diff --git a/include/sslworld.h b/include/sslworld.h
index 60915835..d96032ee 100644
--- a/include/sslworld.h
+++ b/include/sslworld.h
@@ -24,6 +24,8 @@ Copyright (C) 2011, Parsian Robotic Center (eew.aut.ac.ir/~parsian/grsim)
 #include <QObject>
 #include <QUdpSocket>
 #include <QList>
+#include <QTimer>
+#include <QElapsedTimer>
 
 
 #include "graphics.h"
@@ -76,6 +78,8 @@ class SSLWorld : public QObject
                             Robot *robot) ;
     void processTeleportBall(SimulatorResponse &simulatorResponse, const TeleportBall &teleBall) const;
     static void processTeleportRobot(const TeleportRobot &teleBot, Robot *robot);
+    QTimer* simulationTimer {nullptr};
+    QElapsedTimer elapsed;
 public:    
     dReal customDT;
     bool isGLEnabled;
@@ -83,6 +87,8 @@ class SSLWorld : public QObject
     ~SSLWorld() override;
     void glinit();
     void step(dReal dt=-1);
+    void simulate(dReal dt=-1);
+    void render();
     SSL_WrapperPacket* generatePacket(int cam_id=0);
     void addFieldLinesArcs(SSL_GeometryFieldSize *field);
     static void addFieldLine(SSL_GeometryFieldSize *field, const std::string &name, float p1_x, float p1_y, float p2_x, float p2_y, float thickness);
@@ -124,6 +130,7 @@ public slots:
     void simControlSocketReady();
     void blueControlSocketReady();
     void yellowControlSocketReady();
+    void stepSimulation();
 signals:
     void fpsChanged(int newFPS);
 };
diff --git a/src/glwidget.cpp b/src/glwidget.cpp
index 46af025d..c424d5e0 100644
--- a/src/glwidget.cpp
+++ b/src/glwidget.cpp
@@ -346,27 +346,21 @@ void GLWidget::step()
     const dReal* ballV = dBodyGetLinearVel(ssl->ball->body);
     double ballSpeed = ballV[0]*ballV[0] + ballV[1]*ballV[1] + ballV[2]*ballV[2];
     ballSpeed  = sqrt(ballSpeed);
+
     rendertimer.restart();
-    m_fps = frames /(time.elapsed()/1000.0);
-    if (!(frames % ((int)(ceil(cfg->DesiredFPS()))))) {
+
+    m_fps = frames / (time.elapsed() / 1000.0);
+    if (!(frames % static_cast<int>(ceil(cfg->DesiredFPS())))) {
         time.restart();
         frames = 0;
     }
-    if (first_time) {ssl->step();first_time = false;}
-    else {
-        if (cfg->SyncWithGL())
-        {
-            dReal ddt=rendertimer.elapsed()/1000.0;
-            if (ddt>0.05) ddt=0.05;
-            ssl->step(ddt);
-        }
-        else {
-            ssl->step(cfg->DeltaTime());
-        }
-    }
-    frames ++;
+
+    ssl->render();
+
+    frames++;
 }
 
+
 void GLWidget::paintGL()
 {
     if (!ssl->g->isGraphicsEnabled()) return;
diff --git a/src/sslworld.cpp b/src/sslworld.cpp
index ab14858f..66defe73 100644
--- a/src/sslworld.cpp
+++ b/src/sslworld.cpp
@@ -20,6 +20,7 @@ Copyright (C) 2011, Parsian Robotic Center (eew.aut.ac.ir/~parsian/grsim)
 
 #include <QtGlobal>
 #include <QtNetwork>
+#include <QTimer>
 
 #include <QDebug>
 
@@ -316,6 +317,14 @@ SSLWorld::SSLWorld(QGLWidget* parent, ConfigWidget* _cfg, RobotsFormation *form1
 
     elapsedLastPackageBlue.start();
     elapsedLastPackageYellow.start();
+
+    elapsed.start();
+
+    simulationTimer = new QTimer(this);
+    simulationTimer->setInterval(10);
+    connect(simulationTimer, &QTimer::timeout,
+            this, &SSLWorld::stepSimulation);
+    simulationTimer->start();
 }
 
 int SSLWorld::robotIndex(int robot,int team) {
@@ -410,10 +419,30 @@ void SSLWorld::glinit() {
     p->glinit();
 }
 
-void SSLWorld::step(dReal dt) {
-    if (customDT > 0) dt = customDT;
-    const auto ratio = m_parent->devicePixelRatio();
-    g->initScene(m_parent->width()*ratio,m_parent->height()*ratio,0,0.7,1);
+void SSLWorld::stepSimulation()
+{
+    if (!elapsed.isValid()) {
+        elapsed.start();
+        return;
+    }
+
+    qint64 nsec = elapsed.nsecsElapsed();
+    elapsed.restart();
+
+    dReal dt = static_cast<dReal>(nsec) / 1e9;
+    if (dt <= 0) {
+        dt = (last_dt > 0) ? last_dt : 0.01; 
+    }
+
+    simulate(dt);
+}
+
+void SSLWorld::simulate(dReal dt)
+{
+    if (customDT > 0) {
+        dt = customDT;
+    }
+
     int ballCollisionTry = 5;
     for (int kk=0;kk < ballCollisionTry;kk++) {
         const dReal* ballvel = dBodyGetLinearVel(ball->body);
@@ -496,6 +525,21 @@ void SSLWorld::step(dReal dt) {
         robots[k]->step();
         robots[k]->selected = false;
     }
+
+    sendVisionBuffer();
+    frame_num++;
+}
+
+void SSLWorld::render()
+{
+    if (!g->isGraphicsEnabled())
+        return;
+
+    const auto ratio = m_parent->devicePixelRatio();
+    g->initScene(m_parent->width()  * ratio,
+                 m_parent->height() * ratio,
+                 0, 0.7, 1);
+
     p->draw();
     g->drawSkybox(4 * cfg->Robots_Count() + 6 + 1, //31 for 6 robot
                   4 * cfg->Robots_Count() + 6 + 2, //32 for 6 robot
@@ -504,24 +548,23 @@ void SSLWorld::step(dReal dt) {
                   4 * cfg->Robots_Count() + 6 + 5, //31 for 6 robot
                   4 * cfg->Robots_Count() + 6 + 6);//36 for 6 robot
 
-    dMatrix3 R;
-
-    if (g->isGraphicsEnabled())
-        if (show3DCursor)
-        {
-            dRFromAxisAndAngle(R,0,0,1,0);
-            g->setColor(1,0.9,0.2,0.5);
-            glEnable(GL_BLEND);
-            glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);
-            g->drawCircle(cursor_x,cursor_y,0.001,cursor_radius);
-            glDisable(GL_BLEND);
-        }
+    if (show3DCursor) {
+        dMatrix3 R;
+        dRFromAxisAndAngle(R,0,0,1,0);
+        g->setColor(1,0.9,0.2,0.5);
+        glEnable(GL_BLEND);
+        glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);
+        g->drawCircle(cursor_x,cursor_y,0.001,cursor_radius);
+        glDisable(GL_BLEND);
+    }
 
     g->finalizeScene();
+}
 
-
-    sendVisionBuffer();
-    frame_num ++;
+void SSLWorld::step(dReal dt)
+{
+    simulate(dt);
+    render();
 }
 
 void SSLWorld::addRobotStatus(Robots_Status& robotsPacket, int robotID, bool infrared, KickStatus kickStatus) {