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 import java.util.Objects;
   8
   9 import javax.vecmath.AxisAngle4d;
  10 import javax.vecmath.Matrix3d;
  11 import javax.vecmath.Point3d;
  12 import javax.vecmath.Quat4d;
  13 import javax.vecmath.Tuple3d;
  14 import javax.vecmath.Vector3d;
  15
  16 import org.simantics.g3d.math.MathTools;
  17 import org.simantics.g3d.property.annotations.GetPropertyValue;
  18 import org.simantics.g3d.scenegraph.G3DNode;
  19 import org.simantics.g3d.scenegraph.base.INode;
  20 import org.simantics.plant3d.scenegraph.IP3DNode;
  21 import org.simantics.plant3d.scenegraph.Nozzle;
  22 import org.simantics.plant3d.scenegraph.P3DRootNode;
  23 import org.simantics.plant3d.scenegraph.PipeRun;
  24 import org.simantics.plant3d.scenegraph.PipelineComponent;
  25
  26 import vtk.vtkRenderer;
  27
  28
  29 public class PipeControlPoint extends G3DNode implements IP3DNode {
  30
  31         private static boolean DEBUG = false;
  32
  33         public enum PointType{INLINE,TURN,END};
  34         public enum Direction{NEXT,PREVIOUS};
  35         public enum PositionType {SPLIT,NEXT,PREVIOUS,PORT}
  36
  37         private PipelineComponent component;
  38
  39         private PointType type;
  40         private boolean isFixed = true;        // In-line: fixed-length Turn: fixed-angle
  41         private boolean isMod = false;         // Can user modify fixed value manually
  42         private boolean isRotate = false;      // rotates around path leg axis.
  43         private boolean isReverse = false;     // definition direction can be swapped
  44         private boolean isDeletable = true;    // can be removed by rules
  45         private boolean isSizeChange = false;  // changes size of the pipe. The next control point / component is on different PipeRun
  46         private boolean isSub = false;         // child point for offset / size change
  47
  48         private boolean disposed = false;
  49
  50         public PipeControlPoint(PipelineComponent component) {
  51                 this.component = component;
  52                 if (component.getPipeRun() != null)
  53                         component.getPipeRun().addChild(this);
  54
  55         }
  56
  57         public PipeControlPoint(PipelineComponent component, PipeRun piperun) {
  58                 this.component = component;
  59                 piperun.addChild(this);
  60         }
  61
  62         @Override
  63         public void update(vtkRenderer ren) {
  64                 try {
  65                         PipingRules.requestUpdate(this);
  66                 } catch (Exception e) {
  67                         e.printStackTrace();
  68                 }
  69
  70         }
  71
  72         public PipeRun getPipeRun() {
  73                 return (PipeRun)getParent();
  74         }
  75
  76         public PipelineComponent getPipelineComponent() {
  77                 return component;
  78         }
  79
  80         public PointType getType() {
  81                 return type;
  82         }
  83
  84         public void setType(PointType type) {
  85                 this.type = type;
  86         }
  87
  88         @GetPropertyValue(name="Fixed",tabId="Debug",value="fixed")
  89         public boolean isFixed() {
  90                 return isFixed;
  91         }
  92
  93         public void setFixed(boolean fixed) {
  94                 this.isFixed = fixed;
  95         }
  96
  97         @GetPropertyValue(name="Mod",tabId="Debug",value="mod")
  98         public boolean isMod() {
  99         return isMod;
 100     }
 101
 102     public void setMod(boolean isMod) {
 103         this.isMod = isMod;
 104     }
 105
 106         @GetPropertyValue(name="Rotate",tabId="Debug",value="rotate")
 107         public boolean isRotate() {
 108                 return isRotate;
 109         }
 110
 111         public void setRotate(boolean rotate) {
 112                 this.isRotate = rotate;
 113         }
 114
 115         @GetPropertyValue(name="Reverse",tabId="Debug",value="reverse")
 116         public boolean isReverse() {
 117                 return isReverse;
 118         }
 119
 120         public void setReverse(boolean reverse) {
 121                 this.isReverse = reverse;
 122         }
 123
 124         public void setSub(boolean sub) {
 125                 this.isSub = sub;
 126         }
 127
 128         @GetPropertyValue(name="Deletable",tabId="Debug",value="deletable")
 129         public boolean isDeletable() {
 130                 return isDeletable;
 131         }
 132
 133         public void setDeletable(boolean deletable) {
 134                 this.isDeletable = deletable;
 135         }
 136
 137         public boolean isPathLegEnd() {
 138                 return type != PointType.INLINE;
 139         }
 140
 141         public boolean isEnd() {
 142                 return type == PointType.END;
 143         }
 144
 145         public boolean isTurn() {
 146                 return type == PointType.TURN;
 147         }
 148
 149         public boolean isInline() {
 150                 return type == PointType.INLINE;
 151         }
 152
 153         public boolean asPathLegEnd() {
 154             // Ends and Turns are path leg ends by default, but also unconnected inline are path leg ends.
 155             return isPathLegEnd() || getNext() == null || getPrevious() == null;
 156         }
 157
 158         /**
 159          * True for end components, if control point defines absolute position direction, which rules cannot modify.
 160          * This is typical for nozzles.
 161          * @return
 162          */
 163         public boolean isDirected() {
 164                 return isFixed && isEnd();
 165         }
 166
 167         /**
 168      * True for end components, if control is opposite to directed, and rules can modify position and orientation.
 169      * This is typical for caps, and other end components.
 170      * @return
 171      */
 172         public boolean isNonDirected() {
 173                 return !isFixed && isEnd();
 174         }
 175
 176         public boolean isVariableLength() {
 177                 return !isFixed && isInline();
 178         }
 179
 180         /**
 181          * Fixed length in-line component is such that piping rules cannot modify the length.
 182          * @return
 183          */
 184         public boolean isFixedLength() {
 185         return isFixed && isInline();
 186     }
 187
 188         public boolean isVariableAngle() {
 189                 return !isFixed && isTurn();
 190         }
 191
 192         /**
 193          * Fixed angle turn component is such that piping rules cannot modify the angle.
 194          * @return
 195          */
 196         public boolean isFixedAngle() {
 197         return isFixed && isTurn();
 198     }
 199
 200         /**
 201          * Does the turn behave like fixed angle?
 202          * For variable angle turns, the turn angle is defined by connected components, and without them, we must handle the component as fixed angle.
 203          * @return
 204          */
 205         public boolean asFixedAngle() {
 206         return isTurn() && (isFixed || next == null || previous == null);
 207     }
 208
 209         public boolean isBranchEnd() {
 210                 return isDeletable && isEnd();
 211         }
 212
 213         public boolean isOffset() {
 214                 return offset != null;
 215         }
 216
 217         public boolean isDualSub() {
 218                 return parent != null && isSub;
 219         }
 220
 221         public boolean isDualInline() {
 222                 return children.size() == 1 && children.get(0).isDualSub();
 223         }
 224
 225         public boolean isAxial() {
 226                 return isInline() && !isDualInline();
 227         }
 228
 229         public boolean isSizeChange() {
 230                 return isSizeChange;
 231                 //              if (children.size() == 0)
 232                 //                      return false;
 233                 //              if (!isDualInline())
 234                 //                      return false;
 235                 //              return getPipeRun() != children.get(0).getPipeRun();
 236         }
 237
 238         public void setSizeChange(boolean isSizeChange) {
 239                 this.isSizeChange = isSizeChange;
 240         }
 241
 242
 243         private PipeControlPoint next;
 244         private PipeControlPoint previous;
 245
 246         public PipeControlPoint getNext() {
 247                 return next;
 248         }
 249
 250         public PipeControlPoint getPrevious() {
 251                 return previous;
 252         }
 253
 254         public void setNext(PipeControlPoint next) {
 255             if (isSub) {
 256                 getParentPoint().setNext(next);
 257                 return;
 258             }
 259             if (next != null && next.isDualSub())
 260                 next = next.parent;
 261             if (_setNext(next)) {
 262                 for (PipeControlPoint pcp : children) {
 263                 if (pcp.isSub)
 264                     pcp._setNext(next);
 265             }
 266                 updateSubPoint();
 267             }
 268         }
 269
 270         public void setPrevious(PipeControlPoint prev) {
 271         if (isSub) {
 272             getParentPoint().setPrevious(prev);
 273             return;
 274         }
 275         if (prev != null && prev.isDualInline())
 276             prev = prev.children.get(0);
 277         if (_setPrevious(prev)) {
 278             for (PipeControlPoint pcp : children) {
 279                 if (pcp.isSub)
 280                     pcp._setPrevious(prev);
 281             }
 282             updateSubPoint();
 283         }
 284     }
 285
 286         protected boolean _setNext(PipeControlPoint next) {
 287                 if (isEnd() && previous != null && next != null)
 288                         throw new RuntimeException("End control points are allowed to have only one connection");
 289                 if (next == this)
 290                         throw new RuntimeException("Cannot connect to self");
 291                 if (this.next == next)
 292                         return false;
 293                 if (DEBUG) System.out.println(this + " next " + next);
 294                 if (next == null && isVariableAngle() && previous != null && !isRemoved()) {
 295                     convertVariableAngleToFixed(Direction.NEXT);
 296                 }
 297                 this.next = next;
 298                 if (component != null) {
 299                         if (parent == null || isSub)
 300                                 component.setNext(next != null ? next.component : null);
 301                         else
 302                                 component.setBranch0(next != null ? next.component : null);
 303
 304                 }
 305                 return true;
 306         }
 307
 308         protected boolean _setPrevious(PipeControlPoint previous) {
 309                 if (isEnd() && next != null && previous != null)
 310                         throw new RuntimeException("End control points are allowed to have only one connection");
 311                 if (previous == this)
 312                         throw new RuntimeException("Cannot connect to self");
 313                 if (this.previous == previous)
 314                         return false;
 315                 if (DEBUG) System.out.println(this + " previous " + previous);
 316                 if (previous == null && isVariableAngle() && next != null && !isRemoved()) {
 317             convertVariableAngleToFixed(Direction.PREVIOUS);
 318         }
 319                 this.previous = previous;
 320                 if (component != null) {
 321                         if (parent == null || isSub)
 322                                 component.setPrevious(previous != null ? previous.component : null);
 323                         else
 324                                 component.setBranch0(previous != null ? previous.component : null);
 325                         updateSubPoint();
 326                 }
 327                 return true;
 328         }
 329
 330         private void convertVariableAngleToFixed(Direction direction) {
 331             // We are removing reference, which transforms variable angle to fixed angle.
 332         // Since fixed angle is defined differently, we need to calculate fixed angle parameters based on current data
 333         // We need to calculate turnAngle and rotationAngle
 334             Vector3d dirOut = getPathLegDirection(direction == Direction.NEXT ? Direction.NEXT : Direction.PREVIOUS);
 335         Vector3d dir = getPathLegDirection(direction == Direction.NEXT ? Direction.PREVIOUS : Direction.NEXT);
 336         if (dir == null || dirOut == null)
 337             return;
 338         dir.negate();
 339         double angle = dir.angle(dirOut);
 340         //super._setNext(null);
 341         if (direction == Direction.NEXT)
 342             next = null;
 343         else
 344             previous = null;
 345         setRotationAngle(0.0);
 346         setReversed(direction == Direction.NEXT ? false : true);
 347         Vector3d dirOutN = getPathLegDirection(direction == Direction.NEXT ? Direction.NEXT : Direction.PREVIOUS);
 348         dirOutN.normalize();
 349         AxisAngle4d aa = new AxisAngle4d();
 350         if (MathTools.createRotation(dirOutN, dirOut, dir, aa)) {
 351             setRotationAngle(aa.angle);
 352             setTurnAngle(angle);
 353             if (DEBUG) System.out.println("convertToFixed " + dir + " " + dirOut + " " +dirOutN + " " +angle + " "+ aa.angle);
 354         }
 355         }
 356
 357         public PipeControlPoint parent;
 358         public List<PipeControlPoint> children = new ArrayList<PipeControlPoint>();
 359
 360         public List<PipeControlPoint> getChildPoints() {
 361                 return children;
 362         }
 363
 364         public PipeControlPoint getParentPoint() {
 365                 return parent;
 366         }
 367
 368
 369         private double length;
 370         private Double turnAngle;
 371         private Vector3d turnAxis;
 372
 373         private Double offset;
 374         private Double rotationAngle;
 375         private Boolean reversed;
 376
 377         @GetPropertyValue(name="Length",tabId="Debug",value="length")
 378         public double getLength() {
 379                 return length;
 380         }
 381
 382         public void setLength(double l) {
 383                 if (this.length == l)
 384                         return;
 385                 if (Double.isInfinite(l) || Double.isNaN(l))
 386                         return;
 387                 if (Math.abs(this.length-l) < MathTools.NEAR_ZERO)
 388                         return;
 389                 this.length = l;
 390                 firePropertyChanged("length");
 391                 if (isDualInline())
 392                     getDualSub().setLength(l);
 393         }
 394
 395         @GetPropertyValue(name="Turn Angle",tabId="Debug",value="turnAngle")
 396         public Double getTurnAngle() {
 397                 return turnAngle;
 398         }
 399
 400         @GetPropertyValue(name="Turn Axis",tabId="Debug",value="turnAxis")
 401         public Vector3d getTurnAxis() {
 402                 return turnAxis;
 403         }
 404
 405         @GetPropertyValue(name="Offset",tabId="Debug",value="offset")
 406         public Double getOffset() {
 407                 return offset;
 408         }
 409
 410         @GetPropertyValue(name="Rotation Angle",tabId="Debug",value="rotationAngle")
 411         public Double getRotationAngle() {
 412             if (isRotate || asFixedAngle())
 413                 return rotationAngle;
 414             return null;
 415         }
 416
 417         @GetPropertyValue(name="Reversed",tabId="Debug",value="reversed")
 418         public Boolean getReversed() {
 419                 return reversed;
 420         }
 421
 422         public boolean _getReversed() {
 423                 if (reversed == null)
 424                         return false;
 425                 return reversed;
 426         }
 427
 428         public void setTurnAngle(Double turnAngle) {
 429                 if (turnAngle == null || Double.isInfinite(turnAngle) || Double.isNaN(turnAngle)) {
 430                         return;
 431                 }
 432                 if (this.turnAngle != null && Math.abs(this.turnAngle-turnAngle) < MathTools.NEAR_ZERO)
 433                         return;
 434                 if (Objects.equals(this.turnAngle, turnAngle))
 435                         return;
 436                 this.turnAngle = turnAngle;
 437                 firePropertyChanged("turnAngle");
 438         }
 439
 440         public void setTurnAxis(Vector3d turnAxis) {
 441                 if (this.turnAxis != null && MathTools.equals(turnAxis, this.turnAxis))
 442                         return;
 443                 this.turnAxis = turnAxis;
 444                 firePropertyChanged("turnAxis");
 445         }
 446
 447         public void setOffset(Double offset) {
 448                 if (Double.isInfinite(offset) || Double.isNaN(offset)) {
 449                         return;
 450                 }
 451                 if (this.offset != null && Math.abs(this.offset-offset) < MathTools.NEAR_ZERO)
 452                         return;
 453                 if (Objects.equals(this.offset, offset))
 454                         return;
 455                 this.offset = offset;
 456                 firePropertyChanged("offset");
 457         }
 458
 459         public void setRotationAngle(Double rotationAngle) {
 460                 if (Double.isInfinite(rotationAngle) || Double.isNaN(rotationAngle)) {
 461                         return;
 462                 }
 463                 if (this.rotationAngle != null && Math.abs(this.rotationAngle-rotationAngle) < MathTools.NEAR_ZERO)
 464                         return;
 465                 if (Objects.equals(this.rotationAngle, rotationAngle))
 466                         return;
 467                 this.rotationAngle = rotationAngle;
 468                 firePropertyChanged("rotationAngle");
 469         }
 470
 471         public void setReversed(Boolean reversed) {
 472                 if (this.reversed == reversed)
 473                         return;
 474                 this.reversed = reversed;
 475                 firePropertyChanged("reversed");
 476         }
 477
 478         public Vector3d getSizeChangeOffsetVector(Vector3d dir) {
 479                 Quat4d q;
 480                 if (rotationAngle == null)
 481                         q = getControlPointOrientationQuat(dir, 0.0);
 482                 else
 483                         q = getControlPointOrientationQuat(dir, rotationAngle);
 484                 Vector3d v = new Vector3d(0.0,offset,0.0);
 485                 Vector3d offset = new Vector3d();
 486                 MathTools.rotate(q, v, offset);
 487                 return offset;
 488         }
 489
 490         public Vector3d getSizeChangeOffsetVector() {
 491                 Quat4d q;
 492                 if (rotationAngle == null)
 493                         q = getControlPointOrientationQuat(0.0);
 494                 else
 495                         q = getControlPointOrientationQuat(rotationAngle);
 496                 Vector3d v = new Vector3d(0.0,offset,0.0);
 497                 Vector3d offset = new Vector3d();
 498                 MathTools.rotate(q, v, offset);
 499                 return offset;
 500         }
 501
 502         @GetPropertyValue(name="Next",tabId="Debug",value="next")
 503         private String getNextString() {
 504                 if (next == null)
 505                         return null;
 506                 return next.toString();
 507         }
 508
 509         @GetPropertyValue(name="Previous",tabId="Debug",value="previous")
 510         private String getPrevString() {
 511                 if (previous == null)
 512                         return null;
 513                 return previous.toString();
 514         }
 515
 516         @GetPropertyValue(name="Sub",tabId="Debug",value="sub")
 517         private String getSubString() {
 518                 if (children.size() == 0)
 519                         return "";
 520                 return Arrays.toString(children.toArray());
 521         }
 522
 523         @GetPropertyValue(name="Type",tabId="Debug",value="type")
 524         public String getTypeString() {
 525                 return type.name();
 526         }
 527
 528         public Vector3d getPathLegEndpointVector() {
 529                 PipeControlPoint a = findPreviousEnd();
 530                 PipeControlPoint b = findNextEnd();
 531
 532                 if (a == null || b == null) {
 533                         return getPathLegDirection();
 534                 }
 535
 536                 Vector3d p1 = a.getWorldPosition();
 537                 Vector3d p2 = b.getWorldPosition();
 538                 p2.sub(p1);
 539                 double l = p2.length();
 540                 if (l != 0.0) {
 541                         p2.scale(1.0 / l);
 542                         return p2;
 543                 }
 544                 else {
 545                         return getPathLegDirection();
 546                 }
 547         }
 548
 549         public Vector3d getPathLegDirection() {
 550                 if (turnAxis == null) {
 551                         return getPathLegDirection(Direction.NEXT);
 552                 } else {
 553                         Vector3d dir = getPathLegDirection(Direction.PREVIOUS);
 554                         if (dir != null) dir.negate();
 555                         return dir;
 556                 }
 557         }
 558
 559         public Quat4d getControlPointOrientationQuat(double angle) {
 560                 Vector3d dir = getPathLegDirection();
 561                 if (turnAxis == null) {
 562                         return getControlPointOrientationQuat(dir, angle);
 563                 } else {
 564                         return getControlPointOrientationQuat(dir, turnAxis, angle);
 565                 }
 566         }
 567
 568         public Quat4d getControlPointOrientationQuat(Vector3d dir, double angle, boolean reversed) {
 569             if (turnAxis == null) {
 570             if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 571                 dir.normalize();
 572             Quat4d q =  getControlPointOrientationQuat(dir, angle);
 573             if (reversed) {
 574                 Quat4d q2 = new Quat4d();
 575                 q2.set(new AxisAngle4d(MathTools.Y_AXIS, Math.PI));
 576                 q.mulInverse(q2);
 577             }
 578             return q;
 579         } else {
 580             if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 581                 dir.normalize();
 582             return getControlPointOrientationQuat(dir, turnAxis, angle);
 583         }
 584         }
 585
 586         public Quat4d getControlPointOrientationQuat(double angle, boolean reversed) {
 587                 Vector3d dir = getPathLegDirection();
 588                 return getControlPointOrientationQuat(dir, angle, reversed);
 589         }
 590
 591         public Quat4d getControlPointOrientationQuat(Vector3d dir, double angle) {
 592                 if (dir == null || dir.lengthSquared() < MathTools.NEAR_ZERO)
 593                         return MathTools.getIdentityQuat();
 594
 595                 final P3DRootNode root = getRoot();
 596                 Vector3d up = root != null ? new Vector3d(root.getUpVector()) : new Vector3d(0.0, 1.0, 0.0);
 597                 final Vector3d legDir = getPathLegEndpointVector();
 598                 double a = up.angle(legDir);
 599                 if (a < 0.1 || (Math.PI - a) < 0.1) {
 600                         // Rotate components
 601                         up.set(up.getY(), up.getZ(), up.getX());
 602                 }
 603
 604                 // Project up vector into a normal of the leg direction before applying to 'dir'
 605                 MathTools.mad(up, legDir, -legDir.dot(up)/legDir.lengthSquared());
 606                 up.normalize();
 607
 608                 return getControlPointOrientationQuat(dir, up, angle);
 609         }
 610
 611         public P3DRootNode getRoot() {
 612                 INode n = getParent();
 613                 while (n != null && !(n instanceof P3DRootNode))
 614                         n = n.getParent();
 615                 return (P3DRootNode) n;
 616         }
 617
 618         public static Quat4d getControlPointOrientationQuat(Vector3d dir, Vector3d up,  double angle) {
 619                 if (dir == null || dir.lengthSquared() < MathTools.NEAR_ZERO)
 620                         return MathTools.getIdentityQuat();
 621
 622                 final Vector3d front = new Vector3d(1.0,0.0,0.0);
 623
 624                 Quat4d q1 = new Quat4d();
 625
 626
 627                 Vector3d right = new Vector3d();
 628
 629                 up = new Vector3d(up);
 630                 right.cross(dir, up);
 631                 up.cross(right, dir);
 632                 right.normalize();
 633                 up.normalize();
 634
 635                 Matrix3d m = new Matrix3d();
 636                 m.m00 = dir.x;
 637                 m.m10 = dir.y;
 638                 m.m20 = dir.z;
 639                 m.m01 = up.x;
 640                 m.m11 = up.y;
 641                 m.m21 = up.z;
 642                 m.m02 = right.x;
 643                 m.m12 = right.y;
 644                 m.m22 = right.z;
 645
 646                 //q1.set(m); MathTools contains more stable conversion
 647                 MathTools.getQuat(m, q1);
 648
 649                 //                      if (DEBUG) System.out.println("PipingTools.getPipeComponentOrientationQuat() " + dir+ " " + up + " " + right);
 650
 651                 Quat4d q2 = new Quat4d();
 652                 q2.set(new AxisAngle4d(front, angle));
 653                 q1.mul(q2);
 654                 return q1;
 655         }
 656
 657         public void insert(PipeControlPoint previous, PipeControlPoint next) {
 658                 // inserting an offsetpoint is error,
 659                 if (isDualSub())
 660                         throw new RuntimeException("Dual sub points cannot be inserted.");
 661                 // size change control point cannot be inserted this way, because it ends PipeRun
 662 //              if (isSizeChange())
 663 //                      throw new RuntimeException("Size change points cannot be inserted.");
 664                 PipeRun piperun = previous.getPipeRun();
 665                 // and just to make sure that control point structure is not corrupted
 666                 if (getPipeRun() != null) {
 667                         if (piperun != getPipeRun() || piperun != next.getPipeRun())
 668                                 throw new RuntimeException("All controls points must be located on the same pipe run");
 669                 } else {
 670                         piperun.addChild(this);
 671                 }
 672
 673                 // insert new BranchControlPoint between straight's control points
 674                 PipeControlPoint previousNext = previous.getNext();
 675                 PipeControlPoint previousPrevious = previous.getPrevious();
 676
 677                 PipeControlPoint offsetCP = null;
 678                 if (isOffset()) {
 679                         offsetCP = getDualSub();
 680                 }
 681                 if (previousNext != null && previousNext == next) {
 682                         if (previous.isDualInline()) {
 683                                 throw new RuntimeException();
 684                         }
 685                         if (next.isDualSub()) {
 686                                 throw new RuntimeException();
 687                         }
 688                         previous.setNext(this);
 689                         this.setPrevious(previous);
 690                         if (previous.isDualSub()) {
 691                                 previous.getParentPoint().setNext(this);
 692                         }
 693                         this.setNext(next);
 694
 695                         if (offsetCP == null) {
 696                                 next.setPrevious(this);
 697                         } else {
 698                                 next.setPrevious(offsetCP);
 699                                 offsetCP.setNext(next);
 700                                 offsetCP.setPrevious(previous);
 701                         }
 702
 703                         if (next.isDualInline()) {
 704                                 next.getDualSub().setPrevious(this);
 705                         }
 706                 } else if (previousPrevious != null && previousPrevious == next) {
 707                         // control point were given in reverse order
 708                         if (next.isDualInline())
 709                                 throw new RuntimeException();
 710                         if (previous.isDualSub())
 711                                 throw new RuntimeException();
 712
 713                         this.setNext(previous);
 714                         if (offsetCP == null) {
 715                                 previous.setNext(this);
 716                         } else {
 717                                 previous.setPrevious(offsetCP);
 718                                 offsetCP.setNext(previous);
 719                                 offsetCP.setPrevious(next);
 720                         }
 721                         if (previous.isDualInline()) {
 722                                 previous.getDualSub().setPrevious(this);
 723                         }
 724                         this.setPrevious(next);
 725                         next.setNext(this);
 726                         if (next.isDualSub()) {
 727                                 next.getParentPoint().setNext(this);
 728                         }
 729
 730                 } else {
 731                         throw new RuntimeException();
 732                 }
 733
 734                 PipingRules.validate(piperun);
 735         }
 736
 737
 738
 739         public void insert(PipeControlPoint pcp, Direction direction) {
 740                 if (isDualSub())
 741                         throw new RuntimeException();
 742                 if (direction == Direction.NEXT) {
 743                         // if direction is next, user must have given OffsetPoint
 744                         if (pcp.isDualInline())
 745                                 throw new RuntimeException();
 746                         // basic next/prev links
 747                         pcp.setNext(this);
 748                         this.setPrevious(pcp);
 749                         // and last take care of sizechange / offset points
 750                         if (pcp.isDualSub()) {
 751                                 pcp.getParentPoint().setNext(this);
 752                         }
 753                         if (isDualInline()) {
 754                             getDualSub().setPrevious(this);
 755                         }
 756                 } else {
 757                         // if direction is previous, user must have given sizechange
 758                         if (pcp.isDualSub())
 759                                 throw new RuntimeException();
 760                         // previous direction is more complicated, since if newCP is SizeChangeControlPoint,
 761                         // we must link pcp to newCP's OffsetPoint
 762                         PipeControlPoint nocp = null;
 763                         if (isDualInline()) {
 764                                 nocp = getDualSub();
 765                                 nocp.setNext(pcp);
 766                         }
 767                         if (nocp == null) {
 768                                 pcp.setPrevious(this);
 769                         } else {
 770                                 pcp.setPrevious(nocp);
 771                         }
 772                         this.setNext(pcp);
 773                         if (pcp.isDualInline()) {
 774                                 PipeControlPoint ocp = pcp.getDualSub();
 775                                 if (nocp == null)
 776                                         ocp.setPrevious(this);
 777                                 else
 778                                         ocp.setPrevious(nocp);
 779                         }
 780
 781                 }
 782                 PipingRules.validate(getPipeRun());
 783         }
 784
 785         public Vector3d getDirectedControlPointDirection() {
 786                 assert (isDirected());
 787                 Vector3d dir = new Vector3d();
 788                 MathTools.rotate(getWorldOrientation(), new Vector3d(1.0, 0.0, 0.0), dir);
 789                 dir.normalize();
 790                 return dir;
 791         }
 792
 793         /**
 794          * Returns direction vector pointing towards an adjacent component for
 795          * directed control points or turn control points with one open end.
 796          *
 797          * Always returns an outwards pointing vector.
 798          *
 799          * For any other type of component, the return value is null.
 800          *
 801          * For turn components this only return a non-null value for the unconnected
 802          * end of the component.
 803          *
 804          * @param direction
 805          * @return normalized vector, or null
 806          */
 807         public Vector3d getDirection(Direction direction) {
 808         if (isDirected())
 809             return getDirectedControlPointDirection();
 810         if (isTurn() && asFixedAngle()) {
 811             if (direction == Direction.NEXT) {
 812                 if (previous != null) {
 813                     PipeControlPoint pcp = this;
 814                     Vector3d dir = new Vector3d();
 815                     dir.sub(pcp.getWorldPosition(),previous.getWorldPosition());
 816                     if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 817                         dir.normalize();
 818                     else
 819                         return null;
 820                     Quat4d q = getControlPointOrientationQuat(dir, pcp.getRotationAngle() != null ? pcp.getRotationAngle() : 0.0);
 821                     AxisAngle4d aa = new AxisAngle4d(MathTools.Y_AXIS,pcp.getTurnAngle() == null ? 0.0 : pcp.getTurnAngle());
 822                     Quat4d q2 = MathTools.getQuat(aa);
 823                     Vector3d v = new Vector3d(1.,0.,0.);
 824                     Vector3d offset = new Vector3d();
 825                     MathTools.rotate(q2, v, offset);
 826                     MathTools.rotate(q, offset, dir);
 827                     dir.normalize();
 828                     return dir;
 829                 }
 830             } else {
 831                 if (next != null) {
 832                     PipeControlPoint pcp = this;
 833                     Vector3d dir = new Vector3d();
 834                     dir.sub(next.getWorldPosition(),pcp.getWorldPosition());
 835                     if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 836                         dir.normalize();
 837                     else
 838                         return null;
 839                     Quat4d q = getControlPointOrientationQuat(dir, pcp.getRotationAngle() != null ? pcp.getRotationAngle() : 0.0);
 840                     AxisAngle4d aa = new AxisAngle4d(MathTools.Y_AXIS,pcp.getTurnAngle() == null ? 0.0 : pcp.getTurnAngle());
 841                     Quat4d q2 = MathTools.getQuat(aa);
 842                     Vector3d v = new Vector3d(1.,0.,0.);
 843                     Vector3d offset = new Vector3d();
 844                     MathTools.rotate(q2, v, offset);
 845                     MathTools.rotate(q, offset, dir);
 846                     dir.negate();
 847                     dir.normalize();
 848                     return dir;
 849                 }
 850             }
 851         }
 852         return null;
 853     }
 854
 855         /**
 856          * Returns path leg direction of the control point.
 857          *
 858          * This method differs from getDirection by also returning inward pointing vectors for directed control points.
 859          *
 860          * @param direction
 861          * @return
 862          */
 863         public Vector3d getPathLegDirection(Direction direction) {
 864                 if (direction == Direction.NEXT) {
 865                         return getPathLegDirectionNext();
 866                 } else {
 867                         return getPathLegDirectionPrevious();
 868                 }
 869         }
 870
 871         public Vector3d getPathLegDirectionPrevious() {
 872                 if (previous != null) {
 873                         PipeControlPoint pcp = this;
 874                         if (isDualSub())
 875                                 pcp = getParentPoint();
 876                         Vector3d v = new Vector3d();
 877                         v.sub(previous.getWorldPosition(),pcp.getWorldPosition());
 878                         if (v.lengthSquared() > MathTools.NEAR_ZERO)
 879                         v.normalize();
 880                     else
 881                         return null;
 882                         return v;
 883                 } else if (isDirected()) {
 884                         Vector3d v = getDirectedControlPointDirection();
 885                         v.negate();
 886                         return v;
 887                 } else if (next == null)  {
 888                         throw new RuntimeException("Cannot calculate path leg direction for unconnected control point " + this);
 889                 } else if (isVariableAngle() && !asFixedAngle()) {
 890                         throw new RuntimeException("Cannot calculate path leg direction for unconnected variable angle control point " + this);
 891                 } else if (isInline() || isEnd()) {
 892                         Vector3d v = getPathLegDirectionNext();
 893                         if (v != null) v.negate();
 894                         return v;
 895                 } else if (isTurn() && asFixedAngle() && _getReversed()) {
 896                         return getDirection(Direction.PREVIOUS);
 897                 } else {
 898                         throw new RuntimeException("Missing implementation " + this);
 899                 }
 900         }
 901
 902         public Vector3d getPathLegDirectionNext() {
 903                 if (next != null) {
 904                         PipeControlPoint pcp = this;
 905                         if (pcp.isDualInline()) {
 906                                 pcp = pcp.getDualSub();
 907                         }
 908                         Vector3d v = new Vector3d();
 909                         v.sub(next.getWorldPosition(),pcp.getWorldPosition());
 910                         if (v.lengthSquared() > MathTools.NEAR_ZERO)
 911                         v.normalize();
 912                     else
 913                         return null;
 914                         return v;
 915                 } else if (isDirected()) {
 916                         return getDirectedControlPointDirection();
 917                 } else if (previous == null) {
 918                         throw new RuntimeException("Cannot calculate path leg direction for unconnected control point " + this);
 919                 } else if (isVariableAngle() && !asFixedAngle()) {
 920                         throw new RuntimeException("Cannot calculate path leg direction for unconnected variable angle control point " + this);
 921                 } else if (isInline() || isEnd()) {
 922                         Vector3d v = getPathLegDirectionPrevious();
 923                         if (v != null) v.negate();
 924                         return v;
 925                 } else if (isTurn() && asFixedAngle() && !_getReversed()) {
 926                         return getDirection(Direction.NEXT);
 927                 } else {
 928                         throw new RuntimeException("Missing implementation " + this);
 929                 }
 930         }
 931
 932         public void getInlineControlPointEnds(Tuple3d p1, Tuple3d p2) {
 933                 assert (isInline());
 934
 935                 PipeControlPoint sub = isAxial() ? this : getDualSub();
 936                 Vector3d pos = getWorldPosition(), pos2 = sub == this ? pos : sub.getWorldPosition();
 937                 Vector3d dir = sub.getInlineDir();
 938
 939                 dir.scale(length * 0.5);
 940                 p1.set(pos);
 941                 p2.set(pos2);
 942                 p1.sub(dir);
 943                 p2.add(dir);
 944         }
 945
 946         public void getControlPointEnds(Tuple3d p1, Tuple3d p2) {
 947                 PipeControlPoint sub = isAxial() || isDirected() || isTurn() ? this : getChildPoints().get(0);
 948                 Vector3d pos = getWorldPosition(), pos2 = sub == this ? pos : sub.getWorldPosition();
 949
 950                 Vector3d dir1;
 951                 Vector3d dir2;
 952                 if (isInline()) {
 953                         dir2 = getInlineDir();
 954                         dir2.scale(length * 0.5);
 955                         dir1 = new Vector3d(dir2);
 956                         dir1.negate();
 957                 } else {
 958                         dir1 = getPathLegDirection(Direction.PREVIOUS);
 959                         dir2 = sub.getPathLegDirection(Direction.NEXT);
 960                         dir1.scale(length);
 961                         dir2.scale(length);
 962                 }
 963                 p1.set(pos);
 964                 p2.set(pos2);
 965                 p1.add(dir1);
 966                 p2.add(dir2);
 967         }
 968
 969         /**
 970          * Get both path leg directions, with (0,0,0) if no connection exists. The returned vectors are not normalized.
 971          *
 972          * @param v1  Set to the direction towards the previous control point on output
 973          * @param v2  Set to the direction towards the next control point on output
 974          */
 975         public void getEndDirections(Tuple3d v1, Tuple3d v2) {
 976                 PipeControlPoint sub = isAxial() ? this : getDualSub();
 977
 978                 Vector3d dir1 = getPathLegDirection(Direction.PREVIOUS);
 979                 Vector3d dir2 = sub.getPathLegDirection(Direction.NEXT);
 980
 981                 if (dir1 != null)
 982                         v1.set(dir1);
 983                 else
 984                         v1.set(0,0,0);
 985
 986                 if (dir2 != null)
 987                         v2.set(dir2);
 988                 else
 989                         v2.set(0,0,0);
 990         }
 991
 992         public void getInlineControlPointEnds(Tuple3d p1, Tuple3d p2, Vector3d dir) {
 993                 assert (isInline());
 994
 995                 Vector3d pos = getWorldPosition();
 996                 dir.set(getInlineDir());
 997                 dir.normalize();
 998                 dir.scale(length * 0.5);
 999                 p1.set(pos);
1000                 p2.set(pos);
1001                 p1.sub(dir);
1002                 p2.add(dir);
1003         }
1004
1005         public void getInlineControlPointEnds(Tuple3d center, Tuple3d p1, Tuple3d p2, Vector3d dir) {
1006                 assert (isInline());
1007
1008                 Vector3d pos = getWorldPosition();
1009                 center.set(pos);
1010                 dir.set(getInlineDir());
1011                 dir.normalize();
1012                 dir.scale(length * 0.5);
1013                 p1.set(pos);
1014                 p2.set(pos);
1015                 p1.sub(dir);
1016                 p2.add(dir);
1017         }
1018
1019         public Vector3d getInlineDir() {
1020                 Vector3d dir = getPathLegDirection(Direction.NEXT);
1021                 if (dir == null) {
1022                         dir = getPathLegDirection(Direction.PREVIOUS);
1023                         if (dir != null) {
1024                                 // Use reverse direction
1025                                 dir.scale(-1.0);
1026                         } else {
1027                                 // Control point is not connected at all, use current orientation
1028                                 dir = new Vector3d(1,0,0);
1029                                 MathTools.rotate(getWorldOrientation(), dir, dir);
1030                         }
1031                 }
1032                 return dir;
1033         }
1034
1035         public double getInlineLength() {
1036                 if (type == PointType.TURN)
1037                         return length;
1038                 else if (type == PointType.INLINE)
1039                         return length * 0.5;
1040                 return 0;
1041         }
1042
1043         /**
1044          * Return the position indicated by the argument. If the indicated direction is not connected, the
1045          * control point's wolrd position is returned instead.
1046          *
1047          * @param type  A selector for the position to be returned
1048          * @return  The selected position
1049          */
1050         public Vector3d getRealPosition(PositionType type) {
1051                 Vector3d pos = getWorldPosition();
1052                 switch (type) {
1053                 case NEXT: {
1054                         double length = getInlineLength();
1055                         Vector3d dir;
1056                         if (isInline()) {
1057                                 dir = getInlineDir();
1058                         } else {
1059                                 dir = getPathLegDirection(Direction.NEXT);
1060                         }
1061                         dir.scale(length);
1062                         pos.add(dir);
1063                         break;
1064                 }
1065                 case PREVIOUS: {
1066                         double length = getInlineLength();
1067                         Vector3d dir;
1068                         if (isInline()) {
1069                                 dir = getInlineDir();
1070                                 dir.negate();
1071                         } else {
1072                                 dir = getPathLegDirection(Direction.PREVIOUS);
1073                         }
1074                         dir.scale(length);
1075                         pos.add(dir);
1076                         break;
1077                 }
1078                 case PORT:
1079                         // IEntity portDir = pcp.getSingleRelatedObject(ProcessResource.plant3Dresource.HasDirection);
1080                         // TODO : how we calculated needed space for a port; does it has an offset from control point's position or not?
1081                         break;
1082                 case SPLIT:
1083                         // do nothing
1084                         break;
1085
1086                 }
1087                 return pos;
1088         }
1089
1090         public void getInlineMovement(Tuple3d start, Tuple3d end) {
1091                 // FIXME : check type of neighbor components and allow movement on top of variable length components,
1092                 //         find proper range for movement (pcp's position is not)
1093                 PipeControlPoint p = previous.getPrevious();
1094                 PipeControlPoint n = next.getNext();
1095                 start.set(p.getWorldPosition());
1096                 end.set(n.getWorldPosition());
1097         }
1098
1099         public PipeControlPoint findNextEnd() {
1100                 ArrayList<PipeControlPoint> t = new ArrayList<PipeControlPoint>();
1101                 return findNextEnd( t);
1102         }
1103
1104         public PipeControlPoint findPreviousEnd() {
1105                 ArrayList<PipeControlPoint> t = new ArrayList<PipeControlPoint>();
1106                 return findPreviousEnd(t);
1107         }
1108
1109         public PipeControlPoint findNextEnd(List<PipeControlPoint> nextList) {
1110                 while (true) {
1111                         PipeControlPoint pcp = null;
1112                         PipeControlPoint p = null;
1113                         if (nextList.size() == 0)
1114                                 p = this;
1115
1116                         else
1117                                 p = nextList.get(nextList.size() - 1);
1118
1119                         pcp = p.getNext();
1120                         if (pcp == null) {
1121                                 pcp = p;
1122                                 if (nextList.size() > 0)
1123                                         nextList.remove(nextList.size() - 1);
1124                                 //              if (DEBUG) System.out.println(" " + pcp.getResource() + " not full");
1125                                 return pcp;
1126                                 //break;
1127                         }
1128                         if (pcp.isPathLegEnd()) {
1129                                 //if (DEBUG) System.out.println(" " + pcp.getResource());
1130                                 return pcp;
1131                         } else {
1132                                 nextList.add(pcp);
1133                                 // if (DEBUG) System.out.print(" " + pcp.getResource());
1134                         }
1135                 }
1136         }
1137
1138         public PipeControlPoint findPreviousEnd(List<PipeControlPoint> prevList) {
1139                 while (true) {
1140                         PipeControlPoint pcp = null;
1141                         PipeControlPoint p = null;
1142                         if (prevList.size() == 0)
1143                                 p = this;
1144
1145                         else
1146                                 p = prevList.get(prevList.size() - 1);
1147
1148                         pcp = p.getPrevious();
1149                         if (pcp == null) {
1150                                 pcp = p;
1151                                 if (prevList.size() > 0)
1152                                         prevList.remove(prevList.size() - 1);
1153                                 //                              if (DEBUG) System.out.println(" " + pcp.getResource() + " not full");
1154                                 return pcp;
1155                         }
1156                         if (pcp.isPathLegEnd()) {
1157                                 //                              if (DEBUG)      System.out.println(" " + pcp.getResource());
1158                                 return pcp;
1159                         } else {
1160                                 prevList.add(pcp);
1161                                 //                              if (DEBUG)System.out.print(" " + pcp.getResource());
1162                         }
1163                 }
1164         }
1165
1166         public void _remove() {
1167             _remove(true);
1168         }
1169
1170
1171         public PipeControlPoint getDualSub() {
1172             if (isDualInline())
1173                 return getChildPoints().get(0);
1174             else
1175                 throw new IllegalStateException("Current control point is not dual inline");
1176         }
1177
1178
1179         public void _remove(boolean renconnect) {
1180             if (disposed)
1181                 return;
1182
1183             if (DEBUG) System.out.println(this + " Remove " + renconnect);
1184
1185                 if (getParentPoint() != null) {
1186                     getParentPoint()._remove(renconnect);
1187                     return;
1188                 }
1189                 PipeRun pipeRun = getPipeRun();
1190 //              PipeRUn removal has been changed, so pipeRun may be null.
1191 //              if (pipeRun == null)
1192 //                      return;
1193
1194                 PipeControlPoint additionalRemove = null;
1195                 if (!PipingRules.isEnabled()) {
1196                     component = null;
1197                         setPrevious(null);
1198                         setNext(null);
1199                 } else {
1200
1201                         PipeControlPoint currentPrev = previous;
1202                         PipeControlPoint currentNext = next;
1203                         if (currentNext == null && currentPrev == null) {
1204                                 removeComponent();
1205                                 if (pipeRun != null) {
1206                                     pipeRun.remChild(this);
1207                                     checkRemove(pipeRun);
1208                                 }
1209                                 return;
1210                         }
1211                         if (currentNext != null && currentPrev != null) {
1212                                 boolean link = renconnect;
1213                                 if (currentNext.isBranchEnd()) {
1214                                         link = false;
1215                                         currentNext.remove();
1216                                         currentNext = null;
1217                                         setNext(null);
1218                                 }
1219                                 if (currentPrev.isBranchEnd()) {
1220                                         link = false;
1221                                         currentPrev.remove();
1222                                         currentPrev = null;
1223                                         setPrevious(null);
1224                                 }
1225                                 if (link) {
1226                                     if (currentPrev.isDirected() && currentNext.isDirected())
1227                                         link = false;
1228                                     else if (this.isDualSub()) {
1229                                         throw new RuntimeException("_remove() is called for parent point, somehow got to child point. " + this);
1230                                     }
1231                                 }
1232                                 if (currentNext == null) {
1233                                         // Nothing to do
1234                                 } else if (currentNext.isDualInline()) {
1235                                         PipeControlPoint sccp = currentNext;
1236                                         PipeControlPoint ocp = currentNext.getDualSub();
1237                                         if (ocp == null) {
1238                                                 throw new RuntimeException("Removing PipeControlPoint " + this+ " structure damaged, no offset control point");
1239                                         }
1240                                         if (link) {
1241                                                 sccp.setPrevious(currentPrev);
1242                                                 //ocp.setPrevious(currentPrev);
1243                                                 assert(ocp.getPrevious() == currentPrev);
1244                                         } else {
1245                                                 sccp.setPrevious(null);
1246                                                 //ocp.setPrevious(null);
1247                                                 assert(ocp.getPrevious() == null);
1248                                         }
1249                                         setNext(null);
1250                                 } else if (currentNext.isDualSub()) {
1251                                         throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, next control point is offset control point");
1252                                 } else if (currentNext.previous == this) {
1253                                         if (link) {
1254                                                 currentNext.setPrevious(currentPrev);
1255                                         } else {
1256                                                 currentNext.setPrevious(null);
1257                                         }
1258                                         setNext(null);
1259                                 } else if (isDualInline()) {
1260                                     if (currentNext.previous != getDualSub()) {
1261                                         throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1262                                     }
1263                                     if (link) {
1264                         currentNext.setPrevious(currentPrev);
1265                     } else {
1266                         currentNext.setPrevious(null);
1267                     }
1268                     setNext(null);
1269                                 } else {
1270                                         throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1271                                 }
1272                                 if (currentPrev == null) {
1273                                         // Nothing to do
1274                                 } else if (currentPrev.isDualInline()) {
1275                                         throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, previous control point is size change control point");
1276                                 } else if (currentPrev.isDualSub()) {
1277                                         PipeControlPoint ocp = currentPrev;
1278                                         PipeControlPoint sccp = currentPrev.getParentPoint();
1279                                         if (sccp == null)
1280                                                 throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, no size change control point");
1281                                         if (link) {
1282                                                 //ocp.setNext(currentNext);
1283                                                 sccp.setNext(currentNext);
1284                                                 assert(ocp.getNext() == currentNext);
1285                                         } else {
1286                                                 //ocp.setNext(null);
1287                                                 sccp.setNext(null);
1288                                                 assert(ocp.getNext() == null);
1289                                         }
1290                                         setPrevious(null);
1291                                 } else if (currentPrev.next == this) {
1292                                         if (link)
1293                                                 currentPrev.setNext(currentNext);
1294                                         else
1295                                                 currentPrev.setNext(null);
1296
1297                                         setPrevious(null);
1298                                 } else {
1299                                         throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged");
1300                                 }
1301                                 if (link) {
1302                                         if (currentNext.isVariableLength() && currentPrev.isVariableLength()) {
1303                                                 // we have to join them into single variable length component.
1304                                                 additionalRemove = currentPrev;
1305                                                 // combine lengths and set the location of remaining control point to the center.
1306                                                 Point3d ps = new Point3d();
1307                                                 Point3d pe = new Point3d();
1308                                                 Point3d ns = new Point3d();
1309                                                 Point3d ne = new Point3d();
1310                                                 currentPrev.getInlineControlPointEnds(ps, pe);
1311                                                 currentNext.getInlineControlPointEnds(ns, ne);
1312                                                 double l = currentPrev.getLength() + currentNext.getLength();
1313                                                 Vector3d cp = new Vector3d();
1314                                                 cp.add(ps, ne);
1315                                                 cp.scale(0.5);
1316                                                 currentNext.setLength(l);
1317                                                 currentNext.setWorldPosition(cp);
1318                                         }
1319                                 } else {
1320                                         // FIXME : pipe run must be split into two parts, since the control point structure is no more continuous.
1321                                 }
1322                         } else if (currentNext != null) {
1323                                 if (currentNext.isDualInline()) {
1324                                         PipeControlPoint sccp = currentNext;
1325                                         PipeControlPoint ocp = currentNext.getDualSub();
1326                                         if (ocp == null) {
1327                                                 throw new RuntimeException("Removing PipeControlPoint " + this+ " structure damaged, no offset control point");
1328                                         }
1329                                         sccp.setPrevious(null);
1330                                         assert(ocp.getPrevious() == null);
1331                                         //ocp.setPrevious(null);
1332                                 } else if (currentNext.isDualSub()) {
1333                                         throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, next control point is offset control point");
1334                                 } else if (currentNext.previous == this) {
1335                                     currentNext.setPrevious(null);
1336                                 }  else if (isDualInline()) {
1337                     if (currentNext.previous != getDualSub()) {
1338                         throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1339                     }
1340                     currentNext.setPrevious(null);
1341                                 } else {
1342                                         throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1343                                 }
1344                                 setNext(null);
1345                         } else {  //(previous != null)
1346                                 if(currentPrev.isDualInline()) {
1347                                         throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, previous control point is size change control point");
1348                                 } else if (currentPrev.isDualSub()) {
1349                                         PipeControlPoint ocp = currentPrev;
1350                                         PipeControlPoint sccp = currentPrev.getParentPoint();
1351                                         if (sccp == null) {
1352                                                 throw new RuntimeException("Removing PipeControlPoint " + this + " structure damaged, no size change control point");
1353                                         }
1354                                         sccp.setNext(null);
1355                                         assert(ocp.getNext() == null);
1356                                 } else if (currentPrev.next == this) {
1357                                     currentPrev.setNext(null);
1358                                 } else {
1359                                         throw new RuntimeException("Removing PipeControlPoint "+ this+ " structure damaged");
1360                                 }
1361                                 setPrevious(null);
1362                         }
1363                         if (children.size() > 0 ) {
1364                                 removeSubPoints();
1365                         } else if (parent!= null) {
1366                                 removeParentPoint();
1367                         }
1368
1369                 }
1370
1371                 removeComponent();
1372                 if (pipeRun != null) {
1373                 pipeRun.remChild(this);
1374                 checkRemove(pipeRun);
1375                 if (PipingRules.isEnabled() && pipeRun.getParent() != null && pipeRun.getControlPoints().size() > 0)
1376                         PipingRules.validate(pipeRun);
1377                 }
1378                 if (additionalRemove != null)
1379                         additionalRemove.remove();
1380                 disposed = true;
1381         }
1382
1383         /**
1384          * Removes control point and attempts to reconnect next/prev
1385          *
1386          * If this point is size change (PipeRuns are different on both sides), then reconnection cannot be made.
1387          */
1388         public void remove() {
1389                 PipeControlPoint currentPrev = previous;
1390                 PipeControlPoint currentNext = next;
1391                 _remove();
1392                 try {
1393                         if (currentNext != null)
1394                             if (!currentNext.checkRemove())
1395                                 PipingRules.requestUpdate(currentNext);
1396                         if (currentPrev != null)
1397                             if (!currentPrev.checkRemove())
1398                                 PipingRules.requestUpdate(currentPrev);
1399                 } catch (Exception e) {
1400                         e.printStackTrace();
1401                 }
1402         }
1403
1404
1405         /**
1406          * Removes control point without attempting to reconnect next/prev.
1407          * This usually leads to creation of another PipeRun for the control points after this point.
1408          */
1409         public void removeAndSplit() {
1410         PipeControlPoint currentPrev = previous;
1411         PipeControlPoint currentNext = next;
1412
1413         if (next != null && previous != null) {
1414             P3DRootNode root = (P3DRootNode)getPipelineComponent().getRootNode();
1415             PipeRun nextPipeRun = new PipeRun();
1416             nextPipeRun.setName(root.getUniqueName("PipeRun"));
1417             root.addChild(nextPipeRun);
1418
1419             PipeRun previousRun = previous.getPipeRun();
1420             nextPipeRun.setPipeDiameter(previousRun.getPipeDiameter());
1421             nextPipeRun.setPipeThickness(previousRun.getPipeThickness());
1422             nextPipeRun.setTurnRadiusArray(previousRun.getTurnRadiusArray());
1423
1424             PipelineComponent n = next.getPipelineComponent();
1425             while (n != null) {
1426                 if (n.getPipeRun() != previousRun)
1427                     break;
1428                 if (! (n instanceof Nozzle)) {
1429                     n.deattach();
1430                     nextPipeRun.addChild(n);
1431                 } else
1432                     n.setPipeRun(nextPipeRun);
1433                 n = n.getNext();
1434             }
1435         }
1436         _remove(false);
1437         try {
1438             if (currentNext != null)
1439                 if (!currentNext.checkRemove())
1440                     PipingRules.requestUpdate(currentNext);
1441             if (currentPrev != null)
1442                 if (!currentPrev.checkRemove())
1443                     PipingRules.requestUpdate(currentPrev);
1444         } catch (Exception e) {
1445             e.printStackTrace();
1446         }
1447     }
1448
1449         /**
1450          * This is called when adjacent control point is removed.
1451          *
1452          * This call should remove the give point, if the point cannot exist alone.
1453          * At the moment there is one such case: branch.
1454          *
1455          * @return
1456          */
1457         protected boolean checkRemove() {
1458             if (getParentPoint() != null) {
1459                 return getParentPoint().checkRemove();
1460             } else {
1461                 if (getPipelineComponent() == null)
1462                     return true; // already removed
1463             if (getPipelineComponent().getType().equals("Plant3D.URIs.Builtin_BranchSplitComponent")) {
1464                 if (getChildPoints().get(0).getNext() == null && getChildPoints().get(0).getPrevious() == null) {
1465                         remove();
1466                         return true;
1467                 }
1468             }
1469             return checkRemove(getPipeRun());
1470             }
1471     }
1472
1473         private boolean checkRemove(PipeRun pipeRun) {
1474             if (pipeRun == null)
1475                 return false;
1476                 Collection<PipeControlPoint> points = pipeRun.getControlPoints();
1477                 if (points.size() == 0) {
1478                         pipeRun.remove();
1479                         return true;
1480                 } else if (points.size() == 1) {
1481                         PipeControlPoint pcp = points.iterator().next();
1482                         if (pcp.isDeletable() && pcp.getNext() == null && pcp.getPrevious() == null) {
1483                                 pcp._remove(); // This call will recursively call also this method...
1484                                 return true;
1485                         }
1486                 } else if (points.size() == 2) {
1487
1488                 }
1489                 return false;
1490         }
1491
1492         private void removeSubPoints() {
1493                 for (PipeControlPoint p : children) {
1494                         p.parent = null;
1495                         p.component = null;
1496                         //p._remove();
1497                         PipeControlPoint currentNext = p.getNext();
1498                         PipeControlPoint currentPrev = p.getPrevious();
1499                         p._setNext(null);
1500                         p._setPrevious(null);
1501                         PipeRun run = p.getPipeRun();
1502                         if (run != null) {
1503                             run.remChild(p);
1504                             checkRemove(run);
1505                         }
1506                         if (currentNext != null)
1507                 if (!currentNext.checkRemove())
1508                     PipingRules.requestUpdate(currentNext);
1509             if (currentPrev != null)
1510                 if (!currentPrev.checkRemove())
1511                     PipingRules.requestUpdate(currentPrev);
1512
1513                 }
1514                 children.clear();
1515         }
1516
1517         private void removeParentPoint() {
1518                 throw new RuntimeException("Child points cannot be removed directly");
1519         }
1520
1521         public boolean isRemoved() {
1522             return component == null;
1523         }
1524
1525         private void removeComponent() {
1526                 if (component == null)
1527                         return;
1528                 PipelineComponent next = component.getNext();
1529                 PipelineComponent prev = component.getPrevious();
1530                 PipelineComponent br0 = component.getBranch0();
1531                 component.setNext(null);
1532                 component.setPrevious(null);
1533                 component.setBranch0(null);
1534                 if (next != null) {
1535                         if (next.getNext() == component)
1536                                 next.setNext(null);
1537                         else if (next.getPrevious() == component)
1538                                 next.setPrevious(null);
1539                         else if (next.getBranch0() == component)
1540                                 next.setBranch0(null);
1541                 }
1542                 if (prev != null) {
1543                         if (prev.getNext() == component)
1544                                 prev.setNext(null);
1545                         else if (prev.getPrevious() == component)
1546                                 prev.setPrevious(null);
1547                         else if (prev.getBranch0() == component)
1548                                 prev.setBranch0(null);
1549                 }
1550                 if (br0 != null) {
1551                         if (br0.getNext() == component)
1552                                 br0.setNext(null);
1553                         else if (br0.getPrevious() == component)
1554                                 br0.setPrevious(null);
1555                         else if (br0.getBranch0() == component)
1556                                 br0.setBranch0(null);
1557                 }
1558                 PipelineComponent comp = component;
1559                 component = null;
1560
1561                 comp.remove();
1562         }
1563
1564         @Override
1565         public void setOrientation(Quat4d orientation) {
1566                 if (MathTools.equals(orientation, getOrientation()))
1567                         return;
1568                 if (getPipelineComponent() != null && (getPipelineComponent() instanceof Nozzle))
1569                     System.out.println();
1570                 super.setOrientation(orientation);
1571                 if (getParentPoint() == null && component != null)
1572                         component._setWorldOrientation(getWorldOrientation());
1573                 updateSubPoint();
1574         }
1575
1576         @Override
1577         public void setPosition(Vector3d position) {
1578                 if (MathTools.equals(position, getPosition()))
1579                         return;
1580                 if (Double.isNaN(position.x) || Double.isNaN(position.y) || Double.isNaN(position.z))
1581                         throw new IllegalArgumentException("NaN is not supported");
1582                 super.setPosition(position);
1583                 if (getParentPoint() == null && component != null)
1584                         component._setWorldPosition(getWorldPosition());
1585                 updateSubPoint();
1586         }
1587
1588         private void updateSubPoint() {
1589                 if (isOffset()) {
1590                         if (next == null && previous == null) {
1591                                 for (PipeControlPoint sub : getChildPoints()) {
1592                                         sub.setWorldPosition(getWorldPosition());
1593                                         sub.setWorldOrientation(getWorldOrientation());
1594                                 }
1595                                 return;
1596                         }
1597                         for (PipeControlPoint sub : getChildPoints()) {
1598                                 Vector3d wp = getWorldPosition();
1599                                 wp.add(getSizeChangeOffsetVector());
1600                                 sub.setWorldPosition(wp);
1601                                 sub.setWorldOrientation(getWorldOrientation());
1602                         }
1603                 } else {
1604                         for (PipeControlPoint sub : getChildPoints()) {
1605                                 sub.setWorldPosition(getWorldPosition());
1606                                 sub.setWorldOrientation(getWorldOrientation());
1607                         }
1608                 }
1609         }
1610
1611
1612         public void _setWorldPosition(Vector3d position) {
1613                 Vector3d localPos = getLocalPosition(position);
1614                 super.setPosition(localPos);
1615                 updateSubPoint();
1616         }
1617
1618         public void _setWorldOrientation(Quat4d orientation) {
1619                 Quat4d localOr = getLocalOrientation(orientation);
1620                 super.setOrientation(localOr);
1621                 updateSubPoint();
1622         }
1623
1624         public void orientToDirection(Vector3d dir) {
1625                 Double angleO = getRotationAngle();
1626                 double angle = 0.0;
1627                 if (angleO != null)
1628                         angle = angleO;
1629                 boolean reversed = _getReversed();
1630                 Quat4d q = null;
1631                 if (dir != null) {
1632                     q = getControlPointOrientationQuat(dir, angle, reversed);
1633                 } else {
1634                     q = getControlPointOrientationQuat(angle, reversed);
1635                 }
1636                 setWorldOrientation(q);
1637         }
1638
1639         @Override
1640         public String toString() {
1641                 return getClass().getName() + "@" + Integer.toHexString(hashCode());
1642         }
1643
1644 }