I'll look into the ray thing for you. The 'JV-ODE.decls' file lists all of the non-ODE commands towards the base and the 'Version History.txt' file also contains some more info for some of these commands. There isn't a manual for the non-ODE commands yet, but most are self explanatory. Some of the non-ODE commands are shown in the demos too, for example the use of dGeomCollisionY#() is shown in the 'CarDemo-DetailedC.bb' demo.
JV-ODE Physics Thread 3
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