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                 return new UpdateStruct2(start, startPoint, list, end, endPoint, dir, offset, hasOffsets, iter, direction == Direction.PREVIOUS, toRemove, updated);
 451         }
 452
 453         private static boolean asDirected(PipeControlPoint pcp, Direction direction) {
 454                 if (pcp.isDirected())
 455                         return true;
 456                 if (pcp.asFixedAngle()) {
 457                         if (!pcp._getReversed())
 458                                 return direction == Direction.NEXT;
 459                         else
 460                                 return direction == Direction.PREVIOUS;
 461                 }
 462                 return false;
 463         }
 464
 465         private static Vector3d direction(PipeControlPoint pcp, Direction direction) {
 466                 return pcp.getDirection(direction);
 467         }
 468
 469         private static void updatePathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
 470             boolean rs = true;
 471             boolean re = true;
 472             if (lengthChange == PathLegUpdateType.NONE) {
 473                 rs = false;
 474                 re = false;
 475             }
 476             updatePathLeg(u, lengthChange, rs, re);
 477         }
 478
 479         private static void updatePathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange, boolean rs, boolean re) throws Exception {
 480                 int directed = 0;
 481                 if (asDirected(u.start, Direction.NEXT))
 482                         directed++;
 483                 if (asDirected(u.end, Direction.PREVIOUS))
 484                         directed++;
 485                 if (rs)
 486                     setErrorForce(u.start, null);
 487                 if (re)
 488                     setErrorForce(u.end, null);
 489         for (PipeControlPoint pcp : u.list)
 490             setErrorForce(pcp, null);
 491                 switch (directed) {
 492                 case 0:
 493                         updateFreePathLeg(u, lengthChange);
 494                         break;
 495                 case 1:
 496                         updateDirectedPathLeg(u, lengthChange);
 497                         break;
 498                 case 2:
 499                         updateDualDirectedPathLeg(u, lengthChange);
 500                         break;
 501                 }
 502
 503         }
 504
 505         private static void updateFreePathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
 506                 if (DEBUG)
 507                         System.out.println("PipingRules.updateFreePipeRun " + u + " " + lengthChange);
 508                 checkExpandPathLeg(u, lengthChange);
 509                 if (u.start.isInline() || u.end.isInline() || u.start.asFixedAngle()|| u.end.asFixedAngle())
 510                         processPathLeg(u, true, false);
 511         }
 512
 513         private static void updateInlineControlPoints(UpdateStruct2 u, boolean checkSizes) throws Exception{
 514                 if (DEBUG)
 515                         System.out.println("PipingRules.updateInlineControlPoints() " + u);
 516
 517                 Vector3d start = new Vector3d(u.startPoint);
 518                 Vector3d end = new Vector3d(u.endPoint);
 519
 520                 if (checkSizes) {
 521                         // create offsets for leg ends.
 522                     if (u.start.isTurn())
 523                         MathTools.mad(start, u.dir, u.start.getInlineLength());
 524                     if (u.end.isTurn())
 525                         MathTools.mad(end, u.dir, -u.end.getInlineLength());
 526                 }
 527
 528                 boolean recalcline = false;
 529
 530                 Vector3d sp = new Vector3d(start);
 531                 Vector3d ep = new Vector3d(end);
 532                 ep.sub(u.offset);
 533
 534                 if (u.start.isOffset()) {
 535                     Vector3d offset = u.start.getSizeChangeOffsetVector(u.dir);
 536                     updateOffsetPoint(u.start, offset);
 537             sp.add(offset);
 538             ep.add(offset);
 539                 }
 540
 541                 for (PipeControlPoint icp : u.list) {
 542                         updateInlineControlPoint(icp, sp, ep, u.dir);
 543                         if (icp.isOffset()) {
 544                                 // TODO : offset vector is already calculated and should be cached
 545                                 Vector3d  offset = icp.getSizeChangeOffsetVector(u.dir);
 546                                 updateOffsetPoint(icp, offset);
 547                                 sp.add(offset);
 548                                 ep.add(offset);
 549                         }
 550                 }
 551
 552                 if (!checkSizes)
 553                         return;
 554
 555                 // Collect all path leg points for updating variable length components. This list will also contain leg ends (usually turns)
 556         ArrayList<PipeControlPoint> pathLegPoints = new ArrayList<>();
 557         // Collect all fixed length components with their offsets.
 558         ArrayList<Pair<PipeControlPoint,Vector3d>> fixedLengthPoints = new ArrayList<>();
 559
 560         pathLegPoints.add(u.start);
 561         fixedLengthPoints.add(new Pair<PipeControlPoint, Vector3d>(u.start, new Vector3d()));
 562         Vector3d off = new Vector3d();
 563         for (PipeControlPoint icp : u.list) {
 564             pathLegPoints.add(icp);
 565             updateBranchControlPointBranches(icp);
 566             if (icp.isOffset()) {
 567                 fixedLengthPoints.add(new Pair<PipeControlPoint, Vector3d>(icp, new Vector3d(off)));
 568                 Vector3d  offset = icp.getSizeChangeOffsetVector(u.dir);
 569                 off.add(offset);
 570             } else if (!icp.isVariableLength()) {
 571                 fixedLengthPoints.add(new Pair<PipeControlPoint, Vector3d>(icp, new Vector3d(off)));
 572             }
 573         }
 574         pathLegPoints.add(u.end);
 575         fixedLengthPoints.add(new Pair<PipeControlPoint, Vector3d>(u.end, new Vector3d(off)));
 576
 577                 sp = new Vector3d(start);
 578                 ep = new Vector3d(end);
 579                 ep.sub(u.offset);
 580
 581                 updateFixedLengths(fixedLengthPoints, sp, ep, u.dir);
 582
 583                 for (int i = 0; i < pathLegPoints.size(); i++) {
 584                         PipeControlPoint icp = pathLegPoints.get(i);
 585
 586                         PipeControlPoint prev = i > 0 ? pathLegPoints.get(i - 1) : null;
 587                         PipeControlPoint next = i < pathLegPoints.size() - 1 ? pathLegPoints.get(i + 1) : null;
 588
 589                         if (prev != null && prev.isDualInline())
 590                                 prev = prev.getDualSub();
 591
 592                         if (icp.isVariableLength()) {
 593                                 if (prev != null && next != null) {
 594                                         recalcline = recalcline | updateVariableLength(icp,  prev, next);
 595
 596                                 } else {
 597                                     // this is variable length component at the end of the piperun.
 598                     // the problem is that we want to keep unconnected end of the component in the same
 599                     // place, but center of the component must be moved.
 600                                         updateVariableLengthEnd(icp, prev != null ? prev : next);
 601                                 }
 602                         } else if (prev != null && !prev.isVariableLength()) {
 603                             // If this and previous control point are not variable length pcps,
 604                 // we'll have to check if there is no empty space between them.
 605                 // I there is, we'll have to create new variable length component between them.
 606                                 recalcline = recalcline | possibleVaribleLengthInsert(icp, prev);
 607                         }
 608                         if (icp.isOffset()) {
 609                                 // TODO : offset vector is already calculated and should be cached
 610                                 Vector3d  offset = icp.getSizeChangeOffsetVector(u.dir);
 611                                 sp.add(offset);
 612                                 ep.add(offset);
 613                         }
 614                 }
 615
 616                 if (recalcline) {
 617                         u.list.clear();
 618                         u.start.findNextEnd(u.list);
 619                 }
 620                 if (checkSizes) {
 621                     sp = new Vector3d(u.startPoint);
 622                 ep = new Vector3d(u.endPoint);
 623                 ep.sub(u.offset);
 624                     double pathLegLength = MathTools.distance(sp, ep);
 625             double availableLength = pathLegLength;
 626             if (u.start.isTurn())
 627                 availableLength -= u.start.getInlineLength();
 628             if (u.end.isTurn())
 629                 availableLength -= u.end.getInlineLength();
 630             for (PipeControlPoint pcp : u.list) {
 631                 if (!pcp.isVariableLength())
 632                     availableLength-= pcp.getLength();
 633                     }
 634             if (availableLength < 0.0) {
 635                 setError(u.start, "Not enough available space");
 636                 setError(u.end, "Not enough available space");
 637                 for (PipeControlPoint pcp : u.list)
 638                     setError(pcp, "Not enough available space");
 639             }
 640 //            System.out.println(u.start.getPipelineComponent().toString() + " " + pathLegLength + " " + availableLength + " " + u.end.getPipelineComponent().toString() + " " + u.start.getInlineLength() + " " + u.end.getInlineLength());
 641                 }
 642         }
 643
 644         private enum Gap{ATTACHED,OVERLAP,SPACE};
 645
 646         private static class GapObj {
 647             Gap gap;
 648             double d;
 649
 650             Pair<PipeControlPoint,Vector3d> pcp1;
 651             Pair<PipeControlPoint,Vector3d> pcp2;
 652         }
 653
 654         private static void updateFixedLengths(List<Pair<PipeControlPoint,Vector3d>> fixedLengthPoints, Vector3d s, Vector3d e, Vector3d dir) {
 655             double totalLength = MathTools.distance(s, e);
 656             double reservedLength = 0.0;
 657             List<Double> distances = new ArrayList<>(fixedLengthPoints.size());
 658             distances.add(0.0);
 659             for (int i = 1; i < fixedLengthPoints.size()-1; i++) {
 660                 Pair<PipeControlPoint,Vector3d> pcp = fixedLengthPoints.get(i);
 661                 reservedLength += pcp.first.getLength();
 662                 Vector3d p = pcp.first.getWorldPosition();
 663                 p.sub(pcp.second);
 664                 double d= MathTools.distance(s, p);
 665                 distances.add(d);
 666             }
 667             distances.add(totalLength);
 668
 669             if (totalLength >= reservedLength) {
 670                 // There is enough space for all fixed length components.
 671                 List<GapObj> gaps = new ArrayList<>(fixedLengthPoints.size()-1);
 672                 int overlaps = 0;
 673                 // Analyze gaps between components
 674                 for (int i = 0; i < fixedLengthPoints.size()-1; i++) {
 675                     Pair<PipeControlPoint,Vector3d> pcp1 = fixedLengthPoints.get(i);
 676                     Pair<PipeControlPoint,Vector3d> pcp2 = fixedLengthPoints.get(i+1);
 677                     double d1 = distances.get(i);
 678                     double d2 = distances.get(i+1);
 679                     double ld1 = i == 0 ? 0.0 :pcp1.first.getInlineLength();
 680                     double ld2 = i == fixedLengthPoints.size()-2 ? 0.0 : pcp2.first.getInlineLength();
 681
 682                     double e1 = d1 + ld1; // End of comp1
 683                     double s2 = d2 - ld2; // Start of comp2
 684                     double diff =s2 - e1;
 685                     GapObj obj = new GapObj();
 686                     obj.pcp1 = pcp1;
 687                     obj.pcp2 = pcp2;
 688                     obj.d = diff;
 689                     if (diff < -MIN_INLINE_LENGTH) {
 690                         obj.gap = Gap.OVERLAP;
 691                         overlaps++;
 692                     } else if (diff > MIN_INLINE_LENGTH) {
 693                         obj.gap = Gap.SPACE;
 694                     } else {
 695                         obj.gap = Gap.ATTACHED;
 696                     }
 697                     gaps.add(obj);
 698                 }
 699                 // If there are no overlaps, there is nothing to do.
 700                 if (overlaps == 0)
 701                     return;
 702                 // Get rid of overlapping components by using closest available free spaces.
 703                 for (int i = 0; i < gaps.size(); i++) {
 704                     GapObj gapObj = gaps.get(i);
 705                     if (gapObj.gap != Gap.OVERLAP)
 706                         continue;
 707                     double curr = gapObj.d;
 708                     int d = 1;
 709                     while (curr < -MIN_INLINE_LENGTH) {
 710                         GapObj next = i+d >= 0 ? gaps.get(i+d) : null;
 711                     GapObj prev = i-d >= 0 ? gaps.get(i-d) : null;
 712                         if (next != null && next.gap == Gap.SPACE) {
 713                             double move = Math.min(-curr, next.d);
 714                             curr+= move;
 715                             next.d -= move;
 716                             if (next.d < MIN_INLINE_LENGTH)
 717                                 next.gap = Gap.ATTACHED;
 718                             Vector3d mv = new Vector3d(dir);
 719                             mv.normalize();
 720                             mv.scale(move);
 721                             for (int j = i ; j < i+d; j++) {
 722                                 Pair<PipeControlPoint,Vector3d> pcp = gaps.get(j).pcp2;
 723                                 Vector3d p = new Vector3d(pcp.first.getWorldPosition());
 724                                 p.add(mv);
 725                                 pcp.first.setWorldPosition(p);
 726                             }
 727                         }
 728                         if (curr < -MIN_INLINE_LENGTH && prev != null && prev.gap == Gap.SPACE) {
 729                             double move = Math.min(-curr, prev.d);
 730                         curr+= move;
 731                         next.d -= move;
 732                         if (next.d < MIN_INLINE_LENGTH)
 733                             next.gap = Gap.ATTACHED;
 734                         Vector3d mv = new Vector3d(dir);
 735                         mv.normalize();
 736                         mv.scale(-move);
 737                         for (int j = i ; j > i-d; j--) {
 738                             Pair<PipeControlPoint,Vector3d> pcp = gaps.get(j).pcp1;
 739                             Vector3d p = new Vector3d(pcp.first.getWorldPosition());
 740                             p.add(mv);
 741                             pcp.first.setWorldPosition(p);
 742                         }
 743                         }
 744                     }
 745                 }
 746             } else {
 747             for (int i = 1; i < fixedLengthPoints.size()-1; i++) {
 748                 Pair<PipeControlPoint,Vector3d> prev = i == 0 ? null : fixedLengthPoints.get(i-1);
 749                 Pair<PipeControlPoint,Vector3d> curr = fixedLengthPoints.get(i);
 750                 Pair<PipeControlPoint,Vector3d> next = i == fixedLengthPoints.size() -1 ? null : fixedLengthPoints.get(i+1);
 751                 updateFixedLength(curr, prev, next, s,e, dir);
 752             }
 753             }
 754         }
 755
 756         private static void updateFixedLength(Pair<PipeControlPoint,Vector3d> icp, Pair<PipeControlPoint,Vector3d> prev,  Pair<PipeControlPoint,Vector3d> next, Vector3d s, Vector3d e, Vector3d dir) {
 757             if (prev != null) {
 758                checkOverlap(prev, icp, dir,true);
 759             }
 760             if (next != null)
 761                 checkOverlap(icp, next, dir,true);
 762         }
 763
 764         private static boolean checkOverlap(Pair<PipeControlPoint,Vector3d> icp, Pair<PipeControlPoint,Vector3d> icp2, Vector3d dir, boolean se) {
 765             Vector3d p1 = icp.first.getWorldPosition();
 766             Vector3d p2 = icp2.first.getWorldPosition();
 767             p1.add(icp.second);
 768             p2.add(icp2.second);
 769             double u[] = new double[1];
 770             MathTools.closestPointOnStraight(p2, p1, dir, u);
 771             if (u[0] < 0.0) {
 772                 p2.set(p1);
 773                 p2.sub(icp.second);
 774                 p2.add(icp2.second);
 775                 MathTools.mad(p2, dir, MIN_INLINE_LENGTH);
 776                 icp2.first.setWorldPosition(p2);
 777             }
 778             double d = MathTools.distance(p1, p2);
 779         double r = icp.first.getInlineLength() + icp2.first.getInlineLength();
 780
 781             if ((d-r) < - MIN_INLINE_LENGTH) {
 782             if (se) {
 783                 setError(icp.first, "Overlapping");
 784                 setError(icp2.first, "Overlapping");
 785             }
 786             return true;
 787         }
 788         return false;
 789         }
 790
 791         /**
 792          * Overrides current error of a component
 793          * @param pcp
 794          * @param error
 795          */
 796         private static void setErrorForce(PipeControlPoint pcp, String error) {
 797             PipelineComponent comp = pcp.getPipelineComponent();
 798         if (comp == null)
 799             return;
 800         comp.setError(error);
 801         }
 802
 803         /**
 804          * Sets error for a component, if there is no existing error.
 805          * @param pcp
 806          * @param error
 807          */
 808         private static void setError(PipeControlPoint pcp, String error) {
 809             PipelineComponent comp = pcp.getPipelineComponent();
 810             if (comp == null)
 811                 return;
 812             if (comp.getError() != null)
 813                 return;
 814             comp.setError(error);
 815         }
 816
 817         private static boolean updateVariableLength(PipeControlPoint icp, PipeControlPoint prev,  PipeControlPoint next) {
 818                 Vector3d prevPos = prev.getWorldPosition();
 819                 Vector3d nextPos = next.getWorldPosition();
 820
 821                 Vector3d dir = new Vector3d(nextPos);
 822                 dir.sub(prevPos);
 823                 double l = dir.length();                // distance between control points
 824                 double l2prev = prev.getInlineLength(); // distance taken by components
 825                 double l2next = next.getInlineLength();
 826                 double l2 = l2prev + l2next;
 827                 double length = l - l2;                 // true length of the variable length component
 828                 if (length >= MIN_INLINE_LENGTH) {      // check if there is enough space for variable length component.
 829                         // components fit
 830                         dir.normalize();
 831                         dir.scale(length * 0.5 + l2prev);   // calculate center position of the component
 832                         dir.add(prevPos);
 833                         icp.setWorldPosition(dir);
 834                         icp.setLength(length);
 835                         return false;
 836                 } else {
 837                         // components leave no space to the component and it must be removed
 838                         if (icp.isDeletable()) {
 839                             if (!allowInsertRemove) {
 840                                 icp.setLength(MIN_INLINE_LENGTH);
 841                                 setError(icp, "Not enough available space");
 842                                 triedIR = true;
 843                                 return false;
 844                             }
 845                                 if (DEBUG)
 846                                         System.out.println("PipingRules.updateVariableLength removing " + icp);
 847                                 icp._remove();
 848                                 return true;
 849                         } else {
 850                             icp.setLength(MIN_INLINE_LENGTH);
 851                             icp.getPipelineComponent().setError("Not enough available space");
 852                         }
 853                         return false;
 854                 }
 855         }
 856
 857         private static boolean possibleVaribleLengthInsert(PipeControlPoint icp, PipeControlPoint prev) throws Exception{
 858                 Vector3d currentPos = icp.getWorldPosition();
 859                 Vector3d prevPos = prev.getWorldPosition();
 860                 Vector3d dir = new Vector3d(currentPos);
 861                 dir.sub(prevPos);
 862                 double l = dir.lengthSquared();
 863                 double l2prev = prev.getInlineLength();
 864                 double l2next = icp.getInlineLength();
 865                 double l2 = l2prev + l2next;
 866                 double l2s = l2 * l2;
 867                 double diff = l - l2s;
 868                 if (diff >= MIN_INLINE_LENGTH) {
 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                         if (!u.reversed)
 993                 canMoveOther = true;
 994                         inlineEnd = u.end.isInline();
 995
 996                 } else {
 997                         dcp = u.end;
 998                         other = u.start;
 999                         position = u.endPoint;
1000                         if (u.reversed)
1001                 canMoveOther = true;
1002                         inlineEnd = u.start.isInline();
1003                 }
1004
1005                 Vector3d directedDirection = direction(dcp, dcpStart ? Direction.NEXT : Direction.PREVIOUS);
1006                 if (directedDirection == null) {
1007                         //updateTurnControlPointTurn(dcp, dcp.getPrevious(), dcp.getNext());
1008                         updateTurnControlPointTurn(dcp, null, null);
1009                         directedDirection = direction(dcp, dcpStart ? Direction.NEXT : Direction.PREVIOUS);
1010                         if (directedDirection == null) {
1011                                 return;
1012                         }
1013                 }
1014                 Point3d directedEndPoint = new Point3d(u.endPoint);
1015                 if (u.hasOffsets)
1016                         directedEndPoint.sub(u.offset);
1017
1018                 double mu[] = new double[2];
1019
1020                 Vector3d closest;
1021                 Vector3d t = new Vector3d();
1022
1023                 if (dcpStart) {
1024                         closest = MathTools.closestPointOnStraight(directedEndPoint, u.startPoint, directedDirection, mu);
1025                         t.sub(closest, directedEndPoint);
1026                 } else {
1027                         closest = MathTools.closestPointOnStraight(u.startPoint, directedEndPoint, directedDirection, mu);
1028                         t.sub(closest, u.startPoint);
1029                 }
1030
1031                 double distance = t.length();
1032                 boolean aligned = (distance < ALLOWED_OFFSET);
1033                 double requiredSpace  = 0.0;
1034                 if (other.isVariableAngle()) {
1035                     requiredSpace = spaceForTurn(other, dcp);
1036                 }
1037                 if (mu[0] < requiredSpace) {
1038                     // At the moment, if next component is directly behind the nozzle, we must force moving the other component.
1039                     // Trying to solve the situation by adding new turn creates infinite loop...
1040                     aligned = false;
1041                     canMoveOther = true;
1042                 }
1043                 if (aligned) {
1044                         if (u.start.isInline() || u.end.isInline() || u.start.asFixedAngle() || u.end.asFixedAngle())
1045                                 processPathLeg(u, true, false);
1046                         checkExpandPathLeg(u, lengthChange, inlineEnd);
1047
1048                 } else {
1049                         if (u.iter > 0) {
1050                                 backIter(u);
1051                         } else {
1052                                 PipeControlPoint nextToMoved;
1053
1054                                 if (u.list.size() > 0)
1055                                         if (dcpStart)
1056                                                 nextToMoved = u.list.get(0);
1057                                         else
1058                                                 nextToMoved = u.list.get(u.list.size() - 1);
1059                                 else if (dcpStart)
1060                                         nextToMoved = u.end;
1061                                 else
1062                                         nextToMoved = u.start;
1063                                 if (other.isVariableAngle()) {
1064
1065                                         // TODO calculate needed space from next run end.
1066                                     if (mu[0] < requiredSpace) {
1067                                                 if (dcpStart) {
1068                                                         closest.set(u.startPoint);
1069                                                 } else {
1070                                                         closest.set(u.endPoint);
1071                                                 }
1072                                                 Vector3d v = new Vector3d(directedDirection);
1073                                                 v.scale(requiredSpace);
1074                                                 closest.add(v);
1075                                         }
1076
1077                                         if (canMoveOther) {
1078                                                 if (DEBUG)
1079                                                         System.out.println("PipingRules.updateDirectedPipeRun() moved end " + other + " to " + closest);
1080                                                 other.setWorldPosition(closest);
1081                                                 if (dcpStart) {
1082                                                         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));
1083                                                         if (u.end.getNext() != null)
1084                                                                 updatePathLegNext(u.end, u.updated, PathLegUpdateType.NEXT);
1085                                                 } else {
1086                                                         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));
1087                                                         if (u.start.getPrevious() != null)
1088                                                                 updatePathLegPrev(u.start, u.updated, PathLegUpdateType.PREV);
1089                                                 }
1090                                         } else {
1091                                                 // TODO : calculate needed space from next run end.
1092                                                 if (allowInsertRemove)
1093                                                         insertElbowUpdate(u, dcp, nextToMoved, dcpStart, position, directedDirection);
1094
1095                                                 else
1096                                                         triedIR = true;
1097                                         }
1098                                 } else if (other.isNonDirected() && other.getParentPoint() != null) {
1099                                         // FIXME : this code was for updating branches
1100                                         Vector3d bintersect = new Vector3d();
1101                                         PipeControlPoint bcp = other.getParentPoint();
1102                                         if (bcp != null && canMoveOther) {
1103                                                 Point3d bstart = new Point3d();
1104                                                 Point3d bend = new Point3d();
1105                                                 Vector3d bdir = new Vector3d();
1106                                                 bcp.getInlineControlPointEnds(bstart, bend, bdir);
1107                                                 Vector3d nintersect = new Vector3d();
1108
1109                                                 MathTools.intersectStraightStraight(position, directedDirection, bend, bdir, nintersect, bintersect, mu);
1110                                                 Vector3d dist = new Vector3d(nintersect);
1111                                                 dist.sub(bintersect);
1112                                                 canMoveOther = mu[1] > 0.0 && mu[1] < 1.0 && dist.lengthSquared() < 0.01;
1113                                         } else {
1114                                                 // TODO : endControlPoints are undirected: calculcate
1115                                                 // correct position for it
1116                                                 throw new UnsupportedOperationException("not implemented");
1117                                         }
1118                                         if (canMoveOther) {
1119                                                 if (DEBUG)
1120                                                         System.out.println("PipingRules.updateDirectedPipeRun() moved end " + other + " to " + bintersect);
1121                                                 // is required branch position is in possible range
1122                                                 bcp.setWorldPosition(bintersect);
1123                                                 if (dcpStart) {
1124                                                         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);
1125                                                 } else {
1126                                                         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);
1127                                                 }
1128                                         } else {
1129                                                 // branch cannot be moved into right position, new turn
1130                                                 // / elbow must be inserted
1131                                                 if (allowInsertRemove)
1132                                                         insertElbowUpdate(u, dcp, nextToMoved, dcpStart, position, directedDirection);
1133                                                 else
1134                                                         triedIR = true;
1135                                         }
1136
1137                                 } else { // assume that control point cannot be moved, but can
1138                                                         // be rotated
1139                                         if (allowInsertRemove)
1140                                                 insertElbowUpdate(u, dcp, nextToMoved, dcpStart, position, directedDirection);
1141                                         else
1142                                                 triedIR = true;
1143                                 }
1144                         }
1145                 }
1146
1147
1148         }
1149
1150         private static void updateDualDirectedPathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
1151                 if (DEBUG)
1152                         System.out.println("PipingRules.updateDualDirectedPipeRun() " + u + " " + lengthChange);
1153
1154                 PipeControlPoint dcp1 = u.start;
1155                 PipeControlPoint dcp2 = u.end;
1156                 Point3d position1 = new Point3d(u.startPoint);
1157                 Point3d position2 = new Point3d(u.endPoint);
1158                 Point3d position1offset = new Point3d(position1);
1159                 position1offset.sub(u.offset);
1160                 Point3d position2offset = new Point3d(position2);
1161                 position2offset.add(u.offset);
1162                 Vector3d dir1 = direction(dcp1, Direction.NEXT);
1163                 Vector3d dir2 = direction(dcp2, Direction.PREVIOUS);
1164                 Vector3d p1 = MathTools.closestPointOnStraight(position1offset, position2, dir2);
1165                 Vector3d p2 = MathTools.closestPointOnStraight(position2offset, position1, dir1);
1166                 double d1 = position1.distance(new Point3d(p1));
1167                 double d2 = position2.distance(new Point3d(p2));
1168
1169                 boolean aligned = (d1 < ALLOWED_OFFSET && d2 < ALLOWED_OFFSET);
1170                 if (aligned) {
1171                         processPathLeg(u);
1172                 } else {
1173                         if (u.iter > 0) {
1174                                 backIter(u);
1175                         } else if (allowInsertRemove){
1176                                 PipeControlPoint dcp;
1177                                 PipeControlPoint next;
1178                                 if (!u.reversed) {
1179                                         dcp = dcp1;
1180                                         if (u.list.size() > 0)
1181                                                 next = u.list.get(0);
1182                                         else
1183                                                 next = dcp2;
1184                                 } else {
1185                                         dcp = dcp2;
1186                                         if (u.list.size() > 0)
1187                                                 next = u.list.get(u.list.size() - 1);
1188                                         else
1189                                                 next = dcp1;
1190                                 }
1191
1192                                 p1 = dcp.getWorldPosition();
1193                                 Vector3d v = new Vector3d();
1194                                 if (!u.reversed)
1195                                         v.set(dir1);
1196                                 else
1197                                         v.set(dir2);
1198
1199                                 // Reserve space for 90 deg elbow
1200                                 double off = dcp1.getPipeRun().getTurnRadius();
1201                                 v.scale(off);
1202                                 p1.add(v);
1203
1204                                 if (!u.reversed)
1205                                         p2 = MathTools.closestPointOnStraight(new Point3d(p1), position2, dir2);
1206                                 else
1207                                         p2 = MathTools.closestPointOnStraight(new Point3d(p1), position1, dir1);
1208
1209                                 // By default, the elbows are placed next to each other, by using 90 deg angles.
1210                                 // If the distance between elbows is not enough, we must move the other elbow (and create more shallow angle elbows)
1211                                 if (MathTools.distance(p1, p2) < off*2.05) {
1212                                         p2.add(v);
1213                                 }
1214
1215                                 PipeControlPoint tcp1 = insertElbow(dcp, next, p1);
1216                                 PipeControlPoint tcp2 = insertElbow(tcp1, next, p2);
1217
1218                                 if (DEBUG)
1219                                         System.out.println("PipingRules.updateDualDirectedPipeRun() created two turns " + tcp1 + " " + tcp2);
1220
1221                                 if (!u.reversed) {
1222                                         Vector3d dd = new Vector3d(p2);
1223                                         dd.sub(p1);
1224                                         dir2.negate();
1225                                         updatePathLegNext(u.start, u.updated, PathLegUpdateType.NONE);
1226                                         updatePathLegNext(tcp1, u.updated, PathLegUpdateType.NONE);
1227                                         if (!u.reversed)
1228                                                 updatePathLegNext(tcp2, u.updated, PathLegUpdateType.NONE);
1229                                         else
1230                                                 updatePathLegPrev(tcp2, u.updated, PathLegUpdateType.NONE);
1231                                 } else {
1232                                         Vector3d dd = new Vector3d(p1);
1233                                         dd.sub(p2);
1234                                         dir2.negate();
1235                                         updatePathLegNext(tcp1, u.updated, PathLegUpdateType.NONE);
1236                                         updatePathLegNext(tcp2, u.updated, PathLegUpdateType.NONE);
1237                                         if (!u.reversed)
1238                                                 updatePathLegNext(u.start, u.updated, PathLegUpdateType.NONE);
1239                                         else
1240                                                 updatePathLegPrev(u.start, u.updated, PathLegUpdateType.NONE);
1241                                 }
1242                         } else {
1243                                 triedIR = true;
1244                         }
1245                 }
1246
1247         }
1248
1249         private static double spaceForTurn(PipeControlPoint tcp, PipeControlPoint dcp) {
1250                 // TODO : if the path legs contain offset, using just positions of opposite path leg ends is not enough.
1251             // TODO : current iterative way for calculating required space may return longer length that is required.
1252                 double tr = ((TurnComponent)tcp.getPipelineComponent()).getTurnRadius();
1253             if (dcp == null)
1254                 return tr; // space for 90 deg
1255             PipeControlPoint ne = tcp.findNextEnd();
1256             PipeControlPoint pe = tcp.findPreviousEnd();
1257             PipeControlPoint other = null;
1258             if (dcp == ne)
1259                 other = pe;
1260             else if (dcp == pe)
1261                 other = ne;
1262             else
1263                 return tr; // space for 90 deg
1264             if (other == null)
1265                 return tr; // space for 90 deg
1266             Vector3d dir = dcp.getDirectedControlPointDirection();
1267             Vector3d dp = dcp.getWorldPosition();
1268             Vector3d op = other.getWorldPosition();
1269             double u[] = new double[1];
1270             Vector3d closest = MathTools.closestPointOnStraight(op, dp, dir,u);
1271             if (MathTools.distanceSquared(closest, op) <= MIN_INLINE_LENGTH) {
1272                 if (u[0] > -MIN_INLINE_LENGTH)
1273                     return 0.0; // point following turn is directly in the front of the nozzle.
1274                 else
1275                     return tr*2.0; // point following turn is directly behind the nozzle, in theory, we should return Double.Inf...
1276             }
1277             double curr = tr*0.1;
1278             int iter = 10;
1279             Vector3d v1 = new Vector3d();
1280             Vector3d v2 = new Vector3d();
1281             while (iter > 0) {
1282                 Vector3d tp = new Vector3d(dp);
1283                 MathTools.mad(tp, dir, curr);
1284                 v1.sub(tp, dp); // Vector from nozzle to turn
1285                 v2.sub(op,tp);  // Vector from turn to other
1286                 double a = v1.angle(v2);
1287                 double t = Math.tan((Math.PI - a) * 0.5);
1288                 double R = 0.0;
1289                 if (t > MathTools.NEAR_ZERO)
1290                     R = tr / t;
1291                 if (R <= curr)
1292                     break;
1293                 curr = R*1.001;
1294                 iter--;
1295             }
1296             return curr;
1297         }
1298
1299         private static void insertElbowUpdate(UpdateStruct2 u, PipeControlPoint dcp, PipeControlPoint next, boolean dcpStart, Vector3d position, Vector3d directedDirection) throws Exception{
1300
1301
1302 //              Vector3d closest = new Vector3d(position);
1303 //              closest.add(directedDirection);
1304
1305                 PipeControlPoint tcp = null;
1306                 Vector3d closest;
1307                 if (dcpStart) {
1308                         closest = MathTools.closestPointOnStraight(next.getWorldPosition(), position, directedDirection);
1309                         tcp = insertElbow(dcp, next, closest);
1310                 } else {
1311                         closest = MathTools.closestPointOnStraight(dcp.getWorldPosition(), position, directedDirection);
1312                         tcp = insertElbow(next, dcp, closest);
1313                 }
1314                 double d = MathTools.distance(position, closest);
1315                 double s = spaceForTurn(tcp,dcp);
1316                 if (d < s)  {
1317                         d = s - d;
1318                         Vector3d p = new Vector3d(directedDirection);
1319                         p.scale(d);
1320                         p.add(closest);
1321                         tcp.setPosition(p);
1322                         closest = p;
1323                 }
1324
1325
1326
1327                 if (DEBUG)
1328                         System.out.println("PipingRules.updateDirectedPipeRun() inserted " + tcp);
1329
1330                 if (dcpStart) {
1331                         // update pipe run from new turn to other end
1332                         ppNoDir(tcp, new Vector3d(closest), u.list, u.end, u.endPoint, u.hasOffsets, u.iter, u.reversed, u.toRemove, u.updated);
1333                         // update pipe run from directed to new turn
1334                         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));
1335                 } else {
1336                         // update pipe run from other end to new turn
1337                         ppNoDir(u.start, u.startPoint, u.list, tcp, new Vector3d(closest), u.hasOffsets, u.iter, u.reversed, u.toRemove, u.updated);
1338                         // update pipe run from new turn to directed
1339                         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));
1340                 }
1341         }
1342
1343         /**
1344          * Checks if turns can be removed (turn angle near zero)
1345          */
1346         private static int checkTurns(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
1347                 if (DEBUG)
1348                         System.out.println("PipingRules.checkTurns() " + u.start + " " + u.end);
1349                 boolean startRemoved = false;
1350                 boolean endRemoved = false;
1351                 if (u.start.isVariableAngle()) {
1352                         // this won't work properly if inline control points are not updated
1353                         PipeControlPoint startPrev = u.start.getPrevious();
1354                         if (startPrev != null) {
1355                                 double a = updateTurnControlPointTurn(u.start, null, u.dir);
1356                                 if (a < MIN_TURN_ANGLE && u.start.isDeletable())
1357                                         startRemoved = true;
1358                                 else if (lengthChange == PathLegUpdateType.PREV || lengthChange == PathLegUpdateType.PREV_S) {
1359                                         PathLegUpdateType type;
1360                                         if (lengthChange == PathLegUpdateType.PREV_S)
1361                                                 type = PathLegUpdateType.PREV;
1362                                         else
1363                                                 type = PathLegUpdateType.NONE;
1364                                         updatePathLegPrev(u.start, u.start, type);
1365                                 }
1366                         }
1367                 }
1368                 if (u.end.isVariableAngle()) {
1369
1370                         PipeControlPoint endNext = u.end.getNext();
1371                         if (endNext != null) {
1372                                 // TODO: u.end, u.dir, null
1373                                 double a = updateTurnControlPointTurn(u.end, null, null);
1374                                 if (a < MIN_TURN_ANGLE && u.end.isDeletable())
1375                                         endRemoved = true;
1376                                 else if (lengthChange == PathLegUpdateType.NEXT || lengthChange == PathLegUpdateType.NEXT_S) {
1377                                         PathLegUpdateType type;
1378                                         if (lengthChange == PathLegUpdateType.NEXT_S)
1379                                                 type = PathLegUpdateType.NEXT;
1380                                         else
1381                                                 type = PathLegUpdateType.NONE;
1382                                         updatePathLegNext(u.end, u.end, type);
1383                                 }
1384                         }
1385                 }
1386                 if (DEBUG)
1387                         System.out.println("PipingRules.checkTurns() res " + startRemoved + " " + endRemoved);
1388                 if (!startRemoved && !endRemoved)
1389                         return REMOVE_NONE;
1390                 if (startRemoved && endRemoved)
1391                         return REMOVE_BOTH;
1392                 if (startRemoved)
1393                         return REMOVE_START;
1394                 return REMOVE_END;
1395         }
1396
1397         /**
1398          * Expands piperun search over turns that are going to be removed
1399          *
1400          */
1401         private static void expandPathLeg(UpdateStruct2 u, int type) throws Exception {
1402                 if (DEBUG)
1403                         System.out.println("PipingRules.expandPipeline " + u.start + " " + u.end);
1404                 ArrayList<PipeControlPoint> newList = new ArrayList<PipeControlPoint>();
1405                 switch (type) {
1406                 case REMOVE_NONE:
1407                         throw new RuntimeException("Error in piping rules");
1408                 case REMOVE_START:
1409                         u.toRemove.add(new ExpandIterInfo(u.start, REMOVE_START));
1410                         u.start = u.start.findPreviousEnd();
1411                         u.startPoint = u.start.getPosition();
1412                         u.start.findNextEnd(newList);
1413                         newList.addAll(u.list);
1414                         u.list = newList;
1415                         break;
1416                 case REMOVE_END:
1417                         u.toRemove.add(new ExpandIterInfo(u.end, REMOVE_END));
1418                         u.end = u.end.findNextEnd(newList);
1419                         u.endPoint = u.end.getPosition();
1420                         u.list.addAll(newList);
1421                         break;
1422                 case REMOVE_BOTH:
1423                         u.toRemove.add(new ExpandIterInfo(u.start, u.end));
1424                         u.start = u.start.findPreviousEnd();
1425                         u.startPoint = u.start.getPosition();
1426                         u.start.findNextEnd(newList);
1427                         newList.addAll(u.list);
1428                         u.list = newList;
1429                         newList = new ArrayList<PipeControlPoint>();
1430                         u.end = u.end.findNextEnd(newList);
1431                         u.endPoint = u.end.getPosition();
1432                         u.list.addAll(newList);
1433                         break;
1434                 default:
1435                         throw new RuntimeException("Error in piping rules");
1436
1437                 }
1438                 u.offset = new Vector3d();
1439                 if (u.hasOffsets) {
1440                         u.dir.normalize();
1441                         for (PipeControlPoint icp : u.list) {
1442                                 if (icp.isOffset()) {
1443                                         u.offset.add(icp.getSizeChangeOffsetVector(u.dir));
1444                                 } else if (icp.isDualSub())
1445                                         ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
1446                         }
1447                 }
1448                 if (DEBUG)
1449                         System.out.println("PipingRules.expandPipeline expanded " + u.start + " " + u.end);
1450                 u.iter++;
1451                 updatePathLeg(u, PathLegUpdateType.NONE);
1452         }
1453
1454         /**
1455          * reverts one iteration of turn removing back)
1456          */
1457         private static void backIter(UpdateStruct2 u) throws Exception {
1458
1459                 if (DEBUG)
1460                         System.out.println("PipingRules.backIter" + u.start + " " + u.end);
1461                 if (u.iter == 0)
1462                         throw new RuntimeException("Error in piping rules");
1463                 ExpandIterInfo info = u.toRemove.get(u.toRemove.size() - 1);
1464                 u.toRemove.remove(u.toRemove.size() - 1);
1465                 if (info.getType() == REMOVE_START || info.getType() == REMOVE_BOTH) {
1466                         while (u.list.size() > 0) {
1467                                 PipeControlPoint icp = u.list.get(0);
1468                                 if (icp.getPrevious().equals(info.getStart()))
1469                                         break;
1470                                 u.list.remove(icp);
1471                         }
1472                         u.start = info.getStart();
1473                 }
1474                 if (info.getType() == REMOVE_END || info.getType() == REMOVE_BOTH) {
1475                         while (u.list.size() > 0) {
1476                                 PipeControlPoint icp = u.list.get(u.list.size() - 1);
1477                                 if (icp.getNext().equals(info.getEnd()))
1478                                         break;
1479                                 u.list.remove(icp);
1480                         }
1481                         u.end = info.getEnd();
1482                 }
1483                 u.offset = new Vector3d();
1484                 if (u.hasOffsets) {
1485                         u.dir.normalize();
1486                         for (PipeControlPoint icp : u.list) {
1487                                 if (icp.isOffset()) {
1488                                         u.offset.add(icp.getSizeChangeOffsetVector(u.dir));
1489                                 } else if (icp.isDualSub())
1490                                         ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
1491                         }
1492                 }
1493                 processPathLeg(u);
1494
1495         }
1496
1497         /**
1498          * Processes pipe run (removes necessary turns and updates run ends)
1499          */
1500         // private static void processPathLeg(PipeControlPoint start, Point3d
1501         // startPoint,ArrayList<InlineControlPoint> list, PipeControlPoint
1502         // end,Point3d endPoint, Vector3d dir,Vector3d offset, boolean
1503         // hasOffsets,int iter, boolean reversed, ArrayList<ExpandIterInfo>
1504         // toRemove) throws TransactionException {
1505
1506         private static void processPathLeg(UpdateStruct2 u) throws Exception {
1507                 if (DEBUG)
1508                         System.out.println("PipingRules.processPathLeg " + u.start + " " + u.end);
1509                 processPathLeg(u, true, true);
1510         }
1511
1512         private static void processPathLeg(UpdateStruct2 u, boolean updateEnds, boolean updateInline) throws Exception {
1513                 if (DEBUG)
1514                         System.out.println("PipingRules.processPathLeg " + (updateEnds ? "ends " : "") + (updateInline ? "inline " : "") + u.start + " " + u.end);
1515
1516                 if (u.toRemove.size() > 0) {
1517                         for (ExpandIterInfo info : u.toRemove) {
1518                                 if (info.getStart() != null) {
1519                                         if (DEBUG)
1520                                                 System.out.println("PipingRules.processPathLeg removing start " + info.getStart());
1521                                         info.getStart()._remove();
1522                                 }
1523                                 if (info.getEnd() != null) {
1524                                         if (DEBUG)
1525                                                 System.out.println("PipingRules.processPathLeg removing end " + info.getEnd());
1526                                         info.getEnd()._remove();
1527                                 }
1528                         }
1529                         // ControlPointTools.removeControlPoint may remove more than one CP;
1530                         // we must populate inline CP list again.
1531                         u.list.clear();
1532                         u.start.findNextEnd( u.list);
1533                 }
1534                 // FIXME : inline CPs are update twice because their positions must be
1535                 // updated before and after ends.
1536                 updateInlineControlPoints(u, false);
1537
1538                 if (updateEnds) {
1539                         if (u.start.isTurn()) {
1540                                 //updateTurnControlPointTurn(u.start, u.start.getPrevious(), u.start.getNext());
1541                                 updateTurnControlPointTurn(u.start, null, null);
1542 //                              updatePathLegPrev(u.start, u.start, PathLegUpdateType.NONE);
1543                         } else if (u.start.isEnd()) {
1544                                 updateEndComponentControlPoint(u.start, u.dir);
1545                         } else if (u.start.isInline()) {
1546                                 updateControlPointOrientation(u.start, u.dir);
1547                         }
1548                         if (u.end.isTurn()) {
1549                                 //updateTurnControlPointTurn(u.end, u.end.getPrevious(), u.end.getNext());
1550                                 updateTurnControlPointTurn(u.end, null, null);
1551 //                              updatePathLegNext(u.end, u.end, PathLegUpdateType.NONE);
1552                         } else if (u.end.isEnd()) {
1553                                 updateEndComponentControlPoint(u.end, u.dir);
1554                         } else if (u.end.isInline()) {
1555                                 updateControlPointOrientation(u.end, u.dir);
1556                         }
1557
1558                 } else {
1559                         if (u.start.isEnd()) {
1560                                 updateEndComponentControlPoint(u.start, u.dir);
1561                         }
1562                         if (u.end.isEnd()) {
1563                                 updateEndComponentControlPoint(u.end, u.dir);
1564                         }
1565                 }
1566                 if (updateInline)
1567                         updateInlineControlPoints(u, true);
1568
1569         }
1570
1571         /**
1572          * Processes pipe run and recalculates offset
1573          */
1574         // private static void processPathLeg(PipeControlPoint start, Point3d
1575         // startPoint,ArrayList<InlineControlPoint> list, PipeControlPoint
1576         // end,Point3d endPoint, Vector3d dir, boolean hasOffsets,int iter, boolean
1577         // reversed, ArrayList<ExpandIterInfo> toRemove) throws TransactionException
1578         // {
1579         @SuppressWarnings("unused")
1580         private static void processPathLegNoOffset(UpdateStruct2 u) throws Exception {
1581                 if (DEBUG)
1582                         System.out.println("PipingRules.processPathLeg " + u.start + " " + u.end);
1583                 Vector3d offset = new Vector3d();
1584                 if (u.hasOffsets) {
1585                         u.dir.normalize();
1586                         for (PipeControlPoint icp : u.list) {
1587                                 if (icp.isOffset()) {
1588                                         offset.add(icp.getSizeChangeOffsetVector(u.dir));
1589                                 } else if (icp.isDualSub()) {
1590                                         ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
1591                                 }
1592                         }
1593                 }
1594                 processPathLeg(u);
1595         }
1596
1597         private static void updateOffsetPoint(PipeControlPoint sccp, Vector3d offset) {
1598                 Vector3d world = sccp.getWorldPosition();
1599                 world.add(offset);
1600                 PipeControlPoint ocp = sccp.getDualSub();
1601                 ocp.setWorldPosition(world);
1602         }
1603
1604         /**
1605          * Updates InlineControlPoints position when straight pipe's end(s) have
1606          * been changed)
1607          *
1608          * @param pipeline
1609          * @param icp
1610          * @param nextPoint
1611          * @param prevPoint
1612          */
1613         private static void updateInlineControlPoint(PipeControlPoint icp, Vector3d prev, Vector3d next,  Vector3d dir) {
1614                 if (DEBUG)
1615                         System.out.println("PipingRules.updateInlineControlPoint() " + icp);
1616
1617                 Vector3d inlinePoint = icp.getWorldPosition();
1618                 Vector3d prevPoint = new Vector3d(prev);
1619                 Vector3d nextPoint = new Vector3d(next);
1620                 if (!icp.isVariableLength()) {
1621                         // Reserve space for fixed length components.
1622                         MathTools.mad(prevPoint, dir, icp.getInlineLength());
1623                         MathTools.mad(nextPoint, dir, -icp.getInlineLength());
1624                         if (MathTools.distance(prevPoint, nextPoint) < ALLOWED_OFFSET) {
1625                                 prevPoint = prev;
1626                                 nextPoint = next;
1627                         }
1628                 }
1629                 boolean canCalc = MathTools.distance(prevPoint, nextPoint) > ALLOWED_OFFSET;
1630                 if (DEBUG)
1631                         System.out.print("InlineControlPoint update " + icp + " " + inlinePoint + " " + prevPoint + " " + nextPoint);
1632                 Vector3d newInlinePoint = null;
1633                 if (canCalc) {
1634                         boolean branchUpdate = false;
1635                         PipeControlPoint becp = null;
1636                         for (PipeControlPoint pcp : icp.getChildPoints())
1637                                 if (pcp.isNonDirected()) {
1638                                         branchUpdate = true;
1639                                         becp = pcp;
1640                                         break;
1641                                 }
1642
1643                         if (DUMMY || !branchUpdate) {
1644                                 newInlinePoint = MathTools.closestPointOnEdge(new Vector3d(inlinePoint), prevPoint, nextPoint);
1645
1646                         } else {
1647
1648                                 // FIXME : can only handle one branch
1649                                 PipeControlPoint p = null;
1650                                 if (becp.getNext() != null) {
1651                                         p = becp.findNextEnd();
1652                                 } else if (becp.getPrevious() != null) {
1653                                         p = becp.findPreviousEnd();
1654                                 }
1655                                 if (p == null) {
1656                                         newInlinePoint = MathTools.closestPointOnEdge(new Vector3d(inlinePoint), prevPoint, nextPoint);
1657                                 } else if (canCalc){
1658                                         Vector3d branchLegEnd = p.getWorldPosition();
1659                                         Vector3d dir2 = new Vector3d(inlinePoint);
1660                                         dir2.sub(branchLegEnd);
1661                                         Vector3d dir1 = new Vector3d(nextPoint);
1662                                         dir1.sub(prevPoint);
1663                                         newInlinePoint = new Vector3d();
1664                                         double mu[] = new double[2];
1665                                         MathTools.intersectStraightStraight(new Vector3d(prevPoint), dir1, new Vector3d(branchLegEnd), dir2, newInlinePoint, new Vector3d(), mu);
1666                                         if (DEBUG)
1667                                                 System.out.println(mu[0]);
1668                                         // FIXME : reserve space
1669                                         if (mu[0] < 0.0) {
1670                                                 newInlinePoint = new Vector3d(prevPoint);
1671                                         } else if (mu[0] > 1.0) {
1672                                                 newInlinePoint = new Vector3d(nextPoint);
1673                                         }
1674                                 }
1675                         }
1676                 } else {
1677                         // prevPoint == nextPoint
1678                         newInlinePoint = new Vector3d(prevPoint);
1679                 }
1680                 if (DEBUG)
1681                         System.out.println(" " + newInlinePoint);
1682
1683                 icp.setWorldPosition(newInlinePoint);
1684                 updateControlPointOrientation(icp, dir);
1685         }
1686
1687         /**
1688          * Updates InlineControlPoints position when straight pipe's end(s) have
1689          * been changed)
1690          *
1691          * @param pipeline
1692          * @param icp
1693          * @param nextPoint
1694          * @param prevPoint
1695          */
1696         private static void updateEndComponentControlPoint(PipeControlPoint ecp, Vector3d dir) throws Exception {
1697                 if (DEBUG)
1698                         System.out.println("PipingRules.updateEndComponentControlPoint() " + ecp);
1699
1700                 if (!ecp.isFixed()) // prevent overriding nozzle orientations..
1701                    updateControlPointOrientation(ecp, dir);
1702
1703                 for (PipeControlPoint pcp : ecp.getChildPoints()) {
1704                         // TODO update position
1705                         updatePathLegEndControlPoint(pcp);
1706                 }
1707         }
1708
1709         private static void updateControlPointOrientation(PipeControlPoint pcp, Vector3d dir) {
1710                 Double angleO = pcp.getRotationAngle();
1711                 double angle = 0.0;
1712                 if (angleO != null)
1713                         angle = angleO;
1714                 boolean reversed = pcp._getReversed();
1715                 Quat4d q = null;
1716                 if (dir != null) {
1717                     q = pcp.getControlPointOrientationQuat(dir, angle, reversed);
1718                 } else {
1719                     q = pcp.getControlPointOrientationQuat(angle, reversed);
1720                 }
1721                 pcp.setWorldOrientation(q);
1722         }
1723
1724         /**
1725          * Updates all branches when branch's position has been changed
1726          *
1727          * @param bcp
1728          */
1729         private static void updateBranchControlPointBranches(PipeControlPoint bcp) throws Exception {
1730                 if (DEBUG)
1731                         System.out.println("PipingRules.updateBranchControlPointBranches() " + bcp);
1732                 if (bcp.isDualInline())
1733                         return;
1734                 Collection<PipeControlPoint> branches = bcp.getChildPoints();
1735                 if (branches.size() == 0) {
1736                         if (DEBUG)
1737                                 System.out.println("No Branches found");
1738                         return;
1739                 }
1740
1741                 for (PipeControlPoint pcp : branches) {
1742                         updatePathLegEndControlPoint(pcp);
1743                 }
1744         }
1745
1746         private static double updateTurnControlPointTurn(PipeControlPoint tcp, Vector3d prev, Vector3d next) {
1747                 if (next == null) {
1748                         UpdateStruct2 us = createUS(tcp, Direction.NEXT, 0, new ArrayList<PipingRules.ExpandIterInfo>(), tcp);
1749                         if (us != null)
1750                                 next = us.dir;
1751                 }
1752                 if (prev == null) {
1753                         UpdateStruct2 us = createUS(tcp, Direction.PREVIOUS, 0, new ArrayList<PipingRules.ExpandIterInfo>(), tcp);
1754                         if (us != null) {
1755                                 prev = us.dir;
1756                         }
1757                 }
1758
1759                 if (!tcp.asFixedAngle()) {
1760
1761
1762                         if (next == null || prev == null) {
1763                                 if (tcp.getTurnAngle() != null)
1764                                         return tcp.getTurnAngle();
1765                                 return Math.PI; // FIXME : argh
1766                         }
1767                         double turnAngle = prev.angle(next);
1768
1769                         double angle = Math.PI - turnAngle;
1770
1771                         Vector3d turnAxis = new Vector3d();
1772                         turnAxis.cross(prev, next);
1773                         if (turnAxis.lengthSquared() > MathTools.NEAR_ZERO) {
1774                                 double elbowRadius = ((TurnComponent)tcp.getPipelineComponent()).getTurnRadius();
1775                                 double R = elbowRadius / Math.tan(angle * 0.5);
1776
1777                                 turnAxis.normalize();
1778                                 tcp.setTurnAngle(turnAngle);
1779                                 tcp.setLength(R);// setComponentOffsetValue(R);
1780                                 tcp.setTurnAxis(turnAxis);
1781         //                      tcp.setPosition(tcp.getPosition());
1782                         } else {
1783                                 turnAngle = 0.0;
1784                                 tcp.setTurnAngle(0.0);
1785                                 tcp.setLength(0.0);
1786                                 tcp.setTurnAxis(new Vector3d(MathTools.Y_AXIS));
1787                         }
1788
1789                         updateControlPointOrientation(tcp,prev);
1790
1791                         if (DEBUG)
1792                                 System.out.println("PipingTools.updateTurnControlPointTurn " + prev + " " + next + " " + turnAngle + " " + turnAxis);
1793                         return turnAngle;
1794                 } else {
1795
1796                         if (prev != null && next != null) {
1797                                 // Nothing to do
1798                         } else if (prev == null) {
1799                                 if (!tcp._getReversed())
1800                                         tcp.setReversed(true);
1801                         } else if (next == null) {
1802                                 if (tcp._getReversed())
1803                                         tcp.setReversed(false);
1804                         }
1805
1806                         Vector3d dir = null;
1807                         if (!tcp._getReversed()) {
1808                                 dir = prev;
1809                         } else {
1810                                 dir = next;
1811                                 dir.negate();
1812                         }
1813                         if (dir == null) {
1814                                 return Math.PI; // FIXME : argh
1815                         }
1816
1817                         Quat4d q = PipeControlPoint.getControlPointOrientationQuat(dir, tcp.getRotationAngle() != null ? tcp.getRotationAngle() : 0.0);
1818                         Vector3d v = new Vector3d();
1819                         MathTools.rotate(q, MathTools.Y_AXIS,v);
1820                         tcp.setTurnAxis(v);
1821                         tcp.setWorldOrientation(q);
1822                         if (tcp.getTurnAngle() != null)
1823                                 return tcp.getTurnAngle();
1824                         return Math.PI; // FIXME : argh
1825                 }
1826
1827
1828         }
1829
1830         public static List<PipeControlPoint> getControlPoints(PipeRun pipeRun) {
1831                 List<PipeControlPoint> list = new ArrayList<PipeControlPoint>();
1832                 if (pipeRun.getControlPoints().size() == 0)
1833                         return list;
1834                 PipeControlPoint pcp = pipeRun.getControlPoints().iterator().next();
1835                 while (pcp.getPrevious() != null) {
1836                         PipeControlPoint prev = pcp.getPrevious();
1837                         if (prev.getPipeRun() != pipeRun && prev.getPipeRun() != null) { // bypass possible corruption
1838                             break;
1839                         }
1840                         pcp = prev;
1841                 }
1842                 if (pcp.isDualSub()) {
1843                         pcp = pcp.getParentPoint();
1844                 }
1845                 list.add(pcp);
1846                 while (pcp.getNext() != null) {
1847                         pcp = pcp.getNext();
1848                         if (pcp.getPipeRun() != pipeRun)
1849                                 break;
1850                         list.add(pcp);
1851                 }
1852                 return list;
1853         }
1854
1855         public static void reverse(PipeRun pipeRun) {
1856
1857                 while (true) {
1858                         List<PipeControlPoint> points = getControlPoints(pipeRun);
1859                         PipeControlPoint pcp = points.get(0);
1860                         if (pcp.isSizeChange() && pcp.getChildPoints().size() > 0) {
1861                                 PipeRun pr = pcp.getPipeRun();
1862                                 if (pr != pipeRun)
1863                                     pipeRun = pr;
1864                                 else break;
1865                         } else {
1866                                 break;
1867                         }
1868                 }
1869                 List<PipeRun> all = new ArrayList<PipeRun>();
1870                 List<List<PipeControlPoint>> pcps = new ArrayList<List<PipeControlPoint>>();
1871                 while (true) {
1872                         all.add(pipeRun);
1873                         List<PipeControlPoint> points = getControlPoints(pipeRun);
1874                         pcps.add(points);
1875                         PipeControlPoint pcp = points.get(points.size()-1);
1876                         if (pcp.getChildPoints().size() > 0) {
1877                                 PipeRun pipeRun2 = pcp.getChildPoints().get(0).getPipeRun();
1878                                 if (pipeRun == pipeRun2)
1879                                     break;
1880                                 else
1881                                     pipeRun = pipeRun2;
1882                         } else {
1883                                 break;
1884                         }
1885                 }
1886                 for (int i = 0 ; i < all.size(); i++) {
1887                         List<PipeControlPoint> list = pcps.get(i);
1888                         _reverse(list);
1889                 }
1890                 for (int i = 0 ; i < all.size(); i++) {
1891                         boolean last = i == all.size() - 1;
1892                         List<PipeControlPoint> list = pcps.get(i);
1893
1894                         if (!last) {
1895                                 List<PipeControlPoint> list2 = pcps.get(i+1);
1896                                 PipeControlPoint prev = list.get(list.size()-1);
1897                                 PipeControlPoint next = list2.get(0);
1898                                 if (prev == next) {
1899                                         // Reverse the component on the boundary.
1900                                         InlineComponent ic = (InlineComponent)prev.getPipelineComponent();
1901                                         PipeRun r1 = ic.getPipeRun();
1902                                         PipeRun r2 = ic.getAlternativePipeRun();
1903                                         if (r1 == null || r2 == null)
1904                                                 throw new RuntimeException("Components on PipeRun changes should refer to bot PipeRuns");
1905                                         ic.deattach();
1906                                         r2.addChild(ic);
1907                                         ic.setPipeRun(r2);
1908                                         ic.setAlternativePipeRun(r1);
1909                                 } else {
1910                                         throw new RuntimeException("PipeRun changes should contain shared control points");
1911                                 }
1912
1913                         }
1914                 }
1915
1916         }
1917
1918         private static void _reverse(List<PipeControlPoint> list) {
1919                 if (list.size() <= 1)
1920                         return; // nothing to do.
1921
1922                 for (int i = 0 ; i < list.size(); i++) {
1923                         boolean first = i == 0;
1924                         boolean last = i == list.size() - 1;
1925                         PipeControlPoint current = list.get(i);
1926                         PipeControlPoint currentSub = null;
1927                         if (current.isDualInline())
1928                                 currentSub = current.getDualSub();
1929                         if (first) {
1930                                 PipeControlPoint next = list.get(i+1);
1931                                 if (next.isDualInline())
1932                                         next = next.getDualSub();
1933                                 if (current.getNext() == next)
1934                                         current.setNext(null);
1935                                 current.setPrevious(next);
1936                                 if (currentSub != null) {
1937                                         if (currentSub.getNext() == next)
1938                                                 currentSub.setNext(null);
1939                                         currentSub.setPrevious(next);
1940                                 }
1941                         } else if (last) {
1942                                 PipeControlPoint prev = list.get(i-1);
1943
1944                                 if (current.getPrevious() == prev)
1945                                         current.setPrevious(null);
1946                                 current.setNext(prev);
1947
1948                                 if (currentSub != null) {
1949                                         if (currentSub.getPrevious() == prev)
1950                                                 currentSub.setPrevious(null);
1951                                         currentSub.setNext(prev);
1952                                 }
1953                         } else {
1954                                 PipeControlPoint prev = list.get(i-1);
1955                                 PipeControlPoint next = list.get(i+1);
1956                                 if (next.isDualInline())
1957                                         next = next.getDualSub();
1958
1959
1960                                 current.setPrevious(next);
1961                                 current.setNext(prev);
1962
1963                                 if (currentSub != null) {
1964                                         currentSub.setPrevious(next);
1965                                         currentSub.setNext(prev);
1966                                 }
1967
1968                         }
1969                         //if (current.isTurn() && current.isFixed()) {
1970                         if (current.asFixedAngle()) {
1971                                 current.setReversed(!current._getReversed());
1972                         }
1973                         if (current.isInline() && current.isReverse()) {
1974                                 current.setReversed(!current._getReversed());
1975                         }
1976                 }
1977         }
1978
1979
1980
1981         public static void validate(PipeRun pipeRun) {
1982                 if (pipeRun == null)
1983                         return;
1984                 Collection<PipeControlPoint> pcps = pipeRun.getControlPoints();
1985                 int count = 0;
1986                 //System.out.println("Validate " + pipeRun.getName());
1987                 for (PipeControlPoint pcp : pcps) {
1988                         if (pcp.getParentPoint() == null || pcp.getParentPoint().getPipeRun() != pipeRun)
1989                                 count++;
1990                 }
1991                 List<PipeControlPoint> runPcps = getControlPoints(pipeRun);
1992                 if (runPcps.size() != count) {
1993                         System.out.println("Run " + pipeRun.getName() + " contains unconnected control points, found " + runPcps.size() + " connected, " + pcps.size() + " total.");
1994                         for (PipeControlPoint pcp : pcps) {
1995                             if (!runPcps.contains(pcp)) {
1996                                 System.out.println("Unconnected " + pcp + " " + pcp.getPipelineComponent());
1997                             }
1998                         }
1999                 }
2000                 for (PipeControlPoint pcp : pcps) {
2001                     if (pcp.getPipeRun() == null) {
2002                         System.out.println("PipeRun ref missing " + pcp + " " + pcp.getPipelineComponent());
2003                     }
2004                         if (!pcp.isDirected() && pcp.getNext() == null && pcp.getPrevious() == null)
2005                                 System.out.println("Orphan undirected " + pcp + " " + pcp.getPipelineComponent());
2006                 }
2007                 for (PipeControlPoint pcp : pcps) {
2008                         if (pcp.getParentPoint() == null) {
2009                                 PipeControlPoint sub = null;
2010                                 if (pcp.isDualInline())
2011                                         sub = pcp.getDualSub();
2012                                 PipeControlPoint next = pcp.getNext();
2013                                 PipeControlPoint prev = pcp.getPrevious();
2014                                 if (next != null) {
2015                                         if (!(next.getPrevious() == pcp || next.getPrevious() == sub)) {
2016                                                 System.out.println("Inconsistency between " + pcp + " -> " +next );
2017                                         }
2018                                 }
2019                                 if (prev != null) {
2020                                         PipeControlPoint prevParent = null;
2021                                         if (prev.isDualSub()) {
2022                                                 prevParent = prev.getParentPoint();
2023                                         } else if (prev.isDualInline()) {
2024                                                 System.out.println("Inconsistency between " + pcp + " <-- " +prev );
2025                                         }
2026                                         if (!(prev.getNext() == pcp && (prevParent == null || prevParent.getNext() == pcp))) {
2027                                                 System.out.println("Inconsistency between " + pcp + " <-- " +prev );
2028                                         }
2029                                 }
2030                         }
2031                 }
2032         }
2033
2034         public static void splitVariableLengthComponent(PipelineComponent newComponent, InlineComponent splittingComponent, boolean assignPos) throws Exception{
2035                 assert(!splittingComponent.getControlPoint().isFixedLength());
2036                 assert(!(newComponent instanceof  InlineComponent && !newComponent.getControlPoint().isFixedLength()));
2037                 PipeControlPoint newCP = newComponent.getControlPoint();
2038                 PipeControlPoint splittingCP = splittingComponent.getControlPoint();
2039                 PipeControlPoint nextCP = splittingCP.getNext();
2040                 PipeControlPoint prevCP = splittingCP.getPrevious();
2041
2042                 /* there are many different cases to insert new component when
2043                    it splits existing VariableLengthinlineComponent.
2044
2045                    1. VariableLengthComponet is connected from both sides:
2046                           - insert new component between VariableLength component and component connected to it
2047                           - insert new VariableLengthComponent between inserted component and component selected in previous step
2048
2049                    2. VariableLengthComponent is connected from one side
2050                          - Use previous case or:
2051                          - Insert new component to empty end
2052                          - Insert new VariableLength component to inserted components empty end
2053
2054                    3. VariableLength is not connected to any component.
2055                          - Should not be possible, at least in current implementation.
2056                          - Could be done using second case
2057
2058                 */
2059
2060                 if (nextCP == null && prevCP == null) {
2061                         // this should not be possible
2062                         throw new RuntimeException("VariableLengthComponent " + splittingComponent + " is not connected to anything.");
2063                 }
2064                 double newLength = newComponent.getControlPoint().getLength();
2065
2066
2067                 Point3d next = new Point3d();
2068                 Point3d prev = new Point3d();
2069                 splittingCP.getInlineControlPointEnds(prev, next);
2070
2071                 Vector3d newPos = null;
2072                 if (assignPos) {
2073                         newPos = new Vector3d(prev);
2074                         Vector3d dir = new Vector3d(next);
2075                         dir.sub(prev);
2076                         dir.scale(0.5);
2077                         newPos.add(dir);
2078                         newComponent.setWorldPosition(newPos);
2079                 } else {
2080                         newPos = newComponent.getWorldPosition();
2081                 }
2082
2083
2084
2085                 Vector3d dir = new Vector3d(next);
2086                 dir.sub(prev);
2087                 dir.normalize();
2088                 dir.scale(newLength * 0.5);
2089                 Point3d vn = new Point3d(newPos);
2090                 Point3d vp = new Point3d(newPos);
2091                 vn.add(dir);
2092                 vp.sub(dir);
2093                 double ln = vn.distance(next);
2094                 double lp = vp.distance(prev);
2095                 vp.interpolate(prev, 0.5);
2096                 vn.interpolate(next, 0.5);
2097
2098
2099                 if (nextCP == null) {
2100                         newCP.insert(splittingCP, Direction.NEXT);
2101                         insertStraight(newCP, Direction.NEXT, new Vector3d(vn), ln);
2102                         splittingCP.setWorldPosition(new Vector3d(vp));
2103 //                      ControlPointTools.setWorldPosition(splittingCP, vp);
2104 //                      splittingCP.setRelatedScalarDouble(ProcessResource.plant3Dresource.HasLength, lp);
2105                 } else if (prevCP == null) {
2106                         newCP.insert(splittingCP, Direction.PREVIOUS);
2107                         insertStraight(newCP, Direction.PREVIOUS, new Vector3d(vp), lp);
2108                         splittingCP.setWorldPosition(new Vector3d(vn));
2109 //                      splittingCP.setRelatedScalarDouble(ProcessResource.plant3Dresource.HasLength, ln);
2110                 } else {
2111                         newCP.insert(splittingCP, nextCP);
2112                         insertStraight(newCP, nextCP, new Vector3d(vn), ln);
2113                         splittingCP.setWorldPosition(new Vector3d(vp));
2114 //                      splittingCP.setRelatedScalarDouble(ProcessResource.plant3Dresource.HasLength, lp);
2115                 }
2116                 positionUpdate(newCP);
2117
2118         }
2119
2120         public static void addSizeChange(boolean reversed, PipeRun pipeRun, PipeRun other, InlineComponent reducer, PipeControlPoint previous, PipeControlPoint next) {
2121                 PipeControlPoint pcp = reducer.getControlPoint();
2122                 PipeControlPoint ocp = pcp.getDualSub();
2123                 if (!reversed) {
2124                         String name = pipeRun.getUniqueName("Reducer");
2125                         reducer.setName(name);
2126                         pipeRun.addChild(reducer);
2127                         other.addChild(ocp);
2128                         reducer.setAlternativePipeRun(other);
2129
2130                         previous.setNext(pcp);
2131                         pcp.setPrevious(previous);
2132                         ocp.setPrevious(previous);
2133                         if (next != null) {
2134                                 pcp.setNext(next);
2135                                 ocp.setNext(next);
2136                                 next.setPrevious(ocp);
2137                         }
2138                 } else {
2139                         String name = other.getUniqueName("Reducer");
2140                         reducer.setName(name);
2141                         other.addChild(reducer);
2142                         pipeRun.addChild(ocp);
2143                         reducer.setAlternativePipeRun(pipeRun);
2144
2145                         if (next != null) {
2146                                 next.setNext(pcp);
2147                                 pcp.setPrevious(next);
2148                                 ocp.setPrevious(next);
2149                         }
2150                         pcp.setNext(previous);
2151                         ocp.setNext(previous);
2152                         previous.setPrevious(ocp);
2153                 }
2154         }
2155 }