Add realtime parameter to visual global.

PiperOrigin-RevId: 478775714 Change-Id: Ic2d178a5c57d298d005215219ce8470392c4651b
2022-10-04 07:08:21 -07:00
parent f85cfb8ed2
commit bc1490b7a8
10 changed files with 29 additions and 3 deletions
@@ -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;
+    }
+  }
 }