This is mostly an ODE question, but I'm hoping someone here can help me debug this.

I have a plugin which does some collision checking via ODE functions:

https://github.com/UM-ARM-Lab/link_bot/blob/master/link_bot_gazebo/plugins/collision_map_plugin.cpp

In here I use dCollide to check collision, but when one of those (testing with _o2) is a Mesh type, then it segfaults.

int n = dCollide(_o1, _o2, 1, &contact, sizeof(contact));

I can call functions of _o2 to print it's type, name, etc... so it's not invalid or anything.