Jeongseok (JS) Lee

I would prefer printing a warning. If CollisionDetector::collide(~) returns true for binary check when `maxNumContacts == 0`, the `CollisionResult::isCollision()` would return `false` when there is a collision because it returns...

I actually consider removing `binaryCheck` option, and regarding `maxNumContacts == 1` as binary check.

> I am concerned that requiring maxNumContacts >= 1 will require always computing at least one contact point and normal. We wouldn't need to worry about this case since `enableContact...

`maxNumContacts` and `enableContact` are completely independent options. If `enableContact` is `false`, then the collision detector returns only the information of colliding pairs but don't compute position, normal, and depth.

> What are the point and normal fields of the Contact struct set to when enableContact == false? They will be left as the default values as assigned when `Contact`...

This sounds like mimic joints ([defined by URDF](http://wiki.ros.org/urdf/XML/joint)), which is already implemented by @costashatz in #1178! @mxgrey Could you verify if you meant it and close this issue if so?

If our concern is only the machinery code to parse SKEL file with TinyXml2 then we could consider using [Boost.PropertyTree](http://www.boost.org/doc/libs/1_59_0/doc/html/property_tree.html). It provides similar API as yaml-cpp. In terms of file...

You might need to call `Joint::setPositionLimitEnforced(true)` to enable the constraints in dynamics simulation. This could be confusing in some sense, but we added this switch to be able to turn...

> It would probably be good to have that note added to the documentation for the upper and lower limits. :+1: > So if you setPositionLimitEnforced(true) when the is present,...

Another motivation in the point of constraint solver view is related to the point @jeffeb3 made. The constraint solver doesn't generate constraints for a joint with `setPositionLimitEnforced(false)`. So the difference...