Multithread CPU


I trying to simulate several quadcopters with IRIS model, the problem is that as the number of quad copters increases, the Real Time Factor decreases to 0.2 and even 0.1 (depending on the number of the quads) apparently due to the physical calculation
Frame rate still about 60 fps.
Gazebo is using only one core of the processor, I have Intel® Xeon® CPU E5-2609 v4 @ 1.70GHz (16 physical cores) Does any body know if there exist some way to make gazebo take advantage of all the cores in the CPU ??

Best regards,

You can try playing with OMP_NUM_THREADS which might have indirect impact on the performance.

The tutorial on Parallel physics also contains some useful information, although it is outdated (the threaded islands functionality has already been merged into the released Gazebo versions)