diff --git a/OdeWorld.cc b/OdeWorld.cc
index 032c665..f08a46a 100644
--- a/OdeWorld.cc
+++ b/OdeWorld.cc
@@ -7,26 +7,6 @@
 using namespace std;
 
 #define WORLD_STEP 0.001
-#define WHITESPACE " \t\r\n\f"
-
-static string trim(const string & orig)
-{
-    string result = orig;
-    size_t pos = result.find_first_not_of(WHITESPACE);
-    if (pos == string::npos)
-    {
-        result = "";
-    }
-    else
-    {
-        if (pos > 0)
-            result = result.substr(pos, result.length() - pos);
-        pos = result.find_last_not_of(WHITESPACE);
-        if (pos < result.length() - 1)
-            result = result.substr(0, pos + 1);
-    }
-    return result;
-}
 
 /* used by ODE to perform collision detection */
 void OdeWorld_collide_callback(void * data, dGeomID o1, dGeomID o2)
@@ -269,73 +249,10 @@ dGeomID OdeWorld::Object::cloneGeom(dGeomID geom, dBodyID body)
     return id;
 }
 
-void OdeWorld::Object::loadPhy(const std::string & path)
-{
-    ifstream ifs(path.c_str());
-    if (ifs.is_open())
-    {
-        while (!ifs.eof())
-        {
-            string line;
-            getline(ifs, line);
-            line = trim(line);
-            if (line == "" || line[0] == '#')
-                continue;
-            size_t pos = line.find_first_of(WHITESPACE);
-            if (pos == string::npos)
-                continue;
-            string type = line.substr(0, pos);
-            pos = line.find("\"", pos);
-            if (pos == string::npos)
-                continue;
-            size_t pos2 = line.find("\"", pos + 1);
-            if (pos2 == string::npos)
-                continue;
-            string name = line.substr(pos + 1, pos2 - pos - 1);
-            pos = pos2 + 1;
-            vector<float> args;
-            for (;;)
-            {
-                pos = line.find_first_not_of(WHITESPACE, pos);
-                if (pos == string::npos)
-                    break;
-                pos2 = line.find_first_of(WHITESPACE, pos);
-                string n = line.substr(pos, pos2 - pos);
-                float f = atof(n.c_str());
-                args.push_back(f);
-                if (pos2 == string::npos)
-                    break;
-                pos = pos2 + 1;
-            }
-            if      (type == "cube")
-            {
-                addCube(args);
-            }
-            else if (type == "sphere")
-            {
-                addSphere(args);
-            }
-            else if (type == "cylinder")
-            {
-                addCylinder(args);
-            }
-            else if (type == "plane")
-            {
-                addPlane(args);
-            }
-        }
-    }
-    if (m_body != 0)
-    {
-        dMassTranslate(&m_mass, -m_mass.c[0], -m_mass.c[1], -m_mass.c[2]);
-        dBodySetMass(m_body, &m_mass);
-    }
-}
-
-void OdeWorld::Object::addCube(const vector<float> args)
+bool OdeWorld::Object::addCube(const vector<float> args)
 {
     if (args.size() != 9)
-        return;
+        return false;
     dGeomID id = dCreateBox(0,
             m_scale * args[0],
             m_scale * args[1],
@@ -348,48 +265,52 @@ void OdeWorld::Object::addCube(const vector<float> args)
     setupGeom(id, &mass,
             args[3], args[4], args[5],
             args[6], args[7], args[8]);
+    return true;
 }
 
-void OdeWorld::Object::addSphere(const vector<float> args)
+bool OdeWorld::Object::addSphere(const vector<float> args)
 {
     if (args.size() != 4)
-        return;
+        return false;
     dGeomID id = dCreateSphere(0, m_scale * args[0]);
     dMass mass;
     dMassSetSphere(&mass, 1.0, m_scale * args[0]);
     setupGeom(id, &mass,
             args[1], args[2], args[3],
             0.0, 0.0, 0.0);
+    return true;
 }
 
-void OdeWorld::Object::addCylinder(const vector<float> args)
+bool OdeWorld::Object::addCylinder(const vector<float> args)
 {
     if (args.size() != 8)
-        return;
+        return false;
     dGeomID id = dCreateCylinder(0, m_scale * args[0], m_scale * args[1]);
     dMass mass;
     dMassSetCylinder(&mass, 1.0, 3, m_scale * args[0], m_scale * args[1]);
     setupGeom(id, &mass,
             args[2], args[3], args[4],
             args[5], args[6], args[7]);
+    return true;
 }
 
-void OdeWorld::Object::addCCylinder(const vector<float> args)
+bool OdeWorld::Object::addCCylinder(const vector<float> args)
 {
     if (args.size() != 8)
-        return;
+        return false;
     dGeomID id = dCreateCCylinder(0, m_scale * args[0], m_scale * args[1]);
     dMass mass;
     dMassSetCappedCylinder(&mass, 1.0, 3, m_scale * args[0], m_scale * args[1]);
     setupGeom(id, &mass,
             args[2], args[3], args[4],
             args[5], args[6], args[7]);
+    return true;
 }
 
-void OdeWorld::Object::addPlane(const vector<float> args)
+bool OdeWorld::Object::addPlane(const vector<float> args)
 {
     if (args.size() != 6)
-        return;
+        return false;
 
     dMatrix3 r;
     dRFromEulerAngles(r, args[3], args[4], args[5]);
@@ -404,6 +325,7 @@ void OdeWorld::Object::addPlane(const vector<float> args)
 
     dGeomID id = dCreatePlane(m_space, a, b, c, d);
     m_geoms.push_back(id);
+    return true;
 }
 
 void OdeWorld::Object::setupGeom(dGeomID geom, dMass * mass,
@@ -550,3 +472,12 @@ void OdeWorld::Object::addRelTorque(dReal fx, dReal fy, dReal fz)
     if (m_body != 0)
         dBodyAddRelTorque(m_body, fx, fy, fz);
 }
+
+void OdeWorld::Object::finalize()
+{
+    if (m_body != 0)
+    {
+        dMassTranslate(&m_mass, -m_mass.c[0], -m_mass.c[1], -m_mass.c[2]);
+        dBodySetMass(m_body, &m_mass);
+    }
+}
diff --git a/OdeWorld.h b/OdeWorld.h
index 593c61c..97b3d66 100644
--- a/OdeWorld.h
+++ b/OdeWorld.h
@@ -21,23 +21,21 @@ class OdeWorld
                 Object(const Object & orig);
                 ~Object();
 
-                void loadPhy(const std::string & path);
                 void setPosition(double x, double y, double z);
                 void getPosition(double * x, double * y, double * z);
                 void setRotation(dReal x, dReal y, dReal z);
                 const dReal * getPosition();
                 const dReal * getRotation();
-                std::vector<dGeomID> loadPhy(const std::string & path,
-                        dBodyID * body, bool is_static = false);
-                void addCube(const std::vector<float> args);
-                void addSphere(const std::vector<float> args);
-                void addCylinder(const std::vector<float> args);
-                void addCCylinder(const std::vector<float> args);
-                void addPlane(const std::vector<float> args);
+                bool addCube(const std::vector<float> args);
+                bool addSphere(const std::vector<float> args);
+                bool addCylinder(const std::vector<float> args);
+                bool addCCylinder(const std::vector<float> args);
+                bool addPlane(const std::vector<float> args);
                 void addForce(dReal fx, dReal fy, dReal fz);
                 void addRelForce(dReal fx, dReal fy, dReal fz);
                 void addTorque(dReal fx, dReal fy, dReal fz);
                 void addRelTorque(dReal fx, dReal fy, dReal fz);
+                void finalize();
 
             protected:
                 bool    m_is_static;