
 
 	return body;
 }
-ICustomBody* API_Impl::AddCollisionBox(Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass)
+
+ICustomBody* API_Impl::AddCollisionBox(Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction)
 {
 	SimpleRigidBody* body = new SimpleRigidBody;
 
@@ -100,6 +101,33 @@ ICustomBody* API_Impl::AddCollisionBox(Float3 halfSize, ::Oyster::Math::Float4 r
 	return body;
 }
 
+ICustomBody* API_Impl::AddCollisionCylinder(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction)
+{
+	SimpleRigidBody* body = new SimpleRigidBody;
+
+	// Add collision shape
+	btCollisionShape* collisionShape = new btCylinderShape(btVector3(halfSize.x, halfSize.y, halfSize.z));
+	body->SetCollisionShape(collisionShape);
+
+	// Add motion state
+	btDefaultMotionState* motionState = new btDefaultMotionState(btTransform(btQuaternion(rotation.x, rotation.y, rotation.z, rotation.w),btVector3(position.x, position.y, position.z)));
+	body->SetMotionState(motionState);
+
+	// Add rigid body
+	btVector3 fallInertia(0, 0, 0);
+	collisionShape->calculateLocalInertia(mass, fallInertia);
+	btRigidBody::btRigidBodyConstructionInfo rigidBodyCI(mass, motionState, collisionShape, fallInertia);
+    btRigidBody* rigidBody = new btRigidBody(rigidBodyCI);
+	rigidBody->setUserPointer(body);
+	body->SetRigidBody(rigidBody);
+
+	// Add rigid body to world
+	this->dynamicsWorld->addRigidBody(rigidBody);
+	this->customBodies.push_back(body);
+
+	return body;
+}
+
 void API_Impl::UpdateWorld()
 {
 	this->dynamicsWorld->stepSimulation(1.0f/60.0f, 1.0f, 1.0f/60.0f);
diff --git a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.h b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.h
index 03d1d3c6..28111d26 100644
--- a/Code/GamePhysics/Implementation/PhysicsAPI_Impl.h
+++ b/Code/GamePhysics/Implementation/PhysicsAPI_Impl.h
@@ -22,8 +22,9 @@ namespace Oyster
 			void ReleaseFromLimbo( const ICustomBody* objRef );
 
 			// Bullet physics
-			ICustomBody* AddCollisionSphere(float radius, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass);
-			ICustomBody* AddCollisionBox(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass);
+			ICustomBody* AddCollisionSphere(float radius, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction);
+			ICustomBody* AddCollisionBox(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction);
+			ICustomBody* AddCollisionCylinder(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction);
 
 			void UpdateWorld();
 
diff --git a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp
index e5fea58b..9639a424 100644
--- a/Code/GamePhysics/Implementation/SimpleRigidBody.cpp
+++ b/Code/GamePhysics/Implementation/SimpleRigidBody.cpp
@@ -64,6 +64,27 @@ void SimpleRigidBody::SetSubscription(EventAction_Move function)
 	this->onMovement = function;
 }
 
+void SimpleRigidBody::SetLinearVelocity(Float3 velocity)
+{
+	this->rigidBody->setLinearVelocity(btVector3(velocity.x, velocity.y, velocity.z));
+}
+
+void SimpleRigidBody::SetRotation(Float4 quaternion)
+{
+	btTransform trans;
+	this->motionState->getWorldTransform(trans);
+	trans.setRotation(btQuaternion(quaternion.x, quaternion.y, quaternion.z, quaternion.w));
+	this->motionState->setWorldTransform(trans);
+}
+
+void SimpleRigidBody::SetRotation(Float3 eulerAngles)
+{
+	btTransform trans;
+	this->motionState->getWorldTransform(trans);
+	trans.setRotation(btQuaternion(eulerAngles.x, eulerAngles.y, eulerAngles.z));
+	this->motionState->setWorldTransform(trans);
+}
+
 void SimpleRigidBody::CallSubscription_AfterCollisionResponse(ICustomBody* bodyA, ICustomBody* bodyB, Oyster::Math::Float kineticEnergyLoss)
 {
 	if(this->onMovement)
diff --git a/Code/GamePhysics/Implementation/SimpleRigidBody.h b/Code/GamePhysics/Implementation/SimpleRigidBody.h
index d3655048..25fecfad 100644
--- a/Code/GamePhysics/Implementation/SimpleRigidBody.h
+++ b/Code/GamePhysics/Implementation/SimpleRigidBody.h
@@ -21,6 +21,10 @@ namespace Oyster
 			void SetSubscription(EventAction_AfterCollisionResponse function);
 			void SetSubscription(EventAction_Move function);
 
+			void SetLinearVelocity(Math::Float3 velocity);
+			void SetRotation(Math::Float4 quaternion);
+			void SetRotation(Math::Float3 eulerAngles);
+
 			void CallSubscription_AfterCollisionResponse(ICustomBody* bodyA, ICustomBody* bodyB, Math::Float kineticEnergyLoss);
 			void CallSubscription_Move();
 
diff --git a/Code/GamePhysics/PhysicsAPI.h b/Code/GamePhysics/PhysicsAPI.h
index c8bfde34..84f77b7d 100644
--- a/Code/GamePhysics/PhysicsAPI.h
+++ b/Code/GamePhysics/PhysicsAPI.h
@@ -80,9 +80,9 @@ namespace Oyster
 
 
 			// Bullet physics
-			virtual ICustomBody* AddCollisionSphere(float radius, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass) = 0;
-
-			virtual ICustomBody* AddCollisionBox(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass) = 0;
+			virtual ICustomBody* AddCollisionSphere(float radius, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction) = 0;
+			virtual ICustomBody* AddCollisionBox(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction) = 0;
+			virtual ICustomBody* AddCollisionCylinder(::Oyster::Math::Float3 halfSize, ::Oyster::Math::Float4 rotation, ::Oyster::Math::Float3 position, float mass, float restitution, float staticFriction, float dynamicFriction) = 0;
 
 			virtual void UpdateWorld() = 0;
 
@@ -144,6 +144,9 @@ namespace Oyster
 			virtual void SetSubscription(EventAction_AfterCollisionResponse function) = 0;
 			virtual void SetSubscription(EventAction_Move function) = 0;
 
+			virtual void SetLinearVelocity(::Oyster::Math::Float3 velocity) = 0;
+			virtual void SetRotation(::Oyster::Math::Float4 quaternion) = 0;
+			virtual void SetRotation(::Oyster::Math::Float3 eulerAngles) = 0;
 
 			/********************************************************
 			 * @return the void pointer set by SetCustomTag.
diff --git a/Code/GamePhysics/PhysicsStructs.h b/Code/GamePhysics/PhysicsStructs.h
index 5dc7d6f1..f68491d5 100644
--- a/Code/GamePhysics/PhysicsStructs.h
+++ b/Code/GamePhysics/PhysicsStructs.h
@@ -30,8 +30,13 @@ namespace Oyster
 				::Oyster::Math::Float4x4	 GetOrientation() const;
 				::Oyster::Math::Float4x4	 GetView() const;
 				::Oyster::Math::Float4x4	 GetView( const ::Oyster::Math::Float3 &offset ) const;
-			void CustomBodyState::ApplyFriction( const ::Oyster::Math::Float3 &j);
 
+				::Oyster::Math::Float		GetMass() const;
+				::Oyster::Math::Float		GetStaticFriction() const;
+				::Oyster::Math::Float		GetDynamicFriction() const;
+				::Oyster::Math::Float		GetRestitution() const;
+
+			
 				// Variables for state
 				::Oyster::Math::Float mass, restitutionCoeff, staticFrictionCoeff, dynamicFrictionCoeff;
 				::Oyster::Math::Float3 reach, centerPos;