[Ros-pkg-commits] r39338 - stacks/simulator_gazebo/trunk/gaz…

Author: hsu
Date: 2012-04-24 14:31:08 -0700 (Tue, 24 Apr 2012)
New Revision: 39338

Modified:
stacks/simulator_gazebo/trunk/gazebo/src/urdf2gazebo.cpp
Log:
move maxVel as a property collision geometry

Modified: stacks/simulator_gazebo/trunk/gazebo/src/urdf2gazebo.cpp
===================================================================
--- stacks/simulator_gazebo/trunk/gazebo/src/urdf2gazebo.cpp    2012-04-24 21:30:39 UTC (rev 39337)
+++ stacks/simulator_gazebo/trunk/gazebo/src/urdf2gazebo.cpp    2012-04-24 21:31:08 UTC (rev 39338)
@@ -369,6 +369,12 @@
               addKeyValue(elem, "kp", values2str(1, &(*ge)->kp) );
           if ((*ge)->is_kd)
               addKeyValue(elem, "kd", values2str(1, &(*ge)->kd) );
+          // max contact interpenetration correction velocity
+          if ((*ge)->is_maxVel)
+              addKeyValue(elem, "maxVel", values2str(1, &(*ge)->maxVel) );
+          // contact interpenetration margin tolerance
+          if ((*ge)->is_minDepth)
+              addKeyValue(elem, "minDepth", values2str(1, &(*ge)->minDepth) );
           if ((*ge)->genTexCoord)
               addKeyValue(elem, "genTexCoord", "true");
           else
@@ -416,12 +422,6 @@
           // damping factor
           if ((*ge)->is_dampingFactor)
               addKeyValue(elem, "dampingFactor", values2str(1, &(*ge)->dampingFactor) );
-          // max contact interpenetration correction velocity
-          if ((*ge)->is_maxVel)
-              addKeyValue(elem, "maxVel", values2str(1, &(*ge)->maxVel) );
-          // contact interpenetration margin tolerance
-          if ((*ge)->is_minDepth)
-              addKeyValue(elem, "minDepth", values2str(1, &(*ge)->minDepth) );
           // selfCollide tag
           if ((*ge)->selfCollide)
               addKeyValue(elem, "selfCollide", "true");

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