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.plant3d.scenegraph.IP3DNode;
  19 import org.simantics.plant3d.scenegraph.Nozzle;
  20 import org.simantics.plant3d.scenegraph.P3DRootNode;
  21 import org.simantics.plant3d.scenegraph.PipeRun;
  22 import org.simantics.plant3d.scenegraph.PipelineComponent;
  23
  24 import vtk.vtkRenderer;
  25
  26
  27 public class PipeControlPoint extends G3DNode implements IP3DNode {
  28
  29         private static boolean DEBUG = false;
  30
  31         public enum PointType{INLINE,TURN,END};
  32         public enum Direction{NEXT,PREVIOUS};
  33         public enum PositionType {SPLIT,NEXT,PREVIOUS,PORT}
  34
  35         private PipelineComponent component;
  36
  37         private PointType type;
  38         private boolean isFixed = true;        // In-line: fixed-length Turn: fixed-angle
  39         private boolean isMod = false;         // Can user modify fixed value manually
  40         private boolean isRotate = false;      // rotates around path leg axis.
  41         private boolean isReverse = false;     // definition direction can be swapped
  42         private boolean isDeletable = true;    // can be removed by rules
  43         private boolean isSizeChange = false;  // changes size of the pipe. The next control point / component is on different PipeRun
  44         private boolean isSub = false;         // child point for offset / size change
  45
  46         private boolean disposed = false;
  47
  48         public PipeControlPoint(PipelineComponent component) {
  49                 this.component = component;
  50                 if (component.getPipeRun() != null)
  51                         component.getPipeRun().addChild(this);
  52
  53         }
  54
  55         public PipeControlPoint(PipelineComponent component, PipeRun piperun) {
  56                 this.component = component;
  57                 piperun.addChild(this);
  58         }
  59
  60         @Override
  61         public void update(vtkRenderer ren) {
  62                 try {
  63                         PipingRules.requestUpdate(this);
  64                 } catch (Exception e) {
  65                         e.printStackTrace();
  66                 }
  67
  68         }
  69
  70         public PipeRun getPipeRun() {
  71                 return (PipeRun)getParent();
  72         }
  73
  74         public PipelineComponent getPipelineComponent() {
  75                 return component;
  76         }
  77
  78         public PointType getType() {
  79                 return type;
  80         }
  81
  82         public void setType(PointType type) {
  83                 this.type = type;
  84         }
  85
  86         @GetPropertyValue(name="Fixed",tabId="Debug",value="fixed")
  87         public boolean isFixed() {
  88                 return isFixed;
  89         }
  90
  91         public void setFixed(boolean fixed) {
  92                 this.isFixed = fixed;
  93         }
  94
  95         @GetPropertyValue(name="Mod",tabId="Debug",value="mod")
  96         public boolean isMod() {
  97         return isMod;
  98     }
  99
 100     public void setMod(boolean isMod) {
 101         this.isMod = isMod;
 102     }
 103
 104         @GetPropertyValue(name="Rotate",tabId="Debug",value="rotate")
 105         public boolean isRotate() {
 106                 return isRotate;
 107         }
 108
 109         public void setRotate(boolean rotate) {
 110                 this.isRotate = rotate;
 111         }
 112
 113         @GetPropertyValue(name="Reverse",tabId="Debug",value="reverse")
 114         public boolean isReverse() {
 115                 return isReverse;
 116         }
 117
 118         public void setReverse(boolean reverse) {
 119                 this.isReverse = reverse;
 120         }
 121
 122         public void setSub(boolean sub) {
 123                 this.isSub = sub;
 124         }
 125
 126         @GetPropertyValue(name="Deletable",tabId="Debug",value="deletable")
 127         public boolean isDeletable() {
 128                 return isDeletable;
 129         }
 130
 131         public void setDeletable(boolean deletable) {
 132                 this.isDeletable = deletable;
 133         }
 134
 135         public boolean isPathLegEnd() {
 136                 return type != PointType.INLINE;
 137         }
 138
 139         public boolean isEnd() {
 140                 return type == PointType.END;
 141         }
 142
 143         public boolean isTurn() {
 144                 return type == PointType.TURN;
 145         }
 146
 147         public boolean isInline() {
 148                 return type == PointType.INLINE;
 149         }
 150
 151         public boolean asPathLegEnd() {
 152             // Ends and Turns are path leg ends by default, but also unconnected inline are path leg ends.
 153             return isPathLegEnd() || getNext() == null || getPrevious() == null;
 154         }
 155
 156         /**
 157          * True for end components, if control point defines absolute position direction, which rules cannot modify.
 158          * This is typical for nozzles.
 159          * @return
 160          */
 161         public boolean isDirected() {
 162                 return isFixed && isEnd();
 163         }
 164
 165         /**
 166      * True for end components, if control is opposite to directed, and rules can modify position and orientation.
 167      * This is typical for caps, and other end components.
 168      * @return
 169      */
 170         public boolean isNonDirected() {
 171                 return !isFixed && isEnd();
 172         }
 173
 174         public boolean isVariableLength() {
 175                 return !isFixed && isInline();
 176         }
 177
 178         /**
 179          * Fixed length in-line component is such that piping rules cannot modify the length.
 180          * @return
 181          */
 182         public boolean isFixedLength() {
 183         return isFixed && isInline();
 184     }
 185
 186         public boolean isVariableAngle() {
 187                 return !isFixed && isTurn();
 188         }
 189
 190         /**
 191          * Fixed angle turn component is such that piping rules cannot modify the angle.
 192          * @return
 193          */
 194         public boolean isFixedAngle() {
 195         return isFixed && isTurn();
 196     }
 197
 198         /**
 199          * Does the turn behave like fixed angle?
 200          * For variable angle turns, the turn angle is defined by connected components, and without them, we must handle the component as fixed angle.
 201          * @return
 202          */
 203         public boolean asFixedAngle() {
 204         return isTurn() && (isFixed || next == null || previous == null);
 205     }
 206
 207         public boolean isBranchEnd() {
 208                 return isDeletable && isEnd();
 209         }
 210
 211         public boolean isOffset() {
 212                 return offset != null;
 213         }
 214
 215         public boolean isDualSub() {
 216                 return parent != null && isSub;
 217         }
 218
 219         public boolean isDualInline() {
 220                 return children.size() == 1 && children.get(0).isDualSub();
 221         }
 222
 223         public boolean isAxial() {
 224                 return isInline() && !isDualInline();
 225         }
 226
 227         public boolean isSizeChange() {
 228                 return isSizeChange;
 229                 //              if (children.size() == 0)
 230                 //                      return false;
 231                 //              if (!isDualInline())
 232                 //                      return false;
 233                 //              return getPipeRun() != children.get(0).getPipeRun();
 234         }
 235
 236         public void setSizeChange(boolean isSizeChange) {
 237                 this.isSizeChange = isSizeChange;
 238         }
 239
 240
 241         private PipeControlPoint next;
 242         private PipeControlPoint previous;
 243
 244         public PipeControlPoint getNext() {
 245                 return next;
 246         }
 247
 248         public PipeControlPoint getPrevious() {
 249                 return previous;
 250         }
 251
 252         public void setNext(PipeControlPoint next) {
 253             if (isSub) {
 254                 getParentPoint().setNext(next);
 255                 return;
 256             }
 257             if (next != null && next.isDualSub())
 258                 next = next.parent;
 259             if (_setNext(next)) {
 260                 for (PipeControlPoint pcp : children) {
 261                 if (pcp.isSub)
 262                     pcp._setNext(next);
 263             }
 264                 updateSubPoint();
 265             }
 266         }
 267
 268         public void setPrevious(PipeControlPoint prev) {
 269         if (isSub) {
 270             getParentPoint().setPrevious(prev);
 271             return;
 272         }
 273         if (prev != null && prev.isDualInline())
 274             prev = prev.children.get(0);
 275         if (_setPrevious(prev)) {
 276             for (PipeControlPoint pcp : children) {
 277                 if (pcp.isSub)
 278                     pcp._setPrevious(prev);
 279             }
 280             updateSubPoint();
 281         }
 282     }
 283
 284         protected boolean _setNext(PipeControlPoint next) {
 285                 if (isEnd() && previous != null && next != null)
 286                         throw new RuntimeException("End control points are allowed to have only one connection");
 287                 if (next == this)
 288                         throw new RuntimeException("Cannot connect to self");
 289                 if (this.next == next)
 290                         return false;
 291                 if (DEBUG) System.out.println(this + " next " + next);
 292                 if (next == null && isVariableAngle() && previous != null && !isRemoved()) {
 293                     convertVariableAngleToFixed(Direction.NEXT);
 294                 }
 295                 this.next = next;
 296                 if (component != null) {
 297                         if (parent == null || isSub)
 298                                 component.setNext(next != null ? next.component : null);
 299                         else
 300                                 component.setBranch0(next != null ? next.component : null);
 301
 302                 }
 303                 return true;
 304         }
 305
 306         protected boolean _setPrevious(PipeControlPoint previous) {
 307                 if (isEnd() && next != null && previous != null)
 308                         throw new RuntimeException("End control points are allowed to have only one connection");
 309                 if (previous == this)
 310                         throw new RuntimeException("Cannot connect to self");
 311                 if (this.previous == previous)
 312                         return false;
 313                 if (DEBUG) System.out.println(this + " previous " + previous);
 314                 if (previous == null && isVariableAngle() && next != null && !isRemoved()) {
 315             convertVariableAngleToFixed(Direction.PREVIOUS);
 316         }
 317                 this.previous = previous;
 318                 if (component != null) {
 319                         if (parent == null || isSub)
 320                                 component.setPrevious(previous != null ? previous.component : null);
 321                         else
 322                                 component.setBranch0(previous != null ? previous.component : null);
 323                         updateSubPoint();
 324                 }
 325                 return true;
 326         }
 327
 328         private void convertVariableAngleToFixed(Direction direction) {
 329             // We are removing reference, which transforms variable angle to fixed angle.
 330         // Since fixed angle is defined differently, we need to calculate fixed angle parameters based on current data
 331         // We need to calculate turnAngle and rotationAngle
 332             Vector3d dirOut = getPathLegDirection(direction == Direction.NEXT ? Direction.NEXT : Direction.PREVIOUS);
 333         Vector3d dir = getPathLegDirection(direction == Direction.NEXT ? Direction.PREVIOUS : Direction.NEXT);
 334         dir.negate();
 335         dirOut.normalize();
 336         dir.normalize();
 337         double angle = dir.angle(dirOut);
 338         //super._setNext(null);
 339         if (direction == Direction.NEXT)
 340             next = null;
 341         else
 342             previous = null;
 343         setRotationAngle(0.0);
 344         setReversed(direction == Direction.NEXT ? false : true);
 345         Vector3d dirOutN = getPathLegDirection(direction == Direction.NEXT ? Direction.NEXT : Direction.PREVIOUS);
 346         dirOutN.normalize();
 347         AxisAngle4d aa = new AxisAngle4d();
 348         if (MathTools.createRotation(dirOutN, dirOut, dir, aa)) {
 349             setRotationAngle(aa.angle);
 350             setTurnAngle(angle);
 351             if (DEBUG) System.out.println("convertToFixed " + dir + " " + dirOut + " " +dirOutN + " " +angle + " "+ aa.angle);
 352         }
 353         }
 354
 355         public PipeControlPoint parent;
 356         public List<PipeControlPoint> children = new ArrayList<PipeControlPoint>();
 357
 358         public List<PipeControlPoint> getChildPoints() {
 359                 return children;
 360         }
 361
 362         public PipeControlPoint getParentPoint() {
 363                 return parent;
 364         }
 365
 366
 367         private double length;
 368         private Double turnAngle;
 369         private Vector3d turnAxis;
 370
 371         private Double offset;
 372         private Double rotationAngle;
 373         private Boolean reversed;
 374
 375         @GetPropertyValue(name="Length",tabId="Debug",value="length")
 376         public double getLength() {
 377                 return length;
 378         }
 379
 380         public void setLength(double l) {
 381                 if (Double.isInfinite(l) || Double.isNaN(l)) {
 382                         return;
 383                 }
 384                 if (Math.abs(this.length-l) < MathTools.NEAR_ZERO)
 385                         return;
 386                 this.length = l;
 387                 firePropertyChanged("length");
 388                 if (isDualInline())
 389                     getDualSub().setLength(l);
 390         }
 391
 392         @GetPropertyValue(name="Turn Angle",tabId="Debug",value="turnAngle")
 393         public Double getTurnAngle() {
 394                 return turnAngle;
 395         }
 396
 397         @GetPropertyValue(name="Turn Axis",tabId="Debug",value="turnAxis")
 398         public Vector3d getTurnAxis() {
 399                 return turnAxis;
 400         }
 401
 402         @GetPropertyValue(name="Offset",tabId="Debug",value="offset")
 403         public Double getOffset() {
 404                 return offset;
 405         }
 406
 407         @GetPropertyValue(name="Rotation Angle",tabId="Debug",value="rotationAngle")
 408         public Double getRotationAngle() {
 409             if (isRotate || asFixedAngle())
 410                 return rotationAngle;
 411             return null;
 412         }
 413
 414         @GetPropertyValue(name="Reversed",tabId="Debug",value="reversed")
 415         public Boolean getReversed() {
 416                 return reversed;
 417         }
 418
 419         public boolean _getReversed() {
 420                 if (reversed == null)
 421                         return false;
 422                 return reversed;
 423         }
 424
 425         public void setTurnAngle(Double turnAngle) {
 426                 if (turnAngle == null || Double.isInfinite(turnAngle) || Double.isNaN(turnAngle)) {
 427                         return;
 428                 }
 429                 if (this.turnAngle != null && Math.abs(this.turnAngle-turnAngle) < MathTools.NEAR_ZERO)
 430                         return;
 431                 this.turnAngle = turnAngle;
 432                 firePropertyChanged("turnAngle");
 433         }
 434
 435         public void setTurnAxis(Vector3d turnAxis) {
 436                 if (this.turnAxis != null && MathTools.equals(turnAxis, this.turnAxis))
 437                         return;
 438                 this.turnAxis = turnAxis;
 439                 firePropertyChanged("turnAxis");
 440         }
 441
 442         public void setOffset(Double offset) {
 443                 if (Double.isInfinite(offset) || Double.isNaN(offset)) {
 444                         return;
 445                 }
 446                 if (this.offset != null && Math.abs(this.offset-offset) < MathTools.NEAR_ZERO)
 447                         return;
 448                 this.offset = offset;
 449                 firePropertyChanged("offset");
 450         }
 451
 452         public void setRotationAngle(Double rotationAngle) {
 453                 if (Double.isInfinite(rotationAngle) || Double.isNaN(rotationAngle)) {
 454                         return;
 455                 }
 456                 if (this.rotationAngle != null && Math.abs(this.rotationAngle-rotationAngle) < MathTools.NEAR_ZERO)
 457                         return;
 458                 this.rotationAngle = rotationAngle;
 459                 firePropertyChanged("rotationAngle");
 460         }
 461
 462         public void setReversed(Boolean reversed) {
 463                 this.reversed = reversed;
 464                 firePropertyChanged("reversed");
 465         }
 466
 467         public Vector3d getSizeChangeOffsetVector(Vector3d dir) {
 468                 Quat4d q;
 469                 if (rotationAngle == null)
 470                         q = getControlPointOrientationQuat(dir, 0.0);
 471                 else
 472                         q = getControlPointOrientationQuat(dir, rotationAngle);
 473                 Vector3d v = new Vector3d(0.0,offset,0.0);
 474                 Vector3d offset = new Vector3d();
 475                 MathTools.rotate(q, v, offset);
 476                 return offset;
 477         }
 478
 479         public Vector3d getSizeChangeOffsetVector() {
 480                 Quat4d q;
 481                 if (rotationAngle == null)
 482                         q = getControlPointOrientationQuat(0.0);
 483                 else
 484                         q = getControlPointOrientationQuat(rotationAngle);
 485                 Vector3d v = new Vector3d(0.0,offset,0.0);
 486                 Vector3d offset = new Vector3d();
 487                 MathTools.rotate(q, v, offset);
 488                 return offset;
 489         }
 490
 491         @GetPropertyValue(name="Next",tabId="Debug",value="next")
 492         private String getNextString() {
 493                 if (next == null)
 494                         return null;
 495                 return next.toString();
 496         }
 497
 498         @GetPropertyValue(name="Previous",tabId="Debug",value="previous")
 499         private String getPrevString() {
 500                 if (previous == null)
 501                         return null;
 502                 return previous.toString();
 503         }
 504
 505         @GetPropertyValue(name="Sub",tabId="Debug",value="sub")
 506         private String getSubString() {
 507                 if (children.size() == 0)
 508                         return "";
 509                 return Arrays.toString(children.toArray());
 510         }
 511
 512         @GetPropertyValue(name="Type",tabId="Debug",value="type")
 513         public String getTypeString() {
 514                 return type.name();
 515         }
 516
 517         public Quat4d getControlPointOrientationQuat(double angle) {
 518
 519                 if (turnAxis == null) {
 520                         Vector3d dir = getPathLegDirection(Direction.NEXT);
 521                         if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 522                                 dir.normalize();
 523                         return getControlPointOrientationQuat(dir, angle);
 524                 } else {
 525                         Vector3d dir = getPathLegDirection(Direction.PREVIOUS);
 526                         dir.negate();
 527                         if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 528                                 dir.normalize();
 529                         return getControlPointOrientationQuat(dir, turnAxis, angle);
 530                 }
 531         }
 532
 533         public Quat4d getControlPointOrientationQuat(double angle, boolean reversed) {
 534
 535                 if (turnAxis == null) {
 536                         Vector3d dir = getPathLegDirection(Direction.NEXT);
 537                         if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 538                                 dir.normalize();
 539                         Quat4d q =  getControlPointOrientationQuat(dir, angle);
 540                         if (reversed) {
 541                                 Quat4d q2 = new Quat4d();
 542                                 q2.set(new AxisAngle4d(MathTools.Y_AXIS, Math.PI));
 543                                 q.mulInverse(q2);
 544                         }
 545                         return q;
 546                 } else {
 547                         Vector3d dir = getPathLegDirection(Direction.PREVIOUS);
 548                         dir.negate();
 549                         if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 550                                 dir.normalize();
 551                         return getControlPointOrientationQuat(dir, turnAxis, angle);
 552                 }
 553         }
 554
 555
 556
 557         public static Quat4d getControlPointOrientationQuat(Vector3d dir, double angle) {
 558                 if (dir.lengthSquared() < MathTools.NEAR_ZERO)
 559                         return MathTools.getIdentityQuat();
 560
 561
 562                 Vector3d up = new Vector3d(0.0, 1.0, 0.0);
 563                 double a = up.angle(dir);
 564                 if (a < 0.1 || (Math.PI - a) < 0.1) {
 565                         up.set(1.0, 0.0, 0.0);
 566                 }
 567
 568
 569                 return getControlPointOrientationQuat(dir, up, angle);
 570         }
 571
 572         public static Quat4d getControlPointOrientationQuat(Vector3d dir, Vector3d up,  double angle) {
 573                 if (dir.lengthSquared() < MathTools.NEAR_ZERO)
 574                         return MathTools.getIdentityQuat();
 575
 576                 final Vector3d front = new Vector3d(1.0,0.0,0.0);
 577
 578                 Quat4d q1 = new Quat4d();
 579
 580
 581                 Vector3d right = new Vector3d();
 582
 583                 right.cross(dir, up);
 584                 up.cross(right, dir);
 585                 right.normalize();
 586                 up.normalize();
 587
 588                 Matrix3d m = new Matrix3d();
 589                 m.m00 = dir.x;
 590                 m.m10 = dir.y;
 591                 m.m20 = dir.z;
 592                 m.m01 = up.x;
 593                 m.m11 = up.y;
 594                 m.m21 = up.z;
 595                 m.m02 = right.x;
 596                 m.m12 = right.y;
 597                 m.m22 = right.z;
 598
 599                 //q1.set(m); MathTools contains more stable conversion
 600                 MathTools.getQuat(m, q1);
 601
 602                 //                      if (DEBUG) System.out.println("PipingTools.getPipeComponentOrientationQuat() " + dir+ " " + up + " " + right);
 603
 604                 Quat4d q2 = new Quat4d();
 605                 q2.set(new AxisAngle4d(front, angle));
 606                 q1.mul(q2);
 607                 return q1;
 608         }
 609
 610         public void insert(PipeControlPoint previous, PipeControlPoint next) {
 611                 // inserting an offsetpoint is error,
 612                 if (isDualSub())
 613                         throw new RuntimeException("Dual sub points cannot be inserted.");
 614                 // size change control point cannot be inserted this way, because it ends PipeRun
 615                 if (isSizeChange())
 616                         throw new RuntimeException("Size change points cannot be inserted.");
 617                 PipeRun piperun = previous.getPipeRun();
 618                 // and just to make sure that control point structure is not corrupted
 619                 if (getPipeRun() != null) {
 620                         if (piperun != getPipeRun() || piperun != next.getPipeRun())
 621                                 throw new RuntimeException("All controls points must be located on the same pipe run");
 622                 } else {
 623                         piperun.addChild(this);
 624                 }
 625
 626                 // insert new BranchControlPoint between straight's control points
 627                 PipeControlPoint previousNext = previous.getNext();
 628                 PipeControlPoint previousPrevious = previous.getPrevious();
 629
 630                 PipeControlPoint offsetCP = null;
 631                 if (isOffset()) {
 632                         offsetCP = getDualSub();
 633                 }
 634                 if (previousNext != null && previousNext == next) {
 635                         if (previous.isDualInline()) {
 636                                 throw new RuntimeException();
 637                         }
 638                         if (next.isDualSub()) {
 639                                 throw new RuntimeException();
 640                         }
 641                         previous.setNext(this);
 642                         this.setPrevious(previous);
 643                         if (previous.isDualSub()) {
 644                                 previous.getParentPoint().setNext(this);
 645                         }
 646                         this.setNext(next);
 647
 648                         if (offsetCP == null) {
 649                                 next.setPrevious(this);
 650                         } else {
 651                                 next.setPrevious(offsetCP);
 652                                 offsetCP.setNext(next);
 653                                 offsetCP.setPrevious(previous);
 654                         }
 655
 656                         if (next.isDualInline()) {
 657                                 next.getDualSub().setPrevious(this);
 658                         }
 659                 } else if (previousPrevious != null && previousPrevious == next) {
 660                         // control point were given in reverse order
 661                         if (next.isDualInline())
 662                                 throw new RuntimeException();
 663                         if (previous.isDualSub())
 664                                 throw new RuntimeException();
 665
 666                         this.setNext(previous);
 667                         if (offsetCP == null) {
 668                                 previous.setNext(this);
 669                         } else {
 670                                 previous.setPrevious(offsetCP);
 671                                 offsetCP.setNext(previous);
 672                                 offsetCP.setPrevious(next);
 673                         }
 674                         if (previous.isDualInline()) {
 675                                 previous.getDualSub().setPrevious(this);
 676                         }
 677                         this.setPrevious(next);
 678                         next.setNext(this);
 679                         if (next.isDualSub()) {
 680                                 next.getParentPoint().setNext(this);
 681                         }
 682
 683                 } else {
 684                         throw new RuntimeException();
 685                 }
 686
 687                 PipingRules.validate(piperun);
 688         }
 689
 690
 691
 692         public void insert(PipeControlPoint pcp, Direction direction) {
 693                 if (isDualSub())
 694                         throw new RuntimeException();
 695                 if (direction == Direction.NEXT) {
 696                         // if direction is next, user must have given OffsetPoint
 697                         if (pcp.isDualInline())
 698                                 throw new RuntimeException();
 699                         // basic next/prev links
 700                         pcp.setNext(this);
 701                         this.setPrevious(pcp);
 702                         // and last take care of sizechange / offset points
 703                         if (pcp.isDualSub()) {
 704                                 pcp.getParentPoint().setNext(this);
 705                         }
 706                         if (isDualInline()) {
 707                             getDualSub().setPrevious(this);
 708                         }
 709                 } else {
 710                         // if direction is previous, user must have given sizechange
 711                         if (pcp.isDualSub())
 712                                 throw new RuntimeException();
 713                         // previous direction is more complicated, since if newCP is SizeChangeControlPoint,
 714                         // we must link pcp to newCP's OffsetPoint
 715                         PipeControlPoint nocp = null;
 716                         if (isDualInline()) {
 717                                 nocp = getDualSub();
 718                                 nocp.setNext(pcp);
 719                         }
 720                         if (nocp == null) {
 721                                 pcp.setPrevious(this);
 722                         } else {
 723                                 pcp.setPrevious(nocp);
 724                         }
 725                         this.setNext(pcp);
 726                         if (pcp.isDualInline()) {
 727                                 PipeControlPoint ocp = pcp.getDualSub();
 728                                 if (nocp == null)
 729                                         ocp.setPrevious(this);
 730                                 else
 731                                         ocp.setPrevious(nocp);
 732                         }
 733
 734                 }
 735                 PipingRules.validate(getPipeRun());
 736         }
 737
 738         public Vector3d getDirectedControlPointDirection() {
 739                 assert (isDirected());
 740                 Vector3d dir = new Vector3d();
 741                 MathTools.rotate(getWorldOrientation(), new Vector3d(1.0, 0.0, 0.0), dir);
 742                 dir.normalize();
 743                 return dir;
 744         }
 745
 746         public Vector3d getDirection(Direction direction) {
 747         if (isDirected())
 748             return getDirectedControlPointDirection();
 749         if (isTurn() && asFixedAngle()) {
 750             if (direction == Direction.NEXT) {
 751                 if (previous != null) {
 752                     PipeControlPoint pcp = this;
 753                     Vector3d dir = new Vector3d();
 754                     dir.sub(pcp.getWorldPosition(),previous.getWorldPosition());
 755                     if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 756                         dir.normalize();
 757                     else
 758                         return null;
 759                     Quat4d q = getControlPointOrientationQuat(dir, pcp.getRotationAngle() != null ? pcp.getRotationAngle() : 0.0);
 760                     AxisAngle4d aa = new AxisAngle4d(MathTools.Y_AXIS,pcp.getTurnAngle() == null ? 0.0 : pcp.getTurnAngle());
 761                     Quat4d q2 = MathTools.getQuat(aa);
 762                     Vector3d v = new Vector3d(1.,0.,0.);
 763                     Vector3d offset = new Vector3d();
 764                     MathTools.rotate(q2, v, offset);
 765                     MathTools.rotate(q, offset, dir);
 766                     return dir;
 767                 }
 768             } else {
 769                 if (next != null) {
 770                     PipeControlPoint pcp = this;
 771                     Vector3d dir = new Vector3d();
 772                     dir.sub(next.getWorldPosition(),pcp.getWorldPosition());
 773                     if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 774                         dir.normalize();
 775                     else
 776                         return null;
 777                     Quat4d q = getControlPointOrientationQuat(dir, pcp.getRotationAngle() != null ? pcp.getRotationAngle() : 0.0);
 778                     AxisAngle4d aa = new AxisAngle4d(MathTools.Y_AXIS,pcp.getTurnAngle() == null ? 0.0 : pcp.getTurnAngle());
 779                     Quat4d q2 = MathTools.getQuat(aa);
 780                     Vector3d v = new Vector3d(1.,0.,0.);
 781                     Vector3d offset = new Vector3d();
 782                     MathTools.rotate(q2, v, offset);
 783                     MathTools.rotate(q, offset, dir);
 784                     return dir;
 785                 }
 786             }
 787         }
 788         return null;
 789     }
 790
 791         public Vector3d getPathLegDirection(Direction direction) {
 792                 if (direction == Direction.NEXT) {
 793                         if (next != null) {
 794                                 PipeControlPoint pcp = this;
 795                                 if (pcp.isDualInline()) {
 796                                         pcp = pcp.getDualSub();
 797                                 }
 798                                 Vector3d v = new Vector3d();
 799                                 v.sub(next.getWorldPosition(),pcp.getWorldPosition());
 800                                 return v;
 801                         } else {
 802                                 if (previous == null) {
 803                                         if (!isDirected())
 804                                                 throw new RuntimeException("Cannot calculate path leg direction for unconnected control point " + this);
 805                                         return getDirectedControlPointDirection();
 806
 807                                 } else {
 808                                         if (isVariableAngle() && !asFixedAngle())
 809                                                 throw new RuntimeException("Cannot calculate path leg direction for unconnected variable angle control point " + this);
 810                                         if (isInline()) {
 811                                                 PipeControlPoint pcp = this;
 812                                                 if (pcp.isDualSub()) {
 813                                                         pcp = pcp.getParentPoint();
 814                                                 }
 815                                                 Vector3d v = new Vector3d();
 816                                                 v.sub(pcp.getWorldPosition(),previous.getWorldPosition());
 817                                                 return v;
 818                                         } else if (isDirected()) {
 819                                                 return getDirectedControlPointDirection();
 820                                         } else if (isEnd()) {
 821                                                 Vector3d v = new Vector3d();
 822                                                 v.sub(getWorldPosition(),previous.getWorldPosition());
 823                                                 return v;
 824                                         } else if (isTurn() && asFixedAngle() && !_getReversed()) {
 825                                                 return getDirection(Direction.NEXT);
 826                                         }
 827                                         throw new RuntimeException("Missing implementation " + this);
 828                                 }
 829                         }
 830                 } else {
 831                         if (previous != null) {
 832                                 PipeControlPoint pcp = this;
 833                                 if (isDualSub())
 834                                         pcp = getParentPoint();
 835                                 Vector3d v = new Vector3d();
 836                                 v.sub(previous.getWorldPosition(),pcp.getWorldPosition());
 837                                 return v;
 838                         } else {
 839                                 if (next == null)  {
 840                                         if (!isDirected())
 841                                                 throw new RuntimeException("Cannot calculate path leg direction for unconnected control point " + this);
 842                                         Vector3d v = getDirectedControlPointDirection();
 843                                         v.negate();
 844                                         return v;
 845                                 } else {
 846                                         if (isVariableAngle() && !asFixedAngle())
 847                                                 throw new RuntimeException("Cannot calculate path leg direction for unconnected variable angle control point " + this);
 848                                         if (isInline()) {
 849                                                 PipeControlPoint pcp = this;
 850                                                 if (pcp.isDualInline()) {
 851                                                         pcp = pcp.getDualSub();
 852                                                 }
 853                                                 Vector3d v = new Vector3d();
 854                                                 v.sub(pcp.getWorldPosition(),next.getWorldPosition());
 855                                                 return v;
 856                                         } else if (isDirected()) {
 857                                                 Vector3d v = getDirectedControlPointDirection();
 858                                                 v.negate();
 859                                                 return v;
 860                                         } else if (isEnd()) {
 861                                                 Vector3d v = new Vector3d();
 862                                                 v.sub(getWorldPosition(),next.getWorldPosition());
 863                                                 return v;
 864                                         } else if (isTurn() && asFixedAngle() && _getReversed()) {
 865                                                 return getDirection(Direction.PREVIOUS);
 866                                         }
 867                                         throw new RuntimeException("Missing implementation " + this);
 868                                 }
 869                         }
 870                 }
 871         }
 872
 873         public void getInlineControlPointEnds(Tuple3d p1, Tuple3d p2) {
 874                 assert (isInline());
 875
 876                 PipeControlPoint sub = isAxial() ? this : getDualSub();
 877                 Vector3d pos = getWorldPosition(), pos2 = sub == this ? pos : sub.getWorldPosition();
 878                 Vector3d dir = sub.getPathLegDirection(Direction.NEXT);
 879
 880                 dir.normalize();
 881                 dir.scale(length * 0.5);
 882                 p1.set(pos);
 883                 p2.set(pos2);
 884                 p1.sub(dir);
 885                 p2.add(dir);
 886         }
 887
 888         public void getControlPointEnds(Tuple3d p1, Tuple3d p2) {
 889                 PipeControlPoint sub = isAxial() || isDirected() || isTurn() ? this : getChildPoints().get(0);
 890                 Vector3d pos = getWorldPosition(), pos2 = sub == this ? pos : sub.getWorldPosition();
 891
 892                 Vector3d dir1 = getPathLegDirection(Direction.PREVIOUS);
 893                 dir1.normalize();
 894                 Vector3d dir2 = sub.getPathLegDirection(Direction.NEXT);
 895                 dir2.normalize();
 896                 if (isInline()) {
 897                         dir1.scale(length * 0.5);
 898                         dir2.scale(length * 0.5);
 899                 } else {
 900                         dir1.scale(length);
 901                         dir2.scale(length);
 902                 }
 903                 p1.set(pos);
 904                 p2.set(pos2);
 905                 p1.add(dir1);
 906                 p2.add(dir2);
 907         }
 908
 909         public void getEndDirections(Tuple3d v1, Tuple3d v2) {
 910                 PipeControlPoint sub = isAxial() ? this : getDualSub();
 911
 912                 Vector3d dir1 = getPathLegDirection(Direction.PREVIOUS);
 913                 dir1.normalize();
 914                 Vector3d dir2 = sub.getPathLegDirection(Direction.NEXT);
 915                 dir2.normalize();
 916                 v1.set(dir1);
 917                 v2.set(dir2);
 918         }
 919
 920         public void getInlineControlPointEnds(Tuple3d p1, Tuple3d p2, Vector3d dir) {
 921                 assert (isInline());
 922
 923                 Vector3d pos = getWorldPosition();
 924                 dir.set(getPathLegDirection(Direction.NEXT));
 925                 dir.normalize();
 926                 dir.scale(length * 0.5);
 927                 p1.set(pos);
 928                 p2.set(pos);
 929                 p1.sub(dir);
 930                 p2.add(dir);
 931         }
 932
 933         public void getInlineControlPointEnds(Tuple3d center, Tuple3d p1, Tuple3d p2, Vector3d dir) {
 934                 assert (isInline());
 935
 936                 Vector3d pos = getWorldPosition();
 937                 center.set(pos);
 938                 dir.set(getPathLegDirection(Direction.NEXT));
 939                 dir.normalize();
 940                 dir.scale(length * 0.5);
 941                 p1.set(pos);
 942                 p2.set(pos);
 943                 p1.sub(dir);
 944                 p2.add(dir);
 945         }
 946
 947         public double getInlineLength() {
 948                 if (type == PointType.TURN)
 949                         return length;
 950                 else if (type == PointType.INLINE)
 951                         return length * 0.5;
 952                 return 0;
 953         }
 954
 955         public Vector3d getRealPosition(PositionType type) {
 956                 Vector3d pos = getWorldPosition();
 957                 switch (type) {
 958                 case NEXT: {
 959                         Vector3d dir = getPathLegDirection(Direction.NEXT);
 960                         double length = getInlineLength();
 961                         dir.normalize();
 962                         dir.scale(length);
 963                         pos.add(dir);
 964                         break;
 965                 }
 966                 case PREVIOUS: {
 967                         Vector3d dir = getPathLegDirection(Direction.PREVIOUS);
 968                         double length = getInlineLength();
 969                         dir.normalize();
 970                         dir.scale(length);
 971                         pos.add(dir);
 972                         break;
 973                 }
 974                 case PORT:
 975                         // IEntity portDir = pcp.getSingleRelatedObject(ProcessResource.plant3Dresource.HasDirection);
 976                         // TODO : how we calculated needed space for a port; does it has an offset from control point's position or not?
 977                         break;
 978                 case SPLIT:
 979                         // do nothing
 980                         break;
 981
 982                 }
 983                 return pos;
 984         }
 985
 986         public void getInlineMovement(Tuple3d start, Tuple3d end) {
 987                 // FIXME : check type of neighbor components and allow movement on top of variable length components,
 988                 //         find proper range for movement (pcp's position is not)
 989                 PipeControlPoint p = previous.getPrevious();
 990                 PipeControlPoint n = next.getNext();
 991                 start.set(p.getWorldPosition());
 992                 end.set(n.getWorldPosition());
 993         }
 994
 995         public PipeControlPoint findNextEnd() {
 996                 ArrayList<PipeControlPoint> t = new ArrayList<PipeControlPoint>();
 997                 return findNextEnd( t);
 998         }
 999
1000         public PipeControlPoint findPreviousEnd() {
1001                 ArrayList<PipeControlPoint> t = new ArrayList<PipeControlPoint>();
1002                 return findPreviousEnd(t);
1003         }
1004
1005         public PipeControlPoint findNextEnd(List<PipeControlPoint> nextList) {
1006                 while (true) {
1007                         PipeControlPoint pcp = null;
1008                         PipeControlPoint p = null;
1009                         if (nextList.size() == 0)
1010                                 p = this;
1011
1012                         else
1013                                 p = nextList.get(nextList.size() - 1);
1014
1015                         pcp = p.getNext();
1016                         if (pcp == null) {
1017                                 pcp = p;
1018                                 if (nextList.size() > 0)
1019                                         nextList.remove(nextList.size() - 1);
1020                                 //              if (DEBUG) System.out.println(" " + pcp.getResource() + " not full");
1021                                 return pcp;
1022                                 //break;
1023                         }
1024                         if (pcp.isPathLegEnd()) {
1025                                 //if (DEBUG) System.out.println(" " + pcp.getResource());
1026                                 return pcp;
1027                         } else {
1028                                 nextList.add(pcp);
1029                                 // if (DEBUG) System.out.print(" " + pcp.getResource());
1030                         }
1031                 }
1032         }
1033
1034         public PipeControlPoint findPreviousEnd(List<PipeControlPoint> prevList) {
1035                 while (true) {
1036                         PipeControlPoint pcp = null;
1037                         PipeControlPoint p = null;
1038                         if (prevList.size() == 0)
1039                                 p = this;
1040
1041                         else
1042                                 p = prevList.get(prevList.size() - 1);
1043
1044                         pcp = p.getPrevious();
1045                         if (pcp == null) {
1046                                 pcp = p;
1047                                 if (prevList.size() > 0)
1048                                         prevList.remove(prevList.size() - 1);
1049                                 //                              if (DEBUG) System.out.println(" " + pcp.getResource() + " not full");
1050                                 return pcp;
1051                         }
1052                         if (pcp.isPathLegEnd()) {
1053                                 //                              if (DEBUG)      System.out.println(" " + pcp.getResource());
1054                                 return pcp;
1055                         } else {
1056                                 prevList.add(pcp);
1057                                 //                              if (DEBUG)System.out.print(" " + pcp.getResource());
1058                         }
1059                 }
1060         }
1061
1062         public void _remove() {
1063             _remove(true);
1064         }
1065
1066
1067         public PipeControlPoint getDualSub() {
1068             if (isDualInline())
1069                 return getChildPoints().get(0);
1070             else
1071                 throw new IllegalStateException("Current control point is not dual inline");
1072         }
1073
1074
1075         public void _remove(boolean renconnect) {
1076             if (disposed)
1077                 return;
1078
1079             if (DEBUG) System.out.println(this + " Remove " + renconnect);
1080
1081                 if (getParentPoint() != null) {
1082                     getParentPoint()._remove(renconnect);
1083                     return;
1084                 }
1085                 PipeRun pipeRun = getPipeRun();
1086 //              PipeRUn removal has been changed, so pipeRun may be null.
1087 //              if (pipeRun == null)
1088 //                      return;
1089
1090                 PipeControlPoint additionalRemove = null;
1091                 if (!PipingRules.isEnabled()) {
1092                     component = null;
1093                         setPrevious(null);
1094                         setNext(null);
1095                 } else {
1096
1097                         PipeControlPoint currentPrev = previous;
1098                         PipeControlPoint currentNext = next;
1099                         if (currentNext == null && currentPrev == null) {
1100                                 removeComponent();
1101                                 if (pipeRun != null) {
1102                                     pipeRun.remChild(this);
1103                                     checkRemove(pipeRun);
1104                                 }
1105                                 return;
1106                         }
1107                         if (currentNext != null && currentPrev != null) {
1108                                 boolean link = renconnect;
1109                                 if (currentNext.isBranchEnd()) {
1110                                         link = false;
1111                                         currentNext.remove();
1112                                         currentNext = null;
1113                                         setNext(null);
1114                                 }
1115                                 if (currentPrev.isBranchEnd()) {
1116                                         link = false;
1117                                         currentPrev.remove();
1118                                         currentPrev = null;
1119                                         setPrevious(null);
1120                                 }
1121                                 if (link) {
1122                                     if (currentPrev.isDirected() && currentNext.isDirected())
1123                                         link = false;
1124                                     else if (this.isDualInline()) {
1125                                         link = false;
1126                                     } else if (this.isDualSub()) {
1127                                         throw new RuntimeException("_remove() is called for parent point, somehow got to child point. " + this);
1128                                     }
1129                                 }
1130                                 if (currentNext == null) {
1131                                         // Nothing to do
1132                                 } else if (currentNext.isDualInline()) {
1133                                         PipeControlPoint sccp = currentNext;
1134                                         PipeControlPoint ocp = currentNext.getDualSub();
1135                                         if (ocp == null) {
1136                                                 throw new RuntimeException("Removing PipeControlPoint " + this+ " structure damaged, no offset control point");
1137                                         }
1138                                         if (link) {
1139                                                 sccp.setPrevious(currentPrev);
1140                                                 //ocp.setPrevious(currentPrev);
1141                                                 assert(ocp.getPrevious() == currentPrev);
1142                                         } else {
1143                                                 sccp.setPrevious(null);
1144                                                 //ocp.setPrevious(null);
1145                                                 assert(ocp.getPrevious() == null);
1146                                         }
1147                                         setNext(null);
1148                                 } else if (currentNext.isDualSub()) {
1149                                         throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, next control point is offset control point");
1150                                 } else if (currentNext.previous == this) {
1151                                         if (link) {
1152                                                 currentNext.setPrevious(currentPrev);
1153                                         } else {
1154                                                 currentNext.setPrevious(null);
1155                                         }
1156                                         setNext(null);
1157                                 } else if (isDualInline()) {
1158                                     if (currentNext.previous != getDualSub()) {
1159                                         throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1160                                     }
1161                                     if (link) {
1162                         currentNext.setPrevious(currentPrev);
1163                     } else {
1164                         currentNext.setPrevious(null);
1165                     }
1166                     setNext(null);
1167                                 } else {
1168                                         throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1169                                 }
1170                                 if (currentPrev == null) {
1171                                         // Nothing to do
1172                                 } else if (currentPrev.isDualInline()) {
1173                                         throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, previous control point is size change control point");
1174                                 } else if (currentPrev.isDualSub()) {
1175                                         PipeControlPoint ocp = currentPrev;
1176                                         PipeControlPoint sccp = currentPrev.getParentPoint();
1177                                         if (sccp == null)
1178                                                 throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, no size change control point");
1179                                         if (link) {
1180                                                 //ocp.setNext(currentNext);
1181                                                 sccp.setNext(currentNext);
1182                                                 assert(ocp.getNext() == currentNext);
1183                                         } else {
1184                                                 //ocp.setNext(null);
1185                                                 sccp.setNext(null);
1186                                                 assert(ocp.getNext() == null);
1187                                         }
1188                                         setPrevious(null);
1189                                 } else if (currentPrev.next == this) {
1190                                         if (link)
1191                                                 currentPrev.setNext(currentNext);
1192                                         else
1193                                                 currentPrev.setNext(null);
1194
1195                                         setPrevious(null);
1196                                 } else {
1197                                         throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged");
1198                                 }
1199                                 if (link) {
1200                                         if (currentNext.isVariableLength() && currentPrev.isVariableLength()) {
1201                                                 // we have to join them into single variable length component.
1202                                                 additionalRemove = currentPrev;
1203                                                 // combine lengths and set the location of remaining control point to the center.
1204                                                 Point3d ps = new Point3d();
1205                                                 Point3d pe = new Point3d();
1206                                                 Point3d ns = new Point3d();
1207                                                 Point3d ne = new Point3d();
1208                                                 currentPrev.getInlineControlPointEnds(ps, pe);
1209                                                 currentNext.getInlineControlPointEnds(ns, ne);
1210                                                 double l = currentPrev.getLength() + currentNext.getLength();
1211                                                 Vector3d cp = new Vector3d();
1212                                                 cp.add(ps, ne);
1213                                                 cp.scale(0.5);
1214                                                 currentNext.setLength(l);
1215                                                 currentNext.setWorldPosition(cp);
1216                                         }
1217                                 } else {
1218                                         // FIXME : pipe run must be split into two parts, since the control point structure is no more continuous.
1219                                 }
1220                         } else if (currentNext != null) {
1221                                 if (currentNext.isDualInline()) {
1222                                         PipeControlPoint sccp = currentNext;
1223                                         PipeControlPoint ocp = getDualSub();
1224                                         if (ocp == null) {
1225                                                 throw new RuntimeException("Removing PipeControlPoint " + this+ " structure damaged, no offset control point");
1226                                         }
1227                                         sccp.setPrevious(null);
1228                                         assert(ocp.getPrevious() == null);
1229                                         //ocp.setPrevious(null);
1230                                 } else if (currentNext.isDualSub()) {
1231                                         throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, next control point is offset control point");
1232                                 } else if (currentNext.previous == this) {
1233                                     currentNext.setPrevious(null);
1234                                 }  else if (isDualInline()) {
1235                     if (currentNext.previous != getDualSub()) {
1236                         throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1237                     }
1238                     currentNext.setPrevious(null);
1239                                 } else {
1240                                         throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1241                                 }
1242                                 setNext(null);
1243                         } else {  //(previous != null)
1244                                 if(currentPrev.isDualInline()) {
1245                                         throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, previous control point is size change control point");
1246                                 } else if (currentPrev.isDualSub()) {
1247                                         PipeControlPoint ocp = currentPrev;
1248                                         PipeControlPoint sccp = currentPrev.getParentPoint();
1249                                         if (sccp == null) {
1250                                                 throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, no size change control point");
1251                                         }
1252                                         sccp.setNext(null);
1253                                         assert(ocp.getNext() == null);
1254                                 } else if (currentPrev.next == this) {
1255                                     currentPrev.setNext(null);
1256                                 } else {
1257                                         throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1258                                 }
1259                                 setPrevious(null);
1260                         }
1261                         if (children.size() > 0 ) {
1262                                 removeSubPoints();
1263                         } else if (parent!= null) {
1264                                 removeParentPoint();
1265                         }
1266
1267                 }
1268
1269                 removeComponent();
1270                 if (pipeRun != null) {
1271                 pipeRun.remChild(this);
1272                 checkRemove(pipeRun);
1273                 if (PipingRules.isEnabled() && pipeRun.getParent() != null && pipeRun.getControlPoints().size() > 0)
1274                         PipingRules.validate(pipeRun);
1275                 }
1276                 if (additionalRemove != null)
1277                         additionalRemove.remove();
1278                 disposed = true;
1279         }
1280
1281         /**
1282          * Removes control point and attempts to reconnect next/prev
1283          *
1284          * If this point is size change (PipeRuns are different on both sides), then reconnection cannot be made.
1285          */
1286         public void remove() {
1287                 PipeControlPoint currentPrev = previous;
1288                 PipeControlPoint currentNext = next;
1289                 _remove();
1290                 try {
1291                         if (currentNext != null)
1292                             if (!currentNext.checkRemove())
1293                                 PipingRules.requestUpdate(currentNext);
1294                         if (currentPrev != null)
1295                             if (!currentPrev.checkRemove())
1296                                 PipingRules.requestUpdate(currentPrev);
1297                 } catch (Exception e) {
1298                         e.printStackTrace();
1299                 }
1300         }
1301
1302
1303         /**
1304          * Removes control point without attempting to reconnect next/prev.
1305          * This usually leads to creation of another PipeRun for the control points after this point.
1306          */
1307         public void removeAndSplit() {
1308         PipeControlPoint currentPrev = previous;
1309         PipeControlPoint currentNext = next;
1310
1311         if (next != null && previous != null) {
1312             P3DRootNode root = (P3DRootNode)getPipelineComponent().getRootNode();
1313             PipeRun nextPipeRun = new PipeRun();
1314             nextPipeRun.setName(root.getUniqueName("PipeRun"));
1315             root.addChild(nextPipeRun);
1316
1317             PipeRun previousRun = previous.getPipeRun();
1318             nextPipeRun.setPipeDiameter(previousRun.getPipeDiameter());
1319             nextPipeRun.setTurnRadiusArray(previousRun.getTurnRadiusArray());
1320
1321             PipelineComponent n = next.getPipelineComponent();
1322             while (n != null) {
1323                 if (n.getPipeRun() != previousRun)
1324                     break;
1325                 if (! (n instanceof Nozzle)) {
1326                     n.deattach();
1327                     nextPipeRun.addChild(n);
1328                 } else
1329                     n.setPipeRun(nextPipeRun);
1330                 n = n.getNext();
1331             }
1332         }
1333         _remove(false);
1334         try {
1335             if (currentNext != null)
1336                 if (!currentNext.checkRemove())
1337                     PipingRules.requestUpdate(currentNext);
1338             if (currentPrev != null)
1339                 if (!currentPrev.checkRemove())
1340                     PipingRules.requestUpdate(currentPrev);
1341         } catch (Exception e) {
1342             e.printStackTrace();
1343         }
1344     }
1345
1346         /**
1347          * This is called when adjacent control point is removed.
1348          *
1349          * This call should remove the give point, if the point cannot exist alone.
1350          * At the moment there is one such case: branch.
1351          *
1352          * @return
1353          */
1354         protected boolean checkRemove() {
1355             if (getParentPoint() != null) {
1356                 return getParentPoint().checkRemove();
1357             } else {
1358                 if (getPipelineComponent() == null)
1359                     return true; // already removed
1360             if (getPipelineComponent().getType().equals("Plant3D.URIs.Builtin_BranchSplitComponent")) {
1361                 if (getChildPoints().get(0).getNext() == null && getChildPoints().get(0).getPrevious() == null) {
1362                         remove();
1363                         return true;
1364                 }
1365             }
1366             return checkRemove(getPipeRun());
1367             }
1368     }
1369
1370         private boolean checkRemove(PipeRun pipeRun) {
1371             if (pipeRun == null)
1372                 return false;
1373                 Collection<PipeControlPoint> points = pipeRun.getControlPoints();
1374                 if (points.size() == 0) {
1375                         pipeRun.remove();
1376                         return true;
1377                 } else if (points.size() == 1) {
1378                         PipeControlPoint pcp = points.iterator().next();
1379                         if (pcp.isDeletable() && pcp.getNext() == null && pcp.getPrevious() == null) {
1380                                 pcp._remove(); // This call will recursively call also this method...
1381                                 return true;
1382                         }
1383                 } else if (points.size() == 2) {
1384
1385                 }
1386                 return false;
1387         }
1388
1389         private void removeSubPoints() {
1390                 for (PipeControlPoint p : children) {
1391                         p.parent = null;
1392                         p.component = null;
1393                         //p._remove();
1394                         PipeControlPoint currentNext = p.getNext();
1395                         PipeControlPoint currentPrev = p.getPrevious();
1396                         p._setNext(null);
1397                         p._setPrevious(null);
1398                         PipeRun run = p.getPipeRun();
1399                         if (run != null) {
1400                             run.remChild(p);
1401                             checkRemove(run);
1402                         }
1403                         if (currentNext != null)
1404                 if (!currentNext.checkRemove())
1405                     PipingRules.requestUpdate(currentNext);
1406             if (currentPrev != null)
1407                 if (!currentPrev.checkRemove())
1408                     PipingRules.requestUpdate(currentPrev);
1409
1410                 }
1411                 children.clear();
1412         }
1413
1414         private void removeParentPoint() {
1415                 throw new RuntimeException("Child points cannot be removed directly");
1416         }
1417
1418         public boolean isRemoved() {
1419             return component == null;
1420         }
1421
1422         private void removeComponent() {
1423                 if (component == null)
1424                         return;
1425                 PipelineComponent next = component.getNext();
1426                 PipelineComponent prev = component.getPrevious();
1427                 PipelineComponent br0 = component.getBranch0();
1428                 component.setNext(null);
1429                 component.setPrevious(null);
1430                 component.setBranch0(null);
1431                 if (next != null) {
1432                         if (next.getNext() == component)
1433                                 next.setNext(null);
1434                         else if (next.getPrevious() == component)
1435                                 next.setPrevious(null);
1436                         else if (next.getBranch0() == component)
1437                                 next.setBranch0(null);
1438                 }
1439                 if (prev != null) {
1440                         if (prev.getNext() == component)
1441                                 prev.setNext(null);
1442                         else if (prev.getPrevious() == component)
1443                                 prev.setPrevious(null);
1444                         else if (prev.getBranch0() == component)
1445                                 prev.setBranch0(null);
1446                 }
1447                 if (br0 != null) {
1448                         if (br0.getNext() == component)
1449                                 br0.setNext(null);
1450                         else if (br0.getPrevious() == component)
1451                                 br0.setPrevious(null);
1452                         else if (br0.getBranch0() == component)
1453                                 br0.setBranch0(null);
1454                 }
1455                 PipelineComponent comp = component;
1456                 component = null;
1457
1458                 comp.remove();
1459         }
1460
1461         @Override
1462         public void setOrientation(Quat4d orientation) {
1463                 if (MathTools.equals(orientation, getOrientation()))
1464                         return;
1465                 super.setOrientation(orientation);
1466                 if (getParentPoint() == null && component != null)
1467                         component._setWorldOrientation(getWorldOrientation());
1468                 updateSubPoint();
1469         }
1470
1471         @Override
1472         public void setPosition(Vector3d position) {
1473                 if (MathTools.equals(position, getPosition()))
1474                         return;
1475                 if (Double.isNaN(position.x) || Double.isNaN(position.y) || Double.isNaN(position.z))
1476                         throw new IllegalArgumentException("NaN is not supported");
1477                 super.setPosition(position);
1478                 if (getParentPoint() == null && component != null)
1479                         component._setWorldPosition(getWorldPosition());
1480                 updateSubPoint();
1481         }
1482
1483         private void updateSubPoint() {
1484                 if (isOffset()) {
1485                         if (next == null && previous == null) {
1486                                 for (PipeControlPoint sub : getChildPoints()) {
1487                                         sub.setWorldPosition(getWorldPosition());
1488                                         sub.setWorldOrientation(getWorldOrientation());
1489                                 }
1490                                 return;
1491                         }
1492                         for (PipeControlPoint sub : getChildPoints()) {
1493                                 Vector3d wp = getWorldPosition();
1494                                 wp.add(getSizeChangeOffsetVector());
1495                                 sub.setWorldPosition(wp);
1496                                 sub.setWorldOrientation(getWorldOrientation());
1497                         }
1498                 } else {
1499                         for (PipeControlPoint sub : getChildPoints()) {
1500                                 sub.setWorldPosition(getWorldPosition());
1501                                 sub.setWorldOrientation(getWorldOrientation());
1502                         }
1503                 }
1504         }
1505
1506
1507         public void _setWorldPosition(Vector3d position) {
1508                 Vector3d localPos = getLocalPosition(position);
1509                 super.setPosition(localPos);
1510                 updateSubPoint();
1511         }
1512
1513         public void _setWorldOrientation(Quat4d orientation) {
1514                 Quat4d localOr = getLocalOrientation(orientation);
1515                 super.setOrientation(localOr);
1516                 updateSubPoint();
1517         }
1518
1519         @Override
1520         public String toString() {
1521                 return getClass().getName() + "@" + Integer.toHexString(hashCode());
1522         }
1523
1524 }