Add realtime parameter to visual global.

PiperOrigin-RevId: 478775714
Change-Id: Ic2d178a5c57d298d005215219ce8470392c4651b

simulate/simulate.cc

@@ -1648,6 +1648,18 @@ void Simulate::loadmodel() {
   // clear request
   this->loadrequest = 0;
   cond_loadrequest.notify_all();
+
+  // set real time index
+  int numclicks = sizeof(this->percentRealTime) / sizeof(this->percentRealTime[0]);
+  float min_error = 1e6;
+  float desired = mju_log(100*this->m->vis.global.realtime);
+  for (int click=0; click<numclicks; click++) {
+    float error = mju_abs(mju_log(this->percentRealTime[click]) - desired);
+    if (error < min_error) {
+      min_error = error;
+      this->realTimeIndex = click;
+    }
+  }
 }
 
 

simulate/simulate.h

@@ -125,7 +125,7 @@ class MJSIMULATEAPI Simulate {
   char previous_filename[kMaxFilenameLength] = "";
 
   // time synchronization
-  int realTimeIndex = 0;
+  int realTimeIndex;
   bool speedChanged = true;
   float measuredSlowdown = 1.0;
   // logarithmically spaced realtime slow-down coefficients (percent)