Is there a way to set angular velocity on an object without applying torque over time? I'm trying to do this:

1. Get the linear and angular velocities of my object.
2. Remove the object from the physics engine (clears its linear and angular velocities).
3. Muck around with it.
4. Return it to the physics engine.
5. Restore linear velocity (simple enough).
6. Restore angular velocity (no clue?)

I suppose I could take a linear velocity at the center and one at the surface, then use those to (later) apply a velocity at the surface, but that seems needlessly messy.

Thanks.