// We need to calculate turnAngle and rotationAngle
Vector3d dirOut = getPathLegDirection(direction == Direction.NEXT ? Direction.NEXT : Direction.PREVIOUS);
Vector3d dir = getPathLegDirection(direction == Direction.NEXT ? Direction.PREVIOUS : Direction.NEXT);
+ if (dir == null || dirOut == null)
+ return;
dir.negate();
- dirOut.normalize();
- dir.normalize();
double angle = dir.angle(dirOut);
//super._setNext(null);
if (direction == Direction.NEXT)
if (turnAxis == null) {
Vector3d dir = getPathLegDirection(Direction.NEXT);
- if (dir.lengthSquared() > MathTools.NEAR_ZERO)
- dir.normalize();
return getControlPointOrientationQuat(dir, angle);
} else {
Vector3d dir = getPathLegDirection(Direction.PREVIOUS);
- dir.negate();
- if (dir.lengthSquared() > MathTools.NEAR_ZERO)
- dir.normalize();
+ if (dir != null) dir.negate();
return getControlPointOrientationQuat(dir, turnAxis, angle);
}
}
public static Quat4d getControlPointOrientationQuat(Vector3d dir, double angle) {
- if (dir.lengthSquared() < MathTools.NEAR_ZERO)
+ if (dir == null || dir.lengthSquared() < MathTools.NEAR_ZERO)
return MathTools.getIdentityQuat();
}
public static Quat4d getControlPointOrientationQuat(Vector3d dir, Vector3d up, double angle) {
- if (dir.lengthSquared() < MathTools.NEAR_ZERO)
+ if (dir == null || dir.lengthSquared() < MathTools.NEAR_ZERO)
return MathTools.getIdentityQuat();
final Vector3d front = new Vector3d(1.0,0.0,0.0);
if (isDualSub())
throw new RuntimeException("Dual sub points cannot be inserted.");
// size change control point cannot be inserted this way, because it ends PipeRun
- if (isSizeChange())
- throw new RuntimeException("Size change points cannot be inserted.");
+// if (isSizeChange())
+// throw new RuntimeException("Size change points cannot be inserted.");
PipeRun piperun = previous.getPipeRun();
// and just to make sure that control point structure is not corrupted
if (getPipeRun() != null) {
return dir;
}
+ /**
+ * Returns direction vector.
+ *
+ * For directed control points, always returns outwards pointing vector.
+ *
+ * @param direction
+ * @return normalized vector, or null
+ */
public Vector3d getDirection(Direction direction) {
if (isDirected())
return getDirectedControlPointDirection();
Vector3d offset = new Vector3d();
MathTools.rotate(q2, v, offset);
MathTools.rotate(q, offset, dir);
+ dir.normalize();
return dir;
}
} else {
Vector3d offset = new Vector3d();
MathTools.rotate(q2, v, offset);
MathTools.rotate(q, offset, dir);
+ dir.normalize();
return dir;
}
}
return null;
}
+ /**
+ * Returns path leg direction of the control point.
+ *
+ * This method differs from getDirection by also returning inward pointing vectors for directed control points.
+ *
+ * @param direction
+ * @return
+ */
public Vector3d getPathLegDirection(Direction direction) {
if (direction == Direction.NEXT) {
if (next != null) {
}
Vector3d v = new Vector3d();
v.sub(next.getWorldPosition(),pcp.getWorldPosition());
+ if (v.lengthSquared() > MathTools.NEAR_ZERO)
+ v.normalize();
+ else
+ return null;
return v;
} else {
if (previous == null) {
}
Vector3d v = new Vector3d();
v.sub(pcp.getWorldPosition(),previous.getWorldPosition());
+ if (v.lengthSquared() > MathTools.NEAR_ZERO)
+ v.normalize();
+ else
+ return null;
return v;
} else if (isDirected()) {
return getDirectedControlPointDirection();
} else if (isEnd()) {
Vector3d v = new Vector3d();
v.sub(getWorldPosition(),previous.getWorldPosition());
+ if (v.lengthSquared() > MathTools.NEAR_ZERO)
+ v.normalize();
+ else
+ return null;
return v;
} else if (isTurn() && asFixedAngle() && !_getReversed()) {
return getDirection(Direction.NEXT);
pcp = getParentPoint();
Vector3d v = new Vector3d();
v.sub(previous.getWorldPosition(),pcp.getWorldPosition());
+ if (v.lengthSquared() > MathTools.NEAR_ZERO)
+ v.normalize();
+ else
+ return null;
return v;
} else {
if (next == null) {
}
Vector3d v = new Vector3d();
v.sub(pcp.getWorldPosition(),next.getWorldPosition());
+ if (v.lengthSquared() > MathTools.NEAR_ZERO)
+ v.normalize();
+ else
+ return null;
return v;
} else if (isDirected()) {
Vector3d v = getDirectedControlPointDirection();
} else if (isEnd()) {
Vector3d v = new Vector3d();
v.sub(getWorldPosition(),next.getWorldPosition());
+ if (v.lengthSquared() > MathTools.NEAR_ZERO)
+ v.normalize();
+ else
+ return null;
return v;
} else if (isTurn() && asFixedAngle() && _getReversed()) {
return getDirection(Direction.PREVIOUS);
PipeControlPoint sub = isAxial() ? this : getDualSub();
Vector3d pos = getWorldPosition(), pos2 = sub == this ? pos : sub.getWorldPosition();
- Vector3d dir = sub.getPathLegDirection(Direction.NEXT);
+ Vector3d dir = sub.getInlineDir();
- dir.normalize();
dir.scale(length * 0.5);
p1.set(pos);
p2.set(pos2);
PipeControlPoint sub = isAxial() || isDirected() || isTurn() ? this : getChildPoints().get(0);
Vector3d pos = getWorldPosition(), pos2 = sub == this ? pos : sub.getWorldPosition();
- Vector3d dir1 = getPathLegDirection(Direction.PREVIOUS);
- dir1.normalize();
- Vector3d dir2 = sub.getPathLegDirection(Direction.NEXT);
- dir2.normalize();
+ Vector3d dir1;
+ Vector3d dir2;
if (isInline()) {
- dir1.scale(length * 0.5);
+ dir2 = getInlineDir();
dir2.scale(length * 0.5);
+ dir1 = new Vector3d(dir2);
+ dir1.negate();
} else {
+ dir1 = getPathLegDirection(Direction.PREVIOUS);
+ dir2 = sub.getPathLegDirection(Direction.NEXT);
dir1.scale(length);
dir2.scale(length);
}
p2.add(dir2);
}
+ /**
+ * Get both path leg directions, with (0,0,0) if no connection exists. The returned vectors are not normalized.
+ *
+ * @param v1 Set to the direction towards the previous control point on output
+ * @param v2 Set to the direction towards the next control point on output
+ */
public void getEndDirections(Tuple3d v1, Tuple3d v2) {
PipeControlPoint sub = isAxial() ? this : getDualSub();
Vector3d dir1 = getPathLegDirection(Direction.PREVIOUS);
- dir1.normalize();
Vector3d dir2 = sub.getPathLegDirection(Direction.NEXT);
- dir2.normalize();
- v1.set(dir1);
- v2.set(dir2);
+
+ if (dir1 != null)
+ v1.set(dir1);
+ else
+ v1.set(0,0,0);
+
+ if (dir2 != null)
+ v2.set(dir2);
+ else
+ v2.set(0,0,0);
}
public void getInlineControlPointEnds(Tuple3d p1, Tuple3d p2, Vector3d dir) {
assert (isInline());
Vector3d pos = getWorldPosition();
- dir.set(getPathLegDirection(Direction.NEXT));
+ dir.set(getInlineDir());
dir.normalize();
dir.scale(length * 0.5);
p1.set(pos);
Vector3d pos = getWorldPosition();
center.set(pos);
- dir.set(getPathLegDirection(Direction.NEXT));
+ dir.set(getInlineDir());
dir.normalize();
dir.scale(length * 0.5);
p1.set(pos);
p2.add(dir);
}
+ public Vector3d getInlineDir() {
+ Vector3d dir = getPathLegDirection(Direction.NEXT);
+ if (dir == null) {
+ dir = getPathLegDirection(Direction.PREVIOUS);
+ if (dir != null) {
+ // Use reverse direction
+ dir.scale(-1.0);
+ } else {
+ // Control point is not connected at all, use current orientation
+ dir = new Vector3d(1,0,0);
+ MathTools.rotate(getWorldOrientation(), dir, dir);
+ }
+ }
+ return dir;
+ }
+
public double getInlineLength() {
if (type == PointType.TURN)
return length;
return 0;
}
+ /**
+ * Return the position indicated by the argument. If the indicated direction is not connected, the
+ * control point's wolrd position is returned instead.
+ *
+ * @param type A selector for the position to be returned
+ * @return The selected position
+ */
public Vector3d getRealPosition(PositionType type) {
Vector3d pos = getWorldPosition();
switch (type) {
case NEXT: {
- Vector3d dir = getPathLegDirection(Direction.NEXT);
double length = getInlineLength();
- dir.normalize();
+ Vector3d dir;
+ if (isInline()) {
+ dir = getInlineDir();
+ } else {
+ dir = getPathLegDirection(Direction.NEXT);
+ }
dir.scale(length);
pos.add(dir);
break;
}
case PREVIOUS: {
- Vector3d dir = getPathLegDirection(Direction.PREVIOUS);
double length = getInlineLength();
- dir.normalize();
+ Vector3d dir;
+ if (isInline()) {
+ dir = getInlineDir();
+ dir.negate();
+ } else {
+ dir = getPathLegDirection(Direction.PREVIOUS);
+ }
dir.scale(length);
pos.add(dir);
break;
public void setOrientation(Quat4d orientation) {
if (MathTools.equals(orientation, getOrientation()))
return;
+ if (getPipelineComponent() != null && (getPipelineComponent() instanceof Nozzle))
+ System.out.println();
super.setOrientation(orientation);
if (getParentPoint() == null && component != null)
component._setWorldOrientation(getWorldOrientation());