Practical use of the rotational component of the COM offset

[Flix]

Hi.

I was wondering if there's some useful way to use the btMatrix3x3 of the center of mass (COM) offset transform (in LinearMath/btDefaultMotionState.h).

I ask because I am thinking of taking it off from the calculations of the getWorldTransform()/setWorldTransform() methods in my implementation, if nobody can providing me with a valid reason for not doing it.

Af far as I know, usually when using btTransforms the translation happens before the rotation; if this is true the rotation happens when there's nothing "down the chain". Isn't it?

Do other physic engines use COM offset transforms ?

P.S. At the moment I'm already stripping all the COM shift calculations for bodies that have no COM shifts (by using a boolean flag), but I'm thinking about optimizing it further for the other bodies.

Thank you in advance for your possible hints.