org.simantics.plant3d/src/org/simantics/plant3d/scenegraph/controlpoint/PipeControlPoint.java

   1 package org.simantics.plant3d.scenegraph.controlpoint;
   2
   3 import java.util.ArrayList;
   4 import java.util.Arrays;
   5 import java.util.Collection;
   6 import java.util.List;
   7
   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;
  14
  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;
  24
  25 import vtk.vtkRenderer;
  26
  27
  28 public class PipeControlPoint extends G3DNode implements IP3DNode {
  29
  30         private static boolean DEBUG = false;
  31
  32         public enum PointType{INLINE,TURN,END};
  33         public enum Direction{NEXT,PREVIOUS};
  34         public enum PositionType {SPLIT,NEXT,PREVIOUS,PORT}
  35
  36         private PipelineComponent component;
  37
  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
  46
  47         private boolean disposed = false;
  48
  49         public PipeControlPoint(PipelineComponent component) {
  50                 this.component = component;
  51                 if (component.getPipeRun() != null)
  52                         component.getPipeRun().addChild(this);
  53
  54         }
  55
  56         public PipeControlPoint(PipelineComponent component, PipeRun piperun) {
  57                 this.component = component;
  58                 piperun.addChild(this);
  59         }
  60
  61         @Override
  62         public void update(vtkRenderer ren) {
  63                 try {
  64                         PipingRules.requestUpdate(this);
  65                 } catch (Exception e) {
  66                         e.printStackTrace();
  67                 }
  68
  69         }
  70
  71         public PipeRun getPipeRun() {
  72                 return (PipeRun)getParent();
  73         }
  74
  75         public PipelineComponent getPipelineComponent() {
  76                 return component;
  77         }
  78
  79         public PointType getType() {
  80                 return type;
  81         }
  82
  83         public void setType(PointType type) {
  84                 this.type = type;
  85         }
  86
  87         @GetPropertyValue(name="Fixed",tabId="Debug",value="fixed")
  88         public boolean isFixed() {
  89                 return isFixed;
  90         }
  91
  92         public void setFixed(boolean fixed) {
  93                 this.isFixed = fixed;
  94         }
  95
  96         @GetPropertyValue(name="Mod",tabId="Debug",value="mod")
  97         public boolean isMod() {
  98         return isMod;
  99     }
 100
 101     public void setMod(boolean isMod) {
 102         this.isMod = isMod;
 103     }
 104
 105         @GetPropertyValue(name="Rotate",tabId="Debug",value="rotate")
 106         public boolean isRotate() {
 107                 return isRotate;
 108         }
 109
 110         public void setRotate(boolean rotate) {
 111                 this.isRotate = rotate;
 112         }
 113
 114         @GetPropertyValue(name="Reverse",tabId="Debug",value="reverse")
 115         public boolean isReverse() {
 116                 return isReverse;
 117         }
 118
 119         public void setReverse(boolean reverse) {
 120                 this.isReverse = reverse;
 121         }
 122
 123         public void setSub(boolean sub) {
 124                 this.isSub = sub;
 125         }
 126
 127         @GetPropertyValue(name="Deletable",tabId="Debug",value="deletable")
 128         public boolean isDeletable() {
 129                 return isDeletable;
 130         }
 131
 132         public void setDeletable(boolean deletable) {
 133                 this.isDeletable = deletable;
 134         }
 135
 136         public boolean isPathLegEnd() {
 137                 return type != PointType.INLINE;
 138         }
 139
 140         public boolean isEnd() {
 141                 return type == PointType.END;
 142         }
 143
 144         public boolean isTurn() {
 145                 return type == PointType.TURN;
 146         }
 147
 148         public boolean isInline() {
 149                 return type == PointType.INLINE;
 150         }
 151
 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;
 155         }
 156
 157         /**
 158          * True for end components, if control point defines absolute position direction, which rules cannot modify.
 159          * This is typical for nozzles.
 160          * @return
 161          */
 162         public boolean isDirected() {
 163                 return isFixed && isEnd();
 164         }
 165
 166         /**
 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.
 169      * @return
 170      */
 171         public boolean isNonDirected() {
 172                 return !isFixed && isEnd();
 173         }
 174
 175         public boolean isVariableLength() {
 176                 return !isFixed && isInline();
 177         }
 178
 179         /**
 180          * Fixed length in-line component is such that piping rules cannot modify the length.
 181          * @return
 182          */
 183         public boolean isFixedLength() {
 184         return isFixed && isInline();
 185     }
 186
 187         public boolean isVariableAngle() {
 188                 return !isFixed && isTurn();
 189         }
 190
 191         /**
 192          * Fixed angle turn component is such that piping rules cannot modify the angle.
 193          * @return
 194          */
 195         public boolean isFixedAngle() {
 196         return isFixed && isTurn();
 197     }
 198
 199         /**
 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.
 202          * @return
 203          */
 204         public boolean asFixedAngle() {
 205         return isTurn() && (isFixed || next == null || previous == null);
 206     }
 207
 208         public boolean isBranchEnd() {
 209                 return isDeletable && isEnd();
 210         }
 211
 212         public boolean isOffset() {
 213                 return offset != null;
 214         }
 215
 216         public boolean isDualSub() {
 217                 return parent != null && isSub;
 218         }
 219
 220         public boolean isDualInline() {
 221                 return children.size() == 1 && children.get(0).isDualSub();
 222         }
 223
 224         public boolean isAxial() {
 225                 return isInline() && !isDualInline();
 226         }
 227
 228         public boolean isSizeChange() {
 229                 return isSizeChange;
 230                 //              if (children.size() == 0)
 231                 //                      return false;
 232                 //              if (!isDualInline())
 233                 //                      return false;
 234                 //              return getPipeRun() != children.get(0).getPipeRun();
 235         }
 236
 237         public void setSizeChange(boolean isSizeChange) {
 238                 this.isSizeChange = isSizeChange;
 239         }
 240
 241
 242         private PipeControlPoint next;
 243         private PipeControlPoint previous;
 244
 245         public PipeControlPoint getNext() {
 246                 return next;
 247         }
 248
 249         public PipeControlPoint getPrevious() {
 250                 return previous;
 251         }
 252
 253         public void setNext(PipeControlPoint next) {
 254             if (isSub) {
 255                 getParentPoint().setNext(next);
 256                 return;
 257             }
 258             if (next != null && next.isDualSub())
 259                 next = next.parent;
 260             if (_setNext(next)) {
 261                 for (PipeControlPoint pcp : children) {
 262                 if (pcp.isSub)
 263                     pcp._setNext(next);
 264             }
 265                 updateSubPoint();
 266             }
 267         }
 268
 269         public void setPrevious(PipeControlPoint prev) {
 270         if (isSub) {
 271             getParentPoint().setPrevious(prev);
 272             return;
 273         }
 274         if (prev != null && prev.isDualInline())
 275             prev = prev.children.get(0);
 276         if (_setPrevious(prev)) {
 277             for (PipeControlPoint pcp : children) {
 278                 if (pcp.isSub)
 279                     pcp._setPrevious(prev);
 280             }
 281             updateSubPoint();
 282         }
 283     }
 284
 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");
 288                 if (next == this)
 289                         throw new RuntimeException("Cannot connect to self");
 290                 if (this.next == next)
 291                         return false;
 292                 if (DEBUG) System.out.println(this + " next " + next);
 293                 if (next == null && isVariableAngle() && previous != null && !isRemoved()) {
 294                     convertVariableAngleToFixed(Direction.NEXT);
 295                 }
 296                 this.next = next;
 297                 if (component != null) {
 298                         if (parent == null || isSub)
 299                                 component.setNext(next != null ? next.component : null);
 300                         else
 301                                 component.setBranch0(next != null ? next.component : null);
 302
 303                 }
 304                 return true;
 305         }
 306
 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)
 313                         return false;
 314                 if (DEBUG) System.out.println(this + " previous " + previous);
 315                 if (previous == null && isVariableAngle() && next != null && !isRemoved()) {
 316             convertVariableAngleToFixed(Direction.PREVIOUS);
 317         }
 318                 this.previous = previous;
 319                 if (component != null) {
 320                         if (parent == null || isSub)
 321                                 component.setPrevious(previous != null ? previous.component : null);
 322                         else
 323                                 component.setBranch0(previous != null ? previous.component : null);
 324                         updateSubPoint();
 325                 }
 326                 return true;
 327         }
 328
 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)
 336             return;
 337         dir.negate();
 338         double angle = dir.angle(dirOut);
 339         //super._setNext(null);
 340         if (direction == Direction.NEXT)
 341             next = null;
 342         else
 343             previous = null;
 344         setRotationAngle(0.0);
 345         setReversed(direction == Direction.NEXT ? false : true);
 346         Vector3d dirOutN = getPathLegDirection(direction == Direction.NEXT ? Direction.NEXT : Direction.PREVIOUS);
 347         dirOutN.normalize();
 348         AxisAngle4d aa = new AxisAngle4d();
 349         if (MathTools.createRotation(dirOutN, dirOut, dir, aa)) {
 350             setRotationAngle(aa.angle);
 351             setTurnAngle(angle);
 352             if (DEBUG) System.out.println("convertToFixed " + dir + " " + dirOut + " " +dirOutN + " " +angle + " "+ aa.angle);
 353         }
 354         }
 355
 356         public PipeControlPoint parent;
 357         public List<PipeControlPoint> children = new ArrayList<PipeControlPoint>();
 358
 359         public List<PipeControlPoint> getChildPoints() {
 360                 return children;
 361         }
 362
 363         public PipeControlPoint getParentPoint() {
 364                 return parent;
 365         }
 366
 367
 368         private double length;
 369         private Double turnAngle;
 370         private Vector3d turnAxis;
 371
 372         private Double offset;
 373         private Double rotationAngle;
 374         private Boolean reversed;
 375
 376         @GetPropertyValue(name="Length",tabId="Debug",value="length")
 377         public double getLength() {
 378                 return length;
 379         }
 380
 381         public void setLength(double l) {
 382                 if (Double.isInfinite(l) || Double.isNaN(l)) {
 383                         return;
 384                 }
 385                 if (Math.abs(this.length-l) < MathTools.NEAR_ZERO)
 386                         return;
 387                 this.length = l;
 388                 firePropertyChanged("length");
 389                 if (isDualInline())
 390                     getDualSub().setLength(l);
 391         }
 392
 393         @GetPropertyValue(name="Turn Angle",tabId="Debug",value="turnAngle")
 394         public Double getTurnAngle() {
 395                 return turnAngle;
 396         }
 397
 398         @GetPropertyValue(name="Turn Axis",tabId="Debug",value="turnAxis")
 399         public Vector3d getTurnAxis() {
 400                 return turnAxis;
 401         }
 402
 403         @GetPropertyValue(name="Offset",tabId="Debug",value="offset")
 404         public Double getOffset() {
 405                 return offset;
 406         }
 407
 408         @GetPropertyValue(name="Rotation Angle",tabId="Debug",value="rotationAngle")
 409         public Double getRotationAngle() {
 410             if (isRotate || asFixedAngle())
 411                 return rotationAngle;
 412             return null;
 413         }
 414
 415         @GetPropertyValue(name="Reversed",tabId="Debug",value="reversed")
 416         public Boolean getReversed() {
 417                 return reversed;
 418         }
 419
 420         public boolean _getReversed() {
 421                 if (reversed == null)
 422                         return false;
 423                 return reversed;
 424         }
 425
 426         public void setTurnAngle(Double turnAngle) {
 427                 if (turnAngle == null || Double.isInfinite(turnAngle) || Double.isNaN(turnAngle)) {
 428                         return;
 429                 }
 430                 if (this.turnAngle != null && Math.abs(this.turnAngle-turnAngle) < MathTools.NEAR_ZERO)
 431                         return;
 432                 this.turnAngle = turnAngle;
 433                 firePropertyChanged("turnAngle");
 434         }
 435
 436         public void setTurnAxis(Vector3d turnAxis) {
 437                 if (this.turnAxis != null && MathTools.equals(turnAxis, this.turnAxis))
 438                         return;
 439                 this.turnAxis = turnAxis;
 440                 firePropertyChanged("turnAxis");
 441         }
 442
 443         public void setOffset(Double offset) {
 444                 if (Double.isInfinite(offset) || Double.isNaN(offset)) {
 445                         return;
 446                 }
 447                 if (this.offset != null && Math.abs(this.offset-offset) < MathTools.NEAR_ZERO)
 448                         return;
 449                 this.offset = offset;
 450                 firePropertyChanged("offset");
 451         }
 452
 453         public void setRotationAngle(Double rotationAngle) {
 454                 if (Double.isInfinite(rotationAngle) || Double.isNaN(rotationAngle)) {
 455                         return;
 456                 }
 457                 if (this.rotationAngle != null && Math.abs(this.rotationAngle-rotationAngle) < MathTools.NEAR_ZERO)
 458                         return;
 459                 this.rotationAngle = rotationAngle;
 460                 firePropertyChanged("rotationAngle");
 461         }
 462
 463         public void setReversed(Boolean reversed) {
 464                 this.reversed = reversed;
 465                 firePropertyChanged("reversed");
 466         }
 467
 468         public Vector3d getSizeChangeOffsetVector(Vector3d dir) {
 469                 Quat4d q;
 470                 if (rotationAngle == null)
 471                         q = getControlPointOrientationQuat(dir, 0.0);
 472                 else
 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);
 477                 return offset;
 478         }
 479
 480         public Vector3d getSizeChangeOffsetVector() {
 481                 Quat4d q;
 482                 if (rotationAngle == null)
 483                         q = getControlPointOrientationQuat(0.0);
 484                 else
 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);
 489                 return offset;
 490         }
 491
 492         @GetPropertyValue(name="Next",tabId="Debug",value="next")
 493         private String getNextString() {
 494                 if (next == null)
 495                         return null;
 496                 return next.toString();
 497         }
 498
 499         @GetPropertyValue(name="Previous",tabId="Debug",value="previous")
 500         private String getPrevString() {
 501                 if (previous == null)
 502                         return null;
 503                 return previous.toString();
 504         }
 505
 506         @GetPropertyValue(name="Sub",tabId="Debug",value="sub")
 507         private String getSubString() {
 508                 if (children.size() == 0)
 509                         return "";
 510                 return Arrays.toString(children.toArray());
 511         }
 512
 513         @GetPropertyValue(name="Type",tabId="Debug",value="type")
 514         public String getTypeString() {
 515                 return type.name();
 516         }
 517
 518         public Quat4d getControlPointOrientationQuat(double angle) {
 519
 520                 if (turnAxis == null) {
 521                         Vector3d dir = getPathLegDirection(Direction.NEXT);
 522                         if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 523                                 dir.normalize();
 524                         return getControlPointOrientationQuat(dir, angle);
 525                 } else {
 526                         Vector3d dir = getPathLegDirection(Direction.PREVIOUS);
 527                         dir.negate();
 528                         if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 529                                 dir.normalize();
 530                         return getControlPointOrientationQuat(dir, turnAxis, angle);
 531                 }
 532         }
 533
 534         public Quat4d getControlPointOrientationQuat(Vector3d dir, double angle, boolean reversed) {
 535             if (turnAxis == null) {
 536             if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 537                 dir.normalize();
 538             Quat4d q =  getControlPointOrientationQuat(dir, angle);
 539             if (reversed) {
 540                 Quat4d q2 = new Quat4d();
 541                 q2.set(new AxisAngle4d(MathTools.Y_AXIS, Math.PI));
 542                 q.mulInverse(q2);
 543             }
 544             return q;
 545         } else {
 546             if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 547                 dir.normalize();
 548             return getControlPointOrientationQuat(dir, turnAxis, angle);
 549         }
 550         }
 551
 552         public Quat4d getControlPointOrientationQuat(double angle, boolean reversed) {
 553
 554                 if (turnAxis == null) {
 555                         Vector3d dir = getPathLegDirection(Direction.NEXT);
 556                         return getControlPointOrientationQuat(dir, angle, reversed);
 557                 } else {
 558                         Vector3d dir = getPathLegDirection(Direction.PREVIOUS);
 559                         dir.negate();
 560                         return getControlPointOrientationQuat(dir, angle, reversed);
 561                 }
 562         }
 563
 564
 565
 566         public static Quat4d getControlPointOrientationQuat(Vector3d dir, double angle) {
 567                 if (dir.lengthSquared() < MathTools.NEAR_ZERO)
 568                         return MathTools.getIdentityQuat();
 569
 570
 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);
 575                 }
 576
 577
 578                 return getControlPointOrientationQuat(dir, up, angle);
 579         }
 580
 581         public static Quat4d getControlPointOrientationQuat(Vector3d dir, Vector3d up,  double angle) {
 582                 if (dir.lengthSquared() < MathTools.NEAR_ZERO)
 583                         return MathTools.getIdentityQuat();
 584
 585                 final Vector3d front = new Vector3d(1.0,0.0,0.0);
 586
 587                 Quat4d q1 = new Quat4d();
 588
 589
 590                 Vector3d right = new Vector3d();
 591
 592                 right.cross(dir, up);
 593                 up.cross(right, dir);
 594                 right.normalize();
 595                 up.normalize();
 596
 597                 Matrix3d m = new Matrix3d();
 598                 m.m00 = dir.x;
 599                 m.m10 = dir.y;
 600                 m.m20 = dir.z;
 601                 m.m01 = up.x;
 602                 m.m11 = up.y;
 603                 m.m21 = up.z;
 604                 m.m02 = right.x;
 605                 m.m12 = right.y;
 606                 m.m22 = right.z;
 607
 608                 //q1.set(m); MathTools contains more stable conversion
 609                 MathTools.getQuat(m, q1);
 610
 611                 //                      if (DEBUG) System.out.println("PipingTools.getPipeComponentOrientationQuat() " + dir+ " " + up + " " + right);
 612
 613                 Quat4d q2 = new Quat4d();
 614                 q2.set(new AxisAngle4d(front, angle));
 615                 q1.mul(q2);
 616                 return q1;
 617         }
 618
 619         public void insert(PipeControlPoint previous, PipeControlPoint next) {
 620                 // inserting an offsetpoint is error,
 621                 if (isDualSub())
 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");
 631                 } else {
 632                         piperun.addChild(this);
 633                 }
 634
 635                 // insert new BranchControlPoint between straight's control points
 636                 PipeControlPoint previousNext = previous.getNext();
 637                 PipeControlPoint previousPrevious = previous.getPrevious();
 638
 639                 PipeControlPoint offsetCP = null;
 640                 if (isOffset()) {
 641                         offsetCP = getDualSub();
 642                 }
 643                 if (previousNext != null && previousNext == next) {
 644                         if (previous.isDualInline()) {
 645                                 throw new RuntimeException();
 646                         }
 647                         if (next.isDualSub()) {
 648                                 throw new RuntimeException();
 649                         }
 650                         previous.setNext(this);
 651                         this.setPrevious(previous);
 652                         if (previous.isDualSub()) {
 653                                 previous.getParentPoint().setNext(this);
 654                         }
 655                         this.setNext(next);
 656
 657                         if (offsetCP == null) {
 658                                 next.setPrevious(this);
 659                         } else {
 660                                 next.setPrevious(offsetCP);
 661                                 offsetCP.setNext(next);
 662                                 offsetCP.setPrevious(previous);
 663                         }
 664
 665                         if (next.isDualInline()) {
 666                                 next.getDualSub().setPrevious(this);
 667                         }
 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();
 674
 675                         this.setNext(previous);
 676                         if (offsetCP == null) {
 677                                 previous.setNext(this);
 678                         } else {
 679                                 previous.setPrevious(offsetCP);
 680                                 offsetCP.setNext(previous);
 681                                 offsetCP.setPrevious(next);
 682                         }
 683                         if (previous.isDualInline()) {
 684                                 previous.getDualSub().setPrevious(this);
 685                         }
 686                         this.setPrevious(next);
 687                         next.setNext(this);
 688                         if (next.isDualSub()) {
 689                                 next.getParentPoint().setNext(this);
 690                         }
 691
 692                 } else {
 693                         throw new RuntimeException();
 694                 }
 695
 696                 PipingRules.validate(piperun);
 697         }
 698
 699
 700
 701         public void insert(PipeControlPoint pcp, Direction direction) {
 702                 if (isDualSub())
 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
 709                         pcp.setNext(this);
 710                         this.setPrevious(pcp);
 711                         // and last take care of sizechange / offset points
 712                         if (pcp.isDualSub()) {
 713                                 pcp.getParentPoint().setNext(this);
 714                         }
 715                         if (isDualInline()) {
 716                             getDualSub().setPrevious(this);
 717                         }
 718                 } else {
 719                         // if direction is previous, user must have given sizechange
 720                         if (pcp.isDualSub())
 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()) {
 726                                 nocp = getDualSub();
 727                                 nocp.setNext(pcp);
 728                         }
 729                         if (nocp == null) {
 730                                 pcp.setPrevious(this);
 731                         } else {
 732                                 pcp.setPrevious(nocp);
 733                         }
 734                         this.setNext(pcp);
 735                         if (pcp.isDualInline()) {
 736                                 PipeControlPoint ocp = pcp.getDualSub();
 737                                 if (nocp == null)
 738                                         ocp.setPrevious(this);
 739                                 else
 740                                         ocp.setPrevious(nocp);
 741                         }
 742
 743                 }
 744                 PipingRules.validate(getPipeRun());
 745         }
 746
 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);
 751                 dir.normalize();
 752                 return dir;
 753         }
 754
 755         /**
 756          * Returns direction vector.
 757          *
 758          * For directed control points, always returns outwards pointing vector.
 759          *
 760          * @param direction
 761          * @return normalized vector, or null
 762          */
 763         public Vector3d getDirection(Direction direction) {
 764         if (isDirected())
 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)
 773                         dir.normalize();
 774                     else
 775                         return null;
 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);
 783                     dir.normalize();
 784                     return dir;
 785                 }
 786             } else {
 787                 if (next != null) {
 788                     PipeControlPoint pcp = this;
 789                     Vector3d dir = new Vector3d();
 790                     dir.sub(next.getWorldPosition(),pcp.getWorldPosition());
 791                     if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 792                         dir.normalize();
 793                     else
 794                         return null;
 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);
 802                     dir.normalize();
 803                     return dir;
 804                 }
 805             }
 806         }
 807         return null;
 808     }
 809
 810         /**
 811          * Returns path leg direction of the control point.
 812          *
 813          * This method differs from getDirection by also returning inward pointing vectors for directed control points.
 814          *
 815          * @param direction
 816          * @return
 817          */
 818         public Vector3d getPathLegDirection(Direction direction) {
 819                 if (direction == Direction.NEXT) {
 820                         if (next != null) {
 821                                 PipeControlPoint pcp = this;
 822                                 if (pcp.isDualInline()) {
 823                                         pcp = pcp.getDualSub();
 824                                 }
 825                                 Vector3d v = new Vector3d();
 826                                 v.sub(next.getWorldPosition(),pcp.getWorldPosition());
 827                                 if (v.lengthSquared() > MathTools.NEAR_ZERO)
 828                     v.normalize();
 829                 else
 830                     return null;
 831                                 return v;
 832                         } else {
 833                                 if (previous == null) {
 834                                         if (!isDirected())
 835                                                 throw new RuntimeException("Cannot calculate path leg direction for unconnected control point " + this);
 836                                         return getDirectedControlPointDirection();
 837
 838                                 } else {
 839                                         if (isVariableAngle() && !asFixedAngle())
 840                                                 throw new RuntimeException("Cannot calculate path leg direction for unconnected variable angle control point " + this);
 841                                         if (isInline()) {
 842                                                 PipeControlPoint pcp = this;
 843                                                 if (pcp.isDualSub()) {
 844                                                         pcp = pcp.getParentPoint();
 845                                                 }
 846                                                 Vector3d v = new Vector3d();
 847                                                 v.sub(pcp.getWorldPosition(),previous.getWorldPosition());
 848                                                 if (v.lengthSquared() > MathTools.NEAR_ZERO)
 849                                 v.normalize();
 850                                                 else
 851                                                     return null;
 852                                                 return v;
 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)
 859                             v.normalize();
 860                         else
 861                             return null;
 862                                                 return v;
 863                                         } else if (isTurn() && asFixedAngle() && !_getReversed()) {
 864                                                 return getDirection(Direction.NEXT);
 865                                         }
 866                                         throw new RuntimeException("Missing implementation " + this);
 867                                 }
 868                         }
 869                 } else {
 870                         if (previous != null) {
 871                                 PipeControlPoint pcp = this;
 872                                 if (isDualSub())
 873                                         pcp = getParentPoint();
 874                                 Vector3d v = new Vector3d();
 875                                 v.sub(previous.getWorldPosition(),pcp.getWorldPosition());
 876                                 if (v.lengthSquared() > MathTools.NEAR_ZERO)
 877                     v.normalize();
 878                 else
 879                     return null;
 880                                 return v;
 881                         } else {
 882                                 if (next == null)  {
 883                                         if (!isDirected())
 884                                                 throw new RuntimeException("Cannot calculate path leg direction for unconnected control point " + this);
 885                                         Vector3d v = getDirectedControlPointDirection();
 886                                         v.negate();
 887                                         return v;
 888                                 } else {
 889                                         if (isVariableAngle() && !asFixedAngle())
 890                                                 throw new RuntimeException("Cannot calculate path leg direction for unconnected variable angle control point " + this);
 891                                         if (isInline()) {
 892                                                 PipeControlPoint pcp = this;
 893                                                 if (pcp.isDualInline()) {
 894                                                         pcp = pcp.getDualSub();
 895                                                 }
 896                                                 Vector3d v = new Vector3d();
 897                                                 v.sub(pcp.getWorldPosition(),next.getWorldPosition());
 898                                                 if (v.lengthSquared() > MathTools.NEAR_ZERO)
 899                             v.normalize();
 900                         else
 901                             return null;
 902                                                 return v;
 903                                         } else if (isDirected()) {
 904                                                 Vector3d v = getDirectedControlPointDirection();
 905                                                 v.negate();
 906                                                 return v;
 907                                         } else if (isEnd()) {
 908                                                 Vector3d v = new Vector3d();
 909                                                 v.sub(getWorldPosition(),next.getWorldPosition());
 910                                                 if (v.lengthSquared() > MathTools.NEAR_ZERO)
 911                             v.normalize();
 912                         else
 913                             return null;
 914                                                 return v;
 915                                         } else if (isTurn() && asFixedAngle() && _getReversed()) {
 916                                                 return getDirection(Direction.PREVIOUS);
 917                                         }
 918                                         throw new RuntimeException("Missing implementation " + this);
 919                                 }
 920                         }
 921                 }
 922         }
 923
 924         public void getInlineControlPointEnds(Tuple3d p1, Tuple3d p2) {
 925                 assert (isInline());
 926
 927                 PipeControlPoint sub = isAxial() ? this : getDualSub();
 928                 Vector3d pos = getWorldPosition(), pos2 = sub == this ? pos : sub.getWorldPosition();
 929                 Vector3d dir = sub.getPathLegDirection(Direction.NEXT);
 930
 931                 dir.normalize();
 932                 dir.scale(length * 0.5);
 933                 p1.set(pos);
 934                 p2.set(pos2);
 935                 p1.sub(dir);
 936                 p2.add(dir);
 937         }
 938
 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();
 942
 943                 Vector3d dir1 = getPathLegDirection(Direction.PREVIOUS);
 944                 Vector3d dir2 = sub.getPathLegDirection(Direction.NEXT);
 945                 if (isInline()) {
 946                         dir1.scale(length * 0.5);
 947                         dir2.scale(length * 0.5);
 948                 } else {
 949                         dir1.scale(length);
 950                         dir2.scale(length);
 951                 }
 952                 p1.set(pos);
 953                 p2.set(pos2);
 954                 p1.add(dir1);
 955                 p2.add(dir2);
 956         }
 957
 958         public void getEndDirections(Tuple3d v1, Tuple3d v2) {
 959                 PipeControlPoint sub = isAxial() ? this : getDualSub();
 960
 961                 Vector3d dir1 = getPathLegDirection(Direction.PREVIOUS);
 962                 Vector3d dir2 = sub.getPathLegDirection(Direction.NEXT);
 963                 v1.set(dir1);
 964                 v2.set(dir2);
 965         }
 966
 967         public void getInlineControlPointEnds(Tuple3d p1, Tuple3d p2, Vector3d dir) {
 968                 assert (isInline());
 969
 970                 Vector3d pos = getWorldPosition();
 971                 dir.set(getPathLegDirection(Direction.NEXT));
 972                 dir.normalize();
 973                 dir.scale(length * 0.5);
 974                 p1.set(pos);
 975                 p2.set(pos);
 976                 p1.sub(dir);
 977                 p2.add(dir);
 978         }
 979
 980         public void getInlineControlPointEnds(Tuple3d center, Tuple3d p1, Tuple3d p2, Vector3d dir) {
 981                 assert (isInline());
 982
 983                 Vector3d pos = getWorldPosition();
 984                 center.set(pos);
 985                 dir.set(getPathLegDirection(Direction.NEXT));
 986                 dir.normalize();
 987                 dir.scale(length * 0.5);
 988                 p1.set(pos);
 989                 p2.set(pos);
 990                 p1.sub(dir);
 991                 p2.add(dir);
 992         }
 993
 994         public double getInlineLength() {
 995                 if (type == PointType.TURN)
 996                         return length;
 997                 else if (type == PointType.INLINE)
 998                         return length * 0.5;
 999                 return 0;
1000         }
1001
1002         public Vector3d getRealPosition(PositionType type) {
1003                 Vector3d pos = getWorldPosition();
1004                 switch (type) {
1005                 case NEXT: {
1006                         Vector3d dir = getPathLegDirection(Direction.NEXT);
1007                         double length = getInlineLength();
1008                         dir.normalize();
1009                         dir.scale(length);
1010                         pos.add(dir);
1011                         break;
1012                 }
1013                 case PREVIOUS: {
1014                         Vector3d dir = getPathLegDirection(Direction.PREVIOUS);
1015                         double length = getInlineLength();
1016                         dir.normalize();
1017                         dir.scale(length);
1018                         pos.add(dir);
1019                         break;
1020                 }
1021                 case PORT:
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?
1024                         break;
1025                 case SPLIT:
1026                         // do nothing
1027                         break;
1028
1029                 }
1030                 return pos;
1031         }
1032
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());
1040         }
1041
1042         public PipeControlPoint findNextEnd() {
1043                 ArrayList<PipeControlPoint> t = new ArrayList<PipeControlPoint>();
1044                 return findNextEnd( t);
1045         }
1046
1047         public PipeControlPoint findPreviousEnd() {
1048                 ArrayList<PipeControlPoint> t = new ArrayList<PipeControlPoint>();
1049                 return findPreviousEnd(t);
1050         }
1051
1052         public PipeControlPoint findNextEnd(List<PipeControlPoint> nextList) {
1053                 while (true) {
1054                         PipeControlPoint pcp = null;
1055                         PipeControlPoint p = null;
1056                         if (nextList.size() == 0)
1057                                 p = this;
1058
1059                         else
1060                                 p = nextList.get(nextList.size() - 1);
1061
1062                         pcp = p.getNext();
1063                         if (pcp == null) {
1064                                 pcp = p;
1065                                 if (nextList.size() > 0)
1066                                         nextList.remove(nextList.size() - 1);
1067                                 //              if (DEBUG) System.out.println(" " + pcp.getResource() + " not full");
1068                                 return pcp;
1069                                 //break;
1070                         }
1071                         if (pcp.isPathLegEnd()) {
1072                                 //if (DEBUG) System.out.println(" " + pcp.getResource());
1073                                 return pcp;
1074                         } else {
1075                                 nextList.add(pcp);
1076                                 // if (DEBUG) System.out.print(" " + pcp.getResource());
1077                         }
1078                 }
1079         }
1080
1081         public PipeControlPoint findPreviousEnd(List<PipeControlPoint> prevList) {
1082                 while (true) {
1083                         PipeControlPoint pcp = null;
1084                         PipeControlPoint p = null;
1085                         if (prevList.size() == 0)
1086                                 p = this;
1087
1088                         else
1089                                 p = prevList.get(prevList.size() - 1);
1090
1091                         pcp = p.getPrevious();
1092                         if (pcp == null) {
1093                                 pcp = p;
1094                                 if (prevList.size() > 0)
1095                                         prevList.remove(prevList.size() - 1);
1096                                 //                              if (DEBUG) System.out.println(" " + pcp.getResource() + " not full");
1097                                 return pcp;
1098                         }
1099                         if (pcp.isPathLegEnd()) {
1100                                 //                              if (DEBUG)      System.out.println(" " + pcp.getResource());
1101                                 return pcp;
1102                         } else {
1103                                 prevList.add(pcp);
1104                                 //                              if (DEBUG)System.out.print(" " + pcp.getResource());
1105                         }
1106                 }
1107         }
1108
1109         public void _remove() {
1110             _remove(true);
1111         }
1112
1113
1114         public PipeControlPoint getDualSub() {
1115             if (isDualInline())
1116                 return getChildPoints().get(0);
1117             else
1118                 throw new IllegalStateException("Current control point is not dual inline");
1119         }
1120
1121
1122         public void _remove(boolean renconnect) {
1123             if (disposed)
1124                 return;
1125
1126             if (DEBUG) System.out.println(this + " Remove " + renconnect);
1127
1128                 if (getParentPoint() != null) {
1129                     getParentPoint()._remove(renconnect);
1130                     return;
1131                 }
1132                 PipeRun pipeRun = getPipeRun();
1133 //              PipeRUn removal has been changed, so pipeRun may be null.
1134 //              if (pipeRun == null)
1135 //                      return;
1136
1137                 PipeControlPoint additionalRemove = null;
1138                 if (!PipingRules.isEnabled()) {
1139                     component = null;
1140                         setPrevious(null);
1141                         setNext(null);
1142                 } else {
1143
1144                         PipeControlPoint currentPrev = previous;
1145                         PipeControlPoint currentNext = next;
1146                         if (currentNext == null && currentPrev == null) {
1147                                 removeComponent();
1148                                 if (pipeRun != null) {
1149                                     pipeRun.remChild(this);
1150                                     checkRemove(pipeRun);
1151                                 }
1152                                 return;
1153                         }
1154                         if (currentNext != null && currentPrev != null) {
1155                                 boolean link = renconnect;
1156                                 if (currentNext.isBranchEnd()) {
1157                                         link = false;
1158                                         currentNext.remove();
1159                                         currentNext = null;
1160                                         setNext(null);
1161                                 }
1162                                 if (currentPrev.isBranchEnd()) {
1163                                         link = false;
1164                                         currentPrev.remove();
1165                                         currentPrev = null;
1166                                         setPrevious(null);
1167                                 }
1168                                 if (link) {
1169                                     if (currentPrev.isDirected() && currentNext.isDirected())
1170                                         link = false;
1171                                     else if (this.isDualInline()) {
1172                                         link = false;
1173                                     } else if (this.isDualSub()) {
1174                                         throw new RuntimeException("_remove() is called for parent point, somehow got to child point. " + this);
1175                                     }
1176                                 }
1177                                 if (currentNext == null) {
1178                                         // Nothing to do
1179                                 } else if (currentNext.isDualInline()) {
1180                                         PipeControlPoint sccp = currentNext;
1181                                         PipeControlPoint ocp = currentNext.getDualSub();
1182                                         if (ocp == null) {
1183                                                 throw new RuntimeException("Removing PipeControlPoint " + this+ " structure damaged, no offset control point");
1184                                         }
1185                                         if (link) {
1186                                                 sccp.setPrevious(currentPrev);
1187                                                 //ocp.setPrevious(currentPrev);
1188                                                 assert(ocp.getPrevious() == currentPrev);
1189                                         } else {
1190                                                 sccp.setPrevious(null);
1191                                                 //ocp.setPrevious(null);
1192                                                 assert(ocp.getPrevious() == null);
1193                                         }
1194                                         setNext(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) {
1198                                         if (link) {
1199                                                 currentNext.setPrevious(currentPrev);
1200                                         } else {
1201                                                 currentNext.setPrevious(null);
1202                                         }
1203                                         setNext(null);
1204                                 } else if (isDualInline()) {
1205                                     if (currentNext.previous != getDualSub()) {
1206                                         throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1207                                     }
1208                                     if (link) {
1209                         currentNext.setPrevious(currentPrev);
1210                     } else {
1211                         currentNext.setPrevious(null);
1212                     }
1213                     setNext(null);
1214                                 } else {
1215                                         throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1216                                 }
1217                                 if (currentPrev == null) {
1218                                         // Nothing to do
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();
1224                                         if (sccp == null)
1225                                                 throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, no size change control point");
1226                                         if (link) {
1227                                                 //ocp.setNext(currentNext);
1228                                                 sccp.setNext(currentNext);
1229                                                 assert(ocp.getNext() == currentNext);
1230                                         } else {
1231                                                 //ocp.setNext(null);
1232                                                 sccp.setNext(null);
1233                                                 assert(ocp.getNext() == null);
1234                                         }
1235                                         setPrevious(null);
1236                                 } else if (currentPrev.next == this) {
1237                                         if (link)
1238                                                 currentPrev.setNext(currentNext);
1239                                         else
1240                                                 currentPrev.setNext(null);
1241
1242                                         setPrevious(null);
1243                                 } else {
1244                                         throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged");
1245                                 }
1246                                 if (link) {
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();
1259                                                 cp.add(ps, ne);
1260                                                 cp.scale(0.5);
1261                                                 currentNext.setLength(l);
1262                                                 currentNext.setWorldPosition(cp);
1263                                         }
1264                                 } else {
1265                                         // FIXME : pipe run must be split into two parts, since the control point structure is no more continuous.
1266                                 }
1267                         } else if (currentNext != null) {
1268                                 if (currentNext.isDualInline()) {
1269                                         PipeControlPoint sccp = currentNext;
1270                                         PipeControlPoint ocp = currentNext.getDualSub();
1271                                         if (ocp == null) {
1272                                                 throw new RuntimeException("Removing PipeControlPoint " + this+ " structure damaged, no offset control point");
1273                                         }
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");
1284                     }
1285                     currentNext.setPrevious(null);
1286                                 } else {
1287                                         throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1288                                 }
1289                                 setNext(null);
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();
1296                                         if (sccp == null) {
1297                                                 throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, no size change control point");
1298                                         }
1299                                         sccp.setNext(null);
1300                                         assert(ocp.getNext() == null);
1301                                 } else if (currentPrev.next == this) {
1302                                     currentPrev.setNext(null);
1303                                 } else {
1304                                         throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1305                                 }
1306                                 setPrevious(null);
1307                         }
1308                         if (children.size() > 0 ) {
1309                                 removeSubPoints();
1310                         } else if (parent!= null) {
1311                                 removeParentPoint();
1312                         }
1313
1314                 }
1315
1316                 removeComponent();
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);
1322                 }
1323                 if (additionalRemove != null)
1324                         additionalRemove.remove();
1325                 disposed = true;
1326         }
1327
1328         /**
1329          * Removes control point and attempts to reconnect next/prev
1330          *
1331          * If this point is size change (PipeRuns are different on both sides), then reconnection cannot be made.
1332          */
1333         public void remove() {
1334                 PipeControlPoint currentPrev = previous;
1335                 PipeControlPoint currentNext = next;
1336                 _remove();
1337                 try {
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();
1346                 }
1347         }
1348
1349
1350         /**
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.
1353          */
1354         public void removeAndSplit() {
1355         PipeControlPoint currentPrev = previous;
1356         PipeControlPoint currentNext = next;
1357
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);
1363
1364             PipeRun previousRun = previous.getPipeRun();
1365             nextPipeRun.setPipeDiameter(previousRun.getPipeDiameter());
1366             nextPipeRun.setTurnRadiusArray(previousRun.getTurnRadiusArray());
1367
1368             PipelineComponent n = next.getPipelineComponent();
1369             while (n != null) {
1370                 if (n.getPipeRun() != previousRun)
1371                     break;
1372                 if (! (n instanceof Nozzle)) {
1373                     n.deattach();
1374                     nextPipeRun.addChild(n);
1375                 } else
1376                     n.setPipeRun(nextPipeRun);
1377                 n = n.getNext();
1378             }
1379         }
1380         _remove(false);
1381         try {
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();
1390         }
1391     }
1392
1393         /**
1394          * This is called when adjacent control point is removed.
1395          *
1396          * This call should remove the give point, if the point cannot exist alone.
1397          * At the moment there is one such case: branch.
1398          *
1399          * @return
1400          */
1401         protected boolean checkRemove() {
1402             if (getParentPoint() != null) {
1403                 return getParentPoint().checkRemove();
1404             } else {
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) {
1409                         remove();
1410                         return true;
1411                 }
1412             }
1413             return checkRemove(getPipeRun());
1414             }
1415     }
1416
1417         private boolean checkRemove(PipeRun pipeRun) {
1418             if (pipeRun == null)
1419                 return false;
1420                 Collection<PipeControlPoint> points = pipeRun.getControlPoints();
1421                 if (points.size() == 0) {
1422                         pipeRun.remove();
1423                         return true;
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...
1428                                 return true;
1429                         }
1430                 } else if (points.size() == 2) {
1431
1432                 }
1433                 return false;
1434         }
1435
1436         private void removeSubPoints() {
1437                 for (PipeControlPoint p : children) {
1438                         p.parent = null;
1439                         p.component = null;
1440                         //p._remove();
1441                         PipeControlPoint currentNext = p.getNext();
1442                         PipeControlPoint currentPrev = p.getPrevious();
1443                         p._setNext(null);
1444                         p._setPrevious(null);
1445                         PipeRun run = p.getPipeRun();
1446                         if (run != null) {
1447                             run.remChild(p);
1448                             checkRemove(run);
1449                         }
1450                         if (currentNext != null)
1451                 if (!currentNext.checkRemove())
1452                     PipingRules.requestUpdate(currentNext);
1453             if (currentPrev != null)
1454                 if (!currentPrev.checkRemove())
1455                     PipingRules.requestUpdate(currentPrev);
1456
1457                 }
1458                 children.clear();
1459         }
1460
1461         private void removeParentPoint() {
1462                 throw new RuntimeException("Child points cannot be removed directly");
1463         }
1464
1465         public boolean isRemoved() {
1466             return component == null;
1467         }
1468
1469         private void removeComponent() {
1470                 if (component == null)
1471                         return;
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);
1478                 if (next != null) {
1479                         if (next.getNext() == component)
1480                                 next.setNext(null);
1481                         else if (next.getPrevious() == component)
1482                                 next.setPrevious(null);
1483                         else if (next.getBranch0() == component)
1484                                 next.setBranch0(null);
1485                 }
1486                 if (prev != null) {
1487                         if (prev.getNext() == component)
1488                                 prev.setNext(null);
1489                         else if (prev.getPrevious() == component)
1490                                 prev.setPrevious(null);
1491                         else if (prev.getBranch0() == component)
1492                                 prev.setBranch0(null);
1493                 }
1494                 if (br0 != null) {
1495                         if (br0.getNext() == component)
1496                                 br0.setNext(null);
1497                         else if (br0.getPrevious() == component)
1498                                 br0.setPrevious(null);
1499                         else if (br0.getBranch0() == component)
1500                                 br0.setBranch0(null);
1501                 }
1502                 PipelineComponent comp = component;
1503                 component = null;
1504
1505                 comp.remove();
1506         }
1507
1508         @Override
1509         public void setOrientation(Quat4d orientation) {
1510                 if (MathTools.equals(orientation, getOrientation()))
1511                         return;
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());
1517                 updateSubPoint();
1518         }
1519
1520         @Override
1521         public void setPosition(Vector3d position) {
1522                 if (MathTools.equals(position, getPosition()))
1523                         return;
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());
1529                 updateSubPoint();
1530         }
1531
1532         private void updateSubPoint() {
1533                 if (isOffset()) {
1534                         if (next == null && previous == null) {
1535                                 for (PipeControlPoint sub : getChildPoints()) {
1536                                         sub.setWorldPosition(getWorldPosition());
1537                                         sub.setWorldOrientation(getWorldOrientation());
1538                                 }
1539                                 return;
1540                         }
1541                         for (PipeControlPoint sub : getChildPoints()) {
1542                                 Vector3d wp = getWorldPosition();
1543                                 wp.add(getSizeChangeOffsetVector());
1544                                 sub.setWorldPosition(wp);
1545                                 sub.setWorldOrientation(getWorldOrientation());
1546                         }
1547                 } else {
1548                         for (PipeControlPoint sub : getChildPoints()) {
1549                                 sub.setWorldPosition(getWorldPosition());
1550                                 sub.setWorldOrientation(getWorldOrientation());
1551                         }
1552                 }
1553         }
1554
1555
1556         public void _setWorldPosition(Vector3d position) {
1557                 Vector3d localPos = getLocalPosition(position);
1558                 super.setPosition(localPos);
1559                 updateSubPoint();
1560         }
1561
1562         public void _setWorldOrientation(Quat4d orientation) {
1563                 Quat4d localOr = getLocalOrientation(orientation);
1564                 super.setOrientation(localOr);
1565                 updateSubPoint();
1566         }
1567
1568         @Override
1569         public String toString() {
1570                 return getClass().getName() + "@" + Integer.toHexString(hashCode());
1571         }
1572
1573 }