{"action":"created","issue":{"url":"https://api.github.com/repos/flexible-collision-library/fcl/issues/84","labels_url":"https://api.github.com/repos/flexible-collision-library/fcl/issues/84/labels{/name}","comments_url":"https://api.github.com/repos/flexible-collision-library/fcl/issues/84/comments","events_url":"https://api.github.com/repos/flexible-collision-library/fcl/issues/84/events","html_url":"https://github.com/flexible-collision-library/fcl/pull/84","id":123605468,"number":84,"title":"Make GJK struct variables static","user":{"login":"gdbaldw","id":5253102,"avatar_url":"https://avatars.githubusercontent.com/u/5253102?v=3","gravatar_id":"","url":"https://api.github.com/users/gdbaldw","html_url":"https://github.com/gdbaldw","followers_url":"https://api.github.com/users/gdbaldw/followers","following_url":"https://api.github.com/users/gdbaldw/following{/other_user}","gists_url":"https://api.github.com/users/gdbaldw/gists{/gist_id}","starred_url":"https://api.github.com/users/gdbaldw/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/gdbaldw/subscriptions","organizations_url":"https://api.github.com/users/gdbaldw/orgs","repos_url":"https://api.github.com/users/gdbaldw/repos","events_url":"https://api.github.com/users/gdbaldw/events{/privacy}","received_events_url":"https://api.github.com/users/gdbaldw/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":3,"created_at":"2015-12-23T05:46:54Z","updated_at":"2016-01-02T22:30:00Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/flexible-collision-library/fcl/pulls/84","html_url":"https://github.com/flexible-collision-library/fcl/pull/84","diff_url":"https://github.com/flexible-collision-library/fcl/pull/84.diff","patch_url":"https://github.com/flexible-collision-library/fcl/pull/84.patch"},"body":"Hi, The broadphase manager appears to use hardcoded GJK defaults for narrowphase. I'm using broadphase, and have a need for a smaller collision tolerance in narrowphase. In my main program, I can set the narrowphase default with,\r\n```\r\nfcl::GJKSolver_libccd::collision_tolerance = 1e-15;\r\n```\r\nAll the other defaults can be reset as well with this pull requested code.\r\n-Doug Baldwin"},"comment":{"url":"https://api.github.com/repos/flexible-collision-library/fcl/issues/comments/168435354","html_url":"https://github.com/flexible-collision-library/fcl/pull/84#issuecomment-168435354","issue_url":"https://api.github.com/repos/flexible-collision-library/fcl/issues/84","id":168435354,"user":{"login":"gdbaldw","id":5253102,"avatar_url":"https://avatars.githubusercontent.com/u/5253102?v=3","gravatar_id":"","url":"https://api.github.com/users/gdbaldw","html_url":"https://github.com/gdbaldw","followers_url":"https://api.github.com/users/gdbaldw/followers","following_url":"https://api.github.com/users/gdbaldw/following{/other_user}","gists_url":"https://api.github.com/users/gdbaldw/gists{/gist_id}","starred_url":"https://api.github.com/users/gdbaldw/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/gdbaldw/subscriptions","organizations_url":"https://api.github.com/users/gdbaldw/orgs","repos_url":"https://api.github.com/users/gdbaldw/repos","events_url":"https://api.github.com/users/gdbaldw/events{/privacy}","received_events_url":"https://api.github.com/users/gdbaldw/received_events","type":"User","site_admin":false},"created_at":"2016-01-02T22:30:00Z","updated_at":"2016-01-02T22:30:00Z","body":"Yes @jslee02. I have no urgency, so a more thoughtful architectural approach using CollisionRequest is nice too. I share @isucan's concern, and offered this as a quick solution to highlight the issue."}}