Destiny is using an old generation engine (which is why it's PS3/X360). Halo was developed for current gen and 60fps so Destiny cannot look better strictly due to technical limitations.
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Ok nerd, I've played them both and can say without a doubt that Destiny looks better than halo. And I like halo better.
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Don't agree at all. They enemy skins in Halo are WAY better than Destiny. I much prefer the textures and find them much more polished.