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(Vector3d dir, double angle, boolean reversed) {
 534             if (turnAxis == null) {
 535             if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 536                 dir.normalize();
 537             Quat4d q =  getControlPointOrientationQuat(dir, angle);
 538             if (reversed) {
 539                 Quat4d q2 = new Quat4d();
 540                 q2.set(new AxisAngle4d(MathTools.Y_AXIS, Math.PI));
 541                 q.mulInverse(q2);
 542             }
 543             return q;
 544         } else {
 545             if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 546                 dir.normalize();
 547             return getControlPointOrientationQuat(dir, turnAxis, angle);
 548         }
 549         }
 550
 551         public Quat4d getControlPointOrientationQuat(double angle, boolean reversed) {
 552
 553                 if (turnAxis == null) {
 554                         Vector3d dir = getPathLegDirection(Direction.NEXT);
 555                         return getControlPointOrientationQuat(dir, angle, reversed);
 556                 } else {
 557                         Vector3d dir = getPathLegDirection(Direction.PREVIOUS);
 558                         dir.negate();
 559                         return getControlPointOrientationQuat(dir, angle, reversed);
 560                 }
 561         }
 562
 563
 564
 565         public static Quat4d getControlPointOrientationQuat(Vector3d dir, double angle) {
 566                 if (dir.lengthSquared() < MathTools.NEAR_ZERO)
 567                         return MathTools.getIdentityQuat();
 568
 569
 570                 Vector3d up = new Vector3d(0.0, 1.0, 0.0);
 571                 double a = up.angle(dir);
 572                 if (a < 0.1 || (Math.PI - a) < 0.1) {
 573                         up.set(1.0, 0.0, 0.0);
 574                 }
 575
 576
 577                 return getControlPointOrientationQuat(dir, up, angle);
 578         }
 579
 580         public static Quat4d getControlPointOrientationQuat(Vector3d dir, Vector3d up,  double angle) {
 581                 if (dir.lengthSquared() < MathTools.NEAR_ZERO)
 582                         return MathTools.getIdentityQuat();
 583
 584                 final Vector3d front = new Vector3d(1.0,0.0,0.0);
 585
 586                 Quat4d q1 = new Quat4d();
 587
 588
 589                 Vector3d right = new Vector3d();
 590
 591                 right.cross(dir, up);
 592                 up.cross(right, dir);
 593                 right.normalize();
 594                 up.normalize();
 595
 596                 Matrix3d m = new Matrix3d();
 597                 m.m00 = dir.x;
 598                 m.m10 = dir.y;
 599                 m.m20 = dir.z;
 600                 m.m01 = up.x;
 601                 m.m11 = up.y;
 602                 m.m21 = up.z;
 603                 m.m02 = right.x;
 604                 m.m12 = right.y;
 605                 m.m22 = right.z;
 606
 607                 //q1.set(m); MathTools contains more stable conversion
 608                 MathTools.getQuat(m, q1);
 609
 610                 //                      if (DEBUG) System.out.println("PipingTools.getPipeComponentOrientationQuat() " + dir+ " " + up + " " + right);
 611
 612                 Quat4d q2 = new Quat4d();
 613                 q2.set(new AxisAngle4d(front, angle));
 614                 q1.mul(q2);
 615                 return q1;
 616         }
 617
 618         public void insert(PipeControlPoint previous, PipeControlPoint next) {
 619                 // inserting an offsetpoint is error,
 620                 if (isDualSub())
 621                         throw new RuntimeException("Dual sub points cannot be inserted.");
 622                 // size change control point cannot be inserted this way, because it ends PipeRun
 623                 if (isSizeChange())
 624                         throw new RuntimeException("Size change points cannot be inserted.");
 625                 PipeRun piperun = previous.getPipeRun();
 626                 // and just to make sure that control point structure is not corrupted
 627                 if (getPipeRun() != null) {
 628                         if (piperun != getPipeRun() || piperun != next.getPipeRun())
 629                                 throw new RuntimeException("All controls points must be located on the same pipe run");
 630                 } else {
 631                         piperun.addChild(this);
 632                 }
 633
 634                 // insert new BranchControlPoint between straight's control points
 635                 PipeControlPoint previousNext = previous.getNext();
 636                 PipeControlPoint previousPrevious = previous.getPrevious();
 637
 638                 PipeControlPoint offsetCP = null;
 639                 if (isOffset()) {
 640                         offsetCP = getDualSub();
 641                 }
 642                 if (previousNext != null && previousNext == next) {
 643                         if (previous.isDualInline()) {
 644                                 throw new RuntimeException();
 645                         }
 646                         if (next.isDualSub()) {
 647                                 throw new RuntimeException();
 648                         }
 649                         previous.setNext(this);
 650                         this.setPrevious(previous);
 651                         if (previous.isDualSub()) {
 652                                 previous.getParentPoint().setNext(this);
 653                         }
 654                         this.setNext(next);
 655
 656                         if (offsetCP == null) {
 657                                 next.setPrevious(this);
 658                         } else {
 659                                 next.setPrevious(offsetCP);
 660                                 offsetCP.setNext(next);
 661                                 offsetCP.setPrevious(previous);
 662                         }
 663
 664                         if (next.isDualInline()) {
 665                                 next.getDualSub().setPrevious(this);
 666                         }
 667                 } else if (previousPrevious != null && previousPrevious == next) {
 668                         // control point were given in reverse order
 669                         if (next.isDualInline())
 670                                 throw new RuntimeException();
 671                         if (previous.isDualSub())
 672                                 throw new RuntimeException();
 673
 674                         this.setNext(previous);
 675                         if (offsetCP == null) {
 676                                 previous.setNext(this);
 677                         } else {
 678                                 previous.setPrevious(offsetCP);
 679                                 offsetCP.setNext(previous);
 680                                 offsetCP.setPrevious(next);
 681                         }
 682                         if (previous.isDualInline()) {
 683                                 previous.getDualSub().setPrevious(this);
 684                         }
 685                         this.setPrevious(next);
 686                         next.setNext(this);
 687                         if (next.isDualSub()) {
 688                                 next.getParentPoint().setNext(this);
 689                         }
 690
 691                 } else {
 692                         throw new RuntimeException();
 693                 }
 694
 695                 PipingRules.validate(piperun);
 696         }
 697
 698
 699
 700         public void insert(PipeControlPoint pcp, Direction direction) {
 701                 if (isDualSub())
 702                         throw new RuntimeException();
 703                 if (direction == Direction.NEXT) {
 704                         // if direction is next, user must have given OffsetPoint
 705                         if (pcp.isDualInline())
 706                                 throw new RuntimeException();
 707                         // basic next/prev links
 708                         pcp.setNext(this);
 709                         this.setPrevious(pcp);
 710                         // and last take care of sizechange / offset points
 711                         if (pcp.isDualSub()) {
 712                                 pcp.getParentPoint().setNext(this);
 713                         }
 714                         if (isDualInline()) {
 715                             getDualSub().setPrevious(this);
 716                         }
 717                 } else {
 718                         // if direction is previous, user must have given sizechange
 719                         if (pcp.isDualSub())
 720                                 throw new RuntimeException();
 721                         // previous direction is more complicated, since if newCP is SizeChangeControlPoint,
 722                         // we must link pcp to newCP's OffsetPoint
 723                         PipeControlPoint nocp = null;
 724                         if (isDualInline()) {
 725                                 nocp = getDualSub();
 726                                 nocp.setNext(pcp);
 727                         }
 728                         if (nocp == null) {
 729                                 pcp.setPrevious(this);
 730                         } else {
 731                                 pcp.setPrevious(nocp);
 732                         }
 733                         this.setNext(pcp);
 734                         if (pcp.isDualInline()) {
 735                                 PipeControlPoint ocp = pcp.getDualSub();
 736                                 if (nocp == null)
 737                                         ocp.setPrevious(this);
 738                                 else
 739                                         ocp.setPrevious(nocp);
 740                         }
 741
 742                 }
 743                 PipingRules.validate(getPipeRun());
 744         }
 745
 746         public Vector3d getDirectedControlPointDirection() {
 747                 assert (isDirected());
 748                 Vector3d dir = new Vector3d();
 749                 MathTools.rotate(getWorldOrientation(), new Vector3d(1.0, 0.0, 0.0), dir);
 750                 dir.normalize();
 751                 return dir;
 752         }
 753
 754         public Vector3d getDirection(Direction direction) {
 755         if (isDirected())
 756             return getDirectedControlPointDirection();
 757         if (isTurn() && asFixedAngle()) {
 758             if (direction == Direction.NEXT) {
 759                 if (previous != null) {
 760                     PipeControlPoint pcp = this;
 761                     Vector3d dir = new Vector3d();
 762                     dir.sub(pcp.getWorldPosition(),previous.getWorldPosition());
 763                     if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 764                         dir.normalize();
 765                     else
 766                         return null;
 767                     Quat4d q = getControlPointOrientationQuat(dir, pcp.getRotationAngle() != null ? pcp.getRotationAngle() : 0.0);
 768                     AxisAngle4d aa = new AxisAngle4d(MathTools.Y_AXIS,pcp.getTurnAngle() == null ? 0.0 : pcp.getTurnAngle());
 769                     Quat4d q2 = MathTools.getQuat(aa);
 770                     Vector3d v = new Vector3d(1.,0.,0.);
 771                     Vector3d offset = new Vector3d();
 772                     MathTools.rotate(q2, v, offset);
 773                     MathTools.rotate(q, offset, dir);
 774                     return dir;
 775                 }
 776             } else {
 777                 if (next != null) {
 778                     PipeControlPoint pcp = this;
 779                     Vector3d dir = new Vector3d();
 780                     dir.sub(next.getWorldPosition(),pcp.getWorldPosition());
 781                     if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 782                         dir.normalize();
 783                     else
 784                         return null;
 785                     Quat4d q = getControlPointOrientationQuat(dir, pcp.getRotationAngle() != null ? pcp.getRotationAngle() : 0.0);
 786                     AxisAngle4d aa = new AxisAngle4d(MathTools.Y_AXIS,pcp.getTurnAngle() == null ? 0.0 : pcp.getTurnAngle());
 787                     Quat4d q2 = MathTools.getQuat(aa);
 788                     Vector3d v = new Vector3d(1.,0.,0.);
 789                     Vector3d offset = new Vector3d();
 790                     MathTools.rotate(q2, v, offset);
 791                     MathTools.rotate(q, offset, dir);
 792                     return dir;
 793                 }
 794             }
 795         }
 796         return null;
 797     }
 798
 799         public Vector3d getPathLegDirection(Direction direction) {
 800                 if (direction == Direction.NEXT) {
 801                         if (next != null) {
 802                                 PipeControlPoint pcp = this;
 803                                 if (pcp.isDualInline()) {
 804                                         pcp = pcp.getDualSub();
 805                                 }
 806                                 Vector3d v = new Vector3d();
 807                                 v.sub(next.getWorldPosition(),pcp.getWorldPosition());
 808                                 return v;
 809                         } else {
 810                                 if (previous == null) {
 811                                         if (!isDirected())
 812                                                 throw new RuntimeException("Cannot calculate path leg direction for unconnected control point " + this);
 813                                         return getDirectedControlPointDirection();
 814
 815                                 } else {
 816                                         if (isVariableAngle() && !asFixedAngle())
 817                                                 throw new RuntimeException("Cannot calculate path leg direction for unconnected variable angle control point " + this);
 818                                         if (isInline()) {
 819                                                 PipeControlPoint pcp = this;
 820                                                 if (pcp.isDualSub()) {
 821                                                         pcp = pcp.getParentPoint();
 822                                                 }
 823                                                 Vector3d v = new Vector3d();
 824                                                 v.sub(pcp.getWorldPosition(),previous.getWorldPosition());
 825                                                 return v;
 826                                         } else if (isDirected()) {
 827                                                 return getDirectedControlPointDirection();
 828                                         } else if (isEnd()) {
 829                                                 Vector3d v = new Vector3d();
 830                                                 v.sub(getWorldPosition(),previous.getWorldPosition());
 831                                                 return v;
 832                                         } else if (isTurn() && asFixedAngle() && !_getReversed()) {
 833                                                 return getDirection(Direction.NEXT);
 834                                         }
 835                                         throw new RuntimeException("Missing implementation " + this);
 836                                 }
 837                         }
 838                 } else {
 839                         if (previous != null) {
 840                                 PipeControlPoint pcp = this;
 841                                 if (isDualSub())
 842                                         pcp = getParentPoint();
 843                                 Vector3d v = new Vector3d();
 844                                 v.sub(previous.getWorldPosition(),pcp.getWorldPosition());
 845                                 return v;
 846                         } else {
 847                                 if (next == null)  {
 848                                         if (!isDirected())
 849                                                 throw new RuntimeException("Cannot calculate path leg direction for unconnected control point " + this);
 850                                         Vector3d v = getDirectedControlPointDirection();
 851                                         v.negate();
 852                                         return v;
 853                                 } else {
 854                                         if (isVariableAngle() && !asFixedAngle())
 855                                                 throw new RuntimeException("Cannot calculate path leg direction for unconnected variable angle control point " + this);
 856                                         if (isInline()) {
 857                                                 PipeControlPoint pcp = this;
 858                                                 if (pcp.isDualInline()) {
 859                                                         pcp = pcp.getDualSub();
 860                                                 }
 861                                                 Vector3d v = new Vector3d();
 862                                                 v.sub(pcp.getWorldPosition(),next.getWorldPosition());
 863                                                 return v;
 864                                         } else if (isDirected()) {
 865                                                 Vector3d v = getDirectedControlPointDirection();
 866                                                 v.negate();
 867                                                 return v;
 868                                         } else if (isEnd()) {
 869                                                 Vector3d v = new Vector3d();
 870                                                 v.sub(getWorldPosition(),next.getWorldPosition());
 871                                                 return v;
 872                                         } else if (isTurn() && asFixedAngle() && _getReversed()) {
 873                                                 return getDirection(Direction.PREVIOUS);
 874                                         }
 875                                         throw new RuntimeException("Missing implementation " + this);
 876                                 }
 877                         }
 878                 }
 879         }
 880
 881         public void getInlineControlPointEnds(Tuple3d p1, Tuple3d p2) {
 882                 assert (isInline());
 883
 884                 PipeControlPoint sub = isAxial() ? this : getDualSub();
 885                 Vector3d pos = getWorldPosition(), pos2 = sub == this ? pos : sub.getWorldPosition();
 886                 Vector3d dir = sub.getPathLegDirection(Direction.NEXT);
 887
 888                 dir.normalize();
 889                 dir.scale(length * 0.5);
 890                 p1.set(pos);
 891                 p2.set(pos2);
 892                 p1.sub(dir);
 893                 p2.add(dir);
 894         }
 895
 896         public void getControlPointEnds(Tuple3d p1, Tuple3d p2) {
 897                 PipeControlPoint sub = isAxial() || isDirected() || isTurn() ? this : getChildPoints().get(0);
 898                 Vector3d pos = getWorldPosition(), pos2 = sub == this ? pos : sub.getWorldPosition();
 899
 900                 Vector3d dir1 = getPathLegDirection(Direction.PREVIOUS);
 901                 dir1.normalize();
 902                 Vector3d dir2 = sub.getPathLegDirection(Direction.NEXT);
 903                 dir2.normalize();
 904                 if (isInline()) {
 905                         dir1.scale(length * 0.5);
 906                         dir2.scale(length * 0.5);
 907                 } else {
 908                         dir1.scale(length);
 909                         dir2.scale(length);
 910                 }
 911                 p1.set(pos);
 912                 p2.set(pos2);
 913                 p1.add(dir1);
 914                 p2.add(dir2);
 915         }
 916
 917         public void getEndDirections(Tuple3d v1, Tuple3d v2) {
 918                 PipeControlPoint sub = isAxial() ? this : getDualSub();
 919
 920                 Vector3d dir1 = getPathLegDirection(Direction.PREVIOUS);
 921                 dir1.normalize();
 922                 Vector3d dir2 = sub.getPathLegDirection(Direction.NEXT);
 923                 dir2.normalize();
 924                 v1.set(dir1);
 925                 v2.set(dir2);
 926         }
 927
 928         public void getInlineControlPointEnds(Tuple3d p1, Tuple3d p2, Vector3d dir) {
 929                 assert (isInline());
 930
 931                 Vector3d pos = getWorldPosition();
 932                 dir.set(getPathLegDirection(Direction.NEXT));
 933                 dir.normalize();
 934                 dir.scale(length * 0.5);
 935                 p1.set(pos);
 936                 p2.set(pos);
 937                 p1.sub(dir);
 938                 p2.add(dir);
 939         }
 940
 941         public void getInlineControlPointEnds(Tuple3d center, Tuple3d p1, Tuple3d p2, Vector3d dir) {
 942                 assert (isInline());
 943
 944                 Vector3d pos = getWorldPosition();
 945                 center.set(pos);
 946                 dir.set(getPathLegDirection(Direction.NEXT));
 947                 dir.normalize();
 948                 dir.scale(length * 0.5);
 949                 p1.set(pos);
 950                 p2.set(pos);
 951                 p1.sub(dir);
 952                 p2.add(dir);
 953         }
 954
 955         public double getInlineLength() {
 956                 if (type == PointType.TURN)
 957                         return length;
 958                 else if (type == PointType.INLINE)
 959                         return length * 0.5;
 960                 return 0;
 961         }
 962
 963         public Vector3d getRealPosition(PositionType type) {
 964                 Vector3d pos = getWorldPosition();
 965                 switch (type) {
 966                 case NEXT: {
 967                         Vector3d dir = getPathLegDirection(Direction.NEXT);
 968                         double length = getInlineLength();
 969                         dir.normalize();
 970                         dir.scale(length);
 971                         pos.add(dir);
 972                         break;
 973                 }
 974                 case PREVIOUS: {
 975                         Vector3d dir = getPathLegDirection(Direction.PREVIOUS);
 976                         double length = getInlineLength();
 977                         dir.normalize();
 978                         dir.scale(length);
 979                         pos.add(dir);
 980                         break;
 981                 }
 982                 case PORT:
 983                         // IEntity portDir = pcp.getSingleRelatedObject(ProcessResource.plant3Dresource.HasDirection);
 984                         // TODO : how we calculated needed space for a port; does it has an offset from control point's position or not?
 985                         break;
 986                 case SPLIT:
 987                         // do nothing
 988                         break;
 989
 990                 }
 991                 return pos;
 992         }
 993
 994         public void getInlineMovement(Tuple3d start, Tuple3d end) {
 995                 // FIXME : check type of neighbor components and allow movement on top of variable length components,
 996                 //         find proper range for movement (pcp's position is not)
 997                 PipeControlPoint p = previous.getPrevious();
 998                 PipeControlPoint n = next.getNext();
 999                 start.set(p.getWorldPosition());
1000                 end.set(n.getWorldPosition());
1001         }
1002
1003         public PipeControlPoint findNextEnd() {
1004                 ArrayList<PipeControlPoint> t = new ArrayList<PipeControlPoint>();
1005                 return findNextEnd( t);
1006         }
1007
1008         public PipeControlPoint findPreviousEnd() {
1009                 ArrayList<PipeControlPoint> t = new ArrayList<PipeControlPoint>();
1010                 return findPreviousEnd(t);
1011         }
1012
1013         public PipeControlPoint findNextEnd(List<PipeControlPoint> nextList) {
1014                 while (true) {
1015                         PipeControlPoint pcp = null;
1016                         PipeControlPoint p = null;
1017                         if (nextList.size() == 0)
1018                                 p = this;
1019
1020                         else
1021                                 p = nextList.get(nextList.size() - 1);
1022
1023                         pcp = p.getNext();
1024                         if (pcp == null) {
1025                                 pcp = p;
1026                                 if (nextList.size() > 0)
1027                                         nextList.remove(nextList.size() - 1);
1028                                 //              if (DEBUG) System.out.println(" " + pcp.getResource() + " not full");
1029                                 return pcp;
1030                                 //break;
1031                         }
1032                         if (pcp.isPathLegEnd()) {
1033                                 //if (DEBUG) System.out.println(" " + pcp.getResource());
1034                                 return pcp;
1035                         } else {
1036                                 nextList.add(pcp);
1037                                 // if (DEBUG) System.out.print(" " + pcp.getResource());
1038                         }
1039                 }
1040         }
1041
1042         public PipeControlPoint findPreviousEnd(List<PipeControlPoint> prevList) {
1043                 while (true) {
1044                         PipeControlPoint pcp = null;
1045                         PipeControlPoint p = null;
1046                         if (prevList.size() == 0)
1047                                 p = this;
1048
1049                         else
1050                                 p = prevList.get(prevList.size() - 1);
1051
1052                         pcp = p.getPrevious();
1053                         if (pcp == null) {
1054                                 pcp = p;
1055                                 if (prevList.size() > 0)
1056                                         prevList.remove(prevList.size() - 1);
1057                                 //                              if (DEBUG) System.out.println(" " + pcp.getResource() + " not full");
1058                                 return pcp;
1059                         }
1060                         if (pcp.isPathLegEnd()) {
1061                                 //                              if (DEBUG)      System.out.println(" " + pcp.getResource());
1062                                 return pcp;
1063                         } else {
1064                                 prevList.add(pcp);
1065                                 //                              if (DEBUG)System.out.print(" " + pcp.getResource());
1066                         }
1067                 }
1068         }
1069
1070         public void _remove() {
1071             _remove(true);
1072         }
1073
1074
1075         public PipeControlPoint getDualSub() {
1076             if (isDualInline())
1077                 return getChildPoints().get(0);
1078             else
1079                 throw new IllegalStateException("Current control point is not dual inline");
1080         }
1081
1082
1083         public void _remove(boolean renconnect) {
1084             if (disposed)
1085                 return;
1086
1087             if (DEBUG) System.out.println(this + " Remove " + renconnect);
1088
1089                 if (getParentPoint() != null) {
1090                     getParentPoint()._remove(renconnect);
1091                     return;
1092                 }
1093                 PipeRun pipeRun = getPipeRun();
1094 //              PipeRUn removal has been changed, so pipeRun may be null.
1095 //              if (pipeRun == null)
1096 //                      return;
1097
1098                 PipeControlPoint additionalRemove = null;
1099                 if (!PipingRules.isEnabled()) {
1100                     component = null;
1101                         setPrevious(null);
1102                         setNext(null);
1103                 } else {
1104
1105                         PipeControlPoint currentPrev = previous;
1106                         PipeControlPoint currentNext = next;
1107                         if (currentNext == null && currentPrev == null) {
1108                                 removeComponent();
1109                                 if (pipeRun != null) {
1110                                     pipeRun.remChild(this);
1111                                     checkRemove(pipeRun);
1112                                 }
1113                                 return;
1114                         }
1115                         if (currentNext != null && currentPrev != null) {
1116                                 boolean link = renconnect;
1117                                 if (currentNext.isBranchEnd()) {
1118                                         link = false;
1119                                         currentNext.remove();
1120                                         currentNext = null;
1121                                         setNext(null);
1122                                 }
1123                                 if (currentPrev.isBranchEnd()) {
1124                                         link = false;
1125                                         currentPrev.remove();
1126                                         currentPrev = null;
1127                                         setPrevious(null);
1128                                 }
1129                                 if (link) {
1130                                     if (currentPrev.isDirected() && currentNext.isDirected())
1131                                         link = false;
1132                                     else if (this.isDualInline()) {
1133                                         link = false;
1134                                     } else if (this.isDualSub()) {
1135                                         throw new RuntimeException("_remove() is called for parent point, somehow got to child point. " + this);
1136                                     }
1137                                 }
1138                                 if (currentNext == null) {
1139                                         // Nothing to do
1140                                 } else if (currentNext.isDualInline()) {
1141                                         PipeControlPoint sccp = currentNext;
1142                                         PipeControlPoint ocp = currentNext.getDualSub();
1143                                         if (ocp == null) {
1144                                                 throw new RuntimeException("Removing PipeControlPoint " + this+ " structure damaged, no offset control point");
1145                                         }
1146                                         if (link) {
1147                                                 sccp.setPrevious(currentPrev);
1148                                                 //ocp.setPrevious(currentPrev);
1149                                                 assert(ocp.getPrevious() == currentPrev);
1150                                         } else {
1151                                                 sccp.setPrevious(null);
1152                                                 //ocp.setPrevious(null);
1153                                                 assert(ocp.getPrevious() == null);
1154                                         }
1155                                         setNext(null);
1156                                 } else if (currentNext.isDualSub()) {
1157                                         throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, next control point is offset control point");
1158                                 } else if (currentNext.previous == this) {
1159                                         if (link) {
1160                                                 currentNext.setPrevious(currentPrev);
1161                                         } else {
1162                                                 currentNext.setPrevious(null);
1163                                         }
1164                                         setNext(null);
1165                                 } else if (isDualInline()) {
1166                                     if (currentNext.previous != getDualSub()) {
1167                                         throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1168                                     }
1169                                     if (link) {
1170                         currentNext.setPrevious(currentPrev);
1171                     } else {
1172                         currentNext.setPrevious(null);
1173                     }
1174                     setNext(null);
1175                                 } else {
1176                                         throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1177                                 }
1178                                 if (currentPrev == null) {
1179                                         // Nothing to do
1180                                 } else if (currentPrev.isDualInline()) {
1181                                         throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, previous control point is size change control point");
1182                                 } else if (currentPrev.isDualSub()) {
1183                                         PipeControlPoint ocp = currentPrev;
1184                                         PipeControlPoint sccp = currentPrev.getParentPoint();
1185                                         if (sccp == null)
1186                                                 throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, no size change control point");
1187                                         if (link) {
1188                                                 //ocp.setNext(currentNext);
1189                                                 sccp.setNext(currentNext);
1190                                                 assert(ocp.getNext() == currentNext);
1191                                         } else {
1192                                                 //ocp.setNext(null);
1193                                                 sccp.setNext(null);
1194                                                 assert(ocp.getNext() == null);
1195                                         }
1196                                         setPrevious(null);
1197                                 } else if (currentPrev.next == this) {
1198                                         if (link)
1199                                                 currentPrev.setNext(currentNext);
1200                                         else
1201                                                 currentPrev.setNext(null);
1202
1203                                         setPrevious(null);
1204                                 } else {
1205                                         throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged");
1206                                 }
1207                                 if (link) {
1208                                         if (currentNext.isVariableLength() && currentPrev.isVariableLength()) {
1209                                                 // we have to join them into single variable length component.
1210                                                 additionalRemove = currentPrev;
1211                                                 // combine lengths and set the location of remaining control point to the center.
1212                                                 Point3d ps = new Point3d();
1213                                                 Point3d pe = new Point3d();
1214                                                 Point3d ns = new Point3d();
1215                                                 Point3d ne = new Point3d();
1216                                                 currentPrev.getInlineControlPointEnds(ps, pe);
1217                                                 currentNext.getInlineControlPointEnds(ns, ne);
1218                                                 double l = currentPrev.getLength() + currentNext.getLength();
1219                                                 Vector3d cp = new Vector3d();
1220                                                 cp.add(ps, ne);
1221                                                 cp.scale(0.5);
1222                                                 currentNext.setLength(l);
1223                                                 currentNext.setWorldPosition(cp);
1224                                         }
1225                                 } else {
1226                                         // FIXME : pipe run must be split into two parts, since the control point structure is no more continuous.
1227                                 }
1228                         } else if (currentNext != null) {
1229                                 if (currentNext.isDualInline()) {
1230                                         PipeControlPoint sccp = currentNext;
1231                                         PipeControlPoint ocp = getDualSub();
1232                                         if (ocp == null) {
1233                                                 throw new RuntimeException("Removing PipeControlPoint " + this+ " structure damaged, no offset control point");
1234                                         }
1235                                         sccp.setPrevious(null);
1236                                         assert(ocp.getPrevious() == null);
1237                                         //ocp.setPrevious(null);
1238                                 } else if (currentNext.isDualSub()) {
1239                                         throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, next control point is offset control point");
1240                                 } else if (currentNext.previous == this) {
1241                                     currentNext.setPrevious(null);
1242                                 }  else if (isDualInline()) {
1243                     if (currentNext.previous != getDualSub()) {
1244                         throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1245                     }
1246                     currentNext.setPrevious(null);
1247                                 } else {
1248                                         throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1249                                 }
1250                                 setNext(null);
1251                         } else {  //(previous != null)
1252                                 if(currentPrev.isDualInline()) {
1253                                         throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, previous control point is size change control point");
1254                                 } else if (currentPrev.isDualSub()) {
1255                                         PipeControlPoint ocp = currentPrev;
1256                                         PipeControlPoint sccp = currentPrev.getParentPoint();
1257                                         if (sccp == null) {
1258                                                 throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, no size change control point");
1259                                         }
1260                                         sccp.setNext(null);
1261                                         assert(ocp.getNext() == null);
1262                                 } else if (currentPrev.next == this) {
1263                                     currentPrev.setNext(null);
1264                                 } else {
1265                                         throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1266                                 }
1267                                 setPrevious(null);
1268                         }
1269                         if (children.size() > 0 ) {
1270                                 removeSubPoints();
1271                         } else if (parent!= null) {
1272                                 removeParentPoint();
1273                         }
1274
1275                 }
1276
1277                 removeComponent();
1278                 if (pipeRun != null) {
1279                 pipeRun.remChild(this);
1280                 checkRemove(pipeRun);
1281                 if (PipingRules.isEnabled() && pipeRun.getParent() != null && pipeRun.getControlPoints().size() > 0)
1282                         PipingRules.validate(pipeRun);
1283                 }
1284                 if (additionalRemove != null)
1285                         additionalRemove.remove();
1286                 disposed = true;
1287         }
1288
1289         /**
1290          * Removes control point and attempts to reconnect next/prev
1291          *
1292          * If this point is size change (PipeRuns are different on both sides), then reconnection cannot be made.
1293          */
1294         public void remove() {
1295                 PipeControlPoint currentPrev = previous;
1296                 PipeControlPoint currentNext = next;
1297                 _remove();
1298                 try {
1299                         if (currentNext != null)
1300                             if (!currentNext.checkRemove())
1301                                 PipingRules.requestUpdate(currentNext);
1302                         if (currentPrev != null)
1303                             if (!currentPrev.checkRemove())
1304                                 PipingRules.requestUpdate(currentPrev);
1305                 } catch (Exception e) {
1306                         e.printStackTrace();
1307                 }
1308         }
1309
1310
1311         /**
1312          * Removes control point without attempting to reconnect next/prev.
1313          * This usually leads to creation of another PipeRun for the control points after this point.
1314          */
1315         public void removeAndSplit() {
1316         PipeControlPoint currentPrev = previous;
1317         PipeControlPoint currentNext = next;
1318
1319         if (next != null && previous != null) {
1320             P3DRootNode root = (P3DRootNode)getPipelineComponent().getRootNode();
1321             PipeRun nextPipeRun = new PipeRun();
1322             nextPipeRun.setName(root.getUniqueName("PipeRun"));
1323             root.addChild(nextPipeRun);
1324
1325             PipeRun previousRun = previous.getPipeRun();
1326             nextPipeRun.setPipeDiameter(previousRun.getPipeDiameter());
1327             nextPipeRun.setTurnRadiusArray(previousRun.getTurnRadiusArray());
1328
1329             PipelineComponent n = next.getPipelineComponent();
1330             while (n != null) {
1331                 if (n.getPipeRun() != previousRun)
1332                     break;
1333                 if (! (n instanceof Nozzle)) {
1334                     n.deattach();
1335                     nextPipeRun.addChild(n);
1336                 } else
1337                     n.setPipeRun(nextPipeRun);
1338                 n = n.getNext();
1339             }
1340         }
1341         _remove(false);
1342         try {
1343             if (currentNext != null)
1344                 if (!currentNext.checkRemove())
1345                     PipingRules.requestUpdate(currentNext);
1346             if (currentPrev != null)
1347                 if (!currentPrev.checkRemove())
1348                     PipingRules.requestUpdate(currentPrev);
1349         } catch (Exception e) {
1350             e.printStackTrace();
1351         }
1352     }
1353
1354         /**
1355          * This is called when adjacent control point is removed.
1356          *
1357          * This call should remove the give point, if the point cannot exist alone.
1358          * At the moment there is one such case: branch.
1359          *
1360          * @return
1361          */
1362         protected boolean checkRemove() {
1363             if (getParentPoint() != null) {
1364                 return getParentPoint().checkRemove();
1365             } else {
1366                 if (getPipelineComponent() == null)
1367                     return true; // already removed
1368             if (getPipelineComponent().getType().equals("Plant3D.URIs.Builtin_BranchSplitComponent")) {
1369                 if (getChildPoints().get(0).getNext() == null && getChildPoints().get(0).getPrevious() == null) {
1370                         remove();
1371                         return true;
1372                 }
1373             }
1374             return checkRemove(getPipeRun());
1375             }
1376     }
1377
1378         private boolean checkRemove(PipeRun pipeRun) {
1379             if (pipeRun == null)
1380                 return false;
1381                 Collection<PipeControlPoint> points = pipeRun.getControlPoints();
1382                 if (points.size() == 0) {
1383                         pipeRun.remove();
1384                         return true;
1385                 } else if (points.size() == 1) {
1386                         PipeControlPoint pcp = points.iterator().next();
1387                         if (pcp.isDeletable() && pcp.getNext() == null && pcp.getPrevious() == null) {
1388                                 pcp._remove(); // This call will recursively call also this method...
1389                                 return true;
1390                         }
1391                 } else if (points.size() == 2) {
1392
1393                 }
1394                 return false;
1395         }
1396
1397         private void removeSubPoints() {
1398                 for (PipeControlPoint p : children) {
1399                         p.parent = null;
1400                         p.component = null;
1401                         //p._remove();
1402                         PipeControlPoint currentNext = p.getNext();
1403                         PipeControlPoint currentPrev = p.getPrevious();
1404                         p._setNext(null);
1405                         p._setPrevious(null);
1406                         PipeRun run = p.getPipeRun();
1407                         if (run != null) {
1408                             run.remChild(p);
1409                             checkRemove(run);
1410                         }
1411                         if (currentNext != null)
1412                 if (!currentNext.checkRemove())
1413                     PipingRules.requestUpdate(currentNext);
1414             if (currentPrev != null)
1415                 if (!currentPrev.checkRemove())
1416                     PipingRules.requestUpdate(currentPrev);
1417
1418                 }
1419                 children.clear();
1420         }
1421
1422         private void removeParentPoint() {
1423                 throw new RuntimeException("Child points cannot be removed directly");
1424         }
1425
1426         public boolean isRemoved() {
1427             return component == null;
1428         }
1429
1430         private void removeComponent() {
1431                 if (component == null)
1432                         return;
1433                 PipelineComponent next = component.getNext();
1434                 PipelineComponent prev = component.getPrevious();
1435                 PipelineComponent br0 = component.getBranch0();
1436                 component.setNext(null);
1437                 component.setPrevious(null);
1438                 component.setBranch0(null);
1439                 if (next != null) {
1440                         if (next.getNext() == component)
1441                                 next.setNext(null);
1442                         else if (next.getPrevious() == component)
1443                                 next.setPrevious(null);
1444                         else if (next.getBranch0() == component)
1445                                 next.setBranch0(null);
1446                 }
1447                 if (prev != null) {
1448                         if (prev.getNext() == component)
1449                                 prev.setNext(null);
1450                         else if (prev.getPrevious() == component)
1451                                 prev.setPrevious(null);
1452                         else if (prev.getBranch0() == component)
1453                                 prev.setBranch0(null);
1454                 }
1455                 if (br0 != null) {
1456                         if (br0.getNext() == component)
1457                                 br0.setNext(null);
1458                         else if (br0.getPrevious() == component)
1459                                 br0.setPrevious(null);
1460                         else if (br0.getBranch0() == component)
1461                                 br0.setBranch0(null);
1462                 }
1463                 PipelineComponent comp = component;
1464                 component = null;
1465
1466                 comp.remove();
1467         }
1468
1469         @Override
1470         public void setOrientation(Quat4d orientation) {
1471                 if (MathTools.equals(orientation, getOrientation()))
1472                         return;
1473                 super.setOrientation(orientation);
1474                 if (getParentPoint() == null && component != null)
1475                         component._setWorldOrientation(getWorldOrientation());
1476                 updateSubPoint();
1477         }
1478
1479         @Override
1480         public void setPosition(Vector3d position) {
1481                 if (MathTools.equals(position, getPosition()))
1482                         return;
1483                 if (Double.isNaN(position.x) || Double.isNaN(position.y) || Double.isNaN(position.z))
1484                         throw new IllegalArgumentException("NaN is not supported");
1485                 super.setPosition(position);
1486                 if (getParentPoint() == null && component != null)
1487                         component._setWorldPosition(getWorldPosition());
1488                 updateSubPoint();
1489         }
1490
1491         private void updateSubPoint() {
1492                 if (isOffset()) {
1493                         if (next == null && previous == null) {
1494                                 for (PipeControlPoint sub : getChildPoints()) {
1495                                         sub.setWorldPosition(getWorldPosition());
1496                                         sub.setWorldOrientation(getWorldOrientation());
1497                                 }
1498                                 return;
1499                         }
1500                         for (PipeControlPoint sub : getChildPoints()) {
1501                                 Vector3d wp = getWorldPosition();
1502                                 wp.add(getSizeChangeOffsetVector());
1503                                 sub.setWorldPosition(wp);
1504                                 sub.setWorldOrientation(getWorldOrientation());
1505                         }
1506                 } else {
1507                         for (PipeControlPoint sub : getChildPoints()) {
1508                                 sub.setWorldPosition(getWorldPosition());
1509                                 sub.setWorldOrientation(getWorldOrientation());
1510                         }
1511                 }
1512         }
1513
1514
1515         public void _setWorldPosition(Vector3d position) {
1516                 Vector3d localPos = getLocalPosition(position);
1517                 super.setPosition(localPos);
1518                 updateSubPoint();
1519         }
1520
1521         public void _setWorldOrientation(Quat4d orientation) {
1522                 Quat4d localOr = getLocalOrientation(orientation);
1523                 super.setOrientation(localOr);
1524                 updateSubPoint();
1525         }
1526
1527         @Override
1528         public String toString() {
1529                 return getClass().getName() + "@" + Integer.toHexString(hashCode());
1530         }
1531
1532 }