[misc] Use 4 cores to build from source.

duburcqa · Nov 2, 2024 · 9135578 · 9135578
1 parent fa46514
commit 9135578
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Showing 8 changed files with 37 additions and 37 deletions.
diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml
@@ -96,7 +96,7 @@ jobs:
               -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON \
               -DINSTALL_GYM_JIMINY=${{ (matrix.PYTHON_VERSION == '3.13' && 'OFF') || 'ON' }} \
               -DCMAKE_CXX_FLAGS="${CXX_FLAGS}" -DCMAKE_BUILD_TYPE="${{ matrix.BUILD_TYPE }}"
-        make install -j2
+        make install -j4
 
         echo "LD_LIBRARY_PATH=$InstallDir/lib:$InstallDir/lib64:/usr/local/lib" >> $GITHUB_ENV
 

diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
@@ -104,7 +104,7 @@ jobs:
               -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON \
               -DINSTALL_GYM_JIMINY=${{ (matrix.PYTHON_VERSION == '3.13' && 'OFF') || 'ON' }} \
               -DCMAKE_CXX_FLAGS="${CXX_FLAGS}" -DCMAKE_BUILD_TYPE="${{ matrix.BUILD_TYPE }}"
-        make -j2
+        make -j4
 
         # Bundle the boost python dependencies with jiminy
         mkdir -p "${RootDir}/build/pypi/jiminy_py/src/jiminy_py"

diff --git a/.github/workflows/manylinux.yml b/.github/workflows/manylinux.yml
@@ -89,7 +89,7 @@ jobs:
               -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON \
               -DINSTALL_GYM_JIMINY=${{ (matrix.PYTHON_VERSION == 'cp312' && 'OFF') || 'ON' }} \
               -DCMAKE_CXX_FLAGS="${CXX_FLAGS}" -DCMAKE_BUILD_TYPE="$BUILD_TYPE"
-        make -j2
+        make -j4
 
         # Bundle the boost python dependencies with jiminy
         mkdir -p "$RootDir/build/pypi/jiminy_py/src/jiminy_py"

diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
@@ -103,9 +103,9 @@ jobs:
               -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON \
               -DCMAKE_BUILD_TYPE="${{ matrix.BUILD_TYPE }}"
         if [[ "${{ matrix.GENERATOR }}" == 'Ninja' ]] ; then
-          ninja install -j2
+          ninja install -j4
         else
-          make install -j2
+          make install -j4
         fi
 
     #####################################################################################

diff --git a/.github/workflows/win.yml b/.github/workflows/win.yml
@@ -104,7 +104,7 @@ jobs:
               -DCMAKE_CXX_FLAGS="${env:CXX_FLAGS} $(
               ) -DBOOST_ALL_NO_LIB -DBOOST_LIB_DIAGNOSTIC -DBOOST_CORE_USE_GENERIC_CMATH $(
               ) -DEIGENPY_STATIC -DURDFDOM_STATIC -DHPP_FCL_STATIC -DPINOCCHIO_STATIC"
-        cmake --build . --target ALL_BUILD --config "${{ matrix.BUILD_TYPE }}" --parallel 2
+        cmake --build . --target ALL_BUILD --config "${{ matrix.BUILD_TYPE }}" --parallel 4
 
         if (-not (Test-Path -PathType Container "$RootDir/build/pypi/jiminy_py/src/jiminy_py")) {
           New-Item -ItemType "directory" -Force -Path "$RootDir/build/pypi/jiminy_py/src/jiminy_py/core"

diff --git a/INSTALL.md b/INSTALL.md
@@ -70,7 +70,7 @@ cmake "$RootDir" -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="/opt/
       -DPYTHON_EXECUTABLE="$(python3 -c 'import sys; sys.stdout.write(sys.executable)')" \
       -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON \
       -DCMAKE_BUILD_TYPE="$BUILD_TYPE"
-make install -j2
+make install -j4
 ```
 
 ## Including dependencies on Unix-based OS
@@ -109,7 +109,7 @@ cmake "$RootDir" -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$Inst
       -DBoost_USE_STATIC_LIBS=OFF -DPYTHON_EXECUTABLE="$PythonExe" \
       -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON \
       -DCMAKE_BUILD_TYPE="$BuildType"
-make install -j2
+make install -j4
 ```
 
 ## Including dependencies on Windows 10+
@@ -162,7 +162,7 @@ cmake "$RootDir" -G "Visual Studio 17 2022" -DCMAKE_GENERATOR_PLATFORM=x64 `
       -DCMAKE_CXX_FLAGS=" $(
       ) -DBOOST_ALL_NO_LIB -DBOOST_LIB_DIAGNOSTIC -DBOOST_CORE_USE_GENERIC_CMATH $(
       ) -DEIGENPY_STATIC -DURDFDOM_STATIC -DHPP_FCL_STATIC -DPINOCCHIO_STATIC"
-cmake --build . --target ALL_BUILD --config "${env:BUILD_TYPE}" --parallel 2
+cmake --build . --target ALL_BUILD --config "${env:BUILD_TYPE}" --parallel 4
 
 if (-not (Test-Path -PathType Container "$RootDir/build/pypi/jiminy_py/src/jiminy_py")) {
   New-Item -ItemType "directory" -Force -Path "$RootDir/build/pypi/jiminy_py/src/jiminy_py/core"

diff --git a/build_tools/build_install_deps_unix.sh b/build_tools/build_install_deps_unix.sh
@@ -295,7 +295,7 @@ mkdir -p "${RootDir}/boost/build"
      cxxflags="${CXX_FLAGS} ${CXX_FLAGS_B2}" \
      linkflags="${LINKER_FLAGS} ${CXX_FLAGS_B2}" \
      toolset="$(basename -- ${C_COMPILER})" \
-     variant="$BuildTypeB2" install -q -d0 -j2
+     variant="$BuildTypeB2" install -q -d0 -j4
 
 ./b2 --prefix="${InstallDir}" --build-dir="${RootDir}/boost/build" \
      --with-python \
@@ -305,7 +305,7 @@ mkdir -p "${RootDir}/boost/build"
      cxxflags="${CXX_FLAGS} ${CXX_FLAGS_B2}" \
      linkflags="${LINKER_FLAGS} ${CXX_FLAGS_B2} " \
      toolset="$(basename -- ${C_COMPILER})" \
-     variant="$BuildTypeB2" install -q -d0 -j2
+     variant="$BuildTypeB2" install -q -d0 -j4
 
 #################################### Build and install eigen3 ##########################################
 
@@ -314,7 +314,7 @@ cmake "${RootDir}/eigen3" -Wno-dev -DCMAKE_CXX_STANDARD=17 \
       -DCMAKE_C_COMPILER="${C_COMPILER}" -DCMAKE_CXX_COMPILER="${CXX_COMPILER}" \
       -DCMAKE_INSTALL_PREFIX="${InstallDir}" \
       -DBUILD_TESTING=OFF -DEIGEN_BUILD_PKGCONFIG=ON
-make install -j2
+make install -j4
 
 ################################### Build and install eigenpy ##########################################
 
@@ -331,7 +331,7 @@ cmake "${RootDir}/eigenpy" -Wno-dev -DCMAKE_CXX_STANDARD=17 \
       -DGENERATE_PYTHON_STUBS=OFF -DBUILD_TESTING=OFF -DBUILD_TESTING_SCIPY=OFF -DINSTALL_DOCUMENTATION=OFF \
       -DCMAKE_CXX_FLAGS_RELEASE_INIT="" -DCMAKE_CXX_FLAGS="${CXX_FLAGS} $(
       ) -Wno-strict-aliasing -Wno-maybe-uninitialized" -DCMAKE_BUILD_TYPE="${BUILD_TYPE}"
-make install -j2
+make install -j4
 
 ################################## Build and install tinyxml ###########################################
 
@@ -343,7 +343,7 @@ cmake "${RootDir}/tinyxml2" -Wno-dev -DCMAKE_CXX_STANDARD=17 \
       -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
       -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON \
       -DCMAKE_CXX_FLAGS_RELEASE_INIT="" -DCMAKE_CXX_FLAGS="${CXX_FLAGS}" -DCMAKE_BUILD_TYPE="${BUILD_TYPE}"
-make install -j2
+make install -j4
 
 ############################## Build and install console_bridge ########################################
 
@@ -355,15 +355,15 @@ cmake "${RootDir}/console_bridge" -Wno-dev -DCMAKE_CXX_STANDARD=17 \
       -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
       -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON \
       -DCMAKE_CXX_FLAGS_RELEASE_INIT="" -DCMAKE_CXX_FLAGS="${CXX_FLAGS}" -DCMAKE_BUILD_TYPE="${BUILD_TYPE}"
-make install -j2
+make install -j4
 
 ############################### Build and install urdfdom_headers ######################################
 
 cd "${RootDir}/urdfdom_headers/build"
 cmake "${RootDir}/urdfdom_headers" -Wno-dev -DCMAKE_CXX_STANDARD=17 \
       -DCMAKE_C_COMPILER="${C_COMPILER}" -DCMAKE_CXX_COMPILER="${CXX_COMPILER}" \
       -DCMAKE_INSTALL_PREFIX="${InstallDir}" -DCMAKE_BUILD_TYPE="${BUILD_TYPE}"
-make install -j2
+make install -j4
 
 ################################## Build and install urdfdom ###########################################
 
@@ -376,7 +376,7 @@ cmake "${RootDir}/urdfdom" -Wno-dev -DCMAKE_CXX_STANDARD=17 \
       -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON \
       -DBUILD_TESTING=OFF \
       -DCMAKE_CXX_FLAGS_RELEASE_INIT="" -DCMAKE_CXX_FLAGS="${CXX_FLAGS}" -DCMAKE_BUILD_TYPE="${BUILD_TYPE}"
-make install -j2
+make install -j4
 
 ################################### Build and install CppAD ##########################################
 
@@ -387,7 +387,7 @@ cmake "${RootDir}/cppad" -Wno-dev -DCMAKE_CXX_STANDARD=17 \
       -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${OSX_DEPLOYMENT_TARGET}" \
       -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
       -DCMAKE_CXX_FLAGS_RELEASE_INIT="" -DCMAKE_CXX_FLAGS="${CXX_FLAGS}" -DCMAKE_BUILD_TYPE="${BUILD_TYPE}"
-make install -j2
+make install -j4
 
 ################################### Build and install CppADCodeGen ##########################################
 
@@ -399,7 +399,7 @@ cmake "${RootDir}/cppadcodegen" -Wno-dev -DCMAKE_CXX_STANDARD=17 \
       -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
       -DGOOGLETEST_GIT=ON \
       -DCMAKE_CXX_FLAGS_RELEASE_INIT="" -DCMAKE_CXX_FLAGS="${CXX_FLAGS}" -DCMAKE_BUILD_TYPE="${BUILD_TYPE}"
-make install -j2
+make install -j4
 
 ###################################### Build and install assimp ########################################
 
@@ -418,7 +418,7 @@ cmake "${RootDir}/assimp" -Wno-dev -DCMAKE_CXX_STANDARD=17 \
       -DCMAKE_CXX_FLAGS="${CXX_FLAGS} -Wno-strict-overflow -Wno-tautological-compare -Wno-array-compare $(
       ) -Wno-alloc-size-larger-than -Wno-unknown-warning-option -Wno-unknown-warning -Wno-error=array-bounds" \
       -DCMAKE_BUILD_TYPE="${BUILD_TYPE}"
-make install -j2
+make install -j4
 
 ############################# Build and install qhull and hpp-fcl ######################################
 
@@ -432,7 +432,7 @@ cmake "${RootDir}/hpp-fcl/third-parties/qhull" -Wno-dev -DCMAKE_CXX_STANDARD=17
       -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON \
       -DCMAKE_C_FLAGS="${CXX_FLAGS}" -DCMAKE_CXX_FLAGS="${CXX_FLAGS} -Wno-conversion" \
       -DCMAKE_BUILD_TYPE="${BUILD_TYPE}"
-make install -j2
+make install -j4
 
 cd "${RootDir}/hpp-fcl/build"
 cmake "${RootDir}/hpp-fcl" -Wno-dev -DCMAKE_CXX_STANDARD=17 \
@@ -450,7 +450,7 @@ cmake "${RootDir}/hpp-fcl" -Wno-dev -DCMAKE_CXX_STANDARD=17 \
       ) -Wno-unused-parameter -Wno-class-memaccess -Wno-sign-compare-Wno-conversion -Wno-ignored-qualifiers $(
       ) -Wno-uninitialized -Wno-maybe-uninitialized -Wno-deprecated-copy -Wno-unknown-warning-option $(
       ) -Wno-unknown-warning" -DCMAKE_BUILD_TYPE="${BUILD_TYPE}"
-make install -j2
+make install -j4
 
 ################################# Build and install Pinocchio ##########################################
 
@@ -471,7 +471,7 @@ cmake "${RootDir}/pinocchio" -Wno-dev -DCMAKE_CXX_STANDARD=17 \
       -DCMAKE_CXX_FLAGS_RELEASE_INIT="" -DCMAKE_CXX_FLAGS="${CXX_FLAGS} -DBOOST_BIND_GLOBAL_PLACEHOLDERS $(
       ) -Wno-uninitialized -Wno-type-limits -Wno-unused-local-typedefs -Wno-extra $(
       ) -Wno-unknown-warning-option -Wno-unknown-warning" -DCMAKE_BUILD_TYPE="${BUILD_TYPE}"
-make install -j2
+make install -j4
 
 # Copy cmake configuration files for cppad and cppadcodegen
 cp -r ${RootDir}/pinocchio/cmake/find-external/**/*cppad* ${RootDir}/build_tools/cmake
diff --git a/build_tools/build_install_deps_windows.ps1 b/build_tools/build_install_deps_windows.ps1
@@ -355,7 +355,7 @@ if (${ARCHITECTURE} -eq "x64") {
          threading=single link=static runtime-link=shared `
          cxxflags="/std=c++17 /wd4244 ${CXX_FLAGS}" `
          linkflags="${LINKER_FLAGS}" `
-         variant="$BuildTypeB2" install -q -d0 -j2
+         variant="$BuildTypeB2" install -q -d0 -j4
 
 ./b2.exe --prefix="$InstallDir" --build-dir="$RootDir/boost/build" `
          --user-config="$RootDir/boost/user-config.jam" `
@@ -365,7 +365,7 @@ if (${ARCHITECTURE} -eq "x64") {
          threading=single link=shared runtime-link=shared `
          cxxflags="/std=c++17 /wd4244 ${CXX_FLAGS}" `
          linkflags="${LINKER_FLAGS}" `
-         variant="$BuildTypeB2" install -q -d0 -j2
+         variant="$BuildTypeB2" install -q -d0 -j4
 Pop-Location
 
 #################################### Build and install eigen3 ##########################################
@@ -374,7 +374,7 @@ Push-Location -Path "$RootDir/eigen3/build"
 cmake "$RootDir/eigen3" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM="${ARCHITECTURE}" `
       -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" `
       -DBUILD_TESTING=OFF -DEIGEN_BUILD_PKGCONFIG=OFF
-cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 2
+cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 4
 Pop-Location
 
 ################################### Build and install eigenpy ##########################################
@@ -390,7 +390,7 @@ cmake "$RootDir/eigenpy" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM="
       -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON `
       -DCMAKE_CXX_FLAGS="${CXX_FLAGS} /wd4005 -DBOOST_ALL_NO_LIB $(
 )     -DBOOST_CORE_USE_GENERIC_CMATH -DEIGENPY_STATIC"
-cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 2
+cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 4
 Pop-Location
 
 ################################## Build and install tinyxml ###########################################
@@ -401,7 +401,7 @@ cmake "$RootDir/tinyxml2" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM=
       -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" `
       -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON -DCMAKE_SHARED_LINKER_FLAGS="${LINKER_FLAGS}" `
       -DCMAKE_CXX_FLAGS="${CXX_FLAGS}"
-cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 2
+cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 4
 Pop-Location
 
 ############################## Build and install console_bridge ########################################
@@ -412,15 +412,15 @@ cmake "$RootDir/console_bridge" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLA
       -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" `
       -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON `
       -DCMAKE_CXX_FLAGS="${CXX_FLAGS}"
-cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 2
+cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 4
 Pop-Location
 
 ############################### Build and install urdfdom_headers ######################################
 
 Push-Location -Path "$RootDir/urdfdom_headers/build"
 cmake "$RootDir/urdfdom_headers" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM="${ARCHITECTURE}" `
       -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir"
-cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 2
+cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 4
 Pop-Location
 
 ################################## Build and install urdfdom ###########################################
@@ -432,7 +432,7 @@ cmake "$RootDir/urdfdom" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM="
       -DCMAKE_FIND_PACKAGE_PREFER_CONFIG=ON -DBUILD_TESTING=OFF `
       -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON `
       -DCMAKE_CXX_FLAGS="${CXX_FLAGS} -DURDFDOM_STATIC"
-cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 2
+cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 4
 Pop-Location
 
 ################################### Build and install CppAD ##########################################
@@ -442,7 +442,7 @@ cmake "$RootDir/cppad" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM="${
       -DCMAKE_POLICY_DEFAULT_CMP0091=NEW -DCMAKE_MSVC_RUNTIME_LIBRARY="MultiThreaded$<$<CONFIG:Debug>:Debug>DLL" `
       -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" `
       -DCMAKE_CXX_FLAGS="${CXX_FLAGS}"
-cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 2
+cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 4
 Pop-Location
 
 ################################### Build and install CppADCodeGen ##########################################
@@ -453,7 +453,7 @@ cmake "$RootDir/cppadcodegen" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATF
       -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" `
       -DGOOGLETEST_GIT=ON `
       -DCMAKE_CXX_FLAGS="${CXX_FLAGS}"
-cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 2
+cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 4
 Pop-Location
 
 ###################################### Build and install assimp ########################################
@@ -466,7 +466,7 @@ cmake "$RootDir/assimp" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM="$
       -DASSIMP_BUILD_SAMPLES=OFF -DBUILD_DOCS=OFF -DASSIMP_INSTALL_PDB=OFF `
       -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON `
       -DCMAKE_C_FLAGS="${CXX_FLAGS}" -DCMAKE_CXX_FLAGS="${CXX_FLAGS} /wd4005 /wd5105"
-cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 2
+cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 4
 Pop-Location
 
 ############################# Build and install qhull and hpp-fcl ######################################
@@ -480,7 +480,7 @@ cmake "$RootDir/hpp-fcl/third-parties/qhull" -Wno-dev -G "${GENERATOR}" -DCMAKE_
       -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" `
       -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON `
       -DCMAKE_C_FLAGS="${CXX_FLAGS}" -DCMAKE_CXX_FLAGS="${CXX_FLAGS}"
-cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 2
+cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 4
 Pop-Location
 
 ### Build hpp-fcl
@@ -496,7 +496,7 @@ cmake "$RootDir/hpp-fcl" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM="
       -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON `
       -DCMAKE_CXX_FLAGS="${CXX_FLAGS} /wd4068 /wd4267 /wd4005 /wd4081 -DBOOST_ALL_NO_LIB $(
 )     -DBOOST_CORE_USE_GENERIC_CMATH -DEIGENPY_STATIC -DHPP_FCL_STATIC"
-cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 2
+cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 4
 Pop-Location
 
 ################################ Build and install Pinocchio ##########################################
@@ -516,7 +516,7 @@ cmake "$RootDir/pinocchio" -Wno-dev -G "${GENERATOR}" -DCMAKE_GENERATOR_PLATFORM
       -DCMAKE_CXX_FLAGS="${CXX_FLAGS} /wd4068 /wd4081 /wd4715 /wd4834 /wd4005 /wd5104 /wd5105 $(
 )     -DBOOST_ALL_NO_LIB -DBOOST_CORE_USE_GENERIC_CMATH -DEIGENPY_STATIC -DURDFDOM_STATIC -DHPP_FCL_STATIC $(
 )     -DPINOCCHIO_STATIC"
-cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 2
+cmake --build . --target INSTALL --config "${BUILD_TYPE}" --parallel 4
 Pop-Location
 
 ### Copy cmake configuration files for cppad and cppadcodegen