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• Create a ground object and set its "Dynamics" option to "Passive rigid body".
• Add a rocket object ("Rocket01") and set its "Dynamics" option to "Soft body".
• Add a null ("Null01") and a "Gravity" daemon.
• Create a camera and position it away from the soft body, so the object is move it until you see the object in the camera's focus.
• SceneCamera01 > Node Params > Node > Parent to > Null01
• SceneCamera01 > Node Params > Camera > Link target > Null01

The script takes the soft body's vertex positions and uses them to calculate the rocket's centre of gravity. This position vector is then transferred to the null object.

softBody   = scene.getObject("Rocket01")
null       = scene.getObject("Null01")
vertexList = softBody.getVertices()
numVert    = float(len(vertexList))
pos        = Vector.new(0.0,0.0,0.0)
 
for vertex in vertexList:
	pos += vertex.getPosition()
 
centreOfGravity = Vector.new(pos.getX() / numVert, pos.getY() / numVert, pos.getZ() / numVert)
 
null.setParameter("Position", centreOfGravity)