Hardware: Intel Core Ultra 9 285HX (24 cores), NVIDIA RTX PRO 3000 Blackwell.
Software: gz-sim 11.0.0-pre1, DART 6.13.2, perf 6.17.13.
Build: RelWithDebInfo, -fno-omit-frame-pointer, ENABLE_PROFILER=ON.
All worlds at RTF=0 (maximum speed).
Click any flamegraph to open it interactively (click frames to zoom, Ctrl+F to search).
| World | Wall-clock | Flamegraph |
|---|---|---|
| 3k_shapes_static | 26.0s | Open |
| 3k_shapes_dynamic | 26.6s | Open |
| jetty | 7.8s | Open |
| sensors_nonrendering | 2.4s | Open |
| gpu_lidar | 0.06s | Too fast for meaningful flamegraph (5 samples) |
| sensors_demo | 0.03s | Too fast for meaningful flamegraph (5 samples) |
| World | Stress Axis | Flamegraph |
|---|---|---|
| 3k_shapes_static | 3000 static entities — framework overhead | Open |
| 3k_shapes_dynamic | 3000 dynamic entities — physics scaling | Open |
| sensors_nonrendering | IMU, magnetometer, etc. — ECS + transport | Open |
| jetty_headless | Complex real-world scene — collision + textures | Open |
| gpu_lidar | GPU lidar — Ogre2 + sensor pipeline | Open |
| sensors_demo | 6 rendering sensors — Ogre2 scene-graph | Open |
Generated with FlameGraph and Linux perf.
