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 (!PipingRules.enabled)
  55                 return;
  56                 if (DEBUG) System.out.println("PipingRules request " + pcp);
  57                 synchronized (updateMutex) {
  58                         if (!requestUpdates.contains(pcp))
  59                                 requestUpdates.add(pcp);
  60                 }
  61         }
  62
  63         public static boolean update() throws Exception {
  64             if (!PipingRules.enabled)
  65                 return false;
  66
  67                 if (requestUpdates.size() == 0)
  68                         return false;
  69
  70                 List<PipeControlPoint> temp = new ArrayList<PipeControlPoint>(requestUpdates.size());
  71                 synchronized(updateMutex) {
  72                         temp.addAll(requestUpdates);
  73                         requestUpdates.clear();
  74                 }
  75                 synchronized (ruleMutex) {
  76                         currentUpdates.clear();
  77                         currentUpdates.addAll(temp);
  78                         // TODO : we should remove already processed control points from currentUpdates after each _positionUpdate call.
  79                         for (PipeControlPoint pcp : currentUpdates)
  80                                 _positionUpdate(pcp, true);
  81                         currentUpdates.clear();
  82                 }
  83                 synchronized(updateMutex) {
  84                         requestUpdates.removeAll(temp);
  85                 }
  86
  87                 return true;
  88         }
  89
  90         public static boolean positionUpdate(PipeControlPoint pcp) throws Exception {
  91
  92                 return positionUpdate(pcp, true);
  93         }
  94
  95         public static boolean positionUpdate(PipeControlPoint pcp, boolean allowIR) throws Exception {
  96                 synchronized (ruleMutex) {
  97                         currentUpdates.add(pcp);
  98                         boolean b = _positionUpdate(pcp, allowIR);
  99                         currentUpdates.clear();
 100                         return b;
 101                 }
 102
 103         }
 104
 105         private static boolean _positionUpdate(PipeControlPoint pcp, boolean allowIR) throws Exception {
 106                 if (updating || !enabled)
 107                         return true;
 108                 if (pcp.getPipeRun() == null)
 109                         return false;
 110                 try {
 111                         if (DEBUG) System.out.println("PipingRules " + pcp);
 112                         updating = true;
 113                         allowInsertRemove = allowIR;
 114                         triedIR = false;
 115                         validate(pcp.getPipeRun());
 116                         if (pcp.isPathLegEnd()) {
 117                                 updatePathLegEndControlPoint(pcp); // FIXME: Rules won't work properly, if they are not run twice.
 118                                 updatePathLegEndControlPoint(pcp);
 119                         } else {
 120                                 updateInlineControlPoint(pcp);
 121                                 updateInlineControlPoint(pcp);
 122                         }
 123                         validate(pcp.getPipeRun());
 124                         if (!allowInsertRemove)
 125                                 return !triedIR;
 126                         return true;
 127                 } finally {
 128                         updating = false;
 129 //                      System.out.println("PipingRules done " + pcp);
 130                 }
 131         }
 132
 133         public static void setEnabled(boolean enabled) {
 134                 PipingRules.enabled = enabled;
 135                 if(!enabled)
 136                         currentUpdates.clear();
 137         }
 138
 139         public static boolean isEnabled() {
 140                 return enabled;
 141         }
 142
 143 //      private void commit() {
 144 //              root.getNodeMap().commit();
 145 //      }
 146
 147         public static class ExpandIterInfo {
 148                 // these two are turn control points
 149                 private PipeControlPoint start;
 150                 private PipeControlPoint end;
 151                 private int type;
 152
 153                 public ExpandIterInfo() {
 154
 155                 }
 156
 157                 public ExpandIterInfo(PipeControlPoint tcp, int type) {
 158                         if (type == REMOVE_START)
 159                                 start = tcp;
 160                         else
 161                                 end = tcp;
 162                         this.type = type;
 163                 }
 164
 165                 public ExpandIterInfo(PipeControlPoint start, PipeControlPoint end) {
 166                         this.start = start;
 167                         this.end = end;
 168                         this.type = REMOVE_BOTH;
 169                 }
 170
 171                 public PipeControlPoint getEnd() {
 172                         return end;
 173                 }
 174
 175                 public void setEnd(PipeControlPoint end) {
 176                         this.end = end;
 177                 }
 178
 179                 public PipeControlPoint getStart() {
 180                         return start;
 181                 }
 182
 183                 public void setStart(PipeControlPoint start) {
 184                         this.start = start;
 185                 }
 186
 187                 public int getType() {
 188                         return type;
 189                 }
 190
 191                 public void setType(int type) {
 192                         this.type = type;
 193                 }
 194
 195         }
 196
 197         private static void updatePathLegEndControlPoint(PipeControlPoint pcp) throws Exception {
 198                 if (DEBUG)
 199                         System.out.println("PipingRules.updatePathLegEndControlPoint() " + pcp);
 200                 if (pcp.getNext() != null) {
 201                         updatePathLegNext(pcp, pcp, PathLegUpdateType.NEXT_S);
 202                 }
 203                 if (pcp.getPrevious() != null) {
 204                         updatePathLegPrev(pcp, pcp, PathLegUpdateType.PREV_S);
 205                 }
 206
 207         }
 208
 209         private static void updateInlineControlPoint(PipeControlPoint pcp) throws Exception {
 210                 if (DEBUG)
 211                         System.out.println("PipingRules.updateInlineControlPoint() " + pcp);
 212                 PipeControlPoint start = pcp.findPreviousEnd();
 213                 updatePathLegNext(start, pcp, PathLegUpdateType.NONE);
 214         }
 215
 216         private static PipeControlPoint insertElbow(PipeControlPoint pcp1, PipeControlPoint pcp2, Vector3d pos) throws Exception{
 217                 if (DEBUG)
 218                         System.out.println("PipingRules.insertElbow() " + pcp1 + " " + pcp2 + " " + pos);
 219                 if (pcp1.getNext() == pcp2 && pcp2.getPrevious() == pcp1) {
 220
 221                 } else if (pcp1.getNext() == pcp2 && pcp1.isDualInline() && pcp2.getPrevious() == pcp1.getSubPoint().get(0)) {
 222                         pcp1 = pcp1.getSubPoint().get(0);
 223                 } else if (pcp1.getPrevious() == pcp2 && pcp2.getNext() == pcp1) {
 224                         PipeControlPoint t = pcp1;
 225                         pcp1 = pcp2;
 226                         pcp2 = t;
 227                 } else if (pcp2.isDualInline() && pcp1.getPrevious() == pcp2.getSubPoint().get(0) && pcp2.getNext() == pcp1) {
 228                         PipeControlPoint t = pcp1;
 229                         pcp1 = pcp2.getSubPoint().get(0);
 230                         pcp2 = t;
 231                 } else {
 232                         throw new RuntimeException();
 233                 }
 234                 TurnComponent elbow = ComponentUtils.createTurn((P3DRootNode)pcp1.getRootNode());
 235                 PipeControlPoint pcp = elbow.getControlPoint();
 236                 if (pcp1.isDualInline())
 237                         pcp1 = pcp1.getSubPoint().get(0);
 238                 String name = pcp1.getPipeRun().getUniqueName("Elbow");
 239                 elbow.setName(name);
 240                 pcp1.getPipeRun().addChild(elbow);
 241
 242                 pcp.insert(pcp1, pcp2);
 243
 244                 pcp.setWorldPosition(pos);
 245                 validate(pcp.getPipeRun());
 246                 return pcp;
 247         }
 248
 249         private static PipeControlPoint insertStraight(PipeControlPoint pcp1, PipeControlPoint pcp2, Vector3d pos, double length) throws Exception {
 250                 if (DEBUG)
 251                         System.out.println("PipingRules.insertStraight() " + pcp1 + " " + pcp2 + " " + pos);
 252                 if (pcp1.getNext() == pcp2 && pcp2.getPrevious() == pcp1) {
 253
 254                 } else if (pcp1.getNext() == pcp2 && pcp1.isDualInline() && pcp2.getPrevious() == pcp1.getSubPoint().get(0)) {
 255                         pcp1 = pcp1.getSubPoint().get(0);
 256                 } else if (pcp1.getPrevious() == pcp2 && pcp2.getNext() == pcp1) {
 257                         PipeControlPoint t = pcp1;
 258                         pcp1 = pcp2;
 259                         pcp2 = t;
 260                 } else if (pcp2.isDualInline() && pcp1.getPrevious() == pcp2.getSubPoint().get(0) && pcp2.getNext() == pcp1) {
 261                         PipeControlPoint t = pcp1;
 262                         pcp1 = pcp2.getSubPoint().get(0);
 263                         pcp2 = t;
 264                 } else {
 265                         throw new RuntimeException();
 266                 }
 267                 InlineComponent component = ComponentUtils.createStraight((P3DRootNode)pcp1.getRootNode());
 268                 PipeControlPoint scp = component.getControlPoint();
 269                 if (pcp1.isDualInline())
 270                         pcp1 = pcp1.getSubPoint().get(0);
 271                 String name = pcp1.getPipeRun().getUniqueName("Pipe");
 272                 component.setName(name);
 273                 pcp1.getPipeRun().addChild(component);
 274
 275                 scp.insert(pcp1, pcp2);
 276
 277                 scp.setWorldPosition(pos);
 278                 scp.setLength(length);
 279                 validate(scp.getPipeRun());
 280                 return scp;
 281         }
 282
 283         private static PipeControlPoint insertStraight(PipeControlPoint pcp, Direction direction , Vector3d pos, double length) throws Exception {
 284                 if (DEBUG)
 285                         System.out.println("PipingRules.insertStraight() " + pcp + " " + direction + " " + pos);
 286
 287                 InlineComponent component = ComponentUtils.createStraight((P3DRootNode)pcp.getRootNode());
 288                 PipeControlPoint scp = component.getControlPoint();
 289                 if (pcp.isDualInline() && direction == Direction.NEXT)
 290                         pcp = pcp.getSubPoint().get(0);
 291                 String name = pcp.getPipeRun().getUniqueName("Pipe");
 292                 component.setName(name);
 293                 pcp.getPipeRun().addChild(component);
 294
 295                 scp.insert(pcp,direction);
 296
 297                 scp.setWorldPosition(pos);
 298                 scp.setLength(length);
 299                 validate(scp.getPipeRun());
 300                 return scp;
 301         }
 302
 303         private static void updatePathLegNext(PipeControlPoint start, PipeControlPoint updated, PathLegUpdateType lengthChange) throws Exception {
 304
 305                 UpdateStruct2 us = createUS(start, Direction.NEXT, 0, new ArrayList<ExpandIterInfo>(), updated);
 306                 if (lengthChange == PathLegUpdateType.NONE) {
 307                         if (start.equals(updated))
 308                                 lengthChange = PathLegUpdateType.NEXT;
 309                         else if (us.end.equals(updated))
 310                                 lengthChange = PathLegUpdateType.PREV;
 311                 }
 312                 if (us == null) {
 313                     System.out.println("Null update struct " + start);
 314                     return;
 315                 }
 316                 updatePathLeg(us, lengthChange);
 317         }
 318
 319         private static void updatePathLegPrev(PipeControlPoint start, PipeControlPoint updated, PathLegUpdateType lengthChange) throws Exception {
 320                 // TODO: this method is not symmetric with updatePathLegNext, which may alter lengthChange parameter?
 321                 UpdateStruct2 us = createUS(start, Direction.PREVIOUS, 0, new ArrayList<ExpandIterInfo>(), updated);
 322 //        if (lengthChange == PathLegUpdateType.NONE) {
 323 //            if (start.equals(updated))
 324 //                lengthChange = PathLegUpdateType.NEXT;
 325 //            else if (us.end.equals(updated))
 326 //                lengthChange = PathLegUpdateType.PREV;
 327 //        }
 328                 if (us == null) {
 329             System.out.println("Null update struct " + start);
 330             return;
 331         }
 332                 updatePathLeg(us, lengthChange);
 333         }
 334
 335         private static class UpdateStruct2 {
 336                 public PipeControlPoint start;
 337                 public Vector3d startPoint;
 338                 public ArrayList<PipeControlPoint> list;
 339                 public PipeControlPoint end;
 340                 public Vector3d endPoint;
 341                 public Vector3d dir;
 342                 public Vector3d offset;
 343                 public boolean hasOffsets;
 344                 public int iter;
 345                 public boolean reversed;
 346                 public ArrayList<ExpandIterInfo> toRemove;
 347                 public PipeControlPoint updated;
 348
 349                 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) {
 350                         if (start == null || end == null)
 351                                 throw new NullPointerException();
 352                         this.start = start;
 353                         this.startPoint = startPoint;
 354                         this.list = list;
 355                         this.end = end;
 356                         this.endPoint = endPoint;
 357                         this.dir = dir;
 358                         this.offset = offset;
 359                         this.hasOffsets = hasOffsets;
 360                         this.iter = iter;
 361                         this.reversed = reversed;
 362                         this.toRemove = toRemove;
 363                         this.updated = updated;
 364
 365                         if (!MathTools.isValid(startPoint) ||
 366                                 !MathTools.isValid(endPoint) ||
 367                                 !MathTools.isValid(dir)) {
 368                                 throw new RuntimeException();
 369                         }
 370                 }
 371
 372                 public String toString() {
 373                         return start + " " + end+ " " + dir + " " + hasOffsets + " " + offset + " " + iter + " " + toRemove.size();
 374                 }
 375
 376         }
 377
 378         private static boolean calculateOffset(Vector3d startPoint, Vector3d endPoint, ArrayList<PipeControlPoint> list, Vector3d dir, Vector3d offset) {
 379                 boolean hasOffsets = false;
 380                 List<PipeControlPoint> offsets = new ArrayList<PipeControlPoint>(list.size());
 381                 for (PipeControlPoint icp : list) {
 382                         if (icp.isOffset()) {
 383                                 offsets.add(icp);
 384                         } else if (icp.isDualSub())
 385                                 ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
 386                 }
 387                 if (offsets.size() == 0) {
 388                         dir.set(endPoint);
 389                         dir.sub(startPoint);
 390                         double l = dir.lengthSquared();
 391                         if (l > MathTools.NEAR_ZERO)
 392                                 dir.scale(1.0/Math.sqrt(l));
 393                         offset.set(0.0, 0.0, 0.0);
 394                         return false;
 395                 } else {
 396                         Vector3d sp = new Vector3d(startPoint);
 397                         Point3d ep = new Point3d(endPoint);
 398                         dir.set(ep);
 399                         dir.sub(sp);
 400                         double l = dir.lengthSquared();
 401                         if (l > MathTools.NEAR_ZERO)
 402                                 dir.scale(1.0/Math.sqrt(l));
 403                         int iter = 100;
 404                         while (iter >= 0) {
 405                                 iter--;
 406                                 offset.set(0.0, 0.0, 0.0);
 407
 408                                 for (PipeControlPoint icp : offsets) {
 409                                         Vector3d v = icp.getSizeChangeOffsetVector(dir);
 410                                         offset.add(v);
 411                                 }
 412                                 Point3d nep = new Point3d(endPoint);
 413                                 nep.sub(offset);
 414                                 if (nep.distance(ep) < 0.0000000001) {
 415                                         break;
 416                                 }
 417                                 ep = nep;
 418                                 dir.set(ep);
 419                                 dir.sub(sp);
 420                                 l = dir.lengthSquared();
 421                                 if (l > MathTools.NEAR_ZERO)
 422                                         dir.scale(1.0/Math.sqrt(l));
 423                         }
 424                         hasOffsets = true;
 425                 }
 426
 427                 if (DEBUG && hasOffsets)
 428                         System.out.println("calcOffset s:"+ startPoint + " e:" + endPoint + " d:" + dir + " o:"+offset) ;
 429                 return hasOffsets;
 430         }
 431
 432         private static UpdateStruct2 createUS(PipeControlPoint start, Direction direction, int iter, ArrayList<ExpandIterInfo> toRemove, PipeControlPoint updated) {
 433                 ArrayList<PipeControlPoint> list = new ArrayList<PipeControlPoint>();
 434                 PipeControlPoint end = null;
 435                 if (direction == Direction.NEXT) {
 436                         end = start.findNextEnd(list);
 437                 } else {
 438                         ArrayList<PipeControlPoint> prevList = new ArrayList<PipeControlPoint>();
 439                         PipeControlPoint tend = start.findPreviousEnd(prevList);
 440                         for (PipeControlPoint icp : prevList) {
 441                                 if (icp.isDualSub()) {
 442                                         list.add(0, icp.getParentPoint());
 443                                 } else {
 444                                         list.add(0, icp);
 445                                 }
 446                         }
 447                         end = start;
 448                         start = tend;
 449                 }
 450                 if (start == end)
 451                         return null;
 452                 boolean hasOffsets = false;
 453                 Vector3d offset = new Vector3d();
 454                 Vector3d startPoint = start.getWorldPosition();
 455                 Vector3d endPoint = end.getWorldPosition();
 456                 Vector3d dir = new Vector3d();
 457                 hasOffsets = calculateOffset(startPoint, endPoint, list, dir, offset);
 458                 return new UpdateStruct2(start, startPoint, list, end, endPoint, dir, offset, hasOffsets, iter, direction == Direction.PREVIOUS, toRemove, updated);
 459         }
 460
 461         private static boolean asDirected(PipeControlPoint pcp, Direction direction) {
 462                 if (pcp.isDirected())
 463                         return true;
 464                 if (pcp.asFixedAngle()) {
 465                         if (!pcp._getReversed())
 466                                 return direction == Direction.NEXT;
 467                         else
 468                                 return direction == Direction.PREVIOUS;
 469                 }
 470                 return false;
 471         }
 472
 473         private static Vector3d direction(PipeControlPoint pcp, Direction direction) {
 474                 return pcp.getDirection(direction);
 475         }
 476
 477         private static void updatePathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
 478                 int directed = 0;
 479                 if (asDirected(u.start, Direction.NEXT))
 480                         directed++;
 481                 if (asDirected(u.end, Direction.PREVIOUS))
 482                         directed++;
 483                 switch (directed) {
 484                 case 0:
 485                         updateFreePathLeg(u, lengthChange);
 486                         break;
 487                 case 1:
 488                         updateDirectedPathLeg(u, lengthChange);
 489                         break;
 490                 case 2:
 491                         updateDualDirectedPathLeg(u, lengthChange);
 492                         break;
 493                 }
 494
 495         }
 496
 497         private static void updateFreePathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
 498                 if (DEBUG)
 499                         System.out.println("PipingRules.updateFreePipeRun " + u + " " + lengthChange);
 500                 checkExpandPathLeg(u, lengthChange);
 501                 if (u.start.isInline() || u.end.isInline() || u.start.asFixedAngle()|| u.end.asFixedAngle())
 502                         processPathLeg(u, true, false);
 503         }
 504
 505         private static void updateInlineControlPoints(UpdateStruct2 u, boolean checkSizes) throws Exception{
 506                 if (DEBUG)
 507                         System.out.println("PipingRules.updateInlineControlPoints() " + u);
 508
 509                 Vector3d start = new Vector3d(u.startPoint);
 510                 Vector3d end = new Vector3d(u.endPoint);
 511
 512                 if (checkSizes) {
 513                         // create offsets for leg ends.
 514                         MathTools.mad(start, u.dir, u.start.getInlineLength());
 515                         MathTools.mad(end, u.dir, -u.end.getInlineLength());
 516                 }
 517
 518                 boolean recalcline = false;
 519                 if (!u.hasOffsets) {
 520
 521
 522                         for (PipeControlPoint icp : u.list) {
 523                                 updateInlineControlPoint(icp, start, end, u.dir);
 524
 525                                 if (icp.isOffset()) {
 526                                         // TODO : offset vector is already calculated and should be cached
 527                                         Vector3d off = icp.getSizeChangeOffsetVector(u.dir);
 528                                         updateOffsetPoint(icp, off);
 529                                 }
 530                         }
 531                         if (!checkSizes)
 532                                 return;
 533
 534                         ArrayList<PipeControlPoint> pathLegPoints = new ArrayList<PipeControlPoint>();
 535                         pathLegPoints.add(u.start);
 536                         for (PipeControlPoint icp : u.list) {
 537                                 // updateInlineControlPoint(icp, u.startPoint,
 538                                 // u.endPoint,u.dir);
 539                                 updateBranchControlPointBranches(icp);
 540                                 pathLegPoints.add(icp);
 541                         }
 542                         pathLegPoints.add(u.end);
 543
 544                         // TODO : values can be cached in the loop
 545                         for (int i = 0; i < pathLegPoints.size(); i++) {
 546                                 PipeControlPoint icp = pathLegPoints.get(i);
 547
 548                                 PipeControlPoint prev = i > 0 ? pathLegPoints.get(i - 1) : null;
 549                                 PipeControlPoint next = i < pathLegPoints.size() - 1 ? pathLegPoints.get(i + 1) : null;
 550
 551                                 if (icp.isVariableLength()) {
 552                                         if (prev != null && next != null) {
 553
 554                                                 recalcline = recalcline | updateVariableLength(icp,  prev, next);
 555
 556                                         } else {
 557                                                 // this is variable length component at the end of the
 558                                                 // piperun.
 559                                                 // the problem is that we want to keep unconnected end
 560                                                 // of the component in the same
 561                                                 // place, but center of the component must be moved.
 562                                                 updateVariableLengthEnd(icp, prev != null ? prev : next);
 563                                         }
 564
 565
 566                                 } else if (prev != null && !prev.isVariableLength()) {
 567                                         // If this and previous control point are not variable
 568                                         // length pcps, we'll have to check if there is no empty
 569                                         // space between them.
 570                                         // I there is, we'll have to create new variable length
 571                                         // component between them.
 572                                         recalcline = recalcline | possibleVaribleLengthInsert(icp, prev);
 573                                 }
 574                         }
 575                 } else { // with offset
 576                         Vector3d sp = new Vector3d(start);
 577                         Vector3d ep = new Vector3d(end);
 578                         ep.sub(u.offset);
 579
 580                         ArrayList<PipeControlPoint> pathLegPoints = new ArrayList<PipeControlPoint>();
 581                         pathLegPoints.add(u.start);
 582
 583                         for (PipeControlPoint icp : u.list) {
 584                                 updateInlineControlPoint(icp, sp, ep, u.dir);
 585                                 updateBranchControlPointBranches(icp);
 586                                 pathLegPoints.add(icp);
 587                                 if (icp.isOffset()) {
 588                                         // TODO : offset vector is already calculated and should be
 589                                         // cached
 590                                         Vector3d  offset = icp.getSizeChangeOffsetVector(u.dir);
 591                                         updateOffsetPoint(icp, offset);
 592                                         sp.add(offset);
 593                                         ep.add(offset);
 594                                 }
 595                         }
 596                         pathLegPoints.add(u.end);
 597
 598                         if (!checkSizes)
 599                                 return;
 600
 601                         sp = new Vector3d(u.startPoint);
 602                         ep = new Vector3d(u.endPoint);
 603                         ep.sub(u.offset);
 604
 605                         for (int i = 0; i < pathLegPoints.size(); i++) {
 606                                 PipeControlPoint icp = pathLegPoints.get(i);
 607
 608                                 PipeControlPoint prev = i > 0 ? pathLegPoints.get(i - 1) : null;
 609                                 PipeControlPoint next = i < pathLegPoints.size() - 1 ? pathLegPoints.get(i + 1) : null;
 610
 611                                 if (prev != null && prev.isDualInline())
 612                                         prev = prev.getSubPoint().get(0);
 613
 614
 615                                 if (icp.isVariableLength()) {
 616                                         if (prev != null && next != null) {
 617                                                 recalcline = recalcline | updateVariableLength(icp,  prev, next);
 618
 619                                         } else {
 620                                                 // this is variable length component at the end of the
 621                                                 // piperun.
 622                                                 // the problem is that we want to keep unconnected end
 623                                                 // of the component in the same
 624                                                 // place, but center of the component must be moved.
 625                                                 updateVariableLengthEnd(icp, prev != null ? prev : next);
 626                                         }
 627                                 } else if (prev != null && !prev.isVariableLength()) {
 628                                         // If this and previous control point are not variable
 629                                         // length pcps, we'll have to check if there is no empty
 630                                         // space between them.
 631                                         // I there is, we'll have to create new variable length
 632                                         // component between them.
 633                                         recalcline = recalcline | possibleVaribleLengthInsert(icp, prev);
 634                                 }
 635                                 if (icp.isOffset()) {
 636                                         // TODO : offset vector is already calculated and should be
 637                                         // cached
 638                                         Vector3d  offset = icp.getSizeChangeOffsetVector(u.dir);
 639                                         sp.add(offset);
 640                                         ep.add(offset);
 641                                 }
 642                         }
 643                 }
 644                 if (recalcline) {
 645                         u.list.clear();
 646                         u.start.findNextEnd(u.list);
 647                 }
 648         }
 649
 650         private static boolean updateVariableLength(PipeControlPoint icp, PipeControlPoint prev,  PipeControlPoint next) {
 651                 Vector3d prevPos = prev.getWorldPosition();
 652                 Vector3d nextPos = next.getWorldPosition();
 653
 654                 Vector3d dir = new Vector3d(nextPos);
 655                 dir.sub(prevPos);
 656                 double l = dir.lengthSquared(); // distance between
 657                                                                                 // control points
 658                                                                                 // (square)
 659                 double l2prev = prev.getInlineLength(); // distance
 660                                                                                                                                         // taken
 661                                                                                                                                         // by
 662                                                                                                                                         // components
 663                 double l2next = next.getInlineLength();
 664                 double l2 = l2prev + l2next;
 665                 double l2s = MathTools.square(l2);
 666                 if (l2s < l) { // check if there is enough space for
 667                                                 // variable length component.
 668                         // components fit
 669                         dir.normalize();
 670                         double length = Math.sqrt(l) - l2; // true length of
 671                                                                                                 // the variable
 672                                                                                                 // length
 673                                                                                                 // component
 674                         dir.scale(length * 0.5 + l2prev); // calculate
 675                                                                                                 // center
 676                                                                                                 // position of
 677                                                                                                 // the component
 678                         dir.add(prevPos);
 679                         icp.setWorldPosition(dir);
 680                         icp.setLength(length);
 681                         return false;
 682                 } else {
 683                         // components leave no space to the component and it
 684                         // must be removed
 685
 686                         if (icp.isDeletable()) {
 687                             if (!allowInsertRemove) {
 688                                 icp.setLength(0.0001);
 689                                 triedIR = true;
 690                                 return false;
 691                             }
 692                                 if (DEBUG)
 693                                         System.out.println("PipingRules.updateVariableLength removing " + icp);
 694                                 icp._remove();
 695                                 return true;
 696                         }
 697                         return false;
 698                 }
 699         }
 700
 701         private static boolean possibleVaribleLengthInsert(PipeControlPoint icp, PipeControlPoint prev) throws Exception{
 702                 Vector3d currentPos = icp.getWorldPosition();
 703                 Vector3d prevPos = prev.getWorldPosition();
 704                 Vector3d dir = new Vector3d(currentPos);
 705                 dir.sub(prevPos);
 706                 double l = dir.lengthSquared();
 707                 double l2prev = prev.getInlineLength();
 708                 double l2next = icp.getInlineLength();
 709                 double l2 = l2prev + l2next;
 710                 double l2s = l2 * l2;
 711                 if (l > l2s) {
 712                         if (allowInsertRemove) {
 713                                 dir.normalize();
 714                                 double length = Math.sqrt(l) - l2; // true length of the
 715                                                                                                         // variable length
 716                                                                                                         // component
 717                                 dir.scale(length * 0.5 + l2prev); // calculate center
 718                                                                                                         // position of the
 719                                                                                                         // component
 720                                 dir.add(prevPos);
 721                                 PipeControlPoint scp = insertStraight(prev, icp, dir, length);
 722                                 return true;
 723                         } else {
 724                                 triedIR = true;
 725                         }
 726                 }
 727                 return false;
 728         }
 729
 730         private static void updateVariableLengthEnd(PipeControlPoint icp,  PipeControlPoint prev) {
 731                 Vector3d currentPos = icp.getWorldPosition();
 732                 Vector3d prevPos = prev.getWorldPosition();
 733
 734                 Vector3d dir = new Vector3d();
 735                 dir.sub(currentPos, prevPos);
 736
 737                 boolean simple = currentUpdates.contains(icp);
 738                 if (simple) {
 739                         // Update based on position -> adjust length
 740                         double currentLength = (dir.length() - prev.getInlineLength()) * 2.0;
 741                         icp.setLength(currentLength);
 742                 } else {
 743                         // Update based on neighbour movement -> adjust length and position, so that free end stays in place.
 744                         double currentLength = icp.getLength();
 745                         if (currentLength < MathTools.NEAR_ZERO) {
 746                                 currentLength = (dir.length() - prev.getInlineLength()) * 2.0;
 747                         }
 748
 749                         if (dir.lengthSquared() > MathTools.NEAR_ZERO)
 750                                 dir.normalize();
 751                         Point3d endPos = new Point3d(dir);
 752                         endPos.scale(currentLength * 0.5);
 753                         endPos.add(currentPos); // this is the free end of the component
 754
 755                         double offset = prev.getInlineLength();
 756                         Point3d beginPos = new Point3d(dir);
 757                         beginPos.scale(offset);
 758                         beginPos.add(prevPos); // this is the connected end of the component
 759
 760                         double l = beginPos.distance(endPos);
 761
 762                         if (Double.isNaN(l))
 763                                 System.out.println("Length for " + icp + " is NaN");
 764
 765                         dir.scale(l * 0.5);
 766                         beginPos.add(dir); // center position
 767
 768                         if (DEBUG)
 769                                 System.out.println("PipingRules.updateInlineControlPoints() setting variable length to " + l);
 770                         icp.setLength(l);
 771
 772                         icp.setWorldPosition(new Vector3d(beginPos));
 773                 }
 774         }
 775
 776         private static void ppNoOffset(UpdateStruct2 u) throws Exception {
 777                 if (DEBUG)
 778                         System.out.println("PipingRules.ppNoOffset() " + u);
 779                 Vector3d offset = new Vector3d();
 780                 if (u.hasOffsets) {
 781                         u.dir.normalize();
 782                         for (PipeControlPoint icp : u.list) {
 783                                 if (icp.isOffset()) {
 784                                         offset.add(icp.getSizeChangeOffsetVector(u.dir));
 785                                 } else if (icp.isDualSub())
 786                                         ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
 787                         }
 788                 }
 789                 u.offset = offset;
 790                 checkExpandPathLeg(u, PathLegUpdateType.NONE);
 791         }
 792
 793         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 {
 794                 if (DEBUG)
 795                         System.out.println("PipingRules.ppNoDir() " + start + " " + end + " " + iter + " " + toRemove.size());
 796                 // FIXME : extra loop (dir should be calculated here)
 797                 Vector3d dir = new Vector3d();
 798                 Vector3d offset = new Vector3d();
 799                 hasOffsets = calculateOffset(startPoint, endPoint, list, dir, offset);
 800                 ppNoOffset(new UpdateStruct2(start, startPoint, list, end, endPoint, dir, null, hasOffsets, iter, reversed, toRemove, updated));
 801         }
 802
 803         private static void checkExpandPathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
 804                 checkExpandPathLeg(u, lengthChange, u.updated.isInline() && u.updated.isOffset());
 805         }
 806
 807         private static void checkExpandPathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange, boolean updateEnds) throws Exception {
 808                 if (DEBUG)
 809                         System.out.println("PipingRules.checkExpandPathLeg() " + u + " " + lengthChange);
 810                 if (lengthChange != PathLegUpdateType.NONE) {
 811                         // FIXME : turns cannot be checked before inline cps are updated,
 812                         // since their position affects calculation of turns
 813                         processPathLeg(u, updateEnds, false);
 814                         int type = checkTurns(u, lengthChange);
 815                         if (type == REMOVE_NONE) {
 816                                 processPathLeg(u, updateEnds, true);
 817                         } else {
 818                                 expandPathLeg(u, type);
 819                         }
 820                 } else {
 821                         processPathLeg(u, updateEnds, true);
 822                 }
 823         }
 824
 825         private static void updateDirectedPathLeg(UpdateStruct2 u, PathLegUpdateType lengthChange) throws Exception {
 826                 if (DEBUG)
 827                         System.out.println("PipingRules.updateDirectedPipeRun() " + u + " " + lengthChange);
 828                 PipeControlPoint dcp;
 829                 PipeControlPoint other;
 830                 boolean canMoveOther = false;
 831                 boolean dcpStart = false;
 832                 boolean inlineEnd = false;
 833                 Vector3d position;
 834                 if (asDirected(u.start, Direction.NEXT)) {
 835                         dcp = u.start;
 836                         other = u.end;
 837                         position = u.startPoint;
 838                         dcpStart = true;
 839                         if (!u.reversed)
 840                                 canMoveOther = true;
 841                         inlineEnd = u.end.isInline();
 842
 843                 } else {
 844                         dcp = u.end;
 845                         other = u.start;
 846                         position = u.endPoint;
 847                         if (u.reversed)
 848                                 canMoveOther = true;
 849                         inlineEnd = u.start.isInline();
 850                 }
 851
 852                 Vector3d directedDirection = direction(dcp, dcpStart ? Direction.NEXT : Direction.PREVIOUS);
 853                 if (directedDirection == null) {
 854                         //updateTurnControlPointTurn(dcp, dcp.getPrevious(), dcp.getNext());
 855                         updateTurnControlPointTurn(dcp, null, null);
 856                         directedDirection = direction(dcp, dcpStart ? Direction.NEXT : Direction.PREVIOUS);
 857                         if (directedDirection == null) {
 858                                 return;
 859                         }
 860                 }
 861                 Point3d directedEndPoint = new Point3d(u.endPoint);
 862                 if (u.hasOffsets)
 863                         directedEndPoint.add(u.offset);
 864
 865                 double mu[] = new double[2];
 866
 867                 Vector3d closest;
 868                 Vector3d t = new Vector3d();
 869
 870                 if (dcpStart) {
 871                         closest = MathTools.closestPointOnStraight(directedEndPoint, u.startPoint, directedDirection, mu);
 872                         t.sub(closest, directedEndPoint);
 873                 } else {
 874                         closest = MathTools.closestPointOnStraight(u.startPoint, directedEndPoint, directedDirection, mu);
 875                         t.sub(closest, u.startPoint);
 876                 }
 877
 878                 double distance = t.length();
 879                 boolean aligned = (distance < ALLOWED_OFFSET);
 880                 if (aligned) {
 881                         if (u.start.isInline() || u.end.isInline() || u.start.asFixedAngle() || u.end.asFixedAngle())
 882                                 processPathLeg(u, true, false);
 883                         checkExpandPathLeg(u, lengthChange, inlineEnd);
 884
 885                 } else {
 886                         if (u.iter > 0) {
 887                                 backIter(u);
 888                         } else {
 889                                 PipeControlPoint nextToMoved;
 890
 891                                 if (u.list.size() > 0)
 892                                         if (dcpStart)
 893                                                 nextToMoved = u.list.get(0);
 894                                         else
 895                                                 nextToMoved = u.list.get(u.list.size() - 1);
 896                                 else if (dcpStart)
 897                                         nextToMoved = u.end;
 898                                 else
 899                                         nextToMoved = u.start;
 900                                 if (other.isVariableAngle()) {
 901
 902                                         // TODO calculate needed space from next run end.
 903                                     double space = spaceForTurn(other);
 904                                         if (mu[0] < space) {
 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(space);
 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 ((TurnComponent)tcp.getPipelineComponent()).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 = updateTurnControlPointTurn(u.start, null, u.dir);
1152                                 if (a < MIN_TURN_ANGLE && u.start.isDeletable())
1153                                         startRemoved = true;
1154                                 else if (lengthChange == PathLegUpdateType.PREV || lengthChange == PathLegUpdateType.PREV_S) {
1155                                         PathLegUpdateType type;
1156                                         if (lengthChange == PathLegUpdateType.PREV_S)
1157                                                 type = PathLegUpdateType.PREV;
1158                                         else
1159                                                 type = PathLegUpdateType.NONE;
1160                                         updatePathLegPrev(u.start, u.start, type);
1161                                 }
1162                         }
1163                 }
1164                 if (u.end.isVariableAngle()) {
1165
1166                         PipeControlPoint endNext = u.end.getNext();
1167                         if (endNext != null) {
1168                                 // TODO: u.end, u.dir, null
1169                                 double a = updateTurnControlPointTurn(u.end, null, null);
1170                                 if (a < MIN_TURN_ANGLE && u.end.isDeletable())
1171                                         endRemoved = true;
1172                                 else if (lengthChange == PathLegUpdateType.NEXT || lengthChange == PathLegUpdateType.NEXT_S) {
1173                                         PathLegUpdateType type;
1174                                         if (lengthChange == PathLegUpdateType.NEXT_S)
1175                                                 type = PathLegUpdateType.NEXT;
1176                                         else
1177                                                 type = PathLegUpdateType.NONE;
1178                                         updatePathLegNext(u.end, u.end, type);
1179                                 }
1180                         }
1181                 }
1182                 if (DEBUG)
1183                         System.out.println("PipingRules.checkTurns() res " + startRemoved + " " + endRemoved);
1184                 if (!startRemoved && !endRemoved)
1185                         return REMOVE_NONE;
1186                 if (startRemoved && endRemoved)
1187                         return REMOVE_BOTH;
1188                 if (startRemoved)
1189                         return REMOVE_START;
1190                 return REMOVE_END;
1191         }
1192
1193         /**
1194          * Expands piperun search over turns that are going to be removed
1195          *
1196          */
1197         private static void expandPathLeg(UpdateStruct2 u, int type) throws Exception {
1198                 if (DEBUG)
1199                         System.out.println("PipingRules.expandPipeline " + u.start + " " + u.end);
1200                 ArrayList<PipeControlPoint> newList = new ArrayList<PipeControlPoint>();
1201                 switch (type) {
1202                 case REMOVE_NONE:
1203                         throw new RuntimeException("Error in piping rules");
1204                 case REMOVE_START:
1205                         u.toRemove.add(new ExpandIterInfo(u.start, REMOVE_START));
1206                         u.start = u.start.findPreviousEnd();
1207                         u.startPoint = u.start.getPosition();
1208                         u.start.findNextEnd(newList);
1209                         newList.addAll(u.list);
1210                         u.list = newList;
1211                         break;
1212                 case REMOVE_END:
1213                         u.toRemove.add(new ExpandIterInfo(u.end, REMOVE_END));
1214                         u.end = u.end.findNextEnd(newList);
1215                         u.endPoint = u.end.getPosition();
1216                         u.list.addAll(newList);
1217                         break;
1218                 case REMOVE_BOTH:
1219                         u.toRemove.add(new ExpandIterInfo(u.start, u.end));
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                         newList = new ArrayList<PipeControlPoint>();
1226                         u.end = u.end.findNextEnd(newList);
1227                         u.endPoint = u.end.getPosition();
1228                         u.list.addAll(newList);
1229                         break;
1230                 default:
1231                         throw new RuntimeException("Error in piping rules");
1232
1233                 }
1234                 u.offset = new Vector3d();
1235                 if (u.hasOffsets) {
1236                         u.dir.normalize();
1237                         for (PipeControlPoint icp : u.list) {
1238                                 if (icp.isOffset()) {
1239                                         u.offset.add(icp.getSizeChangeOffsetVector(u.dir));
1240                                 } else if (icp.isDualSub())
1241                                         ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
1242                         }
1243                 }
1244                 if (DEBUG)
1245                         System.out.println("PipingRules.expandPipeline expanded " + u.start + " " + u.end);
1246                 u.iter++;
1247                 updatePathLeg(u, PathLegUpdateType.NONE);
1248         }
1249
1250         /**
1251          * reverts one iteration of turn removing back)
1252          */
1253         private static void backIter(UpdateStruct2 u) throws Exception {
1254
1255                 if (DEBUG)
1256                         System.out.println("PipingRules.backIter" + u.start + " " + u.end);
1257                 if (u.iter == 0)
1258                         throw new RuntimeException("Error in piping rules");
1259                 ExpandIterInfo info = u.toRemove.get(u.toRemove.size() - 1);
1260                 u.toRemove.remove(u.toRemove.size() - 1);
1261                 if (info.getType() == REMOVE_START || info.getType() == REMOVE_BOTH) {
1262                         while (u.list.size() > 0) {
1263                                 PipeControlPoint icp = u.list.get(0);
1264                                 if (icp.getPrevious().equals(info.getStart()))
1265                                         break;
1266                                 u.list.remove(icp);
1267                         }
1268                         u.start = info.getStart();
1269                 }
1270                 if (info.getType() == REMOVE_END || info.getType() == REMOVE_BOTH) {
1271                         while (u.list.size() > 0) {
1272                                 PipeControlPoint icp = u.list.get(u.list.size() - 1);
1273                                 if (icp.getNext().equals(info.getEnd()))
1274                                         break;
1275                                 u.list.remove(icp);
1276                         }
1277                         u.end = info.getEnd();
1278                 }
1279                 u.offset = new Vector3d();
1280                 if (u.hasOffsets) {
1281                         u.dir.normalize();
1282                         for (PipeControlPoint icp : u.list) {
1283                                 if (icp.isOffset()) {
1284                                         u.offset.add(icp.getSizeChangeOffsetVector(u.dir));
1285                                 } else if (icp.isDualSub())
1286                                         ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
1287                         }
1288                 }
1289                 processPathLeg(u);
1290
1291         }
1292
1293         /**
1294          * Processes pipe run (removes necessary turns and updates run ends)
1295          */
1296         // private static void processPathLeg(PipeControlPoint start, Point3d
1297         // startPoint,ArrayList<InlineControlPoint> list, PipeControlPoint
1298         // end,Point3d endPoint, Vector3d dir,Vector3d offset, boolean
1299         // hasOffsets,int iter, boolean reversed, ArrayList<ExpandIterInfo>
1300         // toRemove) throws TransactionException {
1301
1302         private static void processPathLeg(UpdateStruct2 u) throws Exception {
1303                 if (DEBUG)
1304                         System.out.println("PipingRules.processPathLeg " + u.start + " " + u.end);
1305                 processPathLeg(u, true, true);
1306         }
1307
1308         private static void processPathLeg(UpdateStruct2 u, boolean updateEnds, boolean updateInline) throws Exception {
1309                 if (DEBUG)
1310                         System.out.println("PipingRules.processPathLeg " + (updateEnds ? "ends " : "") + (updateInline ? "inline " : "") + u.start + " " + u.end);
1311
1312                 if (u.toRemove.size() > 0) {
1313                         for (ExpandIterInfo info : u.toRemove) {
1314                                 if (info.getStart() != null) {
1315                                         if (DEBUG)
1316                                                 System.out.println("PipingRules.processPathLeg removing start " + info.getStart());
1317                                         info.getStart()._remove();
1318                                 }
1319                                 if (info.getEnd() != null) {
1320                                         if (DEBUG)
1321                                                 System.out.println("PipingRules.processPathLeg removing end " + info.getEnd());
1322                                         info.getEnd()._remove();
1323                                 }
1324                         }
1325                         // ControlPointTools.removeControlPoint may remove more than one CP;
1326                         // we must populate inline CP list again.
1327                         u.list.clear();
1328                         u.start.findNextEnd( u.list);
1329                 }
1330                 // FIXME : inline CPs are update twice because their positions must be
1331                 // updated before and after ends.
1332                 updateInlineControlPoints(u, false);
1333
1334                 if (updateEnds) {
1335                         if (u.start.isTurn()) {
1336                                 //updateTurnControlPointTurn(u.start, u.start.getPrevious(), u.start.getNext());
1337                                 updateTurnControlPointTurn(u.start, null, null);
1338 //                              updatePathLegPrev(u.start, u.start, PathLegUpdateType.NONE);
1339                         } else if (u.start.isEnd()) {
1340                                 updateEndComponentControlPoint(u.start, u.startPoint, u.endPoint);
1341                         } else if (u.start.isInline()) {
1342                                 updateControlPointOrientation(u.start);
1343                         }
1344                         if (u.end.isTurn()) {
1345                                 //updateTurnControlPointTurn(u.end, u.end.getPrevious(), u.end.getNext());
1346                                 updateTurnControlPointTurn(u.end, null, null);
1347 //                              updatePathLegNext(u.end, u.end, PathLegUpdateType.NONE);
1348                         } else if (u.end.isEnd()) {
1349                                 updateEndComponentControlPoint(u.end, u.startPoint, u.endPoint);
1350                         } else if (u.end.isInline()) {
1351                                 updateControlPointOrientation(u.end);
1352                         }
1353
1354                 } else {
1355                         if (u.start.isEnd()) {
1356                                 updateEndComponentControlPoint(u.start, u.startPoint, u.endPoint);
1357                         }
1358                         if (u.end.isEnd()) {
1359                                 updateEndComponentControlPoint(u.end, u.startPoint, u.endPoint);
1360                         }
1361                 }
1362                 if (updateInline)
1363                         updateInlineControlPoints(u, true);
1364
1365         }
1366
1367         /**
1368          * Processes pipe run and recalculates offset
1369          */
1370         // private static void processPathLeg(PipeControlPoint start, Point3d
1371         // startPoint,ArrayList<InlineControlPoint> list, PipeControlPoint
1372         // end,Point3d endPoint, Vector3d dir, boolean hasOffsets,int iter, boolean
1373         // reversed, ArrayList<ExpandIterInfo> toRemove) throws TransactionException
1374         // {
1375         private static void processPathLegNoOffset(UpdateStruct2 u) throws Exception {
1376                 if (DEBUG)
1377                         System.out.println("PipingRules.processPathLeg " + u.start + " " + u.end);
1378                 Vector3d offset = new Vector3d();
1379                 if (u.hasOffsets) {
1380                         u.dir.normalize();
1381                         for (PipeControlPoint icp : u.list) {
1382                                 if (icp.isOffset()) {
1383                                         offset.add(icp.getSizeChangeOffsetVector(u.dir));
1384                                 } else if (icp.isDualSub()) {
1385                                         ErrorLogger.defaultLogError("Updating pipe run, found offset controlpoint " + icp, new Exception("ASSERT!"));
1386                                 }
1387                         }
1388                 }
1389                 processPathLeg(u);
1390         }
1391
1392         private static void updateOffsetPoint(PipeControlPoint sccp, Vector3d offset) {
1393                 Vector3d world = sccp.getWorldPosition();
1394                 world.add(offset);
1395                 PipeControlPoint ocp = sccp.getSubPoint().iterator().next();
1396                 ocp.setWorldPosition(world);
1397         }
1398
1399         /**
1400          * Updates InlineControlPoints position when straight pipe's end(s) have
1401          * been changed)
1402          *
1403          * @param pipeline
1404          * @param icp
1405          * @param nextPoint
1406          * @param prevPoint
1407          */
1408         private static void updateInlineControlPoint(PipeControlPoint icp, Vector3d prev, Vector3d next,  Vector3d dir) {
1409                 if (DEBUG)
1410                         System.out.println("PipingRules.updateInlineControlPoint() " + icp);
1411
1412                 Vector3d inlinePoint = icp.getWorldPosition();
1413                 Vector3d prevPoint = new Vector3d(prev);
1414                 Vector3d nextPoint = new Vector3d(next);
1415                 if (!icp.isVariableLength()) {
1416                         // Reserve space for fixed length components.
1417                         MathTools.mad(prevPoint, dir, icp.getInlineLength());
1418                         MathTools.mad(nextPoint, dir, -icp.getInlineLength());
1419                         if (MathTools.distance(prevPoint, nextPoint) < ALLOWED_OFFSET) {
1420                                 prevPoint = prev;
1421                                 nextPoint = next;
1422                         }
1423                 }
1424                 boolean canCalc = MathTools.distance(prevPoint, nextPoint) > ALLOWED_OFFSET;
1425                 if (DEBUG)
1426                         System.out.print("InlineControlPoint update " + icp + " " + inlinePoint + " " + prevPoint + " " + nextPoint);
1427                 Vector3d newInlinePoint = null;
1428                 if (canCalc) {
1429                         boolean branchUpdate = false;
1430                         PipeControlPoint becp = null;
1431                         for (PipeControlPoint pcp : icp.getSubPoint())
1432                                 if (pcp.isNonDirected()) {
1433                                         branchUpdate = true;
1434                                         becp = pcp;
1435                                         break;
1436                                 }
1437
1438                         if (DUMMY || !branchUpdate) {
1439                                 newInlinePoint = MathTools.closestPointOnEdge(new Vector3d(inlinePoint), prevPoint, nextPoint);
1440
1441                         } else {
1442
1443                                 // FIXME : can only handle one branch
1444                                 PipeControlPoint p = null;
1445                                 if (becp.getNext() != null) {
1446                                         p = becp.findNextEnd();
1447                                 } else if (becp.getPrevious() != null) {
1448                                         p = becp.findPreviousEnd();
1449                                 }
1450                                 if (p == null) {
1451                                         newInlinePoint = MathTools.closestPointOnEdge(new Vector3d(inlinePoint), prevPoint, nextPoint);
1452                                 } else if (canCalc){
1453                                         Vector3d branchLegEnd = p.getWorldPosition();
1454                                         Vector3d dir2 = new Vector3d(inlinePoint);
1455                                         dir2.sub(branchLegEnd);
1456                                         Vector3d dir1 = new Vector3d(nextPoint);
1457                                         dir1.sub(prevPoint);
1458                                         newInlinePoint = new Vector3d();
1459                                         double mu[] = new double[2];
1460                                         MathTools.intersectStraightStraight(new Vector3d(prevPoint), dir1, new Vector3d(branchLegEnd), dir2, newInlinePoint, new Vector3d(), mu);
1461                                         if (DEBUG)
1462                                                 System.out.println(mu[0]);
1463                                         // FIXME : reserve space
1464                                         if (mu[0] < 0.0) {
1465                                                 newInlinePoint = new Vector3d(prevPoint);
1466                                         } else if (mu[0] > 1.0) {
1467                                                 newInlinePoint = new Vector3d(nextPoint);
1468                                         }
1469                                 }
1470                         }
1471                 } else {
1472                         // prevPoint == nextPoint
1473                         newInlinePoint = new Vector3d(prevPoint);
1474                 }
1475                 if (DEBUG)
1476                         System.out.println(" " + newInlinePoint);
1477
1478                 icp.setWorldPosition(newInlinePoint);
1479                 updateControlPointOrientation(icp);
1480         }
1481
1482         /**
1483          * Updates InlineControlPoints position when straight pipe's end(s) have
1484          * been changed)
1485          *
1486          * @param pipeline
1487          * @param icp
1488          * @param nextPoint
1489          * @param prevPoint
1490          */
1491         private static void updateEndComponentControlPoint(PipeControlPoint ecp, Vector3d start, Vector3d end) throws Exception {
1492                 if (DEBUG)
1493                         System.out.println("PipingRules.updateEndComponentControlPoint() " + ecp);
1494                 //FIXME : end control point cannot be fixed!
1495                 //if (!ecp.isFixed())
1496                 updateControlPointOrientation(ecp);
1497
1498                 for (PipeControlPoint pcp : ecp.getSubPoint()) {
1499                         // TODO update position
1500                         updatePathLegEndControlPoint(pcp);
1501                 }
1502         }
1503
1504         private static void updateControlPointOrientation(PipeControlPoint pcp) {
1505                 // FIXME : hack to bypass variable length components orientation
1506 //              if (pcp.getAtMostOneRelatedObject(ProcessResource.g3dResource.HasWorldOrientation) == null)
1507 //                      return;
1508 //              if (pcp.rotationAngle == null)
1509 //                      return;
1510                 Double angleO = pcp.getRotationAngle();
1511                 double angle = 0.0;
1512                 if (angleO != null)
1513                         angle = angleO;
1514                 Boolean reversedO = pcp.getReversed();
1515                 boolean reversed = false;
1516                 if (reversedO != null)
1517                         reversed = reversedO;
1518                 Quat4d q = pcp.getControlPointOrientationQuat(angle, reversed);
1519                 pcp.setWorldOrientation(q);
1520         }
1521
1522         /**
1523          * Updates all branches when branch's position has been changed
1524          *
1525          * @param bcp
1526          */
1527         private static void updateBranchControlPointBranches(PipeControlPoint bcp) throws Exception {
1528                 if (DEBUG)
1529                         System.out.println("PipingRules.updateBranchControlPointBranches() " + bcp);
1530                 if (bcp.isDualInline())
1531                         return;
1532                 Collection<PipeControlPoint> branches = bcp.getSubPoint();
1533                 if (branches.size() == 0) {
1534                         if (DEBUG)
1535                                 System.out.println("No Branches found");
1536                         return;
1537                 }
1538
1539                 for (PipeControlPoint pcp : branches) {
1540                         updatePathLegEndControlPoint(pcp);
1541                 }
1542         }
1543
1544         private static double updateTurnControlPointTurn(PipeControlPoint tcp, Vector3d prev, Vector3d next) {
1545                 if (next == null) {
1546                         UpdateStruct2 us = createUS(tcp, Direction.NEXT, 0, new ArrayList<PipingRules.ExpandIterInfo>(), tcp);
1547                         if (us != null)
1548                                 next = us.dir;
1549                 }
1550                 if (prev == null) {
1551                         UpdateStruct2 us = createUS(tcp, Direction.PREVIOUS, 0, new ArrayList<PipingRules.ExpandIterInfo>(), tcp);
1552                         if (us != null) {
1553                                 prev = us.dir;
1554                         }
1555                 }
1556
1557                 if (!tcp.asFixedAngle()) {
1558
1559
1560                         if (next == null || prev == null) {
1561                                 if (tcp.getTurnAngle() != null)
1562                                         return tcp.getTurnAngle();
1563                                 return Math.PI; // FIXME : argh
1564                         }
1565                         double turnAngle = prev.angle(next);
1566
1567                         double angle = Math.PI - turnAngle;
1568
1569                         Vector3d turnAxis = new Vector3d();
1570                         turnAxis.cross(prev, next);
1571                         if (turnAxis.lengthSquared() > MathTools.NEAR_ZERO) {
1572                                 double elbowRadius = ((TurnComponent)tcp.getPipelineComponent()).getTurnRadius();
1573                                 double R = elbowRadius / Math.tan(angle * 0.5);
1574
1575                                 turnAxis.normalize();
1576                                 tcp.setTurnAngle(turnAngle);
1577                                 tcp.setLength(R);// setComponentOffsetValue(R);
1578                                 tcp.setTurnAxis(turnAxis);
1579         //                      tcp.setPosition(tcp.getPosition());
1580                         } else {
1581                                 turnAngle = 0.0;
1582                                 tcp.setTurnAngle(0.0);
1583                                 tcp.setLength(0.0);
1584                                 tcp.setTurnAxis(new Vector3d(MathTools.Y_AXIS));
1585                         }
1586
1587                         updateControlPointOrientation(tcp);
1588
1589                         if (DEBUG)
1590                                 System.out.println("PipingTools.updateTurnControlPointTurn " + prev + " " + next + " " + turnAngle + " " + turnAxis);
1591                         return turnAngle;
1592                 } else {
1593
1594                         if (prev != null && next != null) {
1595                                 // Nothing to do
1596                         } else if (prev == null) {
1597                                 if (!tcp._getReversed())
1598                                         tcp.setReversed(true);
1599                         } else if (next == null) {
1600                                 if (tcp._getReversed())
1601                                         tcp.setReversed(false);
1602                         }
1603
1604                         Vector3d dir = null;
1605                         if (!tcp._getReversed()) {
1606                                 dir = prev;
1607                         } else {
1608                                 dir = next;
1609                                 dir.negate();
1610                         }
1611                         if (dir == null) {
1612                                 return Math.PI; // FIXME : argh
1613                         }
1614
1615                         Quat4d q = PipeControlPoint.getControlPointOrientationQuat(dir, tcp.getRotationAngle() != null ? tcp.getRotationAngle() : 0.0);
1616                         Vector3d v = new Vector3d();
1617                         MathTools.rotate(q, MathTools.Y_AXIS,v);
1618                         tcp.setTurnAxis(v);
1619                         tcp.setWorldOrientation(q);
1620                         if (tcp.getTurnAngle() != null)
1621                                 return tcp.getTurnAngle();
1622                         return Math.PI; // FIXME : argh
1623                 }
1624
1625
1626         }
1627
1628         public static List<PipeControlPoint> getControlPoints(PipeRun pipeRun) {
1629                 List<PipeControlPoint> list = new ArrayList<PipeControlPoint>();
1630                 if (pipeRun.getControlPoints().size() == 0)
1631                         return list;
1632                 PipeControlPoint pcp = pipeRun.getControlPoints().iterator().next();
1633                 while (pcp.getPrevious() != null) {
1634                         PipeControlPoint prev = pcp.getPrevious();
1635                         if (prev.getPipeRun() != pipeRun && prev.getPipeRun() != null) { // bypass possible corruption
1636                             break;
1637                         }
1638                         pcp = prev;
1639                 }
1640                 if (pcp.isDualSub()) {
1641                         pcp = pcp.getParentPoint();
1642                 }
1643                 list.add(pcp);
1644                 while (pcp.getNext() != null) {
1645                         pcp = pcp.getNext();
1646                         if (pcp.getPipeRun() != pipeRun)
1647                                 break;
1648                         list.add(pcp);
1649                 }
1650                 return list;
1651         }
1652
1653         public static void reverse(PipeRun pipeRun) {
1654
1655                 while (true) {
1656                         List<PipeControlPoint> points = getControlPoints(pipeRun);
1657                         PipeControlPoint pcp = points.get(0);
1658                         if (pcp.isSizeChange() && pcp.getSubPoint().size() > 0) {
1659                                 pipeRun = pcp.getPipeRun();
1660                         } else {
1661                                 break;
1662                         }
1663                 }
1664                 List<PipeRun> all = new ArrayList<PipeRun>();
1665                 List<List<PipeControlPoint>> pcps = new ArrayList<List<PipeControlPoint>>();
1666                 while (true) {
1667                         all.add(pipeRun);
1668                         List<PipeControlPoint> points = getControlPoints(pipeRun);
1669                         pcps.add(points);
1670                         PipeControlPoint pcp = points.get(points.size()-1);
1671                         if (pcp.getSubPoint().size() > 0) {
1672                                 pipeRun = pcp.getSubPoint().get(0).getPipeRun();
1673                         } else {
1674                                 break;
1675                         }
1676                 }
1677                 for (int i = 0 ; i < all.size(); i++) {
1678                         List<PipeControlPoint> list = pcps.get(i);
1679                         _reverse(list);
1680                 }
1681                 for (int i = 0 ; i < all.size(); i++) {
1682                         boolean last = i == all.size() - 1;
1683                         List<PipeControlPoint> list = pcps.get(i);
1684
1685                         if (!last) {
1686                                 List<PipeControlPoint> list2 = pcps.get(i+1);
1687                                 PipeControlPoint prev = list.get(list.size()-1);
1688                                 PipeControlPoint next = list2.get(0);
1689                                 System.out.println();
1690                                 if (prev == next) {
1691                                         // Reverse the component on the boundary.
1692                                         InlineComponent ic = (InlineComponent)prev.getPipelineComponent();
1693                                         PipeRun r1 = ic.getPipeRun();
1694                                         PipeRun r2 = ic.getAlternativePipeRun();
1695                                         if (r1 == null || r2 == null)
1696                                                 throw new RuntimeException("Components on PipeRun changes should refer to bot PipeRuns");
1697                                         ic.deattach();
1698                                         r2.addChild(ic);
1699                                         ic.setPipeRun(r2);
1700                                         ic.setAlternativePipeRun(r1);
1701                                 } else {
1702                                         throw new RuntimeException("PipeRun changes should contain shared control points");
1703                                 }
1704
1705                         }
1706                 }
1707
1708         }
1709
1710         private static void _reverse(List<PipeControlPoint> list) {
1711                 if (list.size() <= 1)
1712                         return; // nothing to do.
1713
1714                 for (int i = 0 ; i < list.size(); i++) {
1715                         boolean first = i == 0;
1716                         boolean last = i == list.size() - 1;
1717                         PipeControlPoint current = list.get(i);
1718                         PipeControlPoint currentSub = null;
1719                         if (current.isDualInline())
1720                                 currentSub = current.getSubPoint().get(0);
1721                         if (first) {
1722                                 PipeControlPoint next = list.get(i+1);
1723                                 if (next.isDualInline())
1724                                         next = next.getSubPoint().get(0);
1725                                 if (current.getNext() == next)
1726                                         current.setNext(null);
1727                                 current.setPrevious(next);
1728                                 if (currentSub != null) {
1729                                         if (currentSub.getNext() == next)
1730                                                 currentSub.setNext(null);
1731                                         currentSub.setPrevious(next);
1732                                 }
1733                         } else if (last) {
1734                                 PipeControlPoint prev = list.get(i-1);
1735
1736                                 if (current.getPrevious() == prev)
1737                                         current.setPrevious(null);
1738                                 current.setNext(prev);
1739
1740                                 if (currentSub != null) {
1741                                         if (currentSub.getPrevious() == prev)
1742                                                 currentSub.setPrevious(null);
1743                                         currentSub.setNext(prev);
1744                                 }
1745                         } else {
1746                                 PipeControlPoint prev = list.get(i-1);
1747                                 PipeControlPoint next = list.get(i+1);
1748                                 if (next.isDualInline())
1749                                         next = next.getSubPoint().get(0);
1750
1751
1752                                 current.setPrevious(next);
1753                                 current.setNext(prev);
1754
1755                                 if (currentSub != null) {
1756                                         currentSub.setPrevious(next);
1757                                         currentSub.setNext(prev);
1758                                 }
1759
1760                         }
1761                         //if (current.isTurn() && current.isFixed()) {
1762                         if (current.asFixedAngle()) {
1763                                 current.setReversed(!current._getReversed());
1764                         }
1765                         if (current.isInline() && current.isReverse()) {
1766                                 current.setReversed(!current._getReversed());
1767                         }
1768                 }
1769         }
1770
1771         public static void merge(PipeRun run1, PipeRun r2) {
1772                 Map<PipeControlPoint, Vector3d> positions = new HashMap<PipeControlPoint, Vector3d>();
1773                 Map<PipeControlPoint, Quat4d> orientations = new HashMap<PipeControlPoint, Quat4d>();
1774                 for (PipeControlPoint pcp : r2.getControlPoints()) {
1775                         positions.put(pcp, pcp.getWorldPosition());
1776                         orientations.put(pcp, pcp.getWorldOrientation());
1777                 }
1778                 for (PipeControlPoint pcp : r2.getControlPoints()) {
1779                         r2.deattachChild(pcp);
1780                         run1.addChild(pcp);
1781                         PipelineComponent component = pcp.getPipelineComponent();
1782                         if (component != null) {
1783                                 if (!(component instanceof Nozzle)) {
1784                                         component.deattach();
1785                                         run1.addChild(component);
1786                                 } else {
1787                                         Nozzle n = (Nozzle)component;
1788                                         n.setPipeRun(run1);
1789                                 }
1790                         }
1791                 }
1792                 r2.remove();
1793
1794         }
1795
1796         public static void validate(PipeRun pipeRun) {
1797                 if (pipeRun == null)
1798                         return;
1799                 Collection<PipeControlPoint> pcps = pipeRun.getControlPoints();
1800                 int count = 0;
1801                 //System.out.println("Validate " + pipeRun.getName());
1802                 for (PipeControlPoint pcp : pcps) {
1803                         if (pcp.getParentPoint() == null || pcp.getParentPoint().getPipeRun() != pipeRun)
1804                                 count++;
1805                 }
1806                 List<PipeControlPoint> runPcps = getControlPoints(pipeRun);
1807                 if (runPcps.size() != count) {
1808                         System.out.println("Run " + pipeRun.getName() + " contains unconnected control points, found " + runPcps.size() + " connected, " + pcps.size() + " total.");
1809                         for (PipeControlPoint pcp : pcps) {
1810                             if (!runPcps.contains(pcp)) {
1811                                 System.out.println("Unconnected " + pcp + " " + pcp.getPipelineComponent());
1812                             }
1813                         }
1814                 }
1815                 for (PipeControlPoint pcp : pcps) {
1816                     if (pcp.getPipeRun() == null) {
1817                         System.out.println("PipeRun ref missing " + pcp + " " + pcp.getPipelineComponent());
1818                     }
1819                         if (!pcp.isDirected() && pcp.getNext() == null && pcp.getPrevious() == null)
1820                                 System.out.println("Orphan undirected " + pcp + " " + pcp.getPipelineComponent());
1821                 }
1822                 for (PipeControlPoint pcp : pcps) {
1823                         if (pcp.getParentPoint() == null) {
1824                                 PipeControlPoint sub = null;
1825                                 if (pcp.isDualInline())
1826                                         sub = pcp.getSubPoint().get(0);
1827                                 PipeControlPoint next = pcp.getNext();
1828                                 PipeControlPoint prev = pcp.getPrevious();
1829                                 if (next != null) {
1830                                         if (!(next.getPrevious() == pcp || next.getPrevious() == sub)) {
1831                                                 System.out.println("Inconsistency between " + pcp + " -> " +next );
1832                                         }
1833                                 }
1834                                 if (prev != null) {
1835                                         PipeControlPoint prevParent = null;
1836                                         if (prev.isDualSub()) {
1837                                                 prevParent = prev.getParentPoint();
1838                                         } else if (prev.isDualInline()) {
1839                                                 System.out.println("Inconsistency between " + pcp + " <-- " +prev );
1840                                         }
1841                                         if (!(prev.getNext() == pcp && (prevParent == null || prevParent.getNext() == pcp))) {
1842                                                 System.out.println("Inconsistency between " + pcp + " <-- " +prev );
1843                                         }
1844                                 }
1845                         }
1846                 }
1847         }
1848
1849         public static void splitVariableLengthComponent(PipelineComponent newComponent, InlineComponent splittingComponent, boolean assignPos) throws Exception{
1850                 assert(!splittingComponent.getControlPoint().isFixedLength());
1851                 assert(!(newComponent instanceof  InlineComponent && !newComponent.getControlPoint().isFixedLength()));
1852                 PipeControlPoint newCP = newComponent.getControlPoint();
1853                 PipeControlPoint splittingCP = splittingComponent.getControlPoint();
1854                 PipeControlPoint nextCP = splittingCP.getNext();
1855                 PipeControlPoint prevCP = splittingCP.getPrevious();
1856
1857                 /* there are many different cases to insert new component when
1858                    it splits existing VariableLengthinlineComponent.
1859
1860                    1. VariableLengthComponet is connected from both sides:
1861                           - insert new component between VariableLength component and component connected to it
1862                           - insert new VariableLengthComponent between inserted component and component selected in previous step
1863
1864                    2. VariableLengthComponent is connected from one side
1865                          - Use previous case or:
1866                          - Insert new component to empty end
1867                          - Insert new VariableLength component to inserted components empty end
1868
1869                    3. VariableLength is not connected to any component.
1870                          - Should not be possible, at least in current implementation.
1871                          - Could be done using second case
1872
1873                 */
1874
1875                 if (nextCP == null && prevCP == null) {
1876                         // this should not be possible
1877                         throw new RuntimeException("VariableLengthComponent " + splittingComponent + " is not connected to anything.");
1878                 }
1879                 double reservedLength = splittingComponent.getControlPoint().getLength();
1880                 double newLength = newComponent.getControlPoint().getLength();
1881
1882
1883                 Point3d next = new Point3d();
1884                 Point3d prev = new Point3d();
1885                 splittingCP.getInlineControlPointEnds(prev, next);
1886
1887                 Vector3d newPos = null;
1888                 if (assignPos) {
1889                         newPos = new Vector3d(prev);
1890                         Vector3d dir = new Vector3d(next);
1891                         dir.sub(prev);
1892                         dir.scale(0.5);
1893                         newPos.add(dir);
1894                         newComponent.setWorldPosition(newPos);
1895                 } else {
1896                         newPos = newComponent.getWorldPosition();
1897                 }
1898
1899
1900
1901                 Vector3d dir = new Vector3d(next);
1902                 dir.sub(prev);
1903                 dir.normalize();
1904                 dir.scale(newLength * 0.5);
1905                 Point3d vn = new Point3d(newPos);
1906                 Point3d vp = new Point3d(newPos);
1907                 vn.add(dir);
1908                 vp.sub(dir);
1909                 double ln = vn.distance(next);
1910                 double lp = vp.distance(prev);
1911                 vp.interpolate(prev, 0.5);
1912                 vn.interpolate(next, 0.5);
1913
1914
1915                 PipeControlPoint newVariableLengthCP = null;//insertStraight(pcp1, pcp2, pos, length);
1916                 if (nextCP == null) {
1917                         newCP.insert(splittingCP, Direction.NEXT);
1918                         newVariableLengthCP = insertStraight(newCP, Direction.NEXT, new Vector3d(vn), ln);
1919                         splittingCP.setWorldPosition(new Vector3d(vp));
1920 //                      ControlPointTools.setWorldPosition(splittingCP, vp);
1921 //                      splittingCP.setRelatedScalarDouble(ProcessResource.plant3Dresource.HasLength, lp);
1922                 } else if (prevCP == null) {
1923                         newCP.insert(splittingCP, Direction.PREVIOUS);
1924                         newVariableLengthCP = insertStraight(newCP, Direction.PREVIOUS, new Vector3d(vp), lp);
1925                         splittingCP.setWorldPosition(new Vector3d(vn));
1926 //                      splittingCP.setRelatedScalarDouble(ProcessResource.plant3Dresource.HasLength, ln);
1927                 } else {
1928                         newCP.insert(splittingCP, nextCP);
1929                         newVariableLengthCP = insertStraight(newCP, nextCP, new Vector3d(vn), ln);
1930                         splittingCP.setWorldPosition(new Vector3d(vp));
1931 //                      splittingCP.setRelatedScalarDouble(ProcessResource.plant3Dresource.HasLength, lp);
1932                 }
1933                 positionUpdate(newCP);
1934
1935         }
1936
1937         public static void addSizeChange(boolean reversed, PipeRun pipeRun, PipeRun other, InlineComponent reducer, PipeControlPoint previous, PipeControlPoint next) {
1938                 PipeControlPoint pcp = reducer.getControlPoint();
1939                 PipeControlPoint ocp = pcp.getSubPoint().get(0);
1940                 if (!reversed) {
1941                         String name = pipeRun.getUniqueName("Reducer");
1942                         reducer.setName(name);
1943                         pipeRun.addChild(reducer);
1944                         other.addChild(ocp);
1945                         reducer.setAlternativePipeRun(other);
1946
1947                         previous.setNext(pcp);
1948                         pcp.setPrevious(previous);
1949                         ocp.setPrevious(previous);
1950                         if (next != null) {
1951                                 pcp.setNext(next);
1952                                 ocp.setNext(next);
1953                                 next.setPrevious(ocp);
1954                         }
1955                 } else {
1956                         String name = other.getUniqueName("Reducer");
1957                         reducer.setName(name);
1958                         other.addChild(reducer);
1959                         pipeRun.addChild(ocp);
1960                         reducer.setAlternativePipeRun(pipeRun);
1961
1962                         if (next != null) {
1963                                 next.setNext(pcp);
1964                                 pcp.setPrevious(next);
1965                                 ocp.setPrevious(next);
1966                         }
1967                         pcp.setNext(previous);
1968                         ocp.setNext(previous);
1969                         previous.setPrevious(ocp);
1970                 }
1971         }
1972 }