[ODE] Bug in documentation?

[Francisco Jesús Martínez Serrano]

In section 3.2 documentation states:

- Position of the center of mass with respect to the point of reference. In 
the current implementation the center of mass and the point of reference must 
coincide.

But later, in section 8.2:

void dMassTranslate (dMass *, dReal x, dReal y, dReal z);

 Given mass parameters for some object, adjust them to represent the object 
displaced by (x,y,z) relative to the body frame. 

void dMassRotate (dMass *, const dMatrix3 R);

 Given mass parameters for some object, adjust them to represent the object 
rotated by R relative to the body frame. 

So, can the center of mass be displaced wrt. the body frame or I'm missing 
something?

-- 
"Computer games don't affect kids; I mean if Pac-Man affected us as kids, we'd 
all be running around in darkened rooms, munching magic pills and listening 
to repetitive electronic music." 
        - Kristian Wilson, Nintendo, Inc, 1989