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Remove real-time pacing code since not needed #5

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Remove real-time pacing code since not needed #5

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11 changes: 1 addition & 10 deletions src/lib/MuJoCoAuto.lf
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
=}
}