diff --git a/src/BulletCollision/NarrowPhaseCollision/btConvexCast.h b/src/BulletCollision/NarrowPhaseCollision/btConvexCast.h
index 98b0d5084..76f54699c 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btConvexCast.h
+++ b/src/BulletCollision/NarrowPhaseCollision/btConvexCast.h
@@ -22,6 +22,19 @@ subject to the following restrictions:
 class btMinkowskiSumShape;
 #include "LinearMath/btIDebugDraw.h"
 
+#ifdef BT_USE_DOUBLE_PRECISION
+#define MAX_ITERATIONS 64
+#define MAX_EPSILON (SIMD_EPSILON * 10)
+#else
+#define MAX_ITERATIONS 32
+#define MAX_EPSILON btScalar(0.0001)
+#endif
+///Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degenerate cases.
+///See discussion about this here http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=565
+//will need to digg deeper to make the algorithm more robust
+//since, a large epsilon can cause an early termination with false
+//positive results (ray intersections that shouldn't be there)
+
 /// btConvexCast is an interface for Casting
 class btConvexCast
 {
@@ -44,7 +57,9 @@ public:
 		CastResult()
 			: m_fraction(btScalar(BT_LARGE_FLOAT)),
 			  m_debugDrawer(0),
-			  m_allowedPenetration(btScalar(0))
+			  m_allowedPenetration(btScalar(0)),
+			  m_subSimplexCastMaxIterations(MAX_ITERATIONS),
+			  m_subSimplexCastEpsilon(MAX_EPSILON)
 		{
 		}
 
@@ -57,6 +72,10 @@ public:
 		btScalar m_fraction;  //input and output
 		btIDebugDraw* m_debugDrawer;
 		btScalar m_allowedPenetration;
+		
+		int m_subSimplexCastMaxIterations;
+		btScalar m_subSimplexCastEpsilon;
+
 	};
 
 	/// cast a convex against another convex object
diff --git a/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp b/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
index a2af32fdd..37458339e 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
@@ -28,13 +28,7 @@ btSubsimplexConvexCast::btSubsimplexConvexCast(const btConvexShape* convexA, con
 {
 }
 
-///Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degenerate cases.
-///See discussion about this here http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=565
-#ifdef BT_USE_DOUBLE_PRECISION
-#define MAX_ITERATIONS 64
-#else
-#define MAX_ITERATIONS 32
-#endif
+
 bool btSubsimplexConvexCast::calcTimeOfImpact(
 	const btTransform& fromA,
 	const btTransform& toA,
@@ -60,7 +54,7 @@ bool btSubsimplexConvexCast::calcTimeOfImpact(
 	btVector3 supVertexA = fromA(m_convexA->localGetSupportingVertex(-r * fromA.getBasis()));
 	btVector3 supVertexB = fromB(m_convexB->localGetSupportingVertex(r * fromB.getBasis()));
 	v = supVertexA - supVertexB;
-	int maxIter = MAX_ITERATIONS;
+	int maxIter = result.m_subSimplexCastMaxIterations;
 
 	btVector3 n;
 	n.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
@@ -69,20 +63,12 @@ bool btSubsimplexConvexCast::calcTimeOfImpact(
 
 	btScalar dist2 = v.length2();
 
-#ifdef BT_USE_DOUBLE_PRECISION
-	btScalar epsilon = SIMD_EPSILON * 10;
-#else
-	//todo: epsilon kept for backward compatibility of unit tests.
-	//will need to digg deeper to make the algorithm more robust
-	//since, a large epsilon can cause an early termination with false
-	//positive results (ray intersections that shouldn't be there)
-	btScalar epsilon = btScalar(0.0001);
-#endif  //BT_USE_DOUBLE_PRECISION
+
 
 	btVector3 w, p;
 	btScalar VdotR;
 
-	while ((dist2 > epsilon) && maxIter--)
+	while ((dist2 > result.m_subSimplexCastEpsilon) && maxIter--)
 	{
 		supVertexA = interpolatedTransA(m_convexA->localGetSupportingVertex(-v * interpolatedTransA.getBasis()));
 		supVertexB = interpolatedTransB(m_convexB->localGetSupportingVertex(v * interpolatedTransB.getBasis()));