Solve dragging (#47)

runPreDrag, runDragStep, runPostDrag, PosICDragNewtonRaphson

OndselSolver/SystemSolver.cpp

@@ -28,6 +28,7 @@
 #include "AccKineNewtonRaphson.h"
 #include "VelICKineSolver.h"
 #include "AccICKineNewtonRaphson.h"
+#include "PosICDragNewtonRaphson.h"
 
 using namespace MbD;
 
@@ -164,6 +165,18 @@ void SystemSolver::runBasicKinematic()
 	}
 }
 
+void SystemSolver::runPreDrag()
+{
+	initializeLocally();
+	initializeGlobally();
+	runPosIC();
+}
+
+void MbD::SystemSolver::runDragStep(std::shared_ptr<std::vector<std::shared_ptr<Part>>> dragParts)
+{
+	runPosICDrag(dragParts);
+}
+
 void SystemSolver::runQuasiKinematic()
 {
 	try {
@@ -197,6 +210,15 @@ void SystemSolver::runAccKine()
 	icTypeSolver->run();
 }
 
+void MbD::SystemSolver::runPosICDrag(std::shared_ptr<std::vector<std::shared_ptr<Part>>> dragParts)
+{
+	auto newtonRaphson = PosICDragNewtonRaphson::With();
+	newtonRaphson->setdragParts(dragParts);
+	icTypeSolver = newtonRaphson;
+	icTypeSolver->setSystem(this);
+	icTypeSolver->run();
+}
+
 void SystemSolver::runPosICKine()
 {
 	icTypeSolver = CREATE<PosICKineNewtonRaphson>::With();