Get a list of all loaded modules in memory

Simply put, is there a way of generating a list of all the loaded modules in my process space? (I want to know what DLLs are loaded). I've used an example from Jeffrey Richter's book "Programming applications for windows", but that only gets about half of the total number of loaded modules. (For example WinHex generates a full list of all the modules).

Any ideas?

Thanks!