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I understand far cry 4 is on the old gen as well however it's direction is different than Destiny's. Destiny itself to be as epic as FC4 would have needed to be next gen only becasue there's multiple maps and it would need to include hundreds of players into those maps and an entire world that was constantly active because it would be occupied by players wholey at any given time.
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Ff14, Battlefield (pvp). They could have done it on the ps3. They just chose not to. I mean look at watch dogs, dragon age, skrim (maps/npc) If you get a chance take a look at the destiny 2013 e3. The footage there was ready for both gens