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/OBJReader.h

@@ -0,0 +1,169 @@
+#ifndef OBJREADER_H
+#define OBJREADER_H
+
+#include <vector>
+#include <string>
+#include <fstream>
+#include "../../../geo/Point2.h"
+#include "../../../geo/Point3.h"
+
+/**
+ * prase .obj files
+ */
+class OBJReader {
+
+public:
+
+
+	/** group vertex+normal+texture */
+	struct VNT {
+		int idxVertex;
+		int idxNormal;
+		int idxTexture;
+		Point3 vertex;
+		Point3 normal;
+		Point2 texture;
+	};
+
+	/** one triangle */
+	struct Face {
+		VNT vnt[3];
+		Face(VNT v1, VNT v2, VNT v3) : vnt({v1,v2,v3}) {;}
+	};
+
+	/** internal data */
+	struct Data {
+		std::vector<Point3> vertices;
+		std::vector<Point2> texCoords;
+		std::vector<Point3> normals;
+		std::vector<Face> faces;
+	} data;
+
+
+public:
+
+	/** ctor. use readXYZ() */
+	OBJReader() {
+		;
+	}
+
+	/** read .obj from the given file */
+	void readFile(const std::string& file) {
+		std::ifstream is(file);
+		std::string line;
+		while(getline(is, line)) {parseLine(line);}
+		is.close();
+	}
+
+	/** read obj from the given data string (.obj file contents) */
+	void readData(const std::string& data) {
+		std::stringstream is(data);
+		std::string line;
+		while(getline(is, line)) {parseLine(line);}
+	}
+
+	/** get the parsed data */
+	const Data& getData() const {return data;}
+
+
+private:
+
+	template<typename Out>
+	void split(const std::string &s, char delim, Out result) {
+		std::stringstream ss(s);
+		std::string item;
+		while (std::getline(ss, item, delim)) {
+			*(result++) = item;
+		}
+	}
+
+	std::vector<std::string> split(const std::string &s, char delim) {
+		std::vector<std::string> elems;
+		split(s, delim, std::back_inserter(elems));
+		return elems;
+	}
+
+	/** parse one line of the .obj file */
+	void parseLine(const std::string& line) {
+
+		if (line.length() < 2) {return;}
+
+		const std::vector<std::string> tokens = split(line, ' ');
+		const std::string token = tokens.front();
+
+		if ("v"  == token) {parseVertex(tokens);}
+		if ("vt" == token) {parseTexCoord(tokens);}
+		if ("vn" == token) {parseNormal(tokens);}
+		if ("f"  == token) {parseFace(tokens);}
+
+	}
+
+	/** parse one vertex from the tokenizer */
+	void parseVertex(const std::vector<std::string>& t) {
+		const float x = std::stof(t[1]);
+		const float y = std::stof(t[2]);
+		const float z = std::stof(t[3]);
+		data.vertices.push_back(Point3(x,y,z));
+	}
+
+	/** parse one texture-coordinate from the tokenizer */
+	void parseTexCoord(const std::vector<std::string>& t) {
+		const float u = std::stof(t[1]);
+		const float v = std::stof(t[2]);
+		data.texCoords.push_back(Point2(u, -v));
+	}
+
+	/** parse one normal from the tokenizer */
+	void parseNormal(const std::vector<std::string>& t) {
+		const float x = std::stof(t[1]);
+		const float y = std::stof(t[2]);
+		const float z = std::stof(t[3]);
+		data.normals.push_back(Point3(x,y,z));
+	}
+
+	/** parse one face from the tokenizer */
+	void parseFace(const std::vector<std::string>& t) {
+
+		std::vector<VNT> indices;
+
+		int numVertices = 0;
+		for (size_t i = 1; i < t.size(); ++i) {
+
+			// one V/T/N
+			const std::string entry = t[i];
+			const std::vector<std::string> vtn = split(entry, '/');
+
+			++numVertices;
+			const std::string v = vtn[0];
+			//const std::string vt = t2.getToken('/', false);
+			//const std::string vn = t2.getToken('/', false);
+
+			// create a new vertex/normal/texture combination
+			VNT vnt;
+			vnt.idxVertex =								(std::stoi(v)  - 1);
+			//vnt.idxNormal =		(vn.empty()) ? (-1) :	(std::stoi(vn) - 1);
+			//vnt.idxTexture =	(vt.empty()) ? (-1) :	(std::stoi(vt) - 1);
+
+			if (vnt.idxVertex >= 0)		{vnt.vertex =	data.vertices[vnt.idxVertex];}
+			//if (vnt.idxNormal >= 0)		{vnt.normal =	data.normals[vnt.idxNormal];}
+			//if (vnt.idxTexture >= 0)	{vnt.texture =	data.texCoords[vnt.idxTexture];}
+
+			indices.push_back(vnt);
+
+		}
+
+		// this will both, create normal triangles and triangulate polygons
+		// see: http://www.mathopenref.com/polygontriangles.html
+		for (int i = 1; i < (int) indices.size()-1; ++i) {
+			Face face(indices[0], indices[1], indices[i+1]);
+			data.faces.push_back(face);
+		}
+
+		// sanity check
+		if (numVertices != 3) {throw "this face is not a triangle!";}
+
+	}
+
+};
+
+#endif // OBJREADER_H