01238       bool is_paused = gazebo::Simulator::Instance()->IsPaused();
    01239       gazebo::Simulator::Instance()->SetPaused(true);
    01240 
    01241       // supported updates
    01242       gazebo::World::Instance()->GetPhysicsEngine()->SetStepTime(req.[time_step](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsPropertiesRequest__.html#a13e175b8b11ee2448d3743ea71440e95));
    01243       gazebo::World::Instance()->GetPhysicsEngine()->SetUpdateRate(req.[max_update_rate](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsPropertiesRequest__.html#a502c042b7bfce132246f993e96613cf9));
    01244       gazebo::World::Instance()->GetPhysicsEngine()->SetGravity(gazebo::Vector3(req.[gravity](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsPropertiesRequest__.html#a07807ebbfdcf1fb9a64e911e462ddf73).[x](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Vector3__.html#abf9dabaf651196aee50fd14bf3b643be),req.[gravity](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsPropertiesRequest__.html#a07807ebbfdcf1fb9a64e911e462ddf73).[y](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Vector3__.html#aaea58ad929c43960a06f728d97132404),req.[gravity](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsPropertiesRequest__.html#a07807ebbfdcf1fb9a64e911e462ddf73).[z](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Vector3__.html#a4cde719326e6c3688ab50b51ab4708b1)));
    01245 
    01246       // stuff only works in ODE right now
    01247       gazebo::World::Instance()->GetPhysicsEngine()->SetAutoDisableFlag(req.[ode_config](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsPropertiesRequest__.html#a29c501299aef72209f3b2c8cfee96ac6).[auto_disable_bodies](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEPhysics__.html#af4555ca9c1ede8b07fc50cd2a2008f65));
    01248       gazebo::World::Instance()->GetPhysicsEngine()->SetSORPGSPreconIters(req.[ode_config](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsPropertiesRequest__.html#a29c501299aef72209f3b2c8cfee96ac6).[sor_pgs_precon_iters](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEPhysics__.html#a3c1b3fedf2a622faaec46676570eb3bc));
    01249       gazebo::World::Instance()->GetPhysicsEngine()->SetSORPGSIters(req.[ode_config](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsPropertiesRequest__.html#a29c501299aef72209f3b2c8cfee96ac6).[sor_pgs_iters](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEPhysics__.html#a0426be3e2cd9c192b511f0f6c2fe8f52));
    01250       gazebo::World::Instance()->GetPhysicsEngine()->SetRMSErrorTolerance(req.[ode_config](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsPropertiesRequest__.html#a29c501299aef72209f3b2c8cfee96ac6).[sor_pgs_rms_error_tol](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEPhysics__.html#afc440eb7f5da3792d00114fb3edf1edc));
    01251       gazebo::World::Instance()->GetPhysicsEngine()->SetSORPGSW(req.[ode_config](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsPropertiesRequest__.html#a29c501299aef72209f3b2c8cfee96ac6).[sor_pgs_w](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEPhysics__.html#a217a5bc35754775e2e27be8fce736fed));
    01252       gazebo::World::Instance()->GetPhysicsEngine()->SetContactSurfaceLayer(req.[ode_config](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsPropertiesRequest__.html#a29c501299aef72209f3b2c8cfee96ac6).[contact_surface_layer](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEPhysics__.html#a37d70bee50b3f628b6b7271c9792d6b5));
    01253       gazebo::World::Instance()->GetPhysicsEngine()->SetContactMaxCorrectingVel(req.[ode_config](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsPropertiesRequest__.html#a29c501299aef72209f3b2c8cfee96ac6).[contact_max_correcting_vel](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEPhysics__.html#af0c9a9a7e12ab8d902fb1930497b156d));
    01254       gazebo::World::Instance()->GetPhysicsEngine()->SetWorldCFM(req.[ode_config](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsPropertiesRequest__.html#a29c501299aef72209f3b2c8cfee96ac6).[cfm](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEPhysics__.html#abd023dd5214874a3dc73ff35db1676e3));
    01255       gazebo::World::Instance()->GetPhysicsEngine()->SetWorldERP(req.[ode_config](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsPropertiesRequest__.html#a29c501299aef72209f3b2c8cfee96ac6).[erp](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEPhysics__.html#a229fd2dd48856e64045104fab4caf707));
    01256       gazebo::World::Instance()->GetPhysicsEngine()->SetMaxContacts(req.[ode_config](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsPropertiesRequest__.html#a29c501299aef72209f3b2c8cfee96ac6).[max_contacts](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEPhysics__.html#a6e9643a7c7db7222eb0eb8d54d29473e));
    01257 
    01258 
    01259       gazebo::Simulator::Instance()->SetPaused(is_paused);
    01260       [ROS_INFO](../../../api/rosconsole/html/macros__generated_8h.html#a20d5da22f16df09d52a7577227636a83)("physics dynamics configure update complete");
    01261 
    01262       res.[success](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsPropertiesResponse__.html#aa9548c3d825aceb97bbed6a9a451a004) = true;
    01263       res.[status_message](../../gazebo_msgs/html/structgazebo__msgs_1_1SetPhysicsPropertiesResponse__.html#a105615d4a53b28ba56258cbcebda895e) = "physics engine updated";
    01264       return true;
    01265     }
    01266 
    [01269](classGazeboROSNode.html#a09bff824f10a47e8b958ac3a38967a78)     bool [getPhysicsProperties](classGazeboROSNode.html#a09bff824f10a47e8b958ac3a38967a78)([gazebo_msgs::GetPhysicsProperties::Request](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsPropertiesRequest__.html) &req,[gazebo_msgs::GetPhysicsProperties::Response](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsPropertiesResponse__.html) &res)
    01270     {
    01271       // supported updates
    01272       res.[time_step](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsPropertiesResponse__.html#a552908b569e8498573932c05382fabe3) = gazebo::World::Instance()->GetPhysicsEngine()->GetStepTime().Double();
    01273       res.[pause](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsPropertiesResponse__.html#a6dc26a454de81aea66492e16805633e8) = gazebo::Simulator::Instance()->IsPaused();
    01274       res.[max_update_rate](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsPropertiesResponse__.html#ae13cd5c58995e3bb29c9a1bb1841eb3d) = gazebo::World::Instance()->GetPhysicsEngine()->GetUpdateRate();
    01275       gazebo::Vector3 gravity = gazebo::World::Instance()->GetPhysicsEngine()->GetGravity();
    01276       res.[gravity](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsPropertiesResponse__.html#aaf2c7b190ae32f439067ec22628aa004).[x](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Vector3__.html#abf9dabaf651196aee50fd14bf3b643be) = gravity.x;
    01277       res.[gravity](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsPropertiesResponse__.html#aaf2c7b190ae32f439067ec22628aa004).[y](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Vector3__.html#aaea58ad929c43960a06f728d97132404) = gravity.y;
    01278       res.[gravity](../../gazebo_msgs/html/structgazebo__msgs_1_1GetPhysicsPropertiesResponse__.html#aaf2c7b190ae32f439067ec22628aa004).[z](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Vector3__.html#a4cde719326e6c3688ab50b51ab4708b1) = gravity.z;
    01279