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