Yes, the CPU's single thread performance matters in your case.

1.66 RTF is actually not as bad as I'm thinking. I am suspecting you are 
using a terrain obj mesh which is way too detailed. As the question I 
proposed in the last answer, could you please post the number of triangles 
and the size of the terrain? 

I suggest to use Meshlab or Blender to simplified the rigid terrain 
profile. Another option can be slicing the terrain obj into several pieces, 
such as slicing a squared obj terrain into four sub-terrains.

Jason
On Monday, August 29, 2022 at 10:25:26 PM UTC-5 stefan wrote:

> The time step is 0.5e-3, It may be a little small, but it can give a 
> reasonable result. I am using the sedan vehicle and the obj file is input 
> as rigid terrain.  I don't know how to change the number of triangles and 
> terrain size, could you give me some advice about how to speed up my 
> simulation by changing the terrain size and number of triangles?  A 
> separate rendering engine, such as Carla UE, was used and it run on a 
> different computer. I have run my simulation on two different computers, 
> and the cpu usage both are 100%. The RTF are 2.5 and 1.66 respectively. It 
> depends on the performance of the single cpu core.
> 在2022年8月30日星期二 UTC+8 01:51:34<JASON Z> 写道:
>
>> Stefan,
>>
>> Theoretically, you should be able to run one vehicle per thread on rigid 
>> terrain using most of modern machines. If you are performing vehicle 
>> simulations with more than one vehicle, you can look into Synchrono.
>>
>>
>> Many parameters can affect the RTF of the simulation. Could you please 
>> provide more information regarding the simulation you are running? Time 
>> step, what vehicle model, terrain size, number of triangles you used for 
>> terrain mesh? What rendering engine you are using, and what RTF are you 
>> currently getting? Maybe a screenshot can help as well.
>>
>> Thanks,
>> Jason
>>
>> On Monday, August 29, 2022 at 7:02:55 AM UTC-5 stefan wrote:
>>
>>> Hi marcel,
>>>
>>> The real-time simulation is exactly what I want. I have already 
>>> decoupled physics from graphics, but it still can not meet my requirements. 
>>> Is it possible to 
>>> separate the tire model and vehicle model? In that way, the computation 
>>> of tire and vehicle can be run on separate cores. 
>>> 在2022年8月29日星期一 UTC+8 17:48:53<[email protected]> 写道:
>>>
>>>> Hello Stefan,
>>>>
>>>> I guess you want to try to speed things up to ensure that you can run 
>>>> your simulation in real-time? As far as I know there is no way to 
>>>> dramatically speed up the simulation at the moment. You need a relatively 
>>>> small time step to keep it all stable and there is no easy way to run 
>>>> those 
>>>> calculations in parallel. The only thing you can do to speed things up is 
>>>> to decouple physics from graphics so they run on separate cores.
>>>>
>>>> Greetings, Marcel
>>>>
>>>>
>>>> On 8/29/2022 8:48, stefan wrote:
>>>>
>>>> Is there any way to speed up the chrono vehicle simulation with sedan 
>>>> vehicle in Tmeasy tire or pacejka tire on rigid terrain road? 
>>>>  I found two modules  in chrono, One is syschrono,and  the other one is 
>>>> multicore. 
>>>>
>>>> As far as I am concerned, the synchrony is for autonomous vehicles and 
>>>> can decrease the simulation with multiple vehicles. And the other one is a 
>>>> multicore module, it can not speed up the simulation  
>>>>
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>>>>
>>>>

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