A Parallel Logarithmic Order Algorithm for General Multibody System Dynamics

A novel optimal order optimal resource parallel multibody algorithm with general system applicability is derived directly from the sequential recursive methods and the most recent developments in recursive constraint treatments. This new Recursive Coordinate Reduction Parallelism (RCRP) is the first optimal order parallel direct method with a sequential implementation that is exactly the efficient algorithm. Consequently, the RCRP sets new benchmarks for performance over a wide range of problem size and parallel resources. Comparisons to existing methods also demonstrate that the RCRP is presently the best general parallel method.