From e7dab9f65ebf5b5905a9b14f7701743870c4b831 Mon Sep 17 00:00:00 2001
From: Dustin Carlino <dabreegster@gmail.com>
Date: Wed, 15 Aug 2018 16:24:24 -0700
Subject: [PATCH] undo an epsilon fix that broke stuff. all tests pass right
 now!

---
 sim/src/kinematics.rs | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/sim/src/kinematics.rs b/sim/src/kinematics.rs
index 6896cbeb7e..29f20be2ec 100644
--- a/sim/src/kinematics.rs
+++ b/sim/src/kinematics.rs
@@ -55,8 +55,9 @@ impl Vehicle {
     // TODO this needs unit tests and some careful checking
     pub fn accel_to_stop_in_dist(&self, speed: Speed, dist: Distance) -> Acceleration {
         assert_ge!(dist, -EPSILON_DIST);
-        // Don't NaN out
-        if dist <= EPSILON_DIST {
+        // Don't NaN out. Don't check for <= EPSILON_DIST here -- it makes cars slightly overshoot
+        // sometimes.
+        if dist <= 0.0 * si::M {
             return 0.0 * si::MPS2;
         }