Michael Sherman comments

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                                            Michael Sherman

ScrewJoint should accept axis unit vector in constructor

cc @amcastro-tri

Clang10 /w C++20 error: SimTK indexes: use of overloaded operator '==' is ambiguous

Thanks! I'll try it on some other platforms.

Clang10 /w C++20 error: SimTK indexes: use of overloaded operator '==' is ambiguous

Closed by #748. @adamkewley please verify this fixed your problem and reopen if not.

Add a 6dof (free) RollPitchYaw joint

Sadly, no 3-variable representation of so(3) can avoid having a singularity. See the [Hairy Ball Theorem](https://en.wikipedia.org/wiki/Hairy_ball_theorem). It's not that you can't represent all the orientations nicely; it's that the derivative...

Users don't know when they need to define initialization events

Admittedly the details of event handling are complicated and hard to keep in mind. However, the test code behavior you provided looks exactly right to me. Evan and I worked...

Users don't know when they need to define initialization events

Replied in #18356. I'm thinking that our ZOH's lack of an Initialization event that would latch u -> y is causing unnecessary confusion.

The OBJ file parser should ignore all kinds of whitespace for face (`f`) commands

Would be great to get a PR to fix this, Adam -- thanks!

nextSupport function does not compute the right answer

@hongkai-dai: For point 2 above, the calculated `dist` ought to be a squared distance like all the other Dist2 calculations there (but of course the variable name shouldn't have been...

nextSupport function does not compute the right answer

Oh, I take it back. Combined with point 3 I see you need the actual distance there (and `sqrt(el->dist)`) to compute a meaningful termination at [975](https://github.com/danfis/libccd/blob/master/src/ccd.c#L975).

nextSupport function does not compute the right answer

This also makes me wonder whether `epa_tolerance` is actually a distance squared, which is how it is being used. Looks like it is set to .0001m² by default which means...