1 package org.simantics.plant3d.scenegraph.controlpoint;
3 import java.util.ArrayList;
4 import java.util.Arrays;
5 import java.util.Collection;
8 import javax.vecmath.AxisAngle4d;
9 import javax.vecmath.Matrix3d;
10 import javax.vecmath.Point3d;
11 import javax.vecmath.Quat4d;
12 import javax.vecmath.Tuple3d;
13 import javax.vecmath.Vector3d;
15 import org.simantics.g3d.math.MathTools;
16 import org.simantics.g3d.property.annotations.GetPropertyValue;
17 import org.simantics.g3d.scenegraph.G3DNode;
18 import org.simantics.g3d.scenegraph.base.ParentNode;
19 import org.simantics.plant3d.scenegraph.IP3DNode;
20 import org.simantics.plant3d.scenegraph.Nozzle;
21 import org.simantics.plant3d.scenegraph.P3DRootNode;
22 import org.simantics.plant3d.scenegraph.PipeRun;
23 import org.simantics.plant3d.scenegraph.PipelineComponent;
25 import vtk.vtkRenderer;
28 public class PipeControlPoint extends G3DNode implements IP3DNode {
30 private static boolean DEBUG = false;
32 public enum PointType{INLINE,TURN,END};
33 public enum Direction{NEXT,PREVIOUS};
34 public enum PositionType {SPLIT,NEXT,PREVIOUS,PORT}
36 private PipelineComponent component;
38 private PointType type;
39 private boolean isFixed = true; // In-line: fixed-length Turn: fixed-angle
40 private boolean isMod = false; // Can user modify fixed value manually
41 private boolean isRotate = false; // rotates around path leg axis.
42 private boolean isReverse = false; // definition direction can be swapped
43 private boolean isDeletable = true; // can be removed by rules
44 private boolean isSizeChange = false; // changes size of the pipe. The next control point / component is on different PipeRun
45 private boolean isSub = false; // child point for offset / size change
47 private boolean disposed = false;
49 public PipeControlPoint(PipelineComponent component) {
50 this.component = component;
51 if (component.getPipeRun() != null)
52 component.getPipeRun().addChild(this);
56 public PipeControlPoint(PipelineComponent component, PipeRun piperun) {
57 this.component = component;
58 piperun.addChild(this);
62 public void update(vtkRenderer ren) {
64 PipingRules.requestUpdate(this);
65 } catch (Exception e) {
71 public PipeRun getPipeRun() {
72 return (PipeRun)getParent();
75 public PipelineComponent getPipelineComponent() {
79 public PointType getType() {
83 public void setType(PointType type) {
87 @GetPropertyValue(name="Fixed",tabId="Debug",value="fixed")
88 public boolean isFixed() {
92 public void setFixed(boolean fixed) {
96 @GetPropertyValue(name="Mod",tabId="Debug",value="mod")
97 public boolean isMod() {
101 public void setMod(boolean isMod) {
105 @GetPropertyValue(name="Rotate",tabId="Debug",value="rotate")
106 public boolean isRotate() {
110 public void setRotate(boolean rotate) {
111 this.isRotate = rotate;
114 @GetPropertyValue(name="Reverse",tabId="Debug",value="reverse")
115 public boolean isReverse() {
119 public void setReverse(boolean reverse) {
120 this.isReverse = reverse;
123 public void setSub(boolean sub) {
127 @GetPropertyValue(name="Deletable",tabId="Debug",value="deletable")
128 public boolean isDeletable() {
132 public void setDeletable(boolean deletable) {
133 this.isDeletable = deletable;
136 public boolean isPathLegEnd() {
137 return type != PointType.INLINE;
140 public boolean isEnd() {
141 return type == PointType.END;
144 public boolean isTurn() {
145 return type == PointType.TURN;
148 public boolean isInline() {
149 return type == PointType.INLINE;
152 public boolean asPathLegEnd() {
153 // Ends and Turns are path leg ends by default, but also unconnected inline are path leg ends.
154 return isPathLegEnd() || getNext() == null || getPrevious() == null;
158 * True for end components, if control point defines absolute position direction, which rules cannot modify.
159 * This is typical for nozzles.
162 public boolean isDirected() {
163 return isFixed && isEnd();
167 * True for end components, if control is opposite to directed, and rules can modify position and orientation.
168 * This is typical for caps, and other end components.
171 public boolean isNonDirected() {
172 return !isFixed && isEnd();
175 public boolean isVariableLength() {
176 return !isFixed && isInline();
180 * Fixed length in-line component is such that piping rules cannot modify the length.
183 public boolean isFixedLength() {
184 return isFixed && isInline();
187 public boolean isVariableAngle() {
188 return !isFixed && isTurn();
192 * Fixed angle turn component is such that piping rules cannot modify the angle.
195 public boolean isFixedAngle() {
196 return isFixed && isTurn();
200 * Does the turn behave like fixed angle?
201 * For variable angle turns, the turn angle is defined by connected components, and without them, we must handle the component as fixed angle.
204 public boolean asFixedAngle() {
205 return isTurn() && (isFixed || next == null || previous == null);
208 public boolean isBranchEnd() {
209 return isDeletable && isEnd();
212 public boolean isOffset() {
213 return offset != null;
216 public boolean isDualSub() {
217 return parent != null && isSub;
220 public boolean isDualInline() {
221 return children.size() == 1 && children.get(0).isDualSub();
224 public boolean isAxial() {
225 return isInline() && !isDualInline();
228 public boolean isSizeChange() {
230 // if (children.size() == 0)
232 // if (!isDualInline())
234 // return getPipeRun() != children.get(0).getPipeRun();
237 public void setSizeChange(boolean isSizeChange) {
238 this.isSizeChange = isSizeChange;
242 private PipeControlPoint next;
243 private PipeControlPoint previous;
245 public PipeControlPoint getNext() {
249 public PipeControlPoint getPrevious() {
253 public void setNext(PipeControlPoint next) {
255 getParentPoint().setNext(next);
258 if (next != null && next.isDualSub())
260 if (_setNext(next)) {
261 for (PipeControlPoint pcp : children) {
269 public void setPrevious(PipeControlPoint prev) {
271 getParentPoint().setPrevious(prev);
274 if (prev != null && prev.isDualInline())
275 prev = prev.children.get(0);
276 if (_setPrevious(prev)) {
277 for (PipeControlPoint pcp : children) {
279 pcp._setPrevious(prev);
285 protected boolean _setNext(PipeControlPoint next) {
286 if (isEnd() && previous != null && next != null)
287 throw new RuntimeException("End control points are allowed to have only one connection");
289 throw new RuntimeException("Cannot connect to self");
290 if (this.next == next)
292 if (DEBUG) System.out.println(this + " next " + next);
293 if (next == null && isVariableAngle() && previous != null && !isRemoved()) {
294 convertVariableAngleToFixed(Direction.NEXT);
297 if (component != null) {
298 if (parent == null || isSub)
299 component.setNext(next != null ? next.component : null);
301 component.setBranch0(next != null ? next.component : null);
307 protected boolean _setPrevious(PipeControlPoint previous) {
308 if (isEnd() && next != null && previous != null)
309 throw new RuntimeException("End control points are allowed to have only one connection");
310 if (previous == this)
311 throw new RuntimeException("Cannot connect to self");
312 if (this.previous == previous)
314 if (DEBUG) System.out.println(this + " previous " + previous);
315 if (previous == null && isVariableAngle() && next != null && !isRemoved()) {
316 convertVariableAngleToFixed(Direction.PREVIOUS);
318 this.previous = previous;
319 if (component != null) {
320 if (parent == null || isSub)
321 component.setPrevious(previous != null ? previous.component : null);
323 component.setBranch0(previous != null ? previous.component : null);
329 private void convertVariableAngleToFixed(Direction direction) {
330 // We are removing reference, which transforms variable angle to fixed angle.
331 // Since fixed angle is defined differently, we need to calculate fixed angle parameters based on current data
332 // We need to calculate turnAngle and rotationAngle
333 Vector3d dirOut = getPathLegDirection(direction == Direction.NEXT ? Direction.NEXT : Direction.PREVIOUS);
334 Vector3d dir = getPathLegDirection(direction == Direction.NEXT ? Direction.PREVIOUS : Direction.NEXT);
335 if (dir == null || dirOut == null)
338 double angle = dir.angle(dirOut);
339 //super._setNext(null);
340 if (direction == Direction.NEXT)
344 setRotationAngle(0.0);
345 setReversed(direction == Direction.NEXT ? false : true);
346 Vector3d dirOutN = getPathLegDirection(direction == Direction.NEXT ? Direction.NEXT : Direction.PREVIOUS);
348 AxisAngle4d aa = new AxisAngle4d();
349 if (MathTools.createRotation(dirOutN, dirOut, dir, aa)) {
350 setRotationAngle(aa.angle);
352 if (DEBUG) System.out.println("convertToFixed " + dir + " " + dirOut + " " +dirOutN + " " +angle + " "+ aa.angle);
356 public PipeControlPoint parent;
357 public List<PipeControlPoint> children = new ArrayList<PipeControlPoint>();
359 public List<PipeControlPoint> getChildPoints() {
363 public PipeControlPoint getParentPoint() {
368 private double length;
369 private Double turnAngle;
370 private Vector3d turnAxis;
372 private Double offset;
373 private Double rotationAngle;
374 private Boolean reversed;
376 @GetPropertyValue(name="Length",tabId="Debug",value="length")
377 public double getLength() {
381 public void setLength(double l) {
382 if (Double.isInfinite(l) || Double.isNaN(l)) {
385 if (Math.abs(this.length-l) < MathTools.NEAR_ZERO)
388 firePropertyChanged("length");
390 getDualSub().setLength(l);
393 @GetPropertyValue(name="Turn Angle",tabId="Debug",value="turnAngle")
394 public Double getTurnAngle() {
398 @GetPropertyValue(name="Turn Axis",tabId="Debug",value="turnAxis")
399 public Vector3d getTurnAxis() {
403 @GetPropertyValue(name="Offset",tabId="Debug",value="offset")
404 public Double getOffset() {
408 @GetPropertyValue(name="Rotation Angle",tabId="Debug",value="rotationAngle")
409 public Double getRotationAngle() {
410 if (isRotate || asFixedAngle())
411 return rotationAngle;
415 @GetPropertyValue(name="Reversed",tabId="Debug",value="reversed")
416 public Boolean getReversed() {
420 public boolean _getReversed() {
421 if (reversed == null)
426 public void setTurnAngle(Double turnAngle) {
427 if (turnAngle == null || Double.isInfinite(turnAngle) || Double.isNaN(turnAngle)) {
430 if (this.turnAngle != null && Math.abs(this.turnAngle-turnAngle) < MathTools.NEAR_ZERO)
432 this.turnAngle = turnAngle;
433 firePropertyChanged("turnAngle");
436 public void setTurnAxis(Vector3d turnAxis) {
437 if (this.turnAxis != null && MathTools.equals(turnAxis, this.turnAxis))
439 this.turnAxis = turnAxis;
440 firePropertyChanged("turnAxis");
443 public void setOffset(Double offset) {
444 if (Double.isInfinite(offset) || Double.isNaN(offset)) {
447 if (this.offset != null && Math.abs(this.offset-offset) < MathTools.NEAR_ZERO)
449 this.offset = offset;
450 firePropertyChanged("offset");
453 public void setRotationAngle(Double rotationAngle) {
454 if (Double.isInfinite(rotationAngle) || Double.isNaN(rotationAngle)) {
457 if (this.rotationAngle != null && Math.abs(this.rotationAngle-rotationAngle) < MathTools.NEAR_ZERO)
459 this.rotationAngle = rotationAngle;
460 firePropertyChanged("rotationAngle");
463 public void setReversed(Boolean reversed) {
464 this.reversed = reversed;
465 firePropertyChanged("reversed");
468 public Vector3d getSizeChangeOffsetVector(Vector3d dir) {
470 if (rotationAngle == null)
471 q = getControlPointOrientationQuat(dir, 0.0);
473 q = getControlPointOrientationQuat(dir, rotationAngle);
474 Vector3d v = new Vector3d(0.0,offset,0.0);
475 Vector3d offset = new Vector3d();
476 MathTools.rotate(q, v, offset);
480 public Vector3d getSizeChangeOffsetVector() {
482 if (rotationAngle == null)
483 q = getControlPointOrientationQuat(0.0);
485 q = getControlPointOrientationQuat(rotationAngle);
486 Vector3d v = new Vector3d(0.0,offset,0.0);
487 Vector3d offset = new Vector3d();
488 MathTools.rotate(q, v, offset);
492 @GetPropertyValue(name="Next",tabId="Debug",value="next")
493 private String getNextString() {
496 return next.toString();
499 @GetPropertyValue(name="Previous",tabId="Debug",value="previous")
500 private String getPrevString() {
501 if (previous == null)
503 return previous.toString();
506 @GetPropertyValue(name="Sub",tabId="Debug",value="sub")
507 private String getSubString() {
508 if (children.size() == 0)
510 return Arrays.toString(children.toArray());
513 @GetPropertyValue(name="Type",tabId="Debug",value="type")
514 public String getTypeString() {
518 public Quat4d getControlPointOrientationQuat(double angle) {
520 if (turnAxis == null) {
521 Vector3d dir = getPathLegDirection(Direction.NEXT);
522 if (dir.lengthSquared() > MathTools.NEAR_ZERO)
524 return getControlPointOrientationQuat(dir, angle);
526 Vector3d dir = getPathLegDirection(Direction.PREVIOUS);
528 if (dir.lengthSquared() > MathTools.NEAR_ZERO)
530 return getControlPointOrientationQuat(dir, turnAxis, angle);
534 public Quat4d getControlPointOrientationQuat(Vector3d dir, double angle, boolean reversed) {
535 if (turnAxis == null) {
536 if (dir.lengthSquared() > MathTools.NEAR_ZERO)
538 Quat4d q = getControlPointOrientationQuat(dir, angle);
540 Quat4d q2 = new Quat4d();
541 q2.set(new AxisAngle4d(MathTools.Y_AXIS, Math.PI));
546 if (dir.lengthSquared() > MathTools.NEAR_ZERO)
548 return getControlPointOrientationQuat(dir, turnAxis, angle);
552 public Quat4d getControlPointOrientationQuat(double angle, boolean reversed) {
554 if (turnAxis == null) {
555 Vector3d dir = getPathLegDirection(Direction.NEXT);
556 return getControlPointOrientationQuat(dir, angle, reversed);
558 Vector3d dir = getPathLegDirection(Direction.PREVIOUS);
560 return getControlPointOrientationQuat(dir, angle, reversed);
566 public static Quat4d getControlPointOrientationQuat(Vector3d dir, double angle) {
567 if (dir.lengthSquared() < MathTools.NEAR_ZERO)
568 return MathTools.getIdentityQuat();
571 Vector3d up = new Vector3d(0.0, 1.0, 0.0);
572 double a = up.angle(dir);
573 if (a < 0.1 || (Math.PI - a) < 0.1) {
574 up.set(1.0, 0.0, 0.0);
578 return getControlPointOrientationQuat(dir, up, angle);
581 public static Quat4d getControlPointOrientationQuat(Vector3d dir, Vector3d up, double angle) {
582 if (dir.lengthSquared() < MathTools.NEAR_ZERO)
583 return MathTools.getIdentityQuat();
585 final Vector3d front = new Vector3d(1.0,0.0,0.0);
587 Quat4d q1 = new Quat4d();
590 Vector3d right = new Vector3d();
592 right.cross(dir, up);
593 up.cross(right, dir);
597 Matrix3d m = new Matrix3d();
608 //q1.set(m); MathTools contains more stable conversion
609 MathTools.getQuat(m, q1);
611 // if (DEBUG) System.out.println("PipingTools.getPipeComponentOrientationQuat() " + dir+ " " + up + " " + right);
613 Quat4d q2 = new Quat4d();
614 q2.set(new AxisAngle4d(front, angle));
619 public void insert(PipeControlPoint previous, PipeControlPoint next) {
620 // inserting an offsetpoint is error,
622 throw new RuntimeException("Dual sub points cannot be inserted.");
623 // size change control point cannot be inserted this way, because it ends PipeRun
624 // if (isSizeChange())
625 // throw new RuntimeException("Size change points cannot be inserted.");
626 PipeRun piperun = previous.getPipeRun();
627 // and just to make sure that control point structure is not corrupted
628 if (getPipeRun() != null) {
629 if (piperun != getPipeRun() || piperun != next.getPipeRun())
630 throw new RuntimeException("All controls points must be located on the same pipe run");
632 piperun.addChild(this);
635 // insert new BranchControlPoint between straight's control points
636 PipeControlPoint previousNext = previous.getNext();
637 PipeControlPoint previousPrevious = previous.getPrevious();
639 PipeControlPoint offsetCP = null;
641 offsetCP = getDualSub();
643 if (previousNext != null && previousNext == next) {
644 if (previous.isDualInline()) {
645 throw new RuntimeException();
647 if (next.isDualSub()) {
648 throw new RuntimeException();
650 previous.setNext(this);
651 this.setPrevious(previous);
652 if (previous.isDualSub()) {
653 previous.getParentPoint().setNext(this);
657 if (offsetCP == null) {
658 next.setPrevious(this);
660 next.setPrevious(offsetCP);
661 offsetCP.setNext(next);
662 offsetCP.setPrevious(previous);
665 if (next.isDualInline()) {
666 next.getDualSub().setPrevious(this);
668 } else if (previousPrevious != null && previousPrevious == next) {
669 // control point were given in reverse order
670 if (next.isDualInline())
671 throw new RuntimeException();
672 if (previous.isDualSub())
673 throw new RuntimeException();
675 this.setNext(previous);
676 if (offsetCP == null) {
677 previous.setNext(this);
679 previous.setPrevious(offsetCP);
680 offsetCP.setNext(previous);
681 offsetCP.setPrevious(next);
683 if (previous.isDualInline()) {
684 previous.getDualSub().setPrevious(this);
686 this.setPrevious(next);
688 if (next.isDualSub()) {
689 next.getParentPoint().setNext(this);
693 throw new RuntimeException();
696 PipingRules.validate(piperun);
701 public void insert(PipeControlPoint pcp, Direction direction) {
703 throw new RuntimeException();
704 if (direction == Direction.NEXT) {
705 // if direction is next, user must have given OffsetPoint
706 if (pcp.isDualInline())
707 throw new RuntimeException();
708 // basic next/prev links
710 this.setPrevious(pcp);
711 // and last take care of sizechange / offset points
712 if (pcp.isDualSub()) {
713 pcp.getParentPoint().setNext(this);
715 if (isDualInline()) {
716 getDualSub().setPrevious(this);
719 // if direction is previous, user must have given sizechange
721 throw new RuntimeException();
722 // previous direction is more complicated, since if newCP is SizeChangeControlPoint,
723 // we must link pcp to newCP's OffsetPoint
724 PipeControlPoint nocp = null;
725 if (isDualInline()) {
730 pcp.setPrevious(this);
732 pcp.setPrevious(nocp);
735 if (pcp.isDualInline()) {
736 PipeControlPoint ocp = pcp.getDualSub();
738 ocp.setPrevious(this);
740 ocp.setPrevious(nocp);
744 PipingRules.validate(getPipeRun());
747 public Vector3d getDirectedControlPointDirection() {
748 assert (isDirected());
749 Vector3d dir = new Vector3d();
750 MathTools.rotate(getWorldOrientation(), new Vector3d(1.0, 0.0, 0.0), dir);
756 * Returns direction vector.
758 * For directed control points, always returns outwards pointing vector.
761 * @return normalized vector, or null
763 public Vector3d getDirection(Direction direction) {
765 return getDirectedControlPointDirection();
766 if (isTurn() && asFixedAngle()) {
767 if (direction == Direction.NEXT) {
768 if (previous != null) {
769 PipeControlPoint pcp = this;
770 Vector3d dir = new Vector3d();
771 dir.sub(pcp.getWorldPosition(),previous.getWorldPosition());
772 if (dir.lengthSquared() > MathTools.NEAR_ZERO)
776 Quat4d q = getControlPointOrientationQuat(dir, pcp.getRotationAngle() != null ? pcp.getRotationAngle() : 0.0);
777 AxisAngle4d aa = new AxisAngle4d(MathTools.Y_AXIS,pcp.getTurnAngle() == null ? 0.0 : pcp.getTurnAngle());
778 Quat4d q2 = MathTools.getQuat(aa);
779 Vector3d v = new Vector3d(1.,0.,0.);
780 Vector3d offset = new Vector3d();
781 MathTools.rotate(q2, v, offset);
782 MathTools.rotate(q, offset, dir);
788 PipeControlPoint pcp = this;
789 Vector3d dir = new Vector3d();
790 dir.sub(next.getWorldPosition(),pcp.getWorldPosition());
791 if (dir.lengthSquared() > MathTools.NEAR_ZERO)
795 Quat4d q = getControlPointOrientationQuat(dir, pcp.getRotationAngle() != null ? pcp.getRotationAngle() : 0.0);
796 AxisAngle4d aa = new AxisAngle4d(MathTools.Y_AXIS,pcp.getTurnAngle() == null ? 0.0 : pcp.getTurnAngle());
797 Quat4d q2 = MathTools.getQuat(aa);
798 Vector3d v = new Vector3d(1.,0.,0.);
799 Vector3d offset = new Vector3d();
800 MathTools.rotate(q2, v, offset);
801 MathTools.rotate(q, offset, dir);
811 * Returns path leg direction of the control point.
813 * This method differs from getDirection by also returning inward pointing vectors for directed control points.
818 public Vector3d getPathLegDirection(Direction direction) {
819 if (direction == Direction.NEXT) {
821 PipeControlPoint pcp = this;
822 if (pcp.isDualInline()) {
823 pcp = pcp.getDualSub();
825 Vector3d v = new Vector3d();
826 v.sub(next.getWorldPosition(),pcp.getWorldPosition());
827 if (v.lengthSquared() > MathTools.NEAR_ZERO)
833 if (previous == null) {
835 throw new RuntimeException("Cannot calculate path leg direction for unconnected control point " + this);
836 return getDirectedControlPointDirection();
839 if (isVariableAngle() && !asFixedAngle())
840 throw new RuntimeException("Cannot calculate path leg direction for unconnected variable angle control point " + this);
842 PipeControlPoint pcp = this;
843 if (pcp.isDualSub()) {
844 pcp = pcp.getParentPoint();
846 Vector3d v = new Vector3d();
847 v.sub(pcp.getWorldPosition(),previous.getWorldPosition());
848 if (v.lengthSquared() > MathTools.NEAR_ZERO)
853 } else if (isDirected()) {
854 return getDirectedControlPointDirection();
855 } else if (isEnd()) {
856 Vector3d v = new Vector3d();
857 v.sub(getWorldPosition(),previous.getWorldPosition());
858 if (v.lengthSquared() > MathTools.NEAR_ZERO)
863 } else if (isTurn() && asFixedAngle() && !_getReversed()) {
864 return getDirection(Direction.NEXT);
866 throw new RuntimeException("Missing implementation " + this);
870 if (previous != null) {
871 PipeControlPoint pcp = this;
873 pcp = getParentPoint();
874 Vector3d v = new Vector3d();
875 v.sub(previous.getWorldPosition(),pcp.getWorldPosition());
876 if (v.lengthSquared() > MathTools.NEAR_ZERO)
884 throw new RuntimeException("Cannot calculate path leg direction for unconnected control point " + this);
885 Vector3d v = getDirectedControlPointDirection();
889 if (isVariableAngle() && !asFixedAngle())
890 throw new RuntimeException("Cannot calculate path leg direction for unconnected variable angle control point " + this);
892 PipeControlPoint pcp = this;
893 if (pcp.isDualInline()) {
894 pcp = pcp.getDualSub();
896 Vector3d v = new Vector3d();
897 v.sub(pcp.getWorldPosition(),next.getWorldPosition());
898 if (v.lengthSquared() > MathTools.NEAR_ZERO)
903 } else if (isDirected()) {
904 Vector3d v = getDirectedControlPointDirection();
907 } else if (isEnd()) {
908 Vector3d v = new Vector3d();
909 v.sub(getWorldPosition(),next.getWorldPosition());
910 if (v.lengthSquared() > MathTools.NEAR_ZERO)
915 } else if (isTurn() && asFixedAngle() && _getReversed()) {
916 return getDirection(Direction.PREVIOUS);
918 throw new RuntimeException("Missing implementation " + this);
924 public void getInlineControlPointEnds(Tuple3d p1, Tuple3d p2) {
927 PipeControlPoint sub = isAxial() ? this : getDualSub();
928 Vector3d pos = getWorldPosition(), pos2 = sub == this ? pos : sub.getWorldPosition();
929 Vector3d dir = sub.getPathLegDirection(Direction.NEXT);
932 dir.scale(length * 0.5);
939 public void getControlPointEnds(Tuple3d p1, Tuple3d p2) {
940 PipeControlPoint sub = isAxial() || isDirected() || isTurn() ? this : getChildPoints().get(0);
941 Vector3d pos = getWorldPosition(), pos2 = sub == this ? pos : sub.getWorldPosition();
943 Vector3d dir1 = getPathLegDirection(Direction.PREVIOUS);
944 Vector3d dir2 = sub.getPathLegDirection(Direction.NEXT);
946 dir1.scale(length * 0.5);
947 dir2.scale(length * 0.5);
958 public void getEndDirections(Tuple3d v1, Tuple3d v2) {
959 PipeControlPoint sub = isAxial() ? this : getDualSub();
961 Vector3d dir1 = getPathLegDirection(Direction.PREVIOUS);
962 Vector3d dir2 = sub.getPathLegDirection(Direction.NEXT);
967 public void getInlineControlPointEnds(Tuple3d p1, Tuple3d p2, Vector3d dir) {
970 Vector3d pos = getWorldPosition();
971 dir.set(getPathLegDirection(Direction.NEXT));
973 dir.scale(length * 0.5);
980 public void getInlineControlPointEnds(Tuple3d center, Tuple3d p1, Tuple3d p2, Vector3d dir) {
983 Vector3d pos = getWorldPosition();
985 dir.set(getPathLegDirection(Direction.NEXT));
987 dir.scale(length * 0.5);
994 public double getInlineLength() {
995 if (type == PointType.TURN)
997 else if (type == PointType.INLINE)
1002 public Vector3d getRealPosition(PositionType type) {
1003 Vector3d pos = getWorldPosition();
1006 Vector3d dir = getPathLegDirection(Direction.NEXT);
1007 double length = getInlineLength();
1014 Vector3d dir = getPathLegDirection(Direction.PREVIOUS);
1015 double length = getInlineLength();
1022 // IEntity portDir = pcp.getSingleRelatedObject(ProcessResource.plant3Dresource.HasDirection);
1023 // TODO : how we calculated needed space for a port; does it has an offset from control point's position or not?
1033 public void getInlineMovement(Tuple3d start, Tuple3d end) {
1034 // FIXME : check type of neighbor components and allow movement on top of variable length components,
1035 // find proper range for movement (pcp's position is not)
1036 PipeControlPoint p = previous.getPrevious();
1037 PipeControlPoint n = next.getNext();
1038 start.set(p.getWorldPosition());
1039 end.set(n.getWorldPosition());
1042 public PipeControlPoint findNextEnd() {
1043 ArrayList<PipeControlPoint> t = new ArrayList<PipeControlPoint>();
1044 return findNextEnd( t);
1047 public PipeControlPoint findPreviousEnd() {
1048 ArrayList<PipeControlPoint> t = new ArrayList<PipeControlPoint>();
1049 return findPreviousEnd(t);
1052 public PipeControlPoint findNextEnd(List<PipeControlPoint> nextList) {
1054 PipeControlPoint pcp = null;
1055 PipeControlPoint p = null;
1056 if (nextList.size() == 0)
1060 p = nextList.get(nextList.size() - 1);
1065 if (nextList.size() > 0)
1066 nextList.remove(nextList.size() - 1);
1067 // if (DEBUG) System.out.println(" " + pcp.getResource() + " not full");
1071 if (pcp.isPathLegEnd()) {
1072 //if (DEBUG) System.out.println(" " + pcp.getResource());
1076 // if (DEBUG) System.out.print(" " + pcp.getResource());
1081 public PipeControlPoint findPreviousEnd(List<PipeControlPoint> prevList) {
1083 PipeControlPoint pcp = null;
1084 PipeControlPoint p = null;
1085 if (prevList.size() == 0)
1089 p = prevList.get(prevList.size() - 1);
1091 pcp = p.getPrevious();
1094 if (prevList.size() > 0)
1095 prevList.remove(prevList.size() - 1);
1096 // if (DEBUG) System.out.println(" " + pcp.getResource() + " not full");
1099 if (pcp.isPathLegEnd()) {
1100 // if (DEBUG) System.out.println(" " + pcp.getResource());
1104 // if (DEBUG)System.out.print(" " + pcp.getResource());
1109 public void _remove() {
1114 public PipeControlPoint getDualSub() {
1116 return getChildPoints().get(0);
1118 throw new IllegalStateException("Current control point is not dual inline");
1122 public void _remove(boolean renconnect) {
1126 if (DEBUG) System.out.println(this + " Remove " + renconnect);
1128 if (getParentPoint() != null) {
1129 getParentPoint()._remove(renconnect);
1132 PipeRun pipeRun = getPipeRun();
1133 // PipeRUn removal has been changed, so pipeRun may be null.
1134 // if (pipeRun == null)
1137 PipeControlPoint additionalRemove = null;
1138 if (!PipingRules.isEnabled()) {
1144 PipeControlPoint currentPrev = previous;
1145 PipeControlPoint currentNext = next;
1146 if (currentNext == null && currentPrev == null) {
1148 if (pipeRun != null) {
1149 pipeRun.remChild(this);
1150 checkRemove(pipeRun);
1154 if (currentNext != null && currentPrev != null) {
1155 boolean link = renconnect;
1156 if (currentNext.isBranchEnd()) {
1158 currentNext.remove();
1162 if (currentPrev.isBranchEnd()) {
1164 currentPrev.remove();
1169 if (currentPrev.isDirected() && currentNext.isDirected())
1171 else if (this.isDualInline()) {
1173 } else if (this.isDualSub()) {
1174 throw new RuntimeException("_remove() is called for parent point, somehow got to child point. " + this);
1177 if (currentNext == null) {
1179 } else if (currentNext.isDualInline()) {
1180 PipeControlPoint sccp = currentNext;
1181 PipeControlPoint ocp = currentNext.getDualSub();
1183 throw new RuntimeException("Removing PipeControlPoint " + this+ " structure damaged, no offset control point");
1186 sccp.setPrevious(currentPrev);
1187 //ocp.setPrevious(currentPrev);
1188 assert(ocp.getPrevious() == currentPrev);
1190 sccp.setPrevious(null);
1191 //ocp.setPrevious(null);
1192 assert(ocp.getPrevious() == null);
1195 } else if (currentNext.isDualSub()) {
1196 throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, next control point is offset control point");
1197 } else if (currentNext.previous == this) {
1199 currentNext.setPrevious(currentPrev);
1201 currentNext.setPrevious(null);
1204 } else if (isDualInline()) {
1205 if (currentNext.previous != getDualSub()) {
1206 throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1209 currentNext.setPrevious(currentPrev);
1211 currentNext.setPrevious(null);
1215 throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1217 if (currentPrev == null) {
1219 } else if (currentPrev.isDualInline()) {
1220 throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, previous control point is size change control point");
1221 } else if (currentPrev.isDualSub()) {
1222 PipeControlPoint ocp = currentPrev;
1223 PipeControlPoint sccp = currentPrev.getParentPoint();
1225 throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, no size change control point");
1227 //ocp.setNext(currentNext);
1228 sccp.setNext(currentNext);
1229 assert(ocp.getNext() == currentNext);
1231 //ocp.setNext(null);
1233 assert(ocp.getNext() == null);
1236 } else if (currentPrev.next == this) {
1238 currentPrev.setNext(currentNext);
1240 currentPrev.setNext(null);
1244 throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged");
1247 if (currentNext.isVariableLength() && currentPrev.isVariableLength()) {
1248 // we have to join them into single variable length component.
1249 additionalRemove = currentPrev;
1250 // combine lengths and set the location of remaining control point to the center.
1251 Point3d ps = new Point3d();
1252 Point3d pe = new Point3d();
1253 Point3d ns = new Point3d();
1254 Point3d ne = new Point3d();
1255 currentPrev.getInlineControlPointEnds(ps, pe);
1256 currentNext.getInlineControlPointEnds(ns, ne);
1257 double l = currentPrev.getLength() + currentNext.getLength();
1258 Vector3d cp = new Vector3d();
1261 currentNext.setLength(l);
1262 currentNext.setWorldPosition(cp);
1265 // FIXME : pipe run must be split into two parts, since the control point structure is no more continuous.
1267 } else if (currentNext != null) {
1268 if (currentNext.isDualInline()) {
1269 PipeControlPoint sccp = currentNext;
1270 PipeControlPoint ocp = currentNext.getDualSub();
1272 throw new RuntimeException("Removing PipeControlPoint " + this+ " structure damaged, no offset control point");
1274 sccp.setPrevious(null);
1275 assert(ocp.getPrevious() == null);
1276 //ocp.setPrevious(null);
1277 } else if (currentNext.isDualSub()) {
1278 throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, next control point is offset control point");
1279 } else if (currentNext.previous == this) {
1280 currentNext.setPrevious(null);
1281 } else if (isDualInline()) {
1282 if (currentNext.previous != getDualSub()) {
1283 throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1285 currentNext.setPrevious(null);
1287 throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1290 } else { //(previous != null)
1291 if(currentPrev.isDualInline()) {
1292 throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, previous control point is size change control point");
1293 } else if (currentPrev.isDualSub()) {
1294 PipeControlPoint ocp = currentPrev;
1295 PipeControlPoint sccp = currentPrev.getParentPoint();
1297 throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, no size change control point");
1300 assert(ocp.getNext() == null);
1301 } else if (currentPrev.next == this) {
1302 currentPrev.setNext(null);
1304 throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1308 if (children.size() > 0 ) {
1310 } else if (parent!= null) {
1311 removeParentPoint();
1317 if (pipeRun != null) {
1318 pipeRun.remChild(this);
1319 checkRemove(pipeRun);
1320 if (PipingRules.isEnabled() && pipeRun.getParent() != null && pipeRun.getControlPoints().size() > 0)
1321 PipingRules.validate(pipeRun);
1323 if (additionalRemove != null)
1324 additionalRemove.remove();
1329 * Removes control point and attempts to reconnect next/prev
1331 * If this point is size change (PipeRuns are different on both sides), then reconnection cannot be made.
1333 public void remove() {
1334 PipeControlPoint currentPrev = previous;
1335 PipeControlPoint currentNext = next;
1338 if (currentNext != null)
1339 if (!currentNext.checkRemove())
1340 PipingRules.requestUpdate(currentNext);
1341 if (currentPrev != null)
1342 if (!currentPrev.checkRemove())
1343 PipingRules.requestUpdate(currentPrev);
1344 } catch (Exception e) {
1345 e.printStackTrace();
1351 * Removes control point without attempting to reconnect next/prev.
1352 * This usually leads to creation of another PipeRun for the control points after this point.
1354 public void removeAndSplit() {
1355 PipeControlPoint currentPrev = previous;
1356 PipeControlPoint currentNext = next;
1358 if (next != null && previous != null) {
1359 P3DRootNode root = (P3DRootNode)getPipelineComponent().getRootNode();
1360 PipeRun nextPipeRun = new PipeRun();
1361 nextPipeRun.setName(root.getUniqueName("PipeRun"));
1362 root.addChild(nextPipeRun);
1364 PipeRun previousRun = previous.getPipeRun();
1365 nextPipeRun.setPipeDiameter(previousRun.getPipeDiameter());
1366 nextPipeRun.setTurnRadiusArray(previousRun.getTurnRadiusArray());
1368 PipelineComponent n = next.getPipelineComponent();
1370 if (n.getPipeRun() != previousRun)
1372 if (! (n instanceof Nozzle)) {
1374 nextPipeRun.addChild(n);
1376 n.setPipeRun(nextPipeRun);
1382 if (currentNext != null)
1383 if (!currentNext.checkRemove())
1384 PipingRules.requestUpdate(currentNext);
1385 if (currentPrev != null)
1386 if (!currentPrev.checkRemove())
1387 PipingRules.requestUpdate(currentPrev);
1388 } catch (Exception e) {
1389 e.printStackTrace();
1394 * This is called when adjacent control point is removed.
1396 * This call should remove the give point, if the point cannot exist alone.
1397 * At the moment there is one such case: branch.
1401 protected boolean checkRemove() {
1402 if (getParentPoint() != null) {
1403 return getParentPoint().checkRemove();
1405 if (getPipelineComponent() == null)
1406 return true; // already removed
1407 if (getPipelineComponent().getType().equals("Plant3D.URIs.Builtin_BranchSplitComponent")) {
1408 if (getChildPoints().get(0).getNext() == null && getChildPoints().get(0).getPrevious() == null) {
1413 return checkRemove(getPipeRun());
1417 private boolean checkRemove(PipeRun pipeRun) {
1418 if (pipeRun == null)
1420 Collection<PipeControlPoint> points = pipeRun.getControlPoints();
1421 if (points.size() == 0) {
1424 } else if (points.size() == 1) {
1425 PipeControlPoint pcp = points.iterator().next();
1426 if (pcp.isDeletable() && pcp.getNext() == null && pcp.getPrevious() == null) {
1427 pcp._remove(); // This call will recursively call also this method...
1430 } else if (points.size() == 2) {
1436 private void removeSubPoints() {
1437 for (PipeControlPoint p : children) {
1441 PipeControlPoint currentNext = p.getNext();
1442 PipeControlPoint currentPrev = p.getPrevious();
1444 p._setPrevious(null);
1445 PipeRun run = p.getPipeRun();
1450 if (currentNext != null)
1451 if (!currentNext.checkRemove())
1452 PipingRules.requestUpdate(currentNext);
1453 if (currentPrev != null)
1454 if (!currentPrev.checkRemove())
1455 PipingRules.requestUpdate(currentPrev);
1461 private void removeParentPoint() {
1462 throw new RuntimeException("Child points cannot be removed directly");
1465 public boolean isRemoved() {
1466 return component == null;
1469 private void removeComponent() {
1470 if (component == null)
1472 PipelineComponent next = component.getNext();
1473 PipelineComponent prev = component.getPrevious();
1474 PipelineComponent br0 = component.getBranch0();
1475 component.setNext(null);
1476 component.setPrevious(null);
1477 component.setBranch0(null);
1479 if (next.getNext() == component)
1481 else if (next.getPrevious() == component)
1482 next.setPrevious(null);
1483 else if (next.getBranch0() == component)
1484 next.setBranch0(null);
1487 if (prev.getNext() == component)
1489 else if (prev.getPrevious() == component)
1490 prev.setPrevious(null);
1491 else if (prev.getBranch0() == component)
1492 prev.setBranch0(null);
1495 if (br0.getNext() == component)
1497 else if (br0.getPrevious() == component)
1498 br0.setPrevious(null);
1499 else if (br0.getBranch0() == component)
1500 br0.setBranch0(null);
1502 PipelineComponent comp = component;
1509 public void setOrientation(Quat4d orientation) {
1510 if (MathTools.equals(orientation, getOrientation()))
1512 if (getPipelineComponent() != null && (getPipelineComponent() instanceof Nozzle))
1513 System.out.println();
1514 super.setOrientation(orientation);
1515 if (getParentPoint() == null && component != null)
1516 component._setWorldOrientation(getWorldOrientation());
1521 public void setPosition(Vector3d position) {
1522 if (MathTools.equals(position, getPosition()))
1524 if (Double.isNaN(position.x) || Double.isNaN(position.y) || Double.isNaN(position.z))
1525 throw new IllegalArgumentException("NaN is not supported");
1526 super.setPosition(position);
1527 if (getParentPoint() == null && component != null)
1528 component._setWorldPosition(getWorldPosition());
1532 private void updateSubPoint() {
1534 if (next == null && previous == null) {
1535 for (PipeControlPoint sub : getChildPoints()) {
1536 sub.setWorldPosition(getWorldPosition());
1537 sub.setWorldOrientation(getWorldOrientation());
1541 for (PipeControlPoint sub : getChildPoints()) {
1542 Vector3d wp = getWorldPosition();
1543 wp.add(getSizeChangeOffsetVector());
1544 sub.setWorldPosition(wp);
1545 sub.setWorldOrientation(getWorldOrientation());
1548 for (PipeControlPoint sub : getChildPoints()) {
1549 sub.setWorldPosition(getWorldPosition());
1550 sub.setWorldOrientation(getWorldOrientation());
1556 public void _setWorldPosition(Vector3d position) {
1557 Vector3d localPos = getLocalPosition(position);
1558 super.setPosition(localPos);
1562 public void _setWorldOrientation(Quat4d orientation) {
1563 Quat4d localOr = getLocalOrientation(orientation);
1564 super.setOrientation(localOr);
1569 public String toString() {
1570 return getClass().getName() + "@" + Integer.toHexString(hashCode());