diff --git a/src/SpringPlugin.cc b/src/SpringPlugin.cc
index 300fc2d6a92ef3d61aa85c68257cffaa980daa44..487dd25a0f965cdeb3048da3125e6fae053afc56 100644
--- a/src/SpringPlugin.cc
+++ b/src/SpringPlugin.cc
@@ -63,12 +63,17 @@ void SpringPlugin::Init()
           boost::bind(&SpringPlugin::ExplicitUpdate, this));
 }
 
- 
+
 
 /////////////////////////////////////////////////
 void SpringPlugin::ExplicitUpdate()
 {
+#if GAZEBO_MAJOR_VERSION < 9
   common::Time currTime = this->model->GetWorld()->GetSimTime();
+#else
+  common::Time currTime = this->model->GetWorld()->SimTime();
+#endif
+
   common::Time stepTime = currTime - this->prevUpdateTime;
   this->prevUpdateTime = currTime;
 
@@ -78,4 +83,3 @@ void SpringPlugin::ExplicitUpdate()
                  -this->kdExplicit * vel;
   this->jointExplicit->SetForce(0, force);
 }
-