You should use your objects and store handles to ODE bodies in them on creation. That is, you should not really work with ODE handles in your code directly – you should have wrapped them in some sort of your classes. And then you can do whatever you want: put them in collections, arrays, — whatever. And for the reverse reference if you get an ODE handle in a callback you can store a tag in each ODE object. That tag could be a pointer (or any other sort of key) for you to transit to your custom object having ODE handle.
Oleh Derevenko
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