A comparison of three multibody dynamics algorithms, Featherstone's Divide and Conquer Algorithm (DCA), a fast sequential
recursive algorithm, and an efficient version of the DCA (DCAe), in a parallel computing environment is presented. The comparison
is made both in terms of theoretical (ideal) performance and with an implementation evaluated on a parallel computer. The
DCAe was motivated by the
... [Show full abstract] promise of practical performance gains, and its development as a combination of DCA and efficient
recursive methods is reviewed. An implementation of each method in C++ using an object oriented architecture for a shared
memory parallel computer is described and results are reported for a computer with four processors. Benchmark results agree
closely with the predicted algorithm performances. The default DCA is shown to require four processors to obtain results similar
to the recursive sequential results and the DCAe is verified to outperform the efficient recursive solution with just two
processors when load balancing is considered.