Merge branch 'master' of https://github.com/erwincoumans/bullet3

# Conflicts:
#	examples/SharedMemory/PhysicsServerCommandProcessor.cpp

examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp

@@ -25,6 +25,8 @@ m_guiHelper(guiHelper)
     m_mb2urdfLink.resize(totalNumJoints+1,-2);
 
     m_bulletMultiBody = new btMultiBody(totalNumJoints,mass,localInertiaDiagonal,isFixedBase,canSleep);
+	//if (canSleep)
+	//	m_bulletMultiBody->goToSleep();
     return m_bulletMultiBody;
 }
 

examples/Importers/ImportURDFDemo/URDF2Bullet.cpp

@@ -595,6 +595,11 @@ void ConvertURDF2BulletInternal(
 					}
                 } else
                 {
+					//todo: fix the crash it can cause
+					//if (cache.m_bulletMultiBody->getBaseMass()==0)
+					//{
+					//	col->setCollisionFlags(btCollisionObject::CF_KINEMATIC_OBJECT);//:CF_STATIC_OBJECT);
+					//}
                     cache.m_bulletMultiBody->setBaseCollider(col);
                 }
             }