Enable 'global absolute velocities' by default for btMultiBody. See 8.3.2B Proposed resolution Jakub Stepien PhD Thesis

https://drive.google.com/file/d/0Bz3vEa19XOYGNWdZWGpMdUdqVmZ5ZVBOaEh4ZnpNaUxxZFNV/view?usp=sharing
Fixes crashes due to rendering of softbody wireframe in the wrong thread (needs to be in 'debug' rendering section)
Use btCapsuleShapeZ instead of btMultiSphereShape when converting MJCF MuJoCo capsules using fromto

examples/Importers/ImportURDFDemo/URDF2Bullet.cpp

@@ -344,6 +344,10 @@ void ConvertURDF2BulletInternal(
                 bool isFixedBase = (mass==0);//todo: figure out when base is fixed
                 int totalNumJoints = cache.m_totalNumJoints1;
                 cache.m_bulletMultiBody = creation.allocateMultiBody(urdfLinkIndex, totalNumJoints,mass, localInertiaDiagonal, isFixedBase, canSleep);
+				if (flags & CUF_NO_GLOBAL_VELOCITIES_MB)
+				{
+					cache.m_bulletMultiBody->useGlobalVelocities(false);
+				}
 				if (flags & CUF_USE_MJCF)
 				{
 					cache.m_bulletMultiBody->setBaseWorldTransform(linkTransformInWorldSpace);

examples/Importers/ImportURDFDemo/URDF2Bullet.h

@@ -24,6 +24,7 @@ enum ConvertURDFFlags {
   CUF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS=32,
   CUF_RESERVED=64,
   CUF_USE_IMPLICIT_CYLINDER=128,
+  CUF_NO_GLOBAL_VELOCITIES_MB=256,
 };
 
 void ConvertURDF2Bullet(const URDFImporterInterface& u2b,