[ODE] Movable center of mass?

[hersh@ri.cmu.edu]

The project I'm working on needs to move the center of mass around
within an object, to simulate its motion with different mass
properties.

Does the latest CVS version yet support centers of mass which are not
at 0,0,0 on the body?

Any idea what code needs to be changed to support it or how much work
it would be?

If there is a simple workaround I'm up for that too.  I can
encapsulate each object in something that keeps its own center of mass
variables, and when you set or get the position of the object it adds
or subtracts the offset.  This strikes me as very similar to what the
geometry transform object does - but I want to be able to ask for the
position of an object and be told a coordinate which is not the center
of mass.

Thoughts?

Thanks,
-Dave