added support for .obj objects within the floorplan

include objects within navmesh calculation
include objects within 3d mesh generation
minor changes/fixes

wifi/estimate/ray3/OBJPool.h

@@ -0,0 +1,108 @@
+#ifndef OBJPOOL_H
+#define OBJPOOL_H
+
+#include <vector>
+#include "../../../geo/Triangle3.h"
+#include <unordered_map>
+
+#include "OBJReader.h"
+#include "Obstacle3.h"
+
+// LINUX ONLY
+#include <dirent.h>
+#include <stdio.h>
+
+
+namespace Ray3D {
+
+	/**
+	 * load several named 3D models for quick re-use
+	 */
+	class OBJPool {
+
+	private:
+
+		/** singleton */
+		OBJPool() {;}
+
+		bool initDone = false;
+		std::unordered_map<std::string, Obstacle3D> cache;
+
+	public:
+
+		/** singleton access */
+		static OBJPool& get() {
+			static OBJPool instance;
+			return instance;
+		}
+
+		/** data folder */
+		void init(const std::string& folder) {
+
+			initDone = true;
+
+			// LINUX ONLY!
+			DIR* d = opendir(folder.c_str());
+			if (!d) {throw Exception("OBJPool: folder not found: " + folder);}
+
+			struct dirent *dir;
+			while ((dir = readdir(d)) != NULL) {
+				const std::string absFile = folder + "/" + dir->d_name;
+				if (endsWith(absFile, ".obj")) {
+					std::string name = std::string(dir->d_name);
+					name = name.substr(0, name.length() - 4);	// without extension
+					load(absFile, name);
+				}
+			}
+			closedir(d);
+
+		}
+
+		/** get all triangles for the given object (if known) */
+		const Obstacle3D& getObject(const std::string& name) {
+
+			// ensure the cache is initialized
+			if (!initDone) {
+				throw Exception("OBJPool: not initialized. call init(folder) first");
+			}
+
+			static Obstacle3D empty;
+
+			// find the entry
+			const auto& it = cache.find(name);
+			if (it == cache.end()) {return empty;}
+			return it->second;
+
+		}
+
+	private:
+
+		inline bool endsWith(std::string const & value, std::string const & ending) {
+			if (ending.size() > value.size()) return false;
+			return std::equal(ending.rbegin(), ending.rend(), value.rbegin());
+		}
+
+		/** load the given .obj file into the cache */
+		void load(const std::string& absName, const std::string& name) {
+
+			OBJReader reader;
+			reader.readFile(absName);
+			//reader.readFile("/mnt/vm/paper/diss/code/IndoorMap/res/mdl/" + file + ".obj");	// todo
+
+			// create triangles
+			Obstacle3D obs;
+			for (const OBJReader::Face& face : reader.getData().faces) {
+				const Triangle3 tria(face.vnt[0].vertex, face.vnt[1].vertex, face.vnt[2].vertex);
+				obs.triangles.push_back(tria);
+			}
+
+			// store
+			cache[name] = obs;
+
+		}
+
+	};
+
+}
+
+#endif // OBJPOOL_H