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(Vector3d dir, double angle, boolean reversed) {
534 if (turnAxis == null) {
535 if (dir.lengthSquared() > MathTools.NEAR_ZERO)
537 Quat4d q = getControlPointOrientationQuat(dir, angle);
539 Quat4d q2 = new Quat4d();
540 q2.set(new AxisAngle4d(MathTools.Y_AXIS, Math.PI));
545 if (dir.lengthSquared() > MathTools.NEAR_ZERO)
547 return getControlPointOrientationQuat(dir, turnAxis, angle);
551 public Quat4d getControlPointOrientationQuat(double angle, boolean reversed) {
553 if (turnAxis == null) {
554 Vector3d dir = getPathLegDirection(Direction.NEXT);
555 return getControlPointOrientationQuat(dir, angle, reversed);
557 Vector3d dir = getPathLegDirection(Direction.PREVIOUS);
559 return getControlPointOrientationQuat(dir, angle, reversed);
565 public static Quat4d getControlPointOrientationQuat(Vector3d dir, double angle) {
566 if (dir.lengthSquared() < MathTools.NEAR_ZERO)
567 return MathTools.getIdentityQuat();
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);
577 return getControlPointOrientationQuat(dir, up, angle);
580 public static Quat4d getControlPointOrientationQuat(Vector3d dir, Vector3d up, double angle) {
581 if (dir.lengthSquared() < MathTools.NEAR_ZERO)
582 return MathTools.getIdentityQuat();
584 final Vector3d front = new Vector3d(1.0,0.0,0.0);
586 Quat4d q1 = new Quat4d();
589 Vector3d right = new Vector3d();
591 right.cross(dir, up);
592 up.cross(right, dir);
596 Matrix3d m = new Matrix3d();
607 //q1.set(m); MathTools contains more stable conversion
608 MathTools.getQuat(m, q1);
610 // if (DEBUG) System.out.println("PipingTools.getPipeComponentOrientationQuat() " + dir+ " " + up + " " + right);
612 Quat4d q2 = new Quat4d();
613 q2.set(new AxisAngle4d(front, angle));
618 public void insert(PipeControlPoint previous, PipeControlPoint next) {
619 // inserting an offsetpoint is error,
621 throw new RuntimeException("Dual sub points cannot be inserted.");
622 // size change control point cannot be inserted this way, because it ends PipeRun
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");
631 piperun.addChild(this);
634 // insert new BranchControlPoint between straight's control points
635 PipeControlPoint previousNext = previous.getNext();
636 PipeControlPoint previousPrevious = previous.getPrevious();
638 PipeControlPoint offsetCP = null;
640 offsetCP = getDualSub();
642 if (previousNext != null && previousNext == next) {
643 if (previous.isDualInline()) {
644 throw new RuntimeException();
646 if (next.isDualSub()) {
647 throw new RuntimeException();
649 previous.setNext(this);
650 this.setPrevious(previous);
651 if (previous.isDualSub()) {
652 previous.getParentPoint().setNext(this);
656 if (offsetCP == null) {
657 next.setPrevious(this);
659 next.setPrevious(offsetCP);
660 offsetCP.setNext(next);
661 offsetCP.setPrevious(previous);
664 if (next.isDualInline()) {
665 next.getDualSub().setPrevious(this);
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();
674 this.setNext(previous);
675 if (offsetCP == null) {
676 previous.setNext(this);
678 previous.setPrevious(offsetCP);
679 offsetCP.setNext(previous);
680 offsetCP.setPrevious(next);
682 if (previous.isDualInline()) {
683 previous.getDualSub().setPrevious(this);
685 this.setPrevious(next);
687 if (next.isDualSub()) {
688 next.getParentPoint().setNext(this);
692 throw new RuntimeException();
695 PipingRules.validate(piperun);
700 public void insert(PipeControlPoint pcp, Direction direction) {
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
709 this.setPrevious(pcp);
710 // and last take care of sizechange / offset points
711 if (pcp.isDualSub()) {
712 pcp.getParentPoint().setNext(this);
714 if (isDualInline()) {
715 getDualSub().setPrevious(this);
718 // if direction is previous, user must have given sizechange
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()) {
729 pcp.setPrevious(this);
731 pcp.setPrevious(nocp);
734 if (pcp.isDualInline()) {
735 PipeControlPoint ocp = pcp.getDualSub();
737 ocp.setPrevious(this);
739 ocp.setPrevious(nocp);
743 PipingRules.validate(getPipeRun());
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);
754 public Vector3d getDirection(Direction direction) {
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)
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);
778 PipeControlPoint pcp = this;
779 Vector3d dir = new Vector3d();
780 dir.sub(next.getWorldPosition(),pcp.getWorldPosition());
781 if (dir.lengthSquared() > MathTools.NEAR_ZERO)
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);
799 public Vector3d getPathLegDirection(Direction direction) {
800 if (direction == Direction.NEXT) {
802 PipeControlPoint pcp = this;
803 if (pcp.isDualInline()) {
804 pcp = pcp.getDualSub();
806 Vector3d v = new Vector3d();
807 v.sub(next.getWorldPosition(),pcp.getWorldPosition());
810 if (previous == null) {
812 throw new RuntimeException("Cannot calculate path leg direction for unconnected control point " + this);
813 return getDirectedControlPointDirection();
816 if (isVariableAngle() && !asFixedAngle())
817 throw new RuntimeException("Cannot calculate path leg direction for unconnected variable angle control point " + this);
819 PipeControlPoint pcp = this;
820 if (pcp.isDualSub()) {
821 pcp = pcp.getParentPoint();
823 Vector3d v = new Vector3d();
824 v.sub(pcp.getWorldPosition(),previous.getWorldPosition());
826 } else if (isDirected()) {
827 return getDirectedControlPointDirection();
828 } else if (isEnd()) {
829 Vector3d v = new Vector3d();
830 v.sub(getWorldPosition(),previous.getWorldPosition());
832 } else if (isTurn() && asFixedAngle() && !_getReversed()) {
833 return getDirection(Direction.NEXT);
835 throw new RuntimeException("Missing implementation " + this);
839 if (previous != null) {
840 PipeControlPoint pcp = this;
842 pcp = getParentPoint();
843 Vector3d v = new Vector3d();
844 v.sub(previous.getWorldPosition(),pcp.getWorldPosition());
849 throw new RuntimeException("Cannot calculate path leg direction for unconnected control point " + this);
850 Vector3d v = getDirectedControlPointDirection();
854 if (isVariableAngle() && !asFixedAngle())
855 throw new RuntimeException("Cannot calculate path leg direction for unconnected variable angle control point " + this);
857 PipeControlPoint pcp = this;
858 if (pcp.isDualInline()) {
859 pcp = pcp.getDualSub();
861 Vector3d v = new Vector3d();
862 v.sub(pcp.getWorldPosition(),next.getWorldPosition());
864 } else if (isDirected()) {
865 Vector3d v = getDirectedControlPointDirection();
868 } else if (isEnd()) {
869 Vector3d v = new Vector3d();
870 v.sub(getWorldPosition(),next.getWorldPosition());
872 } else if (isTurn() && asFixedAngle() && _getReversed()) {
873 return getDirection(Direction.PREVIOUS);
875 throw new RuntimeException("Missing implementation " + this);
881 public void getInlineControlPointEnds(Tuple3d p1, Tuple3d p2) {
884 PipeControlPoint sub = isAxial() ? this : getDualSub();
885 Vector3d pos = getWorldPosition(), pos2 = sub == this ? pos : sub.getWorldPosition();
886 Vector3d dir = sub.getPathLegDirection(Direction.NEXT);
889 dir.scale(length * 0.5);
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();
900 Vector3d dir1 = getPathLegDirection(Direction.PREVIOUS);
902 Vector3d dir2 = sub.getPathLegDirection(Direction.NEXT);
905 dir1.scale(length * 0.5);
906 dir2.scale(length * 0.5);
917 public void getEndDirections(Tuple3d v1, Tuple3d v2) {
918 PipeControlPoint sub = isAxial() ? this : getDualSub();
920 Vector3d dir1 = getPathLegDirection(Direction.PREVIOUS);
922 Vector3d dir2 = sub.getPathLegDirection(Direction.NEXT);
928 public void getInlineControlPointEnds(Tuple3d p1, Tuple3d p2, Vector3d dir) {
931 Vector3d pos = getWorldPosition();
932 dir.set(getPathLegDirection(Direction.NEXT));
934 dir.scale(length * 0.5);
941 public void getInlineControlPointEnds(Tuple3d center, Tuple3d p1, Tuple3d p2, Vector3d dir) {
944 Vector3d pos = getWorldPosition();
946 dir.set(getPathLegDirection(Direction.NEXT));
948 dir.scale(length * 0.5);
955 public double getInlineLength() {
956 if (type == PointType.TURN)
958 else if (type == PointType.INLINE)
963 public Vector3d getRealPosition(PositionType type) {
964 Vector3d pos = getWorldPosition();
967 Vector3d dir = getPathLegDirection(Direction.NEXT);
968 double length = getInlineLength();
975 Vector3d dir = getPathLegDirection(Direction.PREVIOUS);
976 double length = getInlineLength();
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?
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());
1003 public PipeControlPoint findNextEnd() {
1004 ArrayList<PipeControlPoint> t = new ArrayList<PipeControlPoint>();
1005 return findNextEnd( t);
1008 public PipeControlPoint findPreviousEnd() {
1009 ArrayList<PipeControlPoint> t = new ArrayList<PipeControlPoint>();
1010 return findPreviousEnd(t);
1013 public PipeControlPoint findNextEnd(List<PipeControlPoint> nextList) {
1015 PipeControlPoint pcp = null;
1016 PipeControlPoint p = null;
1017 if (nextList.size() == 0)
1021 p = nextList.get(nextList.size() - 1);
1026 if (nextList.size() > 0)
1027 nextList.remove(nextList.size() - 1);
1028 // if (DEBUG) System.out.println(" " + pcp.getResource() + " not full");
1032 if (pcp.isPathLegEnd()) {
1033 //if (DEBUG) System.out.println(" " + pcp.getResource());
1037 // if (DEBUG) System.out.print(" " + pcp.getResource());
1042 public PipeControlPoint findPreviousEnd(List<PipeControlPoint> prevList) {
1044 PipeControlPoint pcp = null;
1045 PipeControlPoint p = null;
1046 if (prevList.size() == 0)
1050 p = prevList.get(prevList.size() - 1);
1052 pcp = p.getPrevious();
1055 if (prevList.size() > 0)
1056 prevList.remove(prevList.size() - 1);
1057 // if (DEBUG) System.out.println(" " + pcp.getResource() + " not full");
1060 if (pcp.isPathLegEnd()) {
1061 // if (DEBUG) System.out.println(" " + pcp.getResource());
1065 // if (DEBUG)System.out.print(" " + pcp.getResource());
1070 public void _remove() {
1075 public PipeControlPoint getDualSub() {
1077 return getChildPoints().get(0);
1079 throw new IllegalStateException("Current control point is not dual inline");
1083 public void _remove(boolean renconnect) {
1087 if (DEBUG) System.out.println(this + " Remove " + renconnect);
1089 if (getParentPoint() != null) {
1090 getParentPoint()._remove(renconnect);
1093 PipeRun pipeRun = getPipeRun();
1094 // PipeRUn removal has been changed, so pipeRun may be null.
1095 // if (pipeRun == null)
1098 PipeControlPoint additionalRemove = null;
1099 if (!PipingRules.isEnabled()) {
1105 PipeControlPoint currentPrev = previous;
1106 PipeControlPoint currentNext = next;
1107 if (currentNext == null && currentPrev == null) {
1109 if (pipeRun != null) {
1110 pipeRun.remChild(this);
1111 checkRemove(pipeRun);
1115 if (currentNext != null && currentPrev != null) {
1116 boolean link = renconnect;
1117 if (currentNext.isBranchEnd()) {
1119 currentNext.remove();
1123 if (currentPrev.isBranchEnd()) {
1125 currentPrev.remove();
1130 if (currentPrev.isDirected() && currentNext.isDirected())
1132 else if (this.isDualInline()) {
1134 } else if (this.isDualSub()) {
1135 throw new RuntimeException("_remove() is called for parent point, somehow got to child point. " + this);
1138 if (currentNext == null) {
1140 } else if (currentNext.isDualInline()) {
1141 PipeControlPoint sccp = currentNext;
1142 PipeControlPoint ocp = currentNext.getDualSub();
1144 throw new RuntimeException("Removing PipeControlPoint " + this+ " structure damaged, no offset control point");
1147 sccp.setPrevious(currentPrev);
1148 //ocp.setPrevious(currentPrev);
1149 assert(ocp.getPrevious() == currentPrev);
1151 sccp.setPrevious(null);
1152 //ocp.setPrevious(null);
1153 assert(ocp.getPrevious() == 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) {
1160 currentNext.setPrevious(currentPrev);
1162 currentNext.setPrevious(null);
1165 } else if (isDualInline()) {
1166 if (currentNext.previous != getDualSub()) {
1167 throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1170 currentNext.setPrevious(currentPrev);
1172 currentNext.setPrevious(null);
1176 throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1178 if (currentPrev == null) {
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();
1186 throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, no size change control point");
1188 //ocp.setNext(currentNext);
1189 sccp.setNext(currentNext);
1190 assert(ocp.getNext() == currentNext);
1192 //ocp.setNext(null);
1194 assert(ocp.getNext() == null);
1197 } else if (currentPrev.next == this) {
1199 currentPrev.setNext(currentNext);
1201 currentPrev.setNext(null);
1205 throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged");
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();
1222 currentNext.setLength(l);
1223 currentNext.setWorldPosition(cp);
1226 // FIXME : pipe run must be split into two parts, since the control point structure is no more continuous.
1228 } else if (currentNext != null) {
1229 if (currentNext.isDualInline()) {
1230 PipeControlPoint sccp = currentNext;
1231 PipeControlPoint ocp = currentNext.getDualSub();
1233 throw new RuntimeException("Removing PipeControlPoint " + this+ " structure damaged, no offset control point");
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");
1246 currentNext.setPrevious(null);
1248 throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
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();
1258 throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, no size change control point");
1261 assert(ocp.getNext() == null);
1262 } else if (currentPrev.next == this) {
1263 currentPrev.setNext(null);
1265 throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1269 if (children.size() > 0 ) {
1271 } else if (parent!= null) {
1272 removeParentPoint();
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);
1284 if (additionalRemove != null)
1285 additionalRemove.remove();
1290 * Removes control point and attempts to reconnect next/prev
1292 * If this point is size change (PipeRuns are different on both sides), then reconnection cannot be made.
1294 public void remove() {
1295 PipeControlPoint currentPrev = previous;
1296 PipeControlPoint currentNext = next;
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();
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.
1315 public void removeAndSplit() {
1316 PipeControlPoint currentPrev = previous;
1317 PipeControlPoint currentNext = next;
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);
1325 PipeRun previousRun = previous.getPipeRun();
1326 nextPipeRun.setPipeDiameter(previousRun.getPipeDiameter());
1327 nextPipeRun.setTurnRadiusArray(previousRun.getTurnRadiusArray());
1329 PipelineComponent n = next.getPipelineComponent();
1331 if (n.getPipeRun() != previousRun)
1333 if (! (n instanceof Nozzle)) {
1335 nextPipeRun.addChild(n);
1337 n.setPipeRun(nextPipeRun);
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();
1355 * This is called when adjacent control point is removed.
1357 * This call should remove the give point, if the point cannot exist alone.
1358 * At the moment there is one such case: branch.
1362 protected boolean checkRemove() {
1363 if (getParentPoint() != null) {
1364 return getParentPoint().checkRemove();
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) {
1374 return checkRemove(getPipeRun());
1378 private boolean checkRemove(PipeRun pipeRun) {
1379 if (pipeRun == null)
1381 Collection<PipeControlPoint> points = pipeRun.getControlPoints();
1382 if (points.size() == 0) {
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...
1391 } else if (points.size() == 2) {
1397 private void removeSubPoints() {
1398 for (PipeControlPoint p : children) {
1402 PipeControlPoint currentNext = p.getNext();
1403 PipeControlPoint currentPrev = p.getPrevious();
1405 p._setPrevious(null);
1406 PipeRun run = p.getPipeRun();
1411 if (currentNext != null)
1412 if (!currentNext.checkRemove())
1413 PipingRules.requestUpdate(currentNext);
1414 if (currentPrev != null)
1415 if (!currentPrev.checkRemove())
1416 PipingRules.requestUpdate(currentPrev);
1422 private void removeParentPoint() {
1423 throw new RuntimeException("Child points cannot be removed directly");
1426 public boolean isRemoved() {
1427 return component == null;
1430 private void removeComponent() {
1431 if (component == null)
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);
1440 if (next.getNext() == component)
1442 else if (next.getPrevious() == component)
1443 next.setPrevious(null);
1444 else if (next.getBranch0() == component)
1445 next.setBranch0(null);
1448 if (prev.getNext() == component)
1450 else if (prev.getPrevious() == component)
1451 prev.setPrevious(null);
1452 else if (prev.getBranch0() == component)
1453 prev.setBranch0(null);
1456 if (br0.getNext() == component)
1458 else if (br0.getPrevious() == component)
1459 br0.setPrevious(null);
1460 else if (br0.getBranch0() == component)
1461 br0.setBranch0(null);
1463 PipelineComponent comp = component;
1470 public void setOrientation(Quat4d orientation) {
1471 if (MathTools.equals(orientation, getOrientation()))
1473 super.setOrientation(orientation);
1474 if (getParentPoint() == null && component != null)
1475 component._setWorldOrientation(getWorldOrientation());
1480 public void setPosition(Vector3d position) {
1481 if (MathTools.equals(position, getPosition()))
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());
1491 private void updateSubPoint() {
1493 if (next == null && previous == null) {
1494 for (PipeControlPoint sub : getChildPoints()) {
1495 sub.setWorldPosition(getWorldPosition());
1496 sub.setWorldOrientation(getWorldOrientation());
1500 for (PipeControlPoint sub : getChildPoints()) {
1501 Vector3d wp = getWorldPosition();
1502 wp.add(getSizeChangeOffsetVector());
1503 sub.setWorldPosition(wp);
1504 sub.setWorldOrientation(getWorldOrientation());
1507 for (PipeControlPoint sub : getChildPoints()) {
1508 sub.setWorldPosition(getWorldPosition());
1509 sub.setWorldOrientation(getWorldOrientation());
1515 public void _setWorldPosition(Vector3d position) {
1516 Vector3d localPos = getLocalPosition(position);
1517 super.setPosition(localPos);
1521 public void _setWorldOrientation(Quat4d orientation) {
1522 Quat4d localOr = getLocalOrientation(orientation);
1523 super.setOrientation(localOr);
1528 public String toString() {
1529 return getClass().getName() + "@" + Integer.toHexString(hashCode());