1- Look at c2ffi support for cffi, recently added by Attila Lendvai.
this will not work out of the box for C++, but it has paved the way for auto generating a C file with wrapper definitions, which then can be auto-bridged into lisp with cffi/c2ffi.
C++ poses similar issue like inline C functions in header files, they also need a C wrapper to be able to bind them into lisp. so, to make cffi/c2ffi 100% even for plain C, it still needs a wave of work to also generate a CFFI grovel file for stuff like C inline functions.
but i think it's still a long way from there to have any reasonable auto generated bindings for C++, so i gave up on C++.
if you badly need to work with C++ from lisp then clasp may be a better environment, if it's already stable enough for your needs.