According to Wikipedia
Engine efficiency - Wikipedia, the free encyclopedia
thermal efficiency of a modern petrol engines is about 18 to 20%, meaning they convert 20% of total heat of petrol combustion into movement.
On the other hand, diesel engines have a thermal yield of about 40% .
From the best of my knowledge, the main reason isn´t for rpm or friction or even the fuel energy(but they count also), but for the thermodynamics curve of the diesel cycle. It works at higher pressure that needs a fuel that do not detonate at that high pressure.
Turbos are allowing constructors to make smaller and lighter engines with a lot more power, while other advances are allowing them to supress noise and vibration a lot.
It is common to see Jeeps with diesel engines that used to had 2500 cc that turned to 2200 cc producing more HP than their predecessors.
OldBeaver