Index: ode.h
===================================================================
--- ode.h	(revision 595)
+++ ode.h	(revision 596)
@@ -528,6 +528,40 @@
 Same as above, but using element's name.
 **/
 
+__rayapi signed char raydium_ode_element_rel2world(int element,dReal *rel,dReal *world);
+/**
+Utility function that take a point on a ##element## (##rel## is a dReal[3]) and
+return  that point's position or velocity in world coordinates (##world## is 
+a dReal[3] too).
+
+No memory allocation is done here.
+
+This function can be used on normal and static elements.
+Note: This is a "Raydium clone" of dBodyGetRelPointPos.
+**/
+
+__rayapi signed char raydium_ode_element_world2rel(int element,dReal *world,dReal *rel);
+/**
+Inverse of ##raydium_ode_element_rel2world.## Input (##world##) is in world
+coordinates and ouput (##rel##) is in ##element##'s relative space.
+
+No memory allocation is done here.
+
+This function can be used on normal and static elements.
+Note: This is a "Raydium clone" of dBodyGetPosRelPoint.
+**/
+
+__rayapi signed char raydium_ode_element_vect2world(int element,dReal *vect,dReal *world);
+/**
+Given a vector expressed in the ##element## coordinate system (dReal[3]), 
+rotate it to the world coordinate system (##world##, dReal[3]).
+
+No memory allocation is done here.
+
+This function can be used on normal and static elements.
+Note: This is a "Raydium clone" of dBodyVectorToWorld.
+**/
+
 __rayapi signed char raydium_ode_element_aabb_get (int element, dReal * aabb);
 /**
 AABB means Axis-Aligned Bounding Box. This function will return element's
##. This function will return -1 if the
+animation's not found. Mostly for internal use.
+**/
+
 extern void raydium_object_anim_generate_internal(int object, int instance);
+/**
+Internal. Transformed mesh generation.
+**/
+
 extern void raydium_object_anim_frame(int object, int instance, GLfloat frame);
+/**
+Sets current ##frame## for one ##instance## of ##object##. ##frame## is
+automatically bounded.
+**/
+
 extern void raydium_object_anim_frame_name(char *object, int instance, GLfloat frame);
+/**
+Same as above, but using ##object##'s name.
+**/
+
 extern void raydium_object_anim(int object, int instance, int anim);
+/**
+Sets current ##anim## for one ##instance## of ##object##.
+**/
+
 extern void raydium_object_anim_name(char *object, int instance, char *anim);
+/**
+Same as above, but using ##object##'s name and ##anim##'s name.
+**/
 
 extern void raydium_object_anim_instance(int object, int instance);
+/**
+With this function, you must set what instance will be drawn when
+##raydium_object_draw()## will be called with ##object## argument.
+
+Default is set to instance 0.
+**/
+
 extern void raydium_object_anim_instance_name(char *object, int instance);
+/**
+Same as above, but using ##object##'s name.
+**/
 
-
 #endif