From fe88e68e733d91727607c6bc079bef04ca056398 Mon Sep 17 00:00:00 2001
From: Daniel Chappuis <chappuis.daniel>
Date: Wed, 27 Feb 2013 23:10:54 +0100
Subject: [PATCH] Improve robustness by using correct machine epsilon value
 test

---
 src/engine/ContactSolver.cpp | 4 ++--
 src/mathematics/Vector3.cpp  | 4 ++--
 src/mathematics/Vector3.h    | 2 +-
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/engine/ContactSolver.cpp b/src/engine/ContactSolver.cpp
index b0dfa4ac..3e610b26 100644
--- a/src/engine/ContactSolver.cpp
+++ b/src/engine/ContactSolver.cpp
@@ -848,7 +848,7 @@ void ContactSolver::computeFrictionVectors(const Vector3& deltaVelocity,
 
     // If the velocty difference in the tangential plane is not zero
     decimal lengthTangenVelocity = tangentVelocity.length();
-    if (lengthTangenVelocity > 0.0) {
+    if (lengthTangenVelocity > MACHINE_EPSILON) {
 
         // Compute the first friction vector in the direction of the tangent
         // velocity difference
@@ -878,7 +878,7 @@ void ContactSolver::computeFrictionVectors(const Vector3& deltaVelocity,
 
     // If the velocty difference in the tangential plane is not zero
     decimal lengthTangenVelocity = tangentVelocity.length();
-    if (lengthTangenVelocity > 0.0) {
+    if (lengthTangenVelocity > MACHINE_EPSILON) {
 
         // Compute the first friction vector in the direction of the tangent
         // velocity difference
diff --git a/src/mathematics/Vector3.cpp b/src/mathematics/Vector3.cpp
index 53d91ec7..8df24426 100644
--- a/src/mathematics/Vector3.cpp
+++ b/src/mathematics/Vector3.cpp
@@ -55,7 +55,7 @@ Vector3::~Vector3() {
 Vector3 Vector3::getUnit() const {
     decimal lengthVector = length();
 
-    assert(lengthVector > std::numeric_limits<decimal>::epsilon());
+    assert(lengthVector > MACHINE_EPSILON);
 
     // Compute and return the unit vector
     decimal lengthInv = 1.0 / lengthVector;
@@ -65,7 +65,7 @@ Vector3 Vector3::getUnit() const {
 // Return one unit orthogonal vector of the current vector
 Vector3 Vector3::getOneUnitOrthogonalVector() const {
 
-    assert(length() > std::numeric_limits<decimal>::epsilon());
+    assert(length() > MACHINE_EPSILON);
 
     // Get the minimum element of the vector
     Vector3 vectorAbs(fabs(x), fabs(y), fabs(z));
diff --git a/src/mathematics/Vector3.h b/src/mathematics/Vector3.h
index bc640a42..60ca0d81 100644
--- a/src/mathematics/Vector3.h
+++ b/src/mathematics/Vector3.h
@@ -288,7 +288,7 @@ inline Vector3 operator*(const Vector3& vector, decimal number) {
 
 // Overloaded operator for division by a number
 inline Vector3 operator/(const Vector3& vector, decimal number) {
-    assert(number > std::numeric_limits<decimal>::epsilon());
+    assert(number > MACHINE_EPSILON);
     return Vector3(vector.x / number, vector.y / number, vector.z / number);
 }