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                 if (l > l2s) {
 868                         if (allowInsertRemove) {
 869                                 dir.normalize();
 870                                 double length = Math.sqrt(l) - l2; // true length of the variable length component
 871                                 dir.scale(length * 0.5 + l2prev); // calculate center position of the component
 872                                 dir.add(prevPos);
 873                                 insertStraight(prev, icp, dir, length);
 874                                 return true;
 875                         } else {
 876                                 triedIR = true;
 877                         }
 878                 }
 879                 return false;
 880         }
 881
 882         private static void updateVariableLengthEnd(PipeControlPoint icp,  PipeControlPoint prev) {
 883                 Vector3d currentPos = icp.getWorldPosition();
 884                 Vector3d prevPos = prev.getWorldPosition();
 885
 886                 Vector3d dir = new Vector3d();
 887                 dir.sub(currentPos, prevPos);
 888
 889                 boolean simple = currentUpdates.contains(icp);
 890                 if (simple) {
 891                         // Update based on position -> adjust length
 892                         double currentLength = (dir.length() - prev.getInlineLength()) * 2.0;
 893                         icp.setLength(currentLength);
 894                 } else {
 895                         // Update based on neighbour movement -> adjust length and position, so that free end stays in place.
 896                         double currentLength = icp.getLength();
 897                         if (currentLength < MathTools.NEAR_ZERO) {
 898                                 currentLength = (dir.length() - prev.getInlineLength()) * 2.0;
 899                         }
 900
 901                         if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 902                                 dir.normalize();
 903                         Point3d endPos = new Point3d(dir);
 904                         endPos.scale(currentLength * 0.5);
 905                         endPos.add(currentPos); // this is the free end of the component
 906
 907                         double offset = prev.getInlineLength();
 908                         Point3d beginPos = new Point3d(dir);
 909                         beginPos.scale(offset);
 910                         beginPos.add(prevPos); // this is the connected end of the component
 911
 912                         double l = beginPos.distance(endPos);
 913
 914                         if (Double.isNaN(l))
 915                                 System.out.println("Length for " + icp + " is NaN");
 916
 917                         dir.scale(l * 0.5);
 918                         beginPos.add(dir); // center position
 919
 920                         if (DEBUG)
 921                                 System.out.println("PipingRules.updateInlineControlPoints() setting variable length to " + l);
 922                         icp.setLength(l);
 923
 924                         icp.setWorldPosition(new Vector3d(beginPos));
 925                 }
 926         }
 927
 928         private static void ppNoOffset(UpdateStruct2 u) throws Exception {
 929                 if (DEBUG)
 930                         System.out.println("PipingRules.ppNoOffset() " + u);
 931                 Vector3d offset = new Vector3d();
 932                 if (u.hasOffsets) {
 933                         u.dir.normalize();
 934                         for (PipeControlPoint icp : u.list) {
 935                                 if (icp.isOffset()) {
 936                                         offset.add(icp.getSizeChangeOffsetVector(u.dir));
 937                                 } else if (icp.isDualSub())
 938                                         ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
 939                         }
 940                 }
 941                 u.offset = offset;
 942                 checkExpandPathLeg(u, PathLegUpdateType.NONE);
 943         }
 944
 945         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 {
 946                 if (DEBUG)
 947                         System.out.println("PipingRules.ppNoDir() " + start + " " + end + " " + iter + " " + toRemove.size());
 948                 // FIXME : extra loop (dir should be calculated here)
 949                 Vector3d dir = new Vector3d();
 950                 Vector3d offset = new Vector3d();
 951                 hasOffsets = calculateOffset(startPoint, endPoint, start, list, end, dir, offset);
 952                 ppNoOffset(new UpdateStruct2(start, startPoint, list, end, endPoint, dir, null, hasOffsets, iter, reversed, toRemove, updated));
 953         }
 954
 955         private static void checkExpandPathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
 956                 checkExpandPathLeg(u, lengthChange, u.updated.isInline() && u.updated.isOffset());
 957         }
 958
 959         private static void checkExpandPathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange, boolean updateEnds) throws Exception {
 960                 if (DEBUG)
 961                         System.out.println("PipingRules.checkExpandPathLeg() " + u + " " + lengthChange);
 962                 if (lengthChange != PathLegUpdateType.NONE) {
 963                         // FIXME : turns cannot be checked before inline cps are updated,
 964                         // since their position affects calculation of turns
 965                         processPathLeg(u, updateEnds, false);
 966                         int type = checkTurns(u, lengthChange);
 967                         if (type == REMOVE_NONE) {
 968                                 processPathLeg(u, updateEnds, true);
 969                         } else {
 970                                 expandPathLeg(u, type);
 971                         }
 972                 } else {
 973                         processPathLeg(u, updateEnds, true);
 974                 }
 975         }
 976
 977         private static void updateDirectedPathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
 978                 if (DEBUG)
 979                         System.out.println("PipingRules.updateDirectedPipeRun() " + u + " " + lengthChange);
 980                 PipeControlPoint dcp;
 981                 PipeControlPoint other;
 982                 boolean canMoveOther = false;
 983                 boolean dcpStart = false;
 984                 boolean inlineEnd = false;
 985                 Vector3d position;
 986                 if (asDirected(u.start, Direction.NEXT)) {
 987                         dcp = u.start;
 988                         other = u.end;
 989                         position = u.startPoint;
 990                         dcpStart = true;
 991                         inlineEnd = u.end.isInline();
 992
 993                 } else {
 994                         dcp = u.end;
 995                         other = u.start;
 996                         position = u.endPoint;
 997                         inlineEnd = u.start.isInline();
 998                 }
 999                 canMoveOther = !(other == u.updated);
1000
1001                 Vector3d directedDirection = direction(dcp, dcpStart ? Direction.NEXT : Direction.PREVIOUS);
1002                 if (directedDirection == null) {
1003                         //updateTurnControlPointTurn(dcp, dcp.getPrevious(), dcp.getNext());
1004                         updateTurnControlPointTurn(dcp, null, null);
1005                         directedDirection = direction(dcp, dcpStart ? Direction.NEXT : Direction.PREVIOUS);
1006                         if (directedDirection == null) {
1007                                 return;
1008                         }
1009                 }
1010                 Point3d directedEndPoint = new Point3d(u.endPoint);
1011                 if (u.hasOffsets)
1012                         directedEndPoint.sub(u.offset);
1013
1014                 double mu[] = new double[2];
1015
1016                 Vector3d closest;
1017                 Vector3d t = new Vector3d();
1018
1019                 if (dcpStart) {
1020                         closest = MathTools.closestPointOnStraight(directedEndPoint, u.startPoint, directedDirection, mu);
1021                         t.sub(closest, directedEndPoint);
1022                 } else {
1023                         closest = MathTools.closestPointOnStraight(u.startPoint, directedEndPoint, directedDirection, mu);
1024                         t.sub(closest, u.startPoint);
1025                 }
1026
1027                 double distance = t.length();
1028                 boolean aligned = (distance < ALLOWED_OFFSET);
1029                 double requiredSpace  = 0.0;
1030                 if (other.isVariableAngle()) {
1031                     requiredSpace = spaceForTurn(other, dcp);
1032                 }
1033                 if (mu[0] < requiredSpace) {
1034                     // At the moment, if next component is directly behind the nozzle, we must force moving the other component.
1035                     // Trying to solve the situation by adding new turn creates infinite loop...
1036                     aligned = false;
1037                     canMoveOther = true;
1038                 }
1039                 if (aligned) {
1040                         if (u.start.isInline() || u.end.isInline() || u.start.asFixedAngle() || u.end.asFixedAngle())
1041                                 processPathLeg(u, true, false);
1042                         checkExpandPathLeg(u, lengthChange, inlineEnd);
1043
1044                 } else {
1045                         if (u.iter > 0) {
1046                                 backIter(u);
1047                         } else {
1048                                 PipeControlPoint nextToMoved;
1049
1050                                 if (u.list.size() > 0)
1051                                         if (dcpStart)
1052                                                 nextToMoved = u.list.get(0);
1053                                         else
1054                                                 nextToMoved = u.list.get(u.list.size() - 1);
1055                                 else if (dcpStart)
1056                                         nextToMoved = u.end;
1057                                 else
1058                                         nextToMoved = u.start;
1059                                 if (other.isVariableAngle()) {
1060
1061                                         // TODO calculate needed space from next run end.
1062                                     if (mu[0] < requiredSpace) {
1063                                                 if (dcpStart) {
1064                                                         closest.set(u.startPoint);
1065                                                 } else {
1066                                                         closest.set(u.endPoint);
1067                                                 }
1068                                                 Vector3d v = new Vector3d(directedDirection);
1069                                                 v.scale(requiredSpace);
1070                                                 closest.add(v);
1071                                         }
1072
1073                                         if (canMoveOther) {
1074                                                 if (DEBUG)
1075                                                         System.out.println("PipingRules.updateDirectedPipeRun() moved end " + other + " to " + closest);
1076                                                 other.setWorldPosition(closest);
1077                                                 if (dcpStart) {
1078                                                         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));
1079                                                         if (u.end.getNext() != null)
1080                                                                 updatePathLegNext(u.end, u.updated, PathLegUpdateType.NEXT);
1081                                                 } else {
1082                                                         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));
1083                                                         if (u.start.getPrevious() != null)
1084                                                                 updatePathLegPrev(u.start, u.updated, PathLegUpdateType.PREV);
1085                                                 }
1086                                         } else {
1087                                                 // TODO : calculate needed space from next run end.
1088                                                 if (allowInsertRemove)
1089                                                         insertElbowUpdate(u, dcp, nextToMoved, dcpStart, position, directedDirection);
1090
1091                                                 else
1092                                                         triedIR = true;
1093                                         }
1094                                 } else if (other.isNonDirected() && other.getParentPoint() != null) {
1095                                         // FIXME : this code was for updating branches
1096                                         Vector3d bintersect = new Vector3d();
1097                                         PipeControlPoint bcp = other.getParentPoint();
1098                                         if (bcp != null && canMoveOther) {
1099                                                 Point3d bstart = new Point3d();
1100                                                 Point3d bend = new Point3d();
1101                                                 Vector3d bdir = new Vector3d();
1102                                                 bcp.getInlineControlPointEnds(bstart, bend, bdir);
1103                                                 Vector3d nintersect = new Vector3d();
1104
1105                                                 MathTools.intersectStraightStraight(position, directedDirection, bend, bdir, nintersect, bintersect, mu);
1106                                                 Vector3d dist = new Vector3d(nintersect);
1107                                                 dist.sub(bintersect);
1108                                                 canMoveOther = mu[1] > 0.0 && mu[1] < 1.0 && dist.lengthSquared() < 0.01;
1109                                         } else {
1110                                                 // TODO : endControlPoints are undirected: calculcate
1111                                                 // correct position for it
1112                                                 throw new UnsupportedOperationException("not implemented");
1113                                         }
1114                                         if (canMoveOther) {
1115                                                 if (DEBUG)
1116                                                         System.out.println("PipingRules.updateDirectedPipeRun() moved end " + other + " to " + bintersect);
1117                                                 // is required branch position is in possible range
1118                                                 bcp.setWorldPosition(bintersect);
1119                                                 if (dcpStart) {
1120                                                         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);
1121                                                 } else {
1122                                                         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);
1123                                                 }
1124                                         } else {
1125                                                 // branch cannot be moved into right position, new turn
1126                                                 // / elbow must be inserted
1127                                                 if (allowInsertRemove)
1128                                                         insertElbowUpdate(u, dcp, nextToMoved, dcpStart, position, directedDirection);
1129                                                 else
1130                                                         triedIR = true;
1131                                         }
1132
1133                                 } else { // assume that control point cannot be moved, but can
1134                                                         // be rotated
1135                                         if (allowInsertRemove)
1136                                                 insertElbowUpdate(u, dcp, nextToMoved, dcpStart, position, directedDirection);
1137                                         else
1138                                                 triedIR = true;
1139                                 }
1140                         }
1141                 }
1142
1143
1144         }
1145
1146         private static void updateDualDirectedPathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
1147                 if (DEBUG)
1148                         System.out.println("PipingRules.updateDualDirectedPipeRun() " + u + " " + lengthChange);
1149
1150                 PipeControlPoint dcp1 = u.start;
1151                 PipeControlPoint dcp2 = u.end;
1152                 Point3d position1 = new Point3d(u.startPoint);
1153                 Point3d position2 = new Point3d(u.endPoint);
1154                 Point3d position1offset = new Point3d(position1);
1155                 position1offset.sub(u.offset);
1156                 Point3d position2offset = new Point3d(position2);
1157                 position2offset.add(u.offset);
1158                 Vector3d dir1 = direction(dcp1, Direction.NEXT);
1159                 Vector3d dir2 = direction(dcp2, Direction.PREVIOUS);
1160                 Vector3d p1 = MathTools.closestPointOnStraight(position1offset, position2, dir2);
1161                 Vector3d p2 = MathTools.closestPointOnStraight(position2offset, position1, dir1);
1162                 double d1 = position1.distance(new Point3d(p1));
1163                 double d2 = position2.distance(new Point3d(p2));
1164
1165                 boolean aligned = (d1 < ALLOWED_OFFSET && d2 < ALLOWED_OFFSET);
1166                 if (aligned) {
1167                         processPathLeg(u);
1168                 } else {
1169                         if (u.iter > 0) {
1170                                 backIter(u);
1171                         } else if (allowInsertRemove){
1172                                 PipeControlPoint dcp;
1173                                 PipeControlPoint next;
1174                                 if (!u.reversed) {
1175                                         dcp = dcp1;
1176                                         if (u.list.size() > 0)
1177                                                 next = u.list.get(0);
1178                                         else
1179                                                 next = dcp2;
1180                                 } else {
1181                                         dcp = dcp2;
1182                                         if (u.list.size() > 0)
1183                                                 next = u.list.get(u.list.size() - 1);
1184                                         else
1185                                                 next = dcp1;
1186                                 }
1187
1188                                 p1 = dcp.getWorldPosition();
1189                                 Vector3d v = new Vector3d();
1190                                 if (!u.reversed)
1191                                         v.set(dir1);
1192                                 else
1193                                         v.set(dir2);
1194
1195                                 // Reserve space for 90 deg elbow
1196                                 double off = dcp1.getPipeRun().getTurnRadius();
1197                                 v.scale(off);
1198                                 p1.add(v);
1199
1200                                 if (!u.reversed)
1201                                         p2 = MathTools.closestPointOnStraight(new Point3d(p1), position2, dir2);
1202                                 else
1203                                         p2 = MathTools.closestPointOnStraight(new Point3d(p1), position1, dir1);
1204
1205                                 // By default, the elbows are placed next to each other, by using 90 deg angles.
1206                                 // If the distance between elbows is not enough, we must move the other elbow (and create more shallow angle elbows)
1207                                 if (MathTools.distance(p1, p2) < off*2.05) {
1208                                         p2.add(v);
1209                                 }
1210
1211                                 PipeControlPoint tcp1 = insertElbow(dcp, next, p1);
1212                                 PipeControlPoint tcp2 = insertElbow(tcp1, next, p2);
1213
1214                                 if (DEBUG)
1215                                         System.out.println("PipingRules.updateDualDirectedPipeRun() created two turns " + tcp1 + " " + tcp2);
1216
1217                                 if (!u.reversed) {
1218                                         Vector3d dd = new Vector3d(p2);
1219                                         dd.sub(p1);
1220                                         dir2.negate();
1221                                         updatePathLegNext(u.start, u.updated, PathLegUpdateType.NONE);
1222                                         updatePathLegNext(tcp1, u.updated, PathLegUpdateType.NONE);
1223                                         if (!u.reversed)
1224                                                 updatePathLegNext(tcp2, u.updated, PathLegUpdateType.NONE);
1225                                         else
1226                                                 updatePathLegPrev(tcp2, u.updated, PathLegUpdateType.NONE);
1227                                 } else {
1228                                         Vector3d dd = new Vector3d(p1);
1229                                         dd.sub(p2);
1230                                         dir2.negate();
1231                                         updatePathLegNext(tcp1, u.updated, PathLegUpdateType.NONE);
1232                                         updatePathLegNext(tcp2, u.updated, PathLegUpdateType.NONE);
1233                                         if (!u.reversed)
1234                                                 updatePathLegNext(u.start, u.updated, PathLegUpdateType.NONE);
1235                                         else
1236                                                 updatePathLegPrev(u.start, u.updated, PathLegUpdateType.NONE);
1237                                 }
1238                         } else {
1239                                 triedIR = true;
1240                         }
1241                 }
1242
1243         }
1244
1245         private static double spaceForTurn(PipeControlPoint tcp, PipeControlPoint dcp) {
1246                 // TODO : if the path legs contain offset, using just positions of opposite path leg ends is not enough.
1247             // TODO : current iterative way for calculating required space may return longer length that is required.
1248                 double tr = ((TurnComponent)tcp.getPipelineComponent()).getTurnRadius();
1249             if (dcp == null)
1250                 return tr; // space for 90 deg
1251             PipeControlPoint ne = tcp.findNextEnd();
1252             PipeControlPoint pe = tcp.findPreviousEnd();
1253             PipeControlPoint other = null;
1254             if (dcp == ne)
1255                 other = pe;
1256             else if (dcp == pe)
1257                 other = ne;
1258             else
1259                 return tr; // space for 90 deg
1260             if (other == null)
1261                 return tr; // space for 90 deg
1262             Vector3d dir = dcp.getDirectedControlPointDirection();
1263             Vector3d dp = dcp.getWorldPosition();
1264             Vector3d op = other.getWorldPosition();
1265             double u[] = new double[1];
1266             Vector3d closest = MathTools.closestPointOnStraight(op, dp, dir,u);
1267             if (MathTools.distanceSquared(closest, op) <= MIN_INLINE_LENGTH) {
1268                 if (u[0] > -MIN_INLINE_LENGTH)
1269                     return 0.0; // point following turn is directly in the front of the nozzle.
1270                 else
1271                     return tr*2.0; // point following turn is directly behind the nozzle, in theory, we should return Double.Inf...
1272             }
1273             double curr = tr*0.1;
1274             int iter = 10;
1275             Vector3d v1 = new Vector3d();
1276             Vector3d v2 = new Vector3d();
1277             while (iter > 0) {
1278                 Vector3d tp = new Vector3d(dp);
1279                 MathTools.mad(tp, dir, curr);
1280                 v1.sub(tp, dp); // Vector from nozzle to turn
1281                 v2.sub(op,tp);  // Vector from turn to other
1282                 double a = v1.angle(v2);
1283                 double t = Math.tan((Math.PI - a) * 0.5);
1284                 double R = 0.0;
1285                 if (t > MathTools.NEAR_ZERO)
1286                     R = tr / t;
1287                 if (R <= curr)
1288                     break;
1289                 curr = R*1.01;
1290                 iter--;
1291             }
1292             return curr;
1293         }
1294
1295         private static void insertElbowUpdate(UpdateStruct2 u, PipeControlPoint dcp, PipeControlPoint next, boolean dcpStart, Vector3d position, Vector3d directedDirection) throws Exception{
1296
1297
1298 //              Vector3d closest = new Vector3d(position);
1299 //              closest.add(directedDirection);
1300
1301                 PipeControlPoint tcp = null;
1302                 Vector3d closest;
1303                 if (dcpStart) {
1304                         closest = MathTools.closestPointOnStraight(next.getWorldPosition(), position, directedDirection);
1305                         tcp = insertElbow(dcp, next, closest);
1306                 } else {
1307                         closest = MathTools.closestPointOnStraight(dcp.getWorldPosition(), position, directedDirection);
1308                         tcp = insertElbow(next, dcp, closest);
1309                 }
1310                 double d = MathTools.distance(position, closest);
1311                 double s = spaceForTurn(tcp,dcp);
1312                 if (d < s)  {
1313                         d = s - d;
1314                         Vector3d p = new Vector3d(directedDirection);
1315                         p.scale(d);
1316                         p.add(closest);
1317                         tcp.setPosition(p);
1318                         closest = p;
1319                 }
1320
1321
1322
1323                 if (DEBUG)
1324                         System.out.println("PipingRules.updateDirectedPipeRun() inserted " + tcp);
1325
1326                 if (dcpStart) {
1327                         // update pipe run from new turn to other end
1328                         ppNoDir(tcp, new Vector3d(closest), u.list, u.end, u.endPoint, u.hasOffsets, u.iter, u.reversed, u.toRemove, u.updated);
1329                         // update pipe run from directed to new turn
1330                         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));
1331                 } else {
1332                         // update pipe run from other end to new turn
1333                         ppNoDir(u.start, u.startPoint, u.list, tcp, new Vector3d(closest), u.hasOffsets, u.iter, u.reversed, u.toRemove, u.updated);
1334                         // update pipe run from new turn to directed
1335                         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));
1336                 }
1337         }
1338
1339         /**
1340          * Checks if turns can be removed (turn angle near zero)
1341          */
1342         private static int checkTurns(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
1343                 if (DEBUG)
1344                         System.out.println("PipingRules.checkTurns() " + u.start + " " + u.end);
1345                 boolean startRemoved = false;
1346                 boolean endRemoved = false;
1347                 if (u.start.isVariableAngle()) {
1348                         // this won't work properly if inline control points are not updated
1349                         PipeControlPoint startPrev = u.start.getPrevious();
1350                         if (startPrev != null) {
1351                                 double a = updateTurnControlPointTurn(u.start, null, u.dir);
1352                                 if (a < MIN_TURN_ANGLE && u.start.isDeletable())
1353                                         startRemoved = true;
1354                                 else if (lengthChange == PathLegUpdateType.PREV || lengthChange == PathLegUpdateType.PREV_S) {
1355                                         PathLegUpdateType type;
1356                                         if (lengthChange == PathLegUpdateType.PREV_S)
1357                                                 type = PathLegUpdateType.PREV;
1358                                         else
1359                                                 type = PathLegUpdateType.NONE;
1360                                         updatePathLegPrev(u.start, u.start, type);
1361                                 }
1362                         }
1363                 }
1364                 if (u.end.isVariableAngle()) {
1365
1366                         PipeControlPoint endNext = u.end.getNext();
1367                         if (endNext != null) {
1368                                 // TODO: u.end, u.dir, null
1369                                 double a = updateTurnControlPointTurn(u.end, null, null);
1370                                 if (a < MIN_TURN_ANGLE && u.end.isDeletable())
1371                                         endRemoved = true;
1372                                 else if (lengthChange == PathLegUpdateType.NEXT || lengthChange == PathLegUpdateType.NEXT_S) {
1373                                         PathLegUpdateType type;
1374                                         if (lengthChange == PathLegUpdateType.NEXT_S)
1375                                                 type = PathLegUpdateType.NEXT;
1376                                         else
1377                                                 type = PathLegUpdateType.NONE;
1378                                         updatePathLegNext(u.end, u.end, type);
1379                                 }
1380                         }
1381                 }
1382                 if (DEBUG)
1383                         System.out.println("PipingRules.checkTurns() res " + startRemoved + " " + endRemoved);
1384                 if (!startRemoved && !endRemoved)
1385                         return REMOVE_NONE;
1386                 if (startRemoved && endRemoved)
1387                         return REMOVE_BOTH;
1388                 if (startRemoved)
1389                         return REMOVE_START;
1390                 return REMOVE_END;
1391         }
1392
1393         /**
1394          * Expands piperun search over turns that are going to be removed
1395          *
1396          */
1397         private static void expandPathLeg(UpdateStruct2 u, int type) throws Exception {
1398                 if (DEBUG)
1399                         System.out.println("PipingRules.expandPipeline " + u.start + " " + u.end);
1400                 ArrayList<PipeControlPoint> newList = new ArrayList<PipeControlPoint>();
1401                 switch (type) {
1402                 case REMOVE_NONE:
1403                         throw new RuntimeException("Error in piping rules");
1404                 case REMOVE_START:
1405                         u.toRemove.add(new ExpandIterInfo(u.start, REMOVE_START));
1406                         u.start = u.start.findPreviousEnd();
1407                         u.startPoint = u.start.getPosition();
1408                         u.start.findNextEnd(newList);
1409                         newList.addAll(u.list);
1410                         u.list = newList;
1411                         break;
1412                 case REMOVE_END:
1413                         u.toRemove.add(new ExpandIterInfo(u.end, REMOVE_END));
1414                         u.end = u.end.findNextEnd(newList);
1415                         u.endPoint = u.end.getPosition();
1416                         u.list.addAll(newList);
1417                         break;
1418                 case REMOVE_BOTH:
1419                         u.toRemove.add(new ExpandIterInfo(u.start, u.end));
1420                         u.start = u.start.findPreviousEnd();
1421                         u.startPoint = u.start.getPosition();
1422                         u.start.findNextEnd(newList);
1423                         newList.addAll(u.list);
1424                         u.list = newList;
1425                         newList = new ArrayList<PipeControlPoint>();
1426                         u.end = u.end.findNextEnd(newList);
1427                         u.endPoint = u.end.getPosition();
1428                         u.list.addAll(newList);
1429                         break;
1430                 default:
1431                         throw new RuntimeException("Error in piping rules");
1432
1433                 }
1434                 u.offset = new Vector3d();
1435                 if (u.hasOffsets) {
1436                         u.dir.normalize();
1437                         for (PipeControlPoint icp : u.list) {
1438                                 if (icp.isOffset()) {
1439                                         u.offset.add(icp.getSizeChangeOffsetVector(u.dir));
1440                                 } else if (icp.isDualSub())
1441                                         ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
1442                         }
1443                 }
1444                 if (DEBUG)
1445                         System.out.println("PipingRules.expandPipeline expanded " + u.start + " " + u.end);
1446                 u.iter++;
1447                 updatePathLeg(u, PathLegUpdateType.NONE);
1448         }
1449
1450         /**
1451          * reverts one iteration of turn removing back)
1452          */
1453         private static void backIter(UpdateStruct2 u) throws Exception {
1454
1455                 if (DEBUG)
1456                         System.out.println("PipingRules.backIter" + u.start + " " + u.end);
1457                 if (u.iter == 0)
1458                         throw new RuntimeException("Error in piping rules");
1459                 ExpandIterInfo info = u.toRemove.get(u.toRemove.size() - 1);
1460                 u.toRemove.remove(u.toRemove.size() - 1);
1461                 if (info.getType() == REMOVE_START || info.getType() == REMOVE_BOTH) {
1462                         while (u.list.size() > 0) {
1463                                 PipeControlPoint icp = u.list.get(0);
1464                                 if (icp.getPrevious().equals(info.getStart()))
1465                                         break;
1466                                 u.list.remove(icp);
1467                         }
1468                         u.start = info.getStart();
1469                 }
1470                 if (info.getType() == REMOVE_END || info.getType() == REMOVE_BOTH) {
1471                         while (u.list.size() > 0) {
1472                                 PipeControlPoint icp = u.list.get(u.list.size() - 1);
1473                                 if (icp.getNext().equals(info.getEnd()))
1474                                         break;
1475                                 u.list.remove(icp);
1476                         }
1477                         u.end = info.getEnd();
1478                 }
1479                 u.offset = new Vector3d();
1480                 if (u.hasOffsets) {
1481                         u.dir.normalize();
1482                         for (PipeControlPoint icp : u.list) {
1483                                 if (icp.isOffset()) {
1484                                         u.offset.add(icp.getSizeChangeOffsetVector(u.dir));
1485                                 } else if (icp.isDualSub())
1486                                         ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
1487                         }
1488                 }
1489                 processPathLeg(u);
1490
1491         }
1492
1493         /**
1494          * Processes pipe run (removes necessary turns and updates run ends)
1495          */
1496         // private static void processPathLeg(PipeControlPoint start, Point3d
1497         // startPoint,ArrayList<InlineControlPoint> list, PipeControlPoint
1498         // end,Point3d endPoint, Vector3d dir,Vector3d offset, boolean
1499         // hasOffsets,int iter, boolean reversed, ArrayList<ExpandIterInfo>
1500         // toRemove) throws TransactionException {
1501
1502         private static void processPathLeg(UpdateStruct2 u) throws Exception {
1503                 if (DEBUG)
1504                         System.out.println("PipingRules.processPathLeg " + u.start + " " + u.end);
1505                 processPathLeg(u, true, true);
1506         }
1507
1508         private static void processPathLeg(UpdateStruct2 u, boolean updateEnds, boolean updateInline) throws Exception {
1509                 if (DEBUG)
1510                         System.out.println("PipingRules.processPathLeg " + (updateEnds ? "ends " : "") + (updateInline ? "inline " : "") + u.start + " " + u.end);
1511
1512                 if (u.toRemove.size() > 0) {
1513                         for (ExpandIterInfo info : u.toRemove) {
1514                                 if (info.getStart() != null) {
1515                                         if (DEBUG)
1516                                                 System.out.println("PipingRules.processPathLeg removing start " + info.getStart());
1517                                         info.getStart()._remove();
1518                                 }
1519                                 if (info.getEnd() != null) {
1520                                         if (DEBUG)
1521                                                 System.out.println("PipingRules.processPathLeg removing end " + info.getEnd());
1522                                         info.getEnd()._remove();
1523                                 }
1524                         }
1525                         // ControlPointTools.removeControlPoint may remove more than one CP;
1526                         // we must populate inline CP list again.
1527                         u.list.clear();
1528                         u.start.findNextEnd( u.list);
1529                 }
1530                 // FIXME : inline CPs are update twice because their positions must be
1531                 // updated before and after ends.
1532                 updateInlineControlPoints(u, false);
1533
1534                 if (updateEnds) {
1535                         if (u.start.isTurn()) {
1536                                 //updateTurnControlPointTurn(u.start, u.start.getPrevious(), u.start.getNext());
1537                                 updateTurnControlPointTurn(u.start, null, null);
1538 //                              updatePathLegPrev(u.start, u.start, PathLegUpdateType.NONE);
1539                         } else if (u.start.isEnd()) {
1540                                 updateEndComponentControlPoint(u.start, u.dir);
1541                         } else if (u.start.isInline()) {
1542                                 updateControlPointOrientation(u.start, u.dir);
1543                         }
1544                         if (u.end.isTurn()) {
1545                                 //updateTurnControlPointTurn(u.end, u.end.getPrevious(), u.end.getNext());
1546                                 updateTurnControlPointTurn(u.end, null, null);
1547 //                              updatePathLegNext(u.end, u.end, PathLegUpdateType.NONE);
1548                         } else if (u.end.isEnd()) {
1549                                 updateEndComponentControlPoint(u.end, u.dir);
1550                         } else if (u.end.isInline()) {
1551                                 updateControlPointOrientation(u.end, u.dir);
1552                         }
1553
1554                 } else {
1555                         if (u.start.isEnd()) {
1556                                 updateEndComponentControlPoint(u.start, u.dir);
1557                         }
1558                         if (u.end.isEnd()) {
1559                                 updateEndComponentControlPoint(u.end, u.dir);
1560                         }
1561                 }
1562                 if (updateInline)
1563                         updateInlineControlPoints(u, true);
1564
1565         }
1566
1567         /**
1568          * Processes pipe run and recalculates offset
1569          */
1570         // private static void processPathLeg(PipeControlPoint start, Point3d
1571         // startPoint,ArrayList<InlineControlPoint> list, PipeControlPoint
1572         // end,Point3d endPoint, Vector3d dir, boolean hasOffsets,int iter, boolean
1573         // reversed, ArrayList<ExpandIterInfo> toRemove) throws TransactionException
1574         // {
1575         @SuppressWarnings("unused")
1576         private static void processPathLegNoOffset(UpdateStruct2 u) throws Exception {
1577                 if (DEBUG)
1578                         System.out.println("PipingRules.processPathLeg " + u.start + " " + u.end);
1579                 Vector3d offset = new Vector3d();
1580                 if (u.hasOffsets) {
1581                         u.dir.normalize();
1582                         for (PipeControlPoint icp : u.list) {
1583                                 if (icp.isOffset()) {
1584                                         offset.add(icp.getSizeChangeOffsetVector(u.dir));
1585                                 } else if (icp.isDualSub()) {
1586                                         ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
1587                                 }
1588                         }
1589                 }
1590                 processPathLeg(u);
1591         }
1592
1593         private static void updateOffsetPoint(PipeControlPoint sccp, Vector3d offset) {
1594                 Vector3d world = sccp.getWorldPosition();
1595                 world.add(offset);
1596                 PipeControlPoint ocp = sccp.getDualSub();
1597                 ocp.setWorldPosition(world);
1598         }
1599
1600         /**
1601          * Updates InlineControlPoints position when straight pipe's end(s) have
1602          * been changed)
1603          *
1604          * @param pipeline
1605          * @param icp
1606          * @param nextPoint
1607          * @param prevPoint
1608          */
1609         private static void updateInlineControlPoint(PipeControlPoint icp, Vector3d prev, Vector3d next,  Vector3d dir) {
1610                 if (DEBUG)
1611                         System.out.println("PipingRules.updateInlineControlPoint() " + icp);
1612
1613                 Vector3d inlinePoint = icp.getWorldPosition();
1614                 Vector3d prevPoint = new Vector3d(prev);
1615                 Vector3d nextPoint = new Vector3d(next);
1616                 if (!icp.isVariableLength()) {
1617                         // Reserve space for fixed length components.
1618                         MathTools.mad(prevPoint, dir, icp.getInlineLength());
1619                         MathTools.mad(nextPoint, dir, -icp.getInlineLength());
1620                         if (MathTools.distance(prevPoint, nextPoint) < ALLOWED_OFFSET) {
1621                                 prevPoint = prev;
1622                                 nextPoint = next;
1623                         }
1624                 }
1625                 boolean canCalc = MathTools.distance(prevPoint, nextPoint) > ALLOWED_OFFSET;
1626                 if (DEBUG)
1627                         System.out.print("InlineControlPoint update " + icp + " " + inlinePoint + " " + prevPoint + " " + nextPoint);
1628                 Vector3d newInlinePoint = null;
1629                 if (canCalc) {
1630                         boolean branchUpdate = false;
1631                         PipeControlPoint becp = null;
1632                         for (PipeControlPoint pcp : icp.getChildPoints())
1633                                 if (pcp.isNonDirected()) {
1634                                         branchUpdate = true;
1635                                         becp = pcp;
1636                                         break;
1637                                 }
1638
1639                         if (DUMMY || !branchUpdate) {
1640                                 newInlinePoint = MathTools.closestPointOnEdge(new Vector3d(inlinePoint), prevPoint, nextPoint);
1641
1642                         } else {
1643
1644                                 // FIXME : can only handle one branch
1645                                 PipeControlPoint p = null;
1646                                 if (becp.getNext() != null) {
1647                                         p = becp.findNextEnd();
1648                                 } else if (becp.getPrevious() != null) {
1649                                         p = becp.findPreviousEnd();
1650                                 }
1651                                 if (p == null) {
1652                                         newInlinePoint = MathTools.closestPointOnEdge(new Vector3d(inlinePoint), prevPoint, nextPoint);
1653                                 } else if (canCalc){
1654                                         Vector3d branchLegEnd = p.getWorldPosition();
1655                                         Vector3d dir2 = new Vector3d(inlinePoint);
1656                                         dir2.sub(branchLegEnd);
1657                                         Vector3d dir1 = new Vector3d(nextPoint);
1658                                         dir1.sub(prevPoint);
1659                                         newInlinePoint = new Vector3d();
1660                                         double mu[] = new double[2];
1661                                         MathTools.intersectStraightStraight(new Vector3d(prevPoint), dir1, new Vector3d(branchLegEnd), dir2, newInlinePoint, new Vector3d(), mu);
1662                                         if (DEBUG)
1663                                                 System.out.println(mu[0]);
1664                                         // FIXME : reserve space
1665                                         if (mu[0] < 0.0) {
1666                                                 newInlinePoint = new Vector3d(prevPoint);
1667                                         } else if (mu[0] > 1.0) {
1668                                                 newInlinePoint = new Vector3d(nextPoint);
1669                                         }
1670                                 }
1671                         }
1672                 } else {
1673                         // prevPoint == nextPoint
1674                         newInlinePoint = new Vector3d(prevPoint);
1675                 }
1676                 if (DEBUG)
1677                         System.out.println(" " + newInlinePoint);
1678
1679                 icp.setWorldPosition(newInlinePoint);
1680                 updateControlPointOrientation(icp, dir);
1681         }
1682
1683         /**
1684          * Updates InlineControlPoints position when straight pipe's end(s) have
1685          * been changed)
1686          *
1687          * @param pipeline
1688          * @param icp
1689          * @param nextPoint
1690          * @param prevPoint
1691          */
1692         private static void updateEndComponentControlPoint(PipeControlPoint ecp, Vector3d dir) throws Exception {
1693                 if (DEBUG)
1694                         System.out.println("PipingRules.updateEndComponentControlPoint() " + ecp);
1695
1696                 if (!ecp.isFixed()) // prevent overriding nozzle orientations..
1697                    updateControlPointOrientation(ecp, dir);
1698
1699                 for (PipeControlPoint pcp : ecp.getChildPoints()) {
1700                         // TODO update position
1701                         updatePathLegEndControlPoint(pcp);
1702                 }
1703         }
1704
1705         private static void updateControlPointOrientation(PipeControlPoint pcp, Vector3d dir) {
1706                 Double angleO = pcp.getRotationAngle();
1707                 double angle = 0.0;
1708                 if (angleO != null)
1709                         angle = angleO;
1710                 boolean reversed = pcp._getReversed();
1711                 Quat4d q = null;
1712                 if (dir != null) {
1713                     q = pcp.getControlPointOrientationQuat(dir, angle, reversed);
1714                 } else {
1715                     q = pcp.getControlPointOrientationQuat(angle, reversed);
1716                 }
1717                 pcp.setWorldOrientation(q);
1718         }
1719
1720         /**
1721          * Updates all branches when branch's position has been changed
1722          *
1723          * @param bcp
1724          */
1725         private static void updateBranchControlPointBranches(PipeControlPoint bcp) throws Exception {
1726                 if (DEBUG)
1727                         System.out.println("PipingRules.updateBranchControlPointBranches() " + bcp);
1728                 if (bcp.isDualInline())
1729                         return;
1730                 Collection<PipeControlPoint> branches = bcp.getChildPoints();
1731                 if (branches.size() == 0) {
1732                         if (DEBUG)
1733                                 System.out.println("No Branches found");
1734                         return;
1735                 }
1736
1737                 for (PipeControlPoint pcp : branches) {
1738                         updatePathLegEndControlPoint(pcp);
1739                 }
1740         }
1741
1742         private static double updateTurnControlPointTurn(PipeControlPoint tcp, Vector3d prev, Vector3d next) {
1743                 if (next == null) {
1744                         UpdateStruct2 us = createUS(tcp, Direction.NEXT, 0, new ArrayList<PipingRules.ExpandIterInfo>(), tcp);
1745                         if (us != null)
1746                                 next = us.dir;
1747                 }
1748                 if (prev == null) {
1749                         UpdateStruct2 us = createUS(tcp, Direction.PREVIOUS, 0, new ArrayList<PipingRules.ExpandIterInfo>(), tcp);
1750                         if (us != null) {
1751                                 prev = us.dir;
1752                         }
1753                 }
1754
1755                 if (!tcp.asFixedAngle()) {
1756
1757
1758                         if (next == null || prev == null) {
1759                                 if (tcp.getTurnAngle() != null)
1760                                         return tcp.getTurnAngle();
1761                                 return Math.PI; // FIXME : argh
1762                         }
1763                         double turnAngle = prev.angle(next);
1764
1765                         double angle = Math.PI - turnAngle;
1766
1767                         Vector3d turnAxis = new Vector3d();
1768                         turnAxis.cross(prev, next);
1769                         if (turnAxis.lengthSquared() > MathTools.NEAR_ZERO) {
1770                                 double elbowRadius = ((TurnComponent)tcp.getPipelineComponent()).getTurnRadius();
1771                                 double R = elbowRadius / Math.tan(angle * 0.5);
1772
1773                                 turnAxis.normalize();
1774                                 tcp.setTurnAngle(turnAngle);
1775                                 tcp.setLength(R);// setComponentOffsetValue(R);
1776                                 tcp.setTurnAxis(turnAxis);
1777         //                      tcp.setPosition(tcp.getPosition());
1778                         } else {
1779                                 turnAngle = 0.0;
1780                                 tcp.setTurnAngle(0.0);
1781                                 tcp.setLength(0.0);
1782                                 tcp.setTurnAxis(new Vector3d(MathTools.Y_AXIS));
1783                         }
1784
1785                         updateControlPointOrientation(tcp,prev);
1786
1787                         if (DEBUG)
1788                                 System.out.println("PipingTools.updateTurnControlPointTurn " + prev + " " + next + " " + turnAngle + " " + turnAxis);
1789                         return turnAngle;
1790                 } else {
1791
1792                         if (prev != null && next != null) {
1793                                 // Nothing to do
1794                         } else if (prev == null) {
1795                                 if (!tcp._getReversed())
1796                                         tcp.setReversed(true);
1797                         } else if (next == null) {
1798                                 if (tcp._getReversed())
1799                                         tcp.setReversed(false);
1800                         }
1801
1802                         Vector3d dir = null;
1803                         if (!tcp._getReversed()) {
1804                                 dir = prev;
1805                         } else {
1806                                 dir = next;
1807                                 dir.negate();
1808                         }
1809                         if (dir == null) {
1810                                 return Math.PI; // FIXME : argh
1811                         }
1812
1813                         Quat4d q = PipeControlPoint.getControlPointOrientationQuat(dir, tcp.getRotationAngle() != null ? tcp.getRotationAngle() : 0.0);
1814                         Vector3d v = new Vector3d();
1815                         MathTools.rotate(q, MathTools.Y_AXIS,v);
1816                         tcp.setTurnAxis(v);
1817                         tcp.setWorldOrientation(q);
1818                         if (tcp.getTurnAngle() != null)
1819                                 return tcp.getTurnAngle();
1820                         return Math.PI; // FIXME : argh
1821                 }
1822
1823
1824         }
1825
1826         public static List<PipeControlPoint> getControlPoints(PipeRun pipeRun) {
1827                 List<PipeControlPoint> list = new ArrayList<PipeControlPoint>();
1828                 if (pipeRun.getControlPoints().size() == 0)
1829                         return list;
1830                 PipeControlPoint pcp = pipeRun.getControlPoints().iterator().next();
1831                 while (pcp.getPrevious() != null) {
1832                         PipeControlPoint prev = pcp.getPrevious();
1833                         if (prev.getPipeRun() != pipeRun && prev.getPipeRun() != null) { // bypass possible corruption
1834                             break;
1835                         }
1836                         pcp = prev;
1837                 }
1838                 if (pcp.isDualSub()) {
1839                         pcp = pcp.getParentPoint();
1840                 }
1841                 list.add(pcp);
1842                 while (pcp.getNext() != null) {
1843                         pcp = pcp.getNext();
1844                         if (pcp.getPipeRun() != pipeRun)
1845                                 break;
1846                         list.add(pcp);
1847                 }
1848                 return list;
1849         }
1850
1851         public static void reverse(PipeRun pipeRun) {
1852
1853                 while (true) {
1854                         List<PipeControlPoint> points = getControlPoints(pipeRun);
1855                         PipeControlPoint pcp = points.get(0);
1856                         if (pcp.isSizeChange() && pcp.getChildPoints().size() > 0) {
1857                                 PipeRun pr = pcp.getPipeRun();
1858                                 if (pr != pipeRun)
1859                                     pipeRun = pr;
1860                                 else break;
1861                         } else {
1862                                 break;
1863                         }
1864                 }
1865                 List<PipeRun> all = new ArrayList<PipeRun>();
1866                 List<List<PipeControlPoint>> pcps = new ArrayList<List<PipeControlPoint>>();
1867                 while (true) {
1868                         all.add(pipeRun);
1869                         List<PipeControlPoint> points = getControlPoints(pipeRun);
1870                         pcps.add(points);
1871                         PipeControlPoint pcp = points.get(points.size()-1);
1872                         if (pcp.getChildPoints().size() > 0) {
1873                                 PipeRun pipeRun2 = pcp.getChildPoints().get(0).getPipeRun();
1874                                 if (pipeRun == pipeRun2)
1875                                     break;
1876                                 else
1877                                     pipeRun = pipeRun2;
1878                         } else {
1879                                 break;
1880                         }
1881                 }
1882                 for (int i = 0 ; i < all.size(); i++) {
1883                         List<PipeControlPoint> list = pcps.get(i);
1884                         _reverse(list);
1885                 }
1886                 for (int i = 0 ; i < all.size(); i++) {
1887                         boolean last = i == all.size() - 1;
1888                         List<PipeControlPoint> list = pcps.get(i);
1889
1890                         if (!last) {
1891                                 List<PipeControlPoint> list2 = pcps.get(i+1);
1892                                 PipeControlPoint prev = list.get(list.size()-1);
1893                                 PipeControlPoint next = list2.get(0);
1894                                 if (prev == next) {
1895                                         // Reverse the component on the boundary.
1896                                         InlineComponent ic = (InlineComponent)prev.getPipelineComponent();
1897                                         PipeRun r1 = ic.getPipeRun();
1898                                         PipeRun r2 = ic.getAlternativePipeRun();
1899                                         if (r1 == null || r2 == null)
1900                                                 throw new RuntimeException("Components on PipeRun changes should refer to bot PipeRuns");
1901                                         ic.deattach();
1902                                         r2.addChild(ic);
1903                                         ic.setPipeRun(r2);
1904                                         ic.setAlternativePipeRun(r1);
1905                                 } else {
1906                                         throw new RuntimeException("PipeRun changes should contain shared control points");
1907                                 }
1908
1909                         }
1910                 }
1911
1912         }
1913
1914         private static void _reverse(List<PipeControlPoint> list) {
1915                 if (list.size() <= 1)
1916                         return; // nothing to do.
1917
1918                 for (int i = 0 ; i < list.size(); i++) {
1919                         boolean first = i == 0;
1920                         boolean last = i == list.size() - 1;
1921                         PipeControlPoint current = list.get(i);
1922                         PipeControlPoint currentSub = null;
1923                         if (current.isDualInline())
1924                                 currentSub = current.getDualSub();
1925                         if (first) {
1926                                 PipeControlPoint next = list.get(i+1);
1927                                 if (next.isDualInline())
1928                                         next = next.getDualSub();
1929                                 if (current.getNext() == next)
1930                                         current.setNext(null);
1931                                 current.setPrevious(next);
1932                                 if (currentSub != null) {
1933                                         if (currentSub.getNext() == next)
1934                                                 currentSub.setNext(null);
1935                                         currentSub.setPrevious(next);
1936                                 }
1937                         } else if (last) {
1938                                 PipeControlPoint prev = list.get(i-1);
1939
1940                                 if (current.getPrevious() == prev)
1941                                         current.setPrevious(null);
1942                                 current.setNext(prev);
1943
1944                                 if (currentSub != null) {
1945                                         if (currentSub.getPrevious() == prev)
1946                                                 currentSub.setPrevious(null);
1947                                         currentSub.setNext(prev);
1948                                 }
1949                         } else {
1950                                 PipeControlPoint prev = list.get(i-1);
1951                                 PipeControlPoint next = list.get(i+1);
1952                                 if (next.isDualInline())
1953                                         next = next.getDualSub();
1954
1955
1956                                 current.setPrevious(next);
1957                                 current.setNext(prev);
1958
1959                                 if (currentSub != null) {
1960                                         currentSub.setPrevious(next);
1961                                         currentSub.setNext(prev);
1962                                 }
1963
1964                         }
1965                         //if (current.isTurn() && current.isFixed()) {
1966                         if (current.asFixedAngle()) {
1967                                 current.setReversed(!current._getReversed());
1968                         }
1969                         if (current.isInline() && current.isReverse()) {
1970                                 current.setReversed(!current._getReversed());
1971                         }
1972                 }
1973         }
1974
1975
1976
1977         public static void validate(PipeRun pipeRun) {
1978                 if (pipeRun == null)
1979                         return;
1980                 Collection<PipeControlPoint> pcps = pipeRun.getControlPoints();
1981                 int count = 0;
1982                 //System.out.println("Validate " + pipeRun.getName());
1983                 for (PipeControlPoint pcp : pcps) {
1984                         if (pcp.getParentPoint() == null || pcp.getParentPoint().getPipeRun() != pipeRun)
1985                                 count++;
1986                 }
1987                 List<PipeControlPoint> runPcps = getControlPoints(pipeRun);
1988                 if (runPcps.size() != count) {
1989                         System.out.println("Run " + pipeRun.getName() + " contains unconnected control points, found " + runPcps.size() + " connected, " + pcps.size() + " total.");
1990                         for (PipeControlPoint pcp : pcps) {
1991                             if (!runPcps.contains(pcp)) {
1992                                 System.out.println("Unconnected " + pcp + " " + pcp.getPipelineComponent());
1993                             }
1994                         }
1995                 }
1996                 for (PipeControlPoint pcp : pcps) {
1997                     if (pcp.getPipeRun() == null) {
1998                         System.out.println("PipeRun ref missing " + pcp + " " + pcp.getPipelineComponent());
1999                     }
2000                         if (!pcp.isDirected() && pcp.getNext() == null && pcp.getPrevious() == null)
2001                                 System.out.println("Orphan undirected " + pcp + " " + pcp.getPipelineComponent());
2002                 }
2003                 for (PipeControlPoint pcp : pcps) {
2004                         if (pcp.getParentPoint() == null) {
2005                                 PipeControlPoint sub = null;
2006                                 if (pcp.isDualInline())
2007                                         sub = pcp.getDualSub();
2008                                 PipeControlPoint next = pcp.getNext();
2009                                 PipeControlPoint prev = pcp.getPrevious();
2010                                 if (next != null) {
2011                                         if (!(next.getPrevious() == pcp || next.getPrevious() == sub)) {
2012                                                 System.out.println("Inconsistency between " + pcp + " -> " +next );
2013                                         }
2014                                 }
2015                                 if (prev != null) {
2016                                         PipeControlPoint prevParent = null;
2017                                         if (prev.isDualSub()) {
2018                                                 prevParent = prev.getParentPoint();
2019                                         } else if (prev.isDualInline()) {
2020                                                 System.out.println("Inconsistency between " + pcp + " <-- " +prev );
2021                                         }
2022                                         if (!(prev.getNext() == pcp && (prevParent == null || prevParent.getNext() == pcp))) {
2023                                                 System.out.println("Inconsistency between " + pcp + " <-- " +prev );
2024                                         }
2025                                 }
2026                         }
2027                 }
2028         }
2029
2030         public static void splitVariableLengthComponent(PipelineComponent newComponent, InlineComponent splittingComponent, boolean assignPos) throws Exception{
2031                 assert(!splittingComponent.getControlPoint().isFixedLength());
2032                 assert(!(newComponent instanceof  InlineComponent && !newComponent.getControlPoint().isFixedLength()));
2033                 PipeControlPoint newCP = newComponent.getControlPoint();
2034                 PipeControlPoint splittingCP = splittingComponent.getControlPoint();
2035                 PipeControlPoint nextCP = splittingCP.getNext();
2036                 PipeControlPoint prevCP = splittingCP.getPrevious();
2037
2038                 /* there are many different cases to insert new component when
2039                    it splits existing VariableLengthinlineComponent.
2040
2041                    1. VariableLengthComponet is connected from both sides:
2042                           - insert new component between VariableLength component and component connected to it
2043                           - insert new VariableLengthComponent between inserted component and component selected in previous step
2044
2045                    2. VariableLengthComponent is connected from one side
2046                          - Use previous case or:
2047                          - Insert new component to empty end
2048                          - Insert new VariableLength component to inserted components empty end
2049
2050                    3. VariableLength is not connected to any component.
2051                          - Should not be possible, at least in current implementation.
2052                          - Could be done using second case
2053
2054                 */
2055
2056                 if (nextCP == null && prevCP == null) {
2057                         // this should not be possible
2058                         throw new RuntimeException("VariableLengthComponent " + splittingComponent + " is not connected to anything.");
2059                 }
2060                 double newLength = newComponent.getControlPoint().getLength();
2061
2062
2063                 Point3d next = new Point3d();
2064                 Point3d prev = new Point3d();
2065                 splittingCP.getInlineControlPointEnds(prev, next);
2066
2067                 Vector3d newPos = null;
2068                 if (assignPos) {
2069                         newPos = new Vector3d(prev);
2070                         Vector3d dir = new Vector3d(next);
2071                         dir.sub(prev);
2072                         dir.scale(0.5);
2073                         newPos.add(dir);
2074                         newComponent.setWorldPosition(newPos);
2075                 } else {
2076                         newPos = newComponent.getWorldPosition();
2077                 }
2078
2079
2080
2081                 Vector3d dir = new Vector3d(next);
2082                 dir.sub(prev);
2083                 dir.normalize();
2084                 dir.scale(newLength * 0.5);
2085                 Point3d vn = new Point3d(newPos);
2086                 Point3d vp = new Point3d(newPos);
2087                 vn.add(dir);
2088                 vp.sub(dir);
2089                 double ln = vn.distance(next);
2090                 double lp = vp.distance(prev);
2091                 vp.interpolate(prev, 0.5);
2092                 vn.interpolate(next, 0.5);
2093
2094
2095                 if (nextCP == null) {
2096                         newCP.insert(splittingCP, Direction.NEXT);
2097                         insertStraight(newCP, Direction.NEXT, new Vector3d(vn), ln);
2098                         splittingCP.setWorldPosition(new Vector3d(vp));
2099 //                      ControlPointTools.setWorldPosition(splittingCP, vp);
2100 //                      splittingCP.setRelatedScalarDouble(ProcessResource.plant3Dresource.HasLength, lp);
2101                 } else if (prevCP == null) {
2102                         newCP.insert(splittingCP, Direction.PREVIOUS);
2103                         insertStraight(newCP, Direction.PREVIOUS, new Vector3d(vp), lp);
2104                         splittingCP.setWorldPosition(new Vector3d(vn));
2105 //                      splittingCP.setRelatedScalarDouble(ProcessResource.plant3Dresource.HasLength, ln);
2106                 } else {
2107                         newCP.insert(splittingCP, nextCP);
2108                         insertStraight(newCP, nextCP, new Vector3d(vn), ln);
2109                         splittingCP.setWorldPosition(new Vector3d(vp));
2110 //                      splittingCP.setRelatedScalarDouble(ProcessResource.plant3Dresource.HasLength, lp);
2111                 }
2112                 positionUpdate(newCP);
2113
2114         }
2115
2116         public static void addSizeChange(boolean reversed, PipeRun pipeRun, PipeRun other, InlineComponent reducer, PipeControlPoint previous, PipeControlPoint next) {
2117                 PipeControlPoint pcp = reducer.getControlPoint();
2118                 PipeControlPoint ocp = pcp.getDualSub();
2119                 if (!reversed) {
2120                         String name = pipeRun.getUniqueName("Reducer");
2121                         reducer.setName(name);
2122                         pipeRun.addChild(reducer);
2123                         other.addChild(ocp);
2124                         reducer.setAlternativePipeRun(other);
2125
2126                         previous.setNext(pcp);
2127                         pcp.setPrevious(previous);
2128                         ocp.setPrevious(previous);
2129                         if (next != null) {
2130                                 pcp.setNext(next);
2131                                 ocp.setNext(next);
2132                                 next.setPrevious(ocp);
2133                         }
2134                 } else {
2135                         String name = other.getUniqueName("Reducer");
2136                         reducer.setName(name);
2137                         other.addChild(reducer);
2138                         pipeRun.addChild(ocp);
2139                         reducer.setAlternativePipeRun(pipeRun);
2140
2141                         if (next != null) {
2142                                 next.setNext(pcp);
2143                                 pcp.setPrevious(next);
2144                                 ocp.setPrevious(next);
2145                         }
2146                         pcp.setNext(previous);
2147                         ocp.setNext(previous);
2148                         previous.setPrevious(ocp);
2149                 }
2150         }
2151 }