Computational and Design Aspects in Multibody Software Development

It is often perceived that one key issue in the development of modern, highperformance numerical software is the need to find a good trade-off between modularity, extensibility and performance requirements. This paper discusses how the need to add real-time simulation capabilities to an existing general-purpose multibody analysis software, and the resulting need for performance improvements, pushed an overall performance improvement and capability extension within an existing modular generic programming environment.