[ODE] Cylinder Geometry

[Yefei He]

Hi Folks, 

    I'm new to the list and ODE. I have a question here -- I'm using 
ODE version 0.5, and I cannot find the non-capped cylinder goemetry, 
either in the code or the user guide. There is a plain cylinder class 
for the mass functions, but not one for collision detection. Where is 
it? I want something that can stand on its ends but also rolls around 
when lying down. 

    Thanks, 

    Yefei