diff --git a/dart/common/Aspect.hpp b/dart/common/Aspect.hpp
index 99efa201053e9..75d93d84c04cc 100644
--- a/dart/common/Aspect.hpp
+++ b/dart/common/Aspect.hpp
@@ -35,6 +35,7 @@
 
 #include <string>
 
+#include "dart/common/ClassWithVirtualBase.hpp"
 #include "dart/common/Cloneable.hpp"
 #include "dart/common/detail/NoOp.hpp"
 
diff --git a/dart/common/ClassWithVirtualBase.hpp b/dart/common/ClassWithVirtualBase.hpp
new file mode 100644
index 0000000000000..9739c4f0f9e00
--- /dev/null
+++ b/dart/common/ClassWithVirtualBase.hpp
@@ -0,0 +1,47 @@
+/*
+ * Copyright (c) 2011-2021, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/master/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_COMMON_CLASSWITHVIRTUALBASE_HPP_
+#define DART_COMMON_CLASSWITHVIRTUALBASE_HPP_
+
+// This macro is used to mark all the class that inherit
+// virtually from another to avoid problems on MSVC
+// See https://github.com/dartsim/dart/issues/1522
+#if defined(_MSC_VER)
+#  define DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN __pragma(vtordisp(push, 2))
+#  define DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END __pragma(vtordisp(pop))
+#else
+#  define DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
+#  define DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
+#endif
+
+#endif // DART_COMMON_CLASSWITHVIRTUALBASE_HPP_
diff --git a/dart/common/Composite.hpp b/dart/common/Composite.hpp
index 790158863c3f8..c3d9a65a09bcc 100644
--- a/dart/common/Composite.hpp
+++ b/dart/common/Composite.hpp
@@ -33,6 +33,7 @@
 #ifndef DART_COMMON_COMPOSITE_HPP_
 #define DART_COMMON_COMPOSITE_HPP_
 
+#include "dart/common/ClassWithVirtualBase.hpp"
 #include "dart/common/detail/CompositeData.hpp"
 
 namespace dart {
diff --git a/dart/common/EmbeddedAspect.hpp b/dart/common/EmbeddedAspect.hpp
index 77143c919d731..54f0a22651330 100644
--- a/dart/common/EmbeddedAspect.hpp
+++ b/dart/common/EmbeddedAspect.hpp
@@ -87,6 +87,8 @@ class EmbeddedStateAspect : public detail::EmbeddedStateAspect<
 /// It is possible to customize the way an EmbeddedStateAspect interacts with
 /// your Composite by using the dart::common::detail::EmbeddedStateAspect class
 /// directly instead of inheriting this class.
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
+
 template <class DerivedT, typename StateDataT>
 class EmbedState : public virtual common::RequiresAspect<
     common::EmbeddedStateAspect<DerivedT, StateDataT> >
@@ -120,6 +122,7 @@ class EmbedState : public virtual common::RequiresAspect<
   AspectState mAspectState;
 
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 //==============================================================================
 /// This is an alternative to EmbedState which allows your class to also inherit
@@ -204,6 +207,7 @@ class EmbeddedPropertiesAspect : public detail::EmbeddedPropertiesAspect<
 /// with your Composite by using the
 /// dart::common::detail::EmbeddedPropertiesAspect class directly instead of
 /// inheriting this class.
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 template <class DerivedT, typename PropertiesDataT>
 class EmbedProperties : public virtual common::RequiresAspect<
     common::EmbeddedPropertiesAspect<DerivedT, PropertiesDataT> >
@@ -237,6 +241,7 @@ class EmbedProperties : public virtual common::RequiresAspect<
   AspectProperties mAspectProperties;
 
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 //==============================================================================
 /// This is an alternative to EmbedProperties which allows your class to also
@@ -378,6 +383,7 @@ class EmbeddedStateAndPropertiesAspect :
 /// void setAspectState(const AspectState& state);
 /// void setAspectProperties(const AspectProperties& state);
 /// \endcode
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 template <class DerivedT, typename StateDataT, typename PropertiesDataT>
 class EmbedStateAndProperties : public virtual common::RequiresAspect<
     common::EmbeddedStateAndPropertiesAspect<
@@ -425,6 +431,7 @@ class EmbedStateAndProperties : public virtual common::RequiresAspect<
   AspectProperties mAspectProperties;
 
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 //==============================================================================
 /// This is an alternative to EmbedStateAndProperties which allows your class to
diff --git a/dart/common/LocalResource.hpp b/dart/common/LocalResource.hpp
index bc19597bd2e95..099d511385ae2 100644
--- a/dart/common/LocalResource.hpp
+++ b/dart/common/LocalResource.hpp
@@ -33,11 +33,13 @@
 #ifndef DART_COMMON_LOCALRESOURCE_HPP_
 #define DART_COMMON_LOCALRESOURCE_HPP_
 
+#include "dart/common/ClassWithVirtualBase.hpp"
 #include "dart/common/Resource.hpp"
 
 namespace dart {
 namespace common {
 
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 class LocalResource : public virtual Resource
 {
 public:
@@ -65,6 +67,7 @@ class LocalResource : public virtual Resource
 private:
   std::FILE* mFile;
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 } // namespace common
 } // namespace dart
diff --git a/dart/common/RequiresAspect.hpp b/dart/common/RequiresAspect.hpp
index 492321f5c1acc..6ddc9902d4569 100644
--- a/dart/common/RequiresAspect.hpp
+++ b/dart/common/RequiresAspect.hpp
@@ -33,6 +33,7 @@
 #ifndef DART_COMMON_REQUIRESASPECT_HPP_
 #define DART_COMMON_REQUIRESASPECT_HPP_
 
+#include "dart/common/ClassWithVirtualBase.hpp"
 #include "dart/common/SpecializedForAspect.hpp"
 
 namespace dart {
@@ -48,6 +49,7 @@ template <class... OtherRequiredAspects>
 class RequiresAspect { };
 
 //==============================================================================
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 template <class ReqAspect>
 class RequiresAspect<ReqAspect> : public virtual SpecializedForAspect<ReqAspect>
 {
@@ -58,6 +60,7 @@ class RequiresAspect<ReqAspect> : public virtual SpecializedForAspect<ReqAspect>
   RequiresAspect();
 
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 //==============================================================================
 template <class ReqAspect1, class... OtherReqAspects>
diff --git a/dart/common/SpecializedForAspect.hpp b/dart/common/SpecializedForAspect.hpp
index 133a08167f227..3b0fefddcbb8a 100644
--- a/dart/common/SpecializedForAspect.hpp
+++ b/dart/common/SpecializedForAspect.hpp
@@ -51,6 +51,8 @@ class SpecializedForAspect
 //==============================================================================
 /// SpecializedForAspect allows classes that inherit Composite to have
 /// constant-time access to a specific type of Aspect
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
+
 template <class SpecAspect>
 class SpecializedForAspect<SpecAspect> : public virtual Composite
 {
@@ -181,6 +183,7 @@ class SpecializedForAspect<SpecAspect> : public virtual Composite
   Composite::AspectMap::iterator mSpecAspectIterator;
 
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 //==============================================================================
 /// This is the variadic version of the SpecializedForAspect class which
diff --git a/dart/dynamics/BodyNode.hpp b/dart/dynamics/BodyNode.hpp
index f3711d33f7fa4..23492be3a3542 100644
--- a/dart/dynamics/BodyNode.hpp
+++ b/dart/dynamics/BodyNode.hpp
@@ -70,8 +70,9 @@ class Marker;
 ///
 /// BodyNode inherits Frame, and a parent Frame of a BodyNode is the parent
 /// BodyNode of the BodyNode.
-class BodyNode :
-    public detail::BodyNodeCompositeBase,
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
+class BodyNode
+  : public detail::BodyNodeCompositeBase,
     public virtual BodyNodeSpecializedFor<ShapeNode, EndEffector, Marker>,
     public SkeletonRefCountingBase,
     public TemplatedJacobianNode<BodyNode>
@@ -1221,6 +1222,7 @@ class BodyNode :
   std::shared_ptr<NodeDestructor> mSelfDestructor;
 
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 }  // namespace dynamics
 }  // namespace dart
diff --git a/dart/dynamics/DegreeOfFreedom.hpp b/dart/dynamics/DegreeOfFreedom.hpp
index 121079733806f..d8657c6476097 100644
--- a/dart/dynamics/DegreeOfFreedom.hpp
+++ b/dart/dynamics/DegreeOfFreedom.hpp
@@ -37,6 +37,7 @@
 #include <memory>
 #include <Eigen/Core>
 
+#include "dart/common/ClassWithVirtualBase.hpp"
 #include "dart/common/Subject.hpp"
 #include "dart/dynamics/SmartPointer.hpp"
 
@@ -49,6 +50,7 @@ class BodyNode;
 
 /// DegreeOfFreedom class is a proxy class for accessing single degrees of
 /// freedom (aka generalized coordinates) of the Skeleton.
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 class DegreeOfFreedom : public virtual common::Subject
 {
 public:
@@ -403,6 +405,7 @@ class DegreeOfFreedom : public virtual common::Subject
   // destructed.
 
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 } // namespace dynamics
 } // namespace dart
diff --git a/dart/dynamics/Entity.hpp b/dart/dynamics/Entity.hpp
index 2377239de195b..f6bfab73dcd78 100644
--- a/dart/dynamics/Entity.hpp
+++ b/dart/dynamics/Entity.hpp
@@ -56,6 +56,7 @@ class Frame;
 /// may have different policies about how/if their reference frame or name
 /// can be changed. Use the Detachable class to create an Entity whose reference
 /// Frame can be changed arbitrarily.
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 class Entity : public virtual common::Subject
 {
 public:
@@ -228,9 +229,11 @@ class Entity : public virtual common::Subject
   /// Whether or not this Entity is a Frame
   bool mAmFrame;
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 /// The Detachable class is a special case of the Entity base class. Detachable
 /// allows the Entity's reference Frame to be changed arbitrarily by the user.
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 class Detachable : public virtual Entity
 {
 public:
@@ -246,6 +249,7 @@ class Detachable : public virtual Entity
   Detachable();
 
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 } // namespace dynamics
 } // namespace dart
diff --git a/dart/dynamics/FixedFrame.hpp b/dart/dynamics/FixedFrame.hpp
index 01cbfc909491d..ecec0a548f16e 100644
--- a/dart/dynamics/FixedFrame.hpp
+++ b/dart/dynamics/FixedFrame.hpp
@@ -45,8 +45,9 @@ namespace dynamics {
 /// zero relative acceleration. It does not move within its parent Frame after
 /// its relative transform is set. However, classes that inherit the FixedFrame
 /// class may alter its relative transform or change what its parent Frame is.
-class FixedFrame :
-    public virtual Frame,
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
+class FixedFrame
+  : public virtual Frame,
     public virtual common::VersionCounter,
     public common::EmbedProperties<FixedFrame, detail::FixedFrameProperties>
 {
@@ -95,6 +96,7 @@ class FixedFrame :
   // To get byte-aligned Eigen vectors
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 } // namespace dynamics
 } // namespace dart
diff --git a/dart/dynamics/Frame.hpp b/dart/dynamics/Frame.hpp
index 938db4b049ee3..4d0d08f2888fd 100644
--- a/dart/dynamics/Frame.hpp
+++ b/dart/dynamics/Frame.hpp
@@ -53,6 +53,7 @@ namespace dynamics {
 /// Entity class is inherited by using virtual inheritence to solve the
 /// so-called "diamond problem". Because of that, the Entity's constructor will
 /// be called directly by the most derived class's constructor.
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 class Frame : public virtual Entity
 {
 public:
@@ -371,6 +372,7 @@ class WorldFrame : public Frame
   // To get byte-aligned Eigen vectors
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 } // namespace dynamics
 } // namespace dart
diff --git a/dart/dynamics/JacobianNode.hpp b/dart/dynamics/JacobianNode.hpp
index 9523b6a03316a..a22f1752a1747 100644
--- a/dart/dynamics/JacobianNode.hpp
+++ b/dart/dynamics/JacobianNode.hpp
@@ -50,6 +50,7 @@ class InverseKinematics;
 /// The JacobianNode class serves as a common interface for BodyNodes and
 /// EndEffectors to both be used as references for IK modules. This is a pure
 /// abstract class.
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 class JacobianNode : public virtual Frame, public Node
 {
 public:
@@ -304,6 +305,7 @@ class JacobianNode : public virtual Frame, public Node
   std::unordered_set<JacobianNode*> mChildJacobianNodes;
 
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 } // namespace dart
 } // namespace dynamics
diff --git a/dart/dynamics/Joint.hpp b/dart/dynamics/Joint.hpp
index c416dd6626457..d937511a7434b 100644
--- a/dart/dynamics/Joint.hpp
+++ b/dart/dynamics/Joint.hpp
@@ -53,6 +53,7 @@ class Skeleton;
 class DegreeOfFreedom;
 
 /// class Joint
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 class Joint : public virtual common::Subject,
               public virtual common::VersionCounter,
               public common::EmbedProperties<Joint, detail::JointProperties>
@@ -1023,6 +1024,7 @@ class Joint : public virtual common::Subject,
   // To get byte-aligned Eigen vectors
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 }  // namespace dynamics
 }  // namespace dart
diff --git a/dart/dynamics/Node.hpp b/dart/dynamics/Node.hpp
index fb0899878f5f1..8b21af5912c18 100644
--- a/dart/dynamics/Node.hpp
+++ b/dart/dynamics/Node.hpp
@@ -78,9 +78,9 @@ class NodeDestructor final
 ///
 /// In most cases, when creating your own custom Node class, you will also want
 /// to inherit from AccessoryNode using CRTP.
-class Node :
-    public virtual common::Subject,
-    public virtual common::VersionCounter
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
+class Node : public virtual common::Subject,
+             public virtual common::VersionCounter
 {
 public:
 
@@ -226,6 +226,7 @@ class Node :
   /// Index of this Node within its tree
   std::size_t mIndexInTree;
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 //==============================================================================
 /// AccessoryNode provides an interface for Nodes to get their index within the
diff --git a/dart/dynamics/Shape.hpp b/dart/dynamics/Shape.hpp
index 5a1f3f93880a8..51c1d848adb86 100644
--- a/dart/dynamics/Shape.hpp
+++ b/dart/dynamics/Shape.hpp
@@ -37,6 +37,7 @@
 
 #include <Eigen/Dense>
 
+#include "dart/common/ClassWithVirtualBase.hpp"
 #include "dart/common/Deprecated.hpp"
 #include "dart/common/Signal.hpp"
 #include "dart/common/Subject.hpp"
@@ -47,9 +48,9 @@
 namespace dart {
 namespace dynamics {
 
-class Shape
-    : public virtual common::Subject,
-      public virtual common::VersionCounter
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
+class Shape : public virtual common::Subject,
+              public virtual common::VersionCounter
 {
 public:
 
@@ -219,6 +220,7 @@ class Shape
   common::SlotRegister<VersionChangedSignal> onVersionChanged;
 
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 }  // namespace dynamics
 }  // namespace dart
diff --git a/dart/dynamics/ShapeFrame.hpp b/dart/dynamics/ShapeFrame.hpp
index f94bdbdbd783a..9c459425dd672 100644
--- a/dart/dynamics/ShapeFrame.hpp
+++ b/dart/dynamics/ShapeFrame.hpp
@@ -157,10 +157,10 @@ class DynamicsAspect final :
 };
 
 //==============================================================================
-class ShapeFrame :
-    public virtual common::VersionCounter,
-    public detail::ShapeFrameCompositeBase,
-    public virtual Frame
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
+class ShapeFrame : public virtual common::VersionCounter,
+                   public detail::ShapeFrameCompositeBase,
+                   public virtual Frame
 {
 public:
 
@@ -258,6 +258,7 @@ class ShapeFrame :
       onRelativeTransformUpdated;
 
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 } // namespace dynamics
 } // namespace dart
diff --git a/dart/dynamics/Skeleton.hpp b/dart/dynamics/Skeleton.hpp
index 33b822b0b0852..25c0e88c83b0b 100644
--- a/dart/dynamics/Skeleton.hpp
+++ b/dart/dynamics/Skeleton.hpp
@@ -51,11 +51,11 @@ namespace dart {
 namespace dynamics {
 
 /// class Skeleton
-class Skeleton :
-    public virtual common::VersionCounter,
-    public MetaSkeleton,
-    public SkeletonSpecializedFor<ShapeNode, EndEffector, Marker>,
-    public detail::SkeletonAspectBase
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
+class Skeleton : public virtual common::VersionCounter,
+                 public MetaSkeleton,
+                 public SkeletonSpecializedFor<ShapeNode, EndEffector, Marker>,
+                 public detail::SkeletonAspectBase
 {
 public:
   // Some of non-virtual functions of MetaSkeleton are hidden because of the
@@ -1351,6 +1351,7 @@ class Skeleton :
   ///
   std::size_t mUnionIndex;
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 }  // namespace dynamics
 }  // namespace dart
diff --git a/dart/dynamics/SpecializedNodeManager.hpp b/dart/dynamics/SpecializedNodeManager.hpp
index 9c5fabfe172c0..6a5518a123b42 100644
--- a/dart/dynamics/SpecializedNodeManager.hpp
+++ b/dart/dynamics/SpecializedNodeManager.hpp
@@ -51,6 +51,7 @@ class BodyNodeSpecializedFor { };
 //==============================================================================
 /// BodyNodeSpecializedFor allows classes that inherit BodyNode to
 /// have constant-time access to a specific type of Node
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 template <class SpecNode>
 class BodyNodeSpecializedFor<SpecNode> :
     public virtual detail::BasicNodeManagerForBodyNode
@@ -103,6 +104,7 @@ class BodyNodeSpecializedFor<SpecNode> :
   BasicNodeManagerForBodyNode::NodeMap::iterator mSpecNodeIterator;
 
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 //==============================================================================
 /// This is the variadic version of the BodyNodeSpecializedFor class
@@ -122,6 +124,7 @@ class SkeletonSpecializedFor { };
 //==============================================================================
 /// SkeletonSpecializedForNode allows classes that inherit Skeleton to
 /// have constant-time access to a specific type of Node
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 template <class SpecNode>
 class SkeletonSpecializedFor<SpecNode> :
     public virtual detail::BasicNodeManagerForSkeleton,
@@ -201,6 +204,7 @@ class SkeletonSpecializedFor<SpecNode> :
   NodeNameMgrMap::iterator mSpecNodeNameMgrIterator;
 
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 //==============================================================================
 /// This is the variadic version of the SkeletonSpecializedForNode class
diff --git a/dart/dynamics/detail/BasicNodeManager.hpp b/dart/dynamics/detail/BasicNodeManager.hpp
index 31a995efe35b6..c92c24f2bb6b8 100644
--- a/dart/dynamics/detail/BasicNodeManager.hpp
+++ b/dart/dynamics/detail/BasicNodeManager.hpp
@@ -37,6 +37,7 @@
 #include <typeindex>
 #include <unordered_set>
 
+#include "dart/common/ClassWithVirtualBase.hpp"
 #include "dart/common/NameManager.hpp"
 #include "dart/common/Empty.hpp"
 #include "dart/dynamics/Node.hpp"
@@ -89,6 +90,7 @@ class BasicNodeManagerForBodyNode
 
 };
 
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 class BasicNodeManagerForSkeleton : public virtual BasicNodeManagerForBodyNode
 {
 public:
@@ -136,6 +138,7 @@ class BasicNodeManagerForSkeleton : public virtual BasicNodeManagerForBodyNode
   SpecializedTreeNodes mSpecializedTreeNodes;
 
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 //==============================================================================
 template <class NodeType>
diff --git a/dart/gui/osg/DefaultEventHandler.hpp b/dart/gui/osg/DefaultEventHandler.hpp
index a277429d99bbc..5e71b97209bc5 100644
--- a/dart/gui/osg/DefaultEventHandler.hpp
+++ b/dart/gui/osg/DefaultEventHandler.hpp
@@ -41,6 +41,7 @@
 
 #include <osgGA/GUIEventHandler>
 
+#include "dart/common/ClassWithVirtualBase.hpp"
 #include "dart/common/Subject.hpp"
 #include "dart/common/Observer.hpp"
 
@@ -95,6 +96,7 @@ enum ConstraintType {
 
 class MouseEventHandler;
 
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 class DefaultEventHandler : public ::osgGA::GUIEventHandler,
                             public virtual dart::common::Subject,
                             public virtual dart::common::Observer
@@ -227,6 +229,7 @@ class DefaultEventHandler : public ::osgGA::GUIEventHandler,
   int mLastModKeyMask;
 
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 } // namespace osg
 } // namespace gui
diff --git a/dart/gui/osg/MouseEventHandler.hpp b/dart/gui/osg/MouseEventHandler.hpp
index 3895a2776f076..dc4358b786c90 100644
--- a/dart/gui/osg/MouseEventHandler.hpp
+++ b/dart/gui/osg/MouseEventHandler.hpp
@@ -33,6 +33,7 @@
 #ifndef DART_GUI_OSG_MOUSEEVENTHANDLER_HPP_
 #define DART_GUI_OSG_MOUSEEVENTHANDLER_HPP_
 
+#include "dart/common/ClassWithVirtualBase.hpp"
 #include "dart/common/Subject.hpp"
 #include "dart/common/Observer.hpp"
 
@@ -44,6 +45,7 @@ namespace osg {
 
 class DefaultEventHandler;
 
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 class MouseEventHandler : public virtual dart::common::Subject,
                           public virtual dart::common::Observer
 {
@@ -68,6 +70,7 @@ class MouseEventHandler : public virtual dart::common::Subject,
   DefaultEventHandler* mEventHandler;
 
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 } // namespace osg
 } // namespace gui
diff --git a/dart/gui/osg/Viewer.hpp b/dart/gui/osg/Viewer.hpp
index e683489f04598..29900dbda5a2d 100644
--- a/dart/gui/osg/Viewer.hpp
+++ b/dart/gui/osg/Viewer.hpp
@@ -42,6 +42,7 @@
 
 #include <Eigen/Core>
 
+#include "dart/common/ClassWithVirtualBase.hpp"
 #include "dart/common/Subject.hpp"
 
 namespace dart {
@@ -71,6 +72,7 @@ class BodyNodeDnD;
 class Viewer;
 class SaveScreen;
 
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 class ViewerAttachment : public virtual ::osg::Group
 {
 public:
@@ -389,6 +391,7 @@ class Viewer : public osgViewer::Viewer, public dart::common::Subject
   /// Map from BodyNode ptrs to BodyNodeDnD ptrs
   std::map<dart::dynamics::BodyNode*,BodyNodeDnD*> mBodyNodeDnDMap;
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 } // namespace osg
 } // namespace gui
diff --git a/dart/simulation/World.hpp b/dart/simulation/World.hpp
index ce588b24e377b..b8e67a3250938 100644
--- a/dart/simulation/World.hpp
+++ b/dart/simulation/World.hpp
@@ -79,6 +79,7 @@ namespace simulation {
 DART_COMMON_DECLARE_SHARED_WEAK(World)
 
 /// class World
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 class World : public virtual common::Subject
 {
 public:
@@ -324,6 +325,7 @@ class World : public virtual common::Subject
   common::SlotRegister<NameChangedSignal> onNameChanged;
 
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 }  // namespace simulation
 }  // namespace dart
diff --git a/dart/utils/CompositeResourceRetriever.hpp b/dart/utils/CompositeResourceRetriever.hpp
index 1ebd71f996544..4ad92dfcbd2c8 100644
--- a/dart/utils/CompositeResourceRetriever.hpp
+++ b/dart/utils/CompositeResourceRetriever.hpp
@@ -35,6 +35,7 @@
 
 #include <unordered_map>
 #include <vector>
+#include "dart/common/ClassWithVirtualBase.hpp"
 #include "dart/common/ResourceRetriever.hpp"
 
 namespace dart {
@@ -44,6 +45,7 @@ namespace utils {
 /// used interchangably by: (1) associating each \ref ResourceRetriever with a
 /// particular URI schema and/or (2) providing a precedence order for trying
 /// multiple retrievers.
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 class CompositeResourceRetriever : public virtual common::ResourceRetriever
 {
 public:
@@ -83,6 +85,7 @@ class CompositeResourceRetriever : public virtual common::ResourceRetriever
     std::vector<common::ResourceRetrieverPtr> > mResourceRetrievers;
   std::vector<common::ResourceRetrieverPtr> mDefaultResourceRetrievers;
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 using CompositeResourceRetrieverPtr
   = std::shared_ptr<CompositeResourceRetriever>;
diff --git a/dart/utils/PackageResourceRetriever.hpp b/dart/utils/PackageResourceRetriever.hpp
index 293503655e617..e26704062c9e2 100644
--- a/dart/utils/PackageResourceRetriever.hpp
+++ b/dart/utils/PackageResourceRetriever.hpp
@@ -35,6 +35,7 @@
 
 #include <unordered_map>
 #include <vector>
+#include "dart/common/ClassWithVirtualBase.hpp"
 #include "dart/common/ResourceRetriever.hpp"
 
 namespace dart {
@@ -45,6 +46,7 @@ namespace utils {
 /// \ref ResourceRetriever. This class uses requires you to manually provide the
 /// base URI of every package that you wish to resolve using the
 /// \ref addPackageDirectory method.
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 class PackageResourceRetriever : public virtual common::ResourceRetriever
 {
 public:
@@ -103,6 +105,7 @@ class PackageResourceRetriever : public virtual common::ResourceRetriever
   bool resolvePackageUri(const common::Uri& _uri,
     std::string& _packageName, std::string& _relativePath) const;
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 using PackageResourceRetrieverPtr = std::shared_ptr<PackageResourceRetriever>;