diff --git a/OdeWorld.cc b/OdeWorld.cc
index f5460ed..e163857 100644
--- a/OdeWorld.cc
+++ b/OdeWorld.cc
@@ -83,6 +83,7 @@ vector<dGeomID> OdeWorld::loadPhy(const std::string & path,
                 bool static_data)
 {
     vector<dGeomID> ret;
+    dBodyID body = 0;
 
     ifstream ifs(path.c_str());
     if (ifs.is_open())
@@ -120,8 +121,53 @@ vector<dGeomID> OdeWorld::loadPhy(const std::string & path,
                     break;
                 pos = pos2 + 1;
             }
+            if      (type == "cube")
+            {
+                ret.push_back(addCube(name, static_data, &body, args));
+            }
+            else if (type == "sphere")
+            {
+                ret.push_back(addSphere(name, static_data, &body, args));
+            }
+            else if (type == "cylinder")
+            {
+                ret.push_back(addCylinder(name, static_data, &body, args));
+            }
+            else if (type == "plane")
+            {
+                ret.push_back(addPlane(name, static_data, &body, args));
+            }
         }
     }
 
     return ret;
 }
+
+dGeomID OdeWorld::addCube(const string & name, bool static_data,
+        dBodyID * body, const vector<float> args)
+{
+    if (args.size() != 9)
+        return 0;
+}
+
+dGeomID OdeWorld::addSphere(const string & name, bool static_data,
+        dBodyID * body, const vector<float> args)
+{
+    if (args.size() != 4)
+        return 0;
+}
+
+dGeomID OdeWorld::addCylinder(const string & name, bool static_data,
+        dBodyID * body, const vector<float> args)
+{
+    if (args.size() != 8)
+        return 0;
+}
+
+dGeomID OdeWorld::addPlane(const string & name, bool static_data,
+        dBodyID * body, const vector<float> args)
+{
+    if (args.size() != 6)
+        return 0;
+}
+
diff --git a/OdeWorld.h b/OdeWorld.h
index 92eef0e..ac4d7a2 100644
--- a/OdeWorld.h
+++ b/OdeWorld.h
@@ -18,6 +18,14 @@ class OdeWorld
         void worldStep();
         std::vector<dGeomID> loadPhy(const std::string & path,
                 bool static_data = false);
+        dGeomID addCube(const std::string & name, bool static_data,
+                dBodyID * body, const std::vector<float> args);
+        dGeomID addSphere(const std::string & name, bool static_data,
+                dBodyID * body, const std::vector<float> args);
+        dGeomID addCylinder(const std::string & name, bool static_data,
+                dBodyID * body, const std::vector<float> args);
+        dGeomID addPlane(const std::string & name, bool static_data,
+                dBodyID * body, const std::vector<float> args);
 
         friend void OdeWorld_collide_callback(void * data,
                 dGeomID o1, dGeomID o2);