Real-Time and Real-Fast Performance of General-Purpose and Real-Time Operating Systems in Multithreaded Physical Simulation of Complex Mechanical Systems

Algorithm 1

Algorithm for parallelization of the tire model, where 𝑛 is the total number of nodes and 𝑖 the number of threads.

For each thread:

  Assign ⌊𝑛/𝑖⌋ nodes

  For each simulation Step:

   (1) Read node positions and velocities of adjacent nodes from other threads

  (2) Compute spring forces

  (3) Integrate positions and velocities of assigned nodes

  (4) Write positions and velocities of assigned nodes