MSVC bug on template function specialization with default argument

[jslee02]

I observed that Visual Studio 2013 complains for template function specialization with default argument. This happens in the following code of DART for instance:

  template <class JointType, class NodeType = BodyNode>
  std::pair<JointType*, NodeType*> createJointAndBodyNodePair(
    BodyNode* _parent = nullptr,
      const typename JointType::Properties& _jointProperties
          = typename JointType::Properties(),  // syntax error C2689 and C2059
      const typename NodeType::Properties& _bodyProperties
          = typename NodeType::Properties());  // syntax error C2689 and C2059

There are reports on this issue: stackoverflow1, stackoverflow2 and upstream bug report. From the reports, possible workaround is to wrap the calls as:

#ifdef _WIN32
  template <typename JointType>
  static typename JointType::Properties createJointProperties()
  {
    return typename JointType::Properties();
  }

  template <typename NodeType>
  static typename NodeType::Properties createBodyNodeProperties()
  {
    return typename NodeType::Properties();
  }
#endif

  template <class JointType, class NodeType = BodyNode>
  std::pair<JointType*, NodeType*> createJointAndBodyNodePair(
    BodyNode* _parent = nullptr,
#ifdef _WIN32
      const typename JointType::Properties& _jointProperties
          = Skeleton::createJointProperties<JointType>(),  // ok
      const typename NodeType::Properties& _bodyProperties
          = Skeleton::createBodyNodeProperties<NodeType>());  // ok
#else
      const typename JointType::Properties& _jointProperties
          = typename JointType::Properties(),
      const typename NodeType::Properties& _bodyProperties
          = typename NodeType::Properties());
#endif

It seems VS2010, VS2012, and VS2013 are all have this bug but I haven't tested with VS2015.

[jslee02]

Fixed by #486.

[jslee02]

I reopen this issue to see if this works with VS2015 now once #599 is resolved.

[jslee02]

Confirmed this patch works by #956