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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 move it until you see the object is in the camera's focus.
• Switch to camera view with the 5 key.
• 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.

# Get the soft body (also works with any other object: active rigid body or animated)
# Get the helper null, the (number of) vertices and define a null vector
softBody   = scene.getObject("Rocket01")
null       = scene.getObject("Null01")
vertexList = softBody.getVertices()
numVert    = float(len(vertexList))
pos        = Vector.new(0.0,0.0,0.0)

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# Go through the soft body's vertices and add up all positions
for vertex in vertexList:
	pos += vertex.getPosition()

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# Calculate the object's midpoint by averaging positions 
centreOfGravity = Vector.new(pos.getX() / numVert, pos.getY() / numVert, pos.getZ() / numVert)

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# Apply the centre of gravity to the null object 
null.setParameter("Position", centreOfGravity)