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.HashMap;
   6 import java.util.List;
   7 import java.util.Map;
   8
   9 import javax.vecmath.Point3d;
  10 import javax.vecmath.Quat4d;
  11 import javax.vecmath.Vector3d;
  12
  13 import org.simantics.g3d.math.MathTools;
  14 import org.simantics.plant3d.scenegraph.InlineComponent;
  15 import org.simantics.plant3d.scenegraph.Nozzle;
  16 import org.simantics.plant3d.scenegraph.P3DRootNode;
  17 import org.simantics.plant3d.scenegraph.PipeRun;
  18 import org.simantics.plant3d.scenegraph.PipelineComponent;
  19 import org.simantics.plant3d.scenegraph.TurnComponent;
  20 import org.simantics.plant3d.scenegraph.controlpoint.PipeControlPoint.Direction;
  21 import org.simantics.plant3d.utils.ComponentUtils;
  22 import org.simantics.utils.ui.ErrorLogger;
  23
  24 public class PipingRules {
  25         private static final boolean DEBUG = false;
  26         private static final boolean DUMMY = false;
  27
  28         private static double MIN_TURN_ANGLE = 0.001; // Threshold for removing turn components.
  29         private static double ALLOWED_OFFSET = 0.001; // Allowed offset for directed path legs
  30
  31         private static final int REMOVE_NONE = 0;
  32         private static final int REMOVE_START = 1;
  33         private static final int REMOVE_END = 2;
  34         private static final int REMOVE_BOTH = 3;
  35
  36
  37         private enum PathLegUpdateType {
  38                 NONE, PREV, NEXT, PREV_S, NEXT_S
  39         };
  40
  41         private static boolean enabled = true;
  42         private static boolean updating = false;
  43         private static boolean allowInsertRemove = true;
  44         private static boolean triedIR = false;
  45
  46
  47         private static List<PipeControlPoint> updates = new ArrayList<PipeControlPoint>();
  48
  49         private static Object mutex = new Object();
  50
  51         public static void requestUpdate(PipeControlPoint pcp) {
  52                 if (DEBUG) System.out.println("PipingRules request " + pcp);
  53                 synchronized (mutex) {
  54                 if (!updates.contains(pcp))
  55                         updates.add(pcp);
  56                 }
  57         }
  58
  59         public static synchronized boolean update() throws Exception {
  60                 if (updates.size() == 0)
  61                         return false;
  62                 List<PipeControlPoint> temp = new ArrayList<PipeControlPoint>(updates.size());
  63                 synchronized(mutex) {
  64                         temp.addAll(updates);
  65                         updates.clear();
  66                 }
  67
  68                 for (PipeControlPoint pcp : temp)
  69                         positionUpdate(pcp);
  70                 return true;
  71         }
  72
  73         public static boolean positionUpdate(PipeControlPoint pcp) throws Exception {
  74
  75                 return positionUpdate(pcp, true);
  76         }
  77
  78         public static boolean positionUpdate(PipeControlPoint pcp, boolean allowIR) throws Exception {
  79                 if (updating || !enabled)
  80                         return true;
  81                 if (pcp.getPipeRun() == null)
  82                         return false;
  83                 try {
  84                         if (DEBUG) System.out.println("PipingRules " + pcp);
  85                         updating = true;
  86                         allowInsertRemove = allowIR;
  87                         triedIR = false;
  88                         validate(pcp.getPipeRun());
  89                         if (pcp.isPathLegEnd()) {
  90                                 updatePathLegEndControlPoint(pcp); // FIXME: Rules won't work properly, if they are not run twice.
  91                                 updatePathLegEndControlPoint(pcp);
  92                         } else {
  93                                 updateInlineControlPoint(pcp);
  94                                 updateInlineControlPoint(pcp);
  95                         }
  96                         validate(pcp.getPipeRun());
  97                         if (!allowInsertRemove)
  98                                 return !triedIR;
  99                         return true;
 100                 } finally {
 101                         updating = false;
 102 //                      System.out.println("PipingRules done " + pcp);
 103                 }
 104         }
 105
 106         public static void setEnabled(boolean enabled) {
 107                 PipingRules.enabled = enabled;
 108                 if(!enabled)
 109                         updates.clear();
 110         }
 111
 112         public static boolean isEnabled() {
 113                 return enabled;
 114         }
 115
 116 //      private void commit() {
 117 //              root.getNodeMap().commit();
 118 //      }
 119
 120         public static class ExpandIterInfo {
 121                 // these two are turn control points
 122                 private PipeControlPoint start;
 123                 private PipeControlPoint end;
 124                 private int type;
 125
 126                 public ExpandIterInfo() {
 127
 128                 }
 129
 130                 public ExpandIterInfo(PipeControlPoint tcp, int type) {
 131                         if (type == REMOVE_START)
 132                                 start = tcp;
 133                         else
 134                                 end = tcp;
 135                         this.type = type;
 136                 }
 137
 138                 public ExpandIterInfo(PipeControlPoint start, PipeControlPoint end) {
 139                         this.start = start;
 140                         this.end = end;
 141                         this.type = REMOVE_BOTH;
 142                 }
 143
 144                 public PipeControlPoint getEnd() {
 145                         return end;
 146                 }
 147
 148                 public void setEnd(PipeControlPoint end) {
 149                         this.end = end;
 150                 }
 151
 152                 public PipeControlPoint getStart() {
 153                         return start;
 154                 }
 155
 156                 public void setStart(PipeControlPoint start) {
 157                         this.start = start;
 158                 }
 159
 160                 public int getType() {
 161                         return type;
 162                 }
 163
 164                 public void setType(int type) {
 165                         this.type = type;
 166                 }
 167
 168         }
 169
 170         private static void updatePathLegEndControlPoint(PipeControlPoint pcp) throws Exception {
 171                 if (DEBUG)
 172                         System.out.println("PipingRules.updatePathLegEndControlPoint() " + pcp);
 173                 if (pcp.getNext() != null) {
 174                         updatePathLegNext(pcp, pcp, PathLegUpdateType.NEXT_S);
 175                 }
 176                 if (pcp.getPrevious() != null) {
 177                         updatePathLegPrev(pcp, pcp, PathLegUpdateType.PREV_S);
 178                 }
 179
 180         }
 181
 182         private static void updateInlineControlPoint(PipeControlPoint pcp) throws Exception {
 183                 if (DEBUG)
 184                         System.out.println("PipingRules.updateInlineControlPoint() " + pcp);
 185                 PipeControlPoint start = pcp.findPreviousEnd();
 186                 updatePathLegNext(start, pcp, PathLegUpdateType.NONE);
 187         }
 188
 189         private static PipeControlPoint insertElbow(PipeControlPoint pcp1, PipeControlPoint pcp2, Vector3d pos) throws Exception{
 190                 if (DEBUG)
 191                         System.out.println("PipingRules.insertElbow() " + pcp1 + " " + pcp2 + " " + pos);
 192                 if (pcp1.getNext() == pcp2 && pcp2.getPrevious() == pcp1) {
 193
 194                 } else if (pcp1.getNext() == pcp2 && pcp1.isDualInline() && pcp2.getPrevious() == pcp1.getSubPoint().get(0)) {
 195                         pcp1 = pcp1.getSubPoint().get(0);
 196                 } else if (pcp1.getPrevious() == pcp2 && pcp2.getNext() == pcp1) {
 197                         PipeControlPoint t = pcp1;
 198                         pcp1 = pcp2;
 199                         pcp2 = t;
 200                 } else if (pcp2.isDualInline() && pcp1.getPrevious() == pcp2.getSubPoint().get(0) && pcp2.getNext() == pcp1) {
 201                         PipeControlPoint t = pcp1;
 202                         pcp1 = pcp2.getSubPoint().get(0);
 203                         pcp2 = t;
 204                 } else {
 205                         throw new RuntimeException();
 206                 }
 207                 TurnComponent elbow = ComponentUtils.createTurn((P3DRootNode)pcp1.getRootNode());
 208                 PipeControlPoint pcp = elbow.getControlPoint();
 209                 if (pcp1.isDualInline())
 210                         pcp1 = pcp1.getSubPoint().get(0);
 211                 String name = pcp1.getPipeRun().getUniqueName("Elbow");
 212                 elbow.setName(name);
 213                 pcp1.getPipeRun().addChild(elbow);
 214
 215                 pcp.insert(pcp1, pcp2);
 216
 217                 pcp.setWorldPosition(pos);
 218                 validate(pcp.getPipeRun());
 219                 return pcp;
 220         }
 221
 222         private static PipeControlPoint insertStraight(PipeControlPoint pcp1, PipeControlPoint pcp2, Vector3d pos, double length) throws Exception {
 223                 if (DEBUG)
 224                         System.out.println("PipingRules.insertStraight() " + pcp1 + " " + pcp2 + " " + pos);
 225                 if (pcp1.getNext() == pcp2 && pcp2.getPrevious() == pcp1) {
 226
 227                 } else if (pcp1.getNext() == pcp2 && pcp1.isDualInline() && pcp2.getPrevious() == pcp1.getSubPoint().get(0)) {
 228                         pcp1 = pcp1.getSubPoint().get(0);
 229                 } else if (pcp1.getPrevious() == pcp2 && pcp2.getNext() == pcp1) {
 230                         PipeControlPoint t = pcp1;
 231                         pcp1 = pcp2;
 232                         pcp2 = t;
 233                 } else if (pcp2.isDualInline() && pcp1.getPrevious() == pcp2.getSubPoint().get(0) && pcp2.getNext() == pcp1) {
 234                         PipeControlPoint t = pcp1;
 235                         pcp1 = pcp2.getSubPoint().get(0);
 236                         pcp2 = t;
 237                 } else {
 238                         throw new RuntimeException();
 239                 }
 240                 InlineComponent component = ComponentUtils.createStraight((P3DRootNode)pcp1.getRootNode());
 241                 PipeControlPoint scp = component.getControlPoint();
 242                 if (pcp1.isDualInline())
 243                         pcp1 = pcp1.getSubPoint().get(0);
 244                 String name = pcp1.getPipeRun().getUniqueName("Pipe");
 245                 component.setName(name);
 246                 pcp1.getPipeRun().addChild(component);
 247
 248                 scp.insert(pcp1, pcp2);
 249
 250                 scp.setWorldPosition(pos);
 251                 scp.setLength(length);
 252                 validate(scp.getPipeRun());
 253                 return scp;
 254         }
 255
 256         private static PipeControlPoint insertStraight(PipeControlPoint pcp, Direction direction , Vector3d pos, double length) throws Exception {
 257                 if (DEBUG)
 258                         System.out.println("PipingRules.insertStraight() " + pcp + " " + direction + " " + pos);
 259
 260                 InlineComponent component = ComponentUtils.createStraight((P3DRootNode)pcp.getRootNode());
 261                 PipeControlPoint scp = component.getControlPoint();
 262                 if (pcp.isDualInline() && direction == Direction.NEXT)
 263                         pcp = pcp.getSubPoint().get(0);
 264                 String name = pcp.getPipeRun().getUniqueName("Pipe");
 265                 component.setName(name);
 266                 pcp.getPipeRun().addChild(component);
 267
 268                 scp.insert(pcp,direction);
 269
 270                 scp.setWorldPosition(pos);
 271                 scp.setLength(length);
 272                 validate(scp.getPipeRun());
 273                 return scp;
 274         }
 275
 276         private static void updatePathLegNext(PipeControlPoint start, PipeControlPoint updated, PathLegUpdateType lengthChange) throws Exception {
 277                 ArrayList<PipeControlPoint> list = new ArrayList<PipeControlPoint>();
 278                 PipeControlPoint end = start.findNextEnd(list);
 279                 // this is for inline cp that is also path leg end
 280                 if (lengthChange == PathLegUpdateType.NONE) {
 281                         if (start.equals(updated))
 282                                 lengthChange = PathLegUpdateType.NEXT;
 283                         else if (end.equals(updated))
 284                                 lengthChange = PathLegUpdateType.PREV;
 285                 }
 286                 updatePathLegNext(start, list, end, updated, lengthChange);
 287         }
 288
 289         private static void updatePathLegNext(PipeControlPoint start, ArrayList<PipeControlPoint> list, PipeControlPoint end, PipeControlPoint updated, PathLegUpdateType lengthChange) throws Exception {
 290                 updatePathLeg(start, list, end, false, 0, new ArrayList<ExpandIterInfo>(), updated, lengthChange);
 291         }
 292
 293         private static void updatePathLegPrev(PipeControlPoint start, PipeControlPoint updated, PathLegUpdateType lengthChange) throws Exception {
 294                 ArrayList<PipeControlPoint> list = new ArrayList<PipeControlPoint>();
 295                 PipeControlPoint end = start.findPreviousEnd(list);
 296                 // TODO: this method is not symmetric with updatePathLegNext, which may alter lengthChange parameter?
 297                 updatePathLegPrev(start, list, end, updated, lengthChange);
 298         }
 299
 300         private static void updatePathLegPrev(PipeControlPoint start, ArrayList<PipeControlPoint> list, PipeControlPoint end, PipeControlPoint updated, PathLegUpdateType lengthChange) throws Exception {
 301                 // reverses the list
 302                 ArrayList<PipeControlPoint> nextList = new ArrayList<PipeControlPoint>();
 303                 for (PipeControlPoint icp : list) {
 304                         if (icp.isDualSub()) {
 305                                 nextList.add(0, icp.getParentPoint());
 306                         } else {
 307                                 nextList.add(0, icp);
 308                         }
 309                 }
 310                 updatePathLeg(end, nextList, start, true, 0, new ArrayList<ExpandIterInfo>(), updated, lengthChange);
 311
 312         }
 313
 314         private static class UpdateStruct2 {
 315                 public PipeControlPoint start;
 316                 public Vector3d startPoint;
 317                 public ArrayList<PipeControlPoint> list;
 318                 public PipeControlPoint end;
 319                 public Vector3d endPoint;
 320                 public Vector3d dir;
 321                 public Vector3d offset;
 322                 public boolean hasOffsets;
 323                 public int iter;
 324                 public boolean reversed;
 325                 public ArrayList<ExpandIterInfo> toRemove;
 326                 public PipeControlPoint updated;
 327
 328                 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) {
 329                         if (start == null || end == null)
 330                                 throw new NullPointerException();
 331                         this.start = start;
 332                         this.startPoint = startPoint;
 333                         this.list = list;
 334                         this.end = end;
 335                         this.endPoint = endPoint;
 336                         this.dir = dir;
 337                         this.offset = offset;
 338                         this.hasOffsets = hasOffsets;
 339                         this.iter = iter;
 340                         this.reversed = reversed;
 341                         this.toRemove = toRemove;
 342                         this.updated = updated;
 343
 344                         if (!MathTools.isValid(startPoint) ||
 345                                 !MathTools.isValid(endPoint) ||
 346                                 !MathTools.isValid(dir)) {
 347                                 throw new RuntimeException();
 348                         }
 349                 }
 350
 351                 public String toString() {
 352                         return start + " " + end+ " " + dir + " " + hasOffsets + " " + offset + " " + iter + " " + toRemove.size();
 353                 }
 354
 355         }
 356
 357         private static boolean calculateOffset(Vector3d startPoint, Vector3d endPoint, ArrayList<PipeControlPoint> list, Vector3d dir, Vector3d offset) {
 358                 boolean hasOffsets = false;
 359                 List<PipeControlPoint> offsets = new ArrayList<PipeControlPoint>(list.size());
 360                 for (PipeControlPoint icp : list) {
 361                         if (icp.isOffset()) {
 362                                 offsets.add(icp);
 363                         } else if (icp.isDualSub())
 364                                 ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
 365                 }
 366                 if (offsets.size() == 0) {
 367                         dir.set(endPoint);
 368                         dir.sub(startPoint);
 369                         double l = dir.lengthSquared();
 370                         if (l > MathTools.NEAR_ZERO)
 371                                 dir.scale(1.0/Math.sqrt(l));
 372                         offset.set(0.0, 0.0, 0.0);
 373                         return false;
 374                 } else {
 375                         Vector3d sp = new Vector3d(startPoint);
 376                         Point3d ep = new Point3d(endPoint);
 377                         dir.set(ep);
 378                         dir.sub(sp);
 379                         double l = dir.lengthSquared();
 380                         if (l > MathTools.NEAR_ZERO)
 381                                 dir.scale(1.0/Math.sqrt(l));
 382                         int iter = 100;
 383                         while (iter >= 0) {
 384                                 iter--;
 385                                 offset.set(0.0, 0.0, 0.0);
 386
 387                                 for (PipeControlPoint icp : offsets) {
 388                                         Vector3d v = icp.getSizeChangeOffsetVector(dir);
 389                                         offset.add(v);
 390                                 }
 391                                 Point3d nep = new Point3d(endPoint);
 392                                 nep.sub(offset);
 393                                 if (nep.distance(ep) < 0.0000000001) {
 394                                         break;
 395                                 }
 396                                 ep = nep;
 397                                 dir.set(ep);
 398                                 dir.sub(sp);
 399                                 l = dir.lengthSquared();
 400                                 if (l > MathTools.NEAR_ZERO)
 401                                         dir.scale(1.0/Math.sqrt(l));
 402                         }
 403                         hasOffsets = true;
 404                 }
 405
 406 //              for (PipeControlPoint icp : list) {
 407 //                      if (icp.isOffset()) {
 408 //                              icp.setOffset(((InlineComponent)icp.getPipelineComponent()).getOffset());
 409 //                              hasOffsets = true;
 410 //                              Vector3d v = icp.getSizeChangeOffsetVector(dir);
 411 //                              offset.add(v);
 412 //                      } else if (icp.isDualSub())
 413 //                              ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
 414 //              }
 415                 if (DEBUG && hasOffsets)
 416                         System.out.println("calcOffset s:"+ startPoint + " e:" + endPoint + " d:" + dir + " o:"+offset) ;
 417                 return hasOffsets;
 418         }
 419
 420         /**
 421          * @param start
 422          *            starting point of the pipe run
 423          * @param list
 424          *            list of inline control points in the pipe run
 425          * @param end
 426          *            ending point of the pipe run
 427          * @param reversed
 428          *            boolean flag indicating wether start or end control point was
 429          *            modified (if true then end point was modified)
 430          * @throws TransactionException
 431          */
 432         private static void updatePathLeg(PipeControlPoint start, ArrayList<PipeControlPoint> list, PipeControlPoint end, boolean reversed, int iter, ArrayList<ExpandIterInfo> toRemove, PipeControlPoint updated, PathLegUpdateType lengthChange) throws Exception {
 433                 if (start == end)
 434                         return;
 435                 // FIXME: direction is calculated wrong way!
 436                 boolean hasOffsets = false;
 437                 Vector3d offset = new Vector3d();
 438                 Vector3d startPoint = start.getWorldPosition();
 439                 Vector3d endPoint = end.getWorldPosition();
 440                 Vector3d dir = new Vector3d();
 441                 hasOffsets = calculateOffset(startPoint, endPoint, list, dir, offset);
 442                 updatePathLeg(new UpdateStruct2(start, startPoint, list, end, endPoint, dir, offset, hasOffsets, iter, reversed, toRemove, updated), lengthChange);
 443
 444         }
 445
 446         private static boolean asDirected(PipeControlPoint pcp, Direction direction) {
 447             if (pcp.isDirected())
 448                 return true;
 449             if (pcp.isTurn() && pcp.isFixed()) {
 450                if (!pcp._getReversed())
 451                    return direction == Direction.NEXT;
 452                else
 453                    return direction == Direction.PREVIOUS;
 454             }
 455             return false;
 456         }
 457
 458         private static Vector3d direction(PipeControlPoint pcp, Direction direction) {
 459             return pcp.getDirection(direction);
 460         }
 461
 462         private static void updatePathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
 463                 int directed = 0;
 464                 if (asDirected(u.start, Direction.NEXT))
 465                         directed++;
 466                 if (asDirected(u.end, Direction.PREVIOUS))
 467                         directed++;
 468                 switch (directed) {
 469                 case 0:
 470                         updateFreePathLeg(u, lengthChange);
 471                         break;
 472                 case 1:
 473                         updateDirectedPathLeg(u, lengthChange);
 474                         break;
 475                 case 2:
 476                         updateDualDirectedPathLeg(u, lengthChange);
 477                         break;
 478                 }
 479
 480         }
 481
 482         private static void updateFreePathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
 483                 if (DEBUG)
 484                         System.out.println("PipingRules.updateFreePipeRun " + u + " " + lengthChange);
 485                 checkExpandPathLeg(u, lengthChange);
 486                 if (u.start.isInline() || u.end.isInline() || u.start.isFixed() || u.end.isFixed())
 487                         processPathLeg(u, true, false);
 488         }
 489
 490         private static void updateInlineControlPoints(UpdateStruct2 u, boolean checkSizes) throws Exception{
 491                 if (DEBUG)
 492                         System.out.println("PipingRules.updateInlineControlPoints() " + u);
 493
 494                 Vector3d start = new Vector3d(u.startPoint);
 495                 Vector3d end = new Vector3d(u.endPoint);
 496
 497                 if (checkSizes) {
 498                         // create offsets for leg ends.
 499                         MathTools.mad(start, u.dir, u.start.getInlineLength());
 500                         MathTools.mad(end, u.dir, -u.end.getInlineLength());
 501                 }
 502
 503                 boolean recalcline = false;
 504                 if (!u.hasOffsets) {
 505
 506
 507                         for (PipeControlPoint icp : u.list) {
 508                                 updateInlineControlPoint(icp, start, end, u.dir);
 509
 510                                 if (icp.isOffset()) {
 511                                         // TODO : offset vector is already calculated and should be cached
 512                                         Vector3d off = icp.getSizeChangeOffsetVector(u.dir);
 513                                         updateOffsetPoint(icp, off);
 514                                 }
 515                         }
 516                         if (!checkSizes)
 517                                 return;
 518
 519                         ArrayList<PipeControlPoint> pathLegPoints = new ArrayList<PipeControlPoint>();
 520                         pathLegPoints.add(u.start);
 521                         for (PipeControlPoint icp : u.list) {
 522                                 // updateInlineControlPoint(icp, u.startPoint,
 523                                 // u.endPoint,u.dir);
 524                                 updateBranchControlPointBranches(icp);
 525                                 pathLegPoints.add(icp);
 526                         }
 527                         pathLegPoints.add(u.end);
 528
 529                         // TODO : values can be cached in the loop
 530                         for (int i = 0; i < pathLegPoints.size(); i++) {
 531                                 PipeControlPoint icp = pathLegPoints.get(i);
 532
 533                                 PipeControlPoint prev = i > 0 ? pathLegPoints.get(i - 1) : null;
 534                                 PipeControlPoint next = i < pathLegPoints.size() - 1 ? pathLegPoints.get(i + 1) : null;
 535
 536                                 if (icp.isVariableLength()) {
 537                                         if (prev != null && next != null) {
 538
 539                                                 recalcline = recalcline | updateVariableLength(icp,  prev, next);
 540
 541                                         } else {
 542                                                 // this is variable length component at the end of the
 543                                                 // piperun.
 544                                                 // the problem is that we want to keep unconnected end
 545                                                 // of the component in the same
 546                                                 // place, but center of the component must be moved.
 547                                                 updateVariableLengthEnd(icp, prev != null ? prev : next);
 548                                         }
 549
 550
 551                                 } else if (prev != null && !prev.isVariableLength()) {
 552                                         // If this and previous control point are not variable
 553                                         // length pcps, we'll have to check if there is no empty
 554                                         // space between them.
 555                                         // I there is, we'll have to create new variable length
 556                                         // component between them.
 557                                         recalcline = recalcline | possibleVaribleLengthInsert(icp, prev);
 558                                 }
 559                         }
 560                 } else { // with offset
 561                         Vector3d sp = new Vector3d(start);
 562                         Vector3d ep = new Vector3d(end);
 563                         ep.sub(u.offset);
 564
 565                         ArrayList<PipeControlPoint> pathLegPoints = new ArrayList<PipeControlPoint>();
 566                         pathLegPoints.add(u.start);
 567
 568                         for (PipeControlPoint icp : u.list) {
 569                                 updateInlineControlPoint(icp, sp, ep, u.dir);
 570                                 updateBranchControlPointBranches(icp);
 571                                 pathLegPoints.add(icp);
 572                                 if (icp.isOffset()) {
 573                                         // TODO : offset vector is already calculated and should be
 574                                         // cached
 575                                         Vector3d  offset = icp.getSizeChangeOffsetVector(u.dir);
 576                                         updateOffsetPoint(icp, offset);
 577                                         sp.add(offset);
 578                                         ep.add(offset);
 579                                 }
 580                         }
 581                         pathLegPoints.add(u.end);
 582
 583                         if (!checkSizes)
 584                                 return;
 585
 586                         sp = new Vector3d(u.startPoint);
 587                         ep = new Vector3d(u.endPoint);
 588                         ep.sub(u.offset);
 589
 590                         for (int i = 0; i < pathLegPoints.size(); i++) {
 591                                 PipeControlPoint icp = pathLegPoints.get(i);
 592
 593                                 PipeControlPoint prev = i > 0 ? pathLegPoints.get(i - 1) : null;
 594                 PipeControlPoint next = i < pathLegPoints.size() - 1 ? pathLegPoints.get(i + 1) : null;
 595
 596                                 if (prev != null && prev.isDualInline())
 597                                         prev = prev.getSubPoint().get(0);
 598
 599
 600                                 if (icp.isVariableLength()) {
 601                                         if (prev != null && next != null) {
 602                                                 recalcline = recalcline | updateVariableLength(icp,  prev, next);
 603
 604                                         } else {
 605                                                 // this is variable length component at the end of the
 606                                                 // piperun.
 607                                                 // the problem is that we want to keep unconnected end
 608                                                 // of the component in the same
 609                                                 // place, but center of the component must be moved.
 610                                                 updateVariableLengthEnd(icp, prev != null ? prev : next);
 611                                         }
 612                                 } else if (prev != null && !prev.isVariableLength()) {
 613                                         // If this and previous control point are not variable
 614                                         // length pcps, we'll have to check if there is no empty
 615                                         // space between them.
 616                                         // I there is, we'll have to create new variable length
 617                                         // component between them.
 618                                         recalcline = recalcline | possibleVaribleLengthInsert(icp, prev);
 619                                 }
 620                                 if (icp.isOffset()) {
 621                                         // TODO : offset vector is already calculated and should be
 622                                         // cached
 623                                         Vector3d  offset = icp.getSizeChangeOffsetVector(u.dir);
 624                                         sp.add(offset);
 625                                         ep.add(offset);
 626                                 }
 627                         }
 628                 }
 629                 if (recalcline) {
 630                         u.list.clear();
 631                         u.start.findNextEnd(u.list);
 632                 }
 633         }
 634
 635         private static boolean updateVariableLength(PipeControlPoint icp, PipeControlPoint prev,  PipeControlPoint next) {
 636                 Vector3d prevPos = prev.getWorldPosition();
 637                 Vector3d nextPos = next.getWorldPosition();
 638
 639                 Vector3d dir = new Vector3d(nextPos);
 640                 dir.sub(prevPos);
 641                 double l = dir.lengthSquared(); // distance between
 642                                                                                 // control points
 643                                                                                 // (square)
 644                 double l2prev = prev.getInlineLength(); // distance
 645                                                                                                                                         // taken
 646                                                                                                                                         // by
 647                                                                                                                                         // components
 648                 double l2next = next.getInlineLength();
 649                 double l2 = l2prev + l2next;
 650                 double l2s = MathTools.square(l2);
 651                 if (l2s < l) { // check if there is enough space for
 652                                                 // variable length component.
 653                         // components fit
 654                         dir.normalize();
 655                         double length = Math.sqrt(l) - l2; // true length of
 656                                                                                                 // the variable
 657                                                                                                 // length
 658                                                                                                 // component
 659                         dir.scale(length * 0.5 + l2prev); // calculate
 660                                                                                                 // center
 661                                                                                                 // position of
 662                                                                                                 // the component
 663                         dir.add(prevPos);
 664                         icp.setWorldPosition(dir);
 665                         icp.setLength(length);
 666                         return false;
 667                 } else {
 668                         // components leave no space to the component and it
 669                         // must be removed
 670
 671                         if (icp.isDeletable()) {
 672                                 if (DEBUG)
 673                                         System.out.println("PipingRules.updateVariableLength removing " + icp);
 674                                 icp._remove();
 675                                 return true;
 676                         }
 677                         return false;
 678                 }
 679         }
 680
 681         private static boolean possibleVaribleLengthInsert(PipeControlPoint icp, PipeControlPoint prev) throws Exception{
 682                 Vector3d currentPos = icp.getWorldPosition();
 683                 Vector3d prevPos = prev.getWorldPosition();
 684                 Vector3d dir = new Vector3d(currentPos);
 685                 dir.sub(prevPos);
 686                 double l = dir.lengthSquared();
 687                 double l2prev = prev.getInlineLength();
 688                 double l2next = icp.getInlineLength();
 689                 double l2 = l2prev + l2next;
 690                 double l2s = l2 * l2;
 691                 if (l > l2s) {
 692                         if (allowInsertRemove) {
 693                                 dir.normalize();
 694                                 double length = Math.sqrt(l) - l2; // true length of the
 695                                                                                                         // variable length
 696                                                                                                         // component
 697                                 dir.scale(length * 0.5 + l2prev); // calculate center
 698                                                                                                         // position of the
 699                                                                                                         // component
 700                                 dir.add(prevPos);
 701                                 PipeControlPoint scp = insertStraight(prev, icp, dir, length);
 702                                 return true;
 703                         } else {
 704                                 triedIR = true;
 705                         }
 706                 }
 707                 return false;
 708         }
 709
 710         private static void updateVariableLengthEnd(PipeControlPoint icp,  PipeControlPoint prev) {
 711             Vector3d currentPos = icp.getWorldPosition();
 712         Vector3d prevPos = prev.getWorldPosition();
 713
 714         Vector3d dir = new Vector3d();
 715         dir.sub(currentPos, prevPos);
 716
 717             boolean simple = true;
 718             if (simple) {
 719                 double currentLength = (dir.length() - prev.getInlineLength()) * 2.0;
 720                 icp.setLength(currentLength);
 721             } else {
 722                 double currentLength = icp.getLength();
 723                 if (currentLength < MathTools.NEAR_ZERO) {
 724                         currentLength = (dir.length() - prev.getInlineLength()) * 2.0;
 725                 }
 726
 727                 if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 728                         dir.normalize();
 729                 Point3d endPos = new Point3d(dir);
 730                 endPos.scale(currentLength * 0.5);
 731                 endPos.add(currentPos); // this is the free end of the component
 732
 733                 double offset = prev.getInlineLength();
 734                 Point3d beginPos = new Point3d(dir);
 735                 beginPos.scale(offset);
 736                 beginPos.add(prevPos); // this is the connected end of the component
 737
 738                 double l = beginPos.distance(endPos);
 739
 740                 if (Double.isNaN(l))
 741                         System.out.println("Length for " + icp + " is NaN");
 742
 743                 dir.scale(l * 0.5);
 744                 beginPos.add(dir); // center position
 745
 746                 if (DEBUG)
 747                         System.out.println("PipingRules.updateInlineControlPoints() setting variable length to " + l);
 748                 icp.setLength(l);
 749
 750                 icp.setWorldPosition(new Vector3d(beginPos));
 751             }
 752         }
 753
 754         private static void ppNoOffset(UpdateStruct2 u) throws Exception {
 755                 if (DEBUG)
 756                         System.out.println("PipingRules.ppNoOffset() " + u);
 757                 Vector3d offset = new Vector3d();
 758                 if (u.hasOffsets) {
 759                         u.dir.normalize();
 760                         for (PipeControlPoint icp : u.list) {
 761                                 if (icp.isOffset()) {
 762                                         offset.add(icp.getSizeChangeOffsetVector(u.dir));
 763                                 } else if (icp.isDualSub())
 764                                         ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
 765                         }
 766                 }
 767                 u.offset = offset;
 768                 checkExpandPathLeg(u, PathLegUpdateType.NONE);
 769         }
 770
 771         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 {
 772                 if (DEBUG)
 773                         System.out.println("PipingRules.ppNoDir() " + start + " " + end + " " + iter + " " + toRemove.size());
 774                 // FIXME : extra loop (dir should be calculated here)
 775                 Vector3d dir = new Vector3d();
 776                 Vector3d offset = new Vector3d();
 777                 hasOffsets = calculateOffset(startPoint, endPoint, list, dir, offset);
 778                 ppNoOffset(new UpdateStruct2(start, startPoint, list, end, endPoint, dir, null, hasOffsets, iter, reversed, toRemove, updated));
 779         }
 780
 781         private static void checkExpandPathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
 782                 checkExpandPathLeg(u, lengthChange, u.updated.isInline() && u.updated.isOffset());
 783         }
 784
 785         private static void checkExpandPathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange, boolean updateEnds) throws Exception {
 786                 if (DEBUG)
 787                         System.out.println("PipingRules.checkExpandPathLeg() " + u + " " + lengthChange);
 788                 if (lengthChange != PathLegUpdateType.NONE) {
 789                         // FIXME : turns cannot be checked before inline cps are updated,
 790                         // since their position affects calculation of turns
 791                         processPathLeg(u, updateEnds, false);
 792                         int type = checkTurns(u, lengthChange);
 793                         if (type == REMOVE_NONE) {
 794                                 processPathLeg(u, updateEnds, true);
 795                         } else {
 796                                 expandPathLeg(u, type);
 797                         }
 798                 } else {
 799                         processPathLeg(u, updateEnds, true);
 800                 }
 801         }
 802
 803         private static void updateDirectedPathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
 804                 if (DEBUG)
 805                         System.out.println("PipingRules.updateDirectedPipeRun() " + u + " " + lengthChange);
 806                 PipeControlPoint dcp;
 807                 PipeControlPoint other;
 808                 boolean canMoveOther = false;
 809                 boolean dcpStart = false;
 810                 boolean inlineEnd = false;
 811                 Vector3d position;
 812                 if (asDirected(u.start, Direction.NEXT)) {
 813                         dcp = u.start;
 814                         other = u.end;
 815                         position = u.startPoint;
 816                         dcpStart = true;
 817                         if (!u.reversed)
 818                                 canMoveOther = true;
 819                         inlineEnd = u.end.isInline();
 820
 821                 } else {
 822                         dcp = u.end;
 823                         other = u.start;
 824                         position = u.endPoint;
 825                         if (u.reversed)
 826                                 canMoveOther = true;
 827                         inlineEnd = u.start.isInline();
 828                 }
 829
 830                 Vector3d directedDirection = direction(dcp, dcpStart ? Direction.NEXT : Direction.PREVIOUS);
 831                 if (directedDirection == null) {
 832                     updateTurnControlPointTurn(dcp, dcp.getPrevious(), dcp.getNext());
 833                     directedDirection = direction(dcp, dcpStart ? Direction.NEXT : Direction.PREVIOUS);
 834                     if (directedDirection == null) {
 835                         return;
 836                     }
 837                 }
 838                 Point3d directedEndPoint = new Point3d(u.endPoint);
 839                 if (u.hasOffsets)
 840                         directedEndPoint.add(u.offset);
 841
 842                 double mu[] = new double[2];
 843
 844                 Vector3d closest;
 845                 Vector3d t = new Vector3d();
 846
 847                 if (dcpStart) {
 848                         closest = MathTools.closestPointOnStraight(directedEndPoint, u.startPoint, directedDirection, mu);
 849                         t.sub(closest, directedEndPoint);
 850                 } else {
 851                         closest = MathTools.closestPointOnStraight(u.startPoint, directedEndPoint, directedDirection, mu);
 852                         t.sub(closest, u.startPoint);
 853                 }
 854
 855                 double distance = t.length();
 856                 boolean aligned = (distance < ALLOWED_OFFSET);
 857                 if (aligned) {
 858                     if (u.start.isInline() || u.end.isInline() || u.start.isFixed() || u.end.isFixed())
 859                     processPathLeg(u, true, false);
 860                         checkExpandPathLeg(u, lengthChange, inlineEnd);
 861
 862                 } else {
 863                         if (u.iter > 0) {
 864                                 backIter(u);
 865                         } else {
 866                                 PipeControlPoint nextToMoved;
 867
 868                                 if (u.list.size() > 0)
 869                                         if (dcpStart)
 870                                                 nextToMoved = u.list.get(0);
 871                                         else
 872                                                 nextToMoved = u.list.get(u.list.size() - 1);
 873                                 else if (dcpStart)
 874                                         nextToMoved = u.end;
 875                                 else
 876                                         nextToMoved = u.start;
 877                                 if (other.isVariableAngle()) {
 878
 879                                         // TODO calculate needed space from next run end.
 880                                         if (mu[0] < 1.0) {
 881                                                 if (dcpStart) {
 882                                                         closest.set(u.startPoint);
 883                                                 } else {
 884                                                         closest.set(u.endPoint);
 885                                                 }
 886                                                 Vector3d v = new Vector3d(directedDirection);
 887                                                 v.scale(spaceForTurn(other));
 888                                                 closest.add(v);
 889                                         }
 890
 891                                         if (canMoveOther) {
 892                                                 if (DEBUG)
 893                                                         System.out.println("PipingRules.updateDirectedPipeRun() moved end " + other + " to " + closest);
 894                                                 other.setWorldPosition(closest);
 895                                                 if (dcpStart) {
 896                                                         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));
 897                                                         if (u.end.getNext() != null)
 898                                                                 updatePathLegNext(u.end, u.updated, PathLegUpdateType.NEXT);
 899                                                 } else {
 900                                                         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));
 901                                                         if (u.start.getPrevious() != null)
 902                                                                 updatePathLegPrev(u.start, u.updated, PathLegUpdateType.PREV);
 903                                                 }
 904                                         } else {
 905                                                 // TODO : calculate needed space from next run end.
 906                                                 if (allowInsertRemove)
 907                                                         insertElbowUpdate(u, dcp, nextToMoved, dcpStart, position, directedDirection);
 908
 909                                                 else
 910                                                         triedIR = true;
 911                                         }
 912                                 } else if (other.isNonDirected() && other.getParentPoint() != null) {
 913                                         // FIXME : this code was for updating branches
 914                                         Vector3d bintersect = new Vector3d();
 915                                         PipeControlPoint bcp = other.getParentPoint();
 916                                         if (bcp != null && canMoveOther) {
 917                                                 Point3d bstart = new Point3d();
 918                                                 Point3d bend = new Point3d();
 919                                                 Vector3d bdir = new Vector3d();
 920                                                 bcp.getInlineControlPointEnds(bstart, bend, bdir);
 921                                                 Vector3d nintersect = new Vector3d();
 922
 923                                                 MathTools.intersectStraightStraight(position, directedDirection, bend, bdir, nintersect, bintersect, mu);
 924                                                 Vector3d dist = new Vector3d(nintersect);
 925                                                 dist.sub(bintersect);
 926                                                 canMoveOther = mu[1] > 0.0 && mu[1] < 1.0 && dist.lengthSquared() < 0.01;
 927                                         } else {
 928                                                 // TODO : endControlPoints are undirected: calculcate
 929                                                 // correct position for it
 930                                                 throw new UnsupportedOperationException("not implemented");
 931                                         }
 932                                         if (canMoveOther) {
 933                                                 if (DEBUG)
 934                                                         System.out.println("PipingRules.updateDirectedPipeRun() moved end " + other + " to " + bintersect);
 935                                                 // is required branch position is in possible range
 936                                                 bcp.setWorldPosition(bintersect);
 937                                                 if (dcpStart) {
 938                                                         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);
 939                                                 } else {
 940                                                         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);
 941                                                 }
 942                                         } else {
 943                                                 // branch cannot be moved into right position, new turn
 944                                                 // / elbow must be inserted
 945                                                 if (allowInsertRemove)
 946                                                         insertElbowUpdate(u, dcp, nextToMoved, dcpStart, position, directedDirection);
 947                                                 else
 948                                                         triedIR = true;
 949                                         }
 950
 951                                 } else { // assume that control point cannot be moved, but can
 952                                                         // be rotated
 953                                         if (allowInsertRemove)
 954                                                 insertElbowUpdate(u, dcp, nextToMoved, dcpStart, position, directedDirection);
 955                                         else
 956                                                 triedIR = true;
 957                                 }
 958                         }
 959                 }
 960
 961
 962         }
 963
 964         private static void updateDualDirectedPathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
 965                 if (DEBUG)
 966                         System.out.println("PipingRules.updateDualDirectedPipeRun() " + u + " " + lengthChange);
 967
 968                 PipeControlPoint dcp1 = u.start;
 969                 PipeControlPoint dcp2 = u.end;
 970                 Point3d position1 = new Point3d(u.startPoint);
 971                 Point3d position2 = new Point3d(u.endPoint);
 972                 Point3d position1offset = new Point3d(position1);
 973                 position1offset.sub(u.offset);
 974                 Point3d position2offset = new Point3d(position2);
 975                 position2offset.add(u.offset);
 976                 Vector3d dir1 = direction(dcp1, Direction.NEXT);
 977                 Vector3d dir2 = direction(dcp2, Direction.PREVIOUS);
 978                 Vector3d p1 = MathTools.closestPointOnStraight(position1offset, position2, dir2);
 979                 Vector3d p2 = MathTools.closestPointOnStraight(position2offset, position1, dir1);
 980                 double d1 = position1.distance(new Point3d(p1));
 981                 double d2 = position2.distance(new Point3d(p2));
 982
 983                 boolean aligned = (d1 < ALLOWED_OFFSET && d2 < ALLOWED_OFFSET);
 984                 if (aligned) {
 985                         processPathLeg(u);
 986                 } else {
 987                         if (u.iter > 0) {
 988                                 backIter(u);
 989                         } else if (allowInsertRemove){
 990                                 PipeControlPoint dcp;
 991                                 PipeControlPoint next;
 992                                 if (!u.reversed) {
 993                                         dcp = dcp1;
 994                                         if (u.list.size() > 0)
 995                                                 next = u.list.get(0);
 996                                         else
 997                                                 next = dcp2;
 998                                 } else {
 999                                         dcp = dcp2;
1000                                         if (u.list.size() > 0)
1001                                                 next = u.list.get(u.list.size() - 1);
1002                                         else
1003                                                 next = dcp1;
1004                                 }
1005
1006                                 p1 = dcp.getWorldPosition();
1007                                 // FIXME: calculate position of the elbows properly.
1008                                 if (!u.reversed)
1009                                         p1.add(dir1);
1010                                 else
1011                                         p1.add(dir2);
1012
1013                                 if (!u.reversed)
1014                                         p2 = MathTools.closestPointOnStraight(new Point3d(p1), position2, dir2);
1015                                 else
1016                                         p2 = MathTools.closestPointOnStraight(new Point3d(p1), position1, dir1);
1017
1018
1019                                 PipeControlPoint tcp1 = insertElbow(dcp, next, p1);
1020                                 PipeControlPoint tcp2 = insertElbow(tcp1, next, p2);
1021
1022                                 if (DEBUG)
1023                                         System.out.println("PipingRules.updateDualDirectedPipeRun() created two turns " + tcp1 + " " + tcp2);
1024
1025                                 if (!u.reversed) {
1026                                         Vector3d dd = new Vector3d(p2);
1027                                         dd.sub(p1);
1028                                         dir2.negate();
1029                                         updatePathLegNext(u.start, u.updated, PathLegUpdateType.NONE);
1030                                         updatePathLegNext(tcp1, u.updated, PathLegUpdateType.NONE);
1031                                         if (!u.reversed)
1032                                                 updatePathLegNext(tcp2, u.updated, PathLegUpdateType.NONE);
1033                                         else
1034                                                 updatePathLegPrev(tcp2, u.updated, PathLegUpdateType.NONE);
1035                                 } else {
1036                                         Vector3d dd = new Vector3d(p1);
1037                                         dd.sub(p2);
1038                                         dir2.negate();
1039                                         updatePathLegNext(tcp1, u.updated, PathLegUpdateType.NONE);
1040                                         updatePathLegNext(tcp2, u.updated, PathLegUpdateType.NONE);
1041                                         if (!u.reversed)
1042                                                 updatePathLegNext(u.start, u.updated, PathLegUpdateType.NONE);
1043                                         else
1044                                                 updatePathLegPrev(u.start, u.updated, PathLegUpdateType.NONE);
1045                                 }
1046                         } else {
1047                                 triedIR = true;
1048                         }
1049                 }
1050
1051         }
1052
1053         private static double spaceForTurn(PipeControlPoint tcp) {
1054                 // TODO : this returns now space for 90 deg turn.
1055                 // The challenge: position of tcp affects the turn angle, which then affects the required space. Perhaps we need to iterate...
1056                 // Additionally, if the path legs contain offset, using just positions of opposite path leg ends is not enough,
1057                 return tcp.getPipeRun().getTurnRadius();
1058         }
1059
1060         private static void insertElbowUpdate(UpdateStruct2 u, PipeControlPoint dcp, PipeControlPoint next, boolean dcpStart, Vector3d position, Vector3d directedDirection) throws Exception{
1061
1062
1063 //              Vector3d closest = new Vector3d(position);
1064 //              closest.add(directedDirection);
1065
1066                 PipeControlPoint tcp = null;
1067                 Vector3d closest;
1068                 if (dcpStart) {
1069                         closest = MathTools.closestPointOnStraight(next.getWorldPosition(), position, directedDirection);
1070                         tcp = insertElbow(dcp, next, closest);
1071                 } else {
1072                         closest = MathTools.closestPointOnStraight(dcp.getWorldPosition(), position, directedDirection);
1073                         tcp = insertElbow(next, dcp, closest);
1074                 }
1075                 // TODO properly calculate required distance between start and inserted elbow.
1076                 double d = MathTools.distance(position, closest);
1077                 double s = spaceForTurn(tcp);
1078                 if (d < s)  {
1079                         d = s - d;
1080                         Vector3d p = new Vector3d(directedDirection);
1081                         p.scale(d);
1082                         p.add(closest);
1083                         tcp.setPosition(p);
1084                         closest = p;
1085                 }
1086
1087
1088
1089                 if (DEBUG)
1090                         System.out.println("PipingRules.updateDirectedPipeRun() inserted " + tcp);
1091
1092                 if (dcpStart) {
1093                         // update pipe run from new turn to other end
1094                         ppNoDir(tcp, new Vector3d(closest), u.list, u.end, u.endPoint, u.hasOffsets, u.iter, u.reversed, u.toRemove, u.updated);
1095                         // update pipe run from directed to new turn
1096                         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));
1097                 } else {
1098                         // update pipe run from other end to new turn
1099                         ppNoDir(u.start, u.startPoint, u.list, tcp, new Vector3d(closest), u.hasOffsets, u.iter, u.reversed, u.toRemove, u.updated);
1100                         // update pipe run from new turn to directed
1101                         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));
1102                 }
1103         }
1104
1105         /**
1106          * Checks if turns can be removed (turn angle near zero)
1107          */
1108         private static int checkTurns(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
1109                 if (DEBUG)
1110                         System.out.println("PipingRules.checkTurns() " + u.start + " " + u.end);
1111                 boolean startRemoved = false;
1112                 boolean endRemoved = false;
1113                 if (u.start.isVariableAngle()) {
1114                         // this won't work properly if inline control points are not updated
1115                         PipeControlPoint startPrev = u.start.getPrevious();
1116                         if (startPrev != null) {
1117                                 double a;
1118                                 if (!u.hasOffsets) {
1119                                         a = updateTurnControlPointTurn(u.start, startPrev, u.end);
1120                                 } else {
1121                                         Vector3d ep = new Vector3d(u.endPoint);
1122                                         ep.sub(u.offset);
1123                                         a = updateTurnControlPointTurn(u.start, u.startPoint, startPrev.getPosition(), ep);
1124
1125                                 }
1126                                 if (a < MIN_TURN_ANGLE && u.start.isDeletable())
1127                                         startRemoved = true;
1128                                 else if (lengthChange == PathLegUpdateType.PREV || lengthChange == PathLegUpdateType.PREV_S) {
1129                                         PathLegUpdateType type;
1130                                         if (lengthChange == PathLegUpdateType.PREV_S)
1131                                                 type = PathLegUpdateType.PREV;
1132                                         else
1133                                                 type = PathLegUpdateType.NONE;
1134                                         updatePathLegPrev(u.start, u.start, type);
1135                                 }
1136                         }
1137                 }
1138                 if (u.end.isVariableAngle()) {
1139
1140                         PipeControlPoint endNext = u.end.getNext();
1141                         if (endNext != null) {
1142                                 double a;
1143                                 if (!u.hasOffsets) {
1144                                         a = updateTurnControlPointTurn(u.end, u.start, endNext);
1145                                 } else {
1146                                         Vector3d sp = new Vector3d(u.startPoint);
1147                                         sp.add(u.offset);
1148                                         a = updateTurnControlPointTurn(u.end, u.endPoint, sp, endNext.getPosition());
1149                                 }
1150                                 if (a < MIN_TURN_ANGLE && u.end.isDeletable())
1151                                         endRemoved = true;
1152                                 else if (lengthChange == PathLegUpdateType.NEXT || lengthChange == PathLegUpdateType.NEXT_S) {
1153                                         PathLegUpdateType type;
1154                                         if (lengthChange == PathLegUpdateType.NEXT_S)
1155                                                 type = PathLegUpdateType.NEXT;
1156                                         else
1157                                                 type = PathLegUpdateType.NONE;
1158                                         updatePathLegNext(u.end, u.end, type);
1159                                 }
1160                         }
1161                 }
1162                 if (DEBUG)
1163                         System.out.println("PipingRules.checkTurns() res " + startRemoved + " " + endRemoved);
1164                 if (!startRemoved && !endRemoved)
1165                         return REMOVE_NONE;
1166                 if (startRemoved && endRemoved)
1167                         return REMOVE_BOTH;
1168                 if (startRemoved)
1169                         return REMOVE_START;
1170                 return REMOVE_END;
1171         }
1172
1173         /**
1174          * Expands piperun search over turns that are going to be removed
1175          *
1176          */
1177         private static void expandPathLeg(UpdateStruct2 u, int type) throws Exception {
1178                 if (DEBUG)
1179                         System.out.println("PipingRules.expandPipeline " + u.start + " " + u.end);
1180                 ArrayList<PipeControlPoint> newList = new ArrayList<PipeControlPoint>();
1181                 switch (type) {
1182                 case REMOVE_NONE:
1183                         throw new RuntimeException("Error in piping rules");
1184                 case REMOVE_START:
1185                         u.toRemove.add(new ExpandIterInfo(u.start, REMOVE_START));
1186                         u.start = u.start.findPreviousEnd();
1187                         u.startPoint = u.start.getPosition();
1188                         u.start.findNextEnd(newList);
1189                         newList.addAll(u.list);
1190                         u.list = newList;
1191                         break;
1192                 case REMOVE_END:
1193                         u.toRemove.add(new ExpandIterInfo(u.end, REMOVE_END));
1194                         u.end = u.end.findNextEnd(newList);
1195                         u.endPoint = u.end.getPosition();
1196                         u.list.addAll(newList);
1197                         break;
1198                 case REMOVE_BOTH:
1199                         u.toRemove.add(new ExpandIterInfo(u.start, u.end));
1200                         u.start = u.start.findPreviousEnd();
1201                         u.startPoint = u.start.getPosition();
1202                         u.start.findNextEnd(newList);
1203                         newList.addAll(u.list);
1204                         u.list = newList;
1205                         newList = new ArrayList<PipeControlPoint>();
1206                         u.end = u.end.findNextEnd(newList);
1207                         u.endPoint = u.end.getPosition();
1208                         u.list.addAll(newList);
1209                         break;
1210                 default:
1211                         throw new RuntimeException("Error in piping rules");
1212
1213                 }
1214                 u.offset = new Vector3d();
1215                 if (u.hasOffsets) {
1216                         u.dir.normalize();
1217                         for (PipeControlPoint icp : u.list) {
1218                                 if (icp.isOffset()) {
1219                                         u.offset.add(icp.getSizeChangeOffsetVector(u.dir));
1220                                 } else if (icp.isDualSub())
1221                                         ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
1222                         }
1223                 }
1224                 if (DEBUG)
1225                         System.out.println("PipingRules.expandPipeline expanded " + u.start + " " + u.end);
1226                 u.iter++;
1227                 updatePathLeg(u, PathLegUpdateType.NONE);
1228         }
1229
1230         /**
1231          * reverts one iteration of turn removing back)
1232          */
1233         private static void backIter(UpdateStruct2 u) throws Exception {
1234
1235                 if (DEBUG)
1236                         System.out.println("PipingRules.backIter" + u.start + " " + u.end);
1237                 if (u.iter == 0)
1238                         throw new RuntimeException("Error in piping rules");
1239                 ExpandIterInfo info = u.toRemove.get(u.toRemove.size() - 1);
1240                 u.toRemove.remove(u.toRemove.size() - 1);
1241                 if (info.getType() == REMOVE_START || info.getType() == REMOVE_BOTH) {
1242                         while (u.list.size() > 0) {
1243                                 PipeControlPoint icp = u.list.get(0);
1244                                 if (icp.getPrevious().equals(info.getStart()))
1245                                         break;
1246                                 u.list.remove(icp);
1247                         }
1248                         u.start = info.getStart();
1249                 }
1250                 if (info.getType() == REMOVE_END || info.getType() == REMOVE_BOTH) {
1251                         while (u.list.size() > 0) {
1252                                 PipeControlPoint icp = u.list.get(u.list.size() - 1);
1253                                 if (icp.getNext().equals(info.getEnd()))
1254                                         break;
1255                                 u.list.remove(icp);
1256                         }
1257                         u.end = info.getEnd();
1258                 }
1259                 u.offset = new Vector3d();
1260                 if (u.hasOffsets) {
1261                         u.dir.normalize();
1262                         for (PipeControlPoint icp : u.list) {
1263                                 if (icp.isOffset()) {
1264                                         u.offset.add(icp.getSizeChangeOffsetVector(u.dir));
1265                                 } else if (icp.isDualSub())
1266                                         ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
1267                         }
1268                 }
1269                 processPathLeg(u);
1270
1271         }
1272
1273         /**
1274          * Processes pipe run (removes necessary turns and updates run ends)
1275          */
1276         // private static void processPathLeg(PipeControlPoint start, Point3d
1277         // startPoint,ArrayList<InlineControlPoint> list, PipeControlPoint
1278         // end,Point3d endPoint, Vector3d dir,Vector3d offset, boolean
1279         // hasOffsets,int iter, boolean reversed, ArrayList<ExpandIterInfo>
1280         // toRemove) throws TransactionException {
1281
1282         private static void processPathLeg(UpdateStruct2 u) throws Exception {
1283                 if (DEBUG)
1284                         System.out.println("PipingRules.processPathLeg " + u.start + " " + u.end);
1285                 processPathLeg(u, true, true);
1286         }
1287
1288         private static void processPathLeg(UpdateStruct2 u, boolean updateEnds, boolean updateInline) throws Exception {
1289                 if (DEBUG)
1290                         System.out.println("PipingRules.processPathLeg " + (updateEnds ? "ends " : "") + (updateInline ? "inline " : "") + u.start + " " + u.end);
1291
1292                 if (u.toRemove.size() > 0) {
1293                         for (ExpandIterInfo info : u.toRemove) {
1294                                 if (info.getStart() != null) {
1295                                         if (DEBUG)
1296                                                 System.out.println("PipingRules.processPathLeg removing start " + info.getStart());
1297                                         info.getStart()._remove();
1298                                 }
1299                                 if (info.getEnd() != null) {
1300                                         if (DEBUG)
1301                                                 System.out.println("PipingRules.processPathLeg removing end " + info.getEnd());
1302                                         info.getEnd()._remove();
1303                                 }
1304                         }
1305                         // ControlPointTools.removeControlPoint may remove more than one CP;
1306                         // we must populate inline CP list again.
1307                         u.list.clear();
1308                         u.start.findNextEnd( u.list);
1309                 }
1310                 // FIXME : inline CPs are update twice because their positions must be
1311                 // updated before and after ends.
1312                 updateInlineControlPoints(u, false);
1313
1314                 if (updateEnds) {
1315                         if (u.start.isTurn()) {
1316                                 updateTurnControlPointTurn(u.start, u.start.getPrevious(), u.start.getNext());
1317 //                              updatePathLegPrev(u.start, u.start, PathLegUpdateType.NONE);
1318                         } else if (u.start.isEnd()) {
1319                                 updateEndComponentControlPoint(u.start, u.startPoint, u.endPoint);
1320                         } else if (u.start.isInline()) {
1321                                 updateControlPointOrientation(u.start);
1322                         }
1323                         if (u.end.isTurn()) {
1324                                 updateTurnControlPointTurn(u.end, u.end.getPrevious(), u.end.getNext());
1325 //                              updatePathLegNext(u.end, u.end, PathLegUpdateType.NONE);
1326                         } else if (u.end.isEnd()) {
1327                                 updateEndComponentControlPoint(u.end, u.startPoint, u.endPoint);
1328                         } else if (u.end.isInline()) {
1329                                 updateControlPointOrientation(u.end);
1330                         }
1331
1332                 } else {
1333                         if (u.start.isEnd()) {
1334                                 updateEndComponentControlPoint(u.start, u.startPoint, u.endPoint);
1335                         }
1336                         if (u.end.isEnd()) {
1337                                 updateEndComponentControlPoint(u.end, u.startPoint, u.endPoint);
1338                         }
1339                 }
1340                 if (updateInline)
1341                         updateInlineControlPoints(u, true);
1342
1343         }
1344
1345         /**
1346          * Processes pipe run and recalculates offset
1347          */
1348         // private static void processPathLeg(PipeControlPoint start, Point3d
1349         // startPoint,ArrayList<InlineControlPoint> list, PipeControlPoint
1350         // end,Point3d endPoint, Vector3d dir, boolean hasOffsets,int iter, boolean
1351         // reversed, ArrayList<ExpandIterInfo> toRemove) throws TransactionException
1352         // {
1353         private static void processPathLegNoOffset(UpdateStruct2 u) throws Exception {
1354                 if (DEBUG)
1355                         System.out.println("PipingRules.processPathLeg " + u.start + " " + u.end);
1356                 Vector3d offset = new Vector3d();
1357                 if (u.hasOffsets) {
1358                         u.dir.normalize();
1359                         for (PipeControlPoint icp : u.list) {
1360                                 if (icp.isOffset()) {
1361                                         offset.add(icp.getSizeChangeOffsetVector(u.dir));
1362                                 } else if (icp.isDualSub()) {
1363                                         ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
1364                                 }
1365                         }
1366                 }
1367                 processPathLeg(u);
1368         }
1369
1370         private static void updateOffsetPoint(PipeControlPoint sccp, Vector3d offset) {
1371                 Vector3d world = sccp.getWorldPosition();
1372                 world.add(offset);
1373                 PipeControlPoint ocp = sccp.getSubPoint().iterator().next();
1374                 ocp.setWorldPosition(world);
1375         }
1376
1377         /**
1378          * Updates InlineControlPoints position when straight pipe's end(s) have
1379          * been changed)
1380          *
1381          * @param pipeline
1382          * @param icp
1383          * @param nextPoint
1384          * @param prevPoint
1385          */
1386         private static void updateInlineControlPoint(PipeControlPoint icp, Vector3d prev, Vector3d next,  Vector3d dir) {
1387                 if (DEBUG)
1388                         System.out.println("PipingRules.updateInlineControlPoint() " + icp);
1389
1390                 Vector3d inlinePoint = icp.getWorldPosition();
1391                 Vector3d prevPoint = new Vector3d(prev);
1392                 Vector3d nextPoint = new Vector3d(next);
1393                 if (!icp.isVariableLength()) {
1394                         // Reserve space for fixed length components.
1395                         MathTools.mad(prevPoint, dir, icp.getInlineLength());
1396                         MathTools.mad(nextPoint, dir, -icp.getInlineLength());
1397                         if (MathTools.distance(prevPoint, nextPoint) < ALLOWED_OFFSET) {
1398                                 prevPoint = prev;
1399                                 nextPoint = next;
1400                         }
1401                 }
1402                 boolean canCalc = MathTools.distance(prevPoint, nextPoint) > ALLOWED_OFFSET;
1403                 if (DEBUG)
1404                         System.out.print("InlineControlPoint update " + icp + " " + inlinePoint + " " + prevPoint + " " + nextPoint);
1405                 Vector3d newInlinePoint = null;
1406                 if (canCalc) {
1407                         boolean branchUpdate = false;
1408                         PipeControlPoint becp = null;
1409                         for (PipeControlPoint pcp : icp.getSubPoint())
1410                                 if (pcp.isNonDirected()) {
1411                                         branchUpdate = true;
1412                                         becp = pcp;
1413                                         break;
1414                                 }
1415
1416                         if (DUMMY || !branchUpdate) {
1417                                 newInlinePoint = MathTools.closestPointOnEdge(new Vector3d(inlinePoint), prevPoint, nextPoint);
1418
1419                         } else {
1420
1421                                 // FIXME : can only handle one branch
1422                                 PipeControlPoint p = null;
1423                                 if (becp.getNext() != null) {
1424                                         p = becp.findNextEnd();
1425                                 } else if (becp.getPrevious() != null) {
1426                                         p = becp.findPreviousEnd();
1427                                 }
1428                                 if (p == null) {
1429                                         newInlinePoint = MathTools.closestPointOnEdge(new Vector3d(inlinePoint), prevPoint, nextPoint);
1430                                 } else if (canCalc){
1431                                         Vector3d branchLegEnd = p.getWorldPosition();
1432                                         Vector3d dir2 = new Vector3d(inlinePoint);
1433                                         dir2.sub(branchLegEnd);
1434                                         Vector3d dir1 = new Vector3d(nextPoint);
1435                                         dir1.sub(prevPoint);
1436                                         newInlinePoint = new Vector3d();
1437                                         double mu[] = new double[2];
1438                                         MathTools.intersectStraightStraight(new Vector3d(prevPoint), dir1, new Vector3d(branchLegEnd), dir2, newInlinePoint, new Vector3d(), mu);
1439                                         if (DEBUG)
1440                                                 System.out.println(mu[0]);
1441                                         // FIXME : reserve space
1442                                         if (mu[0] < 0.0) {
1443                                                 newInlinePoint = new Vector3d(prevPoint);
1444                                         } else if (mu[0] > 1.0) {
1445                                                 newInlinePoint = new Vector3d(nextPoint);
1446                                         }
1447                                 }
1448                         }
1449                 } else {
1450                         // prevPoint == nextPoint
1451                         newInlinePoint = new Vector3d(prevPoint);
1452                 }
1453                 if (DEBUG)
1454                         System.out.println(" " + newInlinePoint);
1455
1456                 icp.setWorldPosition(newInlinePoint);
1457                 updateControlPointOrientation(icp);
1458         }
1459
1460         /**
1461          * Updates InlineControlPoints position when straight pipe's end(s) have
1462          * been changed)
1463          *
1464          * @param pipeline
1465          * @param icp
1466          * @param nextPoint
1467          * @param prevPoint
1468          */
1469         private static void updateEndComponentControlPoint(PipeControlPoint ecp, Vector3d start, Vector3d end) throws Exception {
1470                 if (DEBUG)
1471                         System.out.println("PipingRules.updateEndComponentControlPoint() " + ecp);
1472                 // PipeControlPoint next = ecp.getNext();
1473                 // PipeControlPoint prev = ecp.getPrevious();
1474                 // if (next != null) {
1475                 // end = G3DTools.getPoint(next.getLocalPosition());
1476                 // start = G3DTools.getPoint(ecp.getLocalPosition());
1477                 // } else if (prev != null) {
1478                 // end = G3DTools.getPoint(ecp.getLocalPosition());
1479                 // start = G3DTools.getPoint(prev.getLocalPosition());
1480                 // } else {
1481                 // // TODO : warning?
1482                 // return;
1483                 // }
1484                 // Vector3d dir = new Vector3d (end);
1485                 // dir.sub(start);
1486                 // dir.normalize();
1487                 // G3DTools.setTuple(ecp.getDirection(), dir);
1488                 if (!ecp.isFixed())
1489                         updateControlPointOrientation(ecp);
1490
1491                 for (PipeControlPoint pcp : ecp.getSubPoint()) {
1492                         // TODO update position
1493                         updatePathLegEndControlPoint(pcp);
1494                 }
1495         }
1496
1497         private static void updateControlPointOrientation(PipeControlPoint pcp) {
1498                 // FIXME : hack to bypass variable length components orientation
1499 //              if (pcp.getAtMostOneRelatedObject(ProcessResource.g3dResource.HasWorldOrientation) == null)
1500 //                      return;
1501 //              if (pcp.rotationAngle == null)
1502 //                      return;
1503                 Double angleO = pcp.getRotationAngle();
1504                 double angle = 0.0;
1505                 if (angleO != null)
1506                         angle = angleO;
1507                 Boolean reversedO = pcp.getReversed();
1508                 boolean reversed = false;
1509                 if (reversedO != null)
1510                         reversed = reversedO;
1511                 Quat4d q = pcp.getControlPointOrientationQuat(angle, reversed);
1512                 pcp.setWorldOrientation(q);
1513         }
1514
1515         /**
1516          * Updates all branches when branch's position has been changed
1517          *
1518          * @param bcp
1519          */
1520         private static void updateBranchControlPointBranches(PipeControlPoint bcp) throws Exception {
1521                 if (DEBUG)
1522                         System.out.println("PipingRules.updateBranchControlPointBranches() " + bcp);
1523                 if (bcp.isDualInline())
1524                         return;
1525                 Collection<PipeControlPoint> branches = bcp.getSubPoint();
1526                 if (branches.size() == 0) {
1527                         if (DEBUG)
1528                                 System.out.println("No Branches found");
1529                         return;
1530                 }
1531
1532                 for (PipeControlPoint pcp : branches) {
1533                         updatePathLegEndControlPoint(pcp);
1534                 }
1535         }
1536
1537         /**
1538          * Recalculates turn control point's internal data (turn angle and offset)
1539          *
1540          * @param tcp
1541          * @param prev
1542          * @param next
1543          */
1544         private static double updateTurnControlPointTurn(PipeControlPoint tcp, PipeControlPoint prev, PipeControlPoint next) {
1545                 if (DEBUG)
1546                         System.out.println("PipingTools.updateTurnControlPointTurn()" + tcp);
1547
1548                 if (!tcp.isFixed()) {
1549                     if (next == null || prev == null)
1550                     return tcp.getTurnAngle();
1551                 Vector3d middlePoint = tcp.getWorldPosition();
1552                 Vector3d nextPoint = next.getWorldPosition();
1553                 Vector3d prevPoint = prev.getWorldPosition();
1554                 return updateTurnControlPointTurn(tcp, middlePoint, prevPoint, nextPoint);
1555                 } else {
1556                     // Verify that fixed turn is properly defined.
1557                     // TODO : when reversed flag is changed, rotation angle should be recalculated, otherwise the orientation will change.
1558                     // TODO : should reverse flag toggle to be done already when we are removing defining side?
1559                     if (prev != null && next != null) {
1560                         // Nothing to do
1561                     } else if (prev == null) {
1562                         if (!tcp._getReversed())
1563                             tcp.setReversed(true);
1564                     } else if (next == null) {
1565                         if (tcp._getReversed())
1566                             tcp.setReversed(false);
1567                     }
1568
1569                     Vector3d dir;
1570                     if (!tcp._getReversed()) {
1571                     if (prev == null)
1572                     return Math.PI; // FIXME : argh
1573
1574                     Vector3d middlePoint = tcp.getWorldPosition();
1575                     Vector3d prevPoint = prev.getWorldPosition();
1576                     dir = new Vector3d();
1577                     dir.sub(middlePoint, prevPoint);
1578
1579                     } else {
1580                         if (next == null)
1581                     return Math.PI; // FIXME : argh
1582
1583                 Vector3d middlePoint = tcp.getWorldPosition();
1584                 Vector3d nextPoint = next.getWorldPosition();
1585                 dir = new Vector3d();
1586                 dir.sub(middlePoint, nextPoint);
1587                     }
1588                     dir.normalize();
1589
1590             Quat4d q = PipeControlPoint.getControlPointOrientationQuat(dir, tcp.getRotationAngle() != null ? tcp.getRotationAngle() : 0.0);
1591             Vector3d v = new Vector3d();
1592             MathTools.rotate(q, MathTools.Y_AXIS,v);
1593             tcp.setTurnAxis(v);
1594             tcp.setWorldOrientation(q);
1595             return tcp.getTurnAngle();
1596                 }
1597         }
1598
1599         /**
1600          * Recalculates turn control point's internal data (turn angle and offset)
1601          *
1602          * @param tcp
1603          * @param middlePoint
1604          * @param nextPoint
1605          * @param prevPoint
1606          */
1607         private static double updateTurnControlPointTurn(PipeControlPoint tcp, Vector3d middlePoint, Vector3d prevPoint, Vector3d nextPoint) {
1608
1609                 Vector3d dir1 = new Vector3d(middlePoint);
1610                 dir1.sub(prevPoint);
1611                 Vector3d dir2 = new Vector3d(nextPoint);
1612                 dir2.sub(middlePoint);
1613                 if (DEBUG)
1614                         System.out.println("PipingTools.updateTurnControlPointTurn " + tcp + " " + prevPoint + " " + middlePoint + " " + nextPoint);
1615                 return updateTurnControlPointTurn(tcp, dir1, dir2);
1616         }
1617
1618         private static double updateTurnControlPointTurn(PipeControlPoint tcp, Vector3d dir1, Vector3d dir2) {
1619                 double turnAngle = dir1.angle(dir2);
1620
1621                 double angle = Math.PI - turnAngle;
1622
1623                 Vector3d turnAxis = new Vector3d();
1624                 turnAxis.cross(dir1, dir2);
1625                 if (turnAxis.lengthSquared() > MathTools.NEAR_ZERO) {
1626                         double elbowRadius = tcp.getPipelineComponent().getPipeRun().getTurnRadius();
1627                         double R = elbowRadius / Math.tan(angle * 0.5);
1628
1629                         turnAxis.normalize();
1630                         tcp.setTurnAngle(turnAngle);
1631                         tcp.setLength(R);// setComponentOffsetValue(R);
1632                         tcp.setTurnAxis(turnAxis);
1633 //                      tcp.setPosition(tcp.getPosition());
1634                 } else {
1635                         turnAngle = 0.0;
1636                         tcp.setTurnAngle(0.0);
1637                         tcp.setLength(0.0);
1638                         tcp.setTurnAxis(new Vector3d(MathTools.Y_AXIS));
1639                 }
1640                 updateControlPointOrientation(tcp);
1641                 if (DEBUG)
1642                         System.out.println("PipingTools.updateTurnControlPointTurn " + dir1 + " " + dir2 + " " + turnAngle + " " + turnAxis);
1643                 return turnAngle;
1644         }
1645
1646         public static List<PipeControlPoint> getControlPoints(PipeRun pipeRun) {
1647                 List<PipeControlPoint> list = new ArrayList<PipeControlPoint>();
1648                 if (pipeRun.getControlPoints().size() == 0)
1649                         return list;
1650                 PipeControlPoint pcp = pipeRun.getControlPoints().iterator().next();
1651                 while (pcp.getPrevious() != null) {
1652                         PipeControlPoint prev = pcp.getPrevious();
1653                         if (prev.getPipeRun() != pipeRun)
1654                                 break;
1655                         pcp = prev;
1656                 }
1657                 if (pcp.isDualSub()) {
1658                         pcp = pcp.getParentPoint();
1659                 }
1660                 list.add(pcp);
1661                 while (pcp.getNext() != null) {
1662                         pcp = pcp.getNext();
1663                         if (pcp.getPipeRun() != pipeRun)
1664                                 break;
1665                         list.add(pcp);
1666                 }
1667                 return list;
1668         }
1669
1670         public static void reverse(PipeRun pipeRun) {
1671                 List<PipeControlPoint> list = getControlPoints(pipeRun);
1672                 if (list.size() <= 1)
1673                         return; // nothing to do.
1674
1675                 for (int i = 0 ; i < list.size(); i++) {
1676                         boolean first = i == 0;
1677                         boolean last = i == list.size() - 1;
1678                         PipeControlPoint current = list.get(i);
1679                         PipeControlPoint currentSub = null;
1680                         if (current.isDualInline())
1681                                 currentSub = current.getSubPoint().get(0);
1682                         if (first) {
1683                                 PipeControlPoint next = list.get(i+1);
1684                                 if (next.isDualInline())
1685                                         next = next.getSubPoint().get(0);
1686                                 current.setNext(null);
1687                                 current.setPrevious(next);
1688                                 if (currentSub != null) {
1689                                         currentSub.setNext(null);
1690                                         currentSub.setPrevious(next);
1691                                 }
1692                         } else if (last) {
1693                                 PipeControlPoint prev = list.get(i-1);
1694
1695                                 current.setPrevious(null);
1696                                 current.setNext(prev);
1697
1698                                 if (currentSub != null) {
1699                                         currentSub.setPrevious(null);
1700                                         currentSub.setNext(prev);
1701                                 }
1702                         } else {
1703                                 PipeControlPoint prev = list.get(i-1);
1704                                 PipeControlPoint next = list.get(i+1);
1705                                 if (next.isDualInline())
1706                                         next = next.getSubPoint().get(0);
1707
1708
1709                                 current.setPrevious(next);
1710                                 current.setNext(prev);
1711
1712                                 if (currentSub != null) {
1713                                         currentSub.setPrevious(next);
1714                                         currentSub.setNext(prev);
1715                                 }
1716
1717                         }
1718                         if (current.isTurn() && current.isFixed()) {
1719                             current.setReversed(!current._getReversed());
1720                         }
1721                         if (current.isInline() && current.isReverse()) {
1722                             current.setReversed(!current._getReversed());
1723                         }
1724                 }
1725         }
1726
1727         public static void merge(PipeRun run1, PipeRun r2) {
1728                 Map<PipeControlPoint, Vector3d> positions = new HashMap<PipeControlPoint, Vector3d>();
1729                 Map<PipeControlPoint, Quat4d> orientations = new HashMap<PipeControlPoint, Quat4d>();
1730                 for (PipeControlPoint pcp : r2.getControlPoints()) {
1731                         positions.put(pcp, pcp.getWorldPosition());
1732                         orientations.put(pcp, pcp.getWorldOrientation());
1733                 }
1734                 for (PipeControlPoint pcp : r2.getControlPoints()) {
1735                         r2.deattachChild(pcp);
1736                         run1.addChild(pcp);
1737                         PipelineComponent component = pcp.getPipelineComponent();
1738                         if (component != null) {
1739                                 if (!(component instanceof Nozzle)) {
1740                                         component.deattach();
1741                                         run1.addChild(component);
1742                                 } else {
1743                                         Nozzle n = (Nozzle)component;
1744                                         n.setPipeRun(run1);
1745                                 }
1746                         }
1747                 }
1748                 r2.remove();
1749
1750         }
1751
1752         public static void validate(PipeRun pipeRun) {
1753                 if (pipeRun == null)
1754                         return;
1755                 Collection<PipeControlPoint> pcps = pipeRun.getControlPoints();
1756                 int count = 0;
1757                 //System.out.println("Validate " + pipeRun.getName());
1758                 for (PipeControlPoint pcp : pcps) {
1759                         if (pcp.getParentPoint() == null || pcp.getParentPoint().getPipeRun() != pipeRun)
1760                                 count++;
1761                 }
1762                 List<PipeControlPoint> runPcps = getControlPoints(pipeRun);
1763                 if (runPcps.size() != count) {
1764                         System.out.println("Run " + pipeRun.getName() + " contains unconnected control points");
1765                 }
1766                 for (PipeControlPoint pcp : pcps) {
1767                         if (!pcp.isDirected() && pcp.getNext() == null && pcp.getPrevious() == null)
1768                                 System.out.println("Orphan undirected " + pcp);
1769                 }
1770                 for (PipeControlPoint pcp : pcps) {
1771                         if (pcp.getParentPoint() == null) {
1772                                 PipeControlPoint sub = null;
1773                                 if (pcp.isDualInline())
1774                                         sub = pcp.getSubPoint().get(0);
1775                                 PipeControlPoint next = pcp.getNext();
1776                                 PipeControlPoint prev = pcp.getPrevious();
1777                                 if (next != null) {
1778                                         if (!(next.getPrevious() == pcp || next.getPrevious() == sub)) {
1779                                                 System.out.println("Inconsistency between " + pcp + " -> " +next );
1780                                         }
1781                                 }
1782                                 if (prev != null) {
1783                                         PipeControlPoint prevParent = null;
1784                                         if (prev.isDualSub()) {
1785                                                 prevParent = prev.getParentPoint();
1786                                         } else if (prev.isDualInline()) {
1787                                                 System.out.println("Inconsistency between " + pcp + " <-- " +prev );
1788                                         }
1789                                         if (!(prev.getNext() == pcp && (prevParent == null || prevParent.getNext() == pcp))) {
1790                                                 System.out.println("Inconsistency between " + pcp + " <-- " +prev );
1791                                         }
1792                                 }
1793                         }
1794                 }
1795         }
1796
1797         public static void splitVariableLengthComponent(PipelineComponent newComponent, InlineComponent splittingComponent, boolean assignPos) throws Exception{
1798                 assert(!splittingComponent.getControlPoint().isFixed());
1799                 assert(!(newComponent instanceof  InlineComponent && !newComponent.getControlPoint().isFixed()));
1800                 PipeControlPoint newCP = newComponent.getControlPoint();
1801                 PipeControlPoint splittingCP = splittingComponent.getControlPoint();
1802                 PipeControlPoint nextCP = splittingCP.getNext();
1803                 PipeControlPoint prevCP = splittingCP.getPrevious();
1804
1805                 /* there are many different cases to insert new component when
1806                    it splits existing VariableLengthinlineComponent.
1807
1808                1. VariableLengthComponet is connected from both sides:
1809                   - insert new component between VariableLength component and component connected to it
1810                   - insert new VariableLengthComponent between inserted component and component selected in previous step
1811
1812                    2. VariableLengthComponent is connected from one side
1813                      - Use previous case or:
1814                      - Insert new component to empty end
1815                      - Insert new VariableLength component to inserted components empty end
1816
1817                    3. VariableLength is not connected to any component.
1818                      - Should not be possible, at least in current implementation.
1819                      - Could be done using second case
1820
1821                 */
1822
1823                 if (nextCP == null && prevCP == null) {
1824                         // this should not be possible
1825                         throw new RuntimeException("VariableLengthComponent " + splittingComponent + " is not connected to anything.");
1826                 }
1827                 double reservedLength = splittingComponent.getControlPoint().getLength();
1828                 double newLength = newComponent.getControlPoint().getLength();
1829
1830
1831                 Point3d next = new Point3d();
1832                 Point3d prev = new Point3d();
1833                 splittingCP.getInlineControlPointEnds(prev, next);
1834
1835                 Vector3d newPos = null;
1836                 if (assignPos) {
1837                         newPos = new Vector3d(prev);
1838                         Vector3d dir = new Vector3d(next);
1839                         dir.sub(prev);
1840                         dir.scale(0.5);
1841                         newPos.add(dir);
1842                         newComponent.setWorldPosition(newPos);
1843                 } else {
1844                         newPos = newComponent.getWorldPosition();
1845                 }
1846
1847
1848
1849                 Vector3d dir = new Vector3d(next);
1850                 dir.sub(prev);
1851                 dir.normalize();
1852                 dir.scale(newLength * 0.5);
1853                 Point3d vn = new Point3d(newPos);
1854                 Point3d vp = new Point3d(newPos);
1855                 vn.add(dir);
1856                 vp.sub(dir);
1857                 double ln = vn.distance(next);
1858                 double lp = vp.distance(prev);
1859                 vp.interpolate(prev, 0.5);
1860                 vn.interpolate(next, 0.5);
1861
1862
1863                 PipeControlPoint newVariableLengthCP = null;//insertStraight(pcp1, pcp2, pos, length);
1864                 if (nextCP == null) {
1865                         newCP.insert(splittingCP, Direction.NEXT);
1866                         newVariableLengthCP = insertStraight(newCP, Direction.NEXT, new Vector3d(vn), ln);
1867                         splittingCP.setWorldPosition(new Vector3d(vp));
1868 //                      ControlPointTools.setWorldPosition(splittingCP, vp);
1869 //                      splittingCP.setRelatedScalarDouble(ProcessResource.plant3Dresource.HasLength, lp);
1870                 } else if (prevCP == null) {
1871                         newCP.insert(splittingCP, Direction.PREVIOUS);
1872                         newVariableLengthCP = insertStraight(newCP, Direction.PREVIOUS, new Vector3d(vp), lp);
1873                         splittingCP.setWorldPosition(new Vector3d(vn));
1874 //                      splittingCP.setRelatedScalarDouble(ProcessResource.plant3Dresource.HasLength, ln);
1875                 } else {
1876                         newCP.insert(splittingCP, nextCP);
1877                         newVariableLengthCP = insertStraight(newCP, nextCP, new Vector3d(vn), ln);
1878                         splittingCP.setWorldPosition(new Vector3d(vp));
1879 //                      splittingCP.setRelatedScalarDouble(ProcessResource.plant3Dresource.HasLength, lp);
1880                 }
1881                 positionUpdate(newCP);
1882
1883         }
1884
1885         public static void addSizeChange(boolean reversed, PipeRun pipeRun, PipeRun other, InlineComponent reducer, PipeControlPoint previous, PipeControlPoint next) {
1886                 PipeControlPoint pcp = reducer.getControlPoint();
1887                 PipeControlPoint ocp = pcp.getSubPoint().get(0);
1888                 if (!reversed) {
1889                         String name = pipeRun.getUniqueName("Reducer");
1890                         reducer.setName(name);
1891                         pipeRun.addChild(reducer);
1892                         other.addChild(ocp);
1893                         reducer.setAlternativePipeRun(other);
1894
1895                         previous.setNext(pcp);
1896                         pcp.setPrevious(previous);
1897                         ocp.setPrevious(previous);
1898                         if (next != null) {
1899                                 pcp.setNext(next);
1900                                 ocp.setNext(next);
1901                                 next.setPrevious(ocp);
1902                         }
1903                 } else {
1904                         String name = other.getUniqueName("Reducer");
1905                         reducer.setName(name);
1906                         other.addChild(reducer);
1907                         pipeRun.addChild(ocp);
1908                         reducer.setAlternativePipeRun(pipeRun);
1909
1910                         if (next != null) {
1911                                 next.setNext(pcp);
1912                                 pcp.setPrevious(next);
1913                                 ocp.setPrevious(next);
1914                         }
1915                         pcp.setNext(previous);
1916                         ocp.setNext(previous);
1917                         previous.setPrevious(ocp);
1918                 }
1919         }
1920 }