MatrixSolver NewtonRaphson

MbDCode/SystemSolver.cpp

@@ -1,7 +1,25 @@
+#include <vector>
+
 #include "SystemSolver.h"
+#include "NewtonRaphson.h"
+#include "PosICNewtonRaphson.h"
 
 using namespace MbD;
 
+//class PosICNewtonRaphson;
+
+std::shared_ptr<SystemSolver> MbD::SystemSolver::Create(System* x)
+{
+	auto item = std::make_shared<SystemSolver>(x);
+	item->initialize();
+	return item;
+}
+
+void MbD::SystemSolver::initialize()
+{
+	tstartPasts = std::make_shared<std::vector<double>>();
+}
+
 void SystemSolver::initializeLocally()
 {
 	setsOfRedundantConstraints = std::make_shared<std::vector<std::vector<std::shared_ptr<Constraint>>>>();
@@ -14,9 +32,66 @@ void SystemSolver::initializeGlobally()
 }
 
 void SystemSolver::runAllIC()
+{
+	while (true)
+	{
+		initializeLocally();
+		initializeGlobally();
+		runPosIC();
+		while (needToRedoPosIC())
+		{
+			runPosIC();
+		}
+		runVelIC();
+		runAccIC();
+		auto discontinuities = system->discontinuitiesAtIC();
+		if (discontinuities->size() == 0) break;
+		if (std::find(discontinuities->begin(), discontinuities->end(), "REBOUND") != discontinuities->end())
+		{
+			preCollision();
+			runCollisionDerivativeIC();
+			runBasicCollision();
+		}
+	}
+}
+
+void MbD::SystemSolver::runPosIC()
+{
+	icTypeSolver = std::make_shared<PosICNewtonRaphson>();
+	icTypeSolver->setSystem(this);
+	icTypeSolver->run();
+}
+
+void MbD::SystemSolver::runVelIC()
+{
+}
+
+void MbD::SystemSolver::runAccIC()
+{
+}
+
+bool MbD::SystemSolver::needToRedoPosIC()
+{
+	return false;
+}
+
+void MbD::SystemSolver::preCollision()
+{
+}
+
+void MbD::SystemSolver::runCollisionDerivativeIC()
+{
+}
+
+void MbD::SystemSolver::runBasicCollision()
 {
 }
 
 void SystemSolver::runBasicKinematic()
 {
 }
+
+void MbD::SystemSolver::partsJointsMotionsDo(const std::function<void(std::shared_ptr<Item>)>& f)
+{
+	system->partsJointsMotionsDo(f);
+}