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.g3d.scenegraph.base.ParentNode;
19 import org.simantics.plant3d.scenegraph.IP3DNode;
20 import org.simantics.plant3d.scenegraph.Nozzle;
21 import org.simantics.plant3d.scenegraph.P3DRootNode;
22 import org.simantics.plant3d.scenegraph.PipeRun;
23 import org.simantics.plant3d.scenegraph.PipelineComponent;
25 import vtk.vtkRenderer;
28 public class PipeControlPoint extends G3DNode implements IP3DNode {
30 private static boolean DEBUG = false;
32 public enum PointType{INLINE,TURN,END};
33 public enum Direction{NEXT,PREVIOUS};
34 public enum PositionType {SPLIT,NEXT,PREVIOUS,PORT}
36 private PipelineComponent component;
38 private PointType type;
39 private boolean isFixed = true; // In-line: fixed-length Turn: fixed-angle
40 private boolean isMod = false; // Can user modify fixed value manually
41 private boolean isRotate = false; // rotates around path leg axis.
42 private boolean isReverse = false; // definition direction can be swapped
43 private boolean isDeletable = true; // can be removed by rules
44 private boolean isSizeChange = false; // changes size of the pipe. The next control point / component is on different PipeRun
45 private boolean isSub = false; // child point for offset / size change
47 private boolean disposed = false;
49 public PipeControlPoint(PipelineComponent component) {
50 this.component = component;
51 if (component.getPipeRun() != null)
52 component.getPipeRun().addChild(this);
56 public PipeControlPoint(PipelineComponent component, PipeRun piperun) {
57 this.component = component;
58 piperun.addChild(this);
62 public void update(vtkRenderer ren) {
64 PipingRules.requestUpdate(this);
65 } catch (Exception e) {
71 public PipeRun getPipeRun() {
72 return (PipeRun)getParent();
75 public PipelineComponent getPipelineComponent() {
79 public PointType getType() {
83 public void setType(PointType type) {
87 @GetPropertyValue(name="Fixed",tabId="Debug",value="fixed")
88 public boolean isFixed() {
92 public void setFixed(boolean fixed) {
96 @GetPropertyValue(name="Mod",tabId="Debug",value="mod")
97 public boolean isMod() {
101 public void setMod(boolean isMod) {
105 @GetPropertyValue(name="Rotate",tabId="Debug",value="rotate")
106 public boolean isRotate() {
110 public void setRotate(boolean rotate) {
111 this.isRotate = rotate;
114 @GetPropertyValue(name="Reverse",tabId="Debug",value="reverse")
115 public boolean isReverse() {
119 public void setReverse(boolean reverse) {
120 this.isReverse = reverse;
123 public void setSub(boolean sub) {
127 @GetPropertyValue(name="Deletable",tabId="Debug",value="deletable")
128 public boolean isDeletable() {
132 public void setDeletable(boolean deletable) {
133 this.isDeletable = deletable;
136 public boolean isPathLegEnd() {
137 return type != PointType.INLINE;
140 public boolean isEnd() {
141 return type == PointType.END;
144 public boolean isTurn() {
145 return type == PointType.TURN;
148 public boolean isInline() {
149 return type == PointType.INLINE;
152 public boolean asPathLegEnd() {
153 // Ends and Turns are path leg ends by default, but also unconnected inline are path leg ends.
154 return isPathLegEnd() || getNext() == null || getPrevious() == null;
158 * True for end components, if control point defines absolute position direction, which rules cannot modify.
159 * This is typical for nozzles.
162 public boolean isDirected() {
163 return isFixed && isEnd();
167 * True for end components, if control is opposite to directed, and rules can modify position and orientation.
168 * This is typical for caps, and other end components.
171 public boolean isNonDirected() {
172 return !isFixed && isEnd();
175 public boolean isVariableLength() {
176 return !isFixed && isInline();
180 * Fixed length in-line component is such that piping rules cannot modify the length.
183 public boolean isFixedLength() {
184 return isFixed && isInline();
187 public boolean isVariableAngle() {
188 return !isFixed && isTurn();
192 * Fixed angle turn component is such that piping rules cannot modify the angle.
195 public boolean isFixedAngle() {
196 return isFixed && isTurn();
200 * Does the turn behave like fixed angle?
201 * For variable angle turns, the turn angle is defined by connected components, and without them, we must handle the component as fixed angle.
204 public boolean asFixedAngle() {
205 return isTurn() && (isFixed || next == null || previous == null);
208 public boolean isBranchEnd() {
209 return isDeletable && isEnd();
212 public boolean isOffset() {
213 return offset != null;
216 public boolean isDualSub() {
217 return parent != null && isSub;
220 public boolean isDualInline() {
221 return children.size() == 1 && children.get(0).isDualSub();
224 public boolean isAxial() {
225 return isInline() && !isDualInline();
228 public boolean isSizeChange() {
230 // if (children.size() == 0)
232 // if (!isDualInline())
234 // return getPipeRun() != children.get(0).getPipeRun();
237 public void setSizeChange(boolean isSizeChange) {
238 this.isSizeChange = isSizeChange;
242 private PipeControlPoint next;
243 private PipeControlPoint previous;
245 public PipeControlPoint getNext() {
249 public PipeControlPoint getPrevious() {
253 public void setNext(PipeControlPoint next) {
255 getParentPoint().setNext(next);
258 if (next != null && next.isDualSub())
260 if (_setNext(next)) {
261 for (PipeControlPoint pcp : children) {
269 public void setPrevious(PipeControlPoint prev) {
271 getParentPoint().setPrevious(prev);
274 if (prev != null && prev.isDualInline())
275 prev = prev.children.get(0);
276 if (_setPrevious(prev)) {
277 for (PipeControlPoint pcp : children) {
279 pcp._setPrevious(prev);
285 protected boolean _setNext(PipeControlPoint next) {
286 if (isEnd() && previous != null && next != null)
287 throw new RuntimeException("End control points are allowed to have only one connection");
289 throw new RuntimeException("Cannot connect to self");
290 if (this.next == next)
292 if (DEBUG) System.out.println(this + " next " + next);
293 if (next == null && isVariableAngle() && previous != null && !isRemoved()) {
294 convertVariableAngleToFixed(Direction.NEXT);
297 if (component != null) {
298 if (parent == null || isSub)
299 component.setNext(next != null ? next.component : null);
301 component.setBranch0(next != null ? next.component : null);
307 protected boolean _setPrevious(PipeControlPoint previous) {
308 if (isEnd() && next != null && previous != null)
309 throw new RuntimeException("End control points are allowed to have only one connection");
310 if (previous == this)
311 throw new RuntimeException("Cannot connect to self");
312 if (this.previous == previous)
314 if (DEBUG) System.out.println(this + " previous " + previous);
315 if (previous == null && isVariableAngle() && next != null && !isRemoved()) {
316 convertVariableAngleToFixed(Direction.PREVIOUS);
318 this.previous = previous;
319 if (component != null) {
320 if (parent == null || isSub)
321 component.setPrevious(previous != null ? previous.component : null);
323 component.setBranch0(previous != null ? previous.component : null);
329 private void convertVariableAngleToFixed(Direction direction) {
330 // We are removing reference, which transforms variable angle to fixed angle.
331 // Since fixed angle is defined differently, we need to calculate fixed angle parameters based on current data
332 // We need to calculate turnAngle and rotationAngle
333 Vector3d dirOut = getPathLegDirection(direction == Direction.NEXT ? Direction.NEXT : Direction.PREVIOUS);
334 Vector3d dir = getPathLegDirection(direction == Direction.NEXT ? Direction.PREVIOUS : Direction.NEXT);
335 if (dir == null || dirOut == null)
338 double angle = dir.angle(dirOut);
339 //super._setNext(null);
340 if (direction == Direction.NEXT)
344 setRotationAngle(0.0);
345 setReversed(direction == Direction.NEXT ? false : true);
346 Vector3d dirOutN = getPathLegDirection(direction == Direction.NEXT ? Direction.NEXT : Direction.PREVIOUS);
348 AxisAngle4d aa = new AxisAngle4d();
349 if (MathTools.createRotation(dirOutN, dirOut, dir, aa)) {
350 setRotationAngle(aa.angle);
352 if (DEBUG) System.out.println("convertToFixed " + dir + " " + dirOut + " " +dirOutN + " " +angle + " "+ aa.angle);
356 public PipeControlPoint parent;
357 public List<PipeControlPoint> children = new ArrayList<PipeControlPoint>();
359 public List<PipeControlPoint> getChildPoints() {
363 public PipeControlPoint getParentPoint() {
368 private double length;
369 private Double turnAngle;
370 private Vector3d turnAxis;
372 private Double offset;
373 private Double rotationAngle;
374 private Boolean reversed;
376 @GetPropertyValue(name="Length",tabId="Debug",value="length")
377 public double getLength() {
381 public void setLength(double l) {
382 if (Double.isInfinite(l) || Double.isNaN(l)) {
385 if (Math.abs(this.length-l) < MathTools.NEAR_ZERO)
388 firePropertyChanged("length");
390 getDualSub().setLength(l);
393 @GetPropertyValue(name="Turn Angle",tabId="Debug",value="turnAngle")
394 public Double getTurnAngle() {
398 @GetPropertyValue(name="Turn Axis",tabId="Debug",value="turnAxis")
399 public Vector3d getTurnAxis() {
403 @GetPropertyValue(name="Offset",tabId="Debug",value="offset")
404 public Double getOffset() {
408 @GetPropertyValue(name="Rotation Angle",tabId="Debug",value="rotationAngle")
409 public Double getRotationAngle() {
410 if (isRotate || asFixedAngle())
411 return rotationAngle;
415 @GetPropertyValue(name="Reversed",tabId="Debug",value="reversed")
416 public Boolean getReversed() {
420 public boolean _getReversed() {
421 if (reversed == null)
426 public void setTurnAngle(Double turnAngle) {
427 if (turnAngle == null || Double.isInfinite(turnAngle) || Double.isNaN(turnAngle)) {
430 if (this.turnAngle != null && Math.abs(this.turnAngle-turnAngle) < MathTools.NEAR_ZERO)
432 this.turnAngle = turnAngle;
433 firePropertyChanged("turnAngle");
436 public void setTurnAxis(Vector3d turnAxis) {
437 if (this.turnAxis != null && MathTools.equals(turnAxis, this.turnAxis))
439 this.turnAxis = turnAxis;
440 firePropertyChanged("turnAxis");
443 public void setOffset(Double offset) {
444 if (Double.isInfinite(offset) || Double.isNaN(offset)) {
447 if (this.offset != null && Math.abs(this.offset-offset) < MathTools.NEAR_ZERO)
449 this.offset = offset;
450 firePropertyChanged("offset");
453 public void setRotationAngle(Double rotationAngle) {
454 if (Double.isInfinite(rotationAngle) || Double.isNaN(rotationAngle)) {
457 if (this.rotationAngle != null && Math.abs(this.rotationAngle-rotationAngle) < MathTools.NEAR_ZERO)
459 this.rotationAngle = rotationAngle;
460 firePropertyChanged("rotationAngle");
463 public void setReversed(Boolean reversed) {
464 this.reversed = reversed;
465 firePropertyChanged("reversed");
468 public Vector3d getSizeChangeOffsetVector(Vector3d dir) {
470 if (rotationAngle == null)
471 q = getControlPointOrientationQuat(dir, 0.0);
473 q = getControlPointOrientationQuat(dir, rotationAngle);
474 Vector3d v = new Vector3d(0.0,offset,0.0);
475 Vector3d offset = new Vector3d();
476 MathTools.rotate(q, v, offset);
480 public Vector3d getSizeChangeOffsetVector() {
482 if (rotationAngle == null)
483 q = getControlPointOrientationQuat(0.0);
485 q = getControlPointOrientationQuat(rotationAngle);
486 Vector3d v = new Vector3d(0.0,offset,0.0);
487 Vector3d offset = new Vector3d();
488 MathTools.rotate(q, v, offset);
492 @GetPropertyValue(name="Next",tabId="Debug",value="next")
493 private String getNextString() {
496 return next.toString();
499 @GetPropertyValue(name="Previous",tabId="Debug",value="previous")
500 private String getPrevString() {
501 if (previous == null)
503 return previous.toString();
506 @GetPropertyValue(name="Sub",tabId="Debug",value="sub")
507 private String getSubString() {
508 if (children.size() == 0)
510 return Arrays.toString(children.toArray());
513 @GetPropertyValue(name="Type",tabId="Debug",value="type")
514 public String getTypeString() {
518 public Quat4d getControlPointOrientationQuat(double angle) {
520 if (turnAxis == null) {
521 Vector3d dir = getPathLegDirection(Direction.NEXT);
522 return getControlPointOrientationQuat(dir, angle);
524 Vector3d dir = getPathLegDirection(Direction.PREVIOUS);
525 if (dir != null) dir.negate();
526 return getControlPointOrientationQuat(dir, turnAxis, angle);
530 public Quat4d getControlPointOrientationQuat(Vector3d dir, double angle, boolean reversed) {
531 if (turnAxis == null) {
532 if (dir.lengthSquared() > MathTools.NEAR_ZERO)
534 Quat4d q = getControlPointOrientationQuat(dir, angle);
536 Quat4d q2 = new Quat4d();
537 q2.set(new AxisAngle4d(MathTools.Y_AXIS, Math.PI));
542 if (dir.lengthSquared() > MathTools.NEAR_ZERO)
544 return getControlPointOrientationQuat(dir, turnAxis, angle);
548 public Quat4d getControlPointOrientationQuat(double angle, boolean reversed) {
550 if (turnAxis == null) {
551 Vector3d dir = getPathLegDirection(Direction.NEXT);
552 return getControlPointOrientationQuat(dir, angle, reversed);
554 Vector3d dir = getPathLegDirection(Direction.PREVIOUS);
556 return getControlPointOrientationQuat(dir, angle, reversed);
562 public static Quat4d getControlPointOrientationQuat(Vector3d dir, double angle) {
563 if (dir == null || dir.lengthSquared() < MathTools.NEAR_ZERO)
564 return MathTools.getIdentityQuat();
567 Vector3d up = new Vector3d(0.0, 1.0, 0.0);
568 double a = up.angle(dir);
569 if (a < 0.1 || (Math.PI - a) < 0.1) {
570 up.set(1.0, 0.0, 0.0);
574 return getControlPointOrientationQuat(dir, up, angle);
577 public static Quat4d getControlPointOrientationQuat(Vector3d dir, Vector3d up, double angle) {
578 if (dir == null || dir.lengthSquared() < MathTools.NEAR_ZERO)
579 return MathTools.getIdentityQuat();
581 final Vector3d front = new Vector3d(1.0,0.0,0.0);
583 Quat4d q1 = new Quat4d();
586 Vector3d right = new Vector3d();
588 right.cross(dir, up);
589 up.cross(right, dir);
593 Matrix3d m = new Matrix3d();
604 //q1.set(m); MathTools contains more stable conversion
605 MathTools.getQuat(m, q1);
607 // if (DEBUG) System.out.println("PipingTools.getPipeComponentOrientationQuat() " + dir+ " " + up + " " + right);
609 Quat4d q2 = new Quat4d();
610 q2.set(new AxisAngle4d(front, angle));
615 public void insert(PipeControlPoint previous, PipeControlPoint next) {
616 // inserting an offsetpoint is error,
618 throw new RuntimeException("Dual sub points cannot be inserted.");
619 // size change control point cannot be inserted this way, because it ends PipeRun
620 // if (isSizeChange())
621 // throw new RuntimeException("Size change points cannot be inserted.");
622 PipeRun piperun = previous.getPipeRun();
623 // and just to make sure that control point structure is not corrupted
624 if (getPipeRun() != null) {
625 if (piperun != getPipeRun() || piperun != next.getPipeRun())
626 throw new RuntimeException("All controls points must be located on the same pipe run");
628 piperun.addChild(this);
631 // insert new BranchControlPoint between straight's control points
632 PipeControlPoint previousNext = previous.getNext();
633 PipeControlPoint previousPrevious = previous.getPrevious();
635 PipeControlPoint offsetCP = null;
637 offsetCP = getDualSub();
639 if (previousNext != null && previousNext == next) {
640 if (previous.isDualInline()) {
641 throw new RuntimeException();
643 if (next.isDualSub()) {
644 throw new RuntimeException();
646 previous.setNext(this);
647 this.setPrevious(previous);
648 if (previous.isDualSub()) {
649 previous.getParentPoint().setNext(this);
653 if (offsetCP == null) {
654 next.setPrevious(this);
656 next.setPrevious(offsetCP);
657 offsetCP.setNext(next);
658 offsetCP.setPrevious(previous);
661 if (next.isDualInline()) {
662 next.getDualSub().setPrevious(this);
664 } else if (previousPrevious != null && previousPrevious == next) {
665 // control point were given in reverse order
666 if (next.isDualInline())
667 throw new RuntimeException();
668 if (previous.isDualSub())
669 throw new RuntimeException();
671 this.setNext(previous);
672 if (offsetCP == null) {
673 previous.setNext(this);
675 previous.setPrevious(offsetCP);
676 offsetCP.setNext(previous);
677 offsetCP.setPrevious(next);
679 if (previous.isDualInline()) {
680 previous.getDualSub().setPrevious(this);
682 this.setPrevious(next);
684 if (next.isDualSub()) {
685 next.getParentPoint().setNext(this);
689 throw new RuntimeException();
692 PipingRules.validate(piperun);
697 public void insert(PipeControlPoint pcp, Direction direction) {
699 throw new RuntimeException();
700 if (direction == Direction.NEXT) {
701 // if direction is next, user must have given OffsetPoint
702 if (pcp.isDualInline())
703 throw new RuntimeException();
704 // basic next/prev links
706 this.setPrevious(pcp);
707 // and last take care of sizechange / offset points
708 if (pcp.isDualSub()) {
709 pcp.getParentPoint().setNext(this);
711 if (isDualInline()) {
712 getDualSub().setPrevious(this);
715 // if direction is previous, user must have given sizechange
717 throw new RuntimeException();
718 // previous direction is more complicated, since if newCP is SizeChangeControlPoint,
719 // we must link pcp to newCP's OffsetPoint
720 PipeControlPoint nocp = null;
721 if (isDualInline()) {
726 pcp.setPrevious(this);
728 pcp.setPrevious(nocp);
731 if (pcp.isDualInline()) {
732 PipeControlPoint ocp = pcp.getDualSub();
734 ocp.setPrevious(this);
736 ocp.setPrevious(nocp);
740 PipingRules.validate(getPipeRun());
743 public Vector3d getDirectedControlPointDirection() {
744 assert (isDirected());
745 Vector3d dir = new Vector3d();
746 MathTools.rotate(getWorldOrientation(), new Vector3d(1.0, 0.0, 0.0), dir);
752 * Returns direction vector.
754 * For directed control points, always returns outwards pointing vector.
757 * @return normalized vector, or null
759 public Vector3d getDirection(Direction direction) {
761 return getDirectedControlPointDirection();
762 if (isTurn() && asFixedAngle()) {
763 if (direction == Direction.NEXT) {
764 if (previous != null) {
765 PipeControlPoint pcp = this;
766 Vector3d dir = new Vector3d();
767 dir.sub(pcp.getWorldPosition(),previous.getWorldPosition());
768 if (dir.lengthSquared() > MathTools.NEAR_ZERO)
772 Quat4d q = getControlPointOrientationQuat(dir, pcp.getRotationAngle() != null ? pcp.getRotationAngle() : 0.0);
773 AxisAngle4d aa = new AxisAngle4d(MathTools.Y_AXIS,pcp.getTurnAngle() == null ? 0.0 : pcp.getTurnAngle());
774 Quat4d q2 = MathTools.getQuat(aa);
775 Vector3d v = new Vector3d(1.,0.,0.);
776 Vector3d offset = new Vector3d();
777 MathTools.rotate(q2, v, offset);
778 MathTools.rotate(q, offset, dir);
784 PipeControlPoint pcp = this;
785 Vector3d dir = new Vector3d();
786 dir.sub(next.getWorldPosition(),pcp.getWorldPosition());
787 if (dir.lengthSquared() > MathTools.NEAR_ZERO)
791 Quat4d q = getControlPointOrientationQuat(dir, pcp.getRotationAngle() != null ? pcp.getRotationAngle() : 0.0);
792 AxisAngle4d aa = new AxisAngle4d(MathTools.Y_AXIS,pcp.getTurnAngle() == null ? 0.0 : pcp.getTurnAngle());
793 Quat4d q2 = MathTools.getQuat(aa);
794 Vector3d v = new Vector3d(1.,0.,0.);
795 Vector3d offset = new Vector3d();
796 MathTools.rotate(q2, v, offset);
797 MathTools.rotate(q, offset, dir);
807 * Returns path leg direction of the control point.
809 * This method differs from getDirection by also returning inward pointing vectors for directed control points.
814 public Vector3d getPathLegDirection(Direction direction) {
815 if (direction == Direction.NEXT) {
817 PipeControlPoint pcp = this;
818 if (pcp.isDualInline()) {
819 pcp = pcp.getDualSub();
821 Vector3d v = new Vector3d();
822 v.sub(next.getWorldPosition(),pcp.getWorldPosition());
823 if (v.lengthSquared() > MathTools.NEAR_ZERO)
829 if (previous == null) {
831 throw new RuntimeException("Cannot calculate path leg direction for unconnected control point " + this);
832 return getDirectedControlPointDirection();
835 if (isVariableAngle() && !asFixedAngle())
836 throw new RuntimeException("Cannot calculate path leg direction for unconnected variable angle control point " + this);
838 PipeControlPoint pcp = this;
839 if (pcp.isDualSub()) {
840 pcp = pcp.getParentPoint();
842 Vector3d v = new Vector3d();
843 v.sub(pcp.getWorldPosition(),previous.getWorldPosition());
844 if (v.lengthSquared() > MathTools.NEAR_ZERO)
849 } else if (isDirected()) {
850 return getDirectedControlPointDirection();
851 } else if (isEnd()) {
852 Vector3d v = new Vector3d();
853 v.sub(getWorldPosition(),previous.getWorldPosition());
854 if (v.lengthSquared() > MathTools.NEAR_ZERO)
859 } else if (isTurn() && asFixedAngle() && !_getReversed()) {
860 return getDirection(Direction.NEXT);
862 throw new RuntimeException("Missing implementation " + this);
866 if (previous != null) {
867 PipeControlPoint pcp = this;
869 pcp = getParentPoint();
870 Vector3d v = new Vector3d();
871 v.sub(previous.getWorldPosition(),pcp.getWorldPosition());
872 if (v.lengthSquared() > MathTools.NEAR_ZERO)
880 throw new RuntimeException("Cannot calculate path leg direction for unconnected control point " + this);
881 Vector3d v = getDirectedControlPointDirection();
885 if (isVariableAngle() && !asFixedAngle())
886 throw new RuntimeException("Cannot calculate path leg direction for unconnected variable angle control point " + this);
888 PipeControlPoint pcp = this;
889 if (pcp.isDualInline()) {
890 pcp = pcp.getDualSub();
892 Vector3d v = new Vector3d();
893 v.sub(pcp.getWorldPosition(),next.getWorldPosition());
894 if (v.lengthSquared() > MathTools.NEAR_ZERO)
899 } else if (isDirected()) {
900 Vector3d v = getDirectedControlPointDirection();
903 } else if (isEnd()) {
904 Vector3d v = new Vector3d();
905 v.sub(getWorldPosition(),next.getWorldPosition());
906 if (v.lengthSquared() > MathTools.NEAR_ZERO)
911 } else if (isTurn() && asFixedAngle() && _getReversed()) {
912 return getDirection(Direction.PREVIOUS);
914 throw new RuntimeException("Missing implementation " + this);
920 public void getInlineControlPointEnds(Tuple3d p1, Tuple3d p2) {
923 PipeControlPoint sub = isAxial() ? this : getDualSub();
924 Vector3d pos = getWorldPosition(), pos2 = sub == this ? pos : sub.getWorldPosition();
925 Vector3d dir = sub.getInlineDir();
927 dir.scale(length * 0.5);
934 public void getControlPointEnds(Tuple3d p1, Tuple3d p2) {
935 PipeControlPoint sub = isAxial() || isDirected() || isTurn() ? this : getChildPoints().get(0);
936 Vector3d pos = getWorldPosition(), pos2 = sub == this ? pos : sub.getWorldPosition();
941 dir2 = getInlineDir();
942 dir2.scale(length * 0.5);
943 dir1 = new Vector3d(dir2);
946 dir1 = getPathLegDirection(Direction.PREVIOUS);
947 dir2 = sub.getPathLegDirection(Direction.NEXT);
958 * Get both path leg directions, with (0,0,0) if no connection exists. The returned vectors are not normalized.
960 * @param v1 Set to the direction towards the previous control point on output
961 * @param v2 Set to the direction towards the next control point on output
963 public void getEndDirections(Tuple3d v1, Tuple3d v2) {
964 PipeControlPoint sub = isAxial() ? this : getDualSub();
966 Vector3d dir1 = getPathLegDirection(Direction.PREVIOUS);
967 Vector3d dir2 = sub.getPathLegDirection(Direction.NEXT);
980 public void getInlineControlPointEnds(Tuple3d p1, Tuple3d p2, Vector3d dir) {
983 Vector3d pos = getWorldPosition();
984 dir.set(getInlineDir());
986 dir.scale(length * 0.5);
993 public void getInlineControlPointEnds(Tuple3d center, Tuple3d p1, Tuple3d p2, Vector3d dir) {
996 Vector3d pos = getWorldPosition();
998 dir.set(getInlineDir());
1000 dir.scale(length * 0.5);
1007 public Vector3d getInlineDir() {
1008 Vector3d dir = getPathLegDirection(Direction.NEXT);
1010 dir = getPathLegDirection(Direction.PREVIOUS);
1012 // Use reverse direction
1015 // Control point is not connected at all, use current orientation
1016 dir = new Vector3d(1,0,0);
1017 MathTools.rotate(getWorldOrientation(), dir, dir);
1023 public double getInlineLength() {
1024 if (type == PointType.TURN)
1026 else if (type == PointType.INLINE)
1027 return length * 0.5;
1032 * Return the position indicated by the argument. If the indicated direction is not connected, the
1033 * control point's wolrd position is returned instead.
1035 * @param type A selector for the position to be returned
1036 * @return The selected position
1038 public Vector3d getRealPosition(PositionType type) {
1039 Vector3d pos = getWorldPosition();
1042 Vector3d dir = getInlineDir();
1043 double length = getInlineLength();
1049 Vector3d dir = getInlineDir();
1050 double length = getInlineLength();
1056 // IEntity portDir = pcp.getSingleRelatedObject(ProcessResource.plant3Dresource.HasDirection);
1057 // TODO : how we calculated needed space for a port; does it has an offset from control point's position or not?
1067 public void getInlineMovement(Tuple3d start, Tuple3d end) {
1068 // FIXME : check type of neighbor components and allow movement on top of variable length components,
1069 // find proper range for movement (pcp's position is not)
1070 PipeControlPoint p = previous.getPrevious();
1071 PipeControlPoint n = next.getNext();
1072 start.set(p.getWorldPosition());
1073 end.set(n.getWorldPosition());
1076 public PipeControlPoint findNextEnd() {
1077 ArrayList<PipeControlPoint> t = new ArrayList<PipeControlPoint>();
1078 return findNextEnd( t);
1081 public PipeControlPoint findPreviousEnd() {
1082 ArrayList<PipeControlPoint> t = new ArrayList<PipeControlPoint>();
1083 return findPreviousEnd(t);
1086 public PipeControlPoint findNextEnd(List<PipeControlPoint> nextList) {
1088 PipeControlPoint pcp = null;
1089 PipeControlPoint p = null;
1090 if (nextList.size() == 0)
1094 p = nextList.get(nextList.size() - 1);
1099 if (nextList.size() > 0)
1100 nextList.remove(nextList.size() - 1);
1101 // if (DEBUG) System.out.println(" " + pcp.getResource() + " not full");
1105 if (pcp.isPathLegEnd()) {
1106 //if (DEBUG) System.out.println(" " + pcp.getResource());
1110 // if (DEBUG) System.out.print(" " + pcp.getResource());
1115 public PipeControlPoint findPreviousEnd(List<PipeControlPoint> prevList) {
1117 PipeControlPoint pcp = null;
1118 PipeControlPoint p = null;
1119 if (prevList.size() == 0)
1123 p = prevList.get(prevList.size() - 1);
1125 pcp = p.getPrevious();
1128 if (prevList.size() > 0)
1129 prevList.remove(prevList.size() - 1);
1130 // if (DEBUG) System.out.println(" " + pcp.getResource() + " not full");
1133 if (pcp.isPathLegEnd()) {
1134 // if (DEBUG) System.out.println(" " + pcp.getResource());
1138 // if (DEBUG)System.out.print(" " + pcp.getResource());
1143 public void _remove() {
1148 public PipeControlPoint getDualSub() {
1150 return getChildPoints().get(0);
1152 throw new IllegalStateException("Current control point is not dual inline");
1156 public void _remove(boolean renconnect) {
1160 if (DEBUG) System.out.println(this + " Remove " + renconnect);
1162 if (getParentPoint() != null) {
1163 getParentPoint()._remove(renconnect);
1166 PipeRun pipeRun = getPipeRun();
1167 // PipeRUn removal has been changed, so pipeRun may be null.
1168 // if (pipeRun == null)
1171 PipeControlPoint additionalRemove = null;
1172 if (!PipingRules.isEnabled()) {
1178 PipeControlPoint currentPrev = previous;
1179 PipeControlPoint currentNext = next;
1180 if (currentNext == null && currentPrev == null) {
1182 if (pipeRun != null) {
1183 pipeRun.remChild(this);
1184 checkRemove(pipeRun);
1188 if (currentNext != null && currentPrev != null) {
1189 boolean link = renconnect;
1190 if (currentNext.isBranchEnd()) {
1192 currentNext.remove();
1196 if (currentPrev.isBranchEnd()) {
1198 currentPrev.remove();
1203 if (currentPrev.isDirected() && currentNext.isDirected())
1205 else if (this.isDualInline()) {
1207 } else if (this.isDualSub()) {
1208 throw new RuntimeException("_remove() is called for parent point, somehow got to child point. " + this);
1211 if (currentNext == null) {
1213 } else if (currentNext.isDualInline()) {
1214 PipeControlPoint sccp = currentNext;
1215 PipeControlPoint ocp = currentNext.getDualSub();
1217 throw new RuntimeException("Removing PipeControlPoint " + this+ " structure damaged, no offset control point");
1220 sccp.setPrevious(currentPrev);
1221 //ocp.setPrevious(currentPrev);
1222 assert(ocp.getPrevious() == currentPrev);
1224 sccp.setPrevious(null);
1225 //ocp.setPrevious(null);
1226 assert(ocp.getPrevious() == null);
1229 } else if (currentNext.isDualSub()) {
1230 throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, next control point is offset control point");
1231 } else if (currentNext.previous == this) {
1233 currentNext.setPrevious(currentPrev);
1235 currentNext.setPrevious(null);
1238 } else if (isDualInline()) {
1239 if (currentNext.previous != getDualSub()) {
1240 throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1243 currentNext.setPrevious(currentPrev);
1245 currentNext.setPrevious(null);
1249 throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1251 if (currentPrev == null) {
1253 } else if (currentPrev.isDualInline()) {
1254 throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, previous control point is size change control point");
1255 } else if (currentPrev.isDualSub()) {
1256 PipeControlPoint ocp = currentPrev;
1257 PipeControlPoint sccp = currentPrev.getParentPoint();
1259 throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, no size change control point");
1261 //ocp.setNext(currentNext);
1262 sccp.setNext(currentNext);
1263 assert(ocp.getNext() == currentNext);
1265 //ocp.setNext(null);
1267 assert(ocp.getNext() == null);
1270 } else if (currentPrev.next == this) {
1272 currentPrev.setNext(currentNext);
1274 currentPrev.setNext(null);
1278 throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged");
1281 if (currentNext.isVariableLength() && currentPrev.isVariableLength()) {
1282 // we have to join them into single variable length component.
1283 additionalRemove = currentPrev;
1284 // combine lengths and set the location of remaining control point to the center.
1285 Point3d ps = new Point3d();
1286 Point3d pe = new Point3d();
1287 Point3d ns = new Point3d();
1288 Point3d ne = new Point3d();
1289 currentPrev.getInlineControlPointEnds(ps, pe);
1290 currentNext.getInlineControlPointEnds(ns, ne);
1291 double l = currentPrev.getLength() + currentNext.getLength();
1292 Vector3d cp = new Vector3d();
1295 currentNext.setLength(l);
1296 currentNext.setWorldPosition(cp);
1299 // FIXME : pipe run must be split into two parts, since the control point structure is no more continuous.
1301 } else if (currentNext != null) {
1302 if (currentNext.isDualInline()) {
1303 PipeControlPoint sccp = currentNext;
1304 PipeControlPoint ocp = currentNext.getDualSub();
1306 throw new RuntimeException("Removing PipeControlPoint " + this+ " structure damaged, no offset control point");
1308 sccp.setPrevious(null);
1309 assert(ocp.getPrevious() == null);
1310 //ocp.setPrevious(null);
1311 } else if (currentNext.isDualSub()) {
1312 throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, next control point is offset control point");
1313 } else if (currentNext.previous == this) {
1314 currentNext.setPrevious(null);
1315 } else if (isDualInline()) {
1316 if (currentNext.previous != getDualSub()) {
1317 throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1319 currentNext.setPrevious(null);
1321 throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1324 } else { //(previous != null)
1325 if(currentPrev.isDualInline()) {
1326 throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, previous control point is size change control point");
1327 } else if (currentPrev.isDualSub()) {
1328 PipeControlPoint ocp = currentPrev;
1329 PipeControlPoint sccp = currentPrev.getParentPoint();
1331 throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, no size change control point");
1334 assert(ocp.getNext() == null);
1335 } else if (currentPrev.next == this) {
1336 currentPrev.setNext(null);
1338 throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1342 if (children.size() > 0 ) {
1344 } else if (parent!= null) {
1345 removeParentPoint();
1351 if (pipeRun != null) {
1352 pipeRun.remChild(this);
1353 checkRemove(pipeRun);
1354 if (PipingRules.isEnabled() && pipeRun.getParent() != null && pipeRun.getControlPoints().size() > 0)
1355 PipingRules.validate(pipeRun);
1357 if (additionalRemove != null)
1358 additionalRemove.remove();
1363 * Removes control point and attempts to reconnect next/prev
1365 * If this point is size change (PipeRuns are different on both sides), then reconnection cannot be made.
1367 public void remove() {
1368 PipeControlPoint currentPrev = previous;
1369 PipeControlPoint currentNext = next;
1372 if (currentNext != null)
1373 if (!currentNext.checkRemove())
1374 PipingRules.requestUpdate(currentNext);
1375 if (currentPrev != null)
1376 if (!currentPrev.checkRemove())
1377 PipingRules.requestUpdate(currentPrev);
1378 } catch (Exception e) {
1379 e.printStackTrace();
1385 * Removes control point without attempting to reconnect next/prev.
1386 * This usually leads to creation of another PipeRun for the control points after this point.
1388 public void removeAndSplit() {
1389 PipeControlPoint currentPrev = previous;
1390 PipeControlPoint currentNext = next;
1392 if (next != null && previous != null) {
1393 P3DRootNode root = (P3DRootNode)getPipelineComponent().getRootNode();
1394 PipeRun nextPipeRun = new PipeRun();
1395 nextPipeRun.setName(root.getUniqueName("PipeRun"));
1396 root.addChild(nextPipeRun);
1398 PipeRun previousRun = previous.getPipeRun();
1399 nextPipeRun.setPipeDiameter(previousRun.getPipeDiameter());
1400 nextPipeRun.setTurnRadiusArray(previousRun.getTurnRadiusArray());
1402 PipelineComponent n = next.getPipelineComponent();
1404 if (n.getPipeRun() != previousRun)
1406 if (! (n instanceof Nozzle)) {
1408 nextPipeRun.addChild(n);
1410 n.setPipeRun(nextPipeRun);
1416 if (currentNext != null)
1417 if (!currentNext.checkRemove())
1418 PipingRules.requestUpdate(currentNext);
1419 if (currentPrev != null)
1420 if (!currentPrev.checkRemove())
1421 PipingRules.requestUpdate(currentPrev);
1422 } catch (Exception e) {
1423 e.printStackTrace();
1428 * This is called when adjacent control point is removed.
1430 * This call should remove the give point, if the point cannot exist alone.
1431 * At the moment there is one such case: branch.
1435 protected boolean checkRemove() {
1436 if (getParentPoint() != null) {
1437 return getParentPoint().checkRemove();
1439 if (getPipelineComponent() == null)
1440 return true; // already removed
1441 if (getPipelineComponent().getType().equals("Plant3D.URIs.Builtin_BranchSplitComponent")) {
1442 if (getChildPoints().get(0).getNext() == null && getChildPoints().get(0).getPrevious() == null) {
1447 return checkRemove(getPipeRun());
1451 private boolean checkRemove(PipeRun pipeRun) {
1452 if (pipeRun == null)
1454 Collection<PipeControlPoint> points = pipeRun.getControlPoints();
1455 if (points.size() == 0) {
1458 } else if (points.size() == 1) {
1459 PipeControlPoint pcp = points.iterator().next();
1460 if (pcp.isDeletable() && pcp.getNext() == null && pcp.getPrevious() == null) {
1461 pcp._remove(); // This call will recursively call also this method...
1464 } else if (points.size() == 2) {
1470 private void removeSubPoints() {
1471 for (PipeControlPoint p : children) {
1475 PipeControlPoint currentNext = p.getNext();
1476 PipeControlPoint currentPrev = p.getPrevious();
1478 p._setPrevious(null);
1479 PipeRun run = p.getPipeRun();
1484 if (currentNext != null)
1485 if (!currentNext.checkRemove())
1486 PipingRules.requestUpdate(currentNext);
1487 if (currentPrev != null)
1488 if (!currentPrev.checkRemove())
1489 PipingRules.requestUpdate(currentPrev);
1495 private void removeParentPoint() {
1496 throw new RuntimeException("Child points cannot be removed directly");
1499 public boolean isRemoved() {
1500 return component == null;
1503 private void removeComponent() {
1504 if (component == null)
1506 PipelineComponent next = component.getNext();
1507 PipelineComponent prev = component.getPrevious();
1508 PipelineComponent br0 = component.getBranch0();
1509 component.setNext(null);
1510 component.setPrevious(null);
1511 component.setBranch0(null);
1513 if (next.getNext() == component)
1515 else if (next.getPrevious() == component)
1516 next.setPrevious(null);
1517 else if (next.getBranch0() == component)
1518 next.setBranch0(null);
1521 if (prev.getNext() == component)
1523 else if (prev.getPrevious() == component)
1524 prev.setPrevious(null);
1525 else if (prev.getBranch0() == component)
1526 prev.setBranch0(null);
1529 if (br0.getNext() == component)
1531 else if (br0.getPrevious() == component)
1532 br0.setPrevious(null);
1533 else if (br0.getBranch0() == component)
1534 br0.setBranch0(null);
1536 PipelineComponent comp = component;
1543 public void setOrientation(Quat4d orientation) {
1544 if (MathTools.equals(orientation, getOrientation()))
1546 if (getPipelineComponent() != null && (getPipelineComponent() instanceof Nozzle))
1547 System.out.println();
1548 super.setOrientation(orientation);
1549 if (getParentPoint() == null && component != null)
1550 component._setWorldOrientation(getWorldOrientation());
1555 public void setPosition(Vector3d position) {
1556 if (MathTools.equals(position, getPosition()))
1558 if (Double.isNaN(position.x) || Double.isNaN(position.y) || Double.isNaN(position.z))
1559 throw new IllegalArgumentException("NaN is not supported");
1560 super.setPosition(position);
1561 if (getParentPoint() == null && component != null)
1562 component._setWorldPosition(getWorldPosition());
1566 private void updateSubPoint() {
1568 if (next == null && previous == null) {
1569 for (PipeControlPoint sub : getChildPoints()) {
1570 sub.setWorldPosition(getWorldPosition());
1571 sub.setWorldOrientation(getWorldOrientation());
1575 for (PipeControlPoint sub : getChildPoints()) {
1576 Vector3d wp = getWorldPosition();
1577 wp.add(getSizeChangeOffsetVector());
1578 sub.setWorldPosition(wp);
1579 sub.setWorldOrientation(getWorldOrientation());
1582 for (PipeControlPoint sub : getChildPoints()) {
1583 sub.setWorldPosition(getWorldPosition());
1584 sub.setWorldOrientation(getWorldOrientation());
1590 public void _setWorldPosition(Vector3d position) {
1591 Vector3d localPos = getLocalPosition(position);
1592 super.setPosition(localPos);
1596 public void _setWorldOrientation(Quat4d orientation) {
1597 Quat4d localOr = getLocalOrientation(orientation);
1598 super.setOrientation(localOr);
1603 public String toString() {
1604 return getClass().getName() + "@" + Integer.toHexString(hashCode());