org.simantics.plant3d/src/org/simantics/plant3d/scenegraph/controlpoint/PipeControlPoint.java

   1 package org.simantics.plant3d.scenegraph.controlpoint;
   2
   3 import java.util.ArrayList;
   4 import java.util.Arrays;
   5 import java.util.Collection;
   6 import java.util.List;
   7
   8 import javax.vecmath.AxisAngle4d;
   9 import javax.vecmath.Matrix3d;
  10 import javax.vecmath.Point3d;
  11 import javax.vecmath.Quat4d;
  12 import javax.vecmath.Tuple3d;
  13 import javax.vecmath.Vector3d;
  14
  15 import org.simantics.g3d.math.MathTools;
  16 import org.simantics.g3d.property.annotations.GetPropertyValue;
  17 import org.simantics.g3d.scenegraph.G3DNode;
  18 import org.simantics.plant3d.scenegraph.IP3DNode;
  19 import org.simantics.plant3d.scenegraph.Nozzle;
  20 import org.simantics.plant3d.scenegraph.P3DRootNode;
  21 import org.simantics.plant3d.scenegraph.PipeRun;
  22 import org.simantics.plant3d.scenegraph.PipelineComponent;
  23
  24 import vtk.vtkRenderer;
  25
  26
  27 public class PipeControlPoint extends G3DNode implements IP3DNode {
  28
  29         private static boolean DEBUG = false;
  30
  31         public enum PointType{INLINE,TURN,END};
  32         public enum Direction{NEXT,PREVIOUS};
  33         public enum PositionType {SPLIT,NEXT,PREVIOUS,PORT}
  34
  35         private PipelineComponent component;
  36
  37         private PointType type;
  38         private boolean isFixed = true;        // In-line: fixed-length Turn: fixed-angle
  39         private boolean isMod = false;         // Can user modify fixed value manually
  40         private boolean isRotate = false;      // rotates around path leg axis.
  41         private boolean isReverse = false;     // definition direction can be swapped
  42         private boolean isDeletable = true;    // can be removed by rules
  43         private boolean isSizeChange = false;  // changes size of the pipe. The next control point / component is on different PipeRun
  44         private boolean isSub = false;         // child point for offset / size change
  45
  46         private boolean disposed = false;
  47
  48         public PipeControlPoint(PipelineComponent component) {
  49                 this.component = component;
  50                 if (component.getPipeRun() != null)
  51                         component.getPipeRun().addChild(this);
  52
  53         }
  54
  55         public PipeControlPoint(PipelineComponent component, PipeRun piperun) {
  56                 this.component = component;
  57                 piperun.addChild(this);
  58         }
  59
  60         @Override
  61         public void update(vtkRenderer ren) {
  62                 try {
  63                         PipingRules.requestUpdate(this);
  64                 } catch (Exception e) {
  65                         e.printStackTrace();
  66                 }
  67
  68         }
  69
  70         public PipeRun getPipeRun() {
  71                 return (PipeRun)getParent();
  72         }
  73
  74         public PipelineComponent getPipelineComponent() {
  75                 return component;
  76         }
  77
  78         public PointType getType() {
  79                 return type;
  80         }
  81
  82         public void setType(PointType type) {
  83                 this.type = type;
  84         }
  85
  86         @GetPropertyValue(name="Fixed",tabId="Debug",value="fixed")
  87         public boolean isFixed() {
  88                 return isFixed;
  89         }
  90
  91         public void setFixed(boolean fixed) {
  92                 this.isFixed = fixed;
  93         }
  94
  95         @GetPropertyValue(name="Mod",tabId="Debug",value="mod")
  96         public boolean isMod() {
  97         return isMod;
  98     }
  99
 100     public void setMod(boolean isMod) {
 101         this.isMod = isMod;
 102     }
 103
 104         @GetPropertyValue(name="Rotate",tabId="Debug",value="rotate")
 105         public boolean isRotate() {
 106                 return isRotate;
 107         }
 108
 109         public void setRotate(boolean rotate) {
 110                 this.isRotate = rotate;
 111         }
 112
 113         @GetPropertyValue(name="Reverse",tabId="Debug",value="reverse")
 114         public boolean isReverse() {
 115                 return isReverse;
 116         }
 117
 118         public void setReverse(boolean reverse) {
 119                 this.isReverse = reverse;
 120         }
 121
 122         public void setSub(boolean sub) {
 123                 this.isSub = sub;
 124         }
 125
 126         @GetPropertyValue(name="Deletable",tabId="Debug",value="deletable")
 127         public boolean isDeletable() {
 128                 return isDeletable;
 129         }
 130
 131         public void setDeletable(boolean deletable) {
 132                 this.isDeletable = deletable;
 133         }
 134
 135         public boolean isPathLegEnd() {
 136                 return type != PointType.INLINE;
 137         }
 138
 139         public boolean isEnd() {
 140                 return type == PointType.END;
 141         }
 142
 143         public boolean isTurn() {
 144                 return type == PointType.TURN;
 145         }
 146
 147         public boolean isInline() {
 148                 return type == PointType.INLINE;
 149         }
 150
 151         public boolean asPathLegEnd() {
 152             // Ends and Turns are path leg ends by default, but also unconnected inline are path leg ends.
 153             return isPathLegEnd() || getNext() == null || getPrevious() == null;
 154         }
 155
 156         /**
 157          * True for end components, if control point defines absolute position direction, which rules cannot modify.
 158          * This is typical for nozzles.
 159          * @return
 160          */
 161         public boolean isDirected() {
 162                 return isFixed && isEnd();
 163         }
 164
 165         /**
 166      * True for end components, if control is opposite to directed, and rules can modify position and orientation.
 167      * This is typical for caps, and other end components.
 168      * @return
 169      */
 170         public boolean isNonDirected() {
 171                 return !isFixed && isEnd();
 172         }
 173
 174         public boolean isVariableLength() {
 175                 return !isFixed && isInline();
 176         }
 177
 178         /**
 179          * Fixed length in-line component is such that piping rules cannot modify the length.
 180          * @return
 181          */
 182         public boolean isFixedLength() {
 183         return isFixed && isInline();
 184     }
 185
 186         public boolean isVariableAngle() {
 187                 return !isFixed && isTurn();
 188         }
 189
 190         /**
 191          * Fixed angle turn component is such that piping rules cannot modify the angle.
 192          * @return
 193          */
 194         public boolean isFixedAngle() {
 195         return isFixed && isTurn();
 196     }
 197
 198         /**
 199          * Does the turn behave like fixed angle?
 200          * For variable angle turns, the turn angle is defined by connected components, and without them, we must handle the component as fixed angle.
 201          * @return
 202          */
 203         public boolean asFixedAngle() {
 204         return isTurn() && (isFixed || next == null || previous == null);
 205     }
 206
 207         public boolean isBranchEnd() {
 208                 return isDeletable && isEnd();
 209         }
 210
 211         public boolean isOffset() {
 212                 return offset != null;
 213         }
 214
 215         public boolean isDualSub() {
 216                 return parent != null && isSub;
 217         }
 218
 219         public boolean isDualInline() {
 220                 return children.size() == 1 && children.get(0).isDualSub();
 221         }
 222
 223         public boolean isAxial() {
 224                 return isInline() && !isDualInline();
 225         }
 226
 227         public boolean isSizeChange() {
 228                 return isSizeChange;
 229                 //              if (children.size() == 0)
 230                 //                      return false;
 231                 //              if (!isDualInline())
 232                 //                      return false;
 233                 //              return getPipeRun() != children.get(0).getPipeRun();
 234         }
 235
 236         public void setSizeChange(boolean isSizeChange) {
 237                 this.isSizeChange = isSizeChange;
 238         }
 239
 240
 241         private PipeControlPoint next;
 242         private PipeControlPoint previous;
 243
 244         public PipeControlPoint getNext() {
 245                 return next;
 246         }
 247
 248         public PipeControlPoint getPrevious() {
 249                 return previous;
 250         }
 251
 252         public void setNext(PipeControlPoint next) {
 253             if (isSub) {
 254                 getParentPoint().setNext(next);
 255                 return;
 256             }
 257             if (next != null && next.isDualSub())
 258                 next = next.parent;
 259             if (_setNext(next)) {
 260                 for (PipeControlPoint pcp : children) {
 261                 if (pcp.isSub)
 262                     pcp._setNext(next);
 263             }
 264                 updateSubPoint();
 265             }
 266         }
 267
 268         public void setPrevious(PipeControlPoint prev) {
 269         if (isSub) {
 270             getParentPoint().setPrevious(prev);
 271             return;
 272         }
 273         if (prev != null && prev.isDualInline())
 274             prev = prev.children.get(0);
 275         if (_setPrevious(prev)) {
 276             for (PipeControlPoint pcp : children) {
 277                 if (pcp.isSub)
 278                     pcp._setPrevious(prev);
 279             }
 280             updateSubPoint();
 281         }
 282     }
 283
 284         protected boolean _setNext(PipeControlPoint next) {
 285                 if (isEnd() && previous != null && next != null)
 286                         throw new RuntimeException("End control points are allowed to have only one connection");
 287                 if (next == this)
 288                         throw new RuntimeException("Cannot connect to self");
 289                 if (this.next == next)
 290                         return false;
 291                 if (DEBUG) System.out.println(this + " next " + next);
 292                 if (next == null && isVariableAngle() && previous != null && !isRemoved()) {
 293                     convertVariableAngleToFixed(Direction.NEXT);
 294                 }
 295                 this.next = next;
 296                 if (component != null) {
 297                         if (parent == null || isSub)
 298                                 component.setNext(next != null ? next.component : null);
 299                         else
 300                                 component.setBranch0(next != null ? next.component : null);
 301
 302                 }
 303                 return true;
 304         }
 305
 306         protected boolean _setPrevious(PipeControlPoint previous) {
 307                 if (isEnd() && next != null && previous != null)
 308                         throw new RuntimeException("End control points are allowed to have only one connection");
 309                 if (previous == this)
 310                         throw new RuntimeException("Cannot connect to self");
 311                 if (this.previous == previous)
 312                         return false;
 313                 if (DEBUG) System.out.println(this + " previous " + previous);
 314                 if (previous == null && isVariableAngle() && next != null && !isRemoved()) {
 315             convertVariableAngleToFixed(Direction.PREVIOUS);
 316         }
 317                 this.previous = previous;
 318                 if (component != null) {
 319                         if (parent == null || isSub)
 320                                 component.setPrevious(previous != null ? previous.component : null);
 321                         else
 322                                 component.setBranch0(previous != null ? previous.component : null);
 323                         updateSubPoint();
 324                 }
 325                 return true;
 326         }
 327
 328         private void convertVariableAngleToFixed(Direction direction) {
 329             // We are removing reference, which transforms variable angle to fixed angle.
 330         // Since fixed angle is defined differently, we need to calculate fixed angle parameters based on current data
 331         // We need to calculate turnAngle and rotationAngle
 332             Vector3d dirOut = getPathLegDirection(direction == Direction.NEXT ? Direction.NEXT : Direction.PREVIOUS);
 333         Vector3d dir = getPathLegDirection(direction == Direction.NEXT ? Direction.PREVIOUS : Direction.NEXT);
 334         if (dir == null || dirOut == null)
 335             return;
 336         dir.negate();
 337         double angle = dir.angle(dirOut);
 338         //super._setNext(null);
 339         if (direction == Direction.NEXT)
 340             next = null;
 341         else
 342             previous = null;
 343         setRotationAngle(0.0);
 344         setReversed(direction == Direction.NEXT ? false : true);
 345         Vector3d dirOutN = getPathLegDirection(direction == Direction.NEXT ? Direction.NEXT : Direction.PREVIOUS);
 346         dirOutN.normalize();
 347         AxisAngle4d aa = new AxisAngle4d();
 348         if (MathTools.createRotation(dirOutN, dirOut, dir, aa)) {
 349             setRotationAngle(aa.angle);
 350             setTurnAngle(angle);
 351             if (DEBUG) System.out.println("convertToFixed " + dir + " " + dirOut + " " +dirOutN + " " +angle + " "+ aa.angle);
 352         }
 353         }
 354
 355         public PipeControlPoint parent;
 356         public List<PipeControlPoint> children = new ArrayList<PipeControlPoint>();
 357
 358         public List<PipeControlPoint> getChildPoints() {
 359                 return children;
 360         }
 361
 362         public PipeControlPoint getParentPoint() {
 363                 return parent;
 364         }
 365
 366
 367         private double length;
 368         private Double turnAngle;
 369         private Vector3d turnAxis;
 370
 371         private Double offset;
 372         private Double rotationAngle;
 373         private Boolean reversed;
 374
 375         @GetPropertyValue(name="Length",tabId="Debug",value="length")
 376         public double getLength() {
 377                 return length;
 378         }
 379
 380         public void setLength(double l) {
 381                 if (Double.isInfinite(l) || Double.isNaN(l)) {
 382                         return;
 383                 }
 384                 if (Math.abs(this.length-l) < MathTools.NEAR_ZERO)
 385                         return;
 386                 this.length = l;
 387                 firePropertyChanged("length");
 388                 if (isDualInline())
 389                     getDualSub().setLength(l);
 390         }
 391
 392         @GetPropertyValue(name="Turn Angle",tabId="Debug",value="turnAngle")
 393         public Double getTurnAngle() {
 394                 return turnAngle;
 395         }
 396
 397         @GetPropertyValue(name="Turn Axis",tabId="Debug",value="turnAxis")
 398         public Vector3d getTurnAxis() {
 399                 return turnAxis;
 400         }
 401
 402         @GetPropertyValue(name="Offset",tabId="Debug",value="offset")
 403         public Double getOffset() {
 404                 return offset;
 405         }
 406
 407         @GetPropertyValue(name="Rotation Angle",tabId="Debug",value="rotationAngle")
 408         public Double getRotationAngle() {
 409             if (isRotate || asFixedAngle())
 410                 return rotationAngle;
 411             return null;
 412         }
 413
 414         @GetPropertyValue(name="Reversed",tabId="Debug",value="reversed")
 415         public Boolean getReversed() {
 416                 return reversed;
 417         }
 418
 419         public boolean _getReversed() {
 420                 if (reversed == null)
 421                         return false;
 422                 return reversed;
 423         }
 424
 425         public void setTurnAngle(Double turnAngle) {
 426                 if (turnAngle == null || Double.isInfinite(turnAngle) || Double.isNaN(turnAngle)) {
 427                         return;
 428                 }
 429                 if (this.turnAngle != null && Math.abs(this.turnAngle-turnAngle) < MathTools.NEAR_ZERO)
 430                         return;
 431                 this.turnAngle = turnAngle;
 432                 firePropertyChanged("turnAngle");
 433         }
 434
 435         public void setTurnAxis(Vector3d turnAxis) {
 436                 if (this.turnAxis != null && MathTools.equals(turnAxis, this.turnAxis))
 437                         return;
 438                 this.turnAxis = turnAxis;
 439                 firePropertyChanged("turnAxis");
 440         }
 441
 442         public void setOffset(Double offset) {
 443                 if (Double.isInfinite(offset) || Double.isNaN(offset)) {
 444                         return;
 445                 }
 446                 if (this.offset != null && Math.abs(this.offset-offset) < MathTools.NEAR_ZERO)
 447                         return;
 448                 this.offset = offset;
 449                 firePropertyChanged("offset");
 450         }
 451
 452         public void setRotationAngle(Double rotationAngle) {
 453                 if (Double.isInfinite(rotationAngle) || Double.isNaN(rotationAngle)) {
 454                         return;
 455                 }
 456                 if (this.rotationAngle != null && Math.abs(this.rotationAngle-rotationAngle) < MathTools.NEAR_ZERO)
 457                         return;
 458                 this.rotationAngle = rotationAngle;
 459                 firePropertyChanged("rotationAngle");
 460         }
 461
 462         public void setReversed(Boolean reversed) {
 463                 this.reversed = reversed;
 464                 firePropertyChanged("reversed");
 465         }
 466
 467         public Vector3d getSizeChangeOffsetVector(Vector3d dir) {
 468                 Quat4d q;
 469                 if (rotationAngle == null)
 470                         q = getControlPointOrientationQuat(dir, 0.0);
 471                 else
 472                         q = getControlPointOrientationQuat(dir, rotationAngle);
 473                 Vector3d v = new Vector3d(0.0,offset,0.0);
 474                 Vector3d offset = new Vector3d();
 475                 MathTools.rotate(q, v, offset);
 476                 return offset;
 477         }
 478
 479         public Vector3d getSizeChangeOffsetVector() {
 480                 Quat4d q;
 481                 if (rotationAngle == null)
 482                         q = getControlPointOrientationQuat(0.0);
 483                 else
 484                         q = getControlPointOrientationQuat(rotationAngle);
 485                 Vector3d v = new Vector3d(0.0,offset,0.0);
 486                 Vector3d offset = new Vector3d();
 487                 MathTools.rotate(q, v, offset);
 488                 return offset;
 489         }
 490
 491         @GetPropertyValue(name="Next",tabId="Debug",value="next")
 492         private String getNextString() {
 493                 if (next == null)
 494                         return null;
 495                 return next.toString();
 496         }
 497
 498         @GetPropertyValue(name="Previous",tabId="Debug",value="previous")
 499         private String getPrevString() {
 500                 if (previous == null)
 501                         return null;
 502                 return previous.toString();
 503         }
 504
 505         @GetPropertyValue(name="Sub",tabId="Debug",value="sub")
 506         private String getSubString() {
 507                 if (children.size() == 0)
 508                         return "";
 509                 return Arrays.toString(children.toArray());
 510         }
 511
 512         @GetPropertyValue(name="Type",tabId="Debug",value="type")
 513         public String getTypeString() {
 514                 return type.name();
 515         }
 516
 517         public Quat4d getControlPointOrientationQuat(double angle) {
 518
 519                 if (turnAxis == null) {
 520                         Vector3d dir = getPathLegDirection(Direction.NEXT);
 521                         if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 522                                 dir.normalize();
 523                         return getControlPointOrientationQuat(dir, angle);
 524                 } else {
 525                         Vector3d dir = getPathLegDirection(Direction.PREVIOUS);
 526                         dir.negate();
 527                         if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 528                                 dir.normalize();
 529                         return getControlPointOrientationQuat(dir, turnAxis, angle);
 530                 }
 531         }
 532
 533         public Quat4d getControlPointOrientationQuat(Vector3d dir, double angle, boolean reversed) {
 534             if (turnAxis == null) {
 535             if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 536                 dir.normalize();
 537             Quat4d q =  getControlPointOrientationQuat(dir, angle);
 538             if (reversed) {
 539                 Quat4d q2 = new Quat4d();
 540                 q2.set(new AxisAngle4d(MathTools.Y_AXIS, Math.PI));
 541                 q.mulInverse(q2);
 542             }
 543             return q;
 544         } else {
 545             if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 546                 dir.normalize();
 547             return getControlPointOrientationQuat(dir, turnAxis, angle);
 548         }
 549         }
 550
 551         public Quat4d getControlPointOrientationQuat(double angle, boolean reversed) {
 552
 553                 if (turnAxis == null) {
 554                         Vector3d dir = getPathLegDirection(Direction.NEXT);
 555                         return getControlPointOrientationQuat(dir, angle, reversed);
 556                 } else {
 557                         Vector3d dir = getPathLegDirection(Direction.PREVIOUS);
 558                         dir.negate();
 559                         return getControlPointOrientationQuat(dir, angle, reversed);
 560                 }
 561         }
 562
 563
 564
 565         public static Quat4d getControlPointOrientationQuat(Vector3d dir, double angle) {
 566                 if (dir.lengthSquared() < MathTools.NEAR_ZERO)
 567                         return MathTools.getIdentityQuat();
 568
 569
 570                 Vector3d up = new Vector3d(0.0, 1.0, 0.0);
 571                 double a = up.angle(dir);
 572                 if (a < 0.1 || (Math.PI - a) < 0.1) {
 573                         up.set(1.0, 0.0, 0.0);
 574                 }
 575
 576
 577                 return getControlPointOrientationQuat(dir, up, angle);
 578         }
 579
 580         public static Quat4d getControlPointOrientationQuat(Vector3d dir, Vector3d up,  double angle) {
 581                 if (dir.lengthSquared() < MathTools.NEAR_ZERO)
 582                         return MathTools.getIdentityQuat();
 583
 584                 final Vector3d front = new Vector3d(1.0,0.0,0.0);
 585
 586                 Quat4d q1 = new Quat4d();
 587
 588
 589                 Vector3d right = new Vector3d();
 590
 591                 right.cross(dir, up);
 592                 up.cross(right, dir);
 593                 right.normalize();
 594                 up.normalize();
 595
 596                 Matrix3d m = new Matrix3d();
 597                 m.m00 = dir.x;
 598                 m.m10 = dir.y;
 599                 m.m20 = dir.z;
 600                 m.m01 = up.x;
 601                 m.m11 = up.y;
 602                 m.m21 = up.z;
 603                 m.m02 = right.x;
 604                 m.m12 = right.y;
 605                 m.m22 = right.z;
 606
 607                 //q1.set(m); MathTools contains more stable conversion
 608                 MathTools.getQuat(m, q1);
 609
 610                 //                      if (DEBUG) System.out.println("PipingTools.getPipeComponentOrientationQuat() " + dir+ " " + up + " " + right);
 611
 612                 Quat4d q2 = new Quat4d();
 613                 q2.set(new AxisAngle4d(front, angle));
 614                 q1.mul(q2);
 615                 return q1;
 616         }
 617
 618         public void insert(PipeControlPoint previous, PipeControlPoint next) {
 619                 // inserting an offsetpoint is error,
 620                 if (isDualSub())
 621                         throw new RuntimeException("Dual sub points cannot be inserted.");
 622                 // size change control point cannot be inserted this way, because it ends PipeRun
 623                 if (isSizeChange())
 624                         throw new RuntimeException("Size change points cannot be inserted.");
 625                 PipeRun piperun = previous.getPipeRun();
 626                 // and just to make sure that control point structure is not corrupted
 627                 if (getPipeRun() != null) {
 628                         if (piperun != getPipeRun() || piperun != next.getPipeRun())
 629                                 throw new RuntimeException("All controls points must be located on the same pipe run");
 630                 } else {
 631                         piperun.addChild(this);
 632                 }
 633
 634                 // insert new BranchControlPoint between straight's control points
 635                 PipeControlPoint previousNext = previous.getNext();
 636                 PipeControlPoint previousPrevious = previous.getPrevious();
 637
 638                 PipeControlPoint offsetCP = null;
 639                 if (isOffset()) {
 640                         offsetCP = getDualSub();
 641                 }
 642                 if (previousNext != null && previousNext == next) {
 643                         if (previous.isDualInline()) {
 644                                 throw new RuntimeException();
 645                         }
 646                         if (next.isDualSub()) {
 647                                 throw new RuntimeException();
 648                         }
 649                         previous.setNext(this);
 650                         this.setPrevious(previous);
 651                         if (previous.isDualSub()) {
 652                                 previous.getParentPoint().setNext(this);
 653                         }
 654                         this.setNext(next);
 655
 656                         if (offsetCP == null) {
 657                                 next.setPrevious(this);
 658                         } else {
 659                                 next.setPrevious(offsetCP);
 660                                 offsetCP.setNext(next);
 661                                 offsetCP.setPrevious(previous);
 662                         }
 663
 664                         if (next.isDualInline()) {
 665                                 next.getDualSub().setPrevious(this);
 666                         }
 667                 } else if (previousPrevious != null && previousPrevious == next) {
 668                         // control point were given in reverse order
 669                         if (next.isDualInline())
 670                                 throw new RuntimeException();
 671                         if (previous.isDualSub())
 672                                 throw new RuntimeException();
 673
 674                         this.setNext(previous);
 675                         if (offsetCP == null) {
 676                                 previous.setNext(this);
 677                         } else {
 678                                 previous.setPrevious(offsetCP);
 679                                 offsetCP.setNext(previous);
 680                                 offsetCP.setPrevious(next);
 681                         }
 682                         if (previous.isDualInline()) {
 683                                 previous.getDualSub().setPrevious(this);
 684                         }
 685                         this.setPrevious(next);
 686                         next.setNext(this);
 687                         if (next.isDualSub()) {
 688                                 next.getParentPoint().setNext(this);
 689                         }
 690
 691                 } else {
 692                         throw new RuntimeException();
 693                 }
 694
 695                 PipingRules.validate(piperun);
 696         }
 697
 698
 699
 700         public void insert(PipeControlPoint pcp, Direction direction) {
 701                 if (isDualSub())
 702                         throw new RuntimeException();
 703                 if (direction == Direction.NEXT) {
 704                         // if direction is next, user must have given OffsetPoint
 705                         if (pcp.isDualInline())
 706                                 throw new RuntimeException();
 707                         // basic next/prev links
 708                         pcp.setNext(this);
 709                         this.setPrevious(pcp);
 710                         // and last take care of sizechange / offset points
 711                         if (pcp.isDualSub()) {
 712                                 pcp.getParentPoint().setNext(this);
 713                         }
 714                         if (isDualInline()) {
 715                             getDualSub().setPrevious(this);
 716                         }
 717                 } else {
 718                         // if direction is previous, user must have given sizechange
 719                         if (pcp.isDualSub())
 720                                 throw new RuntimeException();
 721                         // previous direction is more complicated, since if newCP is SizeChangeControlPoint,
 722                         // we must link pcp to newCP's OffsetPoint
 723                         PipeControlPoint nocp = null;
 724                         if (isDualInline()) {
 725                                 nocp = getDualSub();
 726                                 nocp.setNext(pcp);
 727                         }
 728                         if (nocp == null) {
 729                                 pcp.setPrevious(this);
 730                         } else {
 731                                 pcp.setPrevious(nocp);
 732                         }
 733                         this.setNext(pcp);
 734                         if (pcp.isDualInline()) {
 735                                 PipeControlPoint ocp = pcp.getDualSub();
 736                                 if (nocp == null)
 737                                         ocp.setPrevious(this);
 738                                 else
 739                                         ocp.setPrevious(nocp);
 740                         }
 741
 742                 }
 743                 PipingRules.validate(getPipeRun());
 744         }
 745
 746         public Vector3d getDirectedControlPointDirection() {
 747                 assert (isDirected());
 748                 Vector3d dir = new Vector3d();
 749                 MathTools.rotate(getWorldOrientation(), new Vector3d(1.0, 0.0, 0.0), dir);
 750                 dir.normalize();
 751                 return dir;
 752         }
 753
 754         /**
 755          * Returns direction vector.
 756          *
 757          * For directed control points, always returns outwards pointing vector.
 758          *
 759          * @param direction
 760          * @return normalized vector, or null
 761          */
 762         public Vector3d getDirection(Direction direction) {
 763         if (isDirected())
 764             return getDirectedControlPointDirection();
 765         if (isTurn() && asFixedAngle()) {
 766             if (direction == Direction.NEXT) {
 767                 if (previous != null) {
 768                     PipeControlPoint pcp = this;
 769                     Vector3d dir = new Vector3d();
 770                     dir.sub(pcp.getWorldPosition(),previous.getWorldPosition());
 771                     if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 772                         dir.normalize();
 773                     else
 774                         return null;
 775                     Quat4d q = getControlPointOrientationQuat(dir, pcp.getRotationAngle() != null ? pcp.getRotationAngle() : 0.0);
 776                     AxisAngle4d aa = new AxisAngle4d(MathTools.Y_AXIS,pcp.getTurnAngle() == null ? 0.0 : pcp.getTurnAngle());
 777                     Quat4d q2 = MathTools.getQuat(aa);
 778                     Vector3d v = new Vector3d(1.,0.,0.);
 779                     Vector3d offset = new Vector3d();
 780                     MathTools.rotate(q2, v, offset);
 781                     MathTools.rotate(q, offset, dir);
 782                     dir.normalize();
 783                     return dir;
 784                 }
 785             } else {
 786                 if (next != null) {
 787                     PipeControlPoint pcp = this;
 788                     Vector3d dir = new Vector3d();
 789                     dir.sub(next.getWorldPosition(),pcp.getWorldPosition());
 790                     if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 791                         dir.normalize();
 792                     else
 793                         return null;
 794                     Quat4d q = getControlPointOrientationQuat(dir, pcp.getRotationAngle() != null ? pcp.getRotationAngle() : 0.0);
 795                     AxisAngle4d aa = new AxisAngle4d(MathTools.Y_AXIS,pcp.getTurnAngle() == null ? 0.0 : pcp.getTurnAngle());
 796                     Quat4d q2 = MathTools.getQuat(aa);
 797                     Vector3d v = new Vector3d(1.,0.,0.);
 798                     Vector3d offset = new Vector3d();
 799                     MathTools.rotate(q2, v, offset);
 800                     MathTools.rotate(q, offset, dir);
 801                     dir.normalize();
 802                     return dir;
 803                 }
 804             }
 805         }
 806         return null;
 807     }
 808
 809         /**
 810          * Returns path leg direction of the control point.
 811          *
 812          * This method differs from getDirection by also returning inward pointing vectors for directed control points.
 813          *
 814          * @param direction
 815          * @return
 816          */
 817         public Vector3d getPathLegDirection(Direction direction) {
 818                 if (direction == Direction.NEXT) {
 819                         if (next != null) {
 820                                 PipeControlPoint pcp = this;
 821                                 if (pcp.isDualInline()) {
 822                                         pcp = pcp.getDualSub();
 823                                 }
 824                                 Vector3d v = new Vector3d();
 825                                 v.sub(next.getWorldPosition(),pcp.getWorldPosition());
 826                                 if (v.lengthSquared() > MathTools.NEAR_ZERO)
 827                     v.normalize();
 828                 else
 829                     return null;
 830                                 return v;
 831                         } else {
 832                                 if (previous == null) {
 833                                         if (!isDirected())
 834                                                 throw new RuntimeException("Cannot calculate path leg direction for unconnected control point " + this);
 835                                         return getDirectedControlPointDirection();
 836
 837                                 } else {
 838                                         if (isVariableAngle() && !asFixedAngle())
 839                                                 throw new RuntimeException("Cannot calculate path leg direction for unconnected variable angle control point " + this);
 840                                         if (isInline()) {
 841                                                 PipeControlPoint pcp = this;
 842                                                 if (pcp.isDualSub()) {
 843                                                         pcp = pcp.getParentPoint();
 844                                                 }
 845                                                 Vector3d v = new Vector3d();
 846                                                 v.sub(pcp.getWorldPosition(),previous.getWorldPosition());
 847                                                 if (v.lengthSquared() > MathTools.NEAR_ZERO)
 848                                 v.normalize();
 849                                                 else
 850                                                     return null;
 851                                                 return v;
 852                                         } else if (isDirected()) {
 853                                                 return getDirectedControlPointDirection();
 854                                         } else if (isEnd()) {
 855                                                 Vector3d v = new Vector3d();
 856                                                 v.sub(getWorldPosition(),previous.getWorldPosition());
 857                                                 if (v.lengthSquared() > MathTools.NEAR_ZERO)
 858                             v.normalize();
 859                         else
 860                             return null;
 861                                                 return v;
 862                                         } else if (isTurn() && asFixedAngle() && !_getReversed()) {
 863                                                 return getDirection(Direction.NEXT);
 864                                         }
 865                                         throw new RuntimeException("Missing implementation " + this);
 866                                 }
 867                         }
 868                 } else {
 869                         if (previous != null) {
 870                                 PipeControlPoint pcp = this;
 871                                 if (isDualSub())
 872                                         pcp = getParentPoint();
 873                                 Vector3d v = new Vector3d();
 874                                 v.sub(previous.getWorldPosition(),pcp.getWorldPosition());
 875                                 if (v.lengthSquared() > MathTools.NEAR_ZERO)
 876                     v.normalize();
 877                 else
 878                     return null;
 879                                 return v;
 880                         } else {
 881                                 if (next == null)  {
 882                                         if (!isDirected())
 883                                                 throw new RuntimeException("Cannot calculate path leg direction for unconnected control point " + this);
 884                                         Vector3d v = getDirectedControlPointDirection();
 885                                         v.negate();
 886                                         return v;
 887                                 } else {
 888                                         if (isVariableAngle() && !asFixedAngle())
 889                                                 throw new RuntimeException("Cannot calculate path leg direction for unconnected variable angle control point " + this);
 890                                         if (isInline()) {
 891                                                 PipeControlPoint pcp = this;
 892                                                 if (pcp.isDualInline()) {
 893                                                         pcp = pcp.getDualSub();
 894                                                 }
 895                                                 Vector3d v = new Vector3d();
 896                                                 v.sub(pcp.getWorldPosition(),next.getWorldPosition());
 897                                                 if (v.lengthSquared() > MathTools.NEAR_ZERO)
 898                             v.normalize();
 899                         else
 900                             return null;
 901                                                 return v;
 902                                         } else if (isDirected()) {
 903                                                 Vector3d v = getDirectedControlPointDirection();
 904                                                 v.negate();
 905                                                 return v;
 906                                         } else if (isEnd()) {
 907                                                 Vector3d v = new Vector3d();
 908                                                 v.sub(getWorldPosition(),next.getWorldPosition());
 909                                                 if (v.lengthSquared() > MathTools.NEAR_ZERO)
 910                             v.normalize();
 911                         else
 912                             return null;
 913                                                 return v;
 914                                         } else if (isTurn() && asFixedAngle() && _getReversed()) {
 915                                                 return getDirection(Direction.PREVIOUS);
 916                                         }
 917                                         throw new RuntimeException("Missing implementation " + this);
 918                                 }
 919                         }
 920                 }
 921         }
 922
 923         public void getInlineControlPointEnds(Tuple3d p1, Tuple3d p2) {
 924                 assert (isInline());
 925
 926                 PipeControlPoint sub = isAxial() ? this : getDualSub();
 927                 Vector3d pos = getWorldPosition(), pos2 = sub == this ? pos : sub.getWorldPosition();
 928                 Vector3d dir = sub.getPathLegDirection(Direction.NEXT);
 929
 930                 dir.normalize();
 931                 dir.scale(length * 0.5);
 932                 p1.set(pos);
 933                 p2.set(pos2);
 934                 p1.sub(dir);
 935                 p2.add(dir);
 936         }
 937
 938         public void getControlPointEnds(Tuple3d p1, Tuple3d p2) {
 939                 PipeControlPoint sub = isAxial() || isDirected() || isTurn() ? this : getChildPoints().get(0);
 940                 Vector3d pos = getWorldPosition(), pos2 = sub == this ? pos : sub.getWorldPosition();
 941
 942                 Vector3d dir1 = getPathLegDirection(Direction.PREVIOUS);
 943                 Vector3d dir2 = sub.getPathLegDirection(Direction.NEXT);
 944                 if (isInline()) {
 945                         dir1.scale(length * 0.5);
 946                         dir2.scale(length * 0.5);
 947                 } else {
 948                         dir1.scale(length);
 949                         dir2.scale(length);
 950                 }
 951                 p1.set(pos);
 952                 p2.set(pos2);
 953                 p1.add(dir1);
 954                 p2.add(dir2);
 955         }
 956
 957         public void getEndDirections(Tuple3d v1, Tuple3d v2) {
 958                 PipeControlPoint sub = isAxial() ? this : getDualSub();
 959
 960                 Vector3d dir1 = getPathLegDirection(Direction.PREVIOUS);
 961                 Vector3d dir2 = sub.getPathLegDirection(Direction.NEXT);
 962                 v1.set(dir1);
 963                 v2.set(dir2);
 964         }
 965
 966         public void getInlineControlPointEnds(Tuple3d p1, Tuple3d p2, Vector3d dir) {
 967                 assert (isInline());
 968
 969                 Vector3d pos = getWorldPosition();
 970                 dir.set(getPathLegDirection(Direction.NEXT));
 971                 dir.normalize();
 972                 dir.scale(length * 0.5);
 973                 p1.set(pos);
 974                 p2.set(pos);
 975                 p1.sub(dir);
 976                 p2.add(dir);
 977         }
 978
 979         public void getInlineControlPointEnds(Tuple3d center, Tuple3d p1, Tuple3d p2, Vector3d dir) {
 980                 assert (isInline());
 981
 982                 Vector3d pos = getWorldPosition();
 983                 center.set(pos);
 984                 dir.set(getPathLegDirection(Direction.NEXT));
 985                 dir.normalize();
 986                 dir.scale(length * 0.5);
 987                 p1.set(pos);
 988                 p2.set(pos);
 989                 p1.sub(dir);
 990                 p2.add(dir);
 991         }
 992
 993         public double getInlineLength() {
 994                 if (type == PointType.TURN)
 995                         return length;
 996                 else if (type == PointType.INLINE)
 997                         return length * 0.5;
 998                 return 0;
 999         }
1000
1001         public Vector3d getRealPosition(PositionType type) {
1002                 Vector3d pos = getWorldPosition();
1003                 switch (type) {
1004                 case NEXT: {
1005                         Vector3d dir = getPathLegDirection(Direction.NEXT);
1006                         double length = getInlineLength();
1007                         dir.normalize();
1008                         dir.scale(length);
1009                         pos.add(dir);
1010                         break;
1011                 }
1012                 case PREVIOUS: {
1013                         Vector3d dir = getPathLegDirection(Direction.PREVIOUS);
1014                         double length = getInlineLength();
1015                         dir.normalize();
1016                         dir.scale(length);
1017                         pos.add(dir);
1018                         break;
1019                 }
1020                 case PORT:
1021                         // IEntity portDir = pcp.getSingleRelatedObject(ProcessResource.plant3Dresource.HasDirection);
1022                         // TODO : how we calculated needed space for a port; does it has an offset from control point's position or not?
1023                         break;
1024                 case SPLIT:
1025                         // do nothing
1026                         break;
1027
1028                 }
1029                 return pos;
1030         }
1031
1032         public void getInlineMovement(Tuple3d start, Tuple3d end) {
1033                 // FIXME : check type of neighbor components and allow movement on top of variable length components,
1034                 //         find proper range for movement (pcp's position is not)
1035                 PipeControlPoint p = previous.getPrevious();
1036                 PipeControlPoint n = next.getNext();
1037                 start.set(p.getWorldPosition());
1038                 end.set(n.getWorldPosition());
1039         }
1040
1041         public PipeControlPoint findNextEnd() {
1042                 ArrayList<PipeControlPoint> t = new ArrayList<PipeControlPoint>();
1043                 return findNextEnd( t);
1044         }
1045
1046         public PipeControlPoint findPreviousEnd() {
1047                 ArrayList<PipeControlPoint> t = new ArrayList<PipeControlPoint>();
1048                 return findPreviousEnd(t);
1049         }
1050
1051         public PipeControlPoint findNextEnd(List<PipeControlPoint> nextList) {
1052                 while (true) {
1053                         PipeControlPoint pcp = null;
1054                         PipeControlPoint p = null;
1055                         if (nextList.size() == 0)
1056                                 p = this;
1057
1058                         else
1059                                 p = nextList.get(nextList.size() - 1);
1060
1061                         pcp = p.getNext();
1062                         if (pcp == null) {
1063                                 pcp = p;
1064                                 if (nextList.size() > 0)
1065                                         nextList.remove(nextList.size() - 1);
1066                                 //              if (DEBUG) System.out.println(" " + pcp.getResource() + " not full");
1067                                 return pcp;
1068                                 //break;
1069                         }
1070                         if (pcp.isPathLegEnd()) {
1071                                 //if (DEBUG) System.out.println(" " + pcp.getResource());
1072                                 return pcp;
1073                         } else {
1074                                 nextList.add(pcp);
1075                                 // if (DEBUG) System.out.print(" " + pcp.getResource());
1076                         }
1077                 }
1078         }
1079
1080         public PipeControlPoint findPreviousEnd(List<PipeControlPoint> prevList) {
1081                 while (true) {
1082                         PipeControlPoint pcp = null;
1083                         PipeControlPoint p = null;
1084                         if (prevList.size() == 0)
1085                                 p = this;
1086
1087                         else
1088                                 p = prevList.get(prevList.size() - 1);
1089
1090                         pcp = p.getPrevious();
1091                         if (pcp == null) {
1092                                 pcp = p;
1093                                 if (prevList.size() > 0)
1094                                         prevList.remove(prevList.size() - 1);
1095                                 //                              if (DEBUG) System.out.println(" " + pcp.getResource() + " not full");
1096                                 return pcp;
1097                         }
1098                         if (pcp.isPathLegEnd()) {
1099                                 //                              if (DEBUG)      System.out.println(" " + pcp.getResource());
1100                                 return pcp;
1101                         } else {
1102                                 prevList.add(pcp);
1103                                 //                              if (DEBUG)System.out.print(" " + pcp.getResource());
1104                         }
1105                 }
1106         }
1107
1108         public void _remove() {
1109             _remove(true);
1110         }
1111
1112
1113         public PipeControlPoint getDualSub() {
1114             if (isDualInline())
1115                 return getChildPoints().get(0);
1116             else
1117                 throw new IllegalStateException("Current control point is not dual inline");
1118         }
1119
1120
1121         public void _remove(boolean renconnect) {
1122             if (disposed)
1123                 return;
1124
1125             if (DEBUG) System.out.println(this + " Remove " + renconnect);
1126
1127                 if (getParentPoint() != null) {
1128                     getParentPoint()._remove(renconnect);
1129                     return;
1130                 }
1131                 PipeRun pipeRun = getPipeRun();
1132 //              PipeRUn removal has been changed, so pipeRun may be null.
1133 //              if (pipeRun == null)
1134 //                      return;
1135
1136                 PipeControlPoint additionalRemove = null;
1137                 if (!PipingRules.isEnabled()) {
1138                     component = null;
1139                         setPrevious(null);
1140                         setNext(null);
1141                 } else {
1142
1143                         PipeControlPoint currentPrev = previous;
1144                         PipeControlPoint currentNext = next;
1145                         if (currentNext == null && currentPrev == null) {
1146                                 removeComponent();
1147                                 if (pipeRun != null) {
1148                                     pipeRun.remChild(this);
1149                                     checkRemove(pipeRun);
1150                                 }
1151                                 return;
1152                         }
1153                         if (currentNext != null && currentPrev != null) {
1154                                 boolean link = renconnect;
1155                                 if (currentNext.isBranchEnd()) {
1156                                         link = false;
1157                                         currentNext.remove();
1158                                         currentNext = null;
1159                                         setNext(null);
1160                                 }
1161                                 if (currentPrev.isBranchEnd()) {
1162                                         link = false;
1163                                         currentPrev.remove();
1164                                         currentPrev = null;
1165                                         setPrevious(null);
1166                                 }
1167                                 if (link) {
1168                                     if (currentPrev.isDirected() && currentNext.isDirected())
1169                                         link = false;
1170                                     else if (this.isDualInline()) {
1171                                         link = false;
1172                                     } else if (this.isDualSub()) {
1173                                         throw new RuntimeException("_remove() is called for parent point, somehow got to child point. " + this);
1174                                     }
1175                                 }
1176                                 if (currentNext == null) {
1177                                         // Nothing to do
1178                                 } else if (currentNext.isDualInline()) {
1179                                         PipeControlPoint sccp = currentNext;
1180                                         PipeControlPoint ocp = currentNext.getDualSub();
1181                                         if (ocp == null) {
1182                                                 throw new RuntimeException("Removing PipeControlPoint " + this+ " structure damaged, no offset control point");
1183                                         }
1184                                         if (link) {
1185                                                 sccp.setPrevious(currentPrev);
1186                                                 //ocp.setPrevious(currentPrev);
1187                                                 assert(ocp.getPrevious() == currentPrev);
1188                                         } else {
1189                                                 sccp.setPrevious(null);
1190                                                 //ocp.setPrevious(null);
1191                                                 assert(ocp.getPrevious() == null);
1192                                         }
1193                                         setNext(null);
1194                                 } else if (currentNext.isDualSub()) {
1195                                         throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, next control point is offset control point");
1196                                 } else if (currentNext.previous == this) {
1197                                         if (link) {
1198                                                 currentNext.setPrevious(currentPrev);
1199                                         } else {
1200                                                 currentNext.setPrevious(null);
1201                                         }
1202                                         setNext(null);
1203                                 } else if (isDualInline()) {
1204                                     if (currentNext.previous != getDualSub()) {
1205                                         throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1206                                     }
1207                                     if (link) {
1208                         currentNext.setPrevious(currentPrev);
1209                     } else {
1210                         currentNext.setPrevious(null);
1211                     }
1212                     setNext(null);
1213                                 } else {
1214                                         throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1215                                 }
1216                                 if (currentPrev == null) {
1217                                         // Nothing to do
1218                                 } else if (currentPrev.isDualInline()) {
1219                                         throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, previous control point is size change control point");
1220                                 } else if (currentPrev.isDualSub()) {
1221                                         PipeControlPoint ocp = currentPrev;
1222                                         PipeControlPoint sccp = currentPrev.getParentPoint();
1223                                         if (sccp == null)
1224                                                 throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, no size change control point");
1225                                         if (link) {
1226                                                 //ocp.setNext(currentNext);
1227                                                 sccp.setNext(currentNext);
1228                                                 assert(ocp.getNext() == currentNext);
1229                                         } else {
1230                                                 //ocp.setNext(null);
1231                                                 sccp.setNext(null);
1232                                                 assert(ocp.getNext() == null);
1233                                         }
1234                                         setPrevious(null);
1235                                 } else if (currentPrev.next == this) {
1236                                         if (link)
1237                                                 currentPrev.setNext(currentNext);
1238                                         else
1239                                                 currentPrev.setNext(null);
1240
1241                                         setPrevious(null);
1242                                 } else {
1243                                         throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged");
1244                                 }
1245                                 if (link) {
1246                                         if (currentNext.isVariableLength() && currentPrev.isVariableLength()) {
1247                                                 // we have to join them into single variable length component.
1248                                                 additionalRemove = currentPrev;
1249                                                 // combine lengths and set the location of remaining control point to the center.
1250                                                 Point3d ps = new Point3d();
1251                                                 Point3d pe = new Point3d();
1252                                                 Point3d ns = new Point3d();
1253                                                 Point3d ne = new Point3d();
1254                                                 currentPrev.getInlineControlPointEnds(ps, pe);
1255                                                 currentNext.getInlineControlPointEnds(ns, ne);
1256                                                 double l = currentPrev.getLength() + currentNext.getLength();
1257                                                 Vector3d cp = new Vector3d();
1258                                                 cp.add(ps, ne);
1259                                                 cp.scale(0.5);
1260                                                 currentNext.setLength(l);
1261                                                 currentNext.setWorldPosition(cp);
1262                                         }
1263                                 } else {
1264                                         // FIXME : pipe run must be split into two parts, since the control point structure is no more continuous.
1265                                 }
1266                         } else if (currentNext != null) {
1267                                 if (currentNext.isDualInline()) {
1268                                         PipeControlPoint sccp = currentNext;
1269                                         PipeControlPoint ocp = currentNext.getDualSub();
1270                                         if (ocp == null) {
1271                                                 throw new RuntimeException("Removing PipeControlPoint " + this+ " structure damaged, no offset control point");
1272                                         }
1273                                         sccp.setPrevious(null);
1274                                         assert(ocp.getPrevious() == null);
1275                                         //ocp.setPrevious(null);
1276                                 } else if (currentNext.isDualSub()) {
1277                                         throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, next control point is offset control point");
1278                                 } else if (currentNext.previous == this) {
1279                                     currentNext.setPrevious(null);
1280                                 }  else if (isDualInline()) {
1281                     if (currentNext.previous != getDualSub()) {
1282                         throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1283                     }
1284                     currentNext.setPrevious(null);
1285                                 } else {
1286                                         throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1287                                 }
1288                                 setNext(null);
1289                         } else {  //(previous != null)
1290                                 if(currentPrev.isDualInline()) {
1291                                         throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, previous control point is size change control point");
1292                                 } else if (currentPrev.isDualSub()) {
1293                                         PipeControlPoint ocp = currentPrev;
1294                                         PipeControlPoint sccp = currentPrev.getParentPoint();
1295                                         if (sccp == null) {
1296                                                 throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, no size change control point");
1297                                         }
1298                                         sccp.setNext(null);
1299                                         assert(ocp.getNext() == null);
1300                                 } else if (currentPrev.next == this) {
1301                                     currentPrev.setNext(null);
1302                                 } else {
1303                                         throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1304                                 }
1305                                 setPrevious(null);
1306                         }
1307                         if (children.size() > 0 ) {
1308                                 removeSubPoints();
1309                         } else if (parent!= null) {
1310                                 removeParentPoint();
1311                         }
1312
1313                 }
1314
1315                 removeComponent();
1316                 if (pipeRun != null) {
1317                 pipeRun.remChild(this);
1318                 checkRemove(pipeRun);
1319                 if (PipingRules.isEnabled() && pipeRun.getParent() != null && pipeRun.getControlPoints().size() > 0)
1320                         PipingRules.validate(pipeRun);
1321                 }
1322                 if (additionalRemove != null)
1323                         additionalRemove.remove();
1324                 disposed = true;
1325         }
1326
1327         /**
1328          * Removes control point and attempts to reconnect next/prev
1329          *
1330          * If this point is size change (PipeRuns are different on both sides), then reconnection cannot be made.
1331          */
1332         public void remove() {
1333                 PipeControlPoint currentPrev = previous;
1334                 PipeControlPoint currentNext = next;
1335                 _remove();
1336                 try {
1337                         if (currentNext != null)
1338                             if (!currentNext.checkRemove())
1339                                 PipingRules.requestUpdate(currentNext);
1340                         if (currentPrev != null)
1341                             if (!currentPrev.checkRemove())
1342                                 PipingRules.requestUpdate(currentPrev);
1343                 } catch (Exception e) {
1344                         e.printStackTrace();
1345                 }
1346         }
1347
1348
1349         /**
1350          * Removes control point without attempting to reconnect next/prev.
1351          * This usually leads to creation of another PipeRun for the control points after this point.
1352          */
1353         public void removeAndSplit() {
1354         PipeControlPoint currentPrev = previous;
1355         PipeControlPoint currentNext = next;
1356
1357         if (next != null && previous != null) {
1358             P3DRootNode root = (P3DRootNode)getPipelineComponent().getRootNode();
1359             PipeRun nextPipeRun = new PipeRun();
1360             nextPipeRun.setName(root.getUniqueName("PipeRun"));
1361             root.addChild(nextPipeRun);
1362
1363             PipeRun previousRun = previous.getPipeRun();
1364             nextPipeRun.setPipeDiameter(previousRun.getPipeDiameter());
1365             nextPipeRun.setTurnRadiusArray(previousRun.getTurnRadiusArray());
1366
1367             PipelineComponent n = next.getPipelineComponent();
1368             while (n != null) {
1369                 if (n.getPipeRun() != previousRun)
1370                     break;
1371                 if (! (n instanceof Nozzle)) {
1372                     n.deattach();
1373                     nextPipeRun.addChild(n);
1374                 } else
1375                     n.setPipeRun(nextPipeRun);
1376                 n = n.getNext();
1377             }
1378         }
1379         _remove(false);
1380         try {
1381             if (currentNext != null)
1382                 if (!currentNext.checkRemove())
1383                     PipingRules.requestUpdate(currentNext);
1384             if (currentPrev != null)
1385                 if (!currentPrev.checkRemove())
1386                     PipingRules.requestUpdate(currentPrev);
1387         } catch (Exception e) {
1388             e.printStackTrace();
1389         }
1390     }
1391
1392         /**
1393          * This is called when adjacent control point is removed.
1394          *
1395          * This call should remove the give point, if the point cannot exist alone.
1396          * At the moment there is one such case: branch.
1397          *
1398          * @return
1399          */
1400         protected boolean checkRemove() {
1401             if (getParentPoint() != null) {
1402                 return getParentPoint().checkRemove();
1403             } else {
1404                 if (getPipelineComponent() == null)
1405                     return true; // already removed
1406             if (getPipelineComponent().getType().equals("Plant3D.URIs.Builtin_BranchSplitComponent")) {
1407                 if (getChildPoints().get(0).getNext() == null && getChildPoints().get(0).getPrevious() == null) {
1408                         remove();
1409                         return true;
1410                 }
1411             }
1412             return checkRemove(getPipeRun());
1413             }
1414     }
1415
1416         private boolean checkRemove(PipeRun pipeRun) {
1417             if (pipeRun == null)
1418                 return false;
1419                 Collection<PipeControlPoint> points = pipeRun.getControlPoints();
1420                 if (points.size() == 0) {
1421                         pipeRun.remove();
1422                         return true;
1423                 } else if (points.size() == 1) {
1424                         PipeControlPoint pcp = points.iterator().next();
1425                         if (pcp.isDeletable() && pcp.getNext() == null && pcp.getPrevious() == null) {
1426                                 pcp._remove(); // This call will recursively call also this method...
1427                                 return true;
1428                         }
1429                 } else if (points.size() == 2) {
1430
1431                 }
1432                 return false;
1433         }
1434
1435         private void removeSubPoints() {
1436                 for (PipeControlPoint p : children) {
1437                         p.parent = null;
1438                         p.component = null;
1439                         //p._remove();
1440                         PipeControlPoint currentNext = p.getNext();
1441                         PipeControlPoint currentPrev = p.getPrevious();
1442                         p._setNext(null);
1443                         p._setPrevious(null);
1444                         PipeRun run = p.getPipeRun();
1445                         if (run != null) {
1446                             run.remChild(p);
1447                             checkRemove(run);
1448                         }
1449                         if (currentNext != null)
1450                 if (!currentNext.checkRemove())
1451                     PipingRules.requestUpdate(currentNext);
1452             if (currentPrev != null)
1453                 if (!currentPrev.checkRemove())
1454                     PipingRules.requestUpdate(currentPrev);
1455
1456                 }
1457                 children.clear();
1458         }
1459
1460         private void removeParentPoint() {
1461                 throw new RuntimeException("Child points cannot be removed directly");
1462         }
1463
1464         public boolean isRemoved() {
1465             return component == null;
1466         }
1467
1468         private void removeComponent() {
1469                 if (component == null)
1470                         return;
1471                 PipelineComponent next = component.getNext();
1472                 PipelineComponent prev = component.getPrevious();
1473                 PipelineComponent br0 = component.getBranch0();
1474                 component.setNext(null);
1475                 component.setPrevious(null);
1476                 component.setBranch0(null);
1477                 if (next != null) {
1478                         if (next.getNext() == component)
1479                                 next.setNext(null);
1480                         else if (next.getPrevious() == component)
1481                                 next.setPrevious(null);
1482                         else if (next.getBranch0() == component)
1483                                 next.setBranch0(null);
1484                 }
1485                 if (prev != null) {
1486                         if (prev.getNext() == component)
1487                                 prev.setNext(null);
1488                         else if (prev.getPrevious() == component)
1489                                 prev.setPrevious(null);
1490                         else if (prev.getBranch0() == component)
1491                                 prev.setBranch0(null);
1492                 }
1493                 if (br0 != null) {
1494                         if (br0.getNext() == component)
1495                                 br0.setNext(null);
1496                         else if (br0.getPrevious() == component)
1497                                 br0.setPrevious(null);
1498                         else if (br0.getBranch0() == component)
1499                                 br0.setBranch0(null);
1500                 }
1501                 PipelineComponent comp = component;
1502                 component = null;
1503
1504                 comp.remove();
1505         }
1506
1507         @Override
1508         public void setOrientation(Quat4d orientation) {
1509                 if (MathTools.equals(orientation, getOrientation()))
1510                         return;
1511                 if (getPipelineComponent() != null && (getPipelineComponent() instanceof Nozzle))
1512                     System.out.println();
1513                 super.setOrientation(orientation);
1514                 if (getParentPoint() == null && component != null)
1515                         component._setWorldOrientation(getWorldOrientation());
1516                 updateSubPoint();
1517         }
1518
1519         @Override
1520         public void setPosition(Vector3d position) {
1521                 if (MathTools.equals(position, getPosition()))
1522                         return;
1523                 if (Double.isNaN(position.x) || Double.isNaN(position.y) || Double.isNaN(position.z))
1524                         throw new IllegalArgumentException("NaN is not supported");
1525                 super.setPosition(position);
1526                 if (getParentPoint() == null && component != null)
1527                         component._setWorldPosition(getWorldPosition());
1528                 updateSubPoint();
1529         }
1530
1531         private void updateSubPoint() {
1532                 if (isOffset()) {
1533                         if (next == null && previous == null) {
1534                                 for (PipeControlPoint sub : getChildPoints()) {
1535                                         sub.setWorldPosition(getWorldPosition());
1536                                         sub.setWorldOrientation(getWorldOrientation());
1537                                 }
1538                                 return;
1539                         }
1540                         for (PipeControlPoint sub : getChildPoints()) {
1541                                 Vector3d wp = getWorldPosition();
1542                                 wp.add(getSizeChangeOffsetVector());
1543                                 sub.setWorldPosition(wp);
1544                                 sub.setWorldOrientation(getWorldOrientation());
1545                         }
1546                 } else {
1547                         for (PipeControlPoint sub : getChildPoints()) {
1548                                 sub.setWorldPosition(getWorldPosition());
1549                                 sub.setWorldOrientation(getWorldOrientation());
1550                         }
1551                 }
1552         }
1553
1554
1555         public void _setWorldPosition(Vector3d position) {
1556                 Vector3d localPos = getLocalPosition(position);
1557                 super.setPosition(localPos);
1558                 updateSubPoint();
1559         }
1560
1561         public void _setWorldOrientation(Quat4d orientation) {
1562                 Quat4d localOr = getLocalOrientation(orientation);
1563                 super.setOrientation(localOr);
1564                 updateSubPoint();
1565         }
1566
1567         @Override
1568         public String toString() {
1569                 return getClass().getName() + "@" + Integer.toHexString(hashCode());
1570         }
1571
1572 }