simulate python: fix cmake, glfw usage, update Python version of physics loop

simulate/glfw_dispatch.cc

@@ -80,6 +80,7 @@ const struct Glfw& Glfw(void* dlhandle) {
 
     // go/keep-sorted start
     mjGLFW_INITIALIZE_SYMBOL(glfwCreateWindow);
+    mjGLFW_INITIALIZE_SYMBOL(glfwDestroyWindow);
     mjGLFW_INITIALIZE_SYMBOL(glfwGetCursorPos);
     mjGLFW_INITIALIZE_SYMBOL(glfwGetFramebufferSize);
     mjGLFW_INITIALIZE_SYMBOL(glfwGetKey);
@@ -115,10 +116,6 @@ const struct Glfw& Glfw(void* dlhandle) {
 
 #undef mjGLFW_INITIALIZE_SYMBOL
 
-#if defined(mjGLFW_DYNAMIC_SYMBOLS) && !defined(_MSC_VER)
-    dlclose(dlhandle);
-#endif
-
     return glfw;
   }();
   return glfw;