second good build. Joints

MbDCode/System.cpp

@@ -1,15 +1,64 @@
+#include<algorithm>
+
 #include "System.h"
 
-void MbD::System::addPart(std::shared_ptr<Part> part)
-{
-	part->setSystem(*this);
-	parts.push_back(part);
+using namespace MbD;
+
+System::System() {
+	time = std::make_unique<Time>();
+	parts = std::make_unique<std::vector<std::shared_ptr<Part>>>();
+	jointsMotions = std::make_unique<std::vector<std::shared_ptr<Joint>>>();
+	systemSolver = std::make_unique<SystemSolver>(this);
 }
 
-MbD::System::System() {
-	parts = std::vector<std::shared_ptr<Part>>();
-	jointsMotions = std::vector<std::shared_ptr<Joint>>();
-	systemSolver = std::make_shared<SystemSolver>(*this);
-	//std::vector<std::shared_ptr<Part>> parts;
-	//std::vector<std::shared_ptr<Joint>> jointsMotions;
+System::System(const char* str) : Item(str) {
+	time = std::make_unique<Time>();
+	parts = std::make_unique<std::vector<std::shared_ptr<Part>>>();
+	jointsMotions = std::make_unique<std::vector<std::shared_ptr<Joint>>>();
+	systemSolver = std::make_unique<SystemSolver>(this);
+}
+
+void System::addPart(std::shared_ptr<Part> part)
+{
+	part->setSystem(*this);
+	parts->push_back(part);
+}
+
+void System::runKINEMATICS()
+{
+	//Smalltalk code
+	//admSystem   preMbDrun.
+
+	//	[self initializeLocally.
+	//	self initializeGlobally.
+	//	self hasChanged]
+	//				whileTrue.
+	//	self partsJointsMotionsForcesTorquesDo : [:item | item postInput] .
+	//	admSystem outputFor : #INPUT.
+	//	mbdSystemSolver runAllIC.
+	//	admSystem outputFor : #'INITIAL CONDITIONS'.
+	//	mbdSystemSolver runBasicKinematic.
+	//	admSystem postMbDrun
+
+	while (true)
+	{
+		initializeLocally();
+		initializeGlobally();
+		if (!hasChanged) break;
+	}
+	systemSolver->runAllIC();
+	systemSolver->runBasicKinematic();
+}
+
+void System::initializeLocally()
+{
+	hasChanged = false;
+	timeValue = systemSolver->tstart;
+	std::for_each(parts->begin(), parts->end(), [](const auto& part) { part->initializeLocally();	});
+	std::for_each(jointsMotions->begin(), jointsMotions->end(), [](const auto& joint) { joint->initializeLocally();	});
+	systemSolver->initializeLocally();
+}
+
+void System::initializeGlobally()
+{
 }