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                         return getControlPointOrientationQuat(dir, angle);
 522                 } else {
 523                         Vector3d dir = getPathLegDirection(Direction.PREVIOUS);
 524                         if (dir != null) dir.negate();
 525                         return getControlPointOrientationQuat(dir, turnAxis, angle);
 526                 }
 527         }
 528
 529         public Quat4d getControlPointOrientationQuat(Vector3d dir, double angle, boolean reversed) {
 530             if (turnAxis == null) {
 531             if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 532                 dir.normalize();
 533             Quat4d q =  getControlPointOrientationQuat(dir, angle);
 534             if (reversed) {
 535                 Quat4d q2 = new Quat4d();
 536                 q2.set(new AxisAngle4d(MathTools.Y_AXIS, Math.PI));
 537                 q.mulInverse(q2);
 538             }
 539             return q;
 540         } else {
 541             if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 542                 dir.normalize();
 543             return getControlPointOrientationQuat(dir, turnAxis, angle);
 544         }
 545         }
 546
 547         public Quat4d getControlPointOrientationQuat(double angle, boolean reversed) {
 548
 549                 if (turnAxis == null) {
 550                         Vector3d dir = getPathLegDirection(Direction.NEXT);
 551                         return getControlPointOrientationQuat(dir, angle, reversed);
 552                 } else {
 553                         Vector3d dir = getPathLegDirection(Direction.PREVIOUS);
 554                         dir.negate();
 555                         return getControlPointOrientationQuat(dir, angle, reversed);
 556                 }
 557         }
 558
 559
 560
 561         public static Quat4d getControlPointOrientationQuat(Vector3d dir, double angle) {
 562                 if (dir == null || dir.lengthSquared() < MathTools.NEAR_ZERO)
 563                         return MathTools.getIdentityQuat();
 564
 565
 566                 Vector3d up = new Vector3d(0.0, 1.0, 0.0);
 567                 double a = up.angle(dir);
 568                 if (a < 0.1 || (Math.PI - a) < 0.1) {
 569                         up.set(1.0, 0.0, 0.0);
 570                 }
 571
 572
 573                 return getControlPointOrientationQuat(dir, up, angle);
 574         }
 575
 576         public static Quat4d getControlPointOrientationQuat(Vector3d dir, Vector3d up,  double angle) {
 577                 if (dir == null || dir.lengthSquared() < MathTools.NEAR_ZERO)
 578                         return MathTools.getIdentityQuat();
 579
 580                 final Vector3d front = new Vector3d(1.0,0.0,0.0);
 581
 582                 Quat4d q1 = new Quat4d();
 583
 584
 585                 Vector3d right = new Vector3d();
 586
 587                 right.cross(dir, up);
 588                 up.cross(right, dir);
 589                 right.normalize();
 590                 up.normalize();
 591
 592                 Matrix3d m = new Matrix3d();
 593                 m.m00 = dir.x;
 594                 m.m10 = dir.y;
 595                 m.m20 = dir.z;
 596                 m.m01 = up.x;
 597                 m.m11 = up.y;
 598                 m.m21 = up.z;
 599                 m.m02 = right.x;
 600                 m.m12 = right.y;
 601                 m.m22 = right.z;
 602
 603                 //q1.set(m); MathTools contains more stable conversion
 604                 MathTools.getQuat(m, q1);
 605
 606                 //                      if (DEBUG) System.out.println("PipingTools.getPipeComponentOrientationQuat() " + dir+ " " + up + " " + right);
 607
 608                 Quat4d q2 = new Quat4d();
 609                 q2.set(new AxisAngle4d(front, angle));
 610                 q1.mul(q2);
 611                 return q1;
 612         }
 613
 614         public void insert(PipeControlPoint previous, PipeControlPoint next) {
 615                 // inserting an offsetpoint is error,
 616                 if (isDualSub())
 617                         throw new RuntimeException("Dual sub points cannot be inserted.");
 618                 // size change control point cannot be inserted this way, because it ends PipeRun
 619 //              if (isSizeChange())
 620 //                      throw new RuntimeException("Size change points cannot be inserted.");
 621                 PipeRun piperun = previous.getPipeRun();
 622                 // and just to make sure that control point structure is not corrupted
 623                 if (getPipeRun() != null) {
 624                         if (piperun != getPipeRun() || piperun != next.getPipeRun())
 625                                 throw new RuntimeException("All controls points must be located on the same pipe run");
 626                 } else {
 627                         piperun.addChild(this);
 628                 }
 629
 630                 // insert new BranchControlPoint between straight's control points
 631                 PipeControlPoint previousNext = previous.getNext();
 632                 PipeControlPoint previousPrevious = previous.getPrevious();
 633
 634                 PipeControlPoint offsetCP = null;
 635                 if (isOffset()) {
 636                         offsetCP = getDualSub();
 637                 }
 638                 if (previousNext != null && previousNext == next) {
 639                         if (previous.isDualInline()) {
 640                                 throw new RuntimeException();
 641                         }
 642                         if (next.isDualSub()) {
 643                                 throw new RuntimeException();
 644                         }
 645                         previous.setNext(this);
 646                         this.setPrevious(previous);
 647                         if (previous.isDualSub()) {
 648                                 previous.getParentPoint().setNext(this);
 649                         }
 650                         this.setNext(next);
 651
 652                         if (offsetCP == null) {
 653                                 next.setPrevious(this);
 654                         } else {
 655                                 next.setPrevious(offsetCP);
 656                                 offsetCP.setNext(next);
 657                                 offsetCP.setPrevious(previous);
 658                         }
 659
 660                         if (next.isDualInline()) {
 661                                 next.getDualSub().setPrevious(this);
 662                         }
 663                 } else if (previousPrevious != null && previousPrevious == next) {
 664                         // control point were given in reverse order
 665                         if (next.isDualInline())
 666                                 throw new RuntimeException();
 667                         if (previous.isDualSub())
 668                                 throw new RuntimeException();
 669
 670                         this.setNext(previous);
 671                         if (offsetCP == null) {
 672                                 previous.setNext(this);
 673                         } else {
 674                                 previous.setPrevious(offsetCP);
 675                                 offsetCP.setNext(previous);
 676                                 offsetCP.setPrevious(next);
 677                         }
 678                         if (previous.isDualInline()) {
 679                                 previous.getDualSub().setPrevious(this);
 680                         }
 681                         this.setPrevious(next);
 682                         next.setNext(this);
 683                         if (next.isDualSub()) {
 684                                 next.getParentPoint().setNext(this);
 685                         }
 686
 687                 } else {
 688                         throw new RuntimeException();
 689                 }
 690
 691                 PipingRules.validate(piperun);
 692         }
 693
 694
 695
 696         public void insert(PipeControlPoint pcp, Direction direction) {
 697                 if (isDualSub())
 698                         throw new RuntimeException();
 699                 if (direction == Direction.NEXT) {
 700                         // if direction is next, user must have given OffsetPoint
 701                         if (pcp.isDualInline())
 702                                 throw new RuntimeException();
 703                         // basic next/prev links
 704                         pcp.setNext(this);
 705                         this.setPrevious(pcp);
 706                         // and last take care of sizechange / offset points
 707                         if (pcp.isDualSub()) {
 708                                 pcp.getParentPoint().setNext(this);
 709                         }
 710                         if (isDualInline()) {
 711                             getDualSub().setPrevious(this);
 712                         }
 713                 } else {
 714                         // if direction is previous, user must have given sizechange
 715                         if (pcp.isDualSub())
 716                                 throw new RuntimeException();
 717                         // previous direction is more complicated, since if newCP is SizeChangeControlPoint,
 718                         // we must link pcp to newCP's OffsetPoint
 719                         PipeControlPoint nocp = null;
 720                         if (isDualInline()) {
 721                                 nocp = getDualSub();
 722                                 nocp.setNext(pcp);
 723                         }
 724                         if (nocp == null) {
 725                                 pcp.setPrevious(this);
 726                         } else {
 727                                 pcp.setPrevious(nocp);
 728                         }
 729                         this.setNext(pcp);
 730                         if (pcp.isDualInline()) {
 731                                 PipeControlPoint ocp = pcp.getDualSub();
 732                                 if (nocp == null)
 733                                         ocp.setPrevious(this);
 734                                 else
 735                                         ocp.setPrevious(nocp);
 736                         }
 737
 738                 }
 739                 PipingRules.validate(getPipeRun());
 740         }
 741
 742         public Vector3d getDirectedControlPointDirection() {
 743                 assert (isDirected());
 744                 Vector3d dir = new Vector3d();
 745                 MathTools.rotate(getWorldOrientation(), new Vector3d(1.0, 0.0, 0.0), dir);
 746                 dir.normalize();
 747                 return dir;
 748         }
 749
 750         /**
 751          * Returns direction vector.
 752          *
 753          * For directed control points, always returns outwards pointing vector.
 754          *
 755          * @param direction
 756          * @return normalized vector, or null
 757          */
 758         public Vector3d getDirection(Direction direction) {
 759         if (isDirected())
 760             return getDirectedControlPointDirection();
 761         if (isTurn() && asFixedAngle()) {
 762             if (direction == Direction.NEXT) {
 763                 if (previous != null) {
 764                     PipeControlPoint pcp = this;
 765                     Vector3d dir = new Vector3d();
 766                     dir.sub(pcp.getWorldPosition(),previous.getWorldPosition());
 767                     if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 768                         dir.normalize();
 769                     else
 770                         return null;
 771                     Quat4d q = getControlPointOrientationQuat(dir, pcp.getRotationAngle() != null ? pcp.getRotationAngle() : 0.0);
 772                     AxisAngle4d aa = new AxisAngle4d(MathTools.Y_AXIS,pcp.getTurnAngle() == null ? 0.0 : pcp.getTurnAngle());
 773                     Quat4d q2 = MathTools.getQuat(aa);
 774                     Vector3d v = new Vector3d(1.,0.,0.);
 775                     Vector3d offset = new Vector3d();
 776                     MathTools.rotate(q2, v, offset);
 777                     MathTools.rotate(q, offset, dir);
 778                     dir.normalize();
 779                     return dir;
 780                 }
 781             } else {
 782                 if (next != null) {
 783                     PipeControlPoint pcp = this;
 784                     Vector3d dir = new Vector3d();
 785                     dir.sub(next.getWorldPosition(),pcp.getWorldPosition());
 786                     if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 787                         dir.normalize();
 788                     else
 789                         return null;
 790                     Quat4d q = getControlPointOrientationQuat(dir, pcp.getRotationAngle() != null ? pcp.getRotationAngle() : 0.0);
 791                     AxisAngle4d aa = new AxisAngle4d(MathTools.Y_AXIS,pcp.getTurnAngle() == null ? 0.0 : pcp.getTurnAngle());
 792                     Quat4d q2 = MathTools.getQuat(aa);
 793                     Vector3d v = new Vector3d(1.,0.,0.);
 794                     Vector3d offset = new Vector3d();
 795                     MathTools.rotate(q2, v, offset);
 796                     MathTools.rotate(q, offset, dir);
 797                     dir.normalize();
 798                     return dir;
 799                 }
 800             }
 801         }
 802         return null;
 803     }
 804
 805         /**
 806          * Returns path leg direction of the control point.
 807          *
 808          * This method differs from getDirection by also returning inward pointing vectors for directed control points.
 809          *
 810          * @param direction
 811          * @return
 812          */
 813         public Vector3d getPathLegDirection(Direction direction) {
 814                 if (direction == Direction.NEXT) {
 815                         if (next != null) {
 816                                 PipeControlPoint pcp = this;
 817                                 if (pcp.isDualInline()) {
 818                                         pcp = pcp.getDualSub();
 819                                 }
 820                                 Vector3d v = new Vector3d();
 821                                 v.sub(next.getWorldPosition(),pcp.getWorldPosition());
 822                                 if (v.lengthSquared() > MathTools.NEAR_ZERO)
 823                     v.normalize();
 824                 else
 825                     return null;
 826                                 return v;
 827                         } else {
 828                                 if (previous == null) {
 829                                         if (!isDirected())
 830                                                 throw new RuntimeException("Cannot calculate path leg direction for unconnected control point " + this);
 831                                         return getDirectedControlPointDirection();
 832
 833                                 } else {
 834                                         if (isVariableAngle() && !asFixedAngle())
 835                                                 throw new RuntimeException("Cannot calculate path leg direction for unconnected variable angle control point " + this);
 836                                         if (isInline()) {
 837                                                 PipeControlPoint pcp = this;
 838                                                 if (pcp.isDualSub()) {
 839                                                         pcp = pcp.getParentPoint();
 840                                                 }
 841                                                 Vector3d v = new Vector3d();
 842                                                 v.sub(pcp.getWorldPosition(),previous.getWorldPosition());
 843                                                 if (v.lengthSquared() > MathTools.NEAR_ZERO)
 844                                 v.normalize();
 845                                                 else
 846                                                     return null;
 847                                                 return v;
 848                                         } else if (isDirected()) {
 849                                                 return getDirectedControlPointDirection();
 850                                         } else if (isEnd()) {
 851                                                 Vector3d v = new Vector3d();
 852                                                 v.sub(getWorldPosition(),previous.getWorldPosition());
 853                                                 if (v.lengthSquared() > MathTools.NEAR_ZERO)
 854                             v.normalize();
 855                         else
 856                             return null;
 857                                                 return v;
 858                                         } else if (isTurn() && asFixedAngle() && !_getReversed()) {
 859                                                 return getDirection(Direction.NEXT);
 860                                         }
 861                                         throw new RuntimeException("Missing implementation " + this);
 862                                 }
 863                         }
 864                 } else {
 865                         if (previous != null) {
 866                                 PipeControlPoint pcp = this;
 867                                 if (isDualSub())
 868                                         pcp = getParentPoint();
 869                                 Vector3d v = new Vector3d();
 870                                 v.sub(previous.getWorldPosition(),pcp.getWorldPosition());
 871                                 if (v.lengthSquared() > MathTools.NEAR_ZERO)
 872                     v.normalize();
 873                 else
 874                     return null;
 875                                 return v;
 876                         } else {
 877                                 if (next == null)  {
 878                                         if (!isDirected())
 879                                                 throw new RuntimeException("Cannot calculate path leg direction for unconnected control point " + this);
 880                                         Vector3d v = getDirectedControlPointDirection();
 881                                         v.negate();
 882                                         return v;
 883                                 } else {
 884                                         if (isVariableAngle() && !asFixedAngle())
 885                                                 throw new RuntimeException("Cannot calculate path leg direction for unconnected variable angle control point " + this);
 886                                         if (isInline()) {
 887                                                 PipeControlPoint pcp = this;
 888                                                 if (pcp.isDualInline()) {
 889                                                         pcp = pcp.getDualSub();
 890                                                 }
 891                                                 Vector3d v = new Vector3d();
 892                                                 v.sub(pcp.getWorldPosition(),next.getWorldPosition());
 893                                                 if (v.lengthSquared() > MathTools.NEAR_ZERO)
 894                             v.normalize();
 895                         else
 896                             return null;
 897                                                 return v;
 898                                         } else if (isDirected()) {
 899                                                 Vector3d v = getDirectedControlPointDirection();
 900                                                 v.negate();
 901                                                 return v;
 902                                         } else if (isEnd()) {
 903                                                 Vector3d v = new Vector3d();
 904                                                 v.sub(getWorldPosition(),next.getWorldPosition());
 905                                                 if (v.lengthSquared() > MathTools.NEAR_ZERO)
 906                             v.normalize();
 907                         else
 908                             return null;
 909                                                 return v;
 910                                         } else if (isTurn() && asFixedAngle() && _getReversed()) {
 911                                                 return getDirection(Direction.PREVIOUS);
 912                                         }
 913                                         throw new RuntimeException("Missing implementation " + this);
 914                                 }
 915                         }
 916                 }
 917         }
 918
 919         public void getInlineControlPointEnds(Tuple3d p1, Tuple3d p2) {
 920                 assert (isInline());
 921
 922                 PipeControlPoint sub = isAxial() ? this : getDualSub();
 923                 Vector3d pos = getWorldPosition(), pos2 = sub == this ? pos : sub.getWorldPosition();
 924                 Vector3d dir = sub.getInlineDir();
 925
 926                 dir.scale(length * 0.5);
 927                 p1.set(pos);
 928                 p2.set(pos2);
 929                 p1.sub(dir);
 930                 p2.add(dir);
 931         }
 932
 933         public void getControlPointEnds(Tuple3d p1, Tuple3d p2) {
 934                 PipeControlPoint sub = isAxial() || isDirected() || isTurn() ? this : getChildPoints().get(0);
 935                 Vector3d pos = getWorldPosition(), pos2 = sub == this ? pos : sub.getWorldPosition();
 936
 937                 Vector3d dir1;
 938                 Vector3d dir2;
 939                 if (isInline()) {
 940                         dir2 = getInlineDir();
 941                         dir2.scale(length * 0.5);
 942                         dir1 = new Vector3d(dir2);
 943                         dir1.negate();
 944                 } else {
 945                         dir1 = getPathLegDirection(Direction.PREVIOUS);
 946                         dir2 = sub.getPathLegDirection(Direction.NEXT);
 947                         dir1.scale(length);
 948                         dir2.scale(length);
 949                 }
 950                 p1.set(pos);
 951                 p2.set(pos2);
 952                 p1.add(dir1);
 953                 p2.add(dir2);
 954         }
 955
 956         /**
 957          * Get both path leg directions, with (0,0,0) if no connection exists. The returned vectors are not normalized.
 958          *
 959          * @param v1  Set to the direction towards the previous control point on output
 960          * @param v2  Set to the direction towards the next control point on output
 961          */
 962         public void getEndDirections(Tuple3d v1, Tuple3d v2) {
 963                 PipeControlPoint sub = isAxial() ? this : getDualSub();
 964
 965                 Vector3d dir1 = getPathLegDirection(Direction.PREVIOUS);
 966                 Vector3d dir2 = sub.getPathLegDirection(Direction.NEXT);
 967
 968                 if (dir1 != null)
 969                         v1.set(dir1);
 970                 else
 971                         v1.set(0,0,0);
 972
 973                 if (dir2 != null)
 974                         v2.set(dir2);
 975                 else
 976                         v2.set(0,0,0);
 977         }
 978
 979         public void getInlineControlPointEnds(Tuple3d p1, Tuple3d p2, Vector3d dir) {
 980                 assert (isInline());
 981
 982                 Vector3d pos = getWorldPosition();
 983                 dir.set(getInlineDir());
 984                 dir.normalize();
 985                 dir.scale(length * 0.5);
 986                 p1.set(pos);
 987                 p2.set(pos);
 988                 p1.sub(dir);
 989                 p2.add(dir);
 990         }
 991
 992         public void getInlineControlPointEnds(Tuple3d center, Tuple3d p1, Tuple3d p2, Vector3d dir) {
 993                 assert (isInline());
 994
 995                 Vector3d pos = getWorldPosition();
 996                 center.set(pos);
 997                 dir.set(getInlineDir());
 998                 dir.normalize();
 999                 dir.scale(length * 0.5);
1000                 p1.set(pos);
1001                 p2.set(pos);
1002                 p1.sub(dir);
1003                 p2.add(dir);
1004         }
1005
1006         public Vector3d getInlineDir() {
1007                 Vector3d dir = getPathLegDirection(Direction.NEXT);
1008                 if (dir == null) {
1009                         dir = getPathLegDirection(Direction.PREVIOUS);
1010                         if (dir != null) {
1011                                 // Use reverse direction
1012                                 dir.scale(-1.0);
1013                         } else {
1014                                 // Control point is not connected at all, use current orientation
1015                                 dir = new Vector3d(1,0,0);
1016                                 MathTools.rotate(getWorldOrientation(), dir, dir);
1017                         }
1018                 }
1019                 return dir;
1020         }
1021
1022         public double getInlineLength() {
1023                 if (type == PointType.TURN)
1024                         return length;
1025                 else if (type == PointType.INLINE)
1026                         return length * 0.5;
1027                 return 0;
1028         }
1029
1030         /**
1031          * Return the position indicated by the argument. If the indicated direction is not connected, the
1032          * control point's wolrd position is returned instead.
1033          *
1034          * @param type  A selector for the position to be returned
1035          * @return  The selected position
1036          */
1037         public Vector3d getRealPosition(PositionType type) {
1038                 Vector3d pos = getWorldPosition();
1039                 switch (type) {
1040                 case NEXT: {
1041                         double length = getInlineLength();
1042                         Vector3d dir;
1043                         if (isInline()) {
1044                                 dir = getInlineDir();
1045                         } else {
1046                                 dir = getPathLegDirection(Direction.NEXT);
1047                         }
1048                         dir.scale(length);
1049                         pos.add(dir);
1050                         break;
1051                 }
1052                 case PREVIOUS: {
1053                         double length = getInlineLength();
1054                         Vector3d dir;
1055                         if (isInline()) {
1056                                 dir = getInlineDir();
1057                                 dir.negate();
1058                         } else {
1059                                 dir = getPathLegDirection(Direction.PREVIOUS);
1060                         }
1061                         dir.scale(length);
1062                         pos.add(dir);
1063                         break;
1064                 }
1065                 case PORT:
1066                         // IEntity portDir = pcp.getSingleRelatedObject(ProcessResource.plant3Dresource.HasDirection);
1067                         // TODO : how we calculated needed space for a port; does it has an offset from control point's position or not?
1068                         break;
1069                 case SPLIT:
1070                         // do nothing
1071                         break;
1072
1073                 }
1074                 return pos;
1075         }
1076
1077         public void getInlineMovement(Tuple3d start, Tuple3d end) {
1078                 // FIXME : check type of neighbor components and allow movement on top of variable length components,
1079                 //         find proper range for movement (pcp's position is not)
1080                 PipeControlPoint p = previous.getPrevious();
1081                 PipeControlPoint n = next.getNext();
1082                 start.set(p.getWorldPosition());
1083                 end.set(n.getWorldPosition());
1084         }
1085
1086         public PipeControlPoint findNextEnd() {
1087                 ArrayList<PipeControlPoint> t = new ArrayList<PipeControlPoint>();
1088                 return findNextEnd( t);
1089         }
1090
1091         public PipeControlPoint findPreviousEnd() {
1092                 ArrayList<PipeControlPoint> t = new ArrayList<PipeControlPoint>();
1093                 return findPreviousEnd(t);
1094         }
1095
1096         public PipeControlPoint findNextEnd(List<PipeControlPoint> nextList) {
1097                 while (true) {
1098                         PipeControlPoint pcp = null;
1099                         PipeControlPoint p = null;
1100                         if (nextList.size() == 0)
1101                                 p = this;
1102
1103                         else
1104                                 p = nextList.get(nextList.size() - 1);
1105
1106                         pcp = p.getNext();
1107                         if (pcp == null) {
1108                                 pcp = p;
1109                                 if (nextList.size() > 0)
1110                                         nextList.remove(nextList.size() - 1);
1111                                 //              if (DEBUG) System.out.println(" " + pcp.getResource() + " not full");
1112                                 return pcp;
1113                                 //break;
1114                         }
1115                         if (pcp.isPathLegEnd()) {
1116                                 //if (DEBUG) System.out.println(" " + pcp.getResource());
1117                                 return pcp;
1118                         } else {
1119                                 nextList.add(pcp);
1120                                 // if (DEBUG) System.out.print(" " + pcp.getResource());
1121                         }
1122                 }
1123         }
1124
1125         public PipeControlPoint findPreviousEnd(List<PipeControlPoint> prevList) {
1126                 while (true) {
1127                         PipeControlPoint pcp = null;
1128                         PipeControlPoint p = null;
1129                         if (prevList.size() == 0)
1130                                 p = this;
1131
1132                         else
1133                                 p = prevList.get(prevList.size() - 1);
1134
1135                         pcp = p.getPrevious();
1136                         if (pcp == null) {
1137                                 pcp = p;
1138                                 if (prevList.size() > 0)
1139                                         prevList.remove(prevList.size() - 1);
1140                                 //                              if (DEBUG) System.out.println(" " + pcp.getResource() + " not full");
1141                                 return pcp;
1142                         }
1143                         if (pcp.isPathLegEnd()) {
1144                                 //                              if (DEBUG)      System.out.println(" " + pcp.getResource());
1145                                 return pcp;
1146                         } else {
1147                                 prevList.add(pcp);
1148                                 //                              if (DEBUG)System.out.print(" " + pcp.getResource());
1149                         }
1150                 }
1151         }
1152
1153         public void _remove() {
1154             _remove(true);
1155         }
1156
1157
1158         public PipeControlPoint getDualSub() {
1159             if (isDualInline())
1160                 return getChildPoints().get(0);
1161             else
1162                 throw new IllegalStateException("Current control point is not dual inline");
1163         }
1164
1165
1166         public void _remove(boolean renconnect) {
1167             if (disposed)
1168                 return;
1169
1170             if (DEBUG) System.out.println(this + " Remove " + renconnect);
1171
1172                 if (getParentPoint() != null) {
1173                     getParentPoint()._remove(renconnect);
1174                     return;
1175                 }
1176                 PipeRun pipeRun = getPipeRun();
1177 //              PipeRUn removal has been changed, so pipeRun may be null.
1178 //              if (pipeRun == null)
1179 //                      return;
1180
1181                 PipeControlPoint additionalRemove = null;
1182                 if (!PipingRules.isEnabled()) {
1183                     component = null;
1184                         setPrevious(null);
1185                         setNext(null);
1186                 } else {
1187
1188                         PipeControlPoint currentPrev = previous;
1189                         PipeControlPoint currentNext = next;
1190                         if (currentNext == null && currentPrev == null) {
1191                                 removeComponent();
1192                                 if (pipeRun != null) {
1193                                     pipeRun.remChild(this);
1194                                     checkRemove(pipeRun);
1195                                 }
1196                                 return;
1197                         }
1198                         if (currentNext != null && currentPrev != null) {
1199                                 boolean link = renconnect;
1200                                 if (currentNext.isBranchEnd()) {
1201                                         link = false;
1202                                         currentNext.remove();
1203                                         currentNext = null;
1204                                         setNext(null);
1205                                 }
1206                                 if (currentPrev.isBranchEnd()) {
1207                                         link = false;
1208                                         currentPrev.remove();
1209                                         currentPrev = null;
1210                                         setPrevious(null);
1211                                 }
1212                                 if (link) {
1213                                     if (currentPrev.isDirected() && currentNext.isDirected())
1214                                         link = false;
1215                                     else if (this.isDualSub()) {
1216                                         throw new RuntimeException("_remove() is called for parent point, somehow got to child point. " + this);
1217                                     }
1218                                 }
1219                                 if (currentNext == null) {
1220                                         // Nothing to do
1221                                 } else if (currentNext.isDualInline()) {
1222                                         PipeControlPoint sccp = currentNext;
1223                                         PipeControlPoint ocp = currentNext.getDualSub();
1224                                         if (ocp == null) {
1225                                                 throw new RuntimeException("Removing PipeControlPoint " + this+ " structure damaged, no offset control point");
1226                                         }
1227                                         if (link) {
1228                                                 sccp.setPrevious(currentPrev);
1229                                                 //ocp.setPrevious(currentPrev);
1230                                                 assert(ocp.getPrevious() == currentPrev);
1231                                         } else {
1232                                                 sccp.setPrevious(null);
1233                                                 //ocp.setPrevious(null);
1234                                                 assert(ocp.getPrevious() == null);
1235                                         }
1236                                         setNext(null);
1237                                 } else if (currentNext.isDualSub()) {
1238                                         throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, next control point is offset control point");
1239                                 } else if (currentNext.previous == this) {
1240                                         if (link) {
1241                                                 currentNext.setPrevious(currentPrev);
1242                                         } else {
1243                                                 currentNext.setPrevious(null);
1244                                         }
1245                                         setNext(null);
1246                                 } else if (isDualInline()) {
1247                                     if (currentNext.previous != getDualSub()) {
1248                                         throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1249                                     }
1250                                     if (link) {
1251                         currentNext.setPrevious(currentPrev);
1252                     } else {
1253                         currentNext.setPrevious(null);
1254                     }
1255                     setNext(null);
1256                                 } else {
1257                                         throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1258                                 }
1259                                 if (currentPrev == null) {
1260                                         // Nothing to do
1261                                 } else if (currentPrev.isDualInline()) {
1262                                         throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, previous control point is size change control point");
1263                                 } else if (currentPrev.isDualSub()) {
1264                                         PipeControlPoint ocp = currentPrev;
1265                                         PipeControlPoint sccp = currentPrev.getParentPoint();
1266                                         if (sccp == null)
1267                                                 throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, no size change control point");
1268                                         if (link) {
1269                                                 //ocp.setNext(currentNext);
1270                                                 sccp.setNext(currentNext);
1271                                                 assert(ocp.getNext() == currentNext);
1272                                         } else {
1273                                                 //ocp.setNext(null);
1274                                                 sccp.setNext(null);
1275                                                 assert(ocp.getNext() == null);
1276                                         }
1277                                         setPrevious(null);
1278                                 } else if (currentPrev.next == this) {
1279                                         if (link)
1280                                                 currentPrev.setNext(currentNext);
1281                                         else
1282                                                 currentPrev.setNext(null);
1283
1284                                         setPrevious(null);
1285                                 } else {
1286                                         throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged");
1287                                 }
1288                                 if (link) {
1289                                         if (currentNext.isVariableLength() && currentPrev.isVariableLength()) {
1290                                                 // we have to join them into single variable length component.
1291                                                 additionalRemove = currentPrev;
1292                                                 // combine lengths and set the location of remaining control point to the center.
1293                                                 Point3d ps = new Point3d();
1294                                                 Point3d pe = new Point3d();
1295                                                 Point3d ns = new Point3d();
1296                                                 Point3d ne = new Point3d();
1297                                                 currentPrev.getInlineControlPointEnds(ps, pe);
1298                                                 currentNext.getInlineControlPointEnds(ns, ne);
1299                                                 double l = currentPrev.getLength() + currentNext.getLength();
1300                                                 Vector3d cp = new Vector3d();
1301                                                 cp.add(ps, ne);
1302                                                 cp.scale(0.5);
1303                                                 currentNext.setLength(l);
1304                                                 currentNext.setWorldPosition(cp);
1305                                         }
1306                                 } else {
1307                                         // FIXME : pipe run must be split into two parts, since the control point structure is no more continuous.
1308                                 }
1309                         } else if (currentNext != null) {
1310                                 if (currentNext.isDualInline()) {
1311                                         PipeControlPoint sccp = currentNext;
1312                                         PipeControlPoint ocp = currentNext.getDualSub();
1313                                         if (ocp == null) {
1314                                                 throw new RuntimeException("Removing PipeControlPoint " + this+ " structure damaged, no offset control point");
1315                                         }
1316                                         sccp.setPrevious(null);
1317                                         assert(ocp.getPrevious() == null);
1318                                         //ocp.setPrevious(null);
1319                                 } else if (currentNext.isDualSub()) {
1320                                         throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, next control point is offset control point");
1321                                 } else if (currentNext.previous == this) {
1322                                     currentNext.setPrevious(null);
1323                                 }  else if (isDualInline()) {
1324                     if (currentNext.previous != getDualSub()) {
1325                         throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1326                     }
1327                     currentNext.setPrevious(null);
1328                                 } else {
1329                                         throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1330                                 }
1331                                 setNext(null);
1332                         } else {  //(previous != null)
1333                                 if(currentPrev.isDualInline()) {
1334                                         throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, previous control point is size change control point");
1335                                 } else if (currentPrev.isDualSub()) {
1336                                         PipeControlPoint ocp = currentPrev;
1337                                         PipeControlPoint sccp = currentPrev.getParentPoint();
1338                                         if (sccp == null) {
1339                                                 throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, no size change control point");
1340                                         }
1341                                         sccp.setNext(null);
1342                                         assert(ocp.getNext() == null);
1343                                 } else if (currentPrev.next == this) {
1344                                     currentPrev.setNext(null);
1345                                 } else {
1346                                         throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1347                                 }
1348                                 setPrevious(null);
1349                         }
1350                         if (children.size() > 0 ) {
1351                                 removeSubPoints();
1352                         } else if (parent!= null) {
1353                                 removeParentPoint();
1354                         }
1355
1356                 }
1357
1358                 removeComponent();
1359                 if (pipeRun != null) {
1360                 pipeRun.remChild(this);
1361                 checkRemove(pipeRun);
1362                 if (PipingRules.isEnabled() && pipeRun.getParent() != null && pipeRun.getControlPoints().size() > 0)
1363                         PipingRules.validate(pipeRun);
1364                 }
1365                 if (additionalRemove != null)
1366                         additionalRemove.remove();
1367                 disposed = true;
1368         }
1369
1370         /**
1371          * Removes control point and attempts to reconnect next/prev
1372          *
1373          * If this point is size change (PipeRuns are different on both sides), then reconnection cannot be made.
1374          */
1375         public void remove() {
1376                 PipeControlPoint currentPrev = previous;
1377                 PipeControlPoint currentNext = next;
1378                 _remove();
1379                 try {
1380                         if (currentNext != null)
1381                             if (!currentNext.checkRemove())
1382                                 PipingRules.requestUpdate(currentNext);
1383                         if (currentPrev != null)
1384                             if (!currentPrev.checkRemove())
1385                                 PipingRules.requestUpdate(currentPrev);
1386                 } catch (Exception e) {
1387                         e.printStackTrace();
1388                 }
1389         }
1390
1391
1392         /**
1393          * Removes control point without attempting to reconnect next/prev.
1394          * This usually leads to creation of another PipeRun for the control points after this point.
1395          */
1396         public void removeAndSplit() {
1397         PipeControlPoint currentPrev = previous;
1398         PipeControlPoint currentNext = next;
1399
1400         if (next != null && previous != null) {
1401             P3DRootNode root = (P3DRootNode)getPipelineComponent().getRootNode();
1402             PipeRun nextPipeRun = new PipeRun();
1403             nextPipeRun.setName(root.getUniqueName("PipeRun"));
1404             root.addChild(nextPipeRun);
1405
1406             PipeRun previousRun = previous.getPipeRun();
1407             nextPipeRun.setPipeDiameter(previousRun.getPipeDiameter());
1408             nextPipeRun.setTurnRadiusArray(previousRun.getTurnRadiusArray());
1409
1410             PipelineComponent n = next.getPipelineComponent();
1411             while (n != null) {
1412                 if (n.getPipeRun() != previousRun)
1413                     break;
1414                 if (! (n instanceof Nozzle)) {
1415                     n.deattach();
1416                     nextPipeRun.addChild(n);
1417                 } else
1418                     n.setPipeRun(nextPipeRun);
1419                 n = n.getNext();
1420             }
1421         }
1422         _remove(false);
1423         try {
1424             if (currentNext != null)
1425                 if (!currentNext.checkRemove())
1426                     PipingRules.requestUpdate(currentNext);
1427             if (currentPrev != null)
1428                 if (!currentPrev.checkRemove())
1429                     PipingRules.requestUpdate(currentPrev);
1430         } catch (Exception e) {
1431             e.printStackTrace();
1432         }
1433     }
1434
1435         /**
1436          * This is called when adjacent control point is removed.
1437          *
1438          * This call should remove the give point, if the point cannot exist alone.
1439          * At the moment there is one such case: branch.
1440          *
1441          * @return
1442          */
1443         protected boolean checkRemove() {
1444             if (getParentPoint() != null) {
1445                 return getParentPoint().checkRemove();
1446             } else {
1447                 if (getPipelineComponent() == null)
1448                     return true; // already removed
1449             if (getPipelineComponent().getType().equals("Plant3D.URIs.Builtin_BranchSplitComponent")) {
1450                 if (getChildPoints().get(0).getNext() == null && getChildPoints().get(0).getPrevious() == null) {
1451                         remove();
1452                         return true;
1453                 }
1454             }
1455             return checkRemove(getPipeRun());
1456             }
1457     }
1458
1459         private boolean checkRemove(PipeRun pipeRun) {
1460             if (pipeRun == null)
1461                 return false;
1462                 Collection<PipeControlPoint> points = pipeRun.getControlPoints();
1463                 if (points.size() == 0) {
1464                         pipeRun.remove();
1465                         return true;
1466                 } else if (points.size() == 1) {
1467                         PipeControlPoint pcp = points.iterator().next();
1468                         if (pcp.isDeletable() && pcp.getNext() == null && pcp.getPrevious() == null) {
1469                                 pcp._remove(); // This call will recursively call also this method...
1470                                 return true;
1471                         }
1472                 } else if (points.size() == 2) {
1473
1474                 }
1475                 return false;
1476         }
1477
1478         private void removeSubPoints() {
1479                 for (PipeControlPoint p : children) {
1480                         p.parent = null;
1481                         p.component = null;
1482                         //p._remove();
1483                         PipeControlPoint currentNext = p.getNext();
1484                         PipeControlPoint currentPrev = p.getPrevious();
1485                         p._setNext(null);
1486                         p._setPrevious(null);
1487                         PipeRun run = p.getPipeRun();
1488                         if (run != null) {
1489                             run.remChild(p);
1490                             checkRemove(run);
1491                         }
1492                         if (currentNext != null)
1493                 if (!currentNext.checkRemove())
1494                     PipingRules.requestUpdate(currentNext);
1495             if (currentPrev != null)
1496                 if (!currentPrev.checkRemove())
1497                     PipingRules.requestUpdate(currentPrev);
1498
1499                 }
1500                 children.clear();
1501         }
1502
1503         private void removeParentPoint() {
1504                 throw new RuntimeException("Child points cannot be removed directly");
1505         }
1506
1507         public boolean isRemoved() {
1508             return component == null;
1509         }
1510
1511         private void removeComponent() {
1512                 if (component == null)
1513                         return;
1514                 PipelineComponent next = component.getNext();
1515                 PipelineComponent prev = component.getPrevious();
1516                 PipelineComponent br0 = component.getBranch0();
1517                 component.setNext(null);
1518                 component.setPrevious(null);
1519                 component.setBranch0(null);
1520                 if (next != null) {
1521                         if (next.getNext() == component)
1522                                 next.setNext(null);
1523                         else if (next.getPrevious() == component)
1524                                 next.setPrevious(null);
1525                         else if (next.getBranch0() == component)
1526                                 next.setBranch0(null);
1527                 }
1528                 if (prev != null) {
1529                         if (prev.getNext() == component)
1530                                 prev.setNext(null);
1531                         else if (prev.getPrevious() == component)
1532                                 prev.setPrevious(null);
1533                         else if (prev.getBranch0() == component)
1534                                 prev.setBranch0(null);
1535                 }
1536                 if (br0 != null) {
1537                         if (br0.getNext() == component)
1538                                 br0.setNext(null);
1539                         else if (br0.getPrevious() == component)
1540                                 br0.setPrevious(null);
1541                         else if (br0.getBranch0() == component)
1542                                 br0.setBranch0(null);
1543                 }
1544                 PipelineComponent comp = component;
1545                 component = null;
1546
1547                 comp.remove();
1548         }
1549
1550         @Override
1551         public void setOrientation(Quat4d orientation) {
1552                 if (MathTools.equals(orientation, getOrientation()))
1553                         return;
1554                 if (getPipelineComponent() != null && (getPipelineComponent() instanceof Nozzle))
1555                     System.out.println();
1556                 super.setOrientation(orientation);
1557                 if (getParentPoint() == null && component != null)
1558                         component._setWorldOrientation(getWorldOrientation());
1559                 updateSubPoint();
1560         }
1561
1562         @Override
1563         public void setPosition(Vector3d position) {
1564                 if (MathTools.equals(position, getPosition()))
1565                         return;
1566                 if (Double.isNaN(position.x) || Double.isNaN(position.y) || Double.isNaN(position.z))
1567                         throw new IllegalArgumentException("NaN is not supported");
1568                 super.setPosition(position);
1569                 if (getParentPoint() == null && component != null)
1570                         component._setWorldPosition(getWorldPosition());
1571                 updateSubPoint();
1572         }
1573
1574         private void updateSubPoint() {
1575                 if (isOffset()) {
1576                         if (next == null && previous == null) {
1577                                 for (PipeControlPoint sub : getChildPoints()) {
1578                                         sub.setWorldPosition(getWorldPosition());
1579                                         sub.setWorldOrientation(getWorldOrientation());
1580                                 }
1581                                 return;
1582                         }
1583                         for (PipeControlPoint sub : getChildPoints()) {
1584                                 Vector3d wp = getWorldPosition();
1585                                 wp.add(getSizeChangeOffsetVector());
1586                                 sub.setWorldPosition(wp);
1587                                 sub.setWorldOrientation(getWorldOrientation());
1588                         }
1589                 } else {
1590                         for (PipeControlPoint sub : getChildPoints()) {
1591                                 sub.setWorldPosition(getWorldPosition());
1592                                 sub.setWorldOrientation(getWorldOrientation());
1593                         }
1594                 }
1595         }
1596
1597
1598         public void _setWorldPosition(Vector3d position) {
1599                 Vector3d localPos = getLocalPosition(position);
1600                 super.setPosition(localPos);
1601                 updateSubPoint();
1602         }
1603
1604         public void _setWorldOrientation(Quat4d orientation) {
1605                 Quat4d localOr = getLocalOrientation(orientation);
1606                 super.setOrientation(localOr);
1607                 updateSubPoint();
1608         }
1609
1610         @Override
1611         public String toString() {
1612                 return getClass().getName() + "@" + Integer.toHexString(hashCode());
1613         }
1614
1615 }