diff --git a/OdeWorld.cc b/OdeWorld.cc
index fdf3905..4b2961f 100644
--- a/OdeWorld.cc
+++ b/OdeWorld.cc
@@ -1,8 +1,30 @@
 
 #include "OdeWorld.h"
+#include <vector>
+#include <fstream>
+using namespace std;
 
 #define WORLD_STEP 0.001
 
+static string trim(const string & orig)
+{
+    string result = orig;
+    size_t pos = result.find_first_not_of(" \t\r\n\f");
+    if (pos == string::npos)
+    {
+        result = "";
+    }
+    else
+    {
+        if (pos > 0)
+            result = result.substr(pos, result.length() - pos);
+        pos = result.find_last_not_of(" \t\r\n\f");
+        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)
 {
@@ -54,3 +76,24 @@ void OdeWorld::worldStep()
     dWorldQuickStep(m_world, WORLD_STEP);
     dJointGroupEmpty(m_contactJointGroup);
 }
+
+vector<dGeomID> OdeWorld::loadPhy(const std::string & path,
+                bool static_data)
+{
+    vector<dGeomID> ret;
+
+    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;
+        }
+    }
+
+    return ret;
+}
diff --git a/OdeWorld.h b/OdeWorld.h
index 2aecc89..92eef0e 100644
--- a/OdeWorld.h
+++ b/OdeWorld.h
@@ -3,6 +3,8 @@
 #define ODEWORLD_H
 
 #include <ode/ode.h>
+#include <vector>
+#include <string>
 
 class OdeWorld
 {
@@ -14,6 +16,8 @@ class OdeWorld
             dWorldSetGravity(m_world, x, y, z);
         }
         void worldStep();
+        std::vector<dGeomID> loadPhy(const std::string & path,
+                bool static_data = false);
 
         friend void OdeWorld_collide_callback(void * data,
                 dGeomID o1, dGeomID o2);