systemSolver->runBasicKinematic();

MbDCode/IntegratorInterface.cpp

@@ -1,3 +1,46 @@
+#include <string>
+
 #include "IntegratorInterface.h"
+#include "SystemSolver.h"
+#include "BasicQuasiIntegrator.h"
 
 using namespace MbD;
+
+void MbD::IntegratorInterface::initializeGlobally()
+{
+tstart = system->startTime();
+hout = system->outputStepSize();
+hmax  = system->maxStepSize();
+hmin  = system->minStepSize();
+tout  = system->firstOutputTime();
+tend  = system->endTime();
+direction = (tstart < tend) ? 1.0 : -1.0;
+}
+
+void MbD::IntegratorInterface::setSystem(SystemSolver* sys)
+{
+	system = sys;
+}
+
+void MbD::IntegratorInterface::logString(std::string& str)
+{
+	system->logString(str);
+}
+
+void MbD::IntegratorInterface::run()
+{
+	this->preRun();
+	this->initializeLocally();
+	this->initializeGlobally();
+	if (hout > (4 * std::numeric_limits<double>::epsilon()) && (direction * tout < (direction * (tend + (0.1 * direction * hout))))) {
+		integrator->run();
+	}
+	this->finalize();
+	this->reportStats();
+	this->postRun();
+}
+
+int MbD::IntegratorInterface::orderMax()
+{
+	return system->orderMax;
+}