Merge pull request #1054 from erwincoumans/master

pybullet setup.py / pip support for Windows, Linux and Mac! just run 'pip install pybullet' and wait until all compiled (like numpy, it is mainly source, except for a few wheels Mac 2.7 and Win32 3.5). Expose URDF_USE_SELF_COLLISION flag.

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -1973,6 +1973,10 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
 				mb->setUserIndex2(bodyUniqueId);
 				bodyHandle->m_multiBody = mb;
 
+				if (flags & URDF_USE_SELF_COLLISION)
+				{
+					mb->setHasSelfCollision(true);
+				}
 				createJointMotors(mb);