From d2719c65729d554db0a2da99373d84895482910a Mon Sep 17 00:00:00 2001 From: Chadlia Jerad Date: Wed, 18 Mar 2026 12:33:34 +0100 Subject: [PATCH] Remove real-time pacing code since not needed --- src/lib/MuJoCoAuto.lf | 11 +---------- 1 file changed, 1 insertion(+), 10 deletions(-) diff --git a/src/lib/MuJoCoAuto.lf b/src/lib/MuJoCoAuto.lf index 6df306a..be5493e 100644 --- a/src/lib/MuJoCoAuto.lf +++ b/src/lib/MuJoCoAuto.lf @@ -49,16 +49,7 @@ reaction(physics_timer) -> tick {= return; } - // Real-time pacing: if the simulation is running faster than real time, sleep briefly - // to let real time catch up. - double sim_time_elapsed = self->context.d->time - self->sim_start; - double wall_time_elapsed = glfwGetTime() - self->wall_start; - interval_t delta_ns = (interval_t)(self->sim_step * 1e9); - if (sim_time_elapsed > wall_time_elapsed + delta_ns) { - // Physics is ahead of wall clock: sleep briefly - // (glfwWaitEventsTimeout caps at ~1 frame) - glfwWaitEventsTimeout(sim_time_elapsed - wall_time_elapsed - delta_ns); - } + // Real-time pacing is managed by the LF runtime since we are using a timer (`physics_timer`) mj_step(self->context.m, self->context.d); =} }