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/PhysicsDirect.cpp

@@ -1047,6 +1047,15 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
 	{
 		break;
 	}
+	case CMD_LOAD_SOFT_BODY_FAILED:
+	{
+		b3Warning("loadSoftBody failed");
+		break;
+	}
+	case CMD_LOAD_SOFT_BODY_COMPLETED:
+	{
+		break;
+	}
 	default:
 	{
 		//b3Warning("Unknown server status type");