Worked on performance and timing improvements for the gazebosim/gz-sim repository, focusing on simulation fidelity for Windows environments. Addressed a timing bug in the SimulationRunner by replacing the previous sleep-based approach with a Win32 high-resolution timer, utilizing the CreateWaitableTimerEx API. This change resolved issues where simulation rates dropped significantly in idle scenes and were unstable in busier scenarios. The solution improved timing accuracy and stability across different simulation loads. The work involved C++ development and real-time simulation techniques, with careful integration and documentation of the fix to ensure maintainability and clarity for future contributors working with the Windows API.