Set simulation time to Rendering

[darksylinc]

See gazebosim/gz-rendering#556
See gazebosim/gz-rendering#584

Signed-off-by: Matias N. Goldberg [email protected]

🦟 Bug fix

There is no ticket filed for this issue, but there is one at ign-rendering#556

Summary

Previously rendering was not being told of the current simulation time.

This is needed for proper particle FXs simulation and some postprocessing effects that rely on time.

This PR also accounts for a hack required only by ign-rendering6 so that SetTime() is honoured (otherwise legacy behavior is used, which uses real time instead of simulation time). Details of this legacy issue can be found in my reply.

This PR should be merged AFTER ign-rendering6's ign-rendering#584

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[codecov]

Codecov Report

Merging #1415 (ae6211b) into ign-gazebo6 (2938ede) will increase coverage by 29.41%.
The diff coverage is 75.00%.

❗ Current head ae6211b differs from pull request most recent head 3b0b878. Consider uploading reports for the commit 3b0b878 to get more accurate results

@@               Coverage Diff                @@
##           ign-gazebo6    #1415       +/-   ##
================================================
+ Coverage        33.58%   62.99%   +29.41%     
================================================
  Files               44      301      +257     
  Lines             2260    24265    +22005     
================================================
+ Hits               759    15286    +14527     
- Misses            1501     8979     +7478     

Impacted Files	Coverage Δ
src/rendering/RenderUtil.cc	36.69% <66.66%> (ø)
src/systems/sensors/Sensors.cc	69.00% <100.00%> (ø)
...ins/component_inspector/qrc_ComponentInspector.cpp
src/gui/plugins/copy_paste/moc_CopyPaste.cpp
...n-gazebo6-gui_autogen/EWIEGA46WW/moc_GuiRunner.cpp
src/gui/plugins/lights/moc_Lights.cpp
...-gui_autogen/EWIEGA46WW/moc_AboutDialogHandler.cpp
...osition_controller/qrc_JointPositionController.cpp
...ion_capabilities/moc_VisualizationCapabilities.cpp
src/msgs/performer_affinity.pb.cc
... and 337 more

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