Fixed bugs from review

Signed-off-by: Martin Pecka <peckama2@fel.cvut.cz>
gazebosim · Aug 17, 2021 · 42ce0a9 · 42ce0a9
1 parent 7025e5a
commit 42ce0a9
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/dartsim/src/SimulationFeatures.cc b/dartsim/src/SimulationFeatures.cc
@@ -205,15 +205,16 @@ dart::constraint::ContactSurfaceParams IgnContactSurfaceHandler::createParams(
     }
 
     static bool warnedSecondaryRollingFrictionCoeff = false;
-    if (!warnedSecondaryRollingFrictionCoeff && pIgn.rollingFrictionCoeff)
+    if (!warnedSecondaryRollingFrictionCoeff &&
+      pIgn.secondaryRollingFrictionCoeff)
     {
       ignwarn << "DART doesn't support secondary rolling friction setting"
               << std::endl;
       warnedSecondaryRollingFrictionCoeff = true;
     }
 
     static bool warnedNormalRollingFrictionCoeff = false;
-    if (!warnedNormalRollingFrictionCoeff && pIgn.rollingFrictionCoeff)
+    if (!warnedNormalRollingFrictionCoeff && pIgn.normalRollingFrictionCoeff)
     {
       ignwarn << "DART doesn't support normal rolling friction setting"
               << std::endl;