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 = 1; i < pathLegPoints.size(); i++) {
 531                                 PipeControlPoint icp = pathLegPoints.get(i);
 532
 533                                 PipeControlPoint prev = pathLegPoints.get(i - 1);
 534
 535
 536                                 if (icp.isVariableLength()) {
 537                                         if (i != pathLegPoints.size() - 1) {
 538                                                 PipeControlPoint next = pathLegPoints.get(i + 1);
 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);
 548                                         }
 549
 550
 551                                 } else if (!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 = 1; i < pathLegPoints.size(); i++) {
 591                                 PipeControlPoint icp = pathLegPoints.get(i);
 592
 593                                 PipeControlPoint prev = pathLegPoints.get(i - 1);
 594                                 if (prev.isDualInline())
 595                                         prev = prev.getSubPoint().get(0);
 596
 597
 598                                 if (icp.isVariableLength()) {
 599                                         if (i != pathLegPoints.size() - 1) {
 600                                                 PipeControlPoint next;
 601                                                 next = pathLegPoints.get(i + 1);
 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);
 611                                         }
 612                                 } else if (!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                 Point3d directedEndPoint = new Point3d(u.endPoint);
 832                 if (u.hasOffsets)
 833                         directedEndPoint.add(u.offset);
 834
 835                 double mu[] = new double[2];
 836
 837                 Vector3d closest;
 838                 Vector3d t = new Vector3d();
 839
 840                 if (dcpStart) {
 841                         closest = MathTools.closestPointOnStraight(directedEndPoint, u.startPoint, directedDirection, mu);
 842                         t.sub(closest, directedEndPoint);
 843                 } else {
 844                         closest = MathTools.closestPointOnStraight(u.startPoint, directedEndPoint, directedDirection, mu);
 845                         t.sub(closest, u.startPoint);
 846                 }
 847
 848                 double distance = t.length();
 849                 boolean aligned = (distance < ALLOWED_OFFSET);
 850                 if (aligned) {
 851                     if (u.start.isInline() || u.end.isInline() || u.start.isFixed() || u.end.isFixed())
 852                     processPathLeg(u, true, false);
 853                         checkExpandPathLeg(u, lengthChange, inlineEnd);
 854
 855                 } else {
 856                         if (u.iter > 0) {
 857                                 backIter(u);
 858                         } else {
 859                                 PipeControlPoint nextToMoved;
 860
 861                                 if (u.list.size() > 0)
 862                                         if (dcpStart)
 863                                                 nextToMoved = u.list.get(0);
 864                                         else
 865                                                 nextToMoved = u.list.get(u.list.size() - 1);
 866                                 else if (dcpStart)
 867                                         nextToMoved = u.end;
 868                                 else
 869                                         nextToMoved = u.start;
 870                                 if (other.isVariableAngle()) {
 871
 872                                         // TODO calculate needed space from next run end.
 873                                         if (mu[0] < 1.0) {
 874                                                 if (dcpStart) {
 875                                                         closest.set(u.startPoint);
 876                                                 } else {
 877                                                         closest.set(u.endPoint);
 878                                                 }
 879                                                 Vector3d v = new Vector3d(directedDirection);
 880                                                 v.scale(spaceForTurn(other));
 881                                                 closest.add(v);
 882                                         }
 883
 884                                         if (canMoveOther) {
 885                                                 if (DEBUG)
 886                                                         System.out.println("PipingRules.updateDirectedPipeRun() moved end " + other + " to " + closest);
 887                                                 other.setWorldPosition(closest);
 888                                                 if (dcpStart) {
 889                                                         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));
 890                                                         if (u.end.getNext() != null)
 891                                                                 updatePathLegNext(u.end, u.updated, PathLegUpdateType.NEXT);
 892                                                 } else {
 893                                                         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));
 894                                                         if (u.start.getPrevious() != null)
 895                                                                 updatePathLegPrev(u.start, u.updated, PathLegUpdateType.PREV);
 896                                                 }
 897                                         } else {
 898                                                 // TODO : calculate needed space from next run end.
 899                                                 if (allowInsertRemove)
 900                                                         insertElbowUpdate(u, dcp, nextToMoved, dcpStart, position, directedDirection);
 901
 902                                                 else
 903                                                         triedIR = true;
 904                                         }
 905                                 } else if (other.isNonDirected() && other.getParentPoint() != null) {
 906                                         // FIXME : this code was for updating branches
 907                                         Vector3d bintersect = new Vector3d();
 908                                         PipeControlPoint bcp = other.getParentPoint();
 909                                         if (bcp != null && canMoveOther) {
 910                                                 Point3d bstart = new Point3d();
 911                                                 Point3d bend = new Point3d();
 912                                                 Vector3d bdir = new Vector3d();
 913                                                 bcp.getInlineControlPointEnds(bstart, bend, bdir);
 914                                                 Vector3d nintersect = new Vector3d();
 915
 916                                                 MathTools.intersectStraightStraight(position, directedDirection, bend, bdir, nintersect, bintersect, mu);
 917                                                 Vector3d dist = new Vector3d(nintersect);
 918                                                 dist.sub(bintersect);
 919                                                 canMoveOther = mu[1] > 0.0 && mu[1] < 1.0 && dist.lengthSquared() < 0.01;
 920                                         } else {
 921                                                 // TODO : endControlPoints are undirected: calculcate
 922                                                 // correct position for it
 923                                                 throw new UnsupportedOperationException("not implemented");
 924                                         }
 925                                         if (canMoveOther) {
 926                                                 if (DEBUG)
 927                                                         System.out.println("PipingRules.updateDirectedPipeRun() moved end " + other + " to " + bintersect);
 928                                                 // is required branch position is in possible range
 929                                                 bcp.setWorldPosition(bintersect);
 930                                                 if (dcpStart) {
 931                                                         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);
 932                                                 } else {
 933                                                         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);
 934                                                 }
 935                                         } else {
 936                                                 // branch cannot be moved into right position, new turn
 937                                                 // / elbow must be inserted
 938                                                 if (allowInsertRemove)
 939                                                         insertElbowUpdate(u, dcp, nextToMoved, dcpStart, position, directedDirection);
 940                                                 else
 941                                                         triedIR = true;
 942                                         }
 943
 944                                 } else { // assume that control point cannot be moved, but can
 945                                                         // be rotated
 946                                         if (allowInsertRemove)
 947                                                 insertElbowUpdate(u, dcp, nextToMoved, dcpStart, position, directedDirection);
 948                                         else
 949                                                 triedIR = true;
 950                                 }
 951                         }
 952                 }
 953
 954
 955         }
 956
 957         private static void updateDualDirectedPathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
 958                 if (DEBUG)
 959                         System.out.println("PipingRules.updateDualDirectedPipeRun() " + u + " " + lengthChange);
 960
 961                 PipeControlPoint dcp1 = u.start;
 962                 PipeControlPoint dcp2 = u.end;
 963                 Point3d position1 = new Point3d(u.startPoint);
 964                 Point3d position2 = new Point3d(u.endPoint);
 965                 Point3d position1offset = new Point3d(position1);
 966                 position1offset.sub(u.offset);
 967                 Point3d position2offset = new Point3d(position2);
 968                 position2offset.add(u.offset);
 969                 Vector3d dir1 = direction(dcp1, Direction.NEXT);
 970                 Vector3d dir2 = direction(dcp2, Direction.PREVIOUS);
 971                 Vector3d p1 = MathTools.closestPointOnStraight(position1offset, position2, dir2);
 972                 Vector3d p2 = MathTools.closestPointOnStraight(position2offset, position1, dir1);
 973                 double d1 = position1.distance(new Point3d(p1));
 974                 double d2 = position2.distance(new Point3d(p2));
 975
 976                 boolean aligned = (d1 < ALLOWED_OFFSET && d2 < ALLOWED_OFFSET);
 977                 if (aligned) {
 978                         processPathLeg(u);
 979                 } else {
 980                         if (u.iter > 0) {
 981                                 backIter(u);
 982                         } else if (allowInsertRemove){
 983                                 PipeControlPoint dcp;
 984                                 PipeControlPoint next;
 985                                 if (!u.reversed) {
 986                                         dcp = dcp1;
 987                                         if (u.list.size() > 0)
 988                                                 next = u.list.get(0);
 989                                         else
 990                                                 next = dcp2;
 991                                 } else {
 992                                         dcp = dcp2;
 993                                         if (u.list.size() > 0)
 994                                                 next = u.list.get(u.list.size() - 1);
 995                                         else
 996                                                 next = dcp1;
 997                                 }
 998
 999                                 p1 = dcp.getWorldPosition();
1000                                 // FIXME: calculate position of the elbows properly.
1001                                 if (!u.reversed)
1002                                         p1.add(dir1);
1003                                 else
1004                                         p1.add(dir2);
1005
1006                                 if (!u.reversed)
1007                                         p2 = MathTools.closestPointOnStraight(new Point3d(p1), position2, dir2);
1008                                 else
1009                                         p2 = MathTools.closestPointOnStraight(new Point3d(p1), position1, dir1);
1010
1011
1012                                 PipeControlPoint tcp1 = insertElbow(dcp, next, p1);
1013                                 PipeControlPoint tcp2 = insertElbow(tcp1, next, p2);
1014
1015                                 if (DEBUG)
1016                                         System.out.println("PipingRules.updateDualDirectedPipeRun() created two turns " + tcp1 + " " + tcp2);
1017
1018                                 if (!u.reversed) {
1019                                         Vector3d dd = new Vector3d(p2);
1020                                         dd.sub(p1);
1021                                         dir2.negate();
1022                                         updatePathLegNext(u.start, u.updated, PathLegUpdateType.NONE);
1023                                         updatePathLegNext(tcp1, u.updated, PathLegUpdateType.NONE);
1024                                         if (!u.reversed)
1025                                                 updatePathLegNext(tcp2, u.updated, PathLegUpdateType.NONE);
1026                                         else
1027                                                 updatePathLegPrev(tcp2, u.updated, PathLegUpdateType.NONE);
1028                                 } else {
1029                                         Vector3d dd = new Vector3d(p1);
1030                                         dd.sub(p2);
1031                                         dir2.negate();
1032                                         updatePathLegNext(tcp1, u.updated, PathLegUpdateType.NONE);
1033                                         updatePathLegNext(tcp2, u.updated, PathLegUpdateType.NONE);
1034                                         if (!u.reversed)
1035                                                 updatePathLegNext(u.start, u.updated, PathLegUpdateType.NONE);
1036                                         else
1037                                                 updatePathLegPrev(u.start, u.updated, PathLegUpdateType.NONE);
1038                                 }
1039                         } else {
1040                                 triedIR = true;
1041                         }
1042                 }
1043
1044         }
1045
1046         private static double spaceForTurn(PipeControlPoint tcp) {
1047                 // TODO : this returns now space for 90 deg turn.
1048                 // The challenge: position of tcp affects the turn angle, which then affects the required space. Perhaps we need to iterate...
1049                 // Additionally, if the path legs contain offset, using just positions of opposite path leg ends is not enough,
1050                 return tcp.getPipeRun().getTurnRadius();
1051         }
1052
1053         private static void insertElbowUpdate(UpdateStruct2 u, PipeControlPoint dcp, PipeControlPoint next, boolean dcpStart, Vector3d position, Vector3d directedDirection) throws Exception{
1054
1055
1056 //              Vector3d closest = new Vector3d(position);
1057 //              closest.add(directedDirection);
1058
1059                 PipeControlPoint tcp = null;
1060                 Vector3d closest;
1061                 if (dcpStart) {
1062                         closest = MathTools.closestPointOnStraight(next.getWorldPosition(), position, directedDirection);
1063                         tcp = insertElbow(dcp, next, closest);
1064                 } else {
1065                         closest = MathTools.closestPointOnStraight(dcp.getWorldPosition(), position, directedDirection);
1066                         tcp = insertElbow(next, dcp, closest);
1067                 }
1068                 // TODO properly calculate required distance between start and inserted elbow.
1069                 double d = MathTools.distance(position, closest);
1070                 double s = spaceForTurn(tcp);
1071                 if (d < s)  {
1072                         d = s - d;
1073                         Vector3d p = new Vector3d(directedDirection);
1074                         p.scale(d);
1075                         p.add(closest);
1076                         tcp.setPosition(p);
1077                         closest = p;
1078                 }
1079
1080
1081
1082                 if (DEBUG)
1083                         System.out.println("PipingRules.updateDirectedPipeRun() inserted " + tcp);
1084
1085                 if (dcpStart) {
1086                         // update pipe run from new turn to other end
1087                         ppNoDir(tcp, new Vector3d(closest), u.list, u.end, u.endPoint, u.hasOffsets, u.iter, u.reversed, u.toRemove, u.updated);
1088                         // update pipe run from directed to new turn
1089                         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));
1090                 } else {
1091                         // update pipe run from other end to new turn
1092                         ppNoDir(u.start, u.startPoint, u.list, tcp, new Vector3d(closest), u.hasOffsets, u.iter, u.reversed, u.toRemove, u.updated);
1093                         // update pipe run from new turn to directed
1094                         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));
1095                 }
1096         }
1097
1098         /**
1099          * Checks if turns can be removed (turn angle near zero)
1100          */
1101         private static int checkTurns(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
1102                 if (DEBUG)
1103                         System.out.println("PipingRules.checkTurns() " + u.start + " " + u.end);
1104                 boolean startRemoved = false;
1105                 boolean endRemoved = false;
1106                 if (u.start.isVariableAngle()) {
1107                         // this won't work properly if inline control points are not updated
1108                         PipeControlPoint startPrev = u.start.getPrevious();
1109                         if (startPrev != null) {
1110                                 double a;
1111                                 if (!u.hasOffsets) {
1112                                         a = updateTurnControlPointTurn(u.start, startPrev, u.end);
1113                                 } else {
1114                                         Vector3d ep = new Vector3d(u.endPoint);
1115                                         ep.sub(u.offset);
1116                                         a = updateTurnControlPointTurn(u.start, u.startPoint, startPrev.getPosition(), ep);
1117
1118                                 }
1119                                 if (a < MIN_TURN_ANGLE && u.start.isDeletable())
1120                                         startRemoved = true;
1121                                 else if (lengthChange == PathLegUpdateType.PREV || lengthChange == PathLegUpdateType.PREV_S) {
1122                                         PathLegUpdateType type;
1123                                         if (lengthChange == PathLegUpdateType.PREV_S)
1124                                                 type = PathLegUpdateType.PREV;
1125                                         else
1126                                                 type = PathLegUpdateType.NONE;
1127                                         updatePathLegPrev(u.start, u.start, type);
1128                                 }
1129                         }
1130                 }
1131                 if (u.end.isVariableAngle()) {
1132
1133                         PipeControlPoint endNext = u.end.getNext();
1134                         if (endNext != null) {
1135                                 double a;
1136                                 if (!u.hasOffsets) {
1137                                         a = updateTurnControlPointTurn(u.end, u.start, endNext);
1138                                 } else {
1139                                         Vector3d sp = new Vector3d(u.startPoint);
1140                                         sp.add(u.offset);
1141                                         a = updateTurnControlPointTurn(u.end, u.endPoint, sp, endNext.getPosition());
1142                                 }
1143                                 if (a < MIN_TURN_ANGLE && u.end.isDeletable())
1144                                         endRemoved = true;
1145                                 else if (lengthChange == PathLegUpdateType.NEXT || lengthChange == PathLegUpdateType.NEXT_S) {
1146                                         PathLegUpdateType type;
1147                                         if (lengthChange == PathLegUpdateType.NEXT_S)
1148                                                 type = PathLegUpdateType.NEXT;
1149                                         else
1150                                                 type = PathLegUpdateType.NONE;
1151                                         updatePathLegNext(u.end, u.end, type);
1152                                 }
1153                         }
1154                 }
1155                 if (DEBUG)
1156                         System.out.println("PipingRules.checkTurns() res " + startRemoved + " " + endRemoved);
1157                 if (!startRemoved && !endRemoved)
1158                         return REMOVE_NONE;
1159                 if (startRemoved && endRemoved)
1160                         return REMOVE_BOTH;
1161                 if (startRemoved)
1162                         return REMOVE_START;
1163                 return REMOVE_END;
1164         }
1165
1166         /**
1167          * Expands piperun search over turns that are going to be removed
1168          *
1169          */
1170         private static void expandPathLeg(UpdateStruct2 u, int type) throws Exception {
1171                 if (DEBUG)
1172                         System.out.println("PipingRules.expandPipeline " + u.start + " " + u.end);
1173                 ArrayList<PipeControlPoint> newList = new ArrayList<PipeControlPoint>();
1174                 switch (type) {
1175                 case REMOVE_NONE:
1176                         throw new RuntimeException("Error in piping rules");
1177                 case REMOVE_START:
1178                         u.toRemove.add(new ExpandIterInfo(u.start, REMOVE_START));
1179                         u.start = u.start.findPreviousEnd();
1180                         u.startPoint = u.start.getPosition();
1181                         u.start.findNextEnd(newList);
1182                         newList.addAll(u.list);
1183                         u.list = newList;
1184                         break;
1185                 case REMOVE_END:
1186                         u.toRemove.add(new ExpandIterInfo(u.end, REMOVE_END));
1187                         u.end = u.end.findNextEnd(newList);
1188                         u.endPoint = u.end.getPosition();
1189                         u.list.addAll(newList);
1190                         break;
1191                 case REMOVE_BOTH:
1192                         u.toRemove.add(new ExpandIterInfo(u.start, u.end));
1193                         u.start = u.start.findPreviousEnd();
1194                         u.startPoint = u.start.getPosition();
1195                         u.start.findNextEnd(newList);
1196                         newList.addAll(u.list);
1197                         u.list = newList;
1198                         newList = new ArrayList<PipeControlPoint>();
1199                         u.end = u.end.findNextEnd(newList);
1200                         u.endPoint = u.end.getPosition();
1201                         u.list.addAll(newList);
1202                         break;
1203                 default:
1204                         throw new RuntimeException("Error in piping rules");
1205
1206                 }
1207                 u.offset = new Vector3d();
1208                 if (u.hasOffsets) {
1209                         u.dir.normalize();
1210                         for (PipeControlPoint icp : u.list) {
1211                                 if (icp.isOffset()) {
1212                                         u.offset.add(icp.getSizeChangeOffsetVector(u.dir));
1213                                 } else if (icp.isDualSub())
1214                                         ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
1215                         }
1216                 }
1217                 if (DEBUG)
1218                         System.out.println("PipingRules.expandPipeline expanded " + u.start + " " + u.end);
1219                 u.iter++;
1220                 updatePathLeg(u, PathLegUpdateType.NONE);
1221         }
1222
1223         /**
1224          * reverts one iteration of turn removing back)
1225          */
1226         private static void backIter(UpdateStruct2 u) throws Exception {
1227
1228                 if (DEBUG)
1229                         System.out.println("PipingRules.backIter" + u.start + " " + u.end);
1230                 if (u.iter == 0)
1231                         throw new RuntimeException("Error in piping rules");
1232                 ExpandIterInfo info = u.toRemove.get(u.toRemove.size() - 1);
1233                 u.toRemove.remove(u.toRemove.size() - 1);
1234                 if (info.getType() == REMOVE_START || info.getType() == REMOVE_BOTH) {
1235                         while (u.list.size() > 0) {
1236                                 PipeControlPoint icp = u.list.get(0);
1237                                 if (icp.getPrevious().equals(info.getStart()))
1238                                         break;
1239                                 u.list.remove(icp);
1240                         }
1241                         u.start = info.getStart();
1242                 }
1243                 if (info.getType() == REMOVE_END || info.getType() == REMOVE_BOTH) {
1244                         while (u.list.size() > 0) {
1245                                 PipeControlPoint icp = u.list.get(u.list.size() - 1);
1246                                 if (icp.getNext().equals(info.getEnd()))
1247                                         break;
1248                                 u.list.remove(icp);
1249                         }
1250                         u.end = info.getEnd();
1251                 }
1252                 u.offset = new Vector3d();
1253                 if (u.hasOffsets) {
1254                         u.dir.normalize();
1255                         for (PipeControlPoint icp : u.list) {
1256                                 if (icp.isOffset()) {
1257                                         u.offset.add(icp.getSizeChangeOffsetVector(u.dir));
1258                                 } else if (icp.isDualSub())
1259                                         ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
1260                         }
1261                 }
1262                 processPathLeg(u);
1263
1264         }
1265
1266         /**
1267          * Processes pipe run (removes necessary turns and updates run ends)
1268          */
1269         // private static void processPathLeg(PipeControlPoint start, Point3d
1270         // startPoint,ArrayList<InlineControlPoint> list, PipeControlPoint
1271         // end,Point3d endPoint, Vector3d dir,Vector3d offset, boolean
1272         // hasOffsets,int iter, boolean reversed, ArrayList<ExpandIterInfo>
1273         // toRemove) throws TransactionException {
1274
1275         private static void processPathLeg(UpdateStruct2 u) throws Exception {
1276                 if (DEBUG)
1277                         System.out.println("PipingRules.processPathLeg " + u.start + " " + u.end);
1278                 processPathLeg(u, true, true);
1279         }
1280
1281         private static void processPathLeg(UpdateStruct2 u, boolean updateEnds, boolean updateInline) throws Exception {
1282                 if (DEBUG)
1283                         System.out.println("PipingRules.processPathLeg " + (updateEnds ? "ends " : "") + (updateInline ? "inline " : "") + u.start + " " + u.end);
1284
1285                 if (u.toRemove.size() > 0) {
1286                         for (ExpandIterInfo info : u.toRemove) {
1287                                 if (info.getStart() != null) {
1288                                         if (DEBUG)
1289                                                 System.out.println("PipingRules.processPathLeg removing start " + info.getStart());
1290                                         info.getStart()._remove();
1291                                 }
1292                                 if (info.getEnd() != null) {
1293                                         if (DEBUG)
1294                                                 System.out.println("PipingRules.processPathLeg removing end " + info.getEnd());
1295                                         info.getEnd()._remove();
1296                                 }
1297                         }
1298                         // ControlPointTools.removeControlPoint may remove more than one CP;
1299                         // we must populate inline CP list again.
1300                         u.list.clear();
1301                         u.start.findNextEnd( u.list);
1302                 }
1303                 // FIXME : inline CPs are update twice because their positions must be
1304                 // updated before and after ends.
1305                 updateInlineControlPoints(u, false);
1306
1307                 if (updateEnds) {
1308                         if (u.start.isTurn()) {
1309                                 updateTurnControlPointTurn(u.start, u.start.getPrevious(), u.start.getNext());
1310 //                              updatePathLegPrev(u.start, u.start, PathLegUpdateType.NONE);
1311                         } else if (u.start.isEnd()) {
1312                                 updateEndComponentControlPoint(u.start, u.startPoint, u.endPoint);
1313                         } else if (u.start.isInline()) {
1314                                 updateControlPointOrientation(u.start);
1315                         }
1316                         if (u.end.isTurn()) {
1317                                 updateTurnControlPointTurn(u.end, u.end.getPrevious(), u.end.getNext());
1318 //                              updatePathLegNext(u.end, u.end, PathLegUpdateType.NONE);
1319                         } else if (u.end.isEnd()) {
1320                                 updateEndComponentControlPoint(u.end, u.startPoint, u.endPoint);
1321                         } else if (u.end.isInline()) {
1322                                 updateControlPointOrientation(u.end);
1323                         }
1324
1325                 } else {
1326                         if (u.start.isEnd()) {
1327                                 updateEndComponentControlPoint(u.start, u.startPoint, u.endPoint);
1328                         }
1329                         if (u.end.isEnd()) {
1330                                 updateEndComponentControlPoint(u.end, u.startPoint, u.endPoint);
1331                         }
1332                 }
1333                 if (updateInline)
1334                         updateInlineControlPoints(u, true);
1335
1336         }
1337
1338         /**
1339          * Processes pipe run and recalculates offset
1340          */
1341         // private static void processPathLeg(PipeControlPoint start, Point3d
1342         // startPoint,ArrayList<InlineControlPoint> list, PipeControlPoint
1343         // end,Point3d endPoint, Vector3d dir, boolean hasOffsets,int iter, boolean
1344         // reversed, ArrayList<ExpandIterInfo> toRemove) throws TransactionException
1345         // {
1346         private static void processPathLegNoOffset(UpdateStruct2 u) throws Exception {
1347                 if (DEBUG)
1348                         System.out.println("PipingRules.processPathLeg " + u.start + " " + u.end);
1349                 Vector3d offset = new Vector3d();
1350                 if (u.hasOffsets) {
1351                         u.dir.normalize();
1352                         for (PipeControlPoint icp : u.list) {
1353                                 if (icp.isOffset()) {
1354                                         offset.add(icp.getSizeChangeOffsetVector(u.dir));
1355                                 } else if (icp.isDualSub()) {
1356                                         ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
1357                                 }
1358                         }
1359                 }
1360                 processPathLeg(u);
1361         }
1362
1363         private static void updateOffsetPoint(PipeControlPoint sccp, Vector3d offset) {
1364                 Vector3d world = sccp.getWorldPosition();
1365                 world.add(offset);
1366                 PipeControlPoint ocp = sccp.getSubPoint().iterator().next();
1367                 ocp.setWorldPosition(world);
1368         }
1369
1370         /**
1371          * Updates InlineControlPoints position when straight pipe's end(s) have
1372          * been changed)
1373          *
1374          * @param pipeline
1375          * @param icp
1376          * @param nextPoint
1377          * @param prevPoint
1378          */
1379         private static void updateInlineControlPoint(PipeControlPoint icp, Vector3d prev, Vector3d next,  Vector3d dir) {
1380                 if (DEBUG)
1381                         System.out.println("PipingRules.updateInlineControlPoint() " + icp);
1382
1383                 Vector3d inlinePoint = icp.getWorldPosition();
1384                 Vector3d prevPoint = new Vector3d(prev);
1385                 Vector3d nextPoint = new Vector3d(next);
1386                 if (!icp.isVariableLength()) {
1387                         // Reserve space for fixed length components.
1388                         MathTools.mad(prevPoint, dir, icp.getInlineLength());
1389                         MathTools.mad(nextPoint, dir, -icp.getInlineLength());
1390                         if (MathTools.distance(prevPoint, nextPoint) < ALLOWED_OFFSET) {
1391                                 prevPoint = prev;
1392                                 nextPoint = next;
1393                         }
1394                 }
1395                 boolean canCalc = MathTools.distance(prevPoint, nextPoint) > ALLOWED_OFFSET;
1396                 if (DEBUG)
1397                         System.out.print("InlineControlPoint update " + icp + " " + inlinePoint + " " + prevPoint + " " + nextPoint);
1398                 Vector3d newInlinePoint = null;
1399                 if (canCalc) {
1400                         boolean branchUpdate = false;
1401                         PipeControlPoint becp = null;
1402                         for (PipeControlPoint pcp : icp.getSubPoint())
1403                                 if (pcp.isNonDirected()) {
1404                                         branchUpdate = true;
1405                                         becp = pcp;
1406                                         break;
1407                                 }
1408
1409                         if (DUMMY || !branchUpdate) {
1410                                 newInlinePoint = MathTools.closestPointOnEdge(new Vector3d(inlinePoint), prevPoint, nextPoint);
1411
1412                         } else {
1413
1414                                 // FIXME : can only handle one branch
1415                                 PipeControlPoint p = null;
1416                                 if (becp.getNext() != null) {
1417                                         p = becp.findNextEnd();
1418                                 } else if (becp.getPrevious() != null) {
1419                                         p = becp.findPreviousEnd();
1420                                 }
1421                                 if (p == null) {
1422                                         newInlinePoint = MathTools.closestPointOnEdge(new Vector3d(inlinePoint), prevPoint, nextPoint);
1423                                 } else if (canCalc){
1424                                         Vector3d branchLegEnd = p.getWorldPosition();
1425                                         Vector3d dir2 = new Vector3d(inlinePoint);
1426                                         dir2.sub(branchLegEnd);
1427                                         Vector3d dir1 = new Vector3d(nextPoint);
1428                                         dir1.sub(prevPoint);
1429                                         newInlinePoint = new Vector3d();
1430                                         double mu[] = new double[2];
1431                                         MathTools.intersectStraightStraight(new Vector3d(prevPoint), dir1, new Vector3d(branchLegEnd), dir2, newInlinePoint, new Vector3d(), mu);
1432                                         if (DEBUG)
1433                                                 System.out.println(mu[0]);
1434                                         // FIXME : reserve space
1435                                         if (mu[0] < 0.0) {
1436                                                 newInlinePoint = new Vector3d(prevPoint);
1437                                         } else if (mu[0] > 1.0) {
1438                                                 newInlinePoint = new Vector3d(nextPoint);
1439                                         }
1440                                 }
1441                         }
1442                 } else {
1443                         // prevPoint == nextPoint
1444                         newInlinePoint = new Vector3d(prevPoint);
1445                 }
1446                 if (DEBUG)
1447                         System.out.println(" " + newInlinePoint);
1448
1449                 icp.setWorldPosition(newInlinePoint);
1450                 updateControlPointOrientation(icp);
1451         }
1452
1453         /**
1454          * Updates InlineControlPoints position when straight pipe's end(s) have
1455          * been changed)
1456          *
1457          * @param pipeline
1458          * @param icp
1459          * @param nextPoint
1460          * @param prevPoint
1461          */
1462         private static void updateEndComponentControlPoint(PipeControlPoint ecp, Vector3d start, Vector3d end) throws Exception {
1463                 if (DEBUG)
1464                         System.out.println("PipingRules.updateEndComponentControlPoint() " + ecp);
1465                 // PipeControlPoint next = ecp.getNext();
1466                 // PipeControlPoint prev = ecp.getPrevious();
1467                 // if (next != null) {
1468                 // end = G3DTools.getPoint(next.getLocalPosition());
1469                 // start = G3DTools.getPoint(ecp.getLocalPosition());
1470                 // } else if (prev != null) {
1471                 // end = G3DTools.getPoint(ecp.getLocalPosition());
1472                 // start = G3DTools.getPoint(prev.getLocalPosition());
1473                 // } else {
1474                 // // TODO : warning?
1475                 // return;
1476                 // }
1477                 // Vector3d dir = new Vector3d (end);
1478                 // dir.sub(start);
1479                 // dir.normalize();
1480                 // G3DTools.setTuple(ecp.getDirection(), dir);
1481                 if (!ecp.isFixed())
1482                         updateControlPointOrientation(ecp);
1483
1484                 for (PipeControlPoint pcp : ecp.getSubPoint()) {
1485                         // TODO update position
1486                         updatePathLegEndControlPoint(pcp);
1487                 }
1488         }
1489
1490         private static void updateControlPointOrientation(PipeControlPoint pcp) {
1491                 // FIXME : hack to bypass variable length components orientation
1492 //              if (pcp.getAtMostOneRelatedObject(ProcessResource.g3dResource.HasWorldOrientation) == null)
1493 //                      return;
1494 //              if (pcp.rotationAngle == null)
1495 //                      return;
1496                 Double angleO = pcp.getRotationAngle();
1497                 double angle = 0.0;
1498                 if (angleO != null)
1499                         angle = angleO;
1500                 Boolean reversedO = pcp.getReversed();
1501                 boolean reversed = false;
1502                 if (reversedO != null)
1503                         reversed = reversedO;
1504                 Quat4d q = pcp.getControlPointOrientationQuat(angle, reversed);
1505                 pcp.setWorldOrientation(q);
1506         }
1507
1508         /**
1509          * Updates all branches when branch's position has been changed
1510          *
1511          * @param bcp
1512          */
1513         private static void updateBranchControlPointBranches(PipeControlPoint bcp) throws Exception {
1514                 if (DEBUG)
1515                         System.out.println("PipingRules.updateBranchControlPointBranches() " + bcp);
1516                 if (bcp.isDualInline())
1517                         return;
1518                 Collection<PipeControlPoint> branches = bcp.getSubPoint();
1519                 if (branches.size() == 0) {
1520                         if (DEBUG)
1521                                 System.out.println("No Branches found");
1522                         return;
1523                 }
1524
1525                 for (PipeControlPoint pcp : branches) {
1526                         updatePathLegEndControlPoint(pcp);
1527                 }
1528         }
1529
1530         /**
1531          * Recalculates turn control point's internal data (turn angle and offset)
1532          *
1533          * @param tcp
1534          * @param prev
1535          * @param next
1536          */
1537         private static double updateTurnControlPointTurn(PipeControlPoint tcp, PipeControlPoint prev, PipeControlPoint next) {
1538                 if (DEBUG)
1539                         System.out.println("PipingTools.updateTurnControlPointTurn()" + tcp);
1540
1541                 if (!tcp.isFixed()) {
1542                     if (next == null || prev == null)
1543                     return Math.PI; // FIXME : argh
1544                 Vector3d middlePoint = tcp.getWorldPosition();
1545                 Vector3d nextPoint = next.getWorldPosition();
1546                 Vector3d prevPoint = prev.getWorldPosition();
1547                 return updateTurnControlPointTurn(tcp, middlePoint, prevPoint, nextPoint);
1548                 } else {
1549                     Vector3d dir;
1550                     if (!tcp._getReversed()) {
1551                     if (prev == null)
1552                     return Math.PI; // FIXME : argh
1553
1554                     Vector3d middlePoint = tcp.getWorldPosition();
1555                     Vector3d prevPoint = prev.getWorldPosition();
1556                     dir = new Vector3d();
1557                     dir.sub(middlePoint, prevPoint);
1558
1559                     } else {
1560                         if (next == null)
1561                     return Math.PI; // FIXME : argh
1562
1563                 Vector3d middlePoint = tcp.getWorldPosition();
1564                 Vector3d nextPoint = next.getWorldPosition();
1565                 dir = new Vector3d();
1566                 dir.sub(nextPoint,middlePoint);
1567                     }
1568                     dir.normalize();
1569
1570             Quat4d q = PipeControlPoint.getControlPointOrientationQuat(dir, tcp.getRotationAngle() != null ? tcp.getRotationAngle() : 0.0);
1571             Vector3d v = new Vector3d();
1572             MathTools.rotate(q, MathTools.Y_AXIS,v);
1573             tcp.setTurnAxis(v);
1574             tcp.setWorldOrientation(q);
1575             return tcp.getTurnAngle();
1576                 }
1577         }
1578
1579         /**
1580          * Recalculates turn control point's internal data (turn angle and offset)
1581          *
1582          * @param tcp
1583          * @param middlePoint
1584          * @param nextPoint
1585          * @param prevPoint
1586          */
1587         private static double updateTurnControlPointTurn(PipeControlPoint tcp, Vector3d middlePoint, Vector3d prevPoint, Vector3d nextPoint) {
1588
1589                 Vector3d dir1 = new Vector3d(middlePoint);
1590                 dir1.sub(prevPoint);
1591                 Vector3d dir2 = new Vector3d(nextPoint);
1592                 dir2.sub(middlePoint);
1593                 if (DEBUG)
1594                         System.out.println("PipingTools.updateTurnControlPointTurn " + tcp + " " + prevPoint + " " + middlePoint + " " + nextPoint);
1595                 return updateTurnControlPointTurn(tcp, dir1, dir2);
1596         }
1597
1598         private static double updateTurnControlPointTurn(PipeControlPoint tcp, Vector3d dir1, Vector3d dir2) {
1599                 double turnAngle = dir1.angle(dir2);
1600
1601                 double angle = Math.PI - turnAngle;
1602
1603                 Vector3d turnAxis = new Vector3d();
1604                 turnAxis.cross(dir1, dir2);
1605                 if (turnAxis.lengthSquared() > MathTools.NEAR_ZERO) {
1606                         double elbowRadius = tcp.getPipelineComponent().getPipeRun().getTurnRadius();
1607                         double R = elbowRadius / Math.tan(angle * 0.5);
1608
1609                         turnAxis.normalize();
1610                         tcp.setTurnAngle(turnAngle);
1611                         tcp.setLength(R);// setComponentOffsetValue(R);
1612                         tcp.setTurnAxis(turnAxis);
1613 //                      tcp.setPosition(tcp.getPosition());
1614                 } else {
1615                         turnAngle = 0.0;
1616                         tcp.setTurnAngle(0.0);
1617                         tcp.setLength(0.0);
1618                         tcp.setTurnAxis(new Vector3d(MathTools.Y_AXIS));
1619                 }
1620                 updateControlPointOrientation(tcp);
1621                 if (DEBUG)
1622                         System.out.println("PipingTools.updateTurnControlPointTurn " + dir1 + " " + dir2 + " " + turnAngle + " " + turnAxis);
1623                 return turnAngle;
1624         }
1625
1626         public static List<PipeControlPoint> getControlPoints(PipeRun pipeRun) {
1627                 List<PipeControlPoint> list = new ArrayList<PipeControlPoint>();
1628                 if (pipeRun.getControlPoints().size() == 0)
1629                         return list;
1630                 PipeControlPoint pcp = pipeRun.getControlPoints().iterator().next();
1631                 while (pcp.getPrevious() != null) {
1632                         PipeControlPoint prev = pcp.getPrevious();
1633                         if (prev.getPipeRun() != pipeRun)
1634                                 break;
1635                         pcp = prev;
1636                 }
1637                 if (pcp.isDualSub()) {
1638                         pcp = pcp.getParentPoint();
1639                 }
1640                 list.add(pcp);
1641                 while (pcp.getNext() != null) {
1642                         pcp = pcp.getNext();
1643                         if (pcp.getPipeRun() != pipeRun)
1644                                 break;
1645                         list.add(pcp);
1646                 }
1647                 return list;
1648         }
1649
1650         public static void reverse(PipeRun pipeRun) {
1651                 List<PipeControlPoint> list = getControlPoints(pipeRun);
1652                 if (list.size() <= 1)
1653                         return; // nothing to do.
1654
1655                 for (int i = 0 ; i < list.size(); i++) {
1656                         boolean first = i == 0;
1657                         boolean last = i == list.size() - 1;
1658                         PipeControlPoint current = list.get(i);
1659                         PipeControlPoint currentSub = null;
1660                         if (current.isDualInline())
1661                                 currentSub = current.getSubPoint().get(0);
1662                         if (first) {
1663                                 PipeControlPoint next = list.get(i+1);
1664                                 if (next.isDualInline())
1665                                         next = next.getSubPoint().get(0);
1666                                 current.setNext(null);
1667                                 current.setPrevious(next);
1668                                 if (currentSub != null) {
1669                                         currentSub.setNext(null);
1670                                         currentSub.setPrevious(next);
1671                                 }
1672                         } else if (last) {
1673                                 PipeControlPoint prev = list.get(i-1);
1674
1675                                 current.setPrevious(null);
1676                                 current.setNext(prev);
1677
1678                                 if (currentSub != null) {
1679                                         currentSub.setPrevious(null);
1680                                         currentSub.setNext(prev);
1681                                 }
1682                         } else {
1683                                 PipeControlPoint prev = list.get(i-1);
1684                                 PipeControlPoint next = list.get(i+1);
1685                                 if (next.isDualInline())
1686                                         next = next.getSubPoint().get(0);
1687
1688
1689                                 current.setPrevious(next);
1690                                 current.setNext(prev);
1691
1692                                 if (currentSub != null) {
1693                                         currentSub.setPrevious(next);
1694                                         currentSub.setNext(prev);
1695                                 }
1696
1697                         }
1698                 }
1699         }
1700
1701         public static void merge(PipeRun run1, PipeRun r2) {
1702                 Map<PipeControlPoint, Vector3d> positions = new HashMap<PipeControlPoint, Vector3d>();
1703                 Map<PipeControlPoint, Quat4d> orientations = new HashMap<PipeControlPoint, Quat4d>();
1704                 for (PipeControlPoint pcp : r2.getControlPoints()) {
1705                         positions.put(pcp, pcp.getWorldPosition());
1706                         orientations.put(pcp, pcp.getWorldOrientation());
1707                 }
1708                 for (PipeControlPoint pcp : r2.getControlPoints()) {
1709                         r2.deattachChild(pcp);
1710                         run1.addChild(pcp);
1711                         PipelineComponent component = pcp.getPipelineComponent();
1712                         if (component != null) {
1713                                 if (!(component instanceof Nozzle)) {
1714                                         component.deattach();
1715                                         run1.addChild(component);
1716                                 } else {
1717                                         Nozzle n = (Nozzle)component;
1718                                         n.setPipeRun(run1);
1719                                 }
1720                         }
1721                 }
1722                 r2.remove();
1723
1724         }
1725
1726         public static void validate(PipeRun pipeRun) {
1727                 if (pipeRun == null)
1728                         return;
1729                 Collection<PipeControlPoint> pcps = pipeRun.getControlPoints();
1730                 int count = 0;
1731                 //System.out.println("Validate " + pipeRun.getName());
1732                 for (PipeControlPoint pcp : pcps) {
1733                         if (pcp.getParentPoint() == null || pcp.getParentPoint().getPipeRun() != pipeRun)
1734                                 count++;
1735                 }
1736                 List<PipeControlPoint> runPcps = getControlPoints(pipeRun);
1737                 if (runPcps.size() != count) {
1738                         System.out.println("Run " + pipeRun.getName() + " contains unconnected control points");
1739                 }
1740                 for (PipeControlPoint pcp : pcps) {
1741                         if (!pcp.isDirected() && pcp.getNext() == null && pcp.getPrevious() == null)
1742                                 System.out.println("Orphan undirected " + pcp);
1743                 }
1744                 for (PipeControlPoint pcp : pcps) {
1745                         if (pcp.getParentPoint() == null) {
1746                                 PipeControlPoint sub = null;
1747                                 if (pcp.isDualInline())
1748                                         sub = pcp.getSubPoint().get(0);
1749                                 PipeControlPoint next = pcp.getNext();
1750                                 PipeControlPoint prev = pcp.getPrevious();
1751                                 if (next != null) {
1752                                         if (!(next.getPrevious() == pcp || next.getPrevious() == sub)) {
1753                                                 System.out.println("Inconsistency between " + pcp + " -> " +next );
1754                                         }
1755                                 }
1756                                 if (prev != null) {
1757                                         PipeControlPoint prevParent = null;
1758                                         if (prev.isDualSub()) {
1759                                                 prevParent = prev.getParentPoint();
1760                                         } else if (prev.isDualInline()) {
1761                                                 System.out.println("Inconsistency between " + pcp + " <-- " +prev );
1762                                         }
1763                                         if (!(prev.getNext() == pcp && (prevParent == null || prevParent.getNext() == pcp))) {
1764                                                 System.out.println("Inconsistency between " + pcp + " <-- " +prev );
1765                                         }
1766                                 }
1767                         }
1768                 }
1769         }
1770
1771         public static void splitVariableLengthComponent(PipelineComponent newComponent, InlineComponent splittingComponent, boolean assignPos) throws Exception{
1772                 assert(!splittingComponent.getControlPoint().isFixed());
1773                 assert(!(newComponent instanceof  InlineComponent && !newComponent.getControlPoint().isFixed()));
1774                 PipeControlPoint newCP = newComponent.getControlPoint();
1775                 PipeControlPoint splittingCP = splittingComponent.getControlPoint();
1776                 PipeControlPoint nextCP = splittingCP.getNext();
1777                 PipeControlPoint prevCP = splittingCP.getPrevious();
1778
1779                 /* there are many different cases to insert new component when
1780                    it splits existing VariableLengthinlineComponent.
1781
1782                1. VariableLengthComponet is connected from both sides:
1783                   - insert new component between VariableLength component and component connected to it
1784                   - insert new VariableLengthComponent between inserted component and component selected in previous step
1785
1786                    2. VariableLengthComponent is connected from one side
1787                      - Use previous case or:
1788                      - Insert new component to empty end
1789                      - Insert new VariableLength component to inserted components empty end
1790
1791                    3. VariableLength is not connected to any component.
1792                      - Should not be possible, at least in current implementation.
1793                      - Could be done using second case
1794
1795                 */
1796
1797                 if (nextCP == null && prevCP == null) {
1798                         // this should not be possible
1799                         throw new RuntimeException("VariableLengthComponent " + splittingComponent + " is not connected to anything.");
1800                 }
1801                 double reservedLength = splittingComponent.getControlPoint().getLength();
1802                 double newLength = newComponent.getControlPoint().getLength();
1803
1804
1805                 Point3d next = new Point3d();
1806                 Point3d prev = new Point3d();
1807                 splittingCP.getInlineControlPointEnds(prev, next);
1808
1809                 Vector3d newPos = null;
1810                 if (assignPos) {
1811                         newPos = new Vector3d(prev);
1812                         Vector3d dir = new Vector3d(next);
1813                         dir.sub(prev);
1814                         dir.scale(0.5);
1815                         newPos.add(dir);
1816                         newComponent.setWorldPosition(newPos);
1817                 } else {
1818                         newPos = newComponent.getWorldPosition();
1819                 }
1820
1821
1822
1823                 Vector3d dir = new Vector3d(next);
1824                 dir.sub(prev);
1825                 dir.normalize();
1826                 dir.scale(newLength * 0.5);
1827                 Point3d vn = new Point3d(newPos);
1828                 Point3d vp = new Point3d(newPos);
1829                 vn.add(dir);
1830                 vp.sub(dir);
1831                 double ln = vn.distance(next);
1832                 double lp = vp.distance(prev);
1833                 vp.interpolate(prev, 0.5);
1834                 vn.interpolate(next, 0.5);
1835
1836
1837                 PipeControlPoint newVariableLengthCP = null;//insertStraight(pcp1, pcp2, pos, length);
1838                 if (nextCP == null) {
1839                         newCP.insert(splittingCP, Direction.NEXT);
1840                         newVariableLengthCP = insertStraight(newCP, Direction.NEXT, new Vector3d(vn), ln);
1841                         splittingCP.setWorldPosition(new Vector3d(vp));
1842 //                      ControlPointTools.setWorldPosition(splittingCP, vp);
1843 //                      splittingCP.setRelatedScalarDouble(ProcessResource.plant3Dresource.HasLength, lp);
1844                 } else if (prevCP == null) {
1845                         newCP.insert(splittingCP, Direction.PREVIOUS);
1846                         newVariableLengthCP = insertStraight(newCP, Direction.PREVIOUS, new Vector3d(vp), lp);
1847                         splittingCP.setWorldPosition(new Vector3d(vn));
1848 //                      splittingCP.setRelatedScalarDouble(ProcessResource.plant3Dresource.HasLength, ln);
1849                 } else {
1850                         newCP.insert(splittingCP, nextCP);
1851                         newVariableLengthCP = insertStraight(newCP, nextCP, new Vector3d(vn), ln);
1852                         splittingCP.setWorldPosition(new Vector3d(vp));
1853 //                      splittingCP.setRelatedScalarDouble(ProcessResource.plant3Dresource.HasLength, lp);
1854                 }
1855                 positionUpdate(newCP);
1856
1857         }
1858
1859         public static void addSizeChange(boolean reversed, PipeRun pipeRun, PipeRun other, InlineComponent reducer, PipeControlPoint previous, PipeControlPoint next) {
1860                 PipeControlPoint pcp = reducer.getControlPoint();
1861                 PipeControlPoint ocp = pcp.getSubPoint().get(0);
1862                 if (!reversed) {
1863                         String name = pipeRun.getUniqueName("Reducer");
1864                         reducer.setName(name);
1865                         pipeRun.addChild(reducer);
1866                         other.addChild(ocp);
1867                         reducer.setAlternativePipeRun(other);
1868
1869                         previous.setNext(pcp);
1870                         pcp.setPrevious(previous);
1871                         ocp.setPrevious(previous);
1872                         if (next != null) {
1873                                 pcp.setNext(next);
1874                                 ocp.setNext(next);
1875                                 next.setPrevious(ocp);
1876                         }
1877                 } else {
1878                         String name = other.getUniqueName("Reducer");
1879                         reducer.setName(name);
1880                         other.addChild(reducer);
1881                         pipeRun.addChild(ocp);
1882                         reducer.setAlternativePipeRun(pipeRun);
1883
1884                         if (next != null) {
1885                                 next.setNext(pcp);
1886                                 pcp.setPrevious(next);
1887                                 ocp.setPrevious(next);
1888                         }
1889                         pcp.setNext(previous);
1890                         ocp.setNext(previous);
1891                         previous.setPrevious(ocp);
1892                 }
1893         }
1894 }