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 final double MIN_TURN_ANGLE = 0.01;
  29
  30         private static final int REMOVE_NONE = 0;
  31         private static final int REMOVE_START = 1;
  32         private static final int REMOVE_END = 2;
  33         private static final int REMOVE_BOTH = 3;
  34
  35 //      private P3DRootNode root;
  36
  37 //      public PipingRules(P3DRootNode root) {
  38 //              this.root = root;
  39 //      }
  40
  41         private enum PathLegUpdateType {
  42                 NONE, PREV, NEXT, PREV_S, NEXT_S
  43         };
  44
  45         private static boolean enabled = true;
  46         private static boolean updating = false;
  47         private static boolean allowInsertRemove = true;
  48         private static boolean triedIR = false;
  49
  50
  51         private static List<PipeControlPoint> updates = new ArrayList<PipeControlPoint>();
  52
  53         private static Object mutex = new Object();
  54
  55         public static void requestUpdate(PipeControlPoint pcp) {
  56                 if (DEBUG) System.out.println("PipingRules request " + pcp);
  57                 synchronized (mutex) {
  58                 if (!updates.contains(pcp))
  59                         updates.add(pcp);
  60                 }
  61         }
  62
  63         public static synchronized boolean update() throws Exception {
  64                 if (updates.size() == 0)
  65                         return false;
  66                 List<PipeControlPoint> temp = new ArrayList<PipeControlPoint>(updates.size());
  67                 synchronized(mutex) {
  68                         temp.addAll(updates);
  69                         updates.clear();
  70                 }
  71
  72                 for (PipeControlPoint pcp : temp)
  73                         positionUpdate(pcp);
  74                 return true;
  75         }
  76
  77         public static boolean positionUpdate(PipeControlPoint pcp) throws Exception {
  78
  79                 return positionUpdate(pcp, true);
  80         }
  81
  82         public static boolean positionUpdate(PipeControlPoint pcp, boolean allowIR) throws Exception {
  83                 if (updating || !enabled)
  84                         return true;
  85                 if (pcp.getPipeRun() == null)
  86                         return false;
  87                 try {
  88                         if (DEBUG) System.out.println("PipingRules " + pcp);
  89                         updating = true;
  90                         allowInsertRemove = allowIR;
  91                         triedIR = false;
  92                         validate(pcp.getPipeRun());
  93                         if (pcp.isPathLegEnd()) {
  94                                 updatePathLegEndControlPoint(pcp); // FXIME: Rules won't work properly, if they are not run twice.
  95                                 updatePathLegEndControlPoint(pcp);
  96                         } else {
  97                                 updateInlineControlPoint(pcp);
  98                                 updateInlineControlPoint(pcp);
  99                         }
 100                         validate(pcp.getPipeRun());
 101                         if (!allowInsertRemove)
 102                                 return !triedIR;
 103                         return true;
 104                 } finally {
 105                         updating = false;
 106 //                      System.out.println("PipingRules done " + pcp);
 107                 }
 108         }
 109
 110         public static void setEnabled(boolean enabled) {
 111                 PipingRules.enabled = enabled;
 112                 if(!enabled)
 113                         updates.clear();
 114         }
 115
 116         public static boolean isEnabled() {
 117                 return enabled;
 118         }
 119
 120 //      private void commit() {
 121 //              root.getNodeMap().commit();
 122 //      }
 123
 124         public static class ExpandIterInfo {
 125                 // these two are turn control points
 126                 private PipeControlPoint start;
 127                 private PipeControlPoint end;
 128                 private int type;
 129
 130                 public ExpandIterInfo() {
 131
 132                 }
 133
 134                 public ExpandIterInfo(PipeControlPoint tcp, int type) {
 135                         if (type == REMOVE_START)
 136                                 start = tcp;
 137                         else
 138                                 end = tcp;
 139                         this.type = type;
 140                 }
 141
 142                 public ExpandIterInfo(PipeControlPoint start, PipeControlPoint end) {
 143                         this.start = start;
 144                         this.end = end;
 145                         this.type = REMOVE_BOTH;
 146                 }
 147
 148                 public PipeControlPoint getEnd() {
 149                         return end;
 150                 }
 151
 152                 public void setEnd(PipeControlPoint end) {
 153                         this.end = end;
 154                 }
 155
 156                 public PipeControlPoint getStart() {
 157                         return start;
 158                 }
 159
 160                 public void setStart(PipeControlPoint start) {
 161                         this.start = start;
 162                 }
 163
 164                 public int getType() {
 165                         return type;
 166                 }
 167
 168                 public void setType(int type) {
 169                         this.type = type;
 170                 }
 171
 172         }
 173
 174         private static void updatePathLegEndControlPoint(PipeControlPoint pcp) throws Exception {
 175                 if (DEBUG)
 176                         System.out.println("PipingRules.updatePathLegEndControlPoint() " + pcp);
 177                 if (pcp.getNext() != null) {
 178                         updatePathLegNext(pcp, pcp, PathLegUpdateType.NEXT_S);
 179                 }
 180                 if (pcp.getPrevious() != null) {
 181                         updatePathLegPrev(pcp, pcp, PathLegUpdateType.PREV_S);
 182                 }
 183
 184         }
 185
 186         private static void updateInlineControlPoint(PipeControlPoint pcp) throws Exception {
 187                 if (DEBUG)
 188                         System.out.println("PipingRules.updateInlineControlPoint() " + pcp);
 189                 PipeControlPoint start = pcp.findPreviousEnd();
 190                 updatePathLegNext(start, pcp, PathLegUpdateType.NONE);
 191         }
 192
 193         private static PipeControlPoint insertElbow(PipeControlPoint pcp1, PipeControlPoint pcp2, Vector3d pos) throws Exception{
 194                 if (DEBUG)
 195                         System.out.println("PipingRules.insertElbow() " + pcp1 + " " + pcp2 + " " + pos);
 196                 if (pcp1.getNext() == pcp2 && pcp2.getPrevious() == pcp1) {
 197
 198                 } else if (pcp1.getNext() == pcp2 && pcp1.isDualInline() && pcp2.getPrevious() == pcp1.getSubPoint().get(0)) {
 199                         pcp1 = pcp1.getSubPoint().get(0);
 200                 } else if (pcp1.getPrevious() == pcp2 && pcp2.getNext() == pcp1) {
 201                         PipeControlPoint t = pcp1;
 202                         pcp1 = pcp2;
 203                         pcp2 = t;
 204                 } else if (pcp2.isDualInline() && pcp1.getPrevious() == pcp2.getSubPoint().get(0) && pcp2.getNext() == pcp1) {
 205                         PipeControlPoint t = pcp1;
 206                         pcp1 = pcp2.getSubPoint().get(0);
 207                         pcp2 = t;
 208                 } else {
 209                         throw new RuntimeException();
 210                 }
 211                 TurnComponent elbow = ComponentUtils.createTurn((P3DRootNode)pcp1.getRootNode());
 212                 PipeControlPoint pcp = elbow.getControlPoint();
 213                 if (pcp1.isDualInline())
 214                         pcp1 = pcp1.getSubPoint().get(0);
 215                 String name = pcp1.getPipeRun().getUniqueName("Elbow");
 216                 elbow.setName(name);
 217                 pcp1.getPipeRun().addChild(elbow);
 218
 219                 pcp.insert(pcp1, pcp2);
 220
 221                 pcp.setWorldPosition(pos);
 222                 validate(pcp.getPipeRun());
 223                 return pcp;
 224         }
 225
 226         private static PipeControlPoint insertStraight(PipeControlPoint pcp1, PipeControlPoint pcp2, Vector3d pos, double length) throws Exception {
 227                 if (DEBUG)
 228                         System.out.println("PipingRules.insertStraight() " + pcp1 + " " + pcp2 + " " + pos);
 229                 if (pcp1.getNext() == pcp2 && pcp2.getPrevious() == pcp1) {
 230
 231                 } else if (pcp1.getNext() == pcp2 && pcp1.isDualInline() && pcp2.getPrevious() == pcp1.getSubPoint().get(0)) {
 232                         pcp1 = pcp1.getSubPoint().get(0);
 233                 } else if (pcp1.getPrevious() == pcp2 && pcp2.getNext() == pcp1) {
 234                         PipeControlPoint t = pcp1;
 235                         pcp1 = pcp2;
 236                         pcp2 = t;
 237                 } else if (pcp2.isDualInline() && pcp1.getPrevious() == pcp2.getSubPoint().get(0) && pcp2.getNext() == pcp1) {
 238                         PipeControlPoint t = pcp1;
 239                         pcp1 = pcp2.getSubPoint().get(0);
 240                         pcp2 = t;
 241                 } else {
 242                         throw new RuntimeException();
 243                 }
 244                 InlineComponent component = ComponentUtils.createStraight((P3DRootNode)pcp1.getRootNode());
 245                 PipeControlPoint scp = component.getControlPoint();
 246                 if (pcp1.isDualInline())
 247                         pcp1 = pcp1.getSubPoint().get(0);
 248                 String name = pcp1.getPipeRun().getUniqueName("Pipe");
 249                 component.setName(name);
 250                 pcp1.getPipeRun().addChild(component);
 251
 252                 scp.insert(pcp1, pcp2);
 253
 254                 scp.setWorldPosition(pos);
 255                 scp.setLength(length);
 256                 validate(scp.getPipeRun());
 257                 return scp;
 258         }
 259
 260         private static PipeControlPoint insertStraight(PipeControlPoint pcp, Direction direction , Vector3d pos, double length) throws Exception {
 261                 if (DEBUG)
 262                         System.out.println("PipingRules.insertStraight() " + pcp + " " + direction + " " + pos);
 263
 264                 InlineComponent component = ComponentUtils.createStraight((P3DRootNode)pcp.getRootNode());
 265                 PipeControlPoint scp = component.getControlPoint();
 266                 if (pcp.isDualInline() && direction == Direction.NEXT)
 267                         pcp = pcp.getSubPoint().get(0);
 268                 String name = pcp.getPipeRun().getUniqueName("Pipe");
 269                 component.setName(name);
 270                 pcp.getPipeRun().addChild(component);
 271
 272                 scp.insert(pcp,direction);
 273
 274                 scp.setWorldPosition(pos);
 275                 scp.setLength(length);
 276                 validate(scp.getPipeRun());
 277                 return scp;
 278         }
 279
 280         private static void updatePathLegNext(PipeControlPoint start, PipeControlPoint updated, PathLegUpdateType lengthChange) throws Exception {
 281                 ArrayList<PipeControlPoint> list = new ArrayList<PipeControlPoint>();
 282                 PipeControlPoint end = start.findNextEnd(list);
 283                 // this is for inline cp that is also path leg end
 284                 if (start.equals(updated))
 285                         lengthChange = PathLegUpdateType.NEXT;
 286                 else if (end.equals(updated))
 287                         lengthChange = PathLegUpdateType.PREV;
 288                 updatePathLegNext(start, list, end, updated, lengthChange);
 289         }
 290
 291         private static void updatePathLegNext(PipeControlPoint start, ArrayList<PipeControlPoint> list, PipeControlPoint end, PipeControlPoint updated, PathLegUpdateType lengthChange) throws Exception {
 292                 updatePathLeg(start, list, end, false, 0, new ArrayList<ExpandIterInfo>(), updated, lengthChange);
 293         }
 294
 295         private static class UpdateStruct2 {
 296                 public PipeControlPoint start;
 297                 public Vector3d startPoint;
 298                 public ArrayList<PipeControlPoint> list;
 299                 public PipeControlPoint end;
 300                 public Vector3d endPoint;
 301                 public Vector3d dir;
 302                 public Vector3d offset;
 303                 public boolean hasOffsets;
 304                 public int iter;
 305                 public boolean reversed;
 306                 public ArrayList<ExpandIterInfo> toRemove;
 307                 public PipeControlPoint updated;
 308
 309                 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) {
 310                         if (start == null || end == null)
 311                                 throw new NullPointerException();
 312                         this.start = start;
 313                         this.startPoint = startPoint;
 314                         this.list = list;
 315                         this.end = end;
 316                         this.endPoint = endPoint;
 317                         this.dir = dir;
 318                         this.offset = offset;
 319                         this.hasOffsets = hasOffsets;
 320                         this.iter = iter;
 321                         this.reversed = reversed;
 322                         this.toRemove = toRemove;
 323                         this.updated = updated;
 324
 325                         if (!MathTools.isValid(startPoint) ||
 326                                 !MathTools.isValid(endPoint) ||
 327                                 !MathTools.isValid(dir)) {
 328                                 throw new RuntimeException();
 329                         }
 330                 }
 331
 332                 public String toString() {
 333                         return start + " " + end+ " " + dir + " " + hasOffsets + " " + offset + " " + iter + " " + toRemove.size();
 334                 }
 335
 336         }
 337
 338         private static boolean calculateOffset(Vector3d startPoint, Vector3d endPoint, ArrayList<PipeControlPoint> list, Vector3d dir, Vector3d offset) {
 339                 boolean hasOffsets = false;
 340                 dir.set(startPoint);
 341                 dir.sub(endPoint);
 342                 if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 343                         dir.normalize();
 344                 offset.set(0.0, 0.0, 0.0);
 345                 for (PipeControlPoint icp : list) {
 346                         if (icp.isOffset()) {
 347                                 hasOffsets = true;
 348                                 offset.add(icp.getSizeChangeOffsetVector(dir));
 349                         } else if (icp.isDualSub())
 350                                 ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
 351                 }
 352                 return hasOffsets;
 353         }
 354
 355         /**
 356          * @param start
 357          *            starting point of the pipe run
 358          * @param list
 359          *            list of inline control points in the pipe run
 360          * @param end
 361          *            ending point of the pipe run
 362          * @param reversed
 363          *            boolean flag indicating wether start or end control point was
 364          *            modified (if true then end point was modified)
 365          * @throws TransactionException
 366          */
 367         private static void updatePathLeg(PipeControlPoint start, ArrayList<PipeControlPoint> list, PipeControlPoint end, boolean reversed, int iter, ArrayList<ExpandIterInfo> toRemove, PipeControlPoint updated, PathLegUpdateType lengthChange) throws Exception {
 368                 if (start == end)
 369                         return;
 370                 // FIXME: direction is calculated wrong way!
 371                 boolean hasOffsets = false;
 372                 Vector3d offset = new Vector3d();
 373                 Vector3d startPoint = start.getWorldPosition();
 374                 Vector3d endPoint = end.getWorldPosition();
 375                 Vector3d dir = new Vector3d();
 376                 hasOffsets = calculateOffset(startPoint, endPoint, list, dir, offset);
 377                 updatePathLeg(new UpdateStruct2(start, startPoint, list, end, endPoint, dir, offset, hasOffsets, iter, reversed, toRemove, updated), lengthChange);
 378
 379         }
 380
 381         private static void updatePathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
 382                 int directed = 0;
 383                 if (u.start.isDirected())
 384                         directed++;
 385                 if (u.end.isDirected())
 386                         directed++;
 387                 switch (directed) {
 388                 case 0:
 389                         updateFreePathLeg(u, lengthChange);
 390                         break;
 391                 case 1:
 392                         updateDirectedPathLeg(u, lengthChange);
 393                         break;
 394                 case 2:
 395                         updateDualDirectedPathLeg(u, lengthChange);
 396                         break;
 397                 }
 398
 399         }
 400
 401         private static void updateFreePathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
 402                 if (DEBUG)
 403                         System.out.println("PipingRules.updateFreePipeRun " + u + " " + lengthChange);
 404                 checkExpandPathLeg(u, lengthChange);
 405                 if (u.start.isInline() || u.end.isInline())
 406                         processPathLeg(u, true, false);
 407         }
 408
 409         private static void updateInlineControlPoints(UpdateStruct2 u, boolean checkSizes) throws Exception{
 410                 if (DEBUG)
 411                         System.out.println("PipingRules.updateInlineControlPoints() " + u);
 412
 413                 if (!u.hasOffsets) {
 414                         // FIXME : cache positions
 415                         if (!checkSizes) {
 416                                 Vector3d start = new Vector3d(u.startPoint);
 417                                 Vector3d end = new Vector3d(u.endPoint);
 418                                 // create offsets.
 419                                 MathTools.mad(start, u.dir, 0.1);
 420                                 MathTools.mad(end, u.dir, -0.1);
 421                                 for (PipeControlPoint icp : u.list) {
 422                                         updateInlineControlPoint(icp, start, end, u.dir);
 423                                 }
 424                                 return;
 425                         }
 426
 427                         ArrayList<PipeControlPoint> pathLegPoints = new ArrayList<PipeControlPoint>();
 428                         pathLegPoints.add(u.start);
 429                         for (PipeControlPoint icp : u.list) {
 430                                 // updateInlineControlPoint(icp, u.startPoint,
 431                                 // u.endPoint,u.dir);
 432                                 updateBranchControlPointBranches(icp);
 433                                 pathLegPoints.add(icp);
 434                         }
 435                         pathLegPoints.add(u.end);
 436
 437                         // TODO : values can be cached in the loop
 438                         for (int i = 1; i < pathLegPoints.size(); i++) {
 439                                 PipeControlPoint icp = pathLegPoints.get(i);
 440
 441                                 PipeControlPoint prev;
 442                                 Vector3d prevPos;
 443                                 prev = pathLegPoints.get(i - 1);
 444                                 prevPos = prev.getWorldPosition();
 445                                 Vector3d currentPos = icp.getWorldPosition();
 446
 447                                 if (icp.isVariableLength()) {
 448                                         if (i != pathLegPoints.size() - 1) {
 449                                                 PipeControlPoint next;
 450                                                 Vector3d nextPos;
 451                                                 next = pathLegPoints.get(i + 1);
 452                                                 nextPos = next.getWorldPosition();
 453                                                 Vector3d dir = new Vector3d(nextPos);
 454                                                 dir.sub(prevPos);
 455                                                 double l = dir.lengthSquared(); // distance between
 456                                                                                                                 // control points
 457                                                                                                                 // (square)
 458                                                 double l2prev = prev.getInlineLength(); // distance
 459                                                                                                                                                                         // taken
 460                                                                                                                                                                         // by
 461                                                                                                                                                                         // components
 462                                                 double l2next = next.getInlineLength();
 463                                                 double l2 = l2prev + l2next;
 464                                                 double l2s = MathTools.square(l2);
 465                                                 if (l2s < l) { // check if there is enough space for
 466                                                                                 // variable length component.
 467                                                         // components fit
 468                                                         dir.normalize();
 469                                                         double length = Math.sqrt(l) - l2; // true length of
 470                                                                                                                                 // the variable
 471                                                                                                                                 // length
 472                                                                                                                                 // component
 473                                                         dir.scale(length * 0.5 + l2prev); // calculate
 474                                                                                                                                 // center
 475                                                                                                                                 // position of
 476                                                                                                                                 // the component
 477                                                         dir.add(prevPos);
 478                                                         icp.setWorldPosition(dir);
 479                                                         icp.setLength(length);
 480                                                 } else {
 481                                                         // components leave no space to the component and it
 482                                                         // must be removed
 483                                                         if (icp.isDeletable())
 484                                                                 icp._remove();
 485                                                 }
 486
 487                                         } else {
 488                                                 // this is variable length component at the end of the
 489                                                 // piperun.
 490                                                 // the problem is that we want to keep unconnected end
 491                                                 // of the component in the same
 492                                                 // place, but center of the component must be moved.
 493                                                 double currentLength = icp.getLength();
 494
 495                                                 Vector3d dir = new Vector3d();
 496                                                 dir.sub(currentPos, prevPos);
 497
 498                                                 if (currentLength < MathTools.NEAR_ZERO) {
 499                                                         currentLength = (dir.length() - prev.getInlineLength()) * 2.0;
 500                                                 }
 501
 502                                                 if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 503                                                         dir.normalize();
 504                                                 Point3d endPos = new Point3d(dir);
 505                                                 endPos.scale(currentLength * 0.5);
 506                                                 endPos.add(currentPos); // this is the free end of the
 507                                                                                                 // component
 508
 509                                                 double offset = prev.getInlineLength();
 510                                                 Point3d beginPos = new Point3d(dir);
 511                                                 beginPos.scale(offset);
 512                                                 beginPos.add(prevPos); // this is the connected end of
 513                                                                                                 // the component
 514
 515                                                 double l = beginPos.distance(endPos);
 516
 517                                                 if (Double.isNaN(l))
 518                                                         System.out.println();
 519
 520                                                 dir.scale(l * 0.5);
 521                                                 beginPos.add(dir); // center position
 522
 523                                                 if (DEBUG)
 524                                                         System.out.println("PipingRules.updateInlineControlPoints() setting variable length to " + l);
 525                                                 icp.setLength(l);
 526
 527                                                 icp.setWorldPosition(new Vector3d(beginPos));
 528                                         }
 529
 530
 531                                 } else if (!prev.isVariableLength()) {
 532                                         // If this and previous control point are not variable
 533                                         // length pcps, we'll have to check if there is no empty
 534                                         // space between them.
 535                                         // I there is, we'll have to create new variable length
 536                                         // component between them.
 537                                         Vector3d dir = new Vector3d(currentPos);
 538                                         dir.sub(prevPos);
 539                                         double l = dir.lengthSquared();
 540                                         double l2prev = prev.getInlineLength();
 541                                         double l2next = icp.getInlineLength();
 542                                         double l2 = l2prev + l2next;
 543                                         double l2s = l2 * l2;
 544                                         if (l > l2s) {
 545                                                 if (allowInsertRemove) {
 546                                                         dir.normalize();
 547                                                         double length = Math.sqrt(l) - l2; // true length of the
 548                                                                                                                                 // variable length
 549                                                                                                                                 // component
 550                                                         dir.scale(length * 0.5 + l2prev); // calculate center
 551                                                                                                                                 // position of the
 552                                                                                                                                 // component
 553                                                         dir.add(prevPos);
 554                                                         PipeControlPoint scp = insertStraight(prev, icp, dir, length);
 555                                                 } else {
 556                                                         triedIR = true;
 557                                                 }
 558                                         }
 559                                 }
 560                         }
 561                 } else {
 562                         u.endPoint.sub(u.offset);
 563                         // FIXME : straights
 564                         for (PipeControlPoint icp : u.list) {
 565                                 updateInlineControlPoint(icp, u.startPoint, u.endPoint, u.dir);
 566                                 updateBranchControlPointBranches(icp);
 567
 568                                 if (icp.isOffset()) {
 569                                         // TODO : offset vector is already calculated and should be
 570                                         // cached
 571                                         u.offset = icp.getSizeChangeOffsetVector(u.dir);
 572                                         updateOffsetPoint(icp, u.offset);
 573                                         u.startPoint.add(u.offset);
 574                                         u.endPoint.add(u.offset);
 575                                 }
 576                         }
 577                 }
 578         }
 579
 580         private static void ppNoOffset(UpdateStruct2 u) throws Exception {
 581                 if (DEBUG)
 582                         System.out.println("PipingRules.ppNoOffset() " + u);
 583                 Vector3d offset = new Vector3d();
 584                 if (u.hasOffsets) {
 585                         u.dir.normalize();
 586                         for (PipeControlPoint icp : u.list) {
 587                                 if (icp.isOffset()) {
 588                                         offset.add(icp.getSizeChangeOffsetVector(u.dir));
 589                                 } else if (icp.isDualSub())
 590                                         ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
 591                         }
 592                 }
 593                 u.offset = offset;
 594                 checkExpandPathLeg(u, PathLegUpdateType.NONE);
 595         }
 596
 597         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 {
 598                 if (DEBUG)
 599                         System.out.println("PipingRules.ppNoDir() " + start + " " + end + " " + iter + " " + toRemove.size());
 600                 // FIXME : extra loop (dir should be calculated here)
 601                 Vector3d dir = new Vector3d();
 602                 Vector3d offset = new Vector3d();
 603                 hasOffsets = calculateOffset(startPoint, endPoint, list, dir, offset);
 604                 ppNoOffset(new UpdateStruct2(start, startPoint, list, end, endPoint, dir, null, hasOffsets, iter, reversed, toRemove, updated));
 605         }
 606
 607         private static void checkExpandPathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
 608                 checkExpandPathLeg(u, lengthChange, false);
 609         }
 610
 611         private static void checkExpandPathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange, boolean forceUpdate) throws Exception {
 612                 if (DEBUG)
 613                         System.out.println("PipingRules.checkExpandPathLeg() " + u + " " + lengthChange);
 614                 if (lengthChange != PathLegUpdateType.NONE) {
 615                         // FIXME : turns cannot be checked before inline cps are updated,
 616                         // since their position affects calculation of turns
 617                         processPathLeg(u, forceUpdate, false);
 618                         int type = checkTurns(u, lengthChange);
 619                         if (type == REMOVE_NONE) {
 620                                 processPathLeg(u, forceUpdate, true);
 621                         } else {
 622                                 expandPathLeg(u, type);
 623                         }
 624                 } else {
 625                         processPathLeg(u, forceUpdate, true);
 626                 }
 627         }
 628
 629         private static void updateDirectedPathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
 630                 if (DEBUG)
 631                         System.out.println("PipingRules.updateDirectedPipeRun() " + u + " " + lengthChange);
 632                 PipeControlPoint dcp;
 633                 PipeControlPoint other;
 634                 boolean canMoveOther = false;
 635                 boolean dcpStart = false;
 636                 boolean inlineEnd = false;
 637                 Vector3d position;
 638                 if (u.start.isDirected()) {
 639                         dcp = u.start;
 640                         other = u.end;
 641                         position = u.startPoint;
 642                         dcpStart = true;
 643                         if (!u.reversed)
 644                                 canMoveOther = true;
 645                         inlineEnd = u.end.isInline();
 646
 647                 } else {
 648                         dcp = u.end;
 649                         other = u.start;
 650                         position = u.endPoint;
 651                         if (u.reversed)
 652                                 canMoveOther = true;
 653                         inlineEnd = u.start.isInline();
 654                 }
 655
 656                 Vector3d directedDirection = dcp.getDirection();
 657                 Point3d directedEndPoint = new Point3d(u.endPoint);
 658                 if (u.hasOffsets)
 659                         directedEndPoint.add(u.offset);
 660
 661                 double mu[] = new double[2];
 662
 663                 Vector3d closest;
 664                 Vector3d t = new Vector3d();
 665
 666                 if (dcpStart) {
 667                         closest = MathTools.closestPointOnStraight(directedEndPoint, u.startPoint, directedDirection, mu);
 668                         t.sub(closest, directedEndPoint);
 669                 } else {
 670                         closest = MathTools.closestPointOnStraight(u.startPoint, directedEndPoint, directedDirection, mu);
 671                         t.sub(closest, u.startPoint);
 672                 }
 673
 674                 double distance = t.lengthSquared();
 675                 boolean aligned = (distance < 0.002);
 676                 if (aligned) {
 677                         checkExpandPathLeg(u, lengthChange, inlineEnd);
 678
 679                 } else {
 680                         if (u.iter > 0) {
 681                                 backIter(u);
 682                         } else {
 683                                 PipeControlPoint nextToMoved;
 684
 685                                 if (u.list.size() > 0)
 686                                         if (dcpStart)
 687                                                 nextToMoved = u.list.get(0);
 688                                         else
 689                                                 nextToMoved = u.list.get(u.list.size() - 1);
 690                                 else if (dcpStart)
 691                                         nextToMoved = u.end;
 692                                 else
 693                                         nextToMoved = u.start;
 694                                 if (other.isVariableAngle()) {
 695
 696                                         // TODO calculate needed space from next run end.
 697                                         if (mu[0] < 1.0) {
 698                                                 if (dcpStart) {
 699                                                         closest.set(u.startPoint);
 700                                                 } else {
 701                                                         closest.set(u.endPoint);
 702                                                 }
 703                                                 closest.add(directedDirection);
 704                                         }
 705
 706                                         if (canMoveOther) {
 707                                                 if (DEBUG)
 708                                                         System.out.println("PipingRules.updateDirectedPipeRun() moved end " + other + " to " + closest);
 709                                                 other.setWorldPosition(closest);
 710                                                 if (dcpStart) {
 711                                                         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));
 712                                                         if (u.end.getNext() != null)
 713                                                                 updatePathLegNext(u.end, u.updated, PathLegUpdateType.NEXT);
 714                                                 } else {
 715                                                         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));
 716                                                         if (u.start.getPrevious() != null)
 717                                                                 updatePathLegPrev(u.start, u.updated, PathLegUpdateType.PREV);
 718                                                 }
 719                                         } else {
 720                                                 // TODO : calculate needed space from next run end.
 721                                                 if (allowInsertRemove)
 722                                                         insertElbowUpdate(u, dcp, nextToMoved, dcpStart, position, directedDirection);
 723
 724                                                 else
 725                                                         triedIR = true;
 726                                         }
 727                                 } else if (other.isNonDirected() && other.getParentPoint() != null) {
 728                                         // FIXME : this code was for updating branches
 729                                         Vector3d bintersect = new Vector3d();
 730                                         PipeControlPoint bcp = other.getParentPoint();
 731                                         if (bcp != null && canMoveOther) {
 732                                                 Point3d bstart = new Point3d();
 733                                                 Point3d bend = new Point3d();
 734                                                 Vector3d bdir = new Vector3d();
 735                                                 bcp.getInlineControlPointEnds(bstart, bend, bdir);
 736                                                 Vector3d nintersect = new Vector3d();
 737
 738                                                 MathTools.intersectStraightStraight(position, directedDirection, bend, bdir, nintersect, bintersect, mu);
 739                                                 Vector3d dist = new Vector3d(nintersect);
 740                                                 dist.sub(bintersect);
 741                                                 canMoveOther = mu[1] > 0.0 && mu[1] < 1.0 && dist.lengthSquared() < 0.01;
 742                                         } else {
 743                                                 // TODO : endControlPoints are undirected: calculcate
 744                                                 // correct position for it
 745                                                 throw new UnsupportedOperationException("not implemented");
 746                                         }
 747                                         if (canMoveOther) {
 748                                                 if (DEBUG)
 749                                                         System.out.println("PipingRules.updateDirectedPipeRun() moved end " + other + " to " + bintersect);
 750                                                 // is required branch position is in possible range
 751                                                 bcp.setWorldPosition(bintersect);
 752                                                 if (dcpStart) {
 753                                                         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);
 754                                                 } else {
 755                                                         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);
 756                                                 }
 757                                         } else {
 758                                                 // branch cannot be moved into right position, new turn
 759                                                 // / elbow must be inserted
 760                                                 if (allowInsertRemove)
 761                                                         insertElbowUpdate(u, dcp, nextToMoved, dcpStart, position, directedDirection);
 762                                                 else
 763                                                         triedIR = true;
 764                                         }
 765
 766                                 } else { // assume that control point cannot be moved, but can
 767                                                         // be rotated
 768                                         if (allowInsertRemove)
 769                                                 insertElbowUpdate(u, dcp, nextToMoved, dcpStart, position, directedDirection);
 770                                         else
 771                                                 triedIR = true;
 772                                 }
 773                         }
 774                 }
 775
 776
 777         }
 778
 779         private static void updateDualDirectedPathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
 780                 if (DEBUG)
 781                         System.out.println("PipingRules.updateDualDirectedPipeRun() " + u + " " + lengthChange);
 782
 783                 PipeControlPoint dcp1 = u.start;
 784                 PipeControlPoint dcp2 = u.end;
 785                 Point3d position1 = new Point3d(u.startPoint);
 786                 Point3d position2 = new Point3d(u.endPoint);
 787                 Point3d position1offset = new Point3d(position1);
 788                 position1offset.sub(u.offset);
 789                 Point3d position2offset = new Point3d(position2);
 790                 position2offset.add(u.offset);
 791                 Vector3d dir1 = dcp1.getDirection();
 792                 Vector3d dir2 = dcp2.getDirection();
 793                 Vector3d p1 = MathTools.closestPointOnStraight(position1offset, position2, dir2);
 794                 Vector3d p2 = MathTools.closestPointOnStraight(position2offset, position1, dir1);
 795                 double d1 = position1.distance(new Point3d(p1));
 796                 double d2 = position2.distance(new Point3d(p2));
 797
 798                 boolean aligned = (d1 < 0.01 && d2 < 0.01);
 799                 if (aligned) {
 800                         processPathLeg(u);
 801                 } else {
 802                         if (u.iter > 0) {
 803                                 backIter(u);
 804                         } else if (allowInsertRemove){
 805                                 PipeControlPoint dcp;
 806                                 PipeControlPoint next;
 807                                 if (!u.reversed) {
 808                                         dcp = dcp1;
 809                                         if (u.list.size() > 0)
 810                                                 next = u.list.get(0);
 811                                         else
 812                                                 next = dcp2;
 813                                 } else {
 814                                         dcp = dcp2;
 815                                         if (u.list.size() > 0)
 816                                                 next = u.list.get(u.list.size() - 1);
 817                                         else
 818                                                 next = dcp1;
 819                                 }
 820
 821                                 p1 = dcp.getWorldPosition();
 822                                 // FIXME: calculate position of the elbows properly.
 823                                 if (!u.reversed)
 824                                         p1.add(dir1);
 825                                 else
 826                                         p1.add(dir2);
 827
 828                                 if (!u.reversed)
 829                                         p2 = MathTools.closestPointOnStraight(new Point3d(p1), position2, dir2);
 830                                 else
 831                                         p2 = MathTools.closestPointOnStraight(new Point3d(p1), position1, dir1);
 832
 833
 834                                 PipeControlPoint tcp1 = insertElbow(dcp, next, p1);
 835                                 PipeControlPoint tcp2 = insertElbow(tcp1, next, p2);
 836
 837                                 if (DEBUG)
 838                                         System.out.println("PipingRules.updateDualDirectedPipeRun() created two turns " + tcp1 + " " + tcp2);
 839
 840                                 if (!u.reversed) {
 841                                         Vector3d dd = new Vector3d(p2);
 842                                         dd.sub(p1);
 843                                         dir2.negate();
 844                                         updatePathLegNext(u.start, u.updated, PathLegUpdateType.NONE);
 845                                         updatePathLegNext(tcp1, u.updated, PathLegUpdateType.NONE);
 846                                         if (!u.reversed)
 847                                                 updatePathLegNext(tcp2, u.updated, PathLegUpdateType.NONE);
 848                                         else
 849                                                 updatePathLegPrev(tcp2, u.updated, PathLegUpdateType.NONE);
 850                                 } else {
 851                                         Vector3d dd = new Vector3d(p1);
 852                                         dd.sub(p2);
 853                                         dir2.negate();
 854                                         updatePathLegNext(tcp1, u.updated, PathLegUpdateType.NONE);
 855                                         updatePathLegNext(tcp2, u.updated, PathLegUpdateType.NONE);
 856                                         if (!u.reversed)
 857                                                 updatePathLegNext(u.start, u.updated, PathLegUpdateType.NONE);
 858                                         else
 859                                                 updatePathLegPrev(u.start, u.updated, PathLegUpdateType.NONE);
 860                                 }
 861                         } else {
 862                                 triedIR = true;
 863                         }
 864                 }
 865
 866         }
 867
 868         private static void insertElbowUpdate(UpdateStruct2 u, PipeControlPoint dcp, PipeControlPoint next, boolean dcpStart, Vector3d position, Vector3d directedDirection) throws Exception{
 869
 870                 Vector3d closest = new Vector3d(position);
 871                 closest.add(directedDirection);
 872                 PipeControlPoint tcp = null;
 873                 if (dcpStart)
 874                         tcp = insertElbow(dcp, next, new Vector3d(closest));
 875                 else
 876                         tcp = insertElbow(next, dcp, new Vector3d(closest));
 877
 878                 if (DEBUG)
 879                         System.out.println("PipingRules.updateDirectedPipeRun() inserted " + tcp);
 880
 881                 if (dcpStart) {
 882                         // update pipe run from new turn to other end
 883                         ppNoDir(tcp, new Vector3d(closest), u.list, u.end, u.endPoint, u.hasOffsets, u.iter, u.reversed, u.toRemove, u.updated);
 884                         // update pipe run from directed to new turn
 885                         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));
 886                 } else {
 887                         // update pipe run from other end to new turn
 888                         ppNoDir(u.start, u.startPoint, u.list, tcp, new Vector3d(closest), u.hasOffsets, u.iter, u.reversed, u.toRemove, u.updated);
 889                         // update pipe run from new turn to directed
 890                         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));
 891                 }
 892         }
 893
 894         /**
 895          * Checks if turns can be removed (turn angle near zero)
 896          */
 897         private static int checkTurns(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
 898                 if (DEBUG)
 899                         System.out.println("PipingRules.checkTurns() " + u.start + " " + u.end);
 900                 boolean startRemoved = false;
 901                 boolean endRemoved = false;
 902                 if (u.start.isVariableAngle()) {
 903                         // this won't work properly if inline control points are not updated
 904                         PipeControlPoint startPrev = u.start.getPrevious();
 905                         if (startPrev != null) {
 906                                 double a;
 907                                 if (!u.hasOffsets) {
 908                                         a = updateTurnControlPointTurn(u.start, startPrev, u.end);
 909                                 } else {
 910                                         Vector3d ep = new Vector3d(u.endPoint);
 911                                         ep.add(u.offset);
 912                                         a = updateTurnControlPointTurn(u.start, u.startPoint, startPrev.getPosition(), ep);
 913
 914                                 }
 915                                 if (a < MIN_TURN_ANGLE && u.start.isDeletable())
 916                                         startRemoved = true;
 917                                 else if (lengthChange == PathLegUpdateType.PREV || lengthChange == PathLegUpdateType.PREV_S) {
 918                                         PathLegUpdateType type;
 919                                         if (lengthChange == PathLegUpdateType.PREV_S)
 920                                                 type = PathLegUpdateType.PREV;
 921                                         else
 922                                                 type = PathLegUpdateType.NONE;
 923                                         updatePathLegPrev(u.start, u.start, type);
 924                                 }
 925                         }
 926                 }
 927                 if (u.end.isVariableAngle()) {
 928
 929                         PipeControlPoint endNext = u.end.getNext();
 930                         if (endNext != null) {
 931                                 double a;
 932                                 if (!u.hasOffsets) {
 933                                         a = updateTurnControlPointTurn(u.end, u.start, endNext);
 934                                 } else {
 935                                         Vector3d sp = new Vector3d(u.startPoint);
 936                                         sp.sub(u.offset);
 937                                         a = updateTurnControlPointTurn(u.end, u.endPoint, sp, endNext.getPosition());
 938                                 }
 939                                 if (a < MIN_TURN_ANGLE && u.end.isDeletable())
 940                                         endRemoved = true;
 941                                 else if (lengthChange == PathLegUpdateType.NEXT || lengthChange == PathLegUpdateType.NEXT_S) {
 942                                         PathLegUpdateType type;
 943                                         if (lengthChange == PathLegUpdateType.NEXT_S)
 944                                                 type = PathLegUpdateType.NEXT;
 945                                         else
 946                                                 type = PathLegUpdateType.NONE;
 947                                         updatePathLegNext(u.end, u.end, type);
 948                                 }
 949                         }
 950                 }
 951                 if (DEBUG)
 952                         System.out.println("PipingRules.checkTurns() res " + startRemoved + " " + endRemoved);
 953                 if (!startRemoved && !endRemoved)
 954                         return REMOVE_NONE;
 955                 if (startRemoved && endRemoved)
 956                         return REMOVE_BOTH;
 957                 if (startRemoved)
 958                         return REMOVE_START;
 959                 return REMOVE_END;
 960         }
 961
 962         /**
 963          * Expands piperun search over turns that are going to be removed
 964          *
 965          */
 966         private static void expandPathLeg(UpdateStruct2 u, int type) throws Exception {
 967                 if (DEBUG)
 968                         System.out.println("PipingRules.expandPipeline " + u.start + " " + u.end);
 969                 ArrayList<PipeControlPoint> newList = new ArrayList<PipeControlPoint>();
 970                 switch (type) {
 971                 case REMOVE_NONE:
 972                         throw new RuntimeException("Error in piping rules");
 973                 case REMOVE_START:
 974                         u.toRemove.add(new ExpandIterInfo(u.start, REMOVE_START));
 975                         u.start = u.start.findPreviousEnd();
 976                         u.startPoint = u.start.getPosition();
 977                         u.start.findNextEnd(newList);
 978                         newList.addAll(u.list);
 979                         u.list = newList;
 980                         break;
 981                 case REMOVE_END:
 982                         u.toRemove.add(new ExpandIterInfo(u.end, REMOVE_END));
 983                         u.end = u.end.findNextEnd(newList);
 984                         u.endPoint = u.end.getPosition();
 985                         u.list.addAll(newList);
 986                         break;
 987                 case REMOVE_BOTH:
 988                         u.toRemove.add(new ExpandIterInfo(u.start, u.end));
 989                         u.start = u.start.findPreviousEnd();
 990                         u.startPoint = u.start.getPosition();
 991                         u.start.findNextEnd(newList);
 992                         newList.addAll(u.list);
 993                         u.list = newList;
 994                         newList = new ArrayList<PipeControlPoint>();
 995                         u.end = u.end.findNextEnd(newList);
 996                         u.endPoint = u.end.getPosition();
 997                         u.list.addAll(newList);
 998                         break;
 999                 default:
1000                         throw new RuntimeException("Error in piping rules");
1001
1002                 }
1003                 u.offset = new Vector3d();
1004                 if (u.hasOffsets) {
1005                         u.dir.normalize();
1006                         for (PipeControlPoint icp : u.list) {
1007                                 if (icp.isOffset()) {
1008                                         u.offset.add(icp.getSizeChangeOffsetVector(u.dir));
1009                                 } else if (icp.isDualSub())
1010                                         ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
1011                         }
1012                 }
1013                 if (DEBUG)
1014                         System.out.println("PipingRules.expandPipeline expanded " + u.start + " " + u.end);
1015                 u.iter++;
1016                 updatePathLeg(u, PathLegUpdateType.NONE);
1017         }
1018
1019         /**
1020          * reverts one iteration of turn removing back)
1021          */
1022         private static void backIter(UpdateStruct2 u) throws Exception {
1023
1024                 if (DEBUG)
1025                         System.out.println("PipingRules.backIter" + u.start + " " + u.end);
1026                 if (u.iter == 0)
1027                         throw new RuntimeException("Error in piping rules");
1028                 ExpandIterInfo info = u.toRemove.get(u.toRemove.size() - 1);
1029                 u.toRemove.remove(u.toRemove.size() - 1);
1030                 if (info.getType() == REMOVE_START || info.getType() == REMOVE_BOTH) {
1031                         while (u.list.size() > 0) {
1032                                 PipeControlPoint icp = u.list.get(0);
1033                                 if (icp.getPrevious().equals(info.getStart()))
1034                                         break;
1035                                 u.list.remove(icp);
1036                         }
1037                         u.start = info.getStart();
1038                 }
1039                 if (info.getType() == REMOVE_END || info.getType() == REMOVE_BOTH) {
1040                         while (u.list.size() > 0) {
1041                                 PipeControlPoint icp = u.list.get(u.list.size() - 1);
1042                                 if (icp.getNext().equals(info.getEnd()))
1043                                         break;
1044                                 u.list.remove(icp);
1045                         }
1046                         u.end = info.getEnd();
1047                 }
1048                 u.offset = new Vector3d();
1049                 if (u.hasOffsets) {
1050                         u.dir.normalize();
1051                         for (PipeControlPoint icp : u.list) {
1052                                 if (icp.isOffset()) {
1053                                         u.offset.add(icp.getSizeChangeOffsetVector(u.dir));
1054                                 } else if (icp.isDualSub())
1055                                         ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
1056                         }
1057                 }
1058                 processPathLeg(u);
1059
1060         }
1061
1062         /**
1063          * Processes pipe run (removes necessary turns and updates run ends)
1064          */
1065         // private static void processPathLeg(PipeControlPoint start, Point3d
1066         // startPoint,ArrayList<InlineControlPoint> list, PipeControlPoint
1067         // end,Point3d endPoint, Vector3d dir,Vector3d offset, boolean
1068         // hasOffsets,int iter, boolean reversed, ArrayList<ExpandIterInfo>
1069         // toRemove) throws TransactionException {
1070
1071         private static void processPathLeg(UpdateStruct2 u) throws Exception {
1072                 if (DEBUG)
1073                         System.out.println("PipingRules.processPathLeg " + u.start + " " + u.end);
1074                 processPathLeg(u, true, true);
1075         }
1076
1077         private static void processPathLeg(UpdateStruct2 u, boolean updateEnds, boolean updateInline) throws Exception {
1078                 if (DEBUG)
1079                         System.out.println("PipingRules.processPathLeg " + u.start + " " + u.end);
1080
1081                 if (u.toRemove.size() > 0) {
1082                         for (ExpandIterInfo info : u.toRemove) {
1083                                 if (info.getStart() != null) {
1084                                         info.getStart()._remove();
1085                                 }
1086                                 if (info.getEnd() != null) {
1087                                         info.getEnd()._remove();
1088                                 }
1089                         }
1090                         // ControlPointTools.removeControlPoint may remove mo0re than one
1091                         // CP;
1092                         // we must populate inline CP list again.
1093                         u.list.clear();
1094                         u.start.findNextEnd( u.list);
1095                 }
1096                 // FIXME : inline CPs are update twice because their positions must be
1097                 // updated before and after ends.
1098                 updateInlineControlPoints(u, false);
1099
1100                 if (updateEnds) {
1101                         if (u.start.isTurn()) {
1102                                 updateTurnControlPointTurn(u.start, u.start.getPrevious(), u.start.getNext());
1103 //                              updatePathLegPrev(u.start, u.start, PathLegUpdateType.NONE);
1104                         } else if (u.start.isEnd()) {
1105                                 updateEndComponentControlPoint(u.start, u.startPoint, u.endPoint);
1106                         } else if (u.start.isInline()) {
1107                                 updateControlPointOrientation(u.start);
1108                         }
1109                         if (u.end.isTurn()) {
1110                                 updateTurnControlPointTurn(u.end, u.end.getPrevious(), u.end.getNext());
1111 //                              updatePathLegNext(u.end, u.end, PathLegUpdateType.NONE);
1112                         } else if (u.end.isEnd()) {
1113                                 updateEndComponentControlPoint(u.end, u.startPoint, u.endPoint);
1114                         } else if (u.end.isInline()) {
1115                                 updateControlPointOrientation(u.end);
1116                         }
1117
1118                 } else {
1119                         if (u.start.isEnd()) {
1120                                 updateEndComponentControlPoint(u.start, u.startPoint, u.endPoint);
1121                         }
1122                         if (u.end.isEnd()) {
1123                                 updateEndComponentControlPoint(u.end, u.startPoint, u.endPoint);
1124                         }
1125                 }
1126                 if (updateInline)
1127                         updateInlineControlPoints(u, true);
1128
1129         }
1130
1131         /**
1132          * Processes pipe run and recalculates offset
1133          */
1134         // private static void processPathLeg(PipeControlPoint start, Point3d
1135         // startPoint,ArrayList<InlineControlPoint> list, PipeControlPoint
1136         // end,Point3d endPoint, Vector3d dir, boolean hasOffsets,int iter, boolean
1137         // reversed, ArrayList<ExpandIterInfo> toRemove) throws TransactionException
1138         // {
1139         private static void processPathLegNoOffset(UpdateStruct2 u) throws Exception {
1140                 if (DEBUG)
1141                         System.out.println("PipingRules.processPathLeg " + u.start + " " + u.end);
1142                 Vector3d offset = new Vector3d();
1143                 if (u.hasOffsets) {
1144                         u.dir.normalize();
1145                         for (PipeControlPoint icp : u.list) {
1146                                 if (icp.isOffset()) {
1147                                         offset.add(icp.getSizeChangeOffsetVector(u.dir));
1148                                 } else if (icp.isDualSub()) {
1149                                         ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
1150                                 }
1151                         }
1152                 }
1153                 processPathLeg(u);
1154         }
1155
1156         private static void updateOffsetPoint(PipeControlPoint sccp, Vector3d offset) {
1157                 Vector3d world = sccp.getWorldPosition();
1158                 world.add(offset);
1159                 PipeControlPoint ocp = sccp.getSubPoint().iterator().next();
1160                 ocp.setWorldPosition(world);
1161         }
1162
1163         private static void updatePathLegPrev(PipeControlPoint start, PipeControlPoint updated, PathLegUpdateType lengthChange) throws Exception {
1164                 ArrayList<PipeControlPoint> list = new ArrayList<PipeControlPoint>();
1165                 PipeControlPoint end = start.findPreviousEnd(list);
1166                 updatePathLegPrev(start, list, end, updated, lengthChange);
1167         }
1168
1169         private static void updatePathLegPrev(PipeControlPoint start, ArrayList<PipeControlPoint> list, PipeControlPoint end, PipeControlPoint updated, PathLegUpdateType lengthChange) throws Exception {
1170                 // reverses the list
1171                 ArrayList<PipeControlPoint> nextList = new ArrayList<PipeControlPoint>();
1172                 for (PipeControlPoint icp : list) {
1173                         if (icp.isDualSub()) {
1174                                 nextList.add(0, icp.getParentPoint());
1175                         } else {
1176                                 nextList.add(0, icp);
1177                         }
1178
1179                 }
1180                 updatePathLeg(end, nextList, start, true, 0, new ArrayList<ExpandIterInfo>(), updated, lengthChange);
1181
1182         }
1183
1184         /**
1185          * Updates InlineControlPoints position when straight pipe's end(s) have
1186          * been changed)
1187          *
1188          * @param pipeline
1189          * @param icp
1190          * @param nextPoint
1191          * @param prevPoint
1192          */
1193         private static void updateInlineControlPoint(PipeControlPoint icp, Vector3d nextPoint, Vector3d prevPoint, Vector3d dir) {
1194                 if (DEBUG)
1195                         System.out.println("PipingRules.updateInlineControlPoint() " + icp);
1196
1197                 Vector3d inlinePoint = icp.getWorldPosition();
1198                 if (DEBUG)
1199                         System.out.print("InlineControlPoint update " + icp + " " + inlinePoint + " " + prevPoint + " " + nextPoint);
1200                 Vector3d newInlinePoint = null;
1201                 boolean branchUpdate = false;
1202                 PipeControlPoint becp = null;
1203                 for (PipeControlPoint pcp : icp.getSubPoint())
1204                         if (pcp.isNonDirected()) {
1205                                 branchUpdate = true;
1206                                 becp = pcp;
1207                                 break;
1208                         }
1209
1210                 if (DUMMY || !branchUpdate) {
1211                         newInlinePoint = MathTools.closestPointOnEdge(new Vector3d(inlinePoint), new Vector3d(nextPoint), new Vector3d(prevPoint));
1212                 } else {
1213
1214                         // FIXME : can only handle one branch
1215                         PipeControlPoint p = null;
1216                         if (becp.getNext() != null) {
1217                                 p = becp.findNextEnd();
1218                         } else if (becp.getPrevious() != null) {
1219                                 p = becp.findPreviousEnd();
1220                         }
1221                         if (p == null) {
1222                                 newInlinePoint = MathTools.closestPointOnEdge(new Vector3d(inlinePoint), new Vector3d(nextPoint), new Vector3d(prevPoint));
1223                         } else {
1224                                 Vector3d branchLegEnd = p.getWorldPosition();
1225                                 Vector3d dir2 = new Vector3d(inlinePoint);
1226                                 dir2.sub(branchLegEnd);
1227                                 Vector3d dir1 = new Vector3d(nextPoint);
1228                                 dir1.sub(prevPoint);
1229                                 newInlinePoint = new Vector3d();
1230                                 double mu[] = new double[2];
1231                                 MathTools.intersectStraightStraight(new Vector3d(prevPoint), dir1, new Vector3d(branchLegEnd), dir2, newInlinePoint, new Vector3d(), mu);
1232                                 if (DEBUG)
1233                                         System.out.println(mu[0]);
1234                                 // FIXME : reserve space
1235                                 if (mu[0] < 0.0) {
1236                                         newInlinePoint = new Vector3d(prevPoint);
1237                                 } else if (mu[0] > 1.0) {
1238                                         newInlinePoint = new Vector3d(nextPoint);
1239                                 }
1240                         }
1241                 }
1242                 if (DEBUG)
1243                         System.out.println(" " + newInlinePoint);
1244
1245                 icp.setWorldPosition(newInlinePoint);
1246                 updateControlPointOrientation(icp);
1247         }
1248
1249         /**
1250          * Updates InlineControlPoints position when straight pipe's end(s) have
1251          * been changed)
1252          *
1253          * @param pipeline
1254          * @param icp
1255          * @param nextPoint
1256          * @param prevPoint
1257          */
1258         private static void updateEndComponentControlPoint(PipeControlPoint ecp, Vector3d start, Vector3d end) throws Exception {
1259                 if (DEBUG)
1260                         System.out.println("PipingRules.updateEndComponentControlPoint() " + ecp);
1261                 // PipeControlPoint next = ecp.getNext();
1262                 // PipeControlPoint prev = ecp.getPrevious();
1263                 // if (next != null) {
1264                 // end = G3DTools.getPoint(next.getLocalPosition());
1265                 // start = G3DTools.getPoint(ecp.getLocalPosition());
1266                 // } else if (prev != null) {
1267                 // end = G3DTools.getPoint(ecp.getLocalPosition());
1268                 // start = G3DTools.getPoint(prev.getLocalPosition());
1269                 // } else {
1270                 // // TODO : warning?
1271                 // return;
1272                 // }
1273                 // Vector3d dir = new Vector3d (end);
1274                 // dir.sub(start);
1275                 // dir.normalize();
1276                 // G3DTools.setTuple(ecp.getDirection(), dir);
1277                 if (!ecp.isFixed())
1278                         updateControlPointOrientation(ecp);
1279
1280                 for (PipeControlPoint pcp : ecp.getSubPoint()) {
1281                         // TODO update position
1282                         updatePathLegEndControlPoint(pcp);
1283                 }
1284         }
1285
1286         private static void updateControlPointOrientation(PipeControlPoint pcp) {
1287                 // FIXME : hack to bypass variable length components orientation
1288 //              if (pcp.getAtMostOneRelatedObject(ProcessResource.g3dResource.HasWorldOrientation) == null)
1289 //                      return;
1290 //              if (pcp.rotationAngle == null)
1291 //                      return;
1292                 Double angleO = pcp.getRotationAngle();
1293                 double angle = 0.0;
1294                 if (angleO != null)
1295                         angle = angleO;
1296
1297                 Quat4d q = pcp.getControlPointOrientationQuat(angle);
1298                 pcp.setWorldOrientation(q);
1299         }
1300
1301         /**
1302          * Updates all branches when branch's position has been changed
1303          *
1304          * @param bcp
1305          */
1306         private static void updateBranchControlPointBranches(PipeControlPoint bcp) throws Exception {
1307                 if (DEBUG)
1308                         System.out.println("PipingRules.updateBranchControlPointBranches() " + bcp);
1309                 if (bcp.isDualInline())
1310                         return;
1311                 Collection<PipeControlPoint> branches = bcp.getSubPoint();
1312                 if (branches.size() == 0) {
1313                         if (DEBUG)
1314                                 System.out.println("No Branches found");
1315                         return;
1316                 }
1317
1318                 for (PipeControlPoint pcp : branches) {
1319                         updatePathLegEndControlPoint(pcp);
1320                 }
1321         }
1322
1323         /**
1324          * Recalculates turn control point's internal data (turn angle and offset)
1325          *
1326          * @param tcp
1327          * @param prev
1328          * @param next
1329          */
1330         private static double updateTurnControlPointTurn(PipeControlPoint tcp, PipeControlPoint prev, PipeControlPoint next) {
1331                 if (DEBUG)
1332                         System.out.println("PipingTools.updateTurnControlPointTurn()" + tcp);
1333                 if (next == null || prev == null)
1334                         return Math.PI; // FIXME : argh
1335                 Vector3d middlePoint = tcp.getWorldPosition();
1336                 Vector3d nextPoint = next.getWorldPosition();
1337                 Vector3d prevPoint = prev.getWorldPosition();
1338                 return updateTurnControlPointTurn(tcp, middlePoint, prevPoint, nextPoint);
1339         }
1340
1341         /**
1342          * Recalculates turn control point's internal data (turn angle and offset)
1343          *
1344          * @param tcp
1345          * @param middlePoint
1346          * @param nextPoint
1347          * @param prevPoint
1348          */
1349         private static double updateTurnControlPointTurn(PipeControlPoint tcp, Vector3d middlePoint, Vector3d prevPoint, Vector3d nextPoint) {
1350
1351                 Vector3d dir1 = new Vector3d(middlePoint);
1352                 dir1.sub(prevPoint);
1353                 Vector3d dir2 = new Vector3d(nextPoint);
1354                 dir2.sub(middlePoint);
1355                 if (DEBUG)
1356                         System.out.println("PipingTools.updateTurnControlPointTurn " + tcp + " " + prevPoint + " " + middlePoint + " " + nextPoint);
1357                 return updateTurnControlPointTurn(tcp, dir1, dir2);
1358         }
1359
1360         private static double updateTurnControlPointTurn(PipeControlPoint tcp, Vector3d dir1, Vector3d dir2) {
1361                 double turnAngle = dir1.angle(dir2);
1362
1363                 double angle = Math.PI - turnAngle;
1364
1365                 Vector3d turnAxis = new Vector3d();
1366                 turnAxis.cross(dir1, dir2);
1367                 if (turnAxis.lengthSquared() > MathTools.NEAR_ZERO) {
1368                         double elbowRadius = tcp.getPipelineComponent().getPipeRun().getTurnRadius();
1369                         double R = elbowRadius / Math.tan(angle * 0.5);
1370
1371                         turnAxis.normalize();
1372                         tcp.setTurnAngle(turnAngle);
1373                         tcp.setLength(R);// setComponentOffsetValue(R);
1374                         tcp.setTurnAxis(turnAxis);
1375 //                      tcp.setPosition(tcp.getPosition());
1376                 } else {
1377                         turnAngle = 0.0;
1378                         tcp.setTurnAngle(0.0);
1379                         tcp.setLength(0.0);
1380                         tcp.setTurnAxis(MathTools.Y_AXIS);
1381                 }
1382                 updateControlPointOrientation(tcp);
1383                 if (DEBUG)
1384                         System.out.println("PipingTools.updateTurnControlPointTurn " + dir1 + " " + dir2 + " " + turnAngle + " " + turnAxis);
1385                 return turnAngle;
1386         }
1387
1388         public static List<PipeControlPoint> getControlPoints(PipeRun pipeRun) {
1389                 List<PipeControlPoint> list = new ArrayList<PipeControlPoint>();
1390                 if (pipeRun.getControlPoints().size() == 0)
1391                         return list;
1392                 PipeControlPoint pcp = pipeRun.getControlPoints().iterator().next();
1393                 while (pcp.getPrevious() != null) {
1394                         PipeControlPoint prev = pcp.getPrevious();
1395                         if (prev.getPipeRun() != pipeRun)
1396                                 break;
1397                         pcp = prev;
1398                 }
1399                 if (pcp.isDualSub()) {
1400                         pcp = pcp.getParentPoint();
1401                 }
1402                 list.add(pcp);
1403                 while (pcp.getNext() != null) {
1404                         pcp = pcp.getNext();
1405                         if (pcp.getPipeRun() != pipeRun)
1406                                 break;
1407                         list.add(pcp);
1408                 }
1409                 return list;
1410         }
1411
1412         public static void reverse(PipeRun pipeRun) {
1413                 List<PipeControlPoint> list = getControlPoints(pipeRun);
1414                 if (list.size() <= 1)
1415                         return; // nothing to do.
1416
1417                 for (int i = 0 ; i < list.size(); i++) {
1418                         boolean first = i == 0;
1419                         boolean last = i == list.size() - 1;
1420                         PipeControlPoint current = list.get(i);
1421                         PipeControlPoint currentSub = null;
1422                         if (current.isDualInline())
1423                                 currentSub = current.getSubPoint().get(0);
1424                         if (first) {
1425                                 PipeControlPoint next = list.get(i+1);
1426                                 if (next.isDualInline())
1427                                         next = next.getSubPoint().get(0);
1428                                 current.setNext(null);
1429                                 current.setPrevious(next);
1430                                 if (currentSub != null) {
1431                                         currentSub.setNext(null);
1432                                         currentSub.setPrevious(next);
1433                                 }
1434                         } else if (last) {
1435                                 PipeControlPoint prev = list.get(i-1);
1436
1437                                 current.setPrevious(null);
1438                                 current.setNext(prev);
1439
1440                                 if (currentSub != null) {
1441                                         currentSub.setPrevious(null);
1442                                         currentSub.setNext(prev);
1443                                 }
1444                         } else {
1445                                 PipeControlPoint prev = list.get(i-1);
1446                                 PipeControlPoint next = list.get(i+1);
1447                                 if (next.isDualInline())
1448                                         next = next.getSubPoint().get(0);
1449
1450
1451                                 current.setPrevious(next);
1452                                 current.setNext(prev);
1453
1454                                 if (currentSub != null) {
1455                                         currentSub.setPrevious(next);
1456                                         currentSub.setNext(prev);
1457                                 }
1458
1459                         }
1460                 }
1461         }
1462
1463         public static void merge(PipeRun run1, PipeRun r2) {
1464                 Map<PipeControlPoint, Vector3d> positions = new HashMap<PipeControlPoint, Vector3d>();
1465                 Map<PipeControlPoint, Quat4d> orientations = new HashMap<PipeControlPoint, Quat4d>();
1466                 for (PipeControlPoint pcp : r2.getControlPoints()) {
1467                         positions.put(pcp, pcp.getWorldPosition());
1468                         orientations.put(pcp, pcp.getWorldOrientation());
1469                 }
1470                 for (PipeControlPoint pcp : r2.getControlPoints()) {
1471                         r2.deattachChild(pcp);
1472                         run1.addChild(pcp);
1473                         PipelineComponent component = pcp.getPipelineComponent();
1474                         if (component != null) {
1475                                 if (!(component instanceof Nozzle)) {
1476                                         component.deattach();
1477                                         run1.addChild(component);
1478                                 } else {
1479                                         Nozzle n = (Nozzle)component;
1480                                         n.setPipeRun(run1);
1481                                 }
1482                         }
1483                 }
1484                 r2.remove();
1485
1486         }
1487
1488         public static void validate(PipeRun pipeRun) {
1489                 if (pipeRun == null)
1490                         return;
1491                 Collection<PipeControlPoint> pcps = pipeRun.getControlPoints();
1492                 int count = 0;
1493                 for (PipeControlPoint pcp : pcps) {
1494                         if (pcp.getParentPoint() == null || pcp.getParentPoint().getPipeRun() != pipeRun)
1495                                 count++;
1496                 }
1497                 List<PipeControlPoint> runPcps = getControlPoints(pipeRun);
1498                 if (runPcps.size() != count) {
1499                         System.out.println("Run is not connected");
1500                 }
1501                 for (PipeControlPoint pcp : pcps) {
1502                         if (pcp.getParentPoint() == null) {
1503                                 PipeControlPoint sub = null;
1504                                 if (pcp.isDualInline())
1505                                         sub = pcp.getSubPoint().get(0);
1506                                 PipeControlPoint next = pcp.getNext();
1507                                 PipeControlPoint prev = pcp.getPrevious();
1508                                 if (next != null) {
1509                                         if (!(next.getPrevious() == pcp || next.getPrevious() == sub)) {
1510                                                 System.out.println("Inconsistency between " + pcp + " -> " +next );
1511                                         }
1512                                 }
1513                                 if (prev != null) {
1514                                         PipeControlPoint prevParent = null;
1515                                         if (prev.isDualSub()) {
1516                                                 prevParent = prev.getParentPoint();
1517                                         } else if (prev.isDualInline()) {
1518                                                 System.out.println("Inconsistency between " + pcp + " <-- " +prev );
1519                                         }
1520                                         if (!(prev.getNext() == pcp && (prevParent == null || prevParent.getNext() == pcp))) {
1521                                                 System.out.println("Inconsistency between " + pcp + " <-- " +prev );
1522                                         }
1523                                 }
1524                         }
1525                 }
1526         }
1527
1528         public static void splitVariableLengthComponent(PipelineComponent newComponent, InlineComponent splittingComponent, boolean assignPos) throws Exception{
1529                 assert(!splittingComponent.getControlPoint().isFixed());
1530                 assert(!(newComponent instanceof  InlineComponent && !newComponent.getControlPoint().isFixed()));
1531                 PipeControlPoint newCP = newComponent.getControlPoint();
1532                 PipeControlPoint splittingCP = splittingComponent.getControlPoint();
1533                 PipeControlPoint nextCP = splittingCP.getNext();
1534                 PipeControlPoint prevCP = splittingCP.getPrevious();
1535
1536                 /* there are many different cases to insert new component when
1537                    it splits existing VariableLengthinlineComponent.
1538
1539                1. VariableLengthComponet is connected from both sides:
1540                   - insert new component between VariableLength component and component connected to it
1541                   - insert new VariableLengthComponent between inserted component and component selected in previous step
1542
1543                    2. VariableLengthComponent is connected from one side
1544                      - Use previous case or:
1545                      - Insert new component to empty end
1546                      - Insert new VariableLength component to inserted components empty end
1547
1548                    3. VariableLength is not connected to any component.
1549                      - Should not be possible, at least in current implementation.
1550                      - Could be done using second case
1551
1552                 */
1553
1554                 if (nextCP == null && prevCP == null) {
1555                         // this should not be possible
1556                         throw new RuntimeException("VariableLengthComponent " + splittingComponent + " is not connected to anything.");
1557                 }
1558                 double reservedLength = splittingComponent.getControlPoint().getLength();
1559                 double newLength = newComponent.getControlPoint().getLength();
1560
1561
1562                 Point3d next = new Point3d();
1563                 Point3d prev = new Point3d();
1564                 splittingCP.getInlineControlPointEnds(prev, next);
1565
1566                 Vector3d newPos = null;
1567                 if (assignPos) {
1568                         newPos = new Vector3d(prev);
1569                         Vector3d dir = new Vector3d(next);
1570                         dir.sub(prev);
1571                         dir.scale(0.5);
1572                         newPos.add(dir);
1573                         newComponent.setWorldPosition(newPos);
1574                 } else {
1575                         newPos = newComponent.getWorldPosition();
1576                 }
1577
1578
1579
1580                 Vector3d dir = new Vector3d(next);
1581                 dir.sub(prev);
1582                 dir.normalize();
1583                 dir.scale(newLength * 0.5);
1584                 Point3d vn = new Point3d(newPos);
1585                 Point3d vp = new Point3d(newPos);
1586                 vn.add(dir);
1587                 vp.sub(dir);
1588                 double ln = vn.distance(next);
1589                 double lp = vp.distance(prev);
1590                 vp.interpolate(prev, 0.5);
1591                 vn.interpolate(next, 0.5);
1592
1593
1594                 PipeControlPoint newVariableLengthCP = null;//insertStraight(pcp1, pcp2, pos, length);
1595                 if (nextCP == null) {
1596                         newCP.insert(splittingCP, Direction.NEXT);
1597                         newVariableLengthCP = insertStraight(newCP, Direction.NEXT, new Vector3d(vn), ln);
1598                         splittingCP.setWorldPosition(new Vector3d(vp));
1599 //                      ControlPointTools.setWorldPosition(splittingCP, vp);
1600 //                      splittingCP.setRelatedScalarDouble(ProcessResource.plant3Dresource.HasLength, lp);
1601                 } else if (prevCP == null) {
1602                         newCP.insert(splittingCP, Direction.PREVIOUS);
1603                         newVariableLengthCP = insertStraight(newCP, Direction.PREVIOUS, new Vector3d(vp), lp);
1604                         splittingCP.setWorldPosition(new Vector3d(vn));
1605 //                      splittingCP.setRelatedScalarDouble(ProcessResource.plant3Dresource.HasLength, ln);
1606                 } else {
1607                         newCP.insert(splittingCP, nextCP);
1608                         newVariableLengthCP = insertStraight(newCP, nextCP, new Vector3d(vn), ln);
1609                         splittingCP.setWorldPosition(new Vector3d(vp));
1610 //                      splittingCP.setRelatedScalarDouble(ProcessResource.plant3Dresource.HasLength, lp);
1611                 }
1612                 positionUpdate(newCP);
1613
1614         }
1615
1616         public static void addSizeChange(boolean reversed, PipeRun pipeRun, PipeRun other, InlineComponent reducer, PipeControlPoint previous, PipeControlPoint next) {
1617                 PipeControlPoint pcp = reducer.getControlPoint();
1618                 PipeControlPoint ocp = pcp.getSubPoint().get(0);
1619                 if (!reversed) {
1620                         String name = pipeRun.getUniqueName("Reducer");
1621                         reducer.setName(name);
1622                         pipeRun.addChild(reducer);
1623                         other.addChild(ocp);
1624                         reducer.setAlternativePipeRun(other);
1625
1626                         previous.setNext(pcp);
1627                         pcp.setPrevious(previous);
1628                         ocp.setPrevious(previous);
1629                         if (next != null) {
1630                                 pcp.setNext(next);
1631                                 ocp.setNext(next);
1632                                 next.setPrevious(ocp);
1633                         }
1634                 } else {
1635                         String name = other.getUniqueName("Reducer");
1636                         reducer.setName(name);
1637                         other.addChild(reducer);
1638                         pipeRun.addChild(ocp);
1639                         reducer.setAlternativePipeRun(pipeRun);
1640
1641                         if (next != null) {
1642                                 next.setNext(pcp);
1643                                 pcp.setPrevious(next);
1644                                 ocp.setPrevious(next);
1645                         }
1646                         pcp.setNext(previous);
1647                         ocp.setNext(previous);
1648                         previous.setPrevious(ocp);
1649                 }
1650         }
1651 }