change 4 spaces to tab for src/BulletInverseDynamics

fix unit test in single precision compilation (use delta t of 0.01 if BT_ID_USE_DOUBLE_PRECISION is not defined)

src/BulletInverseDynamics/IDConfig.hpp

@@ -8,6 +8,7 @@
 #define BT_ID_POW(a,b) std::pow(a,b)
 #define BT_ID_SNPRINTF snprintf
 #define BT_ID_PI M_PI
+#define BT_ID_USE_DOUBLE_PRECISION
 #else
 #define BT_ID_POW(a,b) btPow(a,b)
 #define BT_ID_PI SIMD_PI
@@ -33,6 +34,9 @@
 // Use the same scalar type as rest of bullet library
 #include "LinearMath/btScalar.h"
 typedef btScalar idScalar;
+#ifdef BT_USE_DOUBLE_PRECISION
+#define BT_ID_USE_DOUBLE_PRECISION
+#endif
 // use bullet types for arrays and array indices
 #include "Bullet3Common/b3AlignedObjectArray.h"
 // this is to make it work with C++2003, otherwise we could do this:

test/InverseDynamics/test_invdyn_kinematics.cpp

@@ -248,7 +248,11 @@ int calculateDifferentiationError(const MultiBodyTreeCreator& creator, idScalar
 // first test: absolute difference between numerical and numerial
 // differentiation should be small
 TEST(InvDynKinematicsDifferentiation, errorAbsolute) {
+#ifdef BT_ID_USE_DOUBLE_PRECISION
     const idScalar kDeltaT = 1e-7;
+#else
+	const idScalar kDeltaT = 1e-2;
+#endif
     const idScalar kDuration = 1e-2;
     const idScalar kAcceptableError = 1e-4;