This commit adds the possibility of making N simulation substeps each rendering step. In fact the 3D refresh might be overkill if running at 1kHz simulation step. Usually, 50 fps is enough for video refresh. Example, here it makes 20 simulation steps each video refresh, so -optimally- the video should run a 50fps and the simulation loop at 1kHz (if the cpu power is enough.) Note that if using the realtime stepping system, as SetTryRealtime(true), this might end in having the last dt integration step in each N substeps longer than the others, because the time wasted in the loop includes also the video refresh. I guess... The realtime stepping system should be improved anyway.
This commit adds the possibility of making N simulation substeps each rendering step.
In fact the 3D refresh might be overkill if running at 1kHz simulation step. Usually, 50 fps is enough for video refresh.
Example, here it makes 20 simulation steps each video refresh, so -optimally- the video should run a 50fps and the simulation loop at 1kHz (if the cpu power is enough.)
Note that if using the realtime stepping system, as SetTryRealtime(true), this might end in having the last dt integration step in each N substeps longer than the others, because the time wasted in the loop includes also the video refresh. I guess...
The realtime stepping system should be improved anyway.

hsu/chrono-vehicle,hsu/chrono-vehicle,hsu/chrono-vehicle