From 34cb8a5af5e8b25f97fb731eee9a666e1bc02bdf Mon Sep 17 00:00:00 2001
From: rdiankov <devnull@localhost>
Date: Fri, 15 Jul 2011 15:16:17 +0900
Subject: [PATCH] collada exporter minor change: made all links dynamic

---
 collada_urdf/src/collada_urdf.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/collada_urdf/src/collada_urdf.cpp b/collada_urdf/src/collada_urdf.cpp
index 32d28b0..d673336 100644
--- a/collada_urdf/src/collada_urdf.cpp
+++ b/collada_urdf/src/collada_urdf.cpp
@@ -1300,8 +1300,8 @@ protected:
             rigid_body->setName(itlink->second->name.c_str());
             domRigid_body::domTechnique_commonRef ptec = daeSafeCast<domRigid_body::domTechnique_common>(rigid_body->add(COLLADA_ELEMENT_TECHNIQUE_COMMON));
             boost::shared_ptr<urdf::Inertial> inertial = itlink->second->inertial;
-            daeSafeCast<domRigid_body::domTechnique_common::domDynamic>(ptec->add(COLLADA_ELEMENT_DYNAMIC))->setValue(xsBoolean(!!inertial));
             if( !!inertial ) {
+                daeSafeCast<domRigid_body::domTechnique_common::domDynamic>(ptec->add(COLLADA_ELEMENT_DYNAMIC))->setValue(xsBoolean(true)); //!!inertial));
                 domTargetable_floatRef mass = daeSafeCast<domTargetable_float>(ptec->add(COLLADA_ELEMENT_MASS));
                 mass->setValue(inertial->mass);
                 double fCovariance[9] = { inertial->ixx, inertial->ixy, inertial->ixz, inertial->ixy, inertial->iyy, inertial->iyz, inertial->ixz, inertial->iyz, inertial->izz};