Files
Mujoco_WASM/simulate
Yuval Tassa 834e8dd506 Improvements to time synchronisation in simulate.
- Improved time-sync logic readability in `PhysicsLoop`.
- Fixed unattainable condition for breaking from stepping loop if data was reset.
- Added measurement of actual real-time tracking.
- Moved slowdown overlay to top left.
- Report slowdown as % of real-time, rather than fraction.
- Report actual slowdown if different than requested (very small timestep, PhysicsLoop cannot keep up) by more than 10%.
- Replaced slowdown increments of 2 with decimal-rounded increments of 10^(1/10). This is a finer-grained scale (approximately 3x as fine) and well suited for decimal percentage representation.
- Maximum slowdown increased to 1000.
- Added `Simulate.refreshrate` with a default of 60Hz, in case videomode refreshrate is 0 (can occur e.g. when forwarding over X11).
- Remove realtime reporting from regular info overlay.
- Various cleanups.

PiperOrigin-RevId: 471547481
Change-Id: Idd2514a4defb1dc431617f3a515cc747c4fd8971
2022-09-01 09:09:48 -07:00
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