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

   1 package org.simantics.plant3d.scenegraph.controlpoint;
   2
   3 import java.util.ArrayList;
   4 import java.util.Collection;
   5 import java.util.List;
   6
   7 import javax.vecmath.Point3d;
   8 import javax.vecmath.Quat4d;
   9 import javax.vecmath.Vector3d;
  10
  11 import org.simantics.g3d.math.MathTools;
  12 import org.simantics.plant3d.scenegraph.InlineComponent;
  13 import org.simantics.plant3d.scenegraph.P3DRootNode;
  14 import org.simantics.plant3d.scenegraph.PipeRun;
  15 import org.simantics.plant3d.scenegraph.PipelineComponent;
  16 import org.simantics.plant3d.scenegraph.TurnComponent;
  17 import org.simantics.plant3d.scenegraph.controlpoint.PipeControlPoint.Direction;
  18 import org.simantics.plant3d.utils.ComponentUtils;
  19 import org.simantics.utils.datastructures.Pair;
  20 import org.simantics.utils.ui.ErrorLogger;
  21
  22 public class PipingRules {
  23         private static final boolean DEBUG = false;
  24         private static final boolean DUMMY = false;
  25
  26         private static double MIN_TURN_ANGLE = 0.001;    // Threshold for removing turn components.
  27         private static double ALLOWED_OFFSET = 0.001;    // Allowed offset for directed path legs
  28         private static double MIN_INLINE_LENGTH = 0.0005; // Minimum length of inline components, when component removal is not allowed.
  29
  30         private static final int REMOVE_NONE = 0;
  31         private static final int REMOVE_START = 1;
  32         private static final int REMOVE_END = 2;
  33         private static final int REMOVE_BOTH = 3;
  34
  35
  36         // PathLeg iteration indicator. NEXT_S > NEXT > NONE  PREV_S > PREV > NONE
  37         private enum PathLegUpdateType {
  38                 NONE,   // Only current path leg needs to be updated  (for example, inline comp was moved)
  39                 PREV,   // Current and previous path leg need to be updated
  40                 NEXT,   // Current and next path leg need to be updated
  41                 PREV_S, // Current and previous two path legs need to be updated (turn was moved, which affect other path leg end turns, and thus following path legs
  42                 NEXT_S  // Current and next two path legs need to be updated
  43         };
  44
  45         private static boolean enabled = true;  //
  46         private static boolean updating = false;
  47         private static boolean allowInsertRemove = true;
  48         private static boolean triedIR = false;
  49
  50
  51         private static List<PipeControlPoint> requestUpdates = new ArrayList<PipeControlPoint>();
  52         private static List<PipeControlPoint> currentUpdates = new ArrayList<PipeControlPoint>();
  53
  54         private static Object updateMutex = new Object();
  55         private static Object ruleMutex = new Object();
  56
  57         public static void requestUpdate(PipeControlPoint pcp) {
  58             if (!PipingRules.enabled)
  59                 return;
  60                 if (DEBUG) System.out.println("PipingRules request " + pcp);
  61                 synchronized (updateMutex) {
  62                         if (!requestUpdates.contains(pcp))
  63                                 requestUpdates.add(pcp);
  64                 }
  65         }
  66
  67         public static boolean update() throws Exception {
  68             if (!PipingRules.enabled)
  69                 return false;
  70
  71                 if (requestUpdates.size() == 0)
  72                         return false;
  73
  74                 List<PipeControlPoint> temp = new ArrayList<PipeControlPoint>(requestUpdates.size());
  75                 synchronized(updateMutex) {
  76                         temp.addAll(requestUpdates);
  77                         requestUpdates.clear();
  78                 }
  79                 synchronized (ruleMutex) {
  80                         currentUpdates.clear();
  81                         currentUpdates.addAll(temp);
  82                         // TODO : we should remove already processed control points from currentUpdates after each _positionUpdate call.
  83                         for (PipeControlPoint pcp : currentUpdates)
  84                                 _positionUpdate(pcp, true);
  85                         currentUpdates.clear();
  86                 }
  87                 synchronized(updateMutex) {
  88                         requestUpdates.removeAll(temp);
  89                 }
  90
  91                 return true;
  92         }
  93
  94         public static boolean positionUpdate(PipeControlPoint pcp) throws Exception {
  95
  96                 return positionUpdate(pcp, true);
  97         }
  98
  99         public static boolean positionUpdate(PipeControlPoint pcp, boolean allowIR) throws Exception {
 100                 synchronized (ruleMutex) {
 101                         currentUpdates.add(pcp);
 102                         boolean b = _positionUpdate(pcp, allowIR);
 103                         currentUpdates.clear();
 104                         return b;
 105                 }
 106
 107         }
 108
 109         private static boolean _positionUpdate(PipeControlPoint pcp, boolean allowIR) throws Exception {
 110                 if (updating || !enabled)
 111                         return true;
 112                 if (pcp.getPipeRun() == null)
 113                         return false;
 114                 try {
 115                         if (DEBUG) System.out.println("PipingRules " + pcp);
 116                         updating = true;
 117                         allowInsertRemove = allowIR;
 118                         triedIR = false;
 119                         validate(pcp.getPipeRun());
 120                         if (pcp.getParentPoint() != null)
 121                             pcp = pcp.getParentPoint();
 122                         if (pcp.asPathLegEnd()) {
 123                                 updatePathLegEndControlPoint(pcp); // FIXME: Rules won't work properly, if they are not run twice.
 124                                 //updatePathLegEndControlPoint(pcp);
 125                         } else {
 126                                 updateInlineControlPoint(pcp);
 127                                 //updateInlineControlPoint(pcp);
 128                         }
 129                         validate(pcp.getPipeRun());
 130                         if (!allowInsertRemove)
 131                                 return !triedIR;
 132                         return true;
 133                 } finally {
 134                         updating = false;
 135 //                      System.out.println("PipingRules done " + pcp);
 136                 }
 137         }
 138
 139         public static void setEnabled(boolean enabled) {
 140                 PipingRules.enabled = enabled;
 141                 if(!enabled)
 142                         currentUpdates.clear();
 143         }
 144
 145         public static boolean isEnabled() {
 146                 return enabled;
 147         }
 148
 149         public static class ExpandIterInfo {
 150                 // these two are turn control points
 151                 private PipeControlPoint start;
 152                 private PipeControlPoint end;
 153                 private int type;
 154
 155                 public ExpandIterInfo() {
 156
 157                 }
 158
 159                 public ExpandIterInfo(PipeControlPoint tcp, int type) {
 160                         if (type == REMOVE_START)
 161                                 start = tcp;
 162                         else
 163                                 end = tcp;
 164                         this.type = type;
 165                 }
 166
 167                 public ExpandIterInfo(PipeControlPoint start, PipeControlPoint end) {
 168                         this.start = start;
 169                         this.end = end;
 170                         this.type = REMOVE_BOTH;
 171                 }
 172
 173                 public PipeControlPoint getEnd() {
 174                         return end;
 175                 }
 176
 177                 public void setEnd(PipeControlPoint end) {
 178                         this.end = end;
 179                 }
 180
 181                 public PipeControlPoint getStart() {
 182                         return start;
 183                 }
 184
 185                 public void setStart(PipeControlPoint start) {
 186                         this.start = start;
 187                 }
 188
 189                 public int getType() {
 190                         return type;
 191                 }
 192
 193                 public void setType(int type) {
 194                         this.type = type;
 195                 }
 196
 197         }
 198
 199         private static void updatePathLegEndControlPoint(PipeControlPoint pcp) throws Exception {
 200                 if (DEBUG)
 201                         System.out.println("PipingRules.updatePathLegEndControlPoint() " + pcp);
 202                 if (pcp.getNext() != null) {
 203                         updatePathLegNext(pcp, pcp, PathLegUpdateType.NEXT_S);
 204                 }
 205                 if (pcp.getPrevious() != null) {
 206                         updatePathLegPrev(pcp, pcp, PathLegUpdateType.PREV_S);
 207                 }
 208
 209         }
 210
 211         private static void updateInlineControlPoint(PipeControlPoint pcp) throws Exception {
 212                 if (DEBUG)
 213                         System.out.println("PipingRules.updateInlineControlPoint() " + pcp);
 214                 PipeControlPoint start = pcp.findPreviousEnd();
 215                 updatePathLegNext(start, pcp, PathLegUpdateType.NONE);
 216         }
 217
 218         private static PipeControlPoint insertElbow(PipeControlPoint pcp1, PipeControlPoint pcp2, Vector3d pos) throws Exception{
 219                 if (DEBUG)
 220                         System.out.println("PipingRules.insertElbow() " + pcp1 + " " + pcp2 + " " + pos);
 221                 if (pcp1.getNext() == pcp2 && pcp2.getPrevious() == pcp1) {
 222
 223                 } else if (pcp1.getNext() == pcp2 && pcp1.isDualInline() && pcp2.getPrevious() == pcp1.getDualSub()) {
 224                         pcp1 = pcp1.getDualSub();
 225                 } else if (pcp1.getPrevious() == pcp2 && pcp2.getNext() == pcp1) {
 226                         PipeControlPoint t = pcp1;
 227                         pcp1 = pcp2;
 228                         pcp2 = t;
 229                 } else if (pcp2.isDualInline() && pcp1.getPrevious() == pcp2.getDualSub() && pcp2.getNext() == pcp1) {
 230                         PipeControlPoint t = pcp1;
 231                         pcp1 = pcp2.getDualSub();
 232                         pcp2 = t;
 233                 } else {
 234                         throw new RuntimeException();
 235                 }
 236                 TurnComponent elbow = ComponentUtils.createTurn((P3DRootNode)pcp1.getRootNode());
 237                 PipeControlPoint pcp = elbow.getControlPoint();
 238                 if (pcp1.isDualInline())
 239                         pcp1 = pcp1.getDualSub();
 240                 String name = pcp1.getPipeRun().getUniqueName("Elbow");
 241                 elbow.setName(name);
 242                 pcp1.getPipeRun().addChild(elbow);
 243
 244                 pcp.insert(pcp1, pcp2);
 245
 246                 pcp.setWorldPosition(pos);
 247                 validate(pcp.getPipeRun());
 248                 return pcp;
 249         }
 250
 251         private static PipeControlPoint insertStraight(PipeControlPoint pcp1, PipeControlPoint pcp2, Vector3d pos, double length) throws Exception {
 252                 if (DEBUG)
 253                         System.out.println("PipingRules.insertStraight() " + pcp1 + " " + pcp2 + " " + pos);
 254                 if (pcp1.getNext() == pcp2 && pcp2.getPrevious() == pcp1) {
 255
 256                 } else if (pcp1.getNext() == pcp2 && pcp1.isDualInline() && pcp2.getPrevious() == pcp1.getDualSub()) {
 257                         pcp1 = pcp1.getDualSub();
 258                 } else if (pcp1.getPrevious() == pcp2 && pcp2.getNext() == pcp1) {
 259                         PipeControlPoint t = pcp1;
 260                         pcp1 = pcp2;
 261                         pcp2 = t;
 262                 } else if (pcp2.isDualInline() && pcp1.getPrevious() == pcp2.getDualSub() && pcp2.getNext() == pcp1) {
 263                         PipeControlPoint t = pcp1;
 264                         pcp1 = pcp2.getDualSub();
 265                         pcp2 = t;
 266                 } else {
 267                         throw new RuntimeException();
 268                 }
 269                 InlineComponent component = ComponentUtils.createStraight((P3DRootNode)pcp1.getRootNode());
 270                 PipeControlPoint scp = component.getControlPoint();
 271                 if (pcp1.isDualInline())
 272                         pcp1 = pcp1.getDualSub();
 273                 String name = pcp1.getPipeRun().getUniqueName("Pipe");
 274                 component.setName(name);
 275                 pcp1.getPipeRun().addChild(component);
 276
 277                 scp.insert(pcp1, pcp2);
 278
 279                 scp.setWorldPosition(pos);
 280                 scp.setLength(length);
 281                 validate(scp.getPipeRun());
 282                 return scp;
 283         }
 284
 285         private static PipeControlPoint insertStraight(PipeControlPoint pcp, Direction direction , Vector3d pos, double length) throws Exception {
 286                 if (DEBUG)
 287                         System.out.println("PipingRules.insertStraight() " + pcp + " " + direction + " " + pos);
 288
 289                 InlineComponent component = ComponentUtils.createStraight((P3DRootNode)pcp.getRootNode());
 290                 PipeControlPoint scp = component.getControlPoint();
 291                 if (pcp.isDualInline() && direction == Direction.NEXT)
 292                         pcp = pcp.getDualSub();
 293                 String name = pcp.getPipeRun().getUniqueName("Pipe");
 294                 component.setName(name);
 295                 pcp.getPipeRun().addChild(component);
 296
 297                 scp.insert(pcp,direction);
 298
 299                 scp.setWorldPosition(pos);
 300                 scp.setLength(length);
 301                 validate(scp.getPipeRun());
 302                 return scp;
 303         }
 304
 305         private static void updatePathLegNext(PipeControlPoint start, PipeControlPoint updated, PathLegUpdateType lengthChange) throws Exception {
 306                 UpdateStruct2 us = createUS(start, Direction.NEXT, 0, new ArrayList<ExpandIterInfo>(), updated);
 307                 if (us == null) {
 308                     System.out.println("Null update struct " + start);
 309                     return;
 310                 }
 311                 updatePathLeg(us, lengthChange);
 312         }
 313
 314         private static void updatePathLegPrev(PipeControlPoint start, PipeControlPoint updated, PathLegUpdateType lengthChange) throws Exception {
 315                 UpdateStruct2 us = createUS(start, Direction.PREVIOUS, 0, new ArrayList<ExpandIterInfo>(), updated);
 316                 if (us == null) {
 317             System.out.println("Null update struct " + start);
 318             return;
 319         }
 320                 updatePathLeg(us, lengthChange);
 321         }
 322
 323         private static class UpdateStruct2 {
 324                 public PipeControlPoint start;
 325                 public Vector3d startPoint;
 326                 public ArrayList<PipeControlPoint> list;
 327                 public PipeControlPoint end;
 328                 public Vector3d endPoint;
 329                 public Vector3d dir;
 330                 public Vector3d offset;
 331                 public boolean hasOffsets;
 332                 public int iter;
 333                 public boolean reversed;
 334                 public ArrayList<ExpandIterInfo> toRemove;
 335                 public PipeControlPoint updated;
 336
 337                 public UpdateStruct2(PipeControlPoint start, Vector3d startPoint, ArrayList<PipeControlPoint> list, PipeControlPoint end, Vector3d endPoint, Vector3d dir, Vector3d offset, boolean hasOffsets, int iter, boolean reversed, ArrayList<ExpandIterInfo> toRemove, PipeControlPoint updated) {
 338                         if (start == null || end == null)
 339                                 throw new NullPointerException();
 340                         this.start = start;
 341                         this.startPoint = startPoint;
 342                         this.list = list;
 343                         this.end = end;
 344                         this.endPoint = endPoint;
 345                         this.dir = dir;
 346                         this.offset = offset;
 347                         this.hasOffsets = hasOffsets;
 348                         this.iter = iter;
 349                         this.reversed = reversed;
 350                         this.toRemove = toRemove;
 351                         this.updated = updated;
 352
 353                         if (!MathTools.isValid(startPoint) ||
 354                                 !MathTools.isValid(endPoint) ||
 355                                 !MathTools.isValid(dir)) {
 356                                 throw new RuntimeException();
 357                         }
 358                 }
 359
 360                 public String toString() {
 361                         return start + " " + end+ " " + dir + " " + hasOffsets + " " + offset + " " + iter + " " + toRemove.size();
 362                 }
 363
 364         }
 365
 366         @SuppressWarnings("unused")
 367         private static boolean calculateOffset(Vector3d startPoint, Vector3d endPoint, PipeControlPoint start, ArrayList<PipeControlPoint> list, PipeControlPoint end, Vector3d dir, Vector3d offset) {
 368                 boolean hasOffsets = false;
 369                 List<PipeControlPoint> offsets = new ArrayList<PipeControlPoint>(list.size());
 370                 // Only start offset affects the calculation
 371                 if (start.isOffset())
 372                     offsets.add(start);
 373                 for (PipeControlPoint icp : list) {
 374                         if (icp.isOffset()) {
 375                                 offsets.add(icp);
 376                         } else if (icp.isDualSub())
 377                                 ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
 378                 }
 379                 if (offsets.size() == 0) {
 380                         dir.set(endPoint);
 381                         dir.sub(startPoint);
 382                         double l = dir.lengthSquared();
 383                         if (l > MathTools.NEAR_ZERO)
 384                                 dir.scale(1.0/Math.sqrt(l));
 385                         offset.set(0.0, 0.0, 0.0);
 386                         return false;
 387                 } else {
 388                         Vector3d sp = new Vector3d(startPoint);
 389                         Point3d ep = new Point3d(endPoint);
 390                         dir.set(ep);
 391                         dir.sub(sp);
 392                         double l = dir.lengthSquared();
 393                         if (l > MathTools.NEAR_ZERO)
 394                                 dir.scale(1.0/Math.sqrt(l));
 395                         int iter = 100;
 396                         while (iter >= 0) {
 397                                 iter--;
 398                                 offset.set(0.0, 0.0, 0.0);
 399
 400                                 for (PipeControlPoint icp : offsets) {
 401                                         Vector3d v = icp.getSizeChangeOffsetVector(dir);
 402                                         offset.add(v);
 403                                 }
 404                                 Point3d nep = new Point3d(endPoint);
 405                                 nep.sub(offset);
 406                                 if (nep.distance(ep) < 0.0000000001) {
 407                                         break;
 408                                 }
 409                                 ep = nep;
 410                                 dir.set(ep);
 411                                 dir.sub(sp);
 412                                 l = dir.lengthSquared();
 413                                 if (l > MathTools.NEAR_ZERO)
 414                                         dir.scale(1.0/Math.sqrt(l));
 415                         }
 416                         hasOffsets = true;
 417                 }
 418
 419                 if (DEBUG && hasOffsets)
 420                         System.out.println("calcOffset s:"+ startPoint + " e:" + endPoint + " d:" + dir + " o:"+offset) ;
 421                 return hasOffsets;
 422         }
 423
 424         private static UpdateStruct2 createUS(PipeControlPoint start, Direction direction, int iter, ArrayList<ExpandIterInfo> toRemove, PipeControlPoint updated) {
 425                 ArrayList<PipeControlPoint> list = new ArrayList<PipeControlPoint>();
 426                 PipeControlPoint end = null;
 427                 if (direction == Direction.NEXT) {
 428                         end = start.findNextEnd(list);
 429                 } else {
 430                         ArrayList<PipeControlPoint> prevList = new ArrayList<PipeControlPoint>();
 431                         PipeControlPoint tend = start.findPreviousEnd(prevList);
 432                         for (PipeControlPoint icp : prevList) {
 433                                 if (icp.isDualSub()) {
 434                                         list.add(0, icp.getParentPoint());
 435                                 } else {
 436                                         list.add(0, icp);
 437                                 }
 438                         }
 439                         end = start;
 440                         start = tend;
 441                 }
 442                 if (start == end)
 443                         return null;
 444                 boolean hasOffsets = false;
 445                 Vector3d offset = new Vector3d();
 446                 Vector3d startPoint = start.getWorldPosition();
 447                 Vector3d endPoint = end.getWorldPosition();
 448                 Vector3d dir = new Vector3d();
 449                 hasOffsets = calculateOffset(startPoint, endPoint, start, list, end, dir, offset);
 450                 System.out.println();
 451                 return new UpdateStruct2(start, startPoint, list, end, endPoint, dir, offset, hasOffsets, iter, direction == Direction.PREVIOUS, toRemove, updated);
 452         }
 453
 454         private static boolean asDirected(PipeControlPoint pcp, Direction direction) {
 455                 if (pcp.isDirected())
 456                         return true;
 457                 if (pcp.asFixedAngle()) {
 458                         if (!pcp._getReversed())
 459                                 return direction == Direction.NEXT;
 460                         else
 461                                 return direction == Direction.PREVIOUS;
 462                 }
 463                 return false;
 464         }
 465
 466         private static Vector3d direction(PipeControlPoint pcp, Direction direction) {
 467                 return pcp.getDirection(direction);
 468         }
 469
 470         private static void updatePathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
 471             boolean rs = true;
 472             boolean re = true;
 473             if (lengthChange == PathLegUpdateType.NONE) {
 474                 rs = false;
 475                 re = false;
 476             }
 477             updatePathLeg(u, lengthChange, rs, re);
 478         }
 479
 480         private static void updatePathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange, boolean rs, boolean re) throws Exception {
 481                 int directed = 0;
 482                 if (asDirected(u.start, Direction.NEXT))
 483                         directed++;
 484                 if (asDirected(u.end, Direction.PREVIOUS))
 485                         directed++;
 486                 if (rs)
 487                     setErrorForce(u.start, null);
 488                 if (re)
 489                     setErrorForce(u.end, null);
 490         for (PipeControlPoint pcp : u.list)
 491             setErrorForce(pcp, null);
 492                 switch (directed) {
 493                 case 0:
 494                         updateFreePathLeg(u, lengthChange);
 495                         break;
 496                 case 1:
 497                         updateDirectedPathLeg(u, lengthChange);
 498                         break;
 499                 case 2:
 500                         updateDualDirectedPathLeg(u, lengthChange);
 501                         break;
 502                 }
 503
 504         }
 505
 506         private static void updateFreePathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
 507                 if (DEBUG)
 508                         System.out.println("PipingRules.updateFreePipeRun " + u + " " + lengthChange);
 509                 checkExpandPathLeg(u, lengthChange);
 510                 if (u.start.isInline() || u.end.isInline() || u.start.asFixedAngle()|| u.end.asFixedAngle())
 511                         processPathLeg(u, true, false);
 512         }
 513
 514         private static void updateInlineControlPoints(UpdateStruct2 u, boolean checkSizes) throws Exception{
 515                 if (DEBUG)
 516                         System.out.println("PipingRules.updateInlineControlPoints() " + u);
 517
 518                 Vector3d start = new Vector3d(u.startPoint);
 519                 Vector3d end = new Vector3d(u.endPoint);
 520
 521                 if (checkSizes) {
 522                         // create offsets for leg ends.
 523                     if (u.start.isTurn())
 524                         MathTools.mad(start, u.dir, u.start.getInlineLength());
 525                     if (u.end.isTurn())
 526                         MathTools.mad(end, u.dir, -u.end.getInlineLength());
 527                 }
 528
 529                 boolean recalcline = false;
 530
 531                 Vector3d sp = new Vector3d(start);
 532                 Vector3d ep = new Vector3d(end);
 533                 ep.sub(u.offset);
 534
 535                 if (u.start.isOffset()) {
 536                     Vector3d offset = u.start.getSizeChangeOffsetVector(u.dir);
 537                     updateOffsetPoint(u.start, offset);
 538             sp.add(offset);
 539             ep.add(offset);
 540                 }
 541
 542                 for (PipeControlPoint icp : u.list) {
 543                         updateInlineControlPoint(icp, sp, ep, u.dir);
 544                         if (icp.isOffset()) {
 545                                 // TODO : offset vector is already calculated and should be cached
 546                                 Vector3d  offset = icp.getSizeChangeOffsetVector(u.dir);
 547                                 updateOffsetPoint(icp, offset);
 548                                 sp.add(offset);
 549                                 ep.add(offset);
 550                         }
 551                 }
 552
 553                 if (!checkSizes)
 554                         return;
 555
 556                 // Collect all path leg points for updating variable length components. This list will also contain leg ends (usually turns)
 557         ArrayList<PipeControlPoint> pathLegPoints = new ArrayList<>();
 558         // Collect all fixed length components with their offsets.
 559         ArrayList<Pair<PipeControlPoint,Vector3d>> fixedLengthPoints = new ArrayList<>();
 560
 561         pathLegPoints.add(u.start);
 562         fixedLengthPoints.add(new Pair<PipeControlPoint, Vector3d>(u.start, new Vector3d()));
 563         Vector3d off = new Vector3d();
 564         for (PipeControlPoint icp : u.list) {
 565             pathLegPoints.add(icp);
 566             updateBranchControlPointBranches(icp);
 567             if (icp.isOffset()) {
 568                 fixedLengthPoints.add(new Pair<PipeControlPoint, Vector3d>(icp, new Vector3d(off)));
 569                 Vector3d  offset = icp.getSizeChangeOffsetVector(u.dir);
 570                 off.add(offset);
 571             } else if (!icp.isVariableLength()) {
 572                 fixedLengthPoints.add(new Pair<PipeControlPoint, Vector3d>(icp, new Vector3d(off)));
 573             }
 574         }
 575         pathLegPoints.add(u.end);
 576         fixedLengthPoints.add(new Pair<PipeControlPoint, Vector3d>(u.end, new Vector3d(off)));
 577
 578                 sp = new Vector3d(start);
 579                 ep = new Vector3d(end);
 580                 ep.sub(u.offset);
 581
 582                 updateFixedLengths(fixedLengthPoints, sp, ep, u.dir);
 583
 584                 for (int i = 0; i < pathLegPoints.size(); i++) {
 585                         PipeControlPoint icp = pathLegPoints.get(i);
 586
 587                         PipeControlPoint prev = i > 0 ? pathLegPoints.get(i - 1) : null;
 588                         PipeControlPoint next = i < pathLegPoints.size() - 1 ? pathLegPoints.get(i + 1) : null;
 589
 590                         if (prev != null && prev.isDualInline())
 591                                 prev = prev.getDualSub();
 592
 593                         if (icp.isVariableLength()) {
 594                                 if (prev != null && next != null) {
 595                                         recalcline = recalcline | updateVariableLength(icp,  prev, next);
 596
 597                                 } else {
 598                                     // this is variable length component at the end of the piperun.
 599                     // the problem is that we want to keep unconnected end of the component in the same
 600                     // place, but center of the component must be moved.
 601                                         updateVariableLengthEnd(icp, prev != null ? prev : next);
 602                                 }
 603                         } else if (prev != null && !prev.isVariableLength()) {
 604                             // If this and previous control point are not variable length pcps,
 605                 // we'll have to check if there is no empty space between them.
 606                 // I there is, we'll have to create new variable length component between them.
 607                                 recalcline = recalcline | possibleVaribleLengthInsert(icp, prev);
 608                         }
 609                         if (icp.isOffset()) {
 610                                 // TODO : offset vector is already calculated and should be cached
 611                                 Vector3d  offset = icp.getSizeChangeOffsetVector(u.dir);
 612                                 sp.add(offset);
 613                                 ep.add(offset);
 614                         }
 615                 }
 616
 617                 if (recalcline) {
 618                         u.list.clear();
 619                         u.start.findNextEnd(u.list);
 620                 }
 621                 if (checkSizes) {
 622                     sp = new Vector3d(u.startPoint);
 623                 ep = new Vector3d(u.endPoint);
 624                 ep.sub(u.offset);
 625                     double pathLegLength = MathTools.distance(sp, ep);
 626             double availableLength = pathLegLength;
 627             if (u.start.isTurn())
 628                 availableLength -= u.start.getInlineLength();
 629             if (u.end.isTurn())
 630                 availableLength -= u.end.getInlineLength();
 631             for (PipeControlPoint pcp : u.list) {
 632                 if (!pcp.isVariableLength())
 633                     availableLength-= pcp.getLength();
 634                     }
 635             if (availableLength < 0.0) {
 636                 setError(u.start, "Not enough available space");
 637                 setError(u.end, "Not enough available space");
 638                 for (PipeControlPoint pcp : u.list)
 639                     setError(pcp, "Not enough available space");
 640             }
 641 //            System.out.println(u.start.getPipelineComponent().toString() + " " + pathLegLength + " " + availableLength + " " + u.end.getPipelineComponent().toString() + " " + u.start.getInlineLength() + " " + u.end.getInlineLength());
 642                 }
 643         }
 644
 645         private enum Gap{ATTACHED,OVERLAP,SPACE};
 646
 647         private static class GapObj {
 648             Gap gap;
 649             double d;
 650
 651             Pair<PipeControlPoint,Vector3d> pcp1;
 652             Pair<PipeControlPoint,Vector3d> pcp2;
 653         }
 654
 655         private static void updateFixedLengths(List<Pair<PipeControlPoint,Vector3d>> fixedLengthPoints, Vector3d s, Vector3d e, Vector3d dir) {
 656             double totalLength = MathTools.distance(s, e);
 657             double reservedLength = 0.0;
 658             List<Double> distances = new ArrayList<>(fixedLengthPoints.size());
 659             distances.add(0.0);
 660             for (int i = 1; i < fixedLengthPoints.size()-1; i++) {
 661                 Pair<PipeControlPoint,Vector3d> pcp = fixedLengthPoints.get(i);
 662                 reservedLength += pcp.first.getLength();
 663                 Vector3d p = pcp.first.getWorldPosition();
 664                 p.sub(pcp.second);
 665                 double d= MathTools.distance(s, p);
 666                 distances.add(d);
 667             }
 668             distances.add(totalLength);
 669
 670             if (totalLength >= reservedLength) {
 671                 // There is enough space for all fixed length components.
 672                 List<GapObj> gaps = new ArrayList<>(fixedLengthPoints.size()-1);
 673                 int overlaps = 0;
 674                 // Analyze gaps between components
 675                 for (int i = 0; i < fixedLengthPoints.size()-1; i++) {
 676                     Pair<PipeControlPoint,Vector3d> pcp1 = fixedLengthPoints.get(i);
 677                     Pair<PipeControlPoint,Vector3d> pcp2 = fixedLengthPoints.get(i+1);
 678                     double d1 = distances.get(i);
 679                     double d2 = distances.get(i+1);
 680                     double ld1 = i == 0 ? 0.0 :pcp1.first.getInlineLength();
 681                     double ld2 = i == fixedLengthPoints.size()-2 ? 0.0 : pcp2.first.getInlineLength();
 682
 683                     double e1 = d1 + ld1; // End of comp1
 684                     double s2 = d2 - ld2; // Start of comp2
 685                     double diff =s2 - e1;
 686                     GapObj obj = new GapObj();
 687                     obj.pcp1 = pcp1;
 688                     obj.pcp2 = pcp2;
 689                     obj.d = diff;
 690                     if (diff < -MIN_INLINE_LENGTH) {
 691                         obj.gap = Gap.OVERLAP;
 692                         overlaps++;
 693                     } else if (diff > MIN_INLINE_LENGTH) {
 694                         obj.gap = Gap.SPACE;
 695                     } else {
 696                         obj.gap = Gap.ATTACHED;
 697                     }
 698                     gaps.add(obj);
 699                 }
 700                 // If there are no overlaps, there is nothing to do.
 701                 if (overlaps == 0)
 702                     return;
 703                 // Get rid of overlapping components by using closest available free spaces.
 704                 for (int i = 0; i < gaps.size(); i++) {
 705                     GapObj gapObj = gaps.get(i);
 706                     if (gapObj.gap != Gap.OVERLAP)
 707                         continue;
 708                     double curr = gapObj.d;
 709                     int d = 1;
 710                     while (curr < -MIN_INLINE_LENGTH) {
 711                         GapObj next = i+d >= 0 ? gaps.get(i+d) : null;
 712                     GapObj prev = i-d >= 0 ? gaps.get(i-d) : null;
 713                         if (next != null && next.gap == Gap.SPACE) {
 714                             double move = Math.min(-curr, next.d);
 715                             curr+= move;
 716                             next.d -= move;
 717                             if (next.d < MIN_INLINE_LENGTH)
 718                                 next.gap = Gap.ATTACHED;
 719                             Vector3d mv = new Vector3d(dir);
 720                             mv.normalize();
 721                             mv.scale(move);
 722                             for (int j = i ; j < i+d; j++) {
 723                                 Pair<PipeControlPoint,Vector3d> pcp = gaps.get(j).pcp2;
 724                                 Vector3d p = new Vector3d(pcp.first.getWorldPosition());
 725                                 p.add(mv);
 726                                 pcp.first.setWorldPosition(p);
 727                             }
 728                         }
 729                         if (curr < -MIN_INLINE_LENGTH && prev != null && prev.gap == Gap.SPACE) {
 730                             double move = Math.min(-curr, prev.d);
 731                         curr+= move;
 732                         next.d -= move;
 733                         if (next.d < MIN_INLINE_LENGTH)
 734                             next.gap = Gap.ATTACHED;
 735                         Vector3d mv = new Vector3d(dir);
 736                         mv.normalize();
 737                         mv.scale(-move);
 738                         for (int j = i ; j > i-d; j--) {
 739                             Pair<PipeControlPoint,Vector3d> pcp = gaps.get(j).pcp1;
 740                             Vector3d p = new Vector3d(pcp.first.getWorldPosition());
 741                             p.add(mv);
 742                             pcp.first.setWorldPosition(p);
 743                         }
 744                         }
 745                     }
 746                 }
 747             } else {
 748             for (int i = 1; i < fixedLengthPoints.size()-1; i++) {
 749                 Pair<PipeControlPoint,Vector3d> prev = i == 0 ? null : fixedLengthPoints.get(i-1);
 750                 Pair<PipeControlPoint,Vector3d> curr = fixedLengthPoints.get(i);
 751                 Pair<PipeControlPoint,Vector3d> next = i == fixedLengthPoints.size() -1 ? null : fixedLengthPoints.get(i+1);
 752                 updateFixedLength(curr, prev, next, s,e, dir);
 753             }
 754             }
 755         }
 756
 757         private static void updateFixedLength(Pair<PipeControlPoint,Vector3d> icp, Pair<PipeControlPoint,Vector3d> prev,  Pair<PipeControlPoint,Vector3d> next, Vector3d s, Vector3d e, Vector3d dir) {
 758             if (prev != null) {
 759                checkOverlap(prev, icp, dir,true);
 760             }
 761             if (next != null)
 762                 checkOverlap(icp, next, dir,true);
 763         }
 764
 765         private static boolean checkOverlap(Pair<PipeControlPoint,Vector3d> icp, Pair<PipeControlPoint,Vector3d> icp2, Vector3d dir, boolean se) {
 766             Vector3d p1 = icp.first.getWorldPosition();
 767             Vector3d p2 = icp2.first.getWorldPosition();
 768             p1.add(icp.second);
 769             p2.add(icp2.second);
 770             double u[] = new double[1];
 771             MathTools.closestPointOnStraight(p2, p1, dir, u);
 772             if (u[0] < 0.0) {
 773                 p2.set(p1);
 774                 p2.sub(icp.second);
 775                 p2.add(icp2.second);
 776                 MathTools.mad(p2, dir, MIN_INLINE_LENGTH);
 777                 icp2.first.setWorldPosition(p2);
 778             }
 779             double d = MathTools.distance(p1, p2);
 780         double r = icp.first.getInlineLength() + icp2.first.getInlineLength();
 781
 782             if ((d-r) < - MIN_INLINE_LENGTH) {
 783             if (se) {
 784                 setError(icp.first, "Overlapping");
 785                 setError(icp2.first, "Overlapping");
 786             }
 787             return true;
 788         }
 789         return false;
 790         }
 791
 792         /**
 793          * Overrides current error of a component
 794          * @param pcp
 795          * @param error
 796          */
 797         private static void setErrorForce(PipeControlPoint pcp, String error) {
 798             PipelineComponent comp = pcp.getPipelineComponent();
 799         if (comp == null)
 800             return;
 801         comp.setError(error);
 802         }
 803
 804         /**
 805          * Sets error for a component, if there is no existing error.
 806          * @param pcp
 807          * @param error
 808          */
 809         private static void setError(PipeControlPoint pcp, String error) {
 810             PipelineComponent comp = pcp.getPipelineComponent();
 811             if (comp == null)
 812                 return;
 813             if (comp.getError() != null)
 814                 return;
 815             comp.setError(error);
 816         }
 817
 818         private static boolean updateVariableLength(PipeControlPoint icp, PipeControlPoint prev,  PipeControlPoint next) {
 819                 Vector3d prevPos = prev.getWorldPosition();
 820                 Vector3d nextPos = next.getWorldPosition();
 821
 822                 Vector3d dir = new Vector3d(nextPos);
 823                 dir.sub(prevPos);
 824                 double l = dir.length();                // distance between control points
 825                 double l2prev = prev.getInlineLength(); // distance taken by components
 826                 double l2next = next.getInlineLength();
 827                 double l2 = l2prev + l2next;
 828                 double length = l - l2;                 // true length of the variable length component
 829                 if (length >= MIN_INLINE_LENGTH) {      // check if there is enough space for variable length component.
 830                         // components fit
 831                         dir.normalize();
 832                         dir.scale(length * 0.5 + l2prev);   // calculate center position of the component
 833                         dir.add(prevPos);
 834                         icp.setWorldPosition(dir);
 835                         icp.setLength(length);
 836                         return false;
 837                 } else {
 838                         // components leave no space to the component and it must be removed
 839                         if (icp.isDeletable()) {
 840                             if (!allowInsertRemove) {
 841                                 icp.setLength(MIN_INLINE_LENGTH);
 842                                 setError(icp, "Not enough available space");
 843                                 triedIR = true;
 844                                 return false;
 845                             }
 846                                 if (DEBUG)
 847                                         System.out.println("PipingRules.updateVariableLength removing " + icp);
 848                                 icp._remove();
 849                                 return true;
 850                         } else {
 851                             icp.setLength(MIN_INLINE_LENGTH);
 852                             icp.getPipelineComponent().setError("Not enough available space");
 853                         }
 854                         return false;
 855                 }
 856         }
 857
 858         private static boolean possibleVaribleLengthInsert(PipeControlPoint icp, PipeControlPoint prev) throws Exception{
 859                 Vector3d currentPos = icp.getWorldPosition();
 860                 Vector3d prevPos = prev.getWorldPosition();
 861                 Vector3d dir = new Vector3d(currentPos);
 862                 dir.sub(prevPos);
 863                 double l = dir.lengthSquared();
 864                 double l2prev = prev.getInlineLength();
 865                 double l2next = icp.getInlineLength();
 866                 double l2 = l2prev + l2next;
 867                 double l2s = l2 * l2;
 868                 if (l > l2s) {
 869                         if (allowInsertRemove) {
 870                                 dir.normalize();
 871                                 double length = Math.sqrt(l) - l2; // true length of the variable length component
 872                                 dir.scale(length * 0.5 + l2prev); // calculate center position of the component
 873                                 dir.add(prevPos);
 874                                 insertStraight(prev, icp, dir, length);
 875                                 return true;
 876                         } else {
 877                                 triedIR = true;
 878                         }
 879                 }
 880                 return false;
 881         }
 882
 883         private static void updateVariableLengthEnd(PipeControlPoint icp,  PipeControlPoint prev) {
 884                 Vector3d currentPos = icp.getWorldPosition();
 885                 Vector3d prevPos = prev.getWorldPosition();
 886
 887                 Vector3d dir = new Vector3d();
 888                 dir.sub(currentPos, prevPos);
 889
 890                 boolean simple = currentUpdates.contains(icp);
 891                 if (simple) {
 892                         // Update based on position -> adjust length
 893                         double currentLength = (dir.length() - prev.getInlineLength()) * 2.0;
 894                         icp.setLength(currentLength);
 895                 } else {
 896                         // Update based on neighbour movement -> adjust length and position, so that free end stays in place.
 897                         double currentLength = icp.getLength();
 898                         if (currentLength < MathTools.NEAR_ZERO) {
 899                                 currentLength = (dir.length() - prev.getInlineLength()) * 2.0;
 900                         }
 901
 902                         if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 903                                 dir.normalize();
 904                         Point3d endPos = new Point3d(dir);
 905                         endPos.scale(currentLength * 0.5);
 906                         endPos.add(currentPos); // this is the free end of the component
 907
 908                         double offset = prev.getInlineLength();
 909                         Point3d beginPos = new Point3d(dir);
 910                         beginPos.scale(offset);
 911                         beginPos.add(prevPos); // this is the connected end of the component
 912
 913                         double l = beginPos.distance(endPos);
 914
 915                         if (Double.isNaN(l))
 916                                 System.out.println("Length for " + icp + " is NaN");
 917
 918                         dir.scale(l * 0.5);
 919                         beginPos.add(dir); // center position
 920
 921                         if (DEBUG)
 922                                 System.out.println("PipingRules.updateInlineControlPoints() setting variable length to " + l);
 923                         icp.setLength(l);
 924
 925                         icp.setWorldPosition(new Vector3d(beginPos));
 926                 }
 927         }
 928
 929         private static void ppNoOffset(UpdateStruct2 u) throws Exception {
 930                 if (DEBUG)
 931                         System.out.println("PipingRules.ppNoOffset() " + u);
 932                 Vector3d offset = new Vector3d();
 933                 if (u.hasOffsets) {
 934                         u.dir.normalize();
 935                         for (PipeControlPoint icp : u.list) {
 936                                 if (icp.isOffset()) {
 937                                         offset.add(icp.getSizeChangeOffsetVector(u.dir));
 938                                 } else if (icp.isDualSub())
 939                                         ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
 940                         }
 941                 }
 942                 u.offset = offset;
 943                 checkExpandPathLeg(u, PathLegUpdateType.NONE);
 944         }
 945
 946         private static void ppNoDir(PipeControlPoint start, Vector3d startPoint, ArrayList<PipeControlPoint> list, PipeControlPoint end, Vector3d endPoint, boolean hasOffsets, int iter, boolean reversed, ArrayList<ExpandIterInfo> toRemove, PipeControlPoint updated) throws Exception {
 947                 if (DEBUG)
 948                         System.out.println("PipingRules.ppNoDir() " + start + " " + end + " " + iter + " " + toRemove.size());
 949                 // FIXME : extra loop (dir should be calculated here)
 950                 Vector3d dir = new Vector3d();
 951                 Vector3d offset = new Vector3d();
 952                 hasOffsets = calculateOffset(startPoint, endPoint, start, list, end, dir, offset);
 953                 ppNoOffset(new UpdateStruct2(start, startPoint, list, end, endPoint, dir, null, hasOffsets, iter, reversed, toRemove, updated));
 954         }
 955
 956         private static void checkExpandPathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
 957                 checkExpandPathLeg(u, lengthChange, u.updated.isInline() && u.updated.isOffset());
 958         }
 959
 960         private static void checkExpandPathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange, boolean updateEnds) throws Exception {
 961                 if (DEBUG)
 962                         System.out.println("PipingRules.checkExpandPathLeg() " + u + " " + lengthChange);
 963                 if (lengthChange != PathLegUpdateType.NONE) {
 964                         // FIXME : turns cannot be checked before inline cps are updated,
 965                         // since their position affects calculation of turns
 966                         processPathLeg(u, updateEnds, false);
 967                         int type = checkTurns(u, lengthChange);
 968                         if (type == REMOVE_NONE) {
 969                                 processPathLeg(u, updateEnds, true);
 970                         } else {
 971                                 expandPathLeg(u, type);
 972                         }
 973                 } else {
 974                         processPathLeg(u, updateEnds, true);
 975                 }
 976         }
 977
 978         private static void updateDirectedPathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
 979                 if (DEBUG)
 980                         System.out.println("PipingRules.updateDirectedPipeRun() " + u + " " + lengthChange);
 981                 PipeControlPoint dcp;
 982                 PipeControlPoint other;
 983                 boolean canMoveOther = false;
 984                 boolean dcpStart = false;
 985                 boolean inlineEnd = false;
 986                 Vector3d position;
 987                 if (asDirected(u.start, Direction.NEXT)) {
 988                         dcp = u.start;
 989                         other = u.end;
 990                         position = u.startPoint;
 991                         dcpStart = true;
 992                         inlineEnd = u.end.isInline();
 993
 994                 } else {
 995                         dcp = u.end;
 996                         other = u.start;
 997                         position = u.endPoint;
 998                         inlineEnd = u.start.isInline();
 999                 }
1000                 canMoveOther = !(other == u.updated);
1001
1002                 Vector3d directedDirection = direction(dcp, dcpStart ? Direction.NEXT : Direction.PREVIOUS);
1003                 if (directedDirection == null) {
1004                         //updateTurnControlPointTurn(dcp, dcp.getPrevious(), dcp.getNext());
1005                         updateTurnControlPointTurn(dcp, null, null);
1006                         directedDirection = direction(dcp, dcpStart ? Direction.NEXT : Direction.PREVIOUS);
1007                         if (directedDirection == null) {
1008                                 return;
1009                         }
1010                 }
1011                 Point3d directedEndPoint = new Point3d(u.endPoint);
1012                 if (u.hasOffsets)
1013                         directedEndPoint.add(u.offset);
1014
1015                 double mu[] = new double[2];
1016
1017                 Vector3d closest;
1018                 Vector3d t = new Vector3d();
1019
1020                 if (dcpStart) {
1021                         closest = MathTools.closestPointOnStraight(directedEndPoint, u.startPoint, directedDirection, mu);
1022                         t.sub(closest, directedEndPoint);
1023                 } else {
1024                         closest = MathTools.closestPointOnStraight(u.startPoint, directedEndPoint, directedDirection, mu);
1025                         t.sub(closest, u.startPoint);
1026                 }
1027
1028                 double distance = t.length();
1029                 boolean aligned = (distance < ALLOWED_OFFSET);
1030                 double requiredSpace  = 0.0;
1031                 if (other.isVariableAngle()) {
1032                     requiredSpace = spaceForTurn(other, dcp);
1033                 }
1034                 if (mu[0] < requiredSpace) {
1035                     // At the moment, if next component is directly behind the nozzle, we must force moving the other component.
1036                     // Trying to solve the situation by adding new turn creates infinite loop...
1037                     aligned = false;
1038                     canMoveOther = true;
1039                 }
1040                 if (aligned) {
1041                         if (u.start.isInline() || u.end.isInline() || u.start.asFixedAngle() || u.end.asFixedAngle())
1042                                 processPathLeg(u, true, false);
1043                         checkExpandPathLeg(u, lengthChange, inlineEnd);
1044
1045                 } else {
1046                         if (u.iter > 0) {
1047                                 backIter(u);
1048                         } else {
1049                                 PipeControlPoint nextToMoved;
1050
1051                                 if (u.list.size() > 0)
1052                                         if (dcpStart)
1053                                                 nextToMoved = u.list.get(0);
1054                                         else
1055                                                 nextToMoved = u.list.get(u.list.size() - 1);
1056                                 else if (dcpStart)
1057                                         nextToMoved = u.end;
1058                                 else
1059                                         nextToMoved = u.start;
1060                                 if (other.isVariableAngle()) {
1061
1062                                         // TODO calculate needed space from next run end.
1063                                     if (mu[0] < requiredSpace) {
1064                                                 if (dcpStart) {
1065                                                         closest.set(u.startPoint);
1066                                                 } else {
1067                                                         closest.set(u.endPoint);
1068                                                 }
1069                                                 Vector3d v = new Vector3d(directedDirection);
1070                                                 v.scale(requiredSpace);
1071                                                 closest.add(v);
1072                                         }
1073
1074                                         if (canMoveOther) {
1075                                                 if (DEBUG)
1076                                                         System.out.println("PipingRules.updateDirectedPipeRun() moved end " + other + " to " + closest);
1077                                                 other.setWorldPosition(closest);
1078                                                 if (dcpStart) {
1079                                                         ppNoOffset(new UpdateStruct2(u.start, u.startPoint, u.list, u.end, new Vector3d(closest), directedDirection, null, u.hasOffsets, u.iter, u.reversed, u.toRemove, u.updated));
1080                                                         if (u.end.getNext() != null)
1081                                                                 updatePathLegNext(u.end, u.updated, PathLegUpdateType.NEXT);
1082                                                 } else {
1083                                                         ppNoOffset(new UpdateStruct2(u.start, new Vector3d(closest), u.list, u.end, u.endPoint, directedDirection, null, u.hasOffsets, u.iter, u.reversed, u.toRemove, u.updated));
1084                                                         if (u.start.getPrevious() != null)
1085                                                                 updatePathLegPrev(u.start, u.updated, PathLegUpdateType.PREV);
1086                                                 }
1087                                         } else {
1088                                                 // TODO : calculate needed space from next run end.
1089                                                 if (allowInsertRemove)
1090                                                         insertElbowUpdate(u, dcp, nextToMoved, dcpStart, position, directedDirection);
1091
1092                                                 else
1093                                                         triedIR = true;
1094                                         }
1095                                 } else if (other.isNonDirected() && other.getParentPoint() != null) {
1096                                         // FIXME : this code was for updating branches
1097                                         Vector3d bintersect = new Vector3d();
1098                                         PipeControlPoint bcp = other.getParentPoint();
1099                                         if (bcp != null && canMoveOther) {
1100                                                 Point3d bstart = new Point3d();
1101                                                 Point3d bend = new Point3d();
1102                                                 Vector3d bdir = new Vector3d();
1103                                                 bcp.getInlineControlPointEnds(bstart, bend, bdir);
1104                                                 Vector3d nintersect = new Vector3d();
1105
1106                                                 MathTools.intersectStraightStraight(position, directedDirection, bend, bdir, nintersect, bintersect, mu);
1107                                                 Vector3d dist = new Vector3d(nintersect);
1108                                                 dist.sub(bintersect);
1109                                                 canMoveOther = mu[1] > 0.0 && mu[1] < 1.0 && dist.lengthSquared() < 0.01;
1110                                         } else {
1111                                                 // TODO : endControlPoints are undirected: calculcate
1112                                                 // correct position for it
1113                                                 throw new UnsupportedOperationException("not implemented");
1114                                         }
1115                                         if (canMoveOther) {
1116                                                 if (DEBUG)
1117                                                         System.out.println("PipingRules.updateDirectedPipeRun() moved end " + other + " to " + bintersect);
1118                                                 // is required branch position is in possible range
1119                                                 bcp.setWorldPosition(bintersect);
1120                                                 if (dcpStart) {
1121                                                         checkExpandPathLeg(new UpdateStruct2(u.start, u.startPoint, u.list, u.end, new Vector3d(bintersect), directedDirection, u.offset, u.hasOffsets, u.iter, u.reversed, u.toRemove, u.updated), lengthChange);
1122                                                 } else {
1123                                                         checkExpandPathLeg(new UpdateStruct2(u.start, new Vector3d(bintersect), u.list, u.end, u.endPoint, directedDirection, u.offset, u.hasOffsets, u.iter, u.reversed, u.toRemove, u.updated), lengthChange);
1124                                                 }
1125                                         } else {
1126                                                 // branch cannot be moved into right position, new turn
1127                                                 // / elbow must be inserted
1128                                                 if (allowInsertRemove)
1129                                                         insertElbowUpdate(u, dcp, nextToMoved, dcpStart, position, directedDirection);
1130                                                 else
1131                                                         triedIR = true;
1132                                         }
1133
1134                                 } else { // assume that control point cannot be moved, but can
1135                                                         // be rotated
1136                                         if (allowInsertRemove)
1137                                                 insertElbowUpdate(u, dcp, nextToMoved, dcpStart, position, directedDirection);
1138                                         else
1139                                                 triedIR = true;
1140                                 }
1141                         }
1142                 }
1143
1144
1145         }
1146
1147         private static void updateDualDirectedPathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
1148                 if (DEBUG)
1149                         System.out.println("PipingRules.updateDualDirectedPipeRun() " + u + " " + lengthChange);
1150
1151                 PipeControlPoint dcp1 = u.start;
1152                 PipeControlPoint dcp2 = u.end;
1153                 Point3d position1 = new Point3d(u.startPoint);
1154                 Point3d position2 = new Point3d(u.endPoint);
1155                 Point3d position1offset = new Point3d(position1);
1156                 position1offset.sub(u.offset);
1157                 Point3d position2offset = new Point3d(position2);
1158                 position2offset.add(u.offset);
1159                 Vector3d dir1 = direction(dcp1, Direction.NEXT);
1160                 Vector3d dir2 = direction(dcp2, Direction.PREVIOUS);
1161                 Vector3d p1 = MathTools.closestPointOnStraight(position1offset, position2, dir2);
1162                 Vector3d p2 = MathTools.closestPointOnStraight(position2offset, position1, dir1);
1163                 double d1 = position1.distance(new Point3d(p1));
1164                 double d2 = position2.distance(new Point3d(p2));
1165
1166                 boolean aligned = (d1 < ALLOWED_OFFSET && d2 < ALLOWED_OFFSET);
1167                 if (aligned) {
1168                         processPathLeg(u);
1169                 } else {
1170                         if (u.iter > 0) {
1171                                 backIter(u);
1172                         } else if (allowInsertRemove){
1173                                 PipeControlPoint dcp;
1174                                 PipeControlPoint next;
1175                                 if (!u.reversed) {
1176                                         dcp = dcp1;
1177                                         if (u.list.size() > 0)
1178                                                 next = u.list.get(0);
1179                                         else
1180                                                 next = dcp2;
1181                                 } else {
1182                                         dcp = dcp2;
1183                                         if (u.list.size() > 0)
1184                                                 next = u.list.get(u.list.size() - 1);
1185                                         else
1186                                                 next = dcp1;
1187                                 }
1188
1189                                 p1 = dcp.getWorldPosition();
1190                                 Vector3d v = new Vector3d();
1191                                 if (!u.reversed)
1192                                         v.set(dir1);
1193                                 else
1194                                         v.set(dir2);
1195
1196                                 // Reserve space for 90 deg elbow
1197                                 double off = dcp1.getPipeRun().getTurnRadius();
1198                                 v.scale(off);
1199                                 p1.add(v);
1200
1201                                 if (!u.reversed)
1202                                         p2 = MathTools.closestPointOnStraight(new Point3d(p1), position2, dir2);
1203                                 else
1204                                         p2 = MathTools.closestPointOnStraight(new Point3d(p1), position1, dir1);
1205
1206                                 // By default, the elbows are placed next to each other, by using 90 deg angles.
1207                                 // If the distance between elbows is not enough, we must move the other elbow (and create more shallow angle elbows)
1208                                 if (MathTools.distance(p1, p2) < off*2.05) {
1209                                         p2.add(v);
1210                                 }
1211
1212                                 PipeControlPoint tcp1 = insertElbow(dcp, next, p1);
1213                                 PipeControlPoint tcp2 = insertElbow(tcp1, next, p2);
1214
1215                                 if (DEBUG)
1216                                         System.out.println("PipingRules.updateDualDirectedPipeRun() created two turns " + tcp1 + " " + tcp2);
1217
1218                                 if (!u.reversed) {
1219                                         Vector3d dd = new Vector3d(p2);
1220                                         dd.sub(p1);
1221                                         dir2.negate();
1222                                         updatePathLegNext(u.start, u.updated, PathLegUpdateType.NONE);
1223                                         updatePathLegNext(tcp1, u.updated, PathLegUpdateType.NONE);
1224                                         if (!u.reversed)
1225                                                 updatePathLegNext(tcp2, u.updated, PathLegUpdateType.NONE);
1226                                         else
1227                                                 updatePathLegPrev(tcp2, u.updated, PathLegUpdateType.NONE);
1228                                 } else {
1229                                         Vector3d dd = new Vector3d(p1);
1230                                         dd.sub(p2);
1231                                         dir2.negate();
1232                                         updatePathLegNext(tcp1, u.updated, PathLegUpdateType.NONE);
1233                                         updatePathLegNext(tcp2, u.updated, PathLegUpdateType.NONE);
1234                                         if (!u.reversed)
1235                                                 updatePathLegNext(u.start, u.updated, PathLegUpdateType.NONE);
1236                                         else
1237                                                 updatePathLegPrev(u.start, u.updated, PathLegUpdateType.NONE);
1238                                 }
1239                         } else {
1240                                 triedIR = true;
1241                         }
1242                 }
1243
1244         }
1245
1246         private static double spaceForTurn(PipeControlPoint tcp, PipeControlPoint dcp) {
1247                 // TODO : if the path legs contain offset, using just positions of opposite path leg ends is not enough.
1248             // TODO : current iterative way for calculating required space may return longer length that is required.
1249                 double tr = ((TurnComponent)tcp.getPipelineComponent()).getTurnRadius();
1250             if (dcp == null)
1251                 return tr; // space for 90 deg
1252             PipeControlPoint ne = tcp.findNextEnd();
1253             PipeControlPoint pe = tcp.findPreviousEnd();
1254             PipeControlPoint other = null;
1255             if (dcp == ne)
1256                 other = pe;
1257             else if (dcp == pe)
1258                 other = ne;
1259             else
1260                 return tr; // space for 90 deg
1261             if (other == null)
1262                 return tr; // space for 90 deg
1263             Vector3d dir = dcp.getDirectedControlPointDirection();
1264             Vector3d dp = dcp.getWorldPosition();
1265             //Vector3d tp = tcp.getWorldPosition();
1266             Vector3d op = other.getWorldPosition();
1267             double u[] = new double[1];
1268             Vector3d closest = MathTools.closestPointOnStraight(op, dp, dir,u);
1269             if (MathTools.distanceSquared(closest, op) <= MIN_INLINE_LENGTH) {
1270                 if (u[0] > -MIN_INLINE_LENGTH)
1271                     return 0.0; // point following turn is directly in the front of the nozzle.
1272                 else
1273                     return tr*2.0; // point following turn is directly behind the nozzle, in theory, we should return Double.Inf...
1274             }
1275             double curr = tr*0.1;
1276             int iter = 10;
1277             Vector3d v1 = new Vector3d();
1278             Vector3d v2 = new Vector3d();
1279             while (iter > 0) {
1280                 Vector3d tp = new Vector3d(dp);
1281                 MathTools.mad(tp, dir, curr);
1282                 v1.sub(tp, dp); // Vector from nozzle to turn
1283                 v2.sub(op,tp);  // Vector from turn to other
1284                 double a = v1.angle(v2);
1285                 double t = Math.tan((Math.PI - a) * 0.5);
1286                 double R = 0.0;
1287                 if (t > MathTools.NEAR_ZERO)
1288                     R = tr / t;
1289                 if (R <= curr)
1290                     break;
1291                 curr = R*1.01;
1292                 iter--;
1293             }
1294             return curr;
1295         }
1296
1297         private static void insertElbowUpdate(UpdateStruct2 u, PipeControlPoint dcp, PipeControlPoint next, boolean dcpStart, Vector3d position, Vector3d directedDirection) throws Exception{
1298
1299
1300 //              Vector3d closest = new Vector3d(position);
1301 //              closest.add(directedDirection);
1302
1303                 PipeControlPoint tcp = null;
1304                 Vector3d closest;
1305                 if (dcpStart) {
1306                         closest = MathTools.closestPointOnStraight(next.getWorldPosition(), position, directedDirection);
1307                         tcp = insertElbow(dcp, next, closest);
1308                 } else {
1309                         closest = MathTools.closestPointOnStraight(dcp.getWorldPosition(), position, directedDirection);
1310                         tcp = insertElbow(next, dcp, closest);
1311                 }
1312                 double d = MathTools.distance(position, closest);
1313                 double s = spaceForTurn(tcp,dcp);
1314                 if (d < s)  {
1315                         d = s - d;
1316                         Vector3d p = new Vector3d(directedDirection);
1317                         p.scale(d);
1318                         p.add(closest);
1319                         tcp.setPosition(p);
1320                         closest = p;
1321                 }
1322
1323
1324
1325                 if (DEBUG)
1326                         System.out.println("PipingRules.updateDirectedPipeRun() inserted " + tcp);
1327
1328                 if (dcpStart) {
1329                         // update pipe run from new turn to other end
1330                         ppNoDir(tcp, new Vector3d(closest), u.list, u.end, u.endPoint, u.hasOffsets, u.iter, u.reversed, u.toRemove, u.updated);
1331                         // update pipe run from directed to new turn
1332                         processPathLeg(new UpdateStruct2(u.start, u.startPoint, new ArrayList<PipeControlPoint>(), tcp, new Vector3d(closest), directedDirection, new Vector3d(), false, 0, false, new ArrayList<ExpandIterInfo>(), u.updated));
1333                 } else {
1334                         // update pipe run from other end to new turn
1335                         ppNoDir(u.start, u.startPoint, u.list, tcp, new Vector3d(closest), u.hasOffsets, u.iter, u.reversed, u.toRemove, u.updated);
1336                         // update pipe run from new turn to directed
1337                         processPathLeg(new UpdateStruct2(tcp, new Vector3d(closest), new ArrayList<PipeControlPoint>(), u.end, u.endPoint, directedDirection, new Vector3d(), false, 0, false, new ArrayList<ExpandIterInfo>(), u.updated));
1338                 }
1339         }
1340
1341         /**
1342          * Checks if turns can be removed (turn angle near zero)
1343          */
1344         private static int checkTurns(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
1345                 if (DEBUG)
1346                         System.out.println("PipingRules.checkTurns() " + u.start + " " + u.end);
1347                 boolean startRemoved = false;
1348                 boolean endRemoved = false;
1349                 if (u.start.isVariableAngle()) {
1350                         // this won't work properly if inline control points are not updated
1351                         PipeControlPoint startPrev = u.start.getPrevious();
1352                         if (startPrev != null) {
1353                                 double a = updateTurnControlPointTurn(u.start, null, u.dir);
1354                                 if (a < MIN_TURN_ANGLE && u.start.isDeletable())
1355                                         startRemoved = true;
1356                                 else if (lengthChange == PathLegUpdateType.PREV || lengthChange == PathLegUpdateType.PREV_S) {
1357                                         PathLegUpdateType type;
1358                                         if (lengthChange == PathLegUpdateType.PREV_S)
1359                                                 type = PathLegUpdateType.PREV;
1360                                         else
1361                                                 type = PathLegUpdateType.NONE;
1362                                         updatePathLegPrev(u.start, u.start, type);
1363                                 }
1364                         }
1365                 }
1366                 if (u.end.isVariableAngle()) {
1367
1368                         PipeControlPoint endNext = u.end.getNext();
1369                         if (endNext != null) {
1370                                 // TODO: u.end, u.dir, null
1371                                 double a = updateTurnControlPointTurn(u.end, null, null);
1372                                 if (a < MIN_TURN_ANGLE && u.end.isDeletable())
1373                                         endRemoved = true;
1374                                 else if (lengthChange == PathLegUpdateType.NEXT || lengthChange == PathLegUpdateType.NEXT_S) {
1375                                         PathLegUpdateType type;
1376                                         if (lengthChange == PathLegUpdateType.NEXT_S)
1377                                                 type = PathLegUpdateType.NEXT;
1378                                         else
1379                                                 type = PathLegUpdateType.NONE;
1380                                         updatePathLegNext(u.end, u.end, type);
1381                                 }
1382                         }
1383                 }
1384                 if (DEBUG)
1385                         System.out.println("PipingRules.checkTurns() res " + startRemoved + " " + endRemoved);
1386                 if (!startRemoved && !endRemoved)
1387                         return REMOVE_NONE;
1388                 if (startRemoved && endRemoved)
1389                         return REMOVE_BOTH;
1390                 if (startRemoved)
1391                         return REMOVE_START;
1392                 return REMOVE_END;
1393         }
1394
1395         /**
1396          * Expands piperun search over turns that are going to be removed
1397          *
1398          */
1399         private static void expandPathLeg(UpdateStruct2 u, int type) throws Exception {
1400                 if (DEBUG)
1401                         System.out.println("PipingRules.expandPipeline " + u.start + " " + u.end);
1402                 ArrayList<PipeControlPoint> newList = new ArrayList<PipeControlPoint>();
1403                 switch (type) {
1404                 case REMOVE_NONE:
1405                         throw new RuntimeException("Error in piping rules");
1406                 case REMOVE_START:
1407                         u.toRemove.add(new ExpandIterInfo(u.start, REMOVE_START));
1408                         u.start = u.start.findPreviousEnd();
1409                         u.startPoint = u.start.getPosition();
1410                         u.start.findNextEnd(newList);
1411                         newList.addAll(u.list);
1412                         u.list = newList;
1413                         break;
1414                 case REMOVE_END:
1415                         u.toRemove.add(new ExpandIterInfo(u.end, REMOVE_END));
1416                         u.end = u.end.findNextEnd(newList);
1417                         u.endPoint = u.end.getPosition();
1418                         u.list.addAll(newList);
1419                         break;
1420                 case REMOVE_BOTH:
1421                         u.toRemove.add(new ExpandIterInfo(u.start, u.end));
1422                         u.start = u.start.findPreviousEnd();
1423                         u.startPoint = u.start.getPosition();
1424                         u.start.findNextEnd(newList);
1425                         newList.addAll(u.list);
1426                         u.list = newList;
1427                         newList = new ArrayList<PipeControlPoint>();
1428                         u.end = u.end.findNextEnd(newList);
1429                         u.endPoint = u.end.getPosition();
1430                         u.list.addAll(newList);
1431                         break;
1432                 default:
1433                         throw new RuntimeException("Error in piping rules");
1434
1435                 }
1436                 u.offset = new Vector3d();
1437                 if (u.hasOffsets) {
1438                         u.dir.normalize();
1439                         for (PipeControlPoint icp : u.list) {
1440                                 if (icp.isOffset()) {
1441                                         u.offset.add(icp.getSizeChangeOffsetVector(u.dir));
1442                                 } else if (icp.isDualSub())
1443                                         ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
1444                         }
1445                 }
1446                 if (DEBUG)
1447                         System.out.println("PipingRules.expandPipeline expanded " + u.start + " " + u.end);
1448                 u.iter++;
1449                 updatePathLeg(u, PathLegUpdateType.NONE);
1450         }
1451
1452         /**
1453          * reverts one iteration of turn removing back)
1454          */
1455         private static void backIter(UpdateStruct2 u) throws Exception {
1456
1457                 if (DEBUG)
1458                         System.out.println("PipingRules.backIter" + u.start + " " + u.end);
1459                 if (u.iter == 0)
1460                         throw new RuntimeException("Error in piping rules");
1461                 ExpandIterInfo info = u.toRemove.get(u.toRemove.size() - 1);
1462                 u.toRemove.remove(u.toRemove.size() - 1);
1463                 if (info.getType() == REMOVE_START || info.getType() == REMOVE_BOTH) {
1464                         while (u.list.size() > 0) {
1465                                 PipeControlPoint icp = u.list.get(0);
1466                                 if (icp.getPrevious().equals(info.getStart()))
1467                                         break;
1468                                 u.list.remove(icp);
1469                         }
1470                         u.start = info.getStart();
1471                 }
1472                 if (info.getType() == REMOVE_END || info.getType() == REMOVE_BOTH) {
1473                         while (u.list.size() > 0) {
1474                                 PipeControlPoint icp = u.list.get(u.list.size() - 1);
1475                                 if (icp.getNext().equals(info.getEnd()))
1476                                         break;
1477                                 u.list.remove(icp);
1478                         }
1479                         u.end = info.getEnd();
1480                 }
1481                 u.offset = new Vector3d();
1482                 if (u.hasOffsets) {
1483                         u.dir.normalize();
1484                         for (PipeControlPoint icp : u.list) {
1485                                 if (icp.isOffset()) {
1486                                         u.offset.add(icp.getSizeChangeOffsetVector(u.dir));
1487                                 } else if (icp.isDualSub())
1488                                         ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
1489                         }
1490                 }
1491                 processPathLeg(u);
1492
1493         }
1494
1495         /**
1496          * Processes pipe run (removes necessary turns and updates run ends)
1497          */
1498         // private static void processPathLeg(PipeControlPoint start, Point3d
1499         // startPoint,ArrayList<InlineControlPoint> list, PipeControlPoint
1500         // end,Point3d endPoint, Vector3d dir,Vector3d offset, boolean
1501         // hasOffsets,int iter, boolean reversed, ArrayList<ExpandIterInfo>
1502         // toRemove) throws TransactionException {
1503
1504         private static void processPathLeg(UpdateStruct2 u) throws Exception {
1505                 if (DEBUG)
1506                         System.out.println("PipingRules.processPathLeg " + u.start + " " + u.end);
1507                 processPathLeg(u, true, true);
1508         }
1509
1510         private static void processPathLeg(UpdateStruct2 u, boolean updateEnds, boolean updateInline) throws Exception {
1511                 if (DEBUG)
1512                         System.out.println("PipingRules.processPathLeg " + (updateEnds ? "ends " : "") + (updateInline ? "inline " : "") + u.start + " " + u.end);
1513
1514                 if (u.toRemove.size() > 0) {
1515                         for (ExpandIterInfo info : u.toRemove) {
1516                                 if (info.getStart() != null) {
1517                                         if (DEBUG)
1518                                                 System.out.println("PipingRules.processPathLeg removing start " + info.getStart());
1519                                         info.getStart()._remove();
1520                                 }
1521                                 if (info.getEnd() != null) {
1522                                         if (DEBUG)
1523                                                 System.out.println("PipingRules.processPathLeg removing end " + info.getEnd());
1524                                         info.getEnd()._remove();
1525                                 }
1526                         }
1527                         // ControlPointTools.removeControlPoint may remove more than one CP;
1528                         // we must populate inline CP list again.
1529                         u.list.clear();
1530                         u.start.findNextEnd( u.list);
1531                 }
1532                 // FIXME : inline CPs are update twice because their positions must be
1533                 // updated before and after ends.
1534                 updateInlineControlPoints(u, false);
1535
1536                 if (updateEnds) {
1537                         if (u.start.isTurn()) {
1538                                 //updateTurnControlPointTurn(u.start, u.start.getPrevious(), u.start.getNext());
1539                                 updateTurnControlPointTurn(u.start, null, null);
1540 //                              updatePathLegPrev(u.start, u.start, PathLegUpdateType.NONE);
1541                         } else if (u.start.isEnd()) {
1542                                 updateEndComponentControlPoint(u.start, u.dir);
1543                         } else if (u.start.isInline()) {
1544                                 updateControlPointOrientation(u.start, u.dir);
1545                         }
1546                         if (u.end.isTurn()) {
1547                                 //updateTurnControlPointTurn(u.end, u.end.getPrevious(), u.end.getNext());
1548                                 updateTurnControlPointTurn(u.end, null, null);
1549 //                              updatePathLegNext(u.end, u.end, PathLegUpdateType.NONE);
1550                         } else if (u.end.isEnd()) {
1551                                 updateEndComponentControlPoint(u.end, u.dir);
1552                         } else if (u.end.isInline()) {
1553                                 updateControlPointOrientation(u.end, u.dir);
1554                         }
1555
1556                 } else {
1557                         if (u.start.isEnd()) {
1558                                 updateEndComponentControlPoint(u.start, u.dir);
1559                         }
1560                         if (u.end.isEnd()) {
1561                                 updateEndComponentControlPoint(u.end, u.dir);
1562                         }
1563                 }
1564                 if (updateInline)
1565                         updateInlineControlPoints(u, true);
1566
1567         }
1568
1569         /**
1570          * Processes pipe run and recalculates offset
1571          */
1572         // private static void processPathLeg(PipeControlPoint start, Point3d
1573         // startPoint,ArrayList<InlineControlPoint> list, PipeControlPoint
1574         // end,Point3d endPoint, Vector3d dir, boolean hasOffsets,int iter, boolean
1575         // reversed, ArrayList<ExpandIterInfo> toRemove) throws TransactionException
1576         // {
1577         @SuppressWarnings("unused")
1578         private static void processPathLegNoOffset(UpdateStruct2 u) throws Exception {
1579                 if (DEBUG)
1580                         System.out.println("PipingRules.processPathLeg " + u.start + " " + u.end);
1581                 Vector3d offset = new Vector3d();
1582                 if (u.hasOffsets) {
1583                         u.dir.normalize();
1584                         for (PipeControlPoint icp : u.list) {
1585                                 if (icp.isOffset()) {
1586                                         offset.add(icp.getSizeChangeOffsetVector(u.dir));
1587                                 } else if (icp.isDualSub()) {
1588                                         ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
1589                                 }
1590                         }
1591                 }
1592                 processPathLeg(u);
1593         }
1594
1595         private static void updateOffsetPoint(PipeControlPoint sccp, Vector3d offset) {
1596                 Vector3d world = sccp.getWorldPosition();
1597                 world.add(offset);
1598                 PipeControlPoint ocp = sccp.getDualSub();
1599                 ocp.setWorldPosition(world);
1600         }
1601
1602         /**
1603          * Updates InlineControlPoints position when straight pipe's end(s) have
1604          * been changed)
1605          *
1606          * @param pipeline
1607          * @param icp
1608          * @param nextPoint
1609          * @param prevPoint
1610          */
1611         private static void updateInlineControlPoint(PipeControlPoint icp, Vector3d prev, Vector3d next,  Vector3d dir) {
1612                 if (DEBUG)
1613                         System.out.println("PipingRules.updateInlineControlPoint() " + icp);
1614
1615                 Vector3d inlinePoint = icp.getWorldPosition();
1616                 Vector3d prevPoint = new Vector3d(prev);
1617                 Vector3d nextPoint = new Vector3d(next);
1618                 if (!icp.isVariableLength()) {
1619                         // Reserve space for fixed length components.
1620                         MathTools.mad(prevPoint, dir, icp.getInlineLength());
1621                         MathTools.mad(nextPoint, dir, -icp.getInlineLength());
1622                         if (MathTools.distance(prevPoint, nextPoint) < ALLOWED_OFFSET) {
1623                                 prevPoint = prev;
1624                                 nextPoint = next;
1625                         }
1626                 }
1627                 boolean canCalc = MathTools.distance(prevPoint, nextPoint) > ALLOWED_OFFSET;
1628                 if (DEBUG)
1629                         System.out.print("InlineControlPoint update " + icp + " " + inlinePoint + " " + prevPoint + " " + nextPoint);
1630                 Vector3d newInlinePoint = null;
1631                 if (canCalc) {
1632                         boolean branchUpdate = false;
1633                         PipeControlPoint becp = null;
1634                         for (PipeControlPoint pcp : icp.getChildPoints())
1635                                 if (pcp.isNonDirected()) {
1636                                         branchUpdate = true;
1637                                         becp = pcp;
1638                                         break;
1639                                 }
1640
1641                         if (DUMMY || !branchUpdate) {
1642                                 newInlinePoint = MathTools.closestPointOnEdge(new Vector3d(inlinePoint), prevPoint, nextPoint);
1643
1644                         } else {
1645
1646                                 // FIXME : can only handle one branch
1647                                 PipeControlPoint p = null;
1648                                 if (becp.getNext() != null) {
1649                                         p = becp.findNextEnd();
1650                                 } else if (becp.getPrevious() != null) {
1651                                         p = becp.findPreviousEnd();
1652                                 }
1653                                 if (p == null) {
1654                                         newInlinePoint = MathTools.closestPointOnEdge(new Vector3d(inlinePoint), prevPoint, nextPoint);
1655                                 } else if (canCalc){
1656                                         Vector3d branchLegEnd = p.getWorldPosition();
1657                                         Vector3d dir2 = new Vector3d(inlinePoint);
1658                                         dir2.sub(branchLegEnd);
1659                                         Vector3d dir1 = new Vector3d(nextPoint);
1660                                         dir1.sub(prevPoint);
1661                                         newInlinePoint = new Vector3d();
1662                                         double mu[] = new double[2];
1663                                         MathTools.intersectStraightStraight(new Vector3d(prevPoint), dir1, new Vector3d(branchLegEnd), dir2, newInlinePoint, new Vector3d(), mu);
1664                                         if (DEBUG)
1665                                                 System.out.println(mu[0]);
1666                                         // FIXME : reserve space
1667                                         if (mu[0] < 0.0) {
1668                                                 newInlinePoint = new Vector3d(prevPoint);
1669                                         } else if (mu[0] > 1.0) {
1670                                                 newInlinePoint = new Vector3d(nextPoint);
1671                                         }
1672                                 }
1673                         }
1674                 } else {
1675                         // prevPoint == nextPoint
1676                         newInlinePoint = new Vector3d(prevPoint);
1677                 }
1678                 if (DEBUG)
1679                         System.out.println(" " + newInlinePoint);
1680
1681                 icp.setWorldPosition(newInlinePoint);
1682                 updateControlPointOrientation(icp, dir);
1683         }
1684
1685         /**
1686          * Updates InlineControlPoints position when straight pipe's end(s) have
1687          * been changed)
1688          *
1689          * @param pipeline
1690          * @param icp
1691          * @param nextPoint
1692          * @param prevPoint
1693          */
1694         private static void updateEndComponentControlPoint(PipeControlPoint ecp, Vector3d dir) throws Exception {
1695                 if (DEBUG)
1696                         System.out.println("PipingRules.updateEndComponentControlPoint() " + ecp);
1697
1698                 if (!ecp.isFixed()) // prevent overriding nozzle orientations..
1699                    updateControlPointOrientation(ecp, dir);
1700
1701                 for (PipeControlPoint pcp : ecp.getChildPoints()) {
1702                         // TODO update position
1703                         updatePathLegEndControlPoint(pcp);
1704                 }
1705         }
1706
1707         private static void updateControlPointOrientation(PipeControlPoint pcp, Vector3d dir) {
1708                 Double angleO = pcp.getRotationAngle();
1709                 double angle = 0.0;
1710                 if (angleO != null)
1711                         angle = angleO;
1712                 boolean reversed = pcp._getReversed();
1713                 Quat4d q = null;
1714                 if (dir != null) {
1715                     q = pcp.getControlPointOrientationQuat(dir, angle, reversed);
1716                 } else {
1717                     q = pcp.getControlPointOrientationQuat(angle, reversed);
1718                 }
1719                 pcp.setWorldOrientation(q);
1720         }
1721
1722         /**
1723          * Updates all branches when branch's position has been changed
1724          *
1725          * @param bcp
1726          */
1727         private static void updateBranchControlPointBranches(PipeControlPoint bcp) throws Exception {
1728                 if (DEBUG)
1729                         System.out.println("PipingRules.updateBranchControlPointBranches() " + bcp);
1730                 if (bcp.isDualInline())
1731                         return;
1732                 Collection<PipeControlPoint> branches = bcp.getChildPoints();
1733                 if (branches.size() == 0) {
1734                         if (DEBUG)
1735                                 System.out.println("No Branches found");
1736                         return;
1737                 }
1738
1739                 for (PipeControlPoint pcp : branches) {
1740                         updatePathLegEndControlPoint(pcp);
1741                 }
1742         }
1743
1744         private static double updateTurnControlPointTurn(PipeControlPoint tcp, Vector3d prev, Vector3d next) {
1745                 if (next == null) {
1746                         UpdateStruct2 us = createUS(tcp, Direction.NEXT, 0, new ArrayList<PipingRules.ExpandIterInfo>(), tcp);
1747                         if (us != null)
1748                                 next = us.dir;
1749                 }
1750                 if (prev == null) {
1751                         UpdateStruct2 us = createUS(tcp, Direction.PREVIOUS, 0, new ArrayList<PipingRules.ExpandIterInfo>(), tcp);
1752                         if (us != null) {
1753                                 prev = us.dir;
1754                         }
1755                 }
1756
1757                 if (!tcp.asFixedAngle()) {
1758
1759
1760                         if (next == null || prev == null) {
1761                                 if (tcp.getTurnAngle() != null)
1762                                         return tcp.getTurnAngle();
1763                                 return Math.PI; // FIXME : argh
1764                         }
1765                         double turnAngle = prev.angle(next);
1766
1767                         double angle = Math.PI - turnAngle;
1768
1769                         Vector3d turnAxis = new Vector3d();
1770                         turnAxis.cross(prev, next);
1771                         if (turnAxis.lengthSquared() > MathTools.NEAR_ZERO) {
1772                                 double elbowRadius = ((TurnComponent)tcp.getPipelineComponent()).getTurnRadius();
1773                                 double R = elbowRadius / Math.tan(angle * 0.5);
1774
1775                                 turnAxis.normalize();
1776                                 tcp.setTurnAngle(turnAngle);
1777                                 tcp.setLength(R);// setComponentOffsetValue(R);
1778                                 tcp.setTurnAxis(turnAxis);
1779         //                      tcp.setPosition(tcp.getPosition());
1780                         } else {
1781                                 turnAngle = 0.0;
1782                                 tcp.setTurnAngle(0.0);
1783                                 tcp.setLength(0.0);
1784                                 tcp.setTurnAxis(new Vector3d(MathTools.Y_AXIS));
1785                         }
1786
1787                         updateControlPointOrientation(tcp,prev);
1788
1789                         if (DEBUG)
1790                                 System.out.println("PipingTools.updateTurnControlPointTurn " + prev + " " + next + " " + turnAngle + " " + turnAxis);
1791                         return turnAngle;
1792                 } else {
1793
1794                         if (prev != null && next != null) {
1795                                 // Nothing to do
1796                         } else if (prev == null) {
1797                                 if (!tcp._getReversed())
1798                                         tcp.setReversed(true);
1799                         } else if (next == null) {
1800                                 if (tcp._getReversed())
1801                                         tcp.setReversed(false);
1802                         }
1803
1804                         Vector3d dir = null;
1805                         if (!tcp._getReversed()) {
1806                                 dir = prev;
1807                         } else {
1808                                 dir = next;
1809                                 dir.negate();
1810                         }
1811                         if (dir == null) {
1812                                 return Math.PI; // FIXME : argh
1813                         }
1814
1815                         Quat4d q = PipeControlPoint.getControlPointOrientationQuat(dir, tcp.getRotationAngle() != null ? tcp.getRotationAngle() : 0.0);
1816                         Vector3d v = new Vector3d();
1817                         MathTools.rotate(q, MathTools.Y_AXIS,v);
1818                         tcp.setTurnAxis(v);
1819                         tcp.setWorldOrientation(q);
1820                         if (tcp.getTurnAngle() != null)
1821                                 return tcp.getTurnAngle();
1822                         return Math.PI; // FIXME : argh
1823                 }
1824
1825
1826         }
1827
1828         public static List<PipeControlPoint> getControlPoints(PipeRun pipeRun) {
1829                 List<PipeControlPoint> list = new ArrayList<PipeControlPoint>();
1830                 if (pipeRun.getControlPoints().size() == 0)
1831                         return list;
1832                 PipeControlPoint pcp = pipeRun.getControlPoints().iterator().next();
1833                 while (pcp.getPrevious() != null) {
1834                         PipeControlPoint prev = pcp.getPrevious();
1835                         if (prev.getPipeRun() != pipeRun && prev.getPipeRun() != null) { // bypass possible corruption
1836                             break;
1837                         }
1838                         pcp = prev;
1839                 }
1840                 if (pcp.isDualSub()) {
1841                         pcp = pcp.getParentPoint();
1842                 }
1843                 list.add(pcp);
1844                 while (pcp.getNext() != null) {
1845                         pcp = pcp.getNext();
1846                         if (pcp.getPipeRun() != pipeRun)
1847                                 break;
1848                         list.add(pcp);
1849                 }
1850                 return list;
1851         }
1852
1853         public static void reverse(PipeRun pipeRun) {
1854
1855                 while (true) {
1856                         List<PipeControlPoint> points = getControlPoints(pipeRun);
1857                         PipeControlPoint pcp = points.get(0);
1858                         if (pcp.isSizeChange() && pcp.getChildPoints().size() > 0) {
1859                                 PipeRun pr = pcp.getPipeRun();
1860                                 if (pr != pipeRun)
1861                                     pipeRun = pr;
1862                                 else break;
1863                         } else {
1864                                 break;
1865                         }
1866                 }
1867                 List<PipeRun> all = new ArrayList<PipeRun>();
1868                 List<List<PipeControlPoint>> pcps = new ArrayList<List<PipeControlPoint>>();
1869                 while (true) {
1870                         all.add(pipeRun);
1871                         List<PipeControlPoint> points = getControlPoints(pipeRun);
1872                         pcps.add(points);
1873                         PipeControlPoint pcp = points.get(points.size()-1);
1874                         if (pcp.getChildPoints().size() > 0) {
1875                                 PipeRun pipeRun2 = pcp.getChildPoints().get(0).getPipeRun();
1876                                 if (pipeRun == pipeRun2)
1877                                     break;
1878                                 else
1879                                     pipeRun = pipeRun2;
1880                         } else {
1881                                 break;
1882                         }
1883                 }
1884                 for (int i = 0 ; i < all.size(); i++) {
1885                         List<PipeControlPoint> list = pcps.get(i);
1886                         _reverse(list);
1887                 }
1888                 for (int i = 0 ; i < all.size(); i++) {
1889                         boolean last = i == all.size() - 1;
1890                         List<PipeControlPoint> list = pcps.get(i);
1891
1892                         if (!last) {
1893                                 List<PipeControlPoint> list2 = pcps.get(i+1);
1894                                 PipeControlPoint prev = list.get(list.size()-1);
1895                                 PipeControlPoint next = list2.get(0);
1896                                 System.out.println();
1897                                 if (prev == next) {
1898                                         // Reverse the component on the boundary.
1899                                         InlineComponent ic = (InlineComponent)prev.getPipelineComponent();
1900                                         PipeRun r1 = ic.getPipeRun();
1901                                         PipeRun r2 = ic.getAlternativePipeRun();
1902                                         if (r1 == null || r2 == null)
1903                                                 throw new RuntimeException("Components on PipeRun changes should refer to bot PipeRuns");
1904                                         ic.deattach();
1905                                         r2.addChild(ic);
1906                                         ic.setPipeRun(r2);
1907                                         ic.setAlternativePipeRun(r1);
1908                                 } else {
1909                                         throw new RuntimeException("PipeRun changes should contain shared control points");
1910                                 }
1911
1912                         }
1913                 }
1914
1915         }
1916
1917         private static void _reverse(List<PipeControlPoint> list) {
1918                 if (list.size() <= 1)
1919                         return; // nothing to do.
1920
1921                 for (int i = 0 ; i < list.size(); i++) {
1922                         boolean first = i == 0;
1923                         boolean last = i == list.size() - 1;
1924                         PipeControlPoint current = list.get(i);
1925                         PipeControlPoint currentSub = null;
1926                         if (current.isDualInline())
1927                                 currentSub = current.getDualSub();
1928                         if (first) {
1929                                 PipeControlPoint next = list.get(i+1);
1930                                 if (next.isDualInline())
1931                                         next = next.getDualSub();
1932                                 if (current.getNext() == next)
1933                                         current.setNext(null);
1934                                 current.setPrevious(next);
1935                                 if (currentSub != null) {
1936                                         if (currentSub.getNext() == next)
1937                                                 currentSub.setNext(null);
1938                                         currentSub.setPrevious(next);
1939                                 }
1940                         } else if (last) {
1941                                 PipeControlPoint prev = list.get(i-1);
1942
1943                                 if (current.getPrevious() == prev)
1944                                         current.setPrevious(null);
1945                                 current.setNext(prev);
1946
1947                                 if (currentSub != null) {
1948                                         if (currentSub.getPrevious() == prev)
1949                                                 currentSub.setPrevious(null);
1950                                         currentSub.setNext(prev);
1951                                 }
1952                         } else {
1953                                 PipeControlPoint prev = list.get(i-1);
1954                                 PipeControlPoint next = list.get(i+1);
1955                                 if (next.isDualInline())
1956                                         next = next.getDualSub();
1957
1958
1959                                 current.setPrevious(next);
1960                                 current.setNext(prev);
1961
1962                                 if (currentSub != null) {
1963                                         currentSub.setPrevious(next);
1964                                         currentSub.setNext(prev);
1965                                 }
1966
1967                         }
1968                         //if (current.isTurn() && current.isFixed()) {
1969                         if (current.asFixedAngle()) {
1970                                 current.setReversed(!current._getReversed());
1971                         }
1972                         if (current.isInline() && current.isReverse()) {
1973                                 current.setReversed(!current._getReversed());
1974                         }
1975                 }
1976         }
1977
1978
1979
1980         public static void validate(PipeRun pipeRun) {
1981                 if (pipeRun == null)
1982                         return;
1983                 Collection<PipeControlPoint> pcps = pipeRun.getControlPoints();
1984                 int count = 0;
1985                 //System.out.println("Validate " + pipeRun.getName());
1986                 for (PipeControlPoint pcp : pcps) {
1987                         if (pcp.getParentPoint() == null || pcp.getParentPoint().getPipeRun() != pipeRun)
1988                                 count++;
1989                 }
1990                 List<PipeControlPoint> runPcps = getControlPoints(pipeRun);
1991                 if (runPcps.size() != count) {
1992                         System.out.println("Run " + pipeRun.getName() + " contains unconnected control points, found " + runPcps.size() + " connected, " + pcps.size() + " total.");
1993                         for (PipeControlPoint pcp : pcps) {
1994                             if (!runPcps.contains(pcp)) {
1995                                 System.out.println("Unconnected " + pcp + " " + pcp.getPipelineComponent());
1996                             }
1997                         }
1998                 }
1999                 for (PipeControlPoint pcp : pcps) {
2000                     if (pcp.getPipeRun() == null) {
2001                         System.out.println("PipeRun ref missing " + pcp + " " + pcp.getPipelineComponent());
2002                     }
2003                         if (!pcp.isDirected() && pcp.getNext() == null && pcp.getPrevious() == null)
2004                                 System.out.println("Orphan undirected " + pcp + " " + pcp.getPipelineComponent());
2005                 }
2006                 for (PipeControlPoint pcp : pcps) {
2007                         if (pcp.getParentPoint() == null) {
2008                                 PipeControlPoint sub = null;
2009                                 if (pcp.isDualInline())
2010                                         sub = pcp.getDualSub();
2011                                 PipeControlPoint next = pcp.getNext();
2012                                 PipeControlPoint prev = pcp.getPrevious();
2013                                 if (next != null) {
2014                                         if (!(next.getPrevious() == pcp || next.getPrevious() == sub)) {
2015                                                 System.out.println("Inconsistency between " + pcp + " -> " +next );
2016                                         }
2017                                 }
2018                                 if (prev != null) {
2019                                         PipeControlPoint prevParent = null;
2020                                         if (prev.isDualSub()) {
2021                                                 prevParent = prev.getParentPoint();
2022                                         } else if (prev.isDualInline()) {
2023                                                 System.out.println("Inconsistency between " + pcp + " <-- " +prev );
2024                                         }
2025                                         if (!(prev.getNext() == pcp && (prevParent == null || prevParent.getNext() == pcp))) {
2026                                                 System.out.println("Inconsistency between " + pcp + " <-- " +prev );
2027                                         }
2028                                 }
2029                         }
2030                 }
2031         }
2032
2033         public static void splitVariableLengthComponent(PipelineComponent newComponent, InlineComponent splittingComponent, boolean assignPos) throws Exception{
2034                 assert(!splittingComponent.getControlPoint().isFixedLength());
2035                 assert(!(newComponent instanceof  InlineComponent && !newComponent.getControlPoint().isFixedLength()));
2036                 PipeControlPoint newCP = newComponent.getControlPoint();
2037                 PipeControlPoint splittingCP = splittingComponent.getControlPoint();
2038                 PipeControlPoint nextCP = splittingCP.getNext();
2039                 PipeControlPoint prevCP = splittingCP.getPrevious();
2040
2041                 /* there are many different cases to insert new component when
2042                    it splits existing VariableLengthinlineComponent.
2043
2044                    1. VariableLengthComponet is connected from both sides:
2045                           - insert new component between VariableLength component and component connected to it
2046                           - insert new VariableLengthComponent between inserted component and component selected in previous step
2047
2048                    2. VariableLengthComponent is connected from one side
2049                          - Use previous case or:
2050                          - Insert new component to empty end
2051                          - Insert new VariableLength component to inserted components empty end
2052
2053                    3. VariableLength is not connected to any component.
2054                          - Should not be possible, at least in current implementation.
2055                          - Could be done using second case
2056
2057                 */
2058
2059                 if (nextCP == null && prevCP == null) {
2060                         // this should not be possible
2061                         throw new RuntimeException("VariableLengthComponent " + splittingComponent + " is not connected to anything.");
2062                 }
2063                 double newLength = newComponent.getControlPoint().getLength();
2064
2065
2066                 Point3d next = new Point3d();
2067                 Point3d prev = new Point3d();
2068                 splittingCP.getInlineControlPointEnds(prev, next);
2069
2070                 Vector3d newPos = null;
2071                 if (assignPos) {
2072                         newPos = new Vector3d(prev);
2073                         Vector3d dir = new Vector3d(next);
2074                         dir.sub(prev);
2075                         dir.scale(0.5);
2076                         newPos.add(dir);
2077                         newComponent.setWorldPosition(newPos);
2078                 } else {
2079                         newPos = newComponent.getWorldPosition();
2080                 }
2081
2082
2083
2084                 Vector3d dir = new Vector3d(next);
2085                 dir.sub(prev);
2086                 dir.normalize();
2087                 dir.scale(newLength * 0.5);
2088                 Point3d vn = new Point3d(newPos);
2089                 Point3d vp = new Point3d(newPos);
2090                 vn.add(dir);
2091                 vp.sub(dir);
2092                 double ln = vn.distance(next);
2093                 double lp = vp.distance(prev);
2094                 vp.interpolate(prev, 0.5);
2095                 vn.interpolate(next, 0.5);
2096
2097
2098                 if (nextCP == null) {
2099                         newCP.insert(splittingCP, Direction.NEXT);
2100                         insertStraight(newCP, Direction.NEXT, new Vector3d(vn), ln);
2101                         splittingCP.setWorldPosition(new Vector3d(vp));
2102 //                      ControlPointTools.setWorldPosition(splittingCP, vp);
2103 //                      splittingCP.setRelatedScalarDouble(ProcessResource.plant3Dresource.HasLength, lp);
2104                 } else if (prevCP == null) {
2105                         newCP.insert(splittingCP, Direction.PREVIOUS);
2106                         insertStraight(newCP, Direction.PREVIOUS, new Vector3d(vp), lp);
2107                         splittingCP.setWorldPosition(new Vector3d(vn));
2108 //                      splittingCP.setRelatedScalarDouble(ProcessResource.plant3Dresource.HasLength, ln);
2109                 } else {
2110                         newCP.insert(splittingCP, nextCP);
2111                         insertStraight(newCP, nextCP, new Vector3d(vn), ln);
2112                         splittingCP.setWorldPosition(new Vector3d(vp));
2113 //                      splittingCP.setRelatedScalarDouble(ProcessResource.plant3Dresource.HasLength, lp);
2114                 }
2115                 positionUpdate(newCP);
2116
2117         }
2118
2119         public static void addSizeChange(boolean reversed, PipeRun pipeRun, PipeRun other, InlineComponent reducer, PipeControlPoint previous, PipeControlPoint next) {
2120                 PipeControlPoint pcp = reducer.getControlPoint();
2121                 PipeControlPoint ocp = pcp.getDualSub();
2122                 if (!reversed) {
2123                         String name = pipeRun.getUniqueName("Reducer");
2124                         reducer.setName(name);
2125                         pipeRun.addChild(reducer);
2126                         other.addChild(ocp);
2127                         reducer.setAlternativePipeRun(other);
2128
2129                         previous.setNext(pcp);
2130                         pcp.setPrevious(previous);
2131                         ocp.setPrevious(previous);
2132                         if (next != null) {
2133                                 pcp.setNext(next);
2134                                 ocp.setNext(next);
2135                                 next.setPrevious(ocp);
2136                         }
2137                 } else {
2138                         String name = other.getUniqueName("Reducer");
2139                         reducer.setName(name);
2140                         other.addChild(reducer);
2141                         pipeRun.addChild(ocp);
2142                         reducer.setAlternativePipeRun(pipeRun);
2143
2144                         if (next != null) {
2145                                 next.setNext(pcp);
2146                                 pcp.setPrevious(next);
2147                                 ocp.setPrevious(next);
2148                         }
2149                         pcp.setNext(previous);
2150                         ocp.setNext(previous);
2151                         previous.setPrevious(ocp);
2152                 }
2153         }
2154 }