1 package org.simantics.plant3d.scenegraph.controlpoint;
3 import java.util.ArrayList;
4 import java.util.Collection;
7 import javax.vecmath.Point3d;
8 import javax.vecmath.Quat4d;
9 import javax.vecmath.Vector3d;
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;
22 public class PipingRules {
23 private static final boolean DEBUG = false;
24 private static final boolean DUMMY = false;
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.
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;
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
45 private static boolean enabled = true; //
46 private static boolean updating = false;
47 private static boolean allowInsertRemove = true;
48 private static boolean triedIR = false;
51 private static List<PipeControlPoint> requestUpdates = new ArrayList<PipeControlPoint>();
52 private static List<PipeControlPoint> currentUpdates = new ArrayList<PipeControlPoint>();
54 private static Object updateMutex = new Object();
55 private static Object ruleMutex = new Object();
57 public static void requestUpdate(PipeControlPoint pcp) {
58 if (!PipingRules.enabled)
60 if (DEBUG) System.out.println("PipingRules request " + pcp);
61 synchronized (updateMutex) {
62 if (!requestUpdates.contains(pcp))
63 requestUpdates.add(pcp);
67 public static boolean update() throws Exception {
68 if (!PipingRules.enabled)
71 if (requestUpdates.size() == 0)
74 List<PipeControlPoint> temp = new ArrayList<PipeControlPoint>(requestUpdates.size());
75 synchronized(updateMutex) {
76 temp.addAll(requestUpdates);
77 requestUpdates.clear();
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();
87 synchronized(updateMutex) {
88 requestUpdates.removeAll(temp);
94 public static boolean positionUpdate(PipeControlPoint pcp) throws Exception {
96 return positionUpdate(pcp, true);
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();
109 private static boolean _positionUpdate(PipeControlPoint pcp, boolean allowIR) throws Exception {
110 if (updating || !enabled)
112 if (pcp.getPipeRun() == null)
115 if (DEBUG) System.out.println("PipingRules " + pcp);
117 allowInsertRemove = allowIR;
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);
126 updateInlineControlPoint(pcp);
127 //updateInlineControlPoint(pcp);
129 validate(pcp.getPipeRun());
130 if (!allowInsertRemove)
135 // System.out.println("PipingRules done " + pcp);
139 public static void setEnabled(boolean enabled) {
140 PipingRules.enabled = enabled;
142 currentUpdates.clear();
145 public static boolean isEnabled() {
149 public static class ExpandIterInfo {
150 // these two are turn control points
151 private PipeControlPoint start;
152 private PipeControlPoint end;
155 public ExpandIterInfo() {
159 public ExpandIterInfo(PipeControlPoint tcp, int type) {
160 if (type == REMOVE_START)
167 public ExpandIterInfo(PipeControlPoint start, PipeControlPoint end) {
170 this.type = REMOVE_BOTH;
173 public PipeControlPoint getEnd() {
177 public void setEnd(PipeControlPoint end) {
181 public PipeControlPoint getStart() {
185 public void setStart(PipeControlPoint start) {
189 public int getType() {
193 public void setType(int type) {
199 private static void updatePathLegEndControlPoint(PipeControlPoint pcp) throws Exception {
201 System.out.println("PipingRules.updatePathLegEndControlPoint() " + pcp);
202 if (pcp.getNext() != null) {
203 updatePathLegNext(pcp, pcp, PathLegUpdateType.NEXT_S);
205 if (pcp.getPrevious() != null) {
206 updatePathLegPrev(pcp, pcp, PathLegUpdateType.PREV_S);
211 private static void updateInlineControlPoint(PipeControlPoint pcp) throws Exception {
213 System.out.println("PipingRules.updateInlineControlPoint() " + pcp);
214 PipeControlPoint start = pcp.findPreviousEnd();
215 updatePathLegNext(start, pcp, PathLegUpdateType.NONE);
218 private static PipeControlPoint insertElbow(PipeControlPoint pcp1, PipeControlPoint pcp2, Vector3d pos) throws Exception{
220 System.out.println("PipingRules.insertElbow() " + pcp1 + " " + pcp2 + " " + pos);
221 if (pcp1.getNext() == pcp2 && pcp2.getPrevious() == pcp1) {
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;
229 } else if (pcp2.isDualInline() && pcp1.getPrevious() == pcp2.getDualSub() && pcp2.getNext() == pcp1) {
230 PipeControlPoint t = pcp1;
231 pcp1 = pcp2.getDualSub();
234 throw new RuntimeException();
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");
242 pcp1.getPipeRun().addChild(elbow);
244 pcp.insert(pcp1, pcp2);
246 pcp.setWorldPosition(pos);
247 validate(pcp.getPipeRun());
251 private static PipeControlPoint insertStraight(PipeControlPoint pcp1, PipeControlPoint pcp2, Vector3d pos, double length) throws Exception {
253 System.out.println("PipingRules.insertStraight() " + pcp1 + " " + pcp2 + " " + pos);
254 if (pcp1.getNext() == pcp2 && pcp2.getPrevious() == pcp1) {
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;
262 } else if (pcp2.isDualInline() && pcp1.getPrevious() == pcp2.getDualSub() && pcp2.getNext() == pcp1) {
263 PipeControlPoint t = pcp1;
264 pcp1 = pcp2.getDualSub();
267 throw new RuntimeException();
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);
277 scp.insert(pcp1, pcp2);
279 scp.setWorldPosition(pos);
280 scp.setLength(length);
281 validate(scp.getPipeRun());
285 private static PipeControlPoint insertStraight(PipeControlPoint pcp, Direction direction , Vector3d pos, double length) throws Exception {
287 System.out.println("PipingRules.insertStraight() " + pcp + " " + direction + " " + pos);
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);
297 scp.insert(pcp,direction);
299 scp.setWorldPosition(pos);
300 scp.setLength(length);
301 validate(scp.getPipeRun());
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);
308 System.out.println("Null update struct " + start);
311 updatePathLeg(us, lengthChange);
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);
317 System.out.println("Null update struct " + start);
320 updatePathLeg(us, lengthChange);
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;
330 public Vector3d offset;
331 public boolean hasOffsets;
333 public boolean reversed;
334 public ArrayList<ExpandIterInfo> toRemove;
335 public PipeControlPoint updated;
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();
341 this.startPoint = startPoint;
344 this.endPoint = endPoint;
346 this.offset = offset;
347 this.hasOffsets = hasOffsets;
349 this.reversed = reversed;
350 this.toRemove = toRemove;
351 this.updated = updated;
353 if (!MathTools.isValid(startPoint) ||
354 !MathTools.isValid(endPoint) ||
355 !MathTools.isValid(dir)) {
356 throw new RuntimeException();
360 public String toString() {
361 return start + " " + end+ " " + dir + " " + hasOffsets + " " + offset + " " + iter + " " + toRemove.size();
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())
373 for (PipeControlPoint icp : list) {
374 if (icp.isOffset()) {
376 } else if (icp.isDualSub())
377 ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
379 if (offsets.size() == 0) {
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);
388 Vector3d sp = new Vector3d(startPoint);
389 Point3d ep = new Point3d(endPoint);
392 double l = dir.lengthSquared();
393 if (l > MathTools.NEAR_ZERO)
394 dir.scale(1.0/Math.sqrt(l));
398 offset.set(0.0, 0.0, 0.0);
400 for (PipeControlPoint icp : offsets) {
401 Vector3d v = icp.getSizeChangeOffsetVector(dir);
404 Point3d nep = new Point3d(endPoint);
406 if (nep.distance(ep) < 0.0000000001) {
412 l = dir.lengthSquared();
413 if (l > MathTools.NEAR_ZERO)
414 dir.scale(1.0/Math.sqrt(l));
419 if (DEBUG && hasOffsets)
420 System.out.println("calcOffset s:"+ startPoint + " e:" + endPoint + " d:" + dir + " o:"+offset) ;
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);
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());
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);
453 private static boolean asDirected(PipeControlPoint pcp, Direction direction) {
454 if (pcp.isDirected())
456 if (pcp.asFixedAngle()) {
457 if (!pcp._getReversed())
458 return direction == Direction.NEXT;
460 return direction == Direction.PREVIOUS;
465 private static Vector3d direction(PipeControlPoint pcp, Direction direction) {
466 return pcp.getDirection(direction);
469 private static void updatePathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
472 if (lengthChange == PathLegUpdateType.NONE) {
476 updatePathLeg(u, lengthChange, rs, re);
479 private static void updatePathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange, boolean rs, boolean re) throws Exception {
481 if (asDirected(u.start, Direction.NEXT))
483 if (asDirected(u.end, Direction.PREVIOUS))
486 setErrorForce(u.start, null);
488 setErrorForce(u.end, null);
489 for (PipeControlPoint pcp : u.list)
490 setErrorForce(pcp, null);
493 updateFreePathLeg(u, lengthChange);
496 updateDirectedPathLeg(u, lengthChange);
499 updateDualDirectedPathLeg(u, lengthChange);
505 private static void updateFreePathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
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);
513 private static void updateInlineControlPoints(UpdateStruct2 u, boolean checkSizes) throws Exception{
515 System.out.println("PipingRules.updateInlineControlPoints() " + u);
517 Vector3d start = new Vector3d(u.startPoint);
518 Vector3d end = new Vector3d(u.endPoint);
521 // create offsets for leg ends.
522 if (u.start.isTurn())
523 MathTools.mad(start, u.dir, u.start.getInlineLength());
525 MathTools.mad(end, u.dir, -u.end.getInlineLength());
528 boolean recalcline = false;
530 Vector3d sp = new Vector3d(start);
531 Vector3d ep = new Vector3d(end);
534 if (u.start.isOffset()) {
535 Vector3d offset = u.start.getSizeChangeOffsetVector(u.dir);
536 updateOffsetPoint(u.start, offset);
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);
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<>();
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);
570 } else if (!icp.isVariableLength()) {
571 fixedLengthPoints.add(new Pair<PipeControlPoint, Vector3d>(icp, new Vector3d(off)));
574 pathLegPoints.add(u.end);
575 fixedLengthPoints.add(new Pair<PipeControlPoint, Vector3d>(u.end, new Vector3d(off)));
577 sp = new Vector3d(start);
578 ep = new Vector3d(end);
581 updateFixedLengths(fixedLengthPoints, sp, ep, u.dir);
583 for (int i = 0; i < pathLegPoints.size(); i++) {
584 PipeControlPoint icp = pathLegPoints.get(i);
586 PipeControlPoint prev = i > 0 ? pathLegPoints.get(i - 1) : null;
587 PipeControlPoint next = i < pathLegPoints.size() - 1 ? pathLegPoints.get(i + 1) : null;
589 if (prev != null && prev.isDualInline())
590 prev = prev.getDualSub();
592 if (icp.isVariableLength()) {
593 if (prev != null && next != null) {
594 recalcline = recalcline | updateVariableLength(icp, prev, next);
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);
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);
608 if (icp.isOffset()) {
609 // TODO : offset vector is already calculated and should be cached
610 Vector3d offset = icp.getSizeChangeOffsetVector(u.dir);
618 u.start.findNextEnd(u.list);
621 sp = new Vector3d(u.startPoint);
622 ep = new Vector3d(u.endPoint);
624 double pathLegLength = MathTools.distance(sp, ep);
625 double availableLength = pathLegLength;
626 if (u.start.isTurn())
627 availableLength -= u.start.getInlineLength();
629 availableLength -= u.end.getInlineLength();
630 for (PipeControlPoint pcp : u.list) {
631 if (!pcp.isVariableLength())
632 availableLength-= pcp.getLength();
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");
640 // System.out.println(u.start.getPipelineComponent().toString() + " " + pathLegLength + " " + availableLength + " " + u.end.getPipelineComponent().toString() + " " + u.start.getInlineLength() + " " + u.end.getInlineLength());
644 private enum Gap{ATTACHED,OVERLAP,SPACE};
646 private static class GapObj {
650 Pair<PipeControlPoint,Vector3d> pcp1;
651 Pair<PipeControlPoint,Vector3d> pcp2;
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());
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();
664 double d= MathTools.distance(s, p);
667 distances.add(totalLength);
669 if (totalLength >= reservedLength) {
670 // There is enough space for all fixed length components.
671 List<GapObj> gaps = new ArrayList<>(fixedLengthPoints.size()-1);
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();
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();
689 if (diff < -MIN_INLINE_LENGTH) {
690 obj.gap = Gap.OVERLAP;
692 } else if (diff > MIN_INLINE_LENGTH) {
695 obj.gap = Gap.ATTACHED;
699 // If there are no overlaps, there is nothing to do.
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)
707 double curr = gapObj.d;
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);
716 if (next.d < MIN_INLINE_LENGTH)
717 next.gap = Gap.ATTACHED;
718 Vector3d mv = new Vector3d(dir);
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());
725 pcp.first.setWorldPosition(p);
728 if (curr < -MIN_INLINE_LENGTH && prev != null && prev.gap == Gap.SPACE) {
729 double move = Math.min(-curr, prev.d);
732 if (next.d < MIN_INLINE_LENGTH)
733 next.gap = Gap.ATTACHED;
734 Vector3d mv = new Vector3d(dir);
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());
741 pcp.first.setWorldPosition(p);
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);
756 private static void updateFixedLength(Pair<PipeControlPoint,Vector3d> icp, Pair<PipeControlPoint,Vector3d> prev, Pair<PipeControlPoint,Vector3d> next, Vector3d s, Vector3d e, Vector3d dir) {
758 checkOverlap(prev, icp, dir,true);
761 checkOverlap(icp, next, dir,true);
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();
769 double u[] = new double[1];
770 MathTools.closestPointOnStraight(p2, p1, dir, u);
775 MathTools.mad(p2, dir, MIN_INLINE_LENGTH);
776 icp2.first.setWorldPosition(p2);
778 double d = MathTools.distance(p1, p2);
779 double r = icp.first.getInlineLength() + icp2.first.getInlineLength();
781 if ((d-r) < - MIN_INLINE_LENGTH) {
783 setError(icp.first, "Overlapping");
784 setError(icp2.first, "Overlapping");
792 * Overrides current error of a component
796 private static void setErrorForce(PipeControlPoint pcp, String error) {
797 PipelineComponent comp = pcp.getPipelineComponent();
800 comp.setError(error);
804 * Sets error for a component, if there is no existing error.
808 private static void setError(PipeControlPoint pcp, String error) {
809 PipelineComponent comp = pcp.getPipelineComponent();
812 if (comp.getError() != null)
814 comp.setError(error);
817 private static boolean updateVariableLength(PipeControlPoint icp, PipeControlPoint prev, PipeControlPoint next) {
818 Vector3d prevPos = prev.getWorldPosition();
819 Vector3d nextPos = next.getWorldPosition();
821 Vector3d dir = new Vector3d(nextPos);
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.
831 dir.scale(length * 0.5 + l2prev); // calculate center position of the component
833 icp.setWorldPosition(dir);
834 icp.setLength(length);
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");
846 System.out.println("PipingRules.updateVariableLength removing " + icp);
850 icp.setLength(MIN_INLINE_LENGTH);
851 icp.getPipelineComponent().setError("Not enough available space");
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);
862 double l = dir.lengthSquared();
863 double l2prev = prev.getInlineLength();
864 double l2next = icp.getInlineLength();
865 double l2 = l2prev + l2next;
866 double l2s = l2 * l2;
867 double diff = l - l2s;
868 if (diff >= MIN_INLINE_LENGTH) {
869 if (allowInsertRemove) {
871 double length = Math.sqrt(l) - l2; // true length of the variable length component
872 dir.scale(length * 0.5 + l2prev); // calculate center position of the component
874 insertStraight(prev, icp, dir, length);
883 private static void updateVariableLengthEnd(PipeControlPoint icp, PipeControlPoint prev) {
884 Vector3d currentPos = icp.getWorldPosition();
885 Vector3d prevPos = prev.getWorldPosition();
887 Vector3d dir = new Vector3d();
888 dir.sub(currentPos, prevPos);
890 boolean simple = currentUpdates.contains(icp);
892 // Update based on position -> adjust length
893 double currentLength = (dir.length() - prev.getInlineLength()) * 2.0;
894 icp.setLength(currentLength);
896 // Update based on neighbour movement -> adjust length and position, so that free end stays in place.
897 double currentLength = icp.getLength();
898 if (currentLength < MathTools.NEAR_ZERO) {
899 currentLength = (dir.length() - prev.getInlineLength()) * 2.0;
902 if (dir.lengthSquared() > MathTools.NEAR_ZERO)
904 Point3d endPos = new Point3d(dir);
905 endPos.scale(currentLength * 0.5);
906 endPos.add(currentPos); // this is the free end of the component
908 double offset = prev.getInlineLength();
909 Point3d beginPos = new Point3d(dir);
910 beginPos.scale(offset);
911 beginPos.add(prevPos); // this is the connected end of the component
913 double l = beginPos.distance(endPos);
916 System.out.println("Length for " + icp + " is NaN");
919 beginPos.add(dir); // center position
922 System.out.println("PipingRules.updateInlineControlPoints() setting variable length to " + l);
925 icp.setWorldPosition(new Vector3d(beginPos));
930 * Recalculates offset vector based on current direction, and calls checkExpandPathLeg
935 private static void ppNoOffset(UpdateStruct2 u, boolean updateEnds) throws Exception {
937 System.out.println("PipingRules.ppNoOffset() " + u);
938 Vector3d offset = new Vector3d();
940 for (PipeControlPoint icp : u.list) {
941 if (icp.isOffset()) {
942 offset.add(icp.getSizeChangeOffsetVector(u.dir));
943 } else if (icp.isDualSub())
944 ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
948 checkExpandPathLeg(u, PathLegUpdateType.NONE, updateEnds);
951 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 {
953 System.out.println("PipingRules.ppNoDir() " + start + " " + end + " " + iter + " " + toRemove.size());
954 // FIXME : extra loop (dir should be calculated here)
955 Vector3d dir = new Vector3d();
956 Vector3d offset = new Vector3d();
957 hasOffsets = calculateOffset(startPoint, endPoint, start, list, end, dir, offset);
958 ppNoOffset(new UpdateStruct2(start, startPoint, list, end, endPoint, dir, null, hasOffsets, iter, reversed, toRemove, updated),true);
961 private static void checkExpandPathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
962 checkExpandPathLeg(u, lengthChange, u.updated.isInline() && u.updated.isOffset());
965 private static void checkExpandPathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange, boolean updateEnds) throws Exception {
967 System.out.println("PipingRules.checkExpandPathLeg() " + u + " " + lengthChange);
968 if (lengthChange != PathLegUpdateType.NONE) {
969 // FIXME : turns cannot be checked before inline cps are updated,
970 // since their position affects calculation of turns
971 processPathLeg(u, updateEnds, false);
972 int type = checkTurns(u, lengthChange);
973 if (type == REMOVE_NONE) {
974 processPathLeg(u, updateEnds, true);
976 expandPathLeg(u, type);
979 processPathLeg(u, updateEnds, true);
983 private static void updateDirectedPathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
985 System.out.println("PipingRules.updateDirectedPipeRun() " + u + " " + lengthChange);
986 PipeControlPoint dcp;
987 PipeControlPoint other;
988 boolean canMoveOther = false;
989 boolean dcpStart = false;
990 boolean inlineEnd = false;
992 if (asDirected(u.start, Direction.NEXT)) {
995 position = u.startPoint;
999 inlineEnd = u.end.isInline();
1004 position = u.endPoint;
1006 canMoveOther = true;
1007 inlineEnd = u.start.isInline();
1010 Vector3d directedDirection = direction(dcp, dcpStart ? Direction.NEXT : Direction.PREVIOUS);
1011 if (directedDirection == null) {
1012 //updateTurnControlPointTurn(dcp, dcp.getPrevious(), dcp.getNext());
1013 updateTurnControlPointTurn(dcp, null, null);
1014 directedDirection = direction(dcp, dcpStart ? Direction.NEXT : Direction.PREVIOUS);
1015 if (directedDirection == null) {
1019 Point3d directedEndPoint = new Point3d(u.endPoint);
1021 directedEndPoint.sub(u.offset);
1023 double mu[] = new double[2];
1026 Vector3d t = new Vector3d();
1029 closest = MathTools.closestPointOnStraight(directedEndPoint, u.startPoint, directedDirection, mu);
1030 t.sub(closest, directedEndPoint);
1032 closest = MathTools.closestPointOnStraight(u.startPoint, directedEndPoint, directedDirection, mu);
1033 t.sub(closest, u.startPoint);
1036 double distance = t.length();
1037 boolean aligned = (distance < ALLOWED_OFFSET);
1038 double requiredSpace = 0.0;
1039 if (other.isVariableAngle()) {
1040 requiredSpace = spaceForTurn(other, dcp);
1042 if (mu[0] < requiredSpace) {
1043 // At the moment, if next component is directly behind the nozzle, we must force moving the other component.
1044 // Trying to solve the situation by adding new turn creates infinite loop...
1046 canMoveOther = true;
1049 //if (u.start.isInline() || u.end.isInline() || u.start.asFixedAngle() || u.end.asFixedAngle())
1050 // processPathLeg(u, true, false);
1051 checkExpandPathLeg(u, lengthChange, inlineEnd || u.start.isInline() || u.end.isInline() || u.start.asFixedAngle() || u.end.asFixedAngle());
1057 PipeControlPoint nextToMoved;
1059 if (u.list.size() > 0)
1061 nextToMoved = u.list.get(0);
1063 nextToMoved = u.list.get(u.list.size() - 1);
1065 nextToMoved = u.end;
1067 nextToMoved = u.start;
1068 if (other.isVariableAngle()) {
1070 // TODO calculate needed space from next run end.
1071 if (mu[0] < requiredSpace) {
1073 closest.set(u.startPoint);
1075 closest.set(u.endPoint);
1077 Vector3d v = new Vector3d(directedDirection);
1078 v.scale(requiredSpace);
1084 System.out.println("PipingRules.updateDirectedPipeRun() moved end " + other + " to " + closest);
1085 other.setWorldPosition(closest);
1087 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),true);
1088 if (u.end.getNext() != null)
1089 updatePathLegNext(u.end, u.updated, PathLegUpdateType.NEXT);
1091 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),true);
1092 if (u.start.getPrevious() != null)
1093 updatePathLegPrev(u.start, u.updated, PathLegUpdateType.PREV);
1096 // TODO : calculate needed space from next run end.
1097 if (allowInsertRemove)
1098 insertElbowUpdate(u, dcp, nextToMoved, dcpStart, position, directedDirection);
1103 } else if (other.isNonDirected() && other.getParentPoint() != null) {
1104 // FIXME : this code was for updating branches
1105 Vector3d bintersect = new Vector3d();
1106 PipeControlPoint bcp = other.getParentPoint();
1107 if (bcp != null && canMoveOther) {
1108 Point3d bstart = new Point3d();
1109 Point3d bend = new Point3d();
1110 Vector3d bdir = new Vector3d();
1111 bcp.getInlineControlPointEnds(bstart, bend, bdir);
1112 Vector3d nintersect = new Vector3d();
1114 MathTools.intersectStraightStraight(position, directedDirection, bend, bdir, nintersect, bintersect, mu);
1115 Vector3d dist = new Vector3d(nintersect);
1116 dist.sub(bintersect);
1117 canMoveOther = mu[1] > 0.0 && mu[1] < 1.0 && dist.lengthSquared() < 0.01;
1119 // TODO : endControlPoints are undirected: calculcate
1120 // correct position for it
1121 throw new UnsupportedOperationException("not implemented");
1125 System.out.println("PipingRules.updateDirectedPipeRun() moved end " + other + " to " + bintersect);
1126 // is required branch position is in possible range
1127 bcp.setWorldPosition(bintersect);
1129 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);
1131 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);
1134 // branch cannot be moved into right position, new turn
1135 // / elbow must be inserted
1136 if (allowInsertRemove)
1137 insertElbowUpdate(u, dcp, nextToMoved, dcpStart, position, directedDirection);
1142 } else { // assume that control point cannot be moved, but can
1144 if (allowInsertRemove)
1145 insertElbowUpdate(u, dcp, nextToMoved, dcpStart, position, directedDirection);
1155 private static void updateDualDirectedPathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
1157 System.out.println("PipingRules.updateDualDirectedPipeRun() " + u + " " + lengthChange);
1159 PipeControlPoint dcp1 = u.start;
1160 PipeControlPoint dcp2 = u.end;
1161 Point3d position1 = new Point3d(u.startPoint);
1162 Point3d position2 = new Point3d(u.endPoint);
1163 Point3d position1offset = new Point3d(position1);
1164 position1offset.sub(u.offset);
1165 Point3d position2offset = new Point3d(position2);
1166 position2offset.add(u.offset);
1167 Vector3d dir1 = direction(dcp1, Direction.NEXT);
1168 Vector3d dir2 = direction(dcp2, Direction.PREVIOUS);
1169 Vector3d p1 = MathTools.closestPointOnStraight(position1offset, position2, dir2);
1170 Vector3d p2 = MathTools.closestPointOnStraight(position2offset, position1, dir1);
1171 double d1 = position1.distance(new Point3d(p1));
1172 double d2 = position2.distance(new Point3d(p2));
1174 boolean aligned = (d1 < ALLOWED_OFFSET && d2 < ALLOWED_OFFSET);
1180 } else if (allowInsertRemove){
1181 PipeControlPoint dcp;
1182 PipeControlPoint next;
1185 if (u.list.size() > 0)
1186 next = u.list.get(0);
1191 if (u.list.size() > 0)
1192 next = u.list.get(u.list.size() - 1);
1197 p1 = dcp.getWorldPosition();
1198 Vector3d v = new Vector3d();
1204 // Reserve space for 90 deg elbow
1205 double off = dcp1.getPipeRun().getTurnRadius();
1210 p2 = MathTools.closestPointOnStraight(new Point3d(p1), position2, dir2);
1212 p2 = MathTools.closestPointOnStraight(new Point3d(p1), position1, dir1);
1214 // By default, the elbows are placed next to each other, by using 90 deg angles.
1215 // If the distance between elbows is not enough, we must move the other elbow (and create more shallow angle elbows)
1216 if (MathTools.distance(p1, p2) < off*2.05) {
1220 PipeControlPoint tcp1 = insertElbow(dcp, next, p1);
1221 PipeControlPoint tcp2 = insertElbow(tcp1, next, p2);
1224 System.out.println("PipingRules.updateDualDirectedPipeRun() created two turns " + tcp1 + " " + tcp2);
1227 Vector3d dd = new Vector3d(p2);
1230 updatePathLegNext(u.start, u.updated, PathLegUpdateType.NONE);
1231 updatePathLegNext(tcp1, u.updated, PathLegUpdateType.NONE);
1233 updatePathLegNext(tcp2, u.updated, PathLegUpdateType.NONE);
1235 updatePathLegPrev(tcp2, u.updated, PathLegUpdateType.NONE);
1237 Vector3d dd = new Vector3d(p1);
1240 updatePathLegNext(tcp1, u.updated, PathLegUpdateType.NONE);
1241 updatePathLegNext(tcp2, u.updated, PathLegUpdateType.NONE);
1243 updatePathLegNext(u.start, u.updated, PathLegUpdateType.NONE);
1245 updatePathLegPrev(u.start, u.updated, PathLegUpdateType.NONE);
1254 private static double spaceForTurn(PipeControlPoint tcp, PipeControlPoint dcp) {
1255 // TODO : if the path legs contain offset, using just positions of opposite path leg ends is not enough.
1256 // TODO : current iterative way for calculating required space may return longer length that is required.
1257 double tr = ((TurnComponent)tcp.getPipelineComponent()).getTurnRadius();
1259 return tr; // space for 90 deg
1260 PipeControlPoint ne = tcp.findNextEnd();
1261 PipeControlPoint pe = tcp.findPreviousEnd();
1262 PipeControlPoint other = null;
1268 return tr; // space for 90 deg
1270 return tr; // space for 90 deg
1271 Vector3d dir = dcp.getDirectedControlPointDirection();
1272 Vector3d dp = dcp.getWorldPosition();
1273 Vector3d op = other.getWorldPosition();
1274 double u[] = new double[1];
1275 Vector3d closest = MathTools.closestPointOnStraight(op, dp, dir,u);
1276 if (MathTools.distanceSquared(closest, op) <= MIN_INLINE_LENGTH) {
1277 if (u[0] > -MIN_INLINE_LENGTH)
1278 return 0.0; // point following turn is directly in the front of the nozzle.
1280 return tr*2.0; // point following turn is directly behind the nozzle, in theory, we should return Double.Inf...
1282 double curr = tr*0.1;
1284 Vector3d v1 = new Vector3d();
1285 Vector3d v2 = new Vector3d();
1287 Vector3d tp = new Vector3d(dp);
1288 MathTools.mad(tp, dir, curr);
1289 v1.sub(tp, dp); // Vector from nozzle to turn
1290 v2.sub(op,tp); // Vector from turn to other
1291 double a = v1.angle(v2);
1292 double t = Math.tan((Math.PI - a) * 0.5);
1294 if (t > MathTools.NEAR_ZERO)
1304 private static void insertElbowUpdate(UpdateStruct2 u, PipeControlPoint dcp, PipeControlPoint next, boolean dcpStart, Vector3d position, Vector3d directedDirection) throws Exception{
1307 // Vector3d closest = new Vector3d(position);
1308 // closest.add(directedDirection);
1310 PipeControlPoint tcp = null;
1313 closest = MathTools.closestPointOnStraight(next.getWorldPosition(), position, directedDirection);
1314 tcp = insertElbow(dcp, next, closest);
1316 closest = MathTools.closestPointOnStraight(dcp.getWorldPosition(), position, directedDirection);
1317 tcp = insertElbow(next, dcp, closest);
1319 double d = MathTools.distance(position, closest);
1320 double s = spaceForTurn(tcp,dcp);
1323 Vector3d p = new Vector3d(directedDirection);
1333 System.out.println("PipingRules.updateDirectedPipeRun() inserted " + tcp);
1336 // update pipe run from new turn to other end
1337 ppNoDir(tcp, new Vector3d(closest), u.list, u.end, u.endPoint, u.hasOffsets, u.iter, u.reversed, u.toRemove, u.updated);
1338 // update pipe run from directed to new turn
1339 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));
1341 // update pipe run from other end to new turn
1342 ppNoDir(u.start, u.startPoint, u.list, tcp, new Vector3d(closest), u.hasOffsets, u.iter, u.reversed, u.toRemove, u.updated);
1343 // update pipe run from new turn to directed
1344 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));
1349 * Checks if turns can be removed (turn angle near zero)
1351 private static int checkTurns(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
1353 System.out.println("PipingRules.checkTurns() " + u.start + " " + u.end);
1354 boolean startRemoved = false;
1355 boolean endRemoved = false;
1356 if (u.start.isVariableAngle()) {
1357 // this won't work properly if inline control points are not updated
1358 PipeControlPoint startPrev = u.start.getPrevious();
1359 if (startPrev != null) {
1360 double a = updateTurnControlPointTurn(u.start, null, u.dir);
1361 if (a < MIN_TURN_ANGLE && u.start.isDeletable())
1362 startRemoved = true;
1363 else if (lengthChange == PathLegUpdateType.PREV || lengthChange == PathLegUpdateType.PREV_S) {
1364 PathLegUpdateType type;
1365 if (lengthChange == PathLegUpdateType.PREV_S)
1366 type = PathLegUpdateType.PREV;
1368 type = PathLegUpdateType.NONE;
1369 updatePathLegPrev(u.start, u.start, type);
1373 if (u.end.isVariableAngle()) {
1375 PipeControlPoint endNext = u.end.getNext();
1376 if (endNext != null) {
1377 // TODO: u.end, u.dir, null
1378 double a = updateTurnControlPointTurn(u.end, null, null);
1379 if (a < MIN_TURN_ANGLE && u.end.isDeletable())
1381 else if (lengthChange == PathLegUpdateType.NEXT || lengthChange == PathLegUpdateType.NEXT_S) {
1382 PathLegUpdateType type;
1383 if (lengthChange == PathLegUpdateType.NEXT_S)
1384 type = PathLegUpdateType.NEXT;
1386 type = PathLegUpdateType.NONE;
1387 updatePathLegNext(u.end, u.end, type);
1392 System.out.println("PipingRules.checkTurns() res " + startRemoved + " " + endRemoved);
1393 if (!startRemoved && !endRemoved)
1395 if (startRemoved && endRemoved)
1398 return REMOVE_START;
1403 * Expands piperun search over turns that are going to be removed
1406 private static void expandPathLeg(UpdateStruct2 u, int type) throws Exception {
1408 System.out.println("PipingRules.expandPipeline " + u.start + " " + u.end);
1409 ArrayList<PipeControlPoint> newList = new ArrayList<PipeControlPoint>();
1412 throw new RuntimeException("Error in piping rules");
1414 u.toRemove.add(new ExpandIterInfo(u.start, REMOVE_START));
1415 u.start = u.start.findPreviousEnd();
1416 u.startPoint = u.start.getPosition();
1417 u.start.findNextEnd(newList);
1418 newList.addAll(u.list);
1422 u.toRemove.add(new ExpandIterInfo(u.end, REMOVE_END));
1423 u.end = u.end.findNextEnd(newList);
1424 u.endPoint = u.end.getPosition();
1425 u.list.addAll(newList);
1428 u.toRemove.add(new ExpandIterInfo(u.start, u.end));
1429 u.start = u.start.findPreviousEnd();
1430 u.startPoint = u.start.getPosition();
1431 u.start.findNextEnd(newList);
1432 newList.addAll(u.list);
1434 newList = new ArrayList<PipeControlPoint>();
1435 u.end = u.end.findNextEnd(newList);
1436 u.endPoint = u.end.getPosition();
1437 u.list.addAll(newList);
1440 throw new RuntimeException("Error in piping rules");
1443 u.offset = new Vector3d();
1446 for (PipeControlPoint icp : u.list) {
1447 if (icp.isOffset()) {
1448 u.offset.add(icp.getSizeChangeOffsetVector(u.dir));
1449 } else if (icp.isDualSub())
1450 ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
1454 System.out.println("PipingRules.expandPipeline expanded " + u.start + " " + u.end);
1456 updatePathLeg(u, PathLegUpdateType.NONE);
1460 * reverts one iteration of turn removing back)
1462 private static void backIter(UpdateStruct2 u) throws Exception {
1465 System.out.println("PipingRules.backIter" + u.start + " " + u.end);
1467 throw new RuntimeException("Error in piping rules");
1468 ExpandIterInfo info = u.toRemove.get(u.toRemove.size() - 1);
1469 u.toRemove.remove(u.toRemove.size() - 1);
1470 if (info.getType() == REMOVE_START || info.getType() == REMOVE_BOTH) {
1471 while (u.list.size() > 0) {
1472 PipeControlPoint icp = u.list.get(0);
1473 if (icp.getPrevious().equals(info.getStart()))
1477 u.start = info.getStart();
1479 if (info.getType() == REMOVE_END || info.getType() == REMOVE_BOTH) {
1480 while (u.list.size() > 0) {
1481 PipeControlPoint icp = u.list.get(u.list.size() - 1);
1482 if (icp.getNext().equals(info.getEnd()))
1486 u.end = info.getEnd();
1488 u.offset = new Vector3d();
1491 for (PipeControlPoint icp : u.list) {
1492 if (icp.isOffset()) {
1493 u.offset.add(icp.getSizeChangeOffsetVector(u.dir));
1494 } else if (icp.isDualSub())
1495 ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
1503 * Processes pipe run (removes necessary turns and updates run ends)
1505 // private static void processPathLeg(PipeControlPoint start, Point3d
1506 // startPoint,ArrayList<InlineControlPoint> list, PipeControlPoint
1507 // end,Point3d endPoint, Vector3d dir,Vector3d offset, boolean
1508 // hasOffsets,int iter, boolean reversed, ArrayList<ExpandIterInfo>
1509 // toRemove) throws TransactionException {
1511 private static void processPathLeg(UpdateStruct2 u) throws Exception {
1513 System.out.println("PipingRules.processPathLeg " + u.start + " " + u.end);
1514 processPathLeg(u, true, true);
1517 private static void processPathLeg(UpdateStruct2 u, boolean updateEnds, boolean updateInline) throws Exception {
1519 System.out.println("PipingRules.processPathLeg " + (updateEnds ? "ends " : "") + (updateInline ? "inline " : "") + u.start + " " + u.end);
1521 if (u.toRemove.size() > 0) {
1522 for (ExpandIterInfo info : u.toRemove) {
1523 if (info.getStart() != null) {
1525 System.out.println("PipingRules.processPathLeg removing start " + info.getStart());
1526 info.getStart()._remove();
1528 if (info.getEnd() != null) {
1530 System.out.println("PipingRules.processPathLeg removing end " + info.getEnd());
1531 info.getEnd()._remove();
1534 // ControlPointTools.removeControlPoint may remove more than one CP;
1535 // we must populate inline CP list again.
1537 u.start.findNextEnd( u.list);
1539 // FIXME : inline CPs are update twice because their positions must be
1540 // updated before and after ends.
1541 updateInlineControlPoints(u, false);
1544 if (u.start.isTurn()) {
1545 //updateTurnControlPointTurn(u.start, u.start.getPrevious(), u.start.getNext());
1546 updateTurnControlPointTurn(u.start, null, null);
1547 // updatePathLegPrev(u.start, u.start, PathLegUpdateType.NONE);
1548 } else if (u.start.isEnd()) {
1549 updateEndComponentControlPoint(u.start, u.dir);
1550 } else if (u.start.isInline()) {
1551 updateControlPointOrientation(u.start, u.dir);
1553 if (u.end.isTurn()) {
1554 //updateTurnControlPointTurn(u.end, u.end.getPrevious(), u.end.getNext());
1555 updateTurnControlPointTurn(u.end, null, null);
1556 // updatePathLegNext(u.end, u.end, PathLegUpdateType.NONE);
1557 } else if (u.end.isEnd()) {
1558 updateEndComponentControlPoint(u.end, u.dir);
1559 } else if (u.end.isInline()) {
1560 updateControlPointOrientation(u.end, u.dir);
1564 if (u.start.isEnd()) {
1565 updateEndComponentControlPoint(u.start, u.dir);
1567 if (u.end.isEnd()) {
1568 updateEndComponentControlPoint(u.end, u.dir);
1572 updateInlineControlPoints(u, true);
1577 * Processes pipe run and recalculates offset
1579 // private static void processPathLeg(PipeControlPoint start, Point3d
1580 // startPoint,ArrayList<InlineControlPoint> list, PipeControlPoint
1581 // end,Point3d endPoint, Vector3d dir, boolean hasOffsets,int iter, boolean
1582 // reversed, ArrayList<ExpandIterInfo> toRemove) throws TransactionException
1584 @SuppressWarnings("unused")
1585 private static void processPathLegNoOffset(UpdateStruct2 u) throws Exception {
1587 System.out.println("PipingRules.processPathLeg " + u.start + " " + u.end);
1588 Vector3d offset = new Vector3d();
1591 for (PipeControlPoint icp : u.list) {
1592 if (icp.isOffset()) {
1593 offset.add(icp.getSizeChangeOffsetVector(u.dir));
1594 } else if (icp.isDualSub()) {
1595 ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
1602 private static void updateOffsetPoint(PipeControlPoint sccp, Vector3d offset) {
1603 Vector3d world = sccp.getWorldPosition();
1605 PipeControlPoint ocp = sccp.getDualSub();
1606 ocp.setWorldPosition(world);
1610 * Updates InlineControlPoints position when straight pipe's end(s) have
1618 private static void updateInlineControlPoint(PipeControlPoint icp, Vector3d prev, Vector3d next, Vector3d dir) {
1620 System.out.println("PipingRules.updateInlineControlPoint() " + icp);
1622 Vector3d inlinePoint = icp.getWorldPosition();
1623 Vector3d prevPoint = new Vector3d(prev);
1624 Vector3d nextPoint = new Vector3d(next);
1625 if (!icp.isVariableLength()) {
1626 // Reserve space for fixed length components.
1627 MathTools.mad(prevPoint, dir, icp.getInlineLength());
1628 MathTools.mad(nextPoint, dir, -icp.getInlineLength());
1629 if (MathTools.distance(prevPoint, nextPoint) < ALLOWED_OFFSET) {
1634 boolean canCalc = MathTools.distance(prevPoint, nextPoint) > ALLOWED_OFFSET;
1636 System.out.print("InlineControlPoint update " + icp + " " + inlinePoint + " " + prevPoint + " " + nextPoint);
1637 Vector3d newInlinePoint = null;
1639 boolean branchUpdate = false;
1640 PipeControlPoint becp = null;
1641 for (PipeControlPoint pcp : icp.getChildPoints())
1642 if (pcp.isNonDirected()) {
1643 branchUpdate = true;
1648 if (DUMMY || !branchUpdate) {
1649 newInlinePoint = MathTools.closestPointOnEdge(new Vector3d(inlinePoint), prevPoint, nextPoint);
1653 // FIXME : can only handle one branch
1654 PipeControlPoint p = null;
1655 if (becp.getNext() != null) {
1656 p = becp.findNextEnd();
1657 } else if (becp.getPrevious() != null) {
1658 p = becp.findPreviousEnd();
1661 newInlinePoint = MathTools.closestPointOnEdge(new Vector3d(inlinePoint), prevPoint, nextPoint);
1662 } else if (canCalc){
1663 Vector3d branchLegEnd = p.getWorldPosition();
1664 Vector3d dir2 = new Vector3d(inlinePoint);
1665 dir2.sub(branchLegEnd);
1666 Vector3d dir1 = new Vector3d(nextPoint);
1667 dir1.sub(prevPoint);
1668 newInlinePoint = new Vector3d();
1669 double mu[] = new double[2];
1670 MathTools.intersectStraightStraight(new Vector3d(prevPoint), dir1, new Vector3d(branchLegEnd), dir2, newInlinePoint, new Vector3d(), mu);
1672 System.out.println(mu[0]);
1673 // FIXME : reserve space
1675 newInlinePoint = new Vector3d(prevPoint);
1676 } else if (mu[0] > 1.0) {
1677 newInlinePoint = new Vector3d(nextPoint);
1682 // prevPoint == nextPoint
1683 newInlinePoint = new Vector3d(prevPoint);
1686 System.out.println(" " + newInlinePoint);
1688 icp.setWorldPosition(newInlinePoint);
1689 updateControlPointOrientation(icp, dir);
1693 * Updates InlineControlPoints position when straight pipe's end(s) have
1701 private static void updateEndComponentControlPoint(PipeControlPoint ecp, Vector3d dir) throws Exception {
1703 System.out.println("PipingRules.updateEndComponentControlPoint() " + ecp);
1705 if (!ecp.isFixed()) // prevent overriding nozzle orientations..
1706 updateControlPointOrientation(ecp, dir);
1708 for (PipeControlPoint pcp : ecp.getChildPoints()) {
1709 // TODO update position
1710 updatePathLegEndControlPoint(pcp);
1714 private static void updateControlPointOrientation(PipeControlPoint pcp, Vector3d dir) {
1715 Double angleO = pcp.getRotationAngle();
1719 boolean reversed = pcp._getReversed();
1722 q = pcp.getControlPointOrientationQuat(dir, angle, reversed);
1724 q = pcp.getControlPointOrientationQuat(angle, reversed);
1726 pcp.setWorldOrientation(q);
1730 * Updates all branches when branch's position has been changed
1734 private static void updateBranchControlPointBranches(PipeControlPoint bcp) throws Exception {
1736 System.out.println("PipingRules.updateBranchControlPointBranches() " + bcp);
1737 if (bcp.isDualInline())
1739 Collection<PipeControlPoint> branches = bcp.getChildPoints();
1740 if (branches.size() == 0) {
1742 System.out.println("No Branches found");
1746 for (PipeControlPoint pcp : branches) {
1747 updatePathLegEndControlPoint(pcp);
1751 private static double updateTurnControlPointTurn(PipeControlPoint tcp, Vector3d prev, Vector3d next) {
1753 UpdateStruct2 us = createUS(tcp, Direction.NEXT, 0, new ArrayList<PipingRules.ExpandIterInfo>(), tcp);
1758 UpdateStruct2 us = createUS(tcp, Direction.PREVIOUS, 0, new ArrayList<PipingRules.ExpandIterInfo>(), tcp);
1764 if (!tcp.asFixedAngle()) {
1767 if (next == null || prev == null) {
1768 if (tcp.getTurnAngle() != null)
1769 return tcp.getTurnAngle();
1770 return Math.PI; // FIXME : argh
1772 double turnAngle = prev.angle(next);
1774 double angle = Math.PI - turnAngle;
1776 Vector3d turnAxis = new Vector3d();
1777 turnAxis.cross(prev, next);
1778 if (turnAxis.lengthSquared() > MathTools.NEAR_ZERO) {
1779 double elbowRadius = ((TurnComponent)tcp.getPipelineComponent()).getTurnRadius();
1780 double R = elbowRadius / Math.tan(angle * 0.5);
1782 turnAxis.normalize();
1783 tcp.setTurnAngle(turnAngle);
1784 tcp.setLength(R);// setComponentOffsetValue(R);
1785 tcp.setTurnAxis(turnAxis);
1786 // tcp.setPosition(tcp.getPosition());
1789 tcp.setTurnAngle(0.0);
1791 tcp.setTurnAxis(new Vector3d(MathTools.Y_AXIS));
1794 updateControlPointOrientation(tcp,prev);
1797 System.out.println("PipingTools.updateTurnControlPointTurn " + prev + " " + next + " " + turnAngle + " " + turnAxis);
1801 if (prev != null && next != null) {
1803 } else if (prev == null) {
1804 if (!tcp._getReversed())
1805 tcp.setReversed(true);
1806 } else if (next == null) {
1807 if (tcp._getReversed())
1808 tcp.setReversed(false);
1811 Vector3d dir = null;
1812 if (!tcp._getReversed()) {
1819 return Math.PI; // FIXME : argh
1822 Quat4d q = PipeControlPoint.getControlPointOrientationQuat(dir, tcp.getRotationAngle() != null ? tcp.getRotationAngle() : 0.0);
1823 Vector3d v = new Vector3d();
1824 MathTools.rotate(q, MathTools.Y_AXIS,v);
1826 tcp.setWorldOrientation(q);
1827 if (tcp.getTurnAngle() != null)
1828 return tcp.getTurnAngle();
1829 return Math.PI; // FIXME : argh
1835 public static List<PipeControlPoint> getControlPoints(PipeRun pipeRun) {
1836 List<PipeControlPoint> list = new ArrayList<PipeControlPoint>();
1837 if (pipeRun.getControlPoints().size() == 0)
1839 PipeControlPoint pcp = pipeRun.getControlPoints().iterator().next();
1840 while (pcp.getPrevious() != null) {
1841 PipeControlPoint prev = pcp.getPrevious();
1842 if (prev.getPipeRun() != pipeRun && prev.getPipeRun() != null) { // bypass possible corruption
1847 if (pcp.isDualSub()) {
1848 pcp = pcp.getParentPoint();
1851 while (pcp.getNext() != null) {
1852 pcp = pcp.getNext();
1853 if (pcp.getPipeRun() != pipeRun)
1860 public static void reverse(PipeRun pipeRun) {
1863 List<PipeControlPoint> points = getControlPoints(pipeRun);
1864 PipeControlPoint pcp = points.get(0);
1865 if (pcp.isSizeChange() && pcp.getChildPoints().size() > 0) {
1866 PipeRun pr = pcp.getPipeRun();
1874 List<PipeRun> all = new ArrayList<PipeRun>();
1875 List<List<PipeControlPoint>> pcps = new ArrayList<List<PipeControlPoint>>();
1878 List<PipeControlPoint> points = getControlPoints(pipeRun);
1880 PipeControlPoint pcp = points.get(points.size()-1);
1881 if (pcp.getChildPoints().size() > 0) {
1882 PipeRun pipeRun2 = pcp.getChildPoints().get(0).getPipeRun();
1883 if (pipeRun == pipeRun2)
1891 for (int i = 0 ; i < all.size(); i++) {
1892 List<PipeControlPoint> list = pcps.get(i);
1895 for (int i = 0 ; i < all.size(); i++) {
1896 boolean last = i == all.size() - 1;
1897 List<PipeControlPoint> list = pcps.get(i);
1900 List<PipeControlPoint> list2 = pcps.get(i+1);
1901 PipeControlPoint prev = list.get(list.size()-1);
1902 PipeControlPoint next = list2.get(0);
1904 // Reverse the component on the boundary.
1905 InlineComponent ic = (InlineComponent)prev.getPipelineComponent();
1906 PipeRun r1 = ic.getPipeRun();
1907 PipeRun r2 = ic.getAlternativePipeRun();
1908 if (r1 == null || r2 == null)
1909 throw new RuntimeException("Components on PipeRun changes should refer to bot PipeRuns");
1913 ic.setAlternativePipeRun(r1);
1915 throw new RuntimeException("PipeRun changes should contain shared control points");
1923 private static void _reverse(List<PipeControlPoint> list) {
1924 if (list.size() <= 1)
1925 return; // nothing to do.
1927 for (int i = 0 ; i < list.size(); i++) {
1928 boolean first = i == 0;
1929 boolean last = i == list.size() - 1;
1930 PipeControlPoint current = list.get(i);
1931 PipeControlPoint currentSub = null;
1932 if (current.isDualInline())
1933 currentSub = current.getDualSub();
1935 PipeControlPoint next = list.get(i+1);
1936 if (next.isDualInline())
1937 next = next.getDualSub();
1938 if (current.getNext() == next)
1939 current.setNext(null);
1940 current.setPrevious(next);
1941 if (currentSub != null) {
1942 if (currentSub.getNext() == next)
1943 currentSub.setNext(null);
1944 currentSub.setPrevious(next);
1947 PipeControlPoint prev = list.get(i-1);
1949 if (current.getPrevious() == prev)
1950 current.setPrevious(null);
1951 current.setNext(prev);
1953 if (currentSub != null) {
1954 if (currentSub.getPrevious() == prev)
1955 currentSub.setPrevious(null);
1956 currentSub.setNext(prev);
1959 PipeControlPoint prev = list.get(i-1);
1960 PipeControlPoint next = list.get(i+1);
1961 if (next.isDualInline())
1962 next = next.getDualSub();
1965 current.setPrevious(next);
1966 current.setNext(prev);
1968 if (currentSub != null) {
1969 currentSub.setPrevious(next);
1970 currentSub.setNext(prev);
1974 //if (current.isTurn() && current.isFixed()) {
1975 if (current.asFixedAngle()) {
1976 current.setReversed(!current._getReversed());
1978 if (current.isInline() && current.isReverse()) {
1979 current.setReversed(!current._getReversed());
1986 public static void validate(PipeRun pipeRun) {
1987 if (pipeRun == null)
1989 Collection<PipeControlPoint> pcps = pipeRun.getControlPoints();
1991 //System.out.println("Validate " + pipeRun.getName());
1992 for (PipeControlPoint pcp : pcps) {
1993 if (pcp.getParentPoint() == null || pcp.getParentPoint().getPipeRun() != pipeRun)
1996 List<PipeControlPoint> runPcps = getControlPoints(pipeRun);
1997 if (runPcps.size() != count) {
1998 System.out.println("Run " + pipeRun.getName() + " contains unconnected control points, found " + runPcps.size() + " connected, " + pcps.size() + " total.");
1999 for (PipeControlPoint pcp : pcps) {
2000 if (!runPcps.contains(pcp)) {
2001 System.out.println("Unconnected " + pcp + " " + pcp.getPipelineComponent());
2005 for (PipeControlPoint pcp : pcps) {
2006 if (pcp.getPipeRun() == null) {
2007 System.out.println("PipeRun ref missing " + pcp + " " + pcp.getPipelineComponent());
2009 if (!pcp.isDirected() && pcp.getNext() == null && pcp.getPrevious() == null)
2010 System.out.println("Orphan undirected " + pcp + " " + pcp.getPipelineComponent());
2012 for (PipeControlPoint pcp : pcps) {
2013 if (pcp.getParentPoint() == null) {
2014 PipeControlPoint sub = null;
2015 if (pcp.isDualInline())
2016 sub = pcp.getDualSub();
2017 PipeControlPoint next = pcp.getNext();
2018 PipeControlPoint prev = pcp.getPrevious();
2020 if (!(next.getPrevious() == pcp || next.getPrevious() == sub)) {
2021 System.out.println("Inconsistency between " + pcp + " -> " +next );
2025 PipeControlPoint prevParent = null;
2026 if (prev.isDualSub()) {
2027 prevParent = prev.getParentPoint();
2028 } else if (prev.isDualInline()) {
2029 System.out.println("Inconsistency between " + pcp + " <-- " +prev );
2031 if (!(prev.getNext() == pcp && (prevParent == null || prevParent.getNext() == pcp))) {
2032 System.out.println("Inconsistency between " + pcp + " <-- " +prev );
2039 public static void splitVariableLengthComponent(PipelineComponent newComponent, InlineComponent splittingComponent, boolean assignPos) throws Exception{
2040 assert(!splittingComponent.getControlPoint().isFixedLength());
2041 assert(!(newComponent instanceof InlineComponent && !newComponent.getControlPoint().isFixedLength()));
2042 PipeControlPoint newCP = newComponent.getControlPoint();
2043 PipeControlPoint splittingCP = splittingComponent.getControlPoint();
2044 PipeControlPoint nextCP = splittingCP.getNext();
2045 PipeControlPoint prevCP = splittingCP.getPrevious();
2047 /* there are many different cases to insert new component when
2048 it splits existing VariableLengthinlineComponent.
2050 1. VariableLengthComponet is connected from both sides:
2051 - insert new component between VariableLength component and component connected to it
2052 - insert new VariableLengthComponent between inserted component and component selected in previous step
2054 2. VariableLengthComponent is connected from one side
2055 - Use previous case or:
2056 - Insert new component to empty end
2057 - Insert new VariableLength component to inserted components empty end
2059 3. VariableLength is not connected to any component.
2060 - Should not be possible, at least in current implementation.
2061 - Could be done using second case
2065 if (nextCP == null && prevCP == null) {
2066 // this should not be possible
2067 throw new RuntimeException("VariableLengthComponent " + splittingComponent + " is not connected to anything.");
2069 double newLength = newComponent.getControlPoint().getLength();
2072 Point3d next = new Point3d();
2073 Point3d prev = new Point3d();
2074 splittingCP.getInlineControlPointEnds(prev, next);
2076 Vector3d newPos = null;
2078 newPos = new Vector3d(prev);
2079 Vector3d dir = new Vector3d(next);
2083 newComponent.setWorldPosition(newPos);
2085 newPos = newComponent.getWorldPosition();
2090 Vector3d dir = new Vector3d(next);
2093 dir.scale(newLength * 0.5);
2094 Point3d vn = new Point3d(newPos);
2095 Point3d vp = new Point3d(newPos);
2098 double ln = vn.distance(next);
2099 double lp = vp.distance(prev);
2100 vp.interpolate(prev, 0.5);
2101 vn.interpolate(next, 0.5);
2104 if (nextCP == null) {
2105 newCP.insert(splittingCP, Direction.NEXT);
2106 insertStraight(newCP, Direction.NEXT, new Vector3d(vn), ln);
2107 splittingCP.setWorldPosition(new Vector3d(vp));
2108 // ControlPointTools.setWorldPosition(splittingCP, vp);
2109 // splittingCP.setRelatedScalarDouble(ProcessResource.plant3Dresource.HasLength, lp);
2110 } else if (prevCP == null) {
2111 newCP.insert(splittingCP, Direction.PREVIOUS);
2112 insertStraight(newCP, Direction.PREVIOUS, new Vector3d(vp), lp);
2113 splittingCP.setWorldPosition(new Vector3d(vn));
2114 // splittingCP.setRelatedScalarDouble(ProcessResource.plant3Dresource.HasLength, ln);
2116 newCP.insert(splittingCP, nextCP);
2117 insertStraight(newCP, nextCP, new Vector3d(vn), ln);
2118 splittingCP.setWorldPosition(new Vector3d(vp));
2119 // splittingCP.setRelatedScalarDouble(ProcessResource.plant3Dresource.HasLength, lp);
2121 positionUpdate(newCP);
2125 public static void addSizeChange(boolean reversed, PipeRun pipeRun, PipeRun other, InlineComponent reducer, PipeControlPoint previous, PipeControlPoint next) {
2126 PipeControlPoint pcp = reducer.getControlPoint();
2127 PipeControlPoint ocp = pcp.getDualSub();
2129 String name = pipeRun.getUniqueName("Reducer");
2130 reducer.setName(name);
2131 pipeRun.addChild(reducer);
2132 other.addChild(ocp);
2133 reducer.setAlternativePipeRun(other);
2135 previous.setNext(pcp);
2136 pcp.setPrevious(previous);
2137 ocp.setPrevious(previous);
2141 next.setPrevious(ocp);
2144 String name = other.getUniqueName("Reducer");
2145 reducer.setName(name);
2146 other.addChild(reducer);
2147 pipeRun.addChild(ocp);
2148 reducer.setAlternativePipeRun(pipeRun);
2152 pcp.setPrevious(next);
2153 ocp.setPrevious(next);
2155 pcp.setNext(previous);
2156 ocp.setNext(previous);
2157 previous.setPrevious(ocp);