expose pybullet.URDF_USE_SELF_COLLISION flag, experimental (likely doesn't work well for many URDF files)

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -1810,6 +1810,10 @@ 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);
 
 

examples/SharedMemory/SharedMemoryPublic.h

@@ -451,6 +451,7 @@ enum eCONNECT_METHOD {
 enum eURDF_Flags
 {
 	URDF_USE_INERTIA_FROM_FILE=2,//sync with URDF2Bullet.h 'ConvertURDFFlags'
+	URDF_USE_SELF_COLLISION=8,//see CUF_USE_SELF_COLLISION
 };
 
 #endif//SHARED_MEMORY_PUBLIC_H