doing collision detection seperatly to simulation step

I am considering using OgreODE in my game, and I would like to know whether it's possible to check for object collisions at times other than when the simulation step is performed. For example, I would like vehicles in my game to be handled by the full physics engine, and then to move characters around after the simulation timestep using simple collision checks.

I believe this is possible with ODE by using dCollide, however since ogreODE uses opcode, is there a way to access the opcode layer directly, and use it separate to the simulation?

The other way to achieve this would obviously be to run OgreODE and opcode independently, each with their own mesh representations, but this seems like a huge waste of resources.

You'll get better answers (physic expert) and perhaps they would agree on a direct access to opcode.

now, that said here's my basic answers as physic amateur:

is there a way to access the opcode layer directly, and use it separate to the simulation?
no way that I know of.

run OgreODE and opcode independently, each with their own mesh representations, but this seems like a huge waste of resources.?
Only if you're using trimesh instead of proxy geometry.

Be sure to test using Ode and sphere geometry for characters, that shouldn't cost that much in term of CPU...