diff --git bullet3-2.83.6/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp bullet3-2.83.6/src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
index 3268f06..b3559e4 100644
--- src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
+++ src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
@@ -41,21 +41,21 @@ namespace gjkepa2_impl
 
 	/* GJK	*/ 
 #define GJK_MAX_ITERATIONS	128
-#define GJK_ACCURARY		((btScalar)0.0001)
-#define GJK_MIN_DISTANCE	((btScalar)0.0001)
-#define GJK_DUPLICATED_EPS	((btScalar)0.0001)
+#define GJK_ACCURARY		((btScalar)1e-12)
+#define GJK_MIN_DISTANCE	((btScalar)1e-12)
+#define GJK_DUPLICATED_EPS	((btScalar)1e-12)
 #define GJK_SIMPLEX2_EPS	((btScalar)0.0)
 #define GJK_SIMPLEX3_EPS	((btScalar)0.0)
 #define GJK_SIMPLEX4_EPS	((btScalar)0.0)
 
 	/* EPA	*/ 
-#define EPA_MAX_VERTICES	64
+#define EPA_MAX_VERTICES	128
 #define EPA_MAX_FACES		(EPA_MAX_VERTICES*2)
 #define EPA_MAX_ITERATIONS	255
-#define EPA_ACCURACY		((btScalar)0.0001)
+#define EPA_ACCURACY		((btScalar)1e-12)
 #define EPA_FALLBACK		(10*EPA_ACCURACY)
-#define EPA_PLANE_EPS		((btScalar)0.00001)
-#define EPA_INSIDE_EPS		((btScalar)0.01)
+#define EPA_PLANE_EPS		((btScalar)1e-14)
+#define EPA_INSIDE_EPS		((btScalar)1e-9)
 
 
 	// Shorthands
diff --git bullet3-2.83.6/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp bullet3-2.83.6/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
index 8af16b9..8a03f66 100644
--- src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
+++ src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
@@ -31,7 +31,7 @@ subject to the following restrictions:
 #endif
 
 //must be above the machine epsilon
-#define REL_ERROR2 btScalar(1.0e-6)
+#define REL_ERROR2 btScalar(1.0e-12)
 
 //temp globals, to improve GJK/EPA/penetration calculations
 int gNumDeepPenetrationChecks = 0;