/***************************************************************************
 *   Copyright (c) 2023 Ondsel, Inc.                                       *
 *                                                                         *
 *   This file is part of OndselSolver.                                    *
 *                                                                         *
 *   See LICENSE file for details about copyright.                         *
 ***************************************************************************/
 
#include "PosICKineNewtonRaphson.h"
#include "SystemSolver.h"
#include "Part.h"
#include "Constraint.h"

using namespace MbD;

void PosICKineNewtonRaphson::initializeGlobally()
{
	AnyPosICNewtonRaphson::initializeGlobally();
	iterMax = system->iterMaxPosKine;
	dxTol = system->errorTolPosKine;
}

void PosICKineNewtonRaphson::assignEquationNumbers()
{
	auto parts = system->parts();
	//auto contactEndFrames = system->contactEndFrames();
	//auto uHolders = system->uHolders();
	auto constraints = system->allConstraints();
	int eqnNo = 0;
	for (auto& part : *parts) {
		part->iqX(eqnNo);
		eqnNo = eqnNo + 3;
		part->iqE(eqnNo);
		eqnNo = eqnNo + 4;
	}
	//for (auto& endFrm : *contactEndFrames) {
	//	endFrm->is(eqnNo);
	//	eqnNo = eqnNo + endFrm->sSize();
	//}
	//for (auto& uHolder : *uHolders) {
	//	uHolder->iu(eqnNo);
	//	eqnNo += 1;
	//}
	auto nEqns = eqnNo;	//C++ uses index 0.
	nqsu = nEqns;
	for (auto& con : *constraints) {
		con->iG = eqnNo;
		eqnNo += 1;
	}
	auto lastEqnNo = eqnNo - 1;
	nEqns = eqnNo;	//C++ uses index 0.
	n = nEqns;
}

void MbD::PosICKineNewtonRaphson::preRun()
{
	system->Solver::logString("MbD: Solving for quasi kinematic position.");
	PosNewtonRaphson::preRun();
}