1 package org.simantics.plant3d.scenegraph.controlpoint;
3 import java.util.ArrayList;
4 import java.util.Arrays;
5 import java.util.Collection;
8 import javax.vecmath.AxisAngle4d;
9 import javax.vecmath.Matrix3d;
10 import javax.vecmath.Point3d;
11 import javax.vecmath.Quat4d;
12 import javax.vecmath.Tuple3d;
13 import javax.vecmath.Vector3d;
15 import org.simantics.g3d.math.MathTools;
16 import org.simantics.g3d.property.annotations.GetPropertyValue;
17 import org.simantics.g3d.scenegraph.G3DNode;
18 import org.simantics.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;
24 import vtk.vtkRenderer;
27 public class PipeControlPoint extends G3DNode implements IP3DNode {
29 private static boolean DEBUG = false;
31 public enum PointType{INLINE,TURN,END};
32 public enum Direction{NEXT,PREVIOUS};
33 public enum PositionType {SPLIT,NEXT,PREVIOUS,PORT}
35 private PipelineComponent component;
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
46 private boolean disposed = false;
48 public PipeControlPoint(PipelineComponent component) {
49 this.component = component;
50 if (component.getPipeRun() != null)
51 component.getPipeRun().addChild(this);
55 public PipeControlPoint(PipelineComponent component, PipeRun piperun) {
56 this.component = component;
57 piperun.addChild(this);
61 public void update(vtkRenderer ren) {
63 PipingRules.requestUpdate(this);
64 } catch (Exception e) {
70 public PipeRun getPipeRun() {
71 return (PipeRun)getParent();
74 public PipelineComponent getPipelineComponent() {
78 public PointType getType() {
82 public void setType(PointType type) {
86 @GetPropertyValue(name="Fixed",tabId="Debug",value="fixed")
87 public boolean isFixed() {
91 public void setFixed(boolean fixed) {
95 @GetPropertyValue(name="Mod",tabId="Debug",value="mod")
96 public boolean isMod() {
100 public void setMod(boolean isMod) {
104 @GetPropertyValue(name="Rotate",tabId="Debug",value="rotate")
105 public boolean isRotate() {
109 public void setRotate(boolean rotate) {
110 this.isRotate = rotate;
113 @GetPropertyValue(name="Reverse",tabId="Debug",value="reverse")
114 public boolean isReverse() {
118 public void setReverse(boolean reverse) {
119 this.isReverse = reverse;
122 public void setSub(boolean sub) {
126 @GetPropertyValue(name="Deletable",tabId="Debug",value="deletable")
127 public boolean isDeletable() {
131 public void setDeletable(boolean deletable) {
132 this.isDeletable = deletable;
135 public boolean isPathLegEnd() {
136 return type != PointType.INLINE;
139 public boolean isEnd() {
140 return type == PointType.END;
143 public boolean isTurn() {
144 return type == PointType.TURN;
147 public boolean isInline() {
148 return type == PointType.INLINE;
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;
157 * True for end components, if control point defines absolute position direction, which rules cannot modify.
158 * This is typical for nozzles.
161 public boolean isDirected() {
162 return isFixed && isEnd();
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.
170 public boolean isNonDirected() {
171 return !isFixed && isEnd();
174 public boolean isVariableLength() {
175 return !isFixed && isInline();
179 * Fixed length in-line component is such that piping rules cannot modify the length.
182 public boolean isFixedLength() {
183 return isFixed && isInline();
186 public boolean isVariableAngle() {
187 return !isFixed && isTurn();
191 * Fixed angle turn component is such that piping rules cannot modify the angle.
194 public boolean isFixedAngle() {
195 return isFixed && isTurn();
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.
203 public boolean asFixedAngle() {
204 return isTurn() && (isFixed || next == null || previous == null);
207 public boolean isBranchEnd() {
208 return isDeletable && isEnd();
211 public boolean isOffset() {
212 return offset != null;
215 public boolean isDualSub() {
216 return parent != null && isSub;
219 public boolean isDualInline() {
220 return children.size() == 1 && children.get(0).isDualSub();
223 public boolean isAxial() {
224 return isInline() && !isDualInline();
227 public boolean isSizeChange() {
229 // if (children.size() == 0)
231 // if (!isDualInline())
233 // return getPipeRun() != children.get(0).getPipeRun();
236 public void setSizeChange(boolean isSizeChange) {
237 this.isSizeChange = isSizeChange;
241 private PipeControlPoint next;
242 private PipeControlPoint previous;
244 public PipeControlPoint getNext() {
248 public PipeControlPoint getPrevious() {
252 public void setNext(PipeControlPoint next) {
254 getParentPoint().setNext(next);
257 if (next != null && next.isDualSub())
259 if (_setNext(next)) {
260 for (PipeControlPoint pcp : children) {
268 public void setPrevious(PipeControlPoint prev) {
270 getParentPoint().setPrevious(prev);
273 if (prev != null && prev.isDualInline())
274 prev = prev.children.get(0);
275 if (_setPrevious(prev)) {
276 for (PipeControlPoint pcp : children) {
278 pcp._setPrevious(prev);
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");
288 throw new RuntimeException("Cannot connect to self");
289 if (this.next == next)
291 if (DEBUG) System.out.println(this + " next " + next);
292 if (next == null && isVariableAngle() && previous != null && !isRemoved()) {
293 convertVariableAngleToFixed(Direction.NEXT);
296 if (component != null) {
297 if (parent == null || isSub)
298 component.setNext(next != null ? next.component : null);
300 component.setBranch0(next != null ? next.component : null);
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)
313 if (DEBUG) System.out.println(this + " previous " + previous);
314 if (previous == null && isVariableAngle() && next != null && !isRemoved()) {
315 convertVariableAngleToFixed(Direction.PREVIOUS);
317 this.previous = previous;
318 if (component != null) {
319 if (parent == null || isSub)
320 component.setPrevious(previous != null ? previous.component : null);
322 component.setBranch0(previous != null ? previous.component : null);
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);
337 double angle = dir.angle(dirOut);
338 //super._setNext(null);
339 if (direction == Direction.NEXT)
343 setRotationAngle(0.0);
344 setReversed(direction == Direction.NEXT ? false : true);
345 Vector3d dirOutN = getPathLegDirection(direction == Direction.NEXT ? Direction.NEXT : Direction.PREVIOUS);
347 AxisAngle4d aa = new AxisAngle4d();
348 if (MathTools.createRotation(dirOutN, dirOut, dir, aa)) {
349 setRotationAngle(aa.angle);
351 if (DEBUG) System.out.println("convertToFixed " + dir + " " + dirOut + " " +dirOutN + " " +angle + " "+ aa.angle);
355 public PipeControlPoint parent;
356 public List<PipeControlPoint> children = new ArrayList<PipeControlPoint>();
358 public List<PipeControlPoint> getChildPoints() {
362 public PipeControlPoint getParentPoint() {
367 private double length;
368 private Double turnAngle;
369 private Vector3d turnAxis;
371 private Double offset;
372 private Double rotationAngle;
373 private Boolean reversed;
375 @GetPropertyValue(name="Length",tabId="Debug",value="length")
376 public double getLength() {
380 public void setLength(double l) {
381 if (Double.isInfinite(l) || Double.isNaN(l)) {
384 if (Math.abs(this.length-l) < MathTools.NEAR_ZERO)
387 firePropertyChanged("length");
389 getDualSub().setLength(l);
392 @GetPropertyValue(name="Turn Angle",tabId="Debug",value="turnAngle")
393 public Double getTurnAngle() {
397 @GetPropertyValue(name="Turn Axis",tabId="Debug",value="turnAxis")
398 public Vector3d getTurnAxis() {
402 @GetPropertyValue(name="Offset",tabId="Debug",value="offset")
403 public Double getOffset() {
407 @GetPropertyValue(name="Rotation Angle",tabId="Debug",value="rotationAngle")
408 public Double getRotationAngle() {
409 if (isRotate || asFixedAngle())
410 return rotationAngle;
414 @GetPropertyValue(name="Reversed",tabId="Debug",value="reversed")
415 public Boolean getReversed() {
419 public boolean _getReversed() {
420 if (reversed == null)
425 public void setTurnAngle(Double turnAngle) {
426 if (turnAngle == null || Double.isInfinite(turnAngle) || Double.isNaN(turnAngle)) {
429 if (this.turnAngle != null && Math.abs(this.turnAngle-turnAngle) < MathTools.NEAR_ZERO)
431 this.turnAngle = turnAngle;
432 firePropertyChanged("turnAngle");
435 public void setTurnAxis(Vector3d turnAxis) {
436 if (this.turnAxis != null && MathTools.equals(turnAxis, this.turnAxis))
438 this.turnAxis = turnAxis;
439 firePropertyChanged("turnAxis");
442 public void setOffset(Double offset) {
443 if (Double.isInfinite(offset) || Double.isNaN(offset)) {
446 if (this.offset != null && Math.abs(this.offset-offset) < MathTools.NEAR_ZERO)
448 this.offset = offset;
449 firePropertyChanged("offset");
452 public void setRotationAngle(Double rotationAngle) {
453 if (Double.isInfinite(rotationAngle) || Double.isNaN(rotationAngle)) {
456 if (this.rotationAngle != null && Math.abs(this.rotationAngle-rotationAngle) < MathTools.NEAR_ZERO)
458 this.rotationAngle = rotationAngle;
459 firePropertyChanged("rotationAngle");
462 public void setReversed(Boolean reversed) {
463 this.reversed = reversed;
464 firePropertyChanged("reversed");
467 public Vector3d getSizeChangeOffsetVector(Vector3d dir) {
469 if (rotationAngle == null)
470 q = getControlPointOrientationQuat(dir, 0.0);
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);
479 public Vector3d getSizeChangeOffsetVector() {
481 if (rotationAngle == null)
482 q = getControlPointOrientationQuat(0.0);
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);
491 @GetPropertyValue(name="Next",tabId="Debug",value="next")
492 private String getNextString() {
495 return next.toString();
498 @GetPropertyValue(name="Previous",tabId="Debug",value="previous")
499 private String getPrevString() {
500 if (previous == null)
502 return previous.toString();
505 @GetPropertyValue(name="Sub",tabId="Debug",value="sub")
506 private String getSubString() {
507 if (children.size() == 0)
509 return Arrays.toString(children.toArray());
512 @GetPropertyValue(name="Type",tabId="Debug",value="type")
513 public String getTypeString() {
517 public Quat4d getControlPointOrientationQuat(double angle) {
519 if (turnAxis == null) {
520 Vector3d dir = getPathLegDirection(Direction.NEXT);
521 if (dir.lengthSquared() > MathTools.NEAR_ZERO)
523 return getControlPointOrientationQuat(dir, angle);
525 Vector3d dir = getPathLegDirection(Direction.PREVIOUS);
527 if (dir.lengthSquared() > MathTools.NEAR_ZERO)
529 return getControlPointOrientationQuat(dir, turnAxis, angle);
533 public Quat4d getControlPointOrientationQuat(double angle, boolean reversed) {
535 if (turnAxis == null) {
536 Vector3d dir = getPathLegDirection(Direction.NEXT);
537 if (dir.lengthSquared() > MathTools.NEAR_ZERO)
539 Quat4d q = getControlPointOrientationQuat(dir, angle);
541 Quat4d q2 = new Quat4d();
542 q2.set(new AxisAngle4d(MathTools.Y_AXIS, Math.PI));
547 Vector3d dir = getPathLegDirection(Direction.PREVIOUS);
549 if (dir.lengthSquared() > MathTools.NEAR_ZERO)
551 return getControlPointOrientationQuat(dir, turnAxis, angle);
557 public static Quat4d getControlPointOrientationQuat(Vector3d dir, double angle) {
558 if (dir.lengthSquared() < MathTools.NEAR_ZERO)
559 return MathTools.getIdentityQuat();
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);
569 return getControlPointOrientationQuat(dir, up, angle);
572 public static Quat4d getControlPointOrientationQuat(Vector3d dir, Vector3d up, double angle) {
573 if (dir.lengthSquared() < MathTools.NEAR_ZERO)
574 return MathTools.getIdentityQuat();
576 final Vector3d front = new Vector3d(1.0,0.0,0.0);
578 Quat4d q1 = new Quat4d();
581 Vector3d right = new Vector3d();
583 right.cross(dir, up);
584 up.cross(right, dir);
588 Matrix3d m = new Matrix3d();
599 //q1.set(m); MathTools contains more stable conversion
600 MathTools.getQuat(m, q1);
602 // if (DEBUG) System.out.println("PipingTools.getPipeComponentOrientationQuat() " + dir+ " " + up + " " + right);
604 Quat4d q2 = new Quat4d();
605 q2.set(new AxisAngle4d(front, angle));
610 public void insert(PipeControlPoint previous, PipeControlPoint next) {
611 // inserting an offsetpoint is error,
613 throw new RuntimeException("Dual sub points cannot be inserted.");
614 // size change control point cannot be inserted this way, because it ends PipeRun
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");
623 piperun.addChild(this);
626 // insert new BranchControlPoint between straight's control points
627 PipeControlPoint previousNext = previous.getNext();
628 PipeControlPoint previousPrevious = previous.getPrevious();
630 PipeControlPoint offsetCP = null;
632 offsetCP = getDualSub();
634 if (previousNext != null && previousNext == next) {
635 if (previous.isDualInline()) {
636 throw new RuntimeException();
638 if (next.isDualSub()) {
639 throw new RuntimeException();
641 previous.setNext(this);
642 this.setPrevious(previous);
643 if (previous.isDualSub()) {
644 previous.getParentPoint().setNext(this);
648 if (offsetCP == null) {
649 next.setPrevious(this);
651 next.setPrevious(offsetCP);
652 offsetCP.setNext(next);
653 offsetCP.setPrevious(previous);
656 if (next.isDualInline()) {
657 next.getDualSub().setPrevious(this);
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();
666 this.setNext(previous);
667 if (offsetCP == null) {
668 previous.setNext(this);
670 previous.setPrevious(offsetCP);
671 offsetCP.setNext(previous);
672 offsetCP.setPrevious(next);
674 if (previous.isDualInline()) {
675 previous.getDualSub().setPrevious(this);
677 this.setPrevious(next);
679 if (next.isDualSub()) {
680 next.getParentPoint().setNext(this);
684 throw new RuntimeException();
687 PipingRules.validate(piperun);
692 public void insert(PipeControlPoint pcp, Direction direction) {
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
701 this.setPrevious(pcp);
702 // and last take care of sizechange / offset points
703 if (pcp.isDualSub()) {
704 pcp.getParentPoint().setNext(this);
706 if (isDualInline()) {
707 getDualSub().setPrevious(this);
710 // if direction is previous, user must have given sizechange
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()) {
721 pcp.setPrevious(this);
723 pcp.setPrevious(nocp);
726 if (pcp.isDualInline()) {
727 PipeControlPoint ocp = pcp.getDualSub();
729 ocp.setPrevious(this);
731 ocp.setPrevious(nocp);
735 PipingRules.validate(getPipeRun());
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);
746 public Vector3d getDirection(Direction direction) {
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)
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);
770 PipeControlPoint pcp = this;
771 Vector3d dir = new Vector3d();
772 dir.sub(next.getWorldPosition(),pcp.getWorldPosition());
773 if (dir.lengthSquared() > MathTools.NEAR_ZERO)
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);
791 public Vector3d getPathLegDirection(Direction direction) {
792 if (direction == Direction.NEXT) {
794 PipeControlPoint pcp = this;
795 if (pcp.isDualInline()) {
796 pcp = pcp.getDualSub();
798 Vector3d v = new Vector3d();
799 v.sub(next.getWorldPosition(),pcp.getWorldPosition());
802 if (previous == null) {
804 throw new RuntimeException("Cannot calculate path leg direction for unconnected control point " + this);
805 return getDirectedControlPointDirection();
808 if (isVariableAngle() && !asFixedAngle())
809 throw new RuntimeException("Cannot calculate path leg direction for unconnected variable angle control point " + this);
811 PipeControlPoint pcp = this;
812 if (pcp.isDualSub()) {
813 pcp = pcp.getParentPoint();
815 Vector3d v = new Vector3d();
816 v.sub(pcp.getWorldPosition(),previous.getWorldPosition());
818 } else if (isDirected()) {
819 return getDirectedControlPointDirection();
820 } else if (isEnd()) {
821 Vector3d v = new Vector3d();
822 v.sub(getWorldPosition(),previous.getWorldPosition());
824 } else if (isTurn() && asFixedAngle() && !_getReversed()) {
825 return getDirection(Direction.NEXT);
827 throw new RuntimeException("Missing implementation " + this);
831 if (previous != null) {
832 PipeControlPoint pcp = this;
834 pcp = getParentPoint();
835 Vector3d v = new Vector3d();
836 v.sub(previous.getWorldPosition(),pcp.getWorldPosition());
841 throw new RuntimeException("Cannot calculate path leg direction for unconnected control point " + this);
842 Vector3d v = getDirectedControlPointDirection();
846 if (isVariableAngle() && !asFixedAngle())
847 throw new RuntimeException("Cannot calculate path leg direction for unconnected variable angle control point " + this);
849 PipeControlPoint pcp = this;
850 if (pcp.isDualInline()) {
851 pcp = pcp.getDualSub();
853 Vector3d v = new Vector3d();
854 v.sub(pcp.getWorldPosition(),next.getWorldPosition());
856 } else if (isDirected()) {
857 Vector3d v = getDirectedControlPointDirection();
860 } else if (isEnd()) {
861 Vector3d v = new Vector3d();
862 v.sub(getWorldPosition(),next.getWorldPosition());
864 } else if (isTurn() && asFixedAngle() && _getReversed()) {
865 return getDirection(Direction.PREVIOUS);
867 throw new RuntimeException("Missing implementation " + this);
873 public void getInlineControlPointEnds(Tuple3d p1, Tuple3d p2) {
876 PipeControlPoint sub = isAxial() ? this : getDualSub();
877 Vector3d pos = getWorldPosition(), pos2 = sub == this ? pos : sub.getWorldPosition();
878 Vector3d dir = sub.getPathLegDirection(Direction.NEXT);
881 dir.scale(length * 0.5);
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();
892 Vector3d dir1 = getPathLegDirection(Direction.PREVIOUS);
894 Vector3d dir2 = sub.getPathLegDirection(Direction.NEXT);
897 dir1.scale(length * 0.5);
898 dir2.scale(length * 0.5);
909 public void getEndDirections(Tuple3d v1, Tuple3d v2) {
910 PipeControlPoint sub = isAxial() ? this : getDualSub();
912 Vector3d dir1 = getPathLegDirection(Direction.PREVIOUS);
914 Vector3d dir2 = sub.getPathLegDirection(Direction.NEXT);
920 public void getInlineControlPointEnds(Tuple3d p1, Tuple3d p2, Vector3d dir) {
923 Vector3d pos = getWorldPosition();
924 dir.set(getPathLegDirection(Direction.NEXT));
926 dir.scale(length * 0.5);
933 public void getInlineControlPointEnds(Tuple3d center, Tuple3d p1, Tuple3d p2, Vector3d dir) {
936 Vector3d pos = getWorldPosition();
938 dir.set(getPathLegDirection(Direction.NEXT));
940 dir.scale(length * 0.5);
947 public double getInlineLength() {
948 if (type == PointType.TURN)
950 else if (type == PointType.INLINE)
955 public Vector3d getRealPosition(PositionType type) {
956 Vector3d pos = getWorldPosition();
959 Vector3d dir = getPathLegDirection(Direction.NEXT);
960 double length = getInlineLength();
967 Vector3d dir = getPathLegDirection(Direction.PREVIOUS);
968 double length = getInlineLength();
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?
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());
995 public PipeControlPoint findNextEnd() {
996 ArrayList<PipeControlPoint> t = new ArrayList<PipeControlPoint>();
997 return findNextEnd( t);
1000 public PipeControlPoint findPreviousEnd() {
1001 ArrayList<PipeControlPoint> t = new ArrayList<PipeControlPoint>();
1002 return findPreviousEnd(t);
1005 public PipeControlPoint findNextEnd(List<PipeControlPoint> nextList) {
1007 PipeControlPoint pcp = null;
1008 PipeControlPoint p = null;
1009 if (nextList.size() == 0)
1013 p = nextList.get(nextList.size() - 1);
1018 if (nextList.size() > 0)
1019 nextList.remove(nextList.size() - 1);
1020 // if (DEBUG) System.out.println(" " + pcp.getResource() + " not full");
1024 if (pcp.isPathLegEnd()) {
1025 //if (DEBUG) System.out.println(" " + pcp.getResource());
1029 // if (DEBUG) System.out.print(" " + pcp.getResource());
1034 public PipeControlPoint findPreviousEnd(List<PipeControlPoint> prevList) {
1036 PipeControlPoint pcp = null;
1037 PipeControlPoint p = null;
1038 if (prevList.size() == 0)
1042 p = prevList.get(prevList.size() - 1);
1044 pcp = p.getPrevious();
1047 if (prevList.size() > 0)
1048 prevList.remove(prevList.size() - 1);
1049 // if (DEBUG) System.out.println(" " + pcp.getResource() + " not full");
1052 if (pcp.isPathLegEnd()) {
1053 // if (DEBUG) System.out.println(" " + pcp.getResource());
1057 // if (DEBUG)System.out.print(" " + pcp.getResource());
1062 public void _remove() {
1067 public PipeControlPoint getDualSub() {
1069 return getChildPoints().get(0);
1071 throw new IllegalStateException("Current control point is not dual inline");
1075 public void _remove(boolean renconnect) {
1079 if (DEBUG) System.out.println(this + " Remove " + renconnect);
1081 if (getParentPoint() != null) {
1082 getParentPoint()._remove(renconnect);
1085 PipeRun pipeRun = getPipeRun();
1086 // PipeRUn removal has been changed, so pipeRun may be null.
1087 // if (pipeRun == null)
1090 PipeControlPoint additionalRemove = null;
1091 if (!PipingRules.isEnabled()) {
1097 PipeControlPoint currentPrev = previous;
1098 PipeControlPoint currentNext = next;
1099 if (currentNext == null && currentPrev == null) {
1101 if (pipeRun != null) {
1102 pipeRun.remChild(this);
1103 checkRemove(pipeRun);
1107 if (currentNext != null && currentPrev != null) {
1108 boolean link = renconnect;
1109 if (currentNext.isBranchEnd()) {
1111 currentNext.remove();
1115 if (currentPrev.isBranchEnd()) {
1117 currentPrev.remove();
1122 if (currentPrev.isDirected() && currentNext.isDirected())
1124 else if (this.isDualInline()) {
1126 } else if (this.isDualSub()) {
1127 throw new RuntimeException("_remove() is called for parent point, somehow got to child point. " + this);
1130 if (currentNext == null) {
1132 } else if (currentNext.isDualInline()) {
1133 PipeControlPoint sccp = currentNext;
1134 PipeControlPoint ocp = currentNext.getDualSub();
1136 throw new RuntimeException("Removing PipeControlPoint " + this+ " structure damaged, no offset control point");
1139 sccp.setPrevious(currentPrev);
1140 //ocp.setPrevious(currentPrev);
1141 assert(ocp.getPrevious() == currentPrev);
1143 sccp.setPrevious(null);
1144 //ocp.setPrevious(null);
1145 assert(ocp.getPrevious() == 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) {
1152 currentNext.setPrevious(currentPrev);
1154 currentNext.setPrevious(null);
1157 } else if (isDualInline()) {
1158 if (currentNext.previous != getDualSub()) {
1159 throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1162 currentNext.setPrevious(currentPrev);
1164 currentNext.setPrevious(null);
1168 throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1170 if (currentPrev == null) {
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();
1178 throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, no size change control point");
1180 //ocp.setNext(currentNext);
1181 sccp.setNext(currentNext);
1182 assert(ocp.getNext() == currentNext);
1184 //ocp.setNext(null);
1186 assert(ocp.getNext() == null);
1189 } else if (currentPrev.next == this) {
1191 currentPrev.setNext(currentNext);
1193 currentPrev.setNext(null);
1197 throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged");
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();
1214 currentNext.setLength(l);
1215 currentNext.setWorldPosition(cp);
1218 // FIXME : pipe run must be split into two parts, since the control point structure is no more continuous.
1220 } else if (currentNext != null) {
1221 if (currentNext.isDualInline()) {
1222 PipeControlPoint sccp = currentNext;
1223 PipeControlPoint ocp = getDualSub();
1225 throw new RuntimeException("Removing PipeControlPoint " + this+ " structure damaged, no offset control point");
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");
1238 currentNext.setPrevious(null);
1240 throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
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();
1250 throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, no size change control point");
1253 assert(ocp.getNext() == null);
1254 } else if (currentPrev.next == this) {
1255 currentPrev.setNext(null);
1257 throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1261 if (children.size() > 0 ) {
1263 } else if (parent!= null) {
1264 removeParentPoint();
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);
1276 if (additionalRemove != null)
1277 additionalRemove.remove();
1282 * Removes control point and attempts to reconnect next/prev
1284 * If this point is size change (PipeRuns are different on both sides), then reconnection cannot be made.
1286 public void remove() {
1287 PipeControlPoint currentPrev = previous;
1288 PipeControlPoint currentNext = next;
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();
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.
1307 public void removeAndSplit() {
1308 PipeControlPoint currentPrev = previous;
1309 PipeControlPoint currentNext = next;
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);
1317 PipeRun previousRun = previous.getPipeRun();
1318 nextPipeRun.setPipeDiameter(previousRun.getPipeDiameter());
1319 nextPipeRun.setTurnRadiusArray(previousRun.getTurnRadiusArray());
1321 PipelineComponent n = next.getPipelineComponent();
1323 if (n.getPipeRun() != previousRun)
1325 if (! (n instanceof Nozzle)) {
1327 nextPipeRun.addChild(n);
1329 n.setPipeRun(nextPipeRun);
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();
1347 * This is called when adjacent control point is removed.
1349 * This call should remove the give point, if the point cannot exist alone.
1350 * At the moment there is one such case: branch.
1354 protected boolean checkRemove() {
1355 if (getParentPoint() != null) {
1356 return getParentPoint().checkRemove();
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) {
1366 return checkRemove(getPipeRun());
1370 private boolean checkRemove(PipeRun pipeRun) {
1371 if (pipeRun == null)
1373 Collection<PipeControlPoint> points = pipeRun.getControlPoints();
1374 if (points.size() == 0) {
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...
1383 } else if (points.size() == 2) {
1389 private void removeSubPoints() {
1390 for (PipeControlPoint p : children) {
1394 PipeControlPoint currentNext = p.getNext();
1395 PipeControlPoint currentPrev = p.getPrevious();
1397 p._setPrevious(null);
1398 PipeRun run = p.getPipeRun();
1403 if (currentNext != null)
1404 if (!currentNext.checkRemove())
1405 PipingRules.requestUpdate(currentNext);
1406 if (currentPrev != null)
1407 if (!currentPrev.checkRemove())
1408 PipingRules.requestUpdate(currentPrev);
1414 private void removeParentPoint() {
1415 throw new RuntimeException("Child points cannot be removed directly");
1418 public boolean isRemoved() {
1419 return component == null;
1422 private void removeComponent() {
1423 if (component == null)
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);
1432 if (next.getNext() == component)
1434 else if (next.getPrevious() == component)
1435 next.setPrevious(null);
1436 else if (next.getBranch0() == component)
1437 next.setBranch0(null);
1440 if (prev.getNext() == component)
1442 else if (prev.getPrevious() == component)
1443 prev.setPrevious(null);
1444 else if (prev.getBranch0() == component)
1445 prev.setBranch0(null);
1448 if (br0.getNext() == component)
1450 else if (br0.getPrevious() == component)
1451 br0.setPrevious(null);
1452 else if (br0.getBranch0() == component)
1453 br0.setBranch0(null);
1455 PipelineComponent comp = component;
1462 public void setOrientation(Quat4d orientation) {
1463 if (MathTools.equals(orientation, getOrientation()))
1465 super.setOrientation(orientation);
1466 if (getParentPoint() == null && component != null)
1467 component._setWorldOrientation(getWorldOrientation());
1472 public void setPosition(Vector3d position) {
1473 if (MathTools.equals(position, getPosition()))
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());
1483 private void updateSubPoint() {
1485 if (next == null && previous == null) {
1486 for (PipeControlPoint sub : getChildPoints()) {
1487 sub.setWorldPosition(getWorldPosition());
1488 sub.setWorldOrientation(getWorldOrientation());
1492 for (PipeControlPoint sub : getChildPoints()) {
1493 Vector3d wp = getWorldPosition();
1494 wp.add(getSizeChangeOffsetVector());
1495 sub.setWorldPosition(wp);
1496 sub.setWorldOrientation(getWorldOrientation());
1499 for (PipeControlPoint sub : getChildPoints()) {
1500 sub.setWorldPosition(getWorldPosition());
1501 sub.setWorldOrientation(getWorldOrientation());
1507 public void _setWorldPosition(Vector3d position) {
1508 Vector3d localPos = getLocalPosition(position);
1509 super.setPosition(localPos);
1513 public void _setWorldOrientation(Quat4d orientation) {
1514 Quat4d localOr = getLocalOrientation(orientation);
1515 super.setOrientation(localOr);
1520 public String toString() {
1521 return getClass().getName() + "@" + Integer.toHexString(hashCode());