Grey

Oh, thanks for that reminder! I have to admit, I forgot about that part of the motivation for the custom pointer type. That being said, I'm pretty sure we can...

While I believe I'll be able to make this work for the `NodePtr` and `BodyNodePtr` classes, it does not seem possible for the `JointPtr` or `DegreeOfFreedomPtr` classes, because I forgot...

After implementing this, the unit tests have revealed one major flaw: `std::weak_ptr` does not have the expected/desired behavior. Since we return an aliased `std::shared_ptr` which is not tied to a...

I have a partial solution, although there's one big issue with it, which I'll mention at the end. We can create a meta-object which, for now, I'll refer to as...

(3) makes the most sense to me. It's a shame that `std::optional` won't be available until C++17, because neither an extra flag nor additional boost dependency is very appealing to...

I can help look into this. Enjoy your vacation, JS!

Our current `MeshShape` class is meant to handle all categories of triangle meshes, not just convex meshes, so it seems to use [`btGImpactMeshShape`](https://github.com/dartsim/dart/blob/aed490579a23f9e271deeced31c624d70eb48dc7/dart/collision/bullet/BulletCollisionDetector.cpp#L930). There has been past discussion about the...

Either that pair is not working as expected in Bullet, or there's a bug in DART's wrapper. It would probably be good to make a Bullet-only example of the failure...

To get better formatting, I recommending copy/pasting your code into a [gist](https://gist.github.com/), saving it, and then linking it here. Be sure to select "Create public gist".

I'm afraid that the description and code you've provided so far doesn't offer us much insight into the problem that you're having. The following information would enable us to give...