org.simantics.plant3d/src/org/simantics/plant3d/scenegraph/controlpoint/PipingRules.java

   1 package org.simantics.plant3d.scenegraph.controlpoint;
   2
   3 import java.util.ArrayList;
   4 import java.util.Collection;
   5 import java.util.HashMap;
   6 import java.util.List;
   7 import java.util.Map;
   8
   9 import javax.vecmath.Point3d;
  10 import javax.vecmath.Quat4d;
  11 import javax.vecmath.Vector3d;
  12
  13 import org.simantics.g3d.math.MathTools;
  14 import org.simantics.plant3d.scenegraph.InlineComponent;
  15 import org.simantics.plant3d.scenegraph.Nozzle;
  16 import org.simantics.plant3d.scenegraph.P3DRootNode;
  17 import org.simantics.plant3d.scenegraph.PipeRun;
  18 import org.simantics.plant3d.scenegraph.PipelineComponent;
  19 import org.simantics.plant3d.scenegraph.TurnComponent;
  20 import org.simantics.plant3d.scenegraph.controlpoint.PipeControlPoint.Direction;
  21 import org.simantics.plant3d.utils.ComponentUtils;
  22 import org.simantics.utils.ui.ErrorLogger;
  23
  24 public class PipingRules {
  25         private static final boolean DEBUG = false;
  26         private static final boolean DUMMY = false;
  27
  28         private static double MIN_TURN_ANGLE = 0.001; // Threshold for removing turn components.
  29         private static double ALLOWED_OFFSET = 0.001; // Allowed offset for directed path legs
  30
  31         private static final int REMOVE_NONE = 0;
  32         private static final int REMOVE_START = 1;
  33         private static final int REMOVE_END = 2;
  34         private static final int REMOVE_BOTH = 3;
  35
  36
  37         private enum PathLegUpdateType {
  38                 NONE, PREV, NEXT, PREV_S, NEXT_S
  39         };
  40
  41         private static boolean enabled = true;
  42         private static boolean updating = false;
  43         private static boolean allowInsertRemove = true;
  44         private static boolean triedIR = false;
  45
  46
  47         private static List<PipeControlPoint> requestUpdates = new ArrayList<PipeControlPoint>();
  48         private static List<PipeControlPoint> currentUpdates = new ArrayList<PipeControlPoint>();
  49
  50         private static Object updateMutex = new Object();
  51         private static Object ruleMutex = new Object();
  52
  53         public static void requestUpdate(PipeControlPoint pcp) {
  54                 if (DEBUG) System.out.println("PipingRules request " + pcp);
  55                 synchronized (updateMutex) {
  56                     if (!requestUpdates.contains(pcp))
  57                         requestUpdates.add(pcp);
  58                 }
  59         }
  60
  61         public static boolean update() throws Exception {
  62                 if (requestUpdates.size() == 0)
  63                         return false;
  64
  65                 List<PipeControlPoint> temp = new ArrayList<PipeControlPoint>(requestUpdates.size());
  66                 synchronized(updateMutex) {
  67                     temp.addAll(requestUpdates);
  68                 requestUpdates.clear();
  69                 }
  70                 synchronized (ruleMutex) {
  71                     currentUpdates.clear();
  72                     currentUpdates.addAll(temp);
  73                     // TODO : we should remove already processed control points from currentUpdates after each _positionUpdate call.
  74                     for (PipeControlPoint pcp : currentUpdates)
  75                     _positionUpdate(pcp, true);
  76                     currentUpdates.clear();
  77         }
  78                 synchronized(updateMutex) {
  79                     requestUpdates.removeAll(temp);
  80                 }
  81
  82                 return true;
  83         }
  84
  85         public static boolean positionUpdate(PipeControlPoint pcp) throws Exception {
  86
  87                 return positionUpdate(pcp, true);
  88         }
  89
  90         public static boolean positionUpdate(PipeControlPoint pcp, boolean allowIR) throws Exception {
  91             synchronized (ruleMutex) {
  92             currentUpdates.add(pcp);
  93             boolean b = _positionUpdate(pcp, allowIR);
  94             currentUpdates.clear();
  95             return b;
  96             }
  97
  98         }
  99
 100         private static boolean _positionUpdate(PipeControlPoint pcp, boolean allowIR) throws Exception {
 101                 if (updating || !enabled)
 102                         return true;
 103                 if (pcp.getPipeRun() == null)
 104                         return false;
 105                 try {
 106                         if (DEBUG) System.out.println("PipingRules " + pcp);
 107                         updating = true;
 108                         allowInsertRemove = allowIR;
 109                         triedIR = false;
 110                         validate(pcp.getPipeRun());
 111                         if (pcp.isPathLegEnd()) {
 112                                 updatePathLegEndControlPoint(pcp); // FIXME: Rules won't work properly, if they are not run twice.
 113                                 updatePathLegEndControlPoint(pcp);
 114                         } else {
 115                                 updateInlineControlPoint(pcp);
 116                                 updateInlineControlPoint(pcp);
 117                         }
 118                         validate(pcp.getPipeRun());
 119                         if (!allowInsertRemove)
 120                                 return !triedIR;
 121                         return true;
 122                 } finally {
 123                         updating = false;
 124 //                      System.out.println("PipingRules done " + pcp);
 125                 }
 126         }
 127
 128         public static void setEnabled(boolean enabled) {
 129                 PipingRules.enabled = enabled;
 130                 if(!enabled)
 131                         currentUpdates.clear();
 132         }
 133
 134         public static boolean isEnabled() {
 135                 return enabled;
 136         }
 137
 138 //      private void commit() {
 139 //              root.getNodeMap().commit();
 140 //      }
 141
 142         public static class ExpandIterInfo {
 143                 // these two are turn control points
 144                 private PipeControlPoint start;
 145                 private PipeControlPoint end;
 146                 private int type;
 147
 148                 public ExpandIterInfo() {
 149
 150                 }
 151
 152                 public ExpandIterInfo(PipeControlPoint tcp, int type) {
 153                         if (type == REMOVE_START)
 154                                 start = tcp;
 155                         else
 156                                 end = tcp;
 157                         this.type = type;
 158                 }
 159
 160                 public ExpandIterInfo(PipeControlPoint start, PipeControlPoint end) {
 161                         this.start = start;
 162                         this.end = end;
 163                         this.type = REMOVE_BOTH;
 164                 }
 165
 166                 public PipeControlPoint getEnd() {
 167                         return end;
 168                 }
 169
 170                 public void setEnd(PipeControlPoint end) {
 171                         this.end = end;
 172                 }
 173
 174                 public PipeControlPoint getStart() {
 175                         return start;
 176                 }
 177
 178                 public void setStart(PipeControlPoint start) {
 179                         this.start = start;
 180                 }
 181
 182                 public int getType() {
 183                         return type;
 184                 }
 185
 186                 public void setType(int type) {
 187                         this.type = type;
 188                 }
 189
 190         }
 191
 192         private static void updatePathLegEndControlPoint(PipeControlPoint pcp) throws Exception {
 193                 if (DEBUG)
 194                         System.out.println("PipingRules.updatePathLegEndControlPoint() " + pcp);
 195                 if (pcp.getNext() != null) {
 196                         updatePathLegNext(pcp, pcp, PathLegUpdateType.NEXT_S);
 197                 }
 198                 if (pcp.getPrevious() != null) {
 199                         updatePathLegPrev(pcp, pcp, PathLegUpdateType.PREV_S);
 200                 }
 201
 202         }
 203
 204         private static void updateInlineControlPoint(PipeControlPoint pcp) throws Exception {
 205                 if (DEBUG)
 206                         System.out.println("PipingRules.updateInlineControlPoint() " + pcp);
 207                 PipeControlPoint start = pcp.findPreviousEnd();
 208                 updatePathLegNext(start, pcp, PathLegUpdateType.NONE);
 209         }
 210
 211         private static PipeControlPoint insertElbow(PipeControlPoint pcp1, PipeControlPoint pcp2, Vector3d pos) throws Exception{
 212                 if (DEBUG)
 213                         System.out.println("PipingRules.insertElbow() " + pcp1 + " " + pcp2 + " " + pos);
 214                 if (pcp1.getNext() == pcp2 && pcp2.getPrevious() == pcp1) {
 215
 216                 } else if (pcp1.getNext() == pcp2 && pcp1.isDualInline() && pcp2.getPrevious() == pcp1.getSubPoint().get(0)) {
 217                         pcp1 = pcp1.getSubPoint().get(0);
 218                 } else if (pcp1.getPrevious() == pcp2 && pcp2.getNext() == pcp1) {
 219                         PipeControlPoint t = pcp1;
 220                         pcp1 = pcp2;
 221                         pcp2 = t;
 222                 } else if (pcp2.isDualInline() && pcp1.getPrevious() == pcp2.getSubPoint().get(0) && pcp2.getNext() == pcp1) {
 223                         PipeControlPoint t = pcp1;
 224                         pcp1 = pcp2.getSubPoint().get(0);
 225                         pcp2 = t;
 226                 } else {
 227                         throw new RuntimeException();
 228                 }
 229                 TurnComponent elbow = ComponentUtils.createTurn((P3DRootNode)pcp1.getRootNode());
 230                 PipeControlPoint pcp = elbow.getControlPoint();
 231                 if (pcp1.isDualInline())
 232                         pcp1 = pcp1.getSubPoint().get(0);
 233                 String name = pcp1.getPipeRun().getUniqueName("Elbow");
 234                 elbow.setName(name);
 235                 pcp1.getPipeRun().addChild(elbow);
 236
 237                 pcp.insert(pcp1, pcp2);
 238
 239                 pcp.setWorldPosition(pos);
 240                 validate(pcp.getPipeRun());
 241                 return pcp;
 242         }
 243
 244         private static PipeControlPoint insertStraight(PipeControlPoint pcp1, PipeControlPoint pcp2, Vector3d pos, double length) throws Exception {
 245                 if (DEBUG)
 246                         System.out.println("PipingRules.insertStraight() " + pcp1 + " " + pcp2 + " " + pos);
 247                 if (pcp1.getNext() == pcp2 && pcp2.getPrevious() == pcp1) {
 248
 249                 } else if (pcp1.getNext() == pcp2 && pcp1.isDualInline() && pcp2.getPrevious() == pcp1.getSubPoint().get(0)) {
 250                         pcp1 = pcp1.getSubPoint().get(0);
 251                 } else if (pcp1.getPrevious() == pcp2 && pcp2.getNext() == pcp1) {
 252                         PipeControlPoint t = pcp1;
 253                         pcp1 = pcp2;
 254                         pcp2 = t;
 255                 } else if (pcp2.isDualInline() && pcp1.getPrevious() == pcp2.getSubPoint().get(0) && pcp2.getNext() == pcp1) {
 256                         PipeControlPoint t = pcp1;
 257                         pcp1 = pcp2.getSubPoint().get(0);
 258                         pcp2 = t;
 259                 } else {
 260                         throw new RuntimeException();
 261                 }
 262                 InlineComponent component = ComponentUtils.createStraight((P3DRootNode)pcp1.getRootNode());
 263                 PipeControlPoint scp = component.getControlPoint();
 264                 if (pcp1.isDualInline())
 265                         pcp1 = pcp1.getSubPoint().get(0);
 266                 String name = pcp1.getPipeRun().getUniqueName("Pipe");
 267                 component.setName(name);
 268                 pcp1.getPipeRun().addChild(component);
 269
 270                 scp.insert(pcp1, pcp2);
 271
 272                 scp.setWorldPosition(pos);
 273                 scp.setLength(length);
 274                 validate(scp.getPipeRun());
 275                 return scp;
 276         }
 277
 278         private static PipeControlPoint insertStraight(PipeControlPoint pcp, Direction direction , Vector3d pos, double length) throws Exception {
 279                 if (DEBUG)
 280                         System.out.println("PipingRules.insertStraight() " + pcp + " " + direction + " " + pos);
 281
 282                 InlineComponent component = ComponentUtils.createStraight((P3DRootNode)pcp.getRootNode());
 283                 PipeControlPoint scp = component.getControlPoint();
 284                 if (pcp.isDualInline() && direction == Direction.NEXT)
 285                         pcp = pcp.getSubPoint().get(0);
 286                 String name = pcp.getPipeRun().getUniqueName("Pipe");
 287                 component.setName(name);
 288                 pcp.getPipeRun().addChild(component);
 289
 290                 scp.insert(pcp,direction);
 291
 292                 scp.setWorldPosition(pos);
 293                 scp.setLength(length);
 294                 validate(scp.getPipeRun());
 295                 return scp;
 296         }
 297
 298         private static void updatePathLegNext(PipeControlPoint start, PipeControlPoint updated, PathLegUpdateType lengthChange) throws Exception {
 299                 ArrayList<PipeControlPoint> list = new ArrayList<PipeControlPoint>();
 300                 PipeControlPoint end = start.findNextEnd(list);
 301                 // this is for inline cp that is also path leg end
 302                 if (lengthChange == PathLegUpdateType.NONE) {
 303                         if (start.equals(updated))
 304                                 lengthChange = PathLegUpdateType.NEXT;
 305                         else if (end.equals(updated))
 306                                 lengthChange = PathLegUpdateType.PREV;
 307                 }
 308                 updatePathLegNext(start, list, end, updated, lengthChange);
 309         }
 310
 311         private static void updatePathLegNext(PipeControlPoint start, ArrayList<PipeControlPoint> list, PipeControlPoint end, PipeControlPoint updated, PathLegUpdateType lengthChange) throws Exception {
 312                 updatePathLeg(start, list, end, false, 0, new ArrayList<ExpandIterInfo>(), updated, lengthChange);
 313         }
 314
 315         private static void updatePathLegPrev(PipeControlPoint start, PipeControlPoint updated, PathLegUpdateType lengthChange) throws Exception {
 316                 ArrayList<PipeControlPoint> list = new ArrayList<PipeControlPoint>();
 317                 PipeControlPoint end = start.findPreviousEnd(list);
 318                 // TODO: this method is not symmetric with updatePathLegNext, which may alter lengthChange parameter?
 319                 updatePathLegPrev(start, list, end, updated, lengthChange);
 320         }
 321
 322         private static void updatePathLegPrev(PipeControlPoint start, ArrayList<PipeControlPoint> list, PipeControlPoint end, PipeControlPoint updated, PathLegUpdateType lengthChange) throws Exception {
 323                 // reverses the list
 324                 ArrayList<PipeControlPoint> nextList = new ArrayList<PipeControlPoint>();
 325                 for (PipeControlPoint icp : list) {
 326                         if (icp.isDualSub()) {
 327                                 nextList.add(0, icp.getParentPoint());
 328                         } else {
 329                                 nextList.add(0, icp);
 330                         }
 331                 }
 332                 updatePathLeg(end, nextList, start, true, 0, new ArrayList<ExpandIterInfo>(), updated, lengthChange);
 333
 334         }
 335
 336         private static class UpdateStruct2 {
 337                 public PipeControlPoint start;
 338                 public Vector3d startPoint;
 339                 public ArrayList<PipeControlPoint> list;
 340                 public PipeControlPoint end;
 341                 public Vector3d endPoint;
 342                 public Vector3d dir;
 343                 public Vector3d offset;
 344                 public boolean hasOffsets;
 345                 public int iter;
 346                 public boolean reversed;
 347                 public ArrayList<ExpandIterInfo> toRemove;
 348                 public PipeControlPoint updated;
 349
 350                 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) {
 351                         if (start == null || end == null)
 352                                 throw new NullPointerException();
 353                         this.start = start;
 354                         this.startPoint = startPoint;
 355                         this.list = list;
 356                         this.end = end;
 357                         this.endPoint = endPoint;
 358                         this.dir = dir;
 359                         this.offset = offset;
 360                         this.hasOffsets = hasOffsets;
 361                         this.iter = iter;
 362                         this.reversed = reversed;
 363                         this.toRemove = toRemove;
 364                         this.updated = updated;
 365
 366                         if (!MathTools.isValid(startPoint) ||
 367                                 !MathTools.isValid(endPoint) ||
 368                                 !MathTools.isValid(dir)) {
 369                                 throw new RuntimeException();
 370                         }
 371                 }
 372
 373                 public String toString() {
 374                         return start + " " + end+ " " + dir + " " + hasOffsets + " " + offset + " " + iter + " " + toRemove.size();
 375                 }
 376
 377         }
 378
 379         private static boolean calculateOffset(Vector3d startPoint, Vector3d endPoint, ArrayList<PipeControlPoint> list, Vector3d dir, Vector3d offset) {
 380                 boolean hasOffsets = false;
 381                 List<PipeControlPoint> offsets = new ArrayList<PipeControlPoint>(list.size());
 382                 for (PipeControlPoint icp : list) {
 383                         if (icp.isOffset()) {
 384                                 offsets.add(icp);
 385                         } else if (icp.isDualSub())
 386                                 ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
 387                 }
 388                 if (offsets.size() == 0) {
 389                         dir.set(endPoint);
 390                         dir.sub(startPoint);
 391                         double l = dir.lengthSquared();
 392                         if (l > MathTools.NEAR_ZERO)
 393                                 dir.scale(1.0/Math.sqrt(l));
 394                         offset.set(0.0, 0.0, 0.0);
 395                         return false;
 396                 } else {
 397                         Vector3d sp = new Vector3d(startPoint);
 398                         Point3d ep = new Point3d(endPoint);
 399                         dir.set(ep);
 400                         dir.sub(sp);
 401                         double l = dir.lengthSquared();
 402                         if (l > MathTools.NEAR_ZERO)
 403                                 dir.scale(1.0/Math.sqrt(l));
 404                         int iter = 100;
 405                         while (iter >= 0) {
 406                                 iter--;
 407                                 offset.set(0.0, 0.0, 0.0);
 408
 409                                 for (PipeControlPoint icp : offsets) {
 410                                         Vector3d v = icp.getSizeChangeOffsetVector(dir);
 411                                         offset.add(v);
 412                                 }
 413                                 Point3d nep = new Point3d(endPoint);
 414                                 nep.sub(offset);
 415                                 if (nep.distance(ep) < 0.0000000001) {
 416                                         break;
 417                                 }
 418                                 ep = nep;
 419                                 dir.set(ep);
 420                                 dir.sub(sp);
 421                                 l = dir.lengthSquared();
 422                                 if (l > MathTools.NEAR_ZERO)
 423                                         dir.scale(1.0/Math.sqrt(l));
 424                         }
 425                         hasOffsets = true;
 426                 }
 427
 428 //              for (PipeControlPoint icp : list) {
 429 //                      if (icp.isOffset()) {
 430 //                              icp.setOffset(((InlineComponent)icp.getPipelineComponent()).getOffset());
 431 //                              hasOffsets = true;
 432 //                              Vector3d v = icp.getSizeChangeOffsetVector(dir);
 433 //                              offset.add(v);
 434 //                      } else if (icp.isDualSub())
 435 //                              ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
 436 //              }
 437                 if (DEBUG && hasOffsets)
 438                         System.out.println("calcOffset s:"+ startPoint + " e:" + endPoint + " d:" + dir + " o:"+offset) ;
 439                 return hasOffsets;
 440         }
 441
 442         /**
 443          * @param start
 444          *            starting point of the pipe run
 445          * @param list
 446          *            list of inline control points in the pipe run
 447          * @param end
 448          *            ending point of the pipe run
 449          * @param reversed
 450          *            boolean flag indicating wether start or end control point was
 451          *            modified (if true then end point was modified)
 452          * @throws TransactionException
 453          */
 454         private static void updatePathLeg(PipeControlPoint start, ArrayList<PipeControlPoint> list, PipeControlPoint end, boolean reversed, int iter, ArrayList<ExpandIterInfo> toRemove, PipeControlPoint updated, PathLegUpdateType lengthChange) throws Exception {
 455                 if (start == end)
 456                         return;
 457                 // FIXME: direction is calculated wrong way!
 458                 boolean hasOffsets = false;
 459                 Vector3d offset = new Vector3d();
 460                 Vector3d startPoint = start.getWorldPosition();
 461                 Vector3d endPoint = end.getWorldPosition();
 462                 Vector3d dir = new Vector3d();
 463                 hasOffsets = calculateOffset(startPoint, endPoint, list, dir, offset);
 464                 updatePathLeg(new UpdateStruct2(start, startPoint, list, end, endPoint, dir, offset, hasOffsets, iter, reversed, toRemove, updated), lengthChange);
 465
 466         }
 467
 468         private static boolean asDirected(PipeControlPoint pcp, Direction direction) {
 469             if (pcp.isDirected())
 470                 return true;
 471             if (pcp.isTurn() && pcp.isFixed()) {
 472                if (!pcp._getReversed())
 473                    return direction == Direction.NEXT;
 474                else
 475                    return direction == Direction.PREVIOUS;
 476             }
 477             return false;
 478         }
 479
 480         private static Vector3d direction(PipeControlPoint pcp, Direction direction) {
 481             return pcp.getDirection(direction);
 482         }
 483
 484         private static void updatePathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
 485                 int directed = 0;
 486                 if (asDirected(u.start, Direction.NEXT))
 487                         directed++;
 488                 if (asDirected(u.end, Direction.PREVIOUS))
 489                         directed++;
 490                 switch (directed) {
 491                 case 0:
 492                         updateFreePathLeg(u, lengthChange);
 493                         break;
 494                 case 1:
 495                         updateDirectedPathLeg(u, lengthChange);
 496                         break;
 497                 case 2:
 498                         updateDualDirectedPathLeg(u, lengthChange);
 499                         break;
 500                 }
 501
 502         }
 503
 504         private static void updateFreePathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
 505                 if (DEBUG)
 506                         System.out.println("PipingRules.updateFreePipeRun " + u + " " + lengthChange);
 507                 checkExpandPathLeg(u, lengthChange);
 508                 if (u.start.isInline() || u.end.isInline() || u.start.isFixed() || u.end.isFixed())
 509                         processPathLeg(u, true, false);
 510         }
 511
 512         private static void updateInlineControlPoints(UpdateStruct2 u, boolean checkSizes) throws Exception{
 513                 if (DEBUG)
 514                         System.out.println("PipingRules.updateInlineControlPoints() " + u);
 515
 516                 Vector3d start = new Vector3d(u.startPoint);
 517                 Vector3d end = new Vector3d(u.endPoint);
 518
 519                 if (checkSizes) {
 520                         // create offsets for leg ends.
 521                         MathTools.mad(start, u.dir, u.start.getInlineLength());
 522                         MathTools.mad(end, u.dir, -u.end.getInlineLength());
 523                 }
 524
 525                 boolean recalcline = false;
 526                 if (!u.hasOffsets) {
 527
 528
 529                         for (PipeControlPoint icp : u.list) {
 530                                 updateInlineControlPoint(icp, start, end, u.dir);
 531
 532                                 if (icp.isOffset()) {
 533                                         // TODO : offset vector is already calculated and should be cached
 534                                         Vector3d off = icp.getSizeChangeOffsetVector(u.dir);
 535                                         updateOffsetPoint(icp, off);
 536                                 }
 537                         }
 538                         if (!checkSizes)
 539                                 return;
 540
 541                         ArrayList<PipeControlPoint> pathLegPoints = new ArrayList<PipeControlPoint>();
 542                         pathLegPoints.add(u.start);
 543                         for (PipeControlPoint icp : u.list) {
 544                                 // updateInlineControlPoint(icp, u.startPoint,
 545                                 // u.endPoint,u.dir);
 546                                 updateBranchControlPointBranches(icp);
 547                                 pathLegPoints.add(icp);
 548                         }
 549                         pathLegPoints.add(u.end);
 550
 551                         // TODO : values can be cached in the loop
 552                         for (int i = 0; i < pathLegPoints.size(); i++) {
 553                                 PipeControlPoint icp = pathLegPoints.get(i);
 554
 555                                 PipeControlPoint prev = i > 0 ? pathLegPoints.get(i - 1) : null;
 556                                 PipeControlPoint next = i < pathLegPoints.size() - 1 ? pathLegPoints.get(i + 1) : null;
 557
 558                                 if (icp.isVariableLength()) {
 559                                         if (prev != null && next != null) {
 560
 561                                                 recalcline = recalcline | updateVariableLength(icp,  prev, next);
 562
 563                                         } else {
 564                                                 // this is variable length component at the end of the
 565                                                 // piperun.
 566                                                 // the problem is that we want to keep unconnected end
 567                                                 // of the component in the same
 568                                                 // place, but center of the component must be moved.
 569                                                 updateVariableLengthEnd(icp, prev != null ? prev : next);
 570                                         }
 571
 572
 573                                 } else if (prev != null && !prev.isVariableLength()) {
 574                                         // If this and previous control point are not variable
 575                                         // length pcps, we'll have to check if there is no empty
 576                                         // space between them.
 577                                         // I there is, we'll have to create new variable length
 578                                         // component between them.
 579                                         recalcline = recalcline | possibleVaribleLengthInsert(icp, prev);
 580                                 }
 581                         }
 582                 } else { // with offset
 583                         Vector3d sp = new Vector3d(start);
 584                         Vector3d ep = new Vector3d(end);
 585                         ep.sub(u.offset);
 586
 587                         ArrayList<PipeControlPoint> pathLegPoints = new ArrayList<PipeControlPoint>();
 588                         pathLegPoints.add(u.start);
 589
 590                         for (PipeControlPoint icp : u.list) {
 591                                 updateInlineControlPoint(icp, sp, ep, u.dir);
 592                                 updateBranchControlPointBranches(icp);
 593                                 pathLegPoints.add(icp);
 594                                 if (icp.isOffset()) {
 595                                         // TODO : offset vector is already calculated and should be
 596                                         // cached
 597                                         Vector3d  offset = icp.getSizeChangeOffsetVector(u.dir);
 598                                         updateOffsetPoint(icp, offset);
 599                                         sp.add(offset);
 600                                         ep.add(offset);
 601                                 }
 602                         }
 603                         pathLegPoints.add(u.end);
 604
 605                         if (!checkSizes)
 606                                 return;
 607
 608                         sp = new Vector3d(u.startPoint);
 609                         ep = new Vector3d(u.endPoint);
 610                         ep.sub(u.offset);
 611
 612                         for (int i = 0; i < pathLegPoints.size(); i++) {
 613                                 PipeControlPoint icp = pathLegPoints.get(i);
 614
 615                                 PipeControlPoint prev = i > 0 ? pathLegPoints.get(i - 1) : null;
 616                 PipeControlPoint next = i < pathLegPoints.size() - 1 ? pathLegPoints.get(i + 1) : null;
 617
 618                                 if (prev != null && prev.isDualInline())
 619                                         prev = prev.getSubPoint().get(0);
 620
 621
 622                                 if (icp.isVariableLength()) {
 623                                         if (prev != null && next != null) {
 624                                                 recalcline = recalcline | updateVariableLength(icp,  prev, next);
 625
 626                                         } else {
 627                                                 // this is variable length component at the end of the
 628                                                 // piperun.
 629                                                 // the problem is that we want to keep unconnected end
 630                                                 // of the component in the same
 631                                                 // place, but center of the component must be moved.
 632                                                 updateVariableLengthEnd(icp, prev != null ? prev : next);
 633                                         }
 634                                 } else if (prev != null && !prev.isVariableLength()) {
 635                                         // If this and previous control point are not variable
 636                                         // length pcps, we'll have to check if there is no empty
 637                                         // space between them.
 638                                         // I there is, we'll have to create new variable length
 639                                         // component between them.
 640                                         recalcline = recalcline | possibleVaribleLengthInsert(icp, prev);
 641                                 }
 642                                 if (icp.isOffset()) {
 643                                         // TODO : offset vector is already calculated and should be
 644                                         // cached
 645                                         Vector3d  offset = icp.getSizeChangeOffsetVector(u.dir);
 646                                         sp.add(offset);
 647                                         ep.add(offset);
 648                                 }
 649                         }
 650                 }
 651                 if (recalcline) {
 652                         u.list.clear();
 653                         u.start.findNextEnd(u.list);
 654                 }
 655         }
 656
 657         private static boolean updateVariableLength(PipeControlPoint icp, PipeControlPoint prev,  PipeControlPoint next) {
 658                 Vector3d prevPos = prev.getWorldPosition();
 659                 Vector3d nextPos = next.getWorldPosition();
 660
 661                 Vector3d dir = new Vector3d(nextPos);
 662                 dir.sub(prevPos);
 663                 double l = dir.lengthSquared(); // distance between
 664                                                                                 // control points
 665                                                                                 // (square)
 666                 double l2prev = prev.getInlineLength(); // distance
 667                                                                                                                                         // taken
 668                                                                                                                                         // by
 669                                                                                                                                         // components
 670                 double l2next = next.getInlineLength();
 671                 double l2 = l2prev + l2next;
 672                 double l2s = MathTools.square(l2);
 673                 if (l2s < l) { // check if there is enough space for
 674                                                 // variable length component.
 675                         // components fit
 676                         dir.normalize();
 677                         double length = Math.sqrt(l) - l2; // true length of
 678                                                                                                 // the variable
 679                                                                                                 // length
 680                                                                                                 // component
 681                         dir.scale(length * 0.5 + l2prev); // calculate
 682                                                                                                 // center
 683                                                                                                 // position of
 684                                                                                                 // the component
 685                         dir.add(prevPos);
 686                         icp.setWorldPosition(dir);
 687                         icp.setLength(length);
 688                         return false;
 689                 } else {
 690                         // components leave no space to the component and it
 691                         // must be removed
 692
 693                         if (icp.isDeletable()) {
 694                                 if (DEBUG)
 695                                         System.out.println("PipingRules.updateVariableLength removing " + icp);
 696                                 icp._remove();
 697                                 return true;
 698                         }
 699                         return false;
 700                 }
 701         }
 702
 703         private static boolean possibleVaribleLengthInsert(PipeControlPoint icp, PipeControlPoint prev) throws Exception{
 704                 Vector3d currentPos = icp.getWorldPosition();
 705                 Vector3d prevPos = prev.getWorldPosition();
 706                 Vector3d dir = new Vector3d(currentPos);
 707                 dir.sub(prevPos);
 708                 double l = dir.lengthSquared();
 709                 double l2prev = prev.getInlineLength();
 710                 double l2next = icp.getInlineLength();
 711                 double l2 = l2prev + l2next;
 712                 double l2s = l2 * l2;
 713                 if (l > l2s) {
 714                         if (allowInsertRemove) {
 715                                 dir.normalize();
 716                                 double length = Math.sqrt(l) - l2; // true length of the
 717                                                                                                         // variable length
 718                                                                                                         // component
 719                                 dir.scale(length * 0.5 + l2prev); // calculate center
 720                                                                                                         // position of the
 721                                                                                                         // component
 722                                 dir.add(prevPos);
 723                                 PipeControlPoint scp = insertStraight(prev, icp, dir, length);
 724                                 return true;
 725                         } else {
 726                                 triedIR = true;
 727                         }
 728                 }
 729                 return false;
 730         }
 731
 732         private static void updateVariableLengthEnd(PipeControlPoint icp,  PipeControlPoint prev) {
 733             Vector3d currentPos = icp.getWorldPosition();
 734         Vector3d prevPos = prev.getWorldPosition();
 735
 736         Vector3d dir = new Vector3d();
 737         dir.sub(currentPos, prevPos);
 738
 739             boolean simple = currentUpdates.contains(icp);
 740             if (simple) {
 741                 // Update based on position -> adjust length
 742                 double currentLength = (dir.length() - prev.getInlineLength()) * 2.0;
 743                 icp.setLength(currentLength);
 744             } else {
 745                 // Update based on neighbour movement -> adjust length and position, so that free end stays in place.
 746                 double currentLength = icp.getLength();
 747                 if (currentLength < MathTools.NEAR_ZERO) {
 748                         currentLength = (dir.length() - prev.getInlineLength()) * 2.0;
 749                 }
 750
 751                 if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 752                         dir.normalize();
 753                 Point3d endPos = new Point3d(dir);
 754                 endPos.scale(currentLength * 0.5);
 755                 endPos.add(currentPos); // this is the free end of the component
 756
 757                 double offset = prev.getInlineLength();
 758                 Point3d beginPos = new Point3d(dir);
 759                 beginPos.scale(offset);
 760                 beginPos.add(prevPos); // this is the connected end of the component
 761
 762                 double l = beginPos.distance(endPos);
 763
 764                 if (Double.isNaN(l))
 765                         System.out.println("Length for " + icp + " is NaN");
 766
 767                 dir.scale(l * 0.5);
 768                 beginPos.add(dir); // center position
 769
 770                 if (DEBUG)
 771                         System.out.println("PipingRules.updateInlineControlPoints() setting variable length to " + l);
 772                 icp.setLength(l);
 773
 774                 icp.setWorldPosition(new Vector3d(beginPos));
 775             }
 776         }
 777
 778         private static void ppNoOffset(UpdateStruct2 u) throws Exception {
 779                 if (DEBUG)
 780                         System.out.println("PipingRules.ppNoOffset() " + u);
 781                 Vector3d offset = new Vector3d();
 782                 if (u.hasOffsets) {
 783                         u.dir.normalize();
 784                         for (PipeControlPoint icp : u.list) {
 785                                 if (icp.isOffset()) {
 786                                         offset.add(icp.getSizeChangeOffsetVector(u.dir));
 787                                 } else if (icp.isDualSub())
 788                                         ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
 789                         }
 790                 }
 791                 u.offset = offset;
 792                 checkExpandPathLeg(u, PathLegUpdateType.NONE);
 793         }
 794
 795         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 {
 796                 if (DEBUG)
 797                         System.out.println("PipingRules.ppNoDir() " + start + " " + end + " " + iter + " " + toRemove.size());
 798                 // FIXME : extra loop (dir should be calculated here)
 799                 Vector3d dir = new Vector3d();
 800                 Vector3d offset = new Vector3d();
 801                 hasOffsets = calculateOffset(startPoint, endPoint, list, dir, offset);
 802                 ppNoOffset(new UpdateStruct2(start, startPoint, list, end, endPoint, dir, null, hasOffsets, iter, reversed, toRemove, updated));
 803         }
 804
 805         private static void checkExpandPathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
 806                 checkExpandPathLeg(u, lengthChange, u.updated.isInline() && u.updated.isOffset());
 807         }
 808
 809         private static void checkExpandPathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange, boolean updateEnds) throws Exception {
 810                 if (DEBUG)
 811                         System.out.println("PipingRules.checkExpandPathLeg() " + u + " " + lengthChange);
 812                 if (lengthChange != PathLegUpdateType.NONE) {
 813                         // FIXME : turns cannot be checked before inline cps are updated,
 814                         // since their position affects calculation of turns
 815                         processPathLeg(u, updateEnds, false);
 816                         int type = checkTurns(u, lengthChange);
 817                         if (type == REMOVE_NONE) {
 818                                 processPathLeg(u, updateEnds, true);
 819                         } else {
 820                                 expandPathLeg(u, type);
 821                         }
 822                 } else {
 823                         processPathLeg(u, updateEnds, true);
 824                 }
 825         }
 826
 827         private static void updateDirectedPathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
 828                 if (DEBUG)
 829                         System.out.println("PipingRules.updateDirectedPipeRun() " + u + " " + lengthChange);
 830                 PipeControlPoint dcp;
 831                 PipeControlPoint other;
 832                 boolean canMoveOther = false;
 833                 boolean dcpStart = false;
 834                 boolean inlineEnd = false;
 835                 Vector3d position;
 836                 if (asDirected(u.start, Direction.NEXT)) {
 837                         dcp = u.start;
 838                         other = u.end;
 839                         position = u.startPoint;
 840                         dcpStart = true;
 841                         if (!u.reversed)
 842                                 canMoveOther = true;
 843                         inlineEnd = u.end.isInline();
 844
 845                 } else {
 846                         dcp = u.end;
 847                         other = u.start;
 848                         position = u.endPoint;
 849                         if (u.reversed)
 850                                 canMoveOther = true;
 851                         inlineEnd = u.start.isInline();
 852                 }
 853
 854                 Vector3d directedDirection = direction(dcp, dcpStart ? Direction.NEXT : Direction.PREVIOUS);
 855                 if (directedDirection == null) {
 856                     updateTurnControlPointTurn(dcp, dcp.getPrevious(), dcp.getNext());
 857                     directedDirection = direction(dcp, dcpStart ? Direction.NEXT : Direction.PREVIOUS);
 858                     if (directedDirection == null) {
 859                         return;
 860                     }
 861                 }
 862                 Point3d directedEndPoint = new Point3d(u.endPoint);
 863                 if (u.hasOffsets)
 864                         directedEndPoint.add(u.offset);
 865
 866                 double mu[] = new double[2];
 867
 868                 Vector3d closest;
 869                 Vector3d t = new Vector3d();
 870
 871                 if (dcpStart) {
 872                         closest = MathTools.closestPointOnStraight(directedEndPoint, u.startPoint, directedDirection, mu);
 873                         t.sub(closest, directedEndPoint);
 874                 } else {
 875                         closest = MathTools.closestPointOnStraight(u.startPoint, directedEndPoint, directedDirection, mu);
 876                         t.sub(closest, u.startPoint);
 877                 }
 878
 879                 double distance = t.length();
 880                 boolean aligned = (distance < ALLOWED_OFFSET);
 881                 if (aligned) {
 882                     if (u.start.isInline() || u.end.isInline() || u.start.isFixed() || u.end.isFixed())
 883                     processPathLeg(u, true, false);
 884                         checkExpandPathLeg(u, lengthChange, inlineEnd);
 885
 886                 } else {
 887                         if (u.iter > 0) {
 888                                 backIter(u);
 889                         } else {
 890                                 PipeControlPoint nextToMoved;
 891
 892                                 if (u.list.size() > 0)
 893                                         if (dcpStart)
 894                                                 nextToMoved = u.list.get(0);
 895                                         else
 896                                                 nextToMoved = u.list.get(u.list.size() - 1);
 897                                 else if (dcpStart)
 898                                         nextToMoved = u.end;
 899                                 else
 900                                         nextToMoved = u.start;
 901                                 if (other.isVariableAngle()) {
 902
 903                                         // TODO calculate needed space from next run end.
 904                                         if (mu[0] < 1.0) {
 905                                                 if (dcpStart) {
 906                                                         closest.set(u.startPoint);
 907                                                 } else {
 908                                                         closest.set(u.endPoint);
 909                                                 }
 910                                                 Vector3d v = new Vector3d(directedDirection);
 911                                                 v.scale(spaceForTurn(other));
 912                                                 closest.add(v);
 913                                         }
 914
 915                                         if (canMoveOther) {
 916                                                 if (DEBUG)
 917                                                         System.out.println("PipingRules.updateDirectedPipeRun() moved end " + other + " to " + closest);
 918                                                 other.setWorldPosition(closest);
 919                                                 if (dcpStart) {
 920                                                         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));
 921                                                         if (u.end.getNext() != null)
 922                                                                 updatePathLegNext(u.end, u.updated, PathLegUpdateType.NEXT);
 923                                                 } else {
 924                                                         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));
 925                                                         if (u.start.getPrevious() != null)
 926                                                                 updatePathLegPrev(u.start, u.updated, PathLegUpdateType.PREV);
 927                                                 }
 928                                         } else {
 929                                                 // TODO : calculate needed space from next run end.
 930                                                 if (allowInsertRemove)
 931                                                         insertElbowUpdate(u, dcp, nextToMoved, dcpStart, position, directedDirection);
 932
 933                                                 else
 934                                                         triedIR = true;
 935                                         }
 936                                 } else if (other.isNonDirected() && other.getParentPoint() != null) {
 937                                         // FIXME : this code was for updating branches
 938                                         Vector3d bintersect = new Vector3d();
 939                                         PipeControlPoint bcp = other.getParentPoint();
 940                                         if (bcp != null && canMoveOther) {
 941                                                 Point3d bstart = new Point3d();
 942                                                 Point3d bend = new Point3d();
 943                                                 Vector3d bdir = new Vector3d();
 944                                                 bcp.getInlineControlPointEnds(bstart, bend, bdir);
 945                                                 Vector3d nintersect = new Vector3d();
 946
 947                                                 MathTools.intersectStraightStraight(position, directedDirection, bend, bdir, nintersect, bintersect, mu);
 948                                                 Vector3d dist = new Vector3d(nintersect);
 949                                                 dist.sub(bintersect);
 950                                                 canMoveOther = mu[1] > 0.0 && mu[1] < 1.0 && dist.lengthSquared() < 0.01;
 951                                         } else {
 952                                                 // TODO : endControlPoints are undirected: calculcate
 953                                                 // correct position for it
 954                                                 throw new UnsupportedOperationException("not implemented");
 955                                         }
 956                                         if (canMoveOther) {
 957                                                 if (DEBUG)
 958                                                         System.out.println("PipingRules.updateDirectedPipeRun() moved end " + other + " to " + bintersect);
 959                                                 // is required branch position is in possible range
 960                                                 bcp.setWorldPosition(bintersect);
 961                                                 if (dcpStart) {
 962                                                         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);
 963                                                 } else {
 964                                                         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);
 965                                                 }
 966                                         } else {
 967                                                 // branch cannot be moved into right position, new turn
 968                                                 // / elbow must be inserted
 969                                                 if (allowInsertRemove)
 970                                                         insertElbowUpdate(u, dcp, nextToMoved, dcpStart, position, directedDirection);
 971                                                 else
 972                                                         triedIR = true;
 973                                         }
 974
 975                                 } else { // assume that control point cannot be moved, but can
 976                                                         // be rotated
 977                                         if (allowInsertRemove)
 978                                                 insertElbowUpdate(u, dcp, nextToMoved, dcpStart, position, directedDirection);
 979                                         else
 980                                                 triedIR = true;
 981                                 }
 982                         }
 983                 }
 984
 985
 986         }
 987
 988         private static void updateDualDirectedPathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
 989                 if (DEBUG)
 990                         System.out.println("PipingRules.updateDualDirectedPipeRun() " + u + " " + lengthChange);
 991
 992                 PipeControlPoint dcp1 = u.start;
 993                 PipeControlPoint dcp2 = u.end;
 994                 Point3d position1 = new Point3d(u.startPoint);
 995                 Point3d position2 = new Point3d(u.endPoint);
 996                 Point3d position1offset = new Point3d(position1);
 997                 position1offset.sub(u.offset);
 998                 Point3d position2offset = new Point3d(position2);
 999                 position2offset.add(u.offset);
1000                 Vector3d dir1 = direction(dcp1, Direction.NEXT);
1001                 Vector3d dir2 = direction(dcp2, Direction.PREVIOUS);
1002                 Vector3d p1 = MathTools.closestPointOnStraight(position1offset, position2, dir2);
1003                 Vector3d p2 = MathTools.closestPointOnStraight(position2offset, position1, dir1);
1004                 double d1 = position1.distance(new Point3d(p1));
1005                 double d2 = position2.distance(new Point3d(p2));
1006
1007                 boolean aligned = (d1 < ALLOWED_OFFSET && d2 < ALLOWED_OFFSET);
1008                 if (aligned) {
1009                         processPathLeg(u);
1010                 } else {
1011                         if (u.iter > 0) {
1012                                 backIter(u);
1013                         } else if (allowInsertRemove){
1014                                 PipeControlPoint dcp;
1015                                 PipeControlPoint next;
1016                                 if (!u.reversed) {
1017                                         dcp = dcp1;
1018                                         if (u.list.size() > 0)
1019                                                 next = u.list.get(0);
1020                                         else
1021                                                 next = dcp2;
1022                                 } else {
1023                                         dcp = dcp2;
1024                                         if (u.list.size() > 0)
1025                                                 next = u.list.get(u.list.size() - 1);
1026                                         else
1027                                                 next = dcp1;
1028                                 }
1029
1030                                 p1 = dcp.getWorldPosition();
1031                                 Vector3d v = new Vector3d();
1032                                 if (!u.reversed)
1033                                     v.set(dir1);
1034                                 else
1035                                         v.set(dir2);
1036
1037                                 // Reserve space for 90 deg elbow
1038                                 double off = dcp1.getPipeRun().getTurnRadius();
1039                                 v.scale(off);
1040                                 p1.add(v);
1041
1042                                 if (!u.reversed)
1043                                         p2 = MathTools.closestPointOnStraight(new Point3d(p1), position2, dir2);
1044                                 else
1045                                         p2 = MathTools.closestPointOnStraight(new Point3d(p1), position1, dir1);
1046
1047                                 // By default, the elbows are placed next to each other, by using 90 deg angles.
1048                                 // If the distance between elbows is not enough, we must move the other elbow (and create more shallow angle elbows)
1049                                 if (MathTools.distance(p1, p2) < off*2.05) {
1050                                     p2.add(v);
1051                                 }
1052
1053                                 PipeControlPoint tcp1 = insertElbow(dcp, next, p1);
1054                                 PipeControlPoint tcp2 = insertElbow(tcp1, next, p2);
1055
1056                                 if (DEBUG)
1057                                         System.out.println("PipingRules.updateDualDirectedPipeRun() created two turns " + tcp1 + " " + tcp2);
1058
1059                                 if (!u.reversed) {
1060                                         Vector3d dd = new Vector3d(p2);
1061                                         dd.sub(p1);
1062                                         dir2.negate();
1063                                         updatePathLegNext(u.start, u.updated, PathLegUpdateType.NONE);
1064                                         updatePathLegNext(tcp1, u.updated, PathLegUpdateType.NONE);
1065                                         if (!u.reversed)
1066                                                 updatePathLegNext(tcp2, u.updated, PathLegUpdateType.NONE);
1067                                         else
1068                                                 updatePathLegPrev(tcp2, u.updated, PathLegUpdateType.NONE);
1069                                 } else {
1070                                         Vector3d dd = new Vector3d(p1);
1071                                         dd.sub(p2);
1072                                         dir2.negate();
1073                                         updatePathLegNext(tcp1, u.updated, PathLegUpdateType.NONE);
1074                                         updatePathLegNext(tcp2, u.updated, PathLegUpdateType.NONE);
1075                                         if (!u.reversed)
1076                                                 updatePathLegNext(u.start, u.updated, PathLegUpdateType.NONE);
1077                                         else
1078                                                 updatePathLegPrev(u.start, u.updated, PathLegUpdateType.NONE);
1079                                 }
1080                         } else {
1081                                 triedIR = true;
1082                         }
1083                 }
1084
1085         }
1086
1087         private static double spaceForTurn(PipeControlPoint tcp) {
1088                 // TODO : this returns now space for 90 deg turn.
1089                 // The challenge: position of tcp affects the turn angle, which then affects the required space. Perhaps we need to iterate...
1090                 // Additionally, if the path legs contain offset, using just positions of opposite path leg ends is not enough,
1091                 return tcp.getPipeRun().getTurnRadius();
1092         }
1093
1094         private static void insertElbowUpdate(UpdateStruct2 u, PipeControlPoint dcp, PipeControlPoint next, boolean dcpStart, Vector3d position, Vector3d directedDirection) throws Exception{
1095
1096
1097 //              Vector3d closest = new Vector3d(position);
1098 //              closest.add(directedDirection);
1099
1100                 PipeControlPoint tcp = null;
1101                 Vector3d closest;
1102                 if (dcpStart) {
1103                         closest = MathTools.closestPointOnStraight(next.getWorldPosition(), position, directedDirection);
1104                         tcp = insertElbow(dcp, next, closest);
1105                 } else {
1106                         closest = MathTools.closestPointOnStraight(dcp.getWorldPosition(), position, directedDirection);
1107                         tcp = insertElbow(next, dcp, closest);
1108                 }
1109                 // TODO properly calculate required distance between start and inserted elbow.
1110                 double d = MathTools.distance(position, closest);
1111                 double s = spaceForTurn(tcp);
1112                 if (d < s)  {
1113                         d = s - d;
1114                         Vector3d p = new Vector3d(directedDirection);
1115                         p.scale(d);
1116                         p.add(closest);
1117                         tcp.setPosition(p);
1118                         closest = p;
1119                 }
1120
1121
1122
1123                 if (DEBUG)
1124                         System.out.println("PipingRules.updateDirectedPipeRun() inserted " + tcp);
1125
1126                 if (dcpStart) {
1127                         // update pipe run from new turn to other end
1128                         ppNoDir(tcp, new Vector3d(closest), u.list, u.end, u.endPoint, u.hasOffsets, u.iter, u.reversed, u.toRemove, u.updated);
1129                         // update pipe run from directed to new turn
1130                         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));
1131                 } else {
1132                         // update pipe run from other end to new turn
1133                         ppNoDir(u.start, u.startPoint, u.list, tcp, new Vector3d(closest), u.hasOffsets, u.iter, u.reversed, u.toRemove, u.updated);
1134                         // update pipe run from new turn to directed
1135                         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));
1136                 }
1137         }
1138
1139         /**
1140          * Checks if turns can be removed (turn angle near zero)
1141          */
1142         private static int checkTurns(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
1143                 if (DEBUG)
1144                         System.out.println("PipingRules.checkTurns() " + u.start + " " + u.end);
1145                 boolean startRemoved = false;
1146                 boolean endRemoved = false;
1147                 if (u.start.isVariableAngle()) {
1148                         // this won't work properly if inline control points are not updated
1149                         PipeControlPoint startPrev = u.start.getPrevious();
1150                         if (startPrev != null) {
1151                                 double a;
1152                                 if (!u.hasOffsets) {
1153                                         a = updateTurnControlPointTurn(u.start, startPrev, u.end);
1154                                 } else {
1155                                         Vector3d ep = new Vector3d(u.endPoint);
1156                                         ep.sub(u.offset);
1157                                         a = updateTurnControlPointTurn(u.start, u.startPoint, startPrev.getPosition(), ep);
1158
1159                                 }
1160                                 if (a < MIN_TURN_ANGLE && u.start.isDeletable())
1161                                         startRemoved = true;
1162                                 else if (lengthChange == PathLegUpdateType.PREV || lengthChange == PathLegUpdateType.PREV_S) {
1163                                         PathLegUpdateType type;
1164                                         if (lengthChange == PathLegUpdateType.PREV_S)
1165                                                 type = PathLegUpdateType.PREV;
1166                                         else
1167                                                 type = PathLegUpdateType.NONE;
1168                                         updatePathLegPrev(u.start, u.start, type);
1169                                 }
1170                         }
1171                 }
1172                 if (u.end.isVariableAngle()) {
1173
1174                         PipeControlPoint endNext = u.end.getNext();
1175                         if (endNext != null) {
1176                                 double a;
1177                                 if (!u.hasOffsets) {
1178                                         a = updateTurnControlPointTurn(u.end, u.start, endNext);
1179                                 } else {
1180                                         Vector3d sp = new Vector3d(u.startPoint);
1181                                         sp.add(u.offset);
1182                                         a = updateTurnControlPointTurn(u.end, u.endPoint, sp, endNext.getPosition());
1183                                 }
1184                                 if (a < MIN_TURN_ANGLE && u.end.isDeletable())
1185                                         endRemoved = true;
1186                                 else if (lengthChange == PathLegUpdateType.NEXT || lengthChange == PathLegUpdateType.NEXT_S) {
1187                                         PathLegUpdateType type;
1188                                         if (lengthChange == PathLegUpdateType.NEXT_S)
1189                                                 type = PathLegUpdateType.NEXT;
1190                                         else
1191                                                 type = PathLegUpdateType.NONE;
1192                                         updatePathLegNext(u.end, u.end, type);
1193                                 }
1194                         }
1195                 }
1196                 if (DEBUG)
1197                         System.out.println("PipingRules.checkTurns() res " + startRemoved + " " + endRemoved);
1198                 if (!startRemoved && !endRemoved)
1199                         return REMOVE_NONE;
1200                 if (startRemoved && endRemoved)
1201                         return REMOVE_BOTH;
1202                 if (startRemoved)
1203                         return REMOVE_START;
1204                 return REMOVE_END;
1205         }
1206
1207         /**
1208          * Expands piperun search over turns that are going to be removed
1209          *
1210          */
1211         private static void expandPathLeg(UpdateStruct2 u, int type) throws Exception {
1212                 if (DEBUG)
1213                         System.out.println("PipingRules.expandPipeline " + u.start + " " + u.end);
1214                 ArrayList<PipeControlPoint> newList = new ArrayList<PipeControlPoint>();
1215                 switch (type) {
1216                 case REMOVE_NONE:
1217                         throw new RuntimeException("Error in piping rules");
1218                 case REMOVE_START:
1219                         u.toRemove.add(new ExpandIterInfo(u.start, REMOVE_START));
1220                         u.start = u.start.findPreviousEnd();
1221                         u.startPoint = u.start.getPosition();
1222                         u.start.findNextEnd(newList);
1223                         newList.addAll(u.list);
1224                         u.list = newList;
1225                         break;
1226                 case REMOVE_END:
1227                         u.toRemove.add(new ExpandIterInfo(u.end, REMOVE_END));
1228                         u.end = u.end.findNextEnd(newList);
1229                         u.endPoint = u.end.getPosition();
1230                         u.list.addAll(newList);
1231                         break;
1232                 case REMOVE_BOTH:
1233                         u.toRemove.add(new ExpandIterInfo(u.start, u.end));
1234                         u.start = u.start.findPreviousEnd();
1235                         u.startPoint = u.start.getPosition();
1236                         u.start.findNextEnd(newList);
1237                         newList.addAll(u.list);
1238                         u.list = newList;
1239                         newList = new ArrayList<PipeControlPoint>();
1240                         u.end = u.end.findNextEnd(newList);
1241                         u.endPoint = u.end.getPosition();
1242                         u.list.addAll(newList);
1243                         break;
1244                 default:
1245                         throw new RuntimeException("Error in piping rules");
1246
1247                 }
1248                 u.offset = new Vector3d();
1249                 if (u.hasOffsets) {
1250                         u.dir.normalize();
1251                         for (PipeControlPoint icp : u.list) {
1252                                 if (icp.isOffset()) {
1253                                         u.offset.add(icp.getSizeChangeOffsetVector(u.dir));
1254                                 } else if (icp.isDualSub())
1255                                         ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
1256                         }
1257                 }
1258                 if (DEBUG)
1259                         System.out.println("PipingRules.expandPipeline expanded " + u.start + " " + u.end);
1260                 u.iter++;
1261                 updatePathLeg(u, PathLegUpdateType.NONE);
1262         }
1263
1264         /**
1265          * reverts one iteration of turn removing back)
1266          */
1267         private static void backIter(UpdateStruct2 u) throws Exception {
1268
1269                 if (DEBUG)
1270                         System.out.println("PipingRules.backIter" + u.start + " " + u.end);
1271                 if (u.iter == 0)
1272                         throw new RuntimeException("Error in piping rules");
1273                 ExpandIterInfo info = u.toRemove.get(u.toRemove.size() - 1);
1274                 u.toRemove.remove(u.toRemove.size() - 1);
1275                 if (info.getType() == REMOVE_START || info.getType() == REMOVE_BOTH) {
1276                         while (u.list.size() > 0) {
1277                                 PipeControlPoint icp = u.list.get(0);
1278                                 if (icp.getPrevious().equals(info.getStart()))
1279                                         break;
1280                                 u.list.remove(icp);
1281                         }
1282                         u.start = info.getStart();
1283                 }
1284                 if (info.getType() == REMOVE_END || info.getType() == REMOVE_BOTH) {
1285                         while (u.list.size() > 0) {
1286                                 PipeControlPoint icp = u.list.get(u.list.size() - 1);
1287                                 if (icp.getNext().equals(info.getEnd()))
1288                                         break;
1289                                 u.list.remove(icp);
1290                         }
1291                         u.end = info.getEnd();
1292                 }
1293                 u.offset = new Vector3d();
1294                 if (u.hasOffsets) {
1295                         u.dir.normalize();
1296                         for (PipeControlPoint icp : u.list) {
1297                                 if (icp.isOffset()) {
1298                                         u.offset.add(icp.getSizeChangeOffsetVector(u.dir));
1299                                 } else if (icp.isDualSub())
1300                                         ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
1301                         }
1302                 }
1303                 processPathLeg(u);
1304
1305         }
1306
1307         /**
1308          * Processes pipe run (removes necessary turns and updates run ends)
1309          */
1310         // private static void processPathLeg(PipeControlPoint start, Point3d
1311         // startPoint,ArrayList<InlineControlPoint> list, PipeControlPoint
1312         // end,Point3d endPoint, Vector3d dir,Vector3d offset, boolean
1313         // hasOffsets,int iter, boolean reversed, ArrayList<ExpandIterInfo>
1314         // toRemove) throws TransactionException {
1315
1316         private static void processPathLeg(UpdateStruct2 u) throws Exception {
1317                 if (DEBUG)
1318                         System.out.println("PipingRules.processPathLeg " + u.start + " " + u.end);
1319                 processPathLeg(u, true, true);
1320         }
1321
1322         private static void processPathLeg(UpdateStruct2 u, boolean updateEnds, boolean updateInline) throws Exception {
1323                 if (DEBUG)
1324                         System.out.println("PipingRules.processPathLeg " + (updateEnds ? "ends " : "") + (updateInline ? "inline " : "") + u.start + " " + u.end);
1325
1326                 if (u.toRemove.size() > 0) {
1327                         for (ExpandIterInfo info : u.toRemove) {
1328                                 if (info.getStart() != null) {
1329                                         if (DEBUG)
1330                                                 System.out.println("PipingRules.processPathLeg removing start " + info.getStart());
1331                                         info.getStart()._remove();
1332                                 }
1333                                 if (info.getEnd() != null) {
1334                                         if (DEBUG)
1335                                                 System.out.println("PipingRules.processPathLeg removing end " + info.getEnd());
1336                                         info.getEnd()._remove();
1337                                 }
1338                         }
1339                         // ControlPointTools.removeControlPoint may remove more than one CP;
1340                         // we must populate inline CP list again.
1341                         u.list.clear();
1342                         u.start.findNextEnd( u.list);
1343                 }
1344                 // FIXME : inline CPs are update twice because their positions must be
1345                 // updated before and after ends.
1346                 updateInlineControlPoints(u, false);
1347
1348                 if (updateEnds) {
1349                         if (u.start.isTurn()) {
1350                                 updateTurnControlPointTurn(u.start, u.start.getPrevious(), u.start.getNext());
1351 //                              updatePathLegPrev(u.start, u.start, PathLegUpdateType.NONE);
1352                         } else if (u.start.isEnd()) {
1353                                 updateEndComponentControlPoint(u.start, u.startPoint, u.endPoint);
1354                         } else if (u.start.isInline()) {
1355                                 updateControlPointOrientation(u.start);
1356                         }
1357                         if (u.end.isTurn()) {
1358                                 updateTurnControlPointTurn(u.end, u.end.getPrevious(), u.end.getNext());
1359 //                              updatePathLegNext(u.end, u.end, PathLegUpdateType.NONE);
1360                         } else if (u.end.isEnd()) {
1361                                 updateEndComponentControlPoint(u.end, u.startPoint, u.endPoint);
1362                         } else if (u.end.isInline()) {
1363                                 updateControlPointOrientation(u.end);
1364                         }
1365
1366                 } else {
1367                         if (u.start.isEnd()) {
1368                                 updateEndComponentControlPoint(u.start, u.startPoint, u.endPoint);
1369                         }
1370                         if (u.end.isEnd()) {
1371                                 updateEndComponentControlPoint(u.end, u.startPoint, u.endPoint);
1372                         }
1373                 }
1374                 if (updateInline)
1375                         updateInlineControlPoints(u, true);
1376
1377         }
1378
1379         /**
1380          * Processes pipe run and recalculates offset
1381          */
1382         // private static void processPathLeg(PipeControlPoint start, Point3d
1383         // startPoint,ArrayList<InlineControlPoint> list, PipeControlPoint
1384         // end,Point3d endPoint, Vector3d dir, boolean hasOffsets,int iter, boolean
1385         // reversed, ArrayList<ExpandIterInfo> toRemove) throws TransactionException
1386         // {
1387         private static void processPathLegNoOffset(UpdateStruct2 u) throws Exception {
1388                 if (DEBUG)
1389                         System.out.println("PipingRules.processPathLeg " + u.start + " " + u.end);
1390                 Vector3d offset = new Vector3d();
1391                 if (u.hasOffsets) {
1392                         u.dir.normalize();
1393                         for (PipeControlPoint icp : u.list) {
1394                                 if (icp.isOffset()) {
1395                                         offset.add(icp.getSizeChangeOffsetVector(u.dir));
1396                                 } else if (icp.isDualSub()) {
1397                                         ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
1398                                 }
1399                         }
1400                 }
1401                 processPathLeg(u);
1402         }
1403
1404         private static void updateOffsetPoint(PipeControlPoint sccp, Vector3d offset) {
1405                 Vector3d world = sccp.getWorldPosition();
1406                 world.add(offset);
1407                 PipeControlPoint ocp = sccp.getSubPoint().iterator().next();
1408                 ocp.setWorldPosition(world);
1409         }
1410
1411         /**
1412          * Updates InlineControlPoints position when straight pipe's end(s) have
1413          * been changed)
1414          *
1415          * @param pipeline
1416          * @param icp
1417          * @param nextPoint
1418          * @param prevPoint
1419          */
1420         private static void updateInlineControlPoint(PipeControlPoint icp, Vector3d prev, Vector3d next,  Vector3d dir) {
1421                 if (DEBUG)
1422                         System.out.println("PipingRules.updateInlineControlPoint() " + icp);
1423
1424                 Vector3d inlinePoint = icp.getWorldPosition();
1425                 Vector3d prevPoint = new Vector3d(prev);
1426                 Vector3d nextPoint = new Vector3d(next);
1427                 if (!icp.isVariableLength()) {
1428                         // Reserve space for fixed length components.
1429                         MathTools.mad(prevPoint, dir, icp.getInlineLength());
1430                         MathTools.mad(nextPoint, dir, -icp.getInlineLength());
1431                         if (MathTools.distance(prevPoint, nextPoint) < ALLOWED_OFFSET) {
1432                                 prevPoint = prev;
1433                                 nextPoint = next;
1434                         }
1435                 }
1436                 boolean canCalc = MathTools.distance(prevPoint, nextPoint) > ALLOWED_OFFSET;
1437                 if (DEBUG)
1438                         System.out.print("InlineControlPoint update " + icp + " " + inlinePoint + " " + prevPoint + " " + nextPoint);
1439                 Vector3d newInlinePoint = null;
1440                 if (canCalc) {
1441                         boolean branchUpdate = false;
1442                         PipeControlPoint becp = null;
1443                         for (PipeControlPoint pcp : icp.getSubPoint())
1444                                 if (pcp.isNonDirected()) {
1445                                         branchUpdate = true;
1446                                         becp = pcp;
1447                                         break;
1448                                 }
1449
1450                         if (DUMMY || !branchUpdate) {
1451                                 newInlinePoint = MathTools.closestPointOnEdge(new Vector3d(inlinePoint), prevPoint, nextPoint);
1452
1453                         } else {
1454
1455                                 // FIXME : can only handle one branch
1456                                 PipeControlPoint p = null;
1457                                 if (becp.getNext() != null) {
1458                                         p = becp.findNextEnd();
1459                                 } else if (becp.getPrevious() != null) {
1460                                         p = becp.findPreviousEnd();
1461                                 }
1462                                 if (p == null) {
1463                                         newInlinePoint = MathTools.closestPointOnEdge(new Vector3d(inlinePoint), prevPoint, nextPoint);
1464                                 } else if (canCalc){
1465                                         Vector3d branchLegEnd = p.getWorldPosition();
1466                                         Vector3d dir2 = new Vector3d(inlinePoint);
1467                                         dir2.sub(branchLegEnd);
1468                                         Vector3d dir1 = new Vector3d(nextPoint);
1469                                         dir1.sub(prevPoint);
1470                                         newInlinePoint = new Vector3d();
1471                                         double mu[] = new double[2];
1472                                         MathTools.intersectStraightStraight(new Vector3d(prevPoint), dir1, new Vector3d(branchLegEnd), dir2, newInlinePoint, new Vector3d(), mu);
1473                                         if (DEBUG)
1474                                                 System.out.println(mu[0]);
1475                                         // FIXME : reserve space
1476                                         if (mu[0] < 0.0) {
1477                                                 newInlinePoint = new Vector3d(prevPoint);
1478                                         } else if (mu[0] > 1.0) {
1479                                                 newInlinePoint = new Vector3d(nextPoint);
1480                                         }
1481                                 }
1482                         }
1483                 } else {
1484                         // prevPoint == nextPoint
1485                         newInlinePoint = new Vector3d(prevPoint);
1486                 }
1487                 if (DEBUG)
1488                         System.out.println(" " + newInlinePoint);
1489
1490                 icp.setWorldPosition(newInlinePoint);
1491                 updateControlPointOrientation(icp);
1492         }
1493
1494         /**
1495          * Updates InlineControlPoints position when straight pipe's end(s) have
1496          * been changed)
1497          *
1498          * @param pipeline
1499          * @param icp
1500          * @param nextPoint
1501          * @param prevPoint
1502          */
1503         private static void updateEndComponentControlPoint(PipeControlPoint ecp, Vector3d start, Vector3d end) throws Exception {
1504                 if (DEBUG)
1505                         System.out.println("PipingRules.updateEndComponentControlPoint() " + ecp);
1506                 // PipeControlPoint next = ecp.getNext();
1507                 // PipeControlPoint prev = ecp.getPrevious();
1508                 // if (next != null) {
1509                 // end = G3DTools.getPoint(next.getLocalPosition());
1510                 // start = G3DTools.getPoint(ecp.getLocalPosition());
1511                 // } else if (prev != null) {
1512                 // end = G3DTools.getPoint(ecp.getLocalPosition());
1513                 // start = G3DTools.getPoint(prev.getLocalPosition());
1514                 // } else {
1515                 // // TODO : warning?
1516                 // return;
1517                 // }
1518                 // Vector3d dir = new Vector3d (end);
1519                 // dir.sub(start);
1520                 // dir.normalize();
1521                 // G3DTools.setTuple(ecp.getDirection(), dir);
1522                 if (!ecp.isFixed())
1523                         updateControlPointOrientation(ecp);
1524
1525                 for (PipeControlPoint pcp : ecp.getSubPoint()) {
1526                         // TODO update position
1527                         updatePathLegEndControlPoint(pcp);
1528                 }
1529         }
1530
1531         private static void updateControlPointOrientation(PipeControlPoint pcp) {
1532                 // FIXME : hack to bypass variable length components orientation
1533 //              if (pcp.getAtMostOneRelatedObject(ProcessResource.g3dResource.HasWorldOrientation) == null)
1534 //                      return;
1535 //              if (pcp.rotationAngle == null)
1536 //                      return;
1537                 Double angleO = pcp.getRotationAngle();
1538                 double angle = 0.0;
1539                 if (angleO != null)
1540                         angle = angleO;
1541                 Boolean reversedO = pcp.getReversed();
1542                 boolean reversed = false;
1543                 if (reversedO != null)
1544                         reversed = reversedO;
1545                 Quat4d q = pcp.getControlPointOrientationQuat(angle, reversed);
1546                 pcp.setWorldOrientation(q);
1547         }
1548
1549         /**
1550          * Updates all branches when branch's position has been changed
1551          *
1552          * @param bcp
1553          */
1554         private static void updateBranchControlPointBranches(PipeControlPoint bcp) throws Exception {
1555                 if (DEBUG)
1556                         System.out.println("PipingRules.updateBranchControlPointBranches() " + bcp);
1557                 if (bcp.isDualInline())
1558                         return;
1559                 Collection<PipeControlPoint> branches = bcp.getSubPoint();
1560                 if (branches.size() == 0) {
1561                         if (DEBUG)
1562                                 System.out.println("No Branches found");
1563                         return;
1564                 }
1565
1566                 for (PipeControlPoint pcp : branches) {
1567                         updatePathLegEndControlPoint(pcp);
1568                 }
1569         }
1570
1571         /**
1572          * Recalculates turn control point's internal data (turn angle and offset)
1573          *
1574          * @param tcp
1575          * @param prev
1576          * @param next
1577          */
1578         private static double updateTurnControlPointTurn(PipeControlPoint tcp, PipeControlPoint prev, PipeControlPoint next) {
1579                 if (DEBUG)
1580                         System.out.println("PipingTools.updateTurnControlPointTurn()" + tcp);
1581
1582                 if (!tcp.isFixed()) {
1583                     if (next == null || prev == null)
1584                     return tcp.getTurnAngle();
1585                 Vector3d middlePoint = tcp.getWorldPosition();
1586                 Vector3d nextPoint = next.getWorldPosition();
1587                 Vector3d prevPoint = prev.getWorldPosition();
1588                 return updateTurnControlPointTurn(tcp, middlePoint, prevPoint, nextPoint);
1589                 } else {
1590                     // Verify that fixed turn is properly defined.
1591                     // TODO : when reversed flag is changed, rotation angle should be recalculated, otherwise the orientation will change.
1592                     // TODO : should reverse flag toggle to be done already when we are removing defining side?
1593                     if (prev != null && next != null) {
1594                         // Nothing to do
1595                     } else if (prev == null) {
1596                         if (!tcp._getReversed())
1597                             tcp.setReversed(true);
1598                     } else if (next == null) {
1599                         if (tcp._getReversed())
1600                             tcp.setReversed(false);
1601                     }
1602
1603                     Vector3d dir;
1604                     if (!tcp._getReversed()) {
1605                     if (prev == null)
1606                     return Math.PI; // FIXME : argh
1607
1608                     Vector3d middlePoint = tcp.getWorldPosition();
1609                     Vector3d prevPoint = prev.getWorldPosition();
1610                     dir = new Vector3d();
1611                     dir.sub(middlePoint, prevPoint);
1612
1613                     } else {
1614                         if (next == null)
1615                     return Math.PI; // FIXME : argh
1616
1617                 Vector3d middlePoint = tcp.getWorldPosition();
1618                 Vector3d nextPoint = next.getWorldPosition();
1619                 dir = new Vector3d();
1620                 dir.sub(middlePoint, nextPoint);
1621                     }
1622                     dir.normalize();
1623
1624             Quat4d q = PipeControlPoint.getControlPointOrientationQuat(dir, tcp.getRotationAngle() != null ? tcp.getRotationAngle() : 0.0);
1625             Vector3d v = new Vector3d();
1626             MathTools.rotate(q, MathTools.Y_AXIS,v);
1627             tcp.setTurnAxis(v);
1628             tcp.setWorldOrientation(q);
1629             return tcp.getTurnAngle();
1630                 }
1631         }
1632
1633         /**
1634          * Recalculates turn control point's internal data (turn angle and offset)
1635          *
1636          * @param tcp
1637          * @param middlePoint
1638          * @param nextPoint
1639          * @param prevPoint
1640          */
1641         private static double updateTurnControlPointTurn(PipeControlPoint tcp, Vector3d middlePoint, Vector3d prevPoint, Vector3d nextPoint) {
1642
1643                 Vector3d dir1 = new Vector3d(middlePoint);
1644                 dir1.sub(prevPoint);
1645                 Vector3d dir2 = new Vector3d(nextPoint);
1646                 dir2.sub(middlePoint);
1647                 if (DEBUG)
1648                         System.out.println("PipingTools.updateTurnControlPointTurn " + tcp + " " + prevPoint + " " + middlePoint + " " + nextPoint);
1649                 return updateTurnControlPointTurn(tcp, dir1, dir2);
1650         }
1651
1652         private static double updateTurnControlPointTurn(PipeControlPoint tcp, Vector3d dir1, Vector3d dir2) {
1653                 double turnAngle = dir1.angle(dir2);
1654
1655                 double angle = Math.PI - turnAngle;
1656
1657                 Vector3d turnAxis = new Vector3d();
1658                 turnAxis.cross(dir1, dir2);
1659                 if (turnAxis.lengthSquared() > MathTools.NEAR_ZERO) {
1660                         double elbowRadius = tcp.getPipelineComponent().getPipeRun().getTurnRadius();
1661                         double R = elbowRadius / Math.tan(angle * 0.5);
1662
1663                         turnAxis.normalize();
1664                         tcp.setTurnAngle(turnAngle);
1665                         tcp.setLength(R);// setComponentOffsetValue(R);
1666                         tcp.setTurnAxis(turnAxis);
1667 //                      tcp.setPosition(tcp.getPosition());
1668                 } else {
1669                         turnAngle = 0.0;
1670                         tcp.setTurnAngle(0.0);
1671                         tcp.setLength(0.0);
1672                         tcp.setTurnAxis(new Vector3d(MathTools.Y_AXIS));
1673                 }
1674                 updateControlPointOrientation(tcp);
1675                 if (DEBUG)
1676                         System.out.println("PipingTools.updateTurnControlPointTurn " + dir1 + " " + dir2 + " " + turnAngle + " " + turnAxis);
1677                 return turnAngle;
1678         }
1679
1680         public static List<PipeControlPoint> getControlPoints(PipeRun pipeRun) {
1681                 List<PipeControlPoint> list = new ArrayList<PipeControlPoint>();
1682                 if (pipeRun.getControlPoints().size() == 0)
1683                         return list;
1684                 PipeControlPoint pcp = pipeRun.getControlPoints().iterator().next();
1685                 while (pcp.getPrevious() != null) {
1686                         PipeControlPoint prev = pcp.getPrevious();
1687                         if (prev.getPipeRun() != pipeRun)
1688                                 break;
1689                         pcp = prev;
1690                 }
1691                 if (pcp.isDualSub()) {
1692                         pcp = pcp.getParentPoint();
1693                 }
1694                 list.add(pcp);
1695                 while (pcp.getNext() != null) {
1696                         pcp = pcp.getNext();
1697                         if (pcp.getPipeRun() != pipeRun)
1698                                 break;
1699                         list.add(pcp);
1700                 }
1701                 return list;
1702         }
1703
1704         public static void reverse(PipeRun pipeRun) {
1705                 List<PipeControlPoint> list = getControlPoints(pipeRun);
1706                 if (list.size() <= 1)
1707                         return; // nothing to do.
1708
1709                 for (int i = 0 ; i < list.size(); i++) {
1710                         boolean first = i == 0;
1711                         boolean last = i == list.size() - 1;
1712                         PipeControlPoint current = list.get(i);
1713                         PipeControlPoint currentSub = null;
1714                         if (current.isDualInline())
1715                                 currentSub = current.getSubPoint().get(0);
1716                         if (first) {
1717                                 PipeControlPoint next = list.get(i+1);
1718                                 if (next.isDualInline())
1719                                         next = next.getSubPoint().get(0);
1720                                 current.setNext(null);
1721                                 current.setPrevious(next);
1722                                 if (currentSub != null) {
1723                                         currentSub.setNext(null);
1724                                         currentSub.setPrevious(next);
1725                                 }
1726                         } else if (last) {
1727                                 PipeControlPoint prev = list.get(i-1);
1728
1729                                 current.setPrevious(null);
1730                                 current.setNext(prev);
1731
1732                                 if (currentSub != null) {
1733                                         currentSub.setPrevious(null);
1734                                         currentSub.setNext(prev);
1735                                 }
1736                         } else {
1737                                 PipeControlPoint prev = list.get(i-1);
1738                                 PipeControlPoint next = list.get(i+1);
1739                                 if (next.isDualInline())
1740                                         next = next.getSubPoint().get(0);
1741
1742
1743                                 current.setPrevious(next);
1744                                 current.setNext(prev);
1745
1746                                 if (currentSub != null) {
1747                                         currentSub.setPrevious(next);
1748                                         currentSub.setNext(prev);
1749                                 }
1750
1751                         }
1752                         if (current.isTurn() && current.isFixed()) {
1753                             current.setReversed(!current._getReversed());
1754                         }
1755                         if (current.isInline() && current.isReverse()) {
1756                             current.setReversed(!current._getReversed());
1757                         }
1758                 }
1759         }
1760
1761         public static void merge(PipeRun run1, PipeRun r2) {
1762                 Map<PipeControlPoint, Vector3d> positions = new HashMap<PipeControlPoint, Vector3d>();
1763                 Map<PipeControlPoint, Quat4d> orientations = new HashMap<PipeControlPoint, Quat4d>();
1764                 for (PipeControlPoint pcp : r2.getControlPoints()) {
1765                         positions.put(pcp, pcp.getWorldPosition());
1766                         orientations.put(pcp, pcp.getWorldOrientation());
1767                 }
1768                 for (PipeControlPoint pcp : r2.getControlPoints()) {
1769                         r2.deattachChild(pcp);
1770                         run1.addChild(pcp);
1771                         PipelineComponent component = pcp.getPipelineComponent();
1772                         if (component != null) {
1773                                 if (!(component instanceof Nozzle)) {
1774                                         component.deattach();
1775                                         run1.addChild(component);
1776                                 } else {
1777                                         Nozzle n = (Nozzle)component;
1778                                         n.setPipeRun(run1);
1779                                 }
1780                         }
1781                 }
1782                 r2.remove();
1783
1784         }
1785
1786         public static void validate(PipeRun pipeRun) {
1787                 if (pipeRun == null)
1788                         return;
1789                 Collection<PipeControlPoint> pcps = pipeRun.getControlPoints();
1790                 int count = 0;
1791                 //System.out.println("Validate " + pipeRun.getName());
1792                 for (PipeControlPoint pcp : pcps) {
1793                         if (pcp.getParentPoint() == null || pcp.getParentPoint().getPipeRun() != pipeRun)
1794                                 count++;
1795                 }
1796                 List<PipeControlPoint> runPcps = getControlPoints(pipeRun);
1797                 if (runPcps.size() != count) {
1798                         System.out.println("Run " + pipeRun.getName() + " contains unconnected control points");
1799                 }
1800                 for (PipeControlPoint pcp : pcps) {
1801                         if (!pcp.isDirected() && pcp.getNext() == null && pcp.getPrevious() == null)
1802                                 System.out.println("Orphan undirected " + pcp);
1803                 }
1804                 for (PipeControlPoint pcp : pcps) {
1805                         if (pcp.getParentPoint() == null) {
1806                                 PipeControlPoint sub = null;
1807                                 if (pcp.isDualInline())
1808                                         sub = pcp.getSubPoint().get(0);
1809                                 PipeControlPoint next = pcp.getNext();
1810                                 PipeControlPoint prev = pcp.getPrevious();
1811                                 if (next != null) {
1812                                         if (!(next.getPrevious() == pcp || next.getPrevious() == sub)) {
1813                                                 System.out.println("Inconsistency between " + pcp + " -> " +next );
1814                                         }
1815                                 }
1816                                 if (prev != null) {
1817                                         PipeControlPoint prevParent = null;
1818                                         if (prev.isDualSub()) {
1819                                                 prevParent = prev.getParentPoint();
1820                                         } else if (prev.isDualInline()) {
1821                                                 System.out.println("Inconsistency between " + pcp + " <-- " +prev );
1822                                         }
1823                                         if (!(prev.getNext() == pcp && (prevParent == null || prevParent.getNext() == pcp))) {
1824                                                 System.out.println("Inconsistency between " + pcp + " <-- " +prev );
1825                                         }
1826                                 }
1827                         }
1828                 }
1829         }
1830
1831         public static void splitVariableLengthComponent(PipelineComponent newComponent, InlineComponent splittingComponent, boolean assignPos) throws Exception{
1832                 assert(!splittingComponent.getControlPoint().isFixed());
1833                 assert(!(newComponent instanceof  InlineComponent && !newComponent.getControlPoint().isFixed()));
1834                 PipeControlPoint newCP = newComponent.getControlPoint();
1835                 PipeControlPoint splittingCP = splittingComponent.getControlPoint();
1836                 PipeControlPoint nextCP = splittingCP.getNext();
1837                 PipeControlPoint prevCP = splittingCP.getPrevious();
1838
1839                 /* there are many different cases to insert new component when
1840                    it splits existing VariableLengthinlineComponent.
1841
1842                1. VariableLengthComponet is connected from both sides:
1843                   - insert new component between VariableLength component and component connected to it
1844                   - insert new VariableLengthComponent between inserted component and component selected in previous step
1845
1846                    2. VariableLengthComponent is connected from one side
1847                      - Use previous case or:
1848                      - Insert new component to empty end
1849                      - Insert new VariableLength component to inserted components empty end
1850
1851                    3. VariableLength is not connected to any component.
1852                      - Should not be possible, at least in current implementation.
1853                      - Could be done using second case
1854
1855                 */
1856
1857                 if (nextCP == null && prevCP == null) {
1858                         // this should not be possible
1859                         throw new RuntimeException("VariableLengthComponent " + splittingComponent + " is not connected to anything.");
1860                 }
1861                 double reservedLength = splittingComponent.getControlPoint().getLength();
1862                 double newLength = newComponent.getControlPoint().getLength();
1863
1864
1865                 Point3d next = new Point3d();
1866                 Point3d prev = new Point3d();
1867                 splittingCP.getInlineControlPointEnds(prev, next);
1868
1869                 Vector3d newPos = null;
1870                 if (assignPos) {
1871                         newPos = new Vector3d(prev);
1872                         Vector3d dir = new Vector3d(next);
1873                         dir.sub(prev);
1874                         dir.scale(0.5);
1875                         newPos.add(dir);
1876                         newComponent.setWorldPosition(newPos);
1877                 } else {
1878                         newPos = newComponent.getWorldPosition();
1879                 }
1880
1881
1882
1883                 Vector3d dir = new Vector3d(next);
1884                 dir.sub(prev);
1885                 dir.normalize();
1886                 dir.scale(newLength * 0.5);
1887                 Point3d vn = new Point3d(newPos);
1888                 Point3d vp = new Point3d(newPos);
1889                 vn.add(dir);
1890                 vp.sub(dir);
1891                 double ln = vn.distance(next);
1892                 double lp = vp.distance(prev);
1893                 vp.interpolate(prev, 0.5);
1894                 vn.interpolate(next, 0.5);
1895
1896
1897                 PipeControlPoint newVariableLengthCP = null;//insertStraight(pcp1, pcp2, pos, length);
1898                 if (nextCP == null) {
1899                         newCP.insert(splittingCP, Direction.NEXT);
1900                         newVariableLengthCP = insertStraight(newCP, Direction.NEXT, new Vector3d(vn), ln);
1901                         splittingCP.setWorldPosition(new Vector3d(vp));
1902 //                      ControlPointTools.setWorldPosition(splittingCP, vp);
1903 //                      splittingCP.setRelatedScalarDouble(ProcessResource.plant3Dresource.HasLength, lp);
1904                 } else if (prevCP == null) {
1905                         newCP.insert(splittingCP, Direction.PREVIOUS);
1906                         newVariableLengthCP = insertStraight(newCP, Direction.PREVIOUS, new Vector3d(vp), lp);
1907                         splittingCP.setWorldPosition(new Vector3d(vn));
1908 //                      splittingCP.setRelatedScalarDouble(ProcessResource.plant3Dresource.HasLength, ln);
1909                 } else {
1910                         newCP.insert(splittingCP, nextCP);
1911                         newVariableLengthCP = insertStraight(newCP, nextCP, new Vector3d(vn), ln);
1912                         splittingCP.setWorldPosition(new Vector3d(vp));
1913 //                      splittingCP.setRelatedScalarDouble(ProcessResource.plant3Dresource.HasLength, lp);
1914                 }
1915                 positionUpdate(newCP);
1916
1917         }
1918
1919         public static void addSizeChange(boolean reversed, PipeRun pipeRun, PipeRun other, InlineComponent reducer, PipeControlPoint previous, PipeControlPoint next) {
1920                 PipeControlPoint pcp = reducer.getControlPoint();
1921                 PipeControlPoint ocp = pcp.getSubPoint().get(0);
1922                 if (!reversed) {
1923                         String name = pipeRun.getUniqueName("Reducer");
1924                         reducer.setName(name);
1925                         pipeRun.addChild(reducer);
1926                         other.addChild(ocp);
1927                         reducer.setAlternativePipeRun(other);
1928
1929                         previous.setNext(pcp);
1930                         pcp.setPrevious(previous);
1931                         ocp.setPrevious(previous);
1932                         if (next != null) {
1933                                 pcp.setNext(next);
1934                                 ocp.setNext(next);
1935                                 next.setPrevious(ocp);
1936                         }
1937                 } else {
1938                         String name = other.getUniqueName("Reducer");
1939                         reducer.setName(name);
1940                         other.addChild(reducer);
1941                         pipeRun.addChild(ocp);
1942                         reducer.setAlternativePipeRun(pipeRun);
1943
1944                         if (next != null) {
1945                                 next.setNext(pcp);
1946                                 pcp.setPrevious(next);
1947                                 ocp.setPrevious(next);
1948                         }
1949                         pcp.setNext(previous);
1950                         ocp.setNext(previous);
1951                         previous.setPrevious(ocp);
1952                 }
1953         }
1954 }