DOH!
I must have been tired
You could try ODE DESTROY OBJECT or use standard intersect sorts of checks...
In DarkPhysics [PhysX] you would use what is called a Trigger, but as far as I can see this does not exist, but there is a message system...
But
[quote] 'pick up' [/quote]
Remove? or attach to another object?
I would suggest look at Sparkys, or get DarkPhysics, or DarkDynamix... but it would depend on your project... DarkPhysics you can get along with the BonanzaBundle deal...
Hope this helps, Also the [href=http://www.thegamecreators.com/?m=view_product&id=2162]Hands On DBPro Volume 2[/href] book contains most if not all of the ODE engine functions...