I have no time for programming lately but today I have a boring conference that give time to valgrind gazebo
I only could do two tests
simpleshapes.world, 60 seconds real simulation:

36.5% libGLcore
19.75% libOgreMain
16.50% libfreeimage
6.50% libc
3.41 RenderSystem_GL.so
2.93 Plugin_OctreeSceneManager
2.34 gazebo
     -- 55% MainLoop  -> mostly OgreAdaptor::Render
     -- 43% loading -> mostly OgreAdaptor::Init
1.37 libode.so


And

Pioneer2dx.world

33.2 libOgreMain
31.59 libGL
7.29 gazebo
   -- mostly loading or rendering, some things that could be interesting:
   2% in Ogre::HardwareBuffer::Lock (used in laser dynamic lines)
   2.8% Body::GetPose 
   1.7% Pos3d::CoordPos
   1.18% Quatern::operator *


I hope we (anyone contributions needed) have some more complicated worlds soon to test them.

Ode was about 1% of the processing in both tests.
Intel centrino + nvidia go 7300


--
Jordi Polo Carres
Natural language processing laboratory
NAIST
http://www.bahasara.org