A quick lesson in SEO …
Meta tags, meta keywords, page architecture, and link structure will only get you so far. It’s important to have things set up, yes, but what’s more important to search engine rankings is your content.
Firstly, your question is slightly misleading. Your main site isn’t even built on WordPress! The links throughout that site are references to standard PHP files that I expect are either static files or dynamically generated through some other, non-WordPress CMS. In any case, that is where the URL problem lies.
The actual WordPress site (http://barrelandblade.com/wordpress) has permalinks that are very SEO friendly. Each post is using WordPress’ built-in “pretty permalink” structure, which is built specifically to be SEO, user friendly, and easy to read. You don’t seem to have any WordPress-related SEO problems here.
So to answer your “so my site can get ranked?” question, focus on content. Build compelling content and get people external to your site to link to it. That will drive traffic and build your Google PageRank (which is what your search engine rankings are based on).