I have been developing the CollisionBox support into panda over the summer. The plan was to complete as many tests as possible. Currently, I am happy to announce that I have a working version of the From:Ray->To:Box. Shortly I plan to have a working version of From:Sphere->Box as well as From:Box->To:Sphere ready. Hope to integrate and release it with the next version of Panda.
Go Panda!