Physically oriented simulation of the omnivehicle dynamics

The omniwheel is defined as a wheel having rollers along its rim. Accordingly, the omnivehicle is a vehicle equipped with omniwheels. Several steps of development of the dynamical model of the omni vehicle multibody system are implemented. Initially, the dynamics of the free roller moving in a field of gravity and having a unilateral rigid contact constraint with a horizontal surface is modeled. It turned out that a simplified and efficient algorithm for contact tracking is possible. On the next stage the omniwheel model is implemented. After that the whole vehicle model is assembled as a container class having arrays of objects as instantiated classes/models of omniwheels and joints. The dynamical properties of the resulting model are illustrated via numerical experiments.