diff --git a/doc/changelog.dox b/doc/changelog.dox
index 708a226fe..5e6f45333 100644
--- a/doc/changelog.dox
+++ b/doc/changelog.dox
@@ -843,6 +843,10 @@ See also:
 -   @ref SceneGraph trees are now destructed in a way that preserves
     @ref SceneGraph::Object::parent() links up to the root as well as
     @ref SceneGraph::AbstractFeature::object() references
+-   Added @ref SceneGraph::Object::addFeature() as a counterpart to
+    @ref SceneGraph::AbstractObject::addFeature() that passes a concrete object
+    type to the feature constructor, in order to make it work with for example
+    the @ref BulletIntegration::MotionState
 
 @subsubsection changelog-latest-changes-scenetools SceneTools library
 
diff --git a/src/Magnum/SceneGraph/Object.h b/src/Magnum/SceneGraph/Object.h
index 1fa7e43c4..4a34d42b1 100644
--- a/src/Magnum/SceneGraph/Object.h
+++ b/src/Magnum/SceneGraph/Object.h
@@ -139,6 +139,18 @@ template<class Transformation> class Object: public AbstractObject<Transformatio
         /** @brief Moving is not allowed */
         Object<Transformation>& operator=(Object<Transformation>&&) = delete;
 
+        /**
+         * @brief Add a feature
+         * @m_since_latest
+         *
+         * Like @ref AbstractObject::addFeature(), but passing a concrete
+         * object type to the feature constructor, instead of just the base
+         * @ref AbstractObject.
+         */
+        template<class U, class ...Args> U& addFeature(Args&&... args) {
+            return *(new U{*this, std::forward<Args>(args)...});
+        }
+
         /**
          * @{ @name Scene hierarchy
          *
diff --git a/src/Magnum/SceneGraph/Test/ObjectTest.cpp b/src/Magnum/SceneGraph/Test/ObjectTest.cpp
index 05cf7ebbf..cce8678af 100644
--- a/src/Magnum/SceneGraph/Test/ObjectTest.cpp
+++ b/src/Magnum/SceneGraph/Test/ObjectTest.cpp
@@ -41,6 +41,7 @@ struct ObjectTest: TestSuite::Tester {
     explicit ObjectTest();
 
     template<class T> void addFeature();
+    template<class T> void addFeatureAbstractObject();
 
     template<class T> void parenting();
     template<class T> void addChild();
@@ -67,6 +68,8 @@ ObjectTest::ObjectTest() {
     addTests<ObjectTest>({
         &ObjectTest::addFeature<Float>,
         &ObjectTest::addFeature<Double>,
+        &ObjectTest::addFeatureAbstractObject<Float>,
+        &ObjectTest::addFeatureAbstractObject<Double>,
 
         &ObjectTest::parenting<Float>,
         &ObjectTest::parenting<Double>,
@@ -127,18 +130,38 @@ template<class T> void ObjectTest::addFeature() {
 
     class MyFeature: public AbstractBasicFeature3D<T> {
         public:
-            explicit MyFeature(AbstractBasicObject3D<T>& object, Int&, Containers::Pointer<int>&&): AbstractBasicFeature3D<T>{object} {}
+            explicit MyFeature(Object3D<T>& object, Int&, Containers::Pointer<int>&&): AbstractBasicFeature3D<T>{object} {}
     };
 
     Object3D<T> o;
     CORRADE_VERIFY(o.features().isEmpty());
     /* Test perfect forwarding as well */
     int a = 0;
+    /* When called on Object3D, the feature constructor should get the concrete
+       Object type. AbstractObject::addFeature() is tested below. */
     MyFeature& f = o.template addFeature<MyFeature>(a, Containers::Pointer<int>{});
     CORRADE_VERIFY(!o.features().isEmpty());
     CORRADE_COMPARE(&f.object(), &o);
 }
 
+template<class T> void ObjectTest::addFeatureAbstractObject() {
+    setTestCaseTemplateName(Math::TypeTraits<T>::name());
+
+    /* Like addFeature(), but calling the base variant on AbstractObject */
+
+    class MyFeature: public AbstractBasicFeature3D<T> {
+        public:
+            explicit MyFeature(AbstractBasicObject3D<T>& object, Int&, Containers::Pointer<int>&&): AbstractBasicFeature3D<T>{object} {}
+    };
+
+    Object3D<T> o;
+    CORRADE_VERIFY(o.features().isEmpty());
+    int a = 0;
+    MyFeature& f = static_cast<AbstractBasicObject3D<T>&>(o).template addFeature<MyFeature>(a, Containers::Pointer<int>{});
+    CORRADE_VERIFY(!o.features().isEmpty());
+    CORRADE_COMPARE(&f.object(), &o);
+}
+
 template<class T> void ObjectTest::parenting() {
     setTestCaseTemplateName(Math::TypeTraits<T>::name());