Casimir force acting on magnetodielectric bodies embedded in media

Within the framework of macroscopic quantum electrodynamics, general expressions for the Casimir force acting on linearly and causally responding magnetodielectric bodies that can be embedded in another linear and causal magnetodielectric medium are derived. Consistency with microscopic harmonic-oscillator models of the matter is shown. The theory is applied to planar structures and proper generalizations of Casimir's and Lifshitz-type formulas are given.