docs or example for direct peer-to-peer dbus communication ?

[Alexander Neundorf]

Hi,

the dbus docs say that not only communication via dbus-daemon is possible, but 
also direct peer-to-peer.
I didn't find documentation on this yet.
Is there some documentation somewhere or an example ?
I guess from the callers side it's almost the same, except that connecting 
works differently ?
Do I have to use libdbus directly or can I use any of the bindings for that ?

Thanks
Alex