Use higher precision GJK/EPA collision tolerances in BT_USE_DOUBLE_PRECISION

See https://raw.githubusercontent.com/billhoffman/bullet-pod/ac6aae3e3ee8137de484471094a65bfe166898b4/bullet_gjk_accuracy_patch.diff
2016-03-10 23:12:22 -08:00
parent c69524be9e
commit ea6ecd3579
2 changed files with 31 additions and 10 deletions
--- a/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
@@ -30,7 +30,11 @@ subject to the following restrictions:
 #endif

 //must be above the machine epsilon
-#define REL_ERROR2 btScalar(1.0e-6)
+#ifdef  BT_USE_DOUBLE_PRECISION
+	#define REL_ERROR2 btScalar(1.0e-12)
+#else
+	#define REL_ERROR2 btScalar(1.0e-6)
+#endif

 //temp globals, to improve GJK/EPA/penetration calculations
 int gNumDeepPenetrationChecks = 0;