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/SharedMemory/PhysicsClientC_API.cpp

@@ -1758,6 +1758,11 @@ B3_SHARED_API int b3GetStatusBodyIndex(b3SharedMemoryStatusHandle statusHandle)
 					bodyId = status->m_dataStreamArguments.m_bodyUniqueId;
 					break;
 				}
+				case CMD_LOAD_SOFT_BODY_COMPLETED:
+				{
+					bodyId  = status->m_loadSoftBodyResultArguments.m_objectUniqueId;
+					break;
+				}
 				default:
 				{
 					b3Assert(0);