I am using c++ for 4+ years and since then, I did not need to use heap (*Libraries is an exception e.g: you have to use heap when creating an object in bullet physics)
I have developed 1 game engine, 2 libraries, and 1 virus and didn't use heap.
Is it a sign of being a bad programmer?
Adding onto what JLBorges said: I'm sure you have used the "heap". You just never used it directly. std::vector uses the heap, std::string uses the heap. Making objects that work with smart pointers uses the heap, etc. The C++ standard library thankfully handles a lot of this for you. If you haven't used new/smart pointers yet, well, there are times when dealing with large amounts of shared data where it can be beneficial or necessary, but it's not necessarily a bad thing that you haven't run into this yet.