[ODE] ODE and geom scales

[Flavien Brebion]

Hey,

I'm trying to simulate a human body by using a capped cylinder. This 
works well except
for staircases vs small corridors. Let me explain:

A capped cylinder is composed of 3 parts: a cylinder, with a given 
radius and height,
and two half-spheres at the top and the bottom, with the same radius. My 
cylinder's
orientation is always set to vertical.

In order to be able to slide along the stairs of a staircase, the radius 
must be high
enough. Unfortunately this value is then too high for the character to 
pass in small
corridors or between close objects.

If i decrease the radius of the cylinder, the character can then walk 
between close
objects, but can no longer walk upstairs, because the height difference 
between two
steps is too high - it can no longer slide.

The obvious solution is to use a non-uniformly scaled ccylinder, but i 
didn't see any
function to do this in ODE. Does anybody have a solution ?

F. Brebion