diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3557ca5..0aed9cd 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -19,7 +19,6 @@ ENDIF()
 
 INCLUDE_DIRECTORIES(
 	../
-	/mnt/firma/kunden/HandyGames/
 )
 
 
@@ -85,7 +84,7 @@ ADD_DEFINITIONS(
 	-DWITH_TESTS
 	-DWITH_ASSERTIONS
 	-DWITH_DEBUG_LOG
-        -D_GLIBCXX_DEBUG
+		-D_GLIBCXX_DEBUG
 
 
 )
diff --git a/floorplan/v2/Floorplan.h b/floorplan/v2/Floorplan.h
index 1b6494d..84903eb 100644
--- a/floorplan/v2/Floorplan.h
+++ b/floorplan/v2/Floorplan.h
@@ -275,15 +275,15 @@ namespace Floorplan {
 		bool operator == (const POI& o) const {return (o.type == type) && (o.name == name) && (o.pos == pos);}
 	};
 
-        /** a GroundTruthPoint located somewhere on a floor */
-        struct GroundTruthPoint {
-            int id; //TODO: this value can be changed and isn't set incremental within the indoormap
+		/** a GroundTruthPoint located somewhere on a floor */
+		struct GroundTruthPoint {
+			int id; //TODO: this value can be changed and isn't set incremental within the indoormap
 			Point3 pos;		// TODO: splint into 2D position + float for "heightAboveGround" [waypoints' height is relative to the floor's height!
-            GroundTruthPoint() : id(), pos() {;}
+			GroundTruthPoint() : id(), pos() {;}
 			GroundTruthPoint(const int id, const Point3& pos) : id(id), pos(pos) {;}
 			const Point3 getPosition(const Floor& f) const {return pos + Point3(0,0,f.atHeight);}
-            bool operator == (const GroundTruthPoint& o) const {return (o.id == id) && (o.pos == pos);}
-        };
+			bool operator == (const GroundTruthPoint& o) const {return (o.id == id) && (o.pos == pos);}
+		};
 
 	/** an AccessPoint located somewhere on a floor */
 	struct AccessPoint : public HasMeta {
@@ -317,7 +317,7 @@ namespace Floorplan {
 		Beacon() : name(), mac(), pos() {;}
 		Beacon(const std::string& name, const std::string& mac, const Point3& pos) : name(name), mac(mac), pos(pos) {;}
 		bool operator == (const Beacon& o) const {return (o.name == name) && (o.mac == mac) && (o.pos == pos);}
-                Point3 getPos(const Floor* f) const {return pos + Point3(0,0,f->atHeight);}	// relative to the floor's ground
+				Point3 getPos(const Floor* f) const {return pos + Point3(0,0,f->atHeight);}	// relative to the floor's ground
 	};
 
 
@@ -371,6 +371,13 @@ namespace Floorplan {
 		float getSize() const {return (to-from).length();}
 	};
 
+	/** 3D obstacle */
+	struct FloorObstacleObject : public FloorObstacle {
+		std::string file;
+		Point3 pos;
+		Point3 rot;
+		FloorObstacleObject(const std::string& file, const Point3 pos, const Point3 rot) : file(file), pos(pos), rot(rot) {;}
+	};
 
 
 
diff --git a/floorplan/v2/FloorplanReader.h b/floorplan/v2/FloorplanReader.h
index 00b7b01..3d16215 100644
--- a/floorplan/v2/FloorplanReader.h
+++ b/floorplan/v2/FloorplanReader.h
@@ -391,6 +391,7 @@ namespace Floorplan {
 				if (std::string("line") == n->Name())		{obstacles.push_back(parseFloorObstacleLine(n));}
 				if (std::string("circle") == n->Name())		{obstacles.push_back(parseFloorObstacleCircle(n));}
 				if (std::string("door") == n->Name())		{obstacles.push_back(parseFloorObstacleDoor(n));}
+				if (std::string("object") == n->Name())		{obstacles.push_back(parseFloorObstacleObject(n));}
 			}
 			return obstacles;
 		}
@@ -426,6 +427,15 @@ namespace Floorplan {
 			);
 		}
 
+		/** parse one object */
+		static FloorObstacleObject* parseFloorObstacleObject(const XMLElem* el) {
+			return new FloorObstacleObject(
+				el->Attribute("file"),
+				Point3(el->FloatAttribute("x"), el->FloatAttribute("y"), el->FloatAttribute("z")),
+				Point3(el->FloatAttribute("rx"), el->FloatAttribute("ry"), el->FloatAttribute("rz"))
+			);
+		}
+
 		/** parse a floor's <outline> tag */
 		static FloorOutline parseFloorOutline(const XMLElem* el) {
 			FloorOutline outline;
diff --git a/floorplan/v2/FloorplanWriter.h b/floorplan/v2/FloorplanWriter.h
index 82cdfd0..931be34 100644
--- a/floorplan/v2/FloorplanWriter.h
+++ b/floorplan/v2/FloorplanWriter.h
@@ -170,16 +170,16 @@ namespace Floorplan {
 			}
 			floor->InsertEndChild(pois);
 
-                        XMLElem* gtpoints = doc.NewElement("gtpoints");
-                        for (const GroundTruthPoint* gtp : mf->gtpoints) {
-                            XMLElem* elem = doc.NewElement("gtpoint");
-                            elem->SetAttribute("id", gtp->id);
-                            elem->SetAttribute("x", gtp->pos.x);
-                            elem->SetAttribute("y", gtp->pos.y);
-                            elem->SetAttribute("z", gtp->pos.z);
-                            gtpoints->InsertEndChild(elem);
-                        }
-                        floor->InsertEndChild(gtpoints);
+						XMLElem* gtpoints = doc.NewElement("gtpoints");
+						for (const GroundTruthPoint* gtp : mf->gtpoints) {
+							XMLElem* elem = doc.NewElement("gtpoint");
+							elem->SetAttribute("id", gtp->id);
+							elem->SetAttribute("x", gtp->pos.x);
+							elem->SetAttribute("y", gtp->pos.y);
+							elem->SetAttribute("z", gtp->pos.z);
+							gtpoints->InsertEndChild(elem);
+						}
+						floor->InsertEndChild(gtpoints);
 
 			XMLElem* accesspoints = doc.NewElement("accesspoints");
 			for (const AccessPoint* ap : mf->accesspoints) {
@@ -315,6 +315,8 @@ namespace Floorplan {
 					addFloorObstacleCircle(doc, obstacles, (FloorObstacleCircle*)fo);
 				} else if (dynamic_cast<FloorObstacleDoor*>(fo)) {
 					addFloorObstacleDoor(doc, obstacles, (FloorObstacleDoor*)fo);
+				} else if (dynamic_cast<FloorObstacleObject*>(fo)) {
+					addFloorObstacleObject(doc, obstacles, (FloorObstacleObject*)fo);
 				}
 			}
 
@@ -359,6 +361,19 @@ namespace Floorplan {
 			obstacles->InsertEndChild(obstacle);
 		}
 
+		/** write an object-obstacle */
+		static void addFloorObstacleObject(XMLDoc& doc, XMLElem* obstacles, FloorObstacleObject* obj) {
+			XMLElem* obstacle = doc.NewElement("object");
+			obstacle->SetAttribute("file", obj->file.c_str());
+			obstacle->SetAttribute("x", obj->pos.x);
+			obstacle->SetAttribute("y", obj->pos.y);
+			obstacle->SetAttribute("z", obj->pos.z);
+			obstacle->SetAttribute("rx", obj->rot.x);
+			obstacle->SetAttribute("ry", obj->rot.y);
+			obstacle->SetAttribute("rz", obj->rot.z);
+			obstacles->InsertEndChild(obstacle);
+		}
+
 	};
 
 
diff --git a/geo/BBox2.h b/geo/BBox2.h
index 950136d..d1cf451 100644
--- a/geo/BBox2.h
+++ b/geo/BBox2.h
@@ -9,8 +9,8 @@ class BBox2 {
 
 protected:
 
-	static constexpr float MAX = +99999;
-	static constexpr float MIN = -99999;
+	static constexpr float MAX = +99999999;
+	static constexpr float MIN = -99999999;
 
 	/** minimum */
 	Point2 p1;
@@ -26,17 +26,28 @@ public:
 	/** ctor */
 	BBox2(const Point2& p1, const Point2& p2) : p1(p1), p2(p2) {;}
 
+	/** ctor */
+	BBox2(const float x1, const float y1, const float x2, const float y2) : p1(x1,y1), p2(x2,y2) {;}
+
 	/** adjust the bounding-box by adding this point */
 	void add(const Point2& p) {
+		add(p.x, p.y);
+	}
 
-		if (p.x > p2.x) {p2.x = p.x;}
-		if (p.y > p2.y) {p2.y = p.y;}
+	/** adjust the bounding-box by adding this point */
+	void add(const float x, const float y) {
 
-		if (p.x < p1.x) {p1.x = p.x;}
-		if (p.y < p1.y) {p1.y = p.y;}
+		if (x > p2.x) {p2.x = x;}
+		if (y > p2.y) {p2.y = y;}
+
+		if (x < p1.x) {p1.x = x;}
+		if (y < p1.y) {p1.y = y;}
 
 	}
 
+	/** the area spanned by the bbox */
+	float getArea() const {return getSize().x * getSize().y;}
+
 	/** returns true if the bbox is not yet configured */
 	bool isInvalid() const {
 		return p1.x == MAX || p1.y == MAX || p2.x == MIN || p2.y == MIN;
@@ -63,6 +74,44 @@ public:
 				(p2.y == o.p2.y);
 	}
 
+	bool intersects(const BBox2& o) const {
+		// TODO is this correct?
+		if (o.p2.x < p1.x) {return false;}
+		if (o.p1.x > p2.x) {return false;}
+		if (o.p2.y < p1.y) {return false;}
+		if (o.p1.y > p2.y) {return false;}
+		return true;
+//		return	(p1.x <= o.p2.x) &&
+//				(p1.y <= o.p2.y) &&
+//				(p2.x >= o.p1.x) &&
+//				(p2.y >= o.p1.y);
+	}
+
+	BBox2 combine(const BBox2& o) {
+
+		// TODO is this correct?
+		const float x1 = std::min(p1.x, o.p1.x);
+		const float x2 = std::max(p2.x, o.p2.x);
+
+		const float y1 = std::min(p1.y, o.p1.y);
+		const float y2 = std::max(p2.y, o.p2.y);
+
+		return BBox2(x1,y1, x2,y2);
+
+	}
+
+	BBox2 intersection(const BBox2& o) {
+		// TODO is this correct?
+		const float x1 = std::max(p1.x, o.p1.x);
+		const float x2 = std::min(p2.x, o.p2.x);
+
+		const float y1 = std::max(p1.y, o.p1.y);
+		const float y2 = std::min(p2.y, o.p2.y);
+
+		return BBox2(x1,y1, x2,y2);
+
+	}
+
 	/** does the BBox intersect with the given line? */
 	bool intersects (const Line2& l) const {
 		const Line2 l1(p1.x, p1.y, p2.x, p1.y);		// upper
@@ -87,10 +136,14 @@ public:
 	}
 
 	bool contains(const Point2& p) const {
-		if (p.x < p1.x) {return false;}
-		if (p.x > p2.x) {return false;}
-		if (p.y < p1.y) {return false;}
-		if (p.y > p2.y) {return false;}
+		return contains(p.x, p.y);
+	}
+
+	bool contains(const float x, const float y) const {
+		if (x < p1.x) {return false;}
+		if (x > p2.x) {return false;}
+		if (y < p1.y) {return false;}
+		if (y > p2.y) {return false;}
 		return true;
 	}
 
diff --git a/geo/ConvexHull2.h b/geo/ConvexHull2.h
new file mode 100644
index 0000000..85c584a
--- /dev/null
+++ b/geo/ConvexHull2.h
@@ -0,0 +1,64 @@
+#ifndef GEO_CONVEXHULL2_H
+#define GEO_CONVEXHULL2_H
+
+#include "Point2.h"
+
+#include <algorithm>
+#include <vector>
+
+/**
+ * get a convex-hull around a set of 2D points
+ * https://en.wikibooks.org/wiki/Algorithm_Implementation/Geometry/Convex_hull/Monotone_chain
+ */
+class ConvexHull2 {
+
+public:
+
+	//using namespace std;
+
+	typedef double coord_t;		// coordinate type
+	typedef double coord2_t;	// must be big enough to hold 2*max(|coordinate|)^2
+
+	// 2D cross product of OA and OB vectors, i.e. z-component of their 3D cross product.
+	// Returns a positive value, if OAB makes a counter-clockwise turn,
+	// negative for clockwise turn, and zero if the points are collinear.
+	static inline coord2_t cross(const Point2 O, const Point2 A, const Point2 B) {
+		return (A.x - O.x) * (B.y - O.y) - (A.y - O.y) * (B.x - O.x);
+	}
+
+	// Returns a list of points on the convex hull in counter-clockwise order.
+	// Note: the last point in the returned list is the same as the first one.
+	static inline std::vector<Point2> get(std::vector<Point2> P) {
+
+		auto comp = [] (const Point2 p1, const Point2 p2) {
+			return p1.x < p2.x || (p1.x == p2.x && p1.y < p2.y);
+		};
+
+		int n = P.size(), k = 0;
+		if (n == 1) return P;
+		std::vector<Point2> H(2*n);
+
+		// Sort points lexicographically
+		std::sort(P.begin(), P.end(), comp);
+
+		// Build lower hull
+		for (int i = 0; i < n; ++i) {
+			while (k >= 2 && cross(H[k-2], H[k-1], P[i]) <= 0) k--;
+			H[k++] = P[i];
+		}
+
+		// Build upper hull
+		for (int i = n-2, t = k+1; i >= 0; i--) {
+			while (k >= t && cross(H[k-2], H[k-1], P[i]) <= 0) k--;
+			H[k++] = P[i];
+		}
+
+		H.resize(k-1);
+		return H;
+
+	}
+
+
+};
+
+#endif // GEO_CONVEXHULL2_H
diff --git a/geo/Point3.h b/geo/Point3.h
index 2269191..0e2f45a 100644
--- a/geo/Point3.h
+++ b/geo/Point3.h
@@ -1,5 +1,5 @@
-#ifndef GEO_POINT3_H
-#define GEO_POINT3_H
+#ifndef GEO_Point3_H
+#define GEO_Point3_H
 
 #include "../Assertions.h"
 #include <cmath>
@@ -8,76 +8,76 @@
 /**
  * 3D Point
  */
-struct Point3 {
+template <typename Scalar> struct _Point3 {
 
-	float x;
-	float y;
-	float z;
+	Scalar x;
+	Scalar y;
+	Scalar z;
 
 	/** ctor */
-	Point3() : x(0), y(0), z(0) {;}
+	_Point3() : x(0), y(0), z(0) {;}
 
 	/** ctor */
-	Point3(const float x, const float y, const float z) : x(x), y(y), z(z) {;}
+	_Point3(const Scalar x, const Scalar y, const Scalar z) : x(x), y(y), z(z) {;}
 
 
-	Point3 operator - () const {return Point3(-x, -y, -z);}
+	_Point3 operator - () const {return _Point3(-x, -y, -z);}
 
 
-	Point3 operator + (const Point3& o) const {return Point3(x+o.x, y+o.y, z+o.z);}
+	_Point3 operator + (const _Point3& o) const {return _Point3(x+o.x, y+o.y, z+o.z);}
 
-	Point3 operator - (const Point3& o) const {return Point3(x-o.x, y-o.y, z-o.z);}
+	_Point3 operator - (const _Point3& o) const {return _Point3(x-o.x, y-o.y, z-o.z);}
 
-	Point3 operator * (const Point3& o) const {return Point3(x*o.x, y*o.y, z*o.z);}
+	_Point3 operator * (const _Point3& o) const {return _Point3(x*o.x, y*o.y, z*o.z);}
 
-	Point3 operator * (const float v) const {return Point3(v*x, v*y, v*z);}
+	_Point3 operator * (const Scalar v) const {return _Point3(v*x, v*y, v*z);}
 
-	Point3 operator / (const float v) const {return Point3(x/v, y/v, z/v);}
+	_Point3 operator / (const Scalar v) const {return _Point3(x/v, y/v, z/v);}
 
 
-	Point3& operator *= (const float v) {x*=v; y*=v; z*=v; return *this;}
+	_Point3& operator *= (const Scalar v) {x*=v; y*=v; z*=v; return *this;}
 
-	Point3& operator /= (const float v) {x/=v; y/=v; z/=v; return *this;}
+	_Point3& operator /= (const Scalar v) {x/=v; y/=v; z/=v; return *this;}
 
 
-	Point3& operator += (const Point3& o) {x+=o.x; y+=o.y; z+=o.z; return *this;}
+	_Point3& operator += (const _Point3& o) {x+=o.x; y+=o.y; z+=o.z; return *this;}
 
-	Point3& operator -= (const Point3& o) {x-=o.x; y-=o.y; z-=o.z; return *this;}
+	_Point3& operator -= (const _Point3& o) {x-=o.x; y-=o.y; z-=o.z; return *this;}
 
-	Point3& operator *= (const Point3& o) {x*=o.x; y*=o.y; z*=o.z; return *this;}
+	_Point3& operator *= (const _Point3& o) {x*=o.x; y*=o.y; z*=o.z; return *this;}
 
-	Point3& operator /= (const Point3& o) {x/=o.x; y/=o.y; z/=o.z; return *this;}
+	_Point3& operator /= (const _Point3& o) {x/=o.x; y/=o.y; z/=o.z; return *this;}
 
 
-	bool operator < (const Point3& o) const {return x<o.x && y<o.y && z<o.z;}
+	bool operator < (const _Point3& o) const {return x<o.x && y<o.y && z<o.z;}
 
-	bool operator == (const Point3& o) const {return x==o.x && y==o.y && z==o.z;}
+	bool operator == (const _Point3& o) const {return x==o.x && y==o.y && z==o.z;}
 
-	bool operator != (const Point3& o) const {return x!=o.x || y!=o.y || z!=o.z;}
+	bool operator != (const _Point3& o) const {return x!=o.x || y!=o.y || z!=o.z;}
 
-	bool eq (const Point3& o, const float delta) const { return eq(x,o.x,delta) && eq(y,o.y,delta) && eq(z,o.z,delta); }
+	bool eq (const _Point3& o, const Scalar delta) const { return eq(x,o.x,delta) && eq(y,o.y,delta) && eq(z,o.z,delta); }
 
 
 	Point2 xy() const {return Point2(x,y);}
 
 
-	Point3 rotX(const float r) const {
-		return Point3(x, y*cos(r) - z*sin(r), y*sin(r) + z*cos(r));
+	_Point3 rotX(const Scalar r) const {
+		return _Point3(x, y*cos(r) - z*sin(r), y*sin(r) + z*cos(r));
 	}
-	Point3 rotY(const float r) const {
-		return Point3(z*sin(r) + x*cos(r), y, z*cos(r) - x*sin(r));
+	_Point3 rotY(const Scalar r) const {
+		return _Point3(z*sin(r) + x*cos(r), y, z*cos(r) - x*sin(r));
 	}
-	Point3 rotZ(const float r) const {
-		return Point3(x*cos(r) - y*sin(r), x*sin(r) + y*cos(r), z);
+	_Point3 rotZ(const Scalar r) const {
+		return _Point3(x*cos(r) - y*sin(r), x*sin(r) + y*cos(r), z);
 	}
-	Point3 rot(const float rx, const float ry, const float rz) const {
+	_Point3 rot(const Scalar rx, const Scalar ry, const Scalar rz) const {
 		return rotX(rx).rotY(ry).rotZ(rz);
 		//return rotZ(rz).rotY(ry).rotX(rx);
 	}
 
 
 	/** read-only array access */
-	float operator [] (const int idx) const {
+	Scalar operator [] (const int idx) const {
 		Assert::isBetween(idx, 0, 2, "index out of bounds");
 		if (0 == idx)	{return x;}
 		if (1 == idx)	{return y;}
@@ -85,19 +85,19 @@ struct Point3 {
 	}
 
 	/** get the distance between this point and the other one */
-	float getDistance(const Point3& o) const {
-		const float dx = x - o.x;
-		const float dy = y - o.y;
-		const float dz = z - o.z;
+	Scalar getDistance(const _Point3& o) const {
+		const Scalar dx = x - o.x;
+		const Scalar dy = y - o.y;
+		const Scalar dz = z - o.z;
 		return std::sqrt(dx*dx + dy*dy + dz*dz);
 	}
 
 	/** get a normalized copy */
-	Point3 normalized() const {return *this / this->length();}
+	_Point3 normalized() const {return *this / this->length();}
 
-	float length() const {return std::sqrt(x*x + y*y + z*z);}
+	Scalar length() const {return std::sqrt(x*x + y*y + z*z);}
 
-	float length(const float norm) const {
+	Scalar length(const Scalar norm) const {
 		return std::pow(
 					(std::pow(std::abs(x),norm) +
 					 std::pow(std::abs(y),norm) +
@@ -111,12 +111,15 @@ struct Point3 {
 
 private:
 
-	static inline bool eq(const float a, const float b, const float delta) {return std::abs(a-b) <= delta;}
-	static inline bool ne(const float a, const float b, const float delta) {return std::abs(a-b)  > delta;}
+	static inline bool eq(const Scalar a, const Scalar b, const Scalar delta) {return std::abs(a-b) <= delta;}
+	static inline bool ne(const Scalar a, const Scalar b, const Scalar delta) {return std::abs(a-b)  > delta;}
 
 };
 
-inline float dot(const Point3 p1, const Point3 p2) {
+//using Point3 = _Point3<double>;
+using Point3 = _Point3<float>;
+
+inline double dot(const Point3 p1, const Point3 p2) {
 	return (p1.x*p2.x) + (p1.y*p2.y) + (p1.z*p2.z);
 }
 
@@ -128,4 +131,4 @@ inline Point3 cross(const Point3 a, const Point3 b) {
 	);
 }
 
-#endif // GEO_POINT3_H
+#endif // GEO__Point3_H
diff --git a/geo/Triangle3.h b/geo/Triangle3.h
index a83b142..9ea7626 100644
--- a/geo/Triangle3.h
+++ b/geo/Triangle3.h
@@ -34,6 +34,18 @@ public:
 	Triangle3 operator - (const Point3 o) const {
 		return Triangle3(p1-o, p2-o, p3-o);
 	}
+	Triangle3& operator += (const Point3 o) {
+		p1 += o;
+		p2 += o;
+		p3 += o;
+		return *this;
+	}
+	Triangle3& operator -= (const Point3 o) {
+		p1 -= o;
+		p2 -= o;
+		p3 -= o;
+		return *this;
+	}
 
 	Point3 getNormal() const {
 		return cross( p2-p1, p3-p1 ).normalized();
@@ -47,22 +59,22 @@ public:
 		const Point3 e2 = p3-p1;
 
 		const Point3 h = cross(ray.dir, e2);
-		const float a = dot(e1, h);
+		const double a = dot(e1, h);
 
 		if (a > -0.00001 && a < 0.00001) {return false;}
 
-		const float f = 1/a;
+		const double f = 1/a;
 
 		const Point3 s = ray.start - p1;
-		const float u = f * dot(s,h);
+		const double u = f * dot(s,h);
 
 		if (u < 0.0 || u > 1.0) {return false;}
 
 		const Point3 q = cross(s, e1);
-		const float v = f * dot(ray.dir, q);
+		const double v = f * dot(ray.dir, q);
 
 		if (v < 0.0 || u + v > 1.0) {return false;}
-		const float t = f * dot(e2,q);
+		const double t = f * dot(e2,q);
 
 
 		if (t > 0.00001) {
diff --git a/navMesh/NavMeshFactory.h b/navMesh/NavMeshFactory.h
index b87056a..d563402 100644
--- a/navMesh/NavMeshFactory.h
+++ b/navMesh/NavMeshFactory.h
@@ -1,9 +1,14 @@
 #ifndef NAV_MESH_FACTORY_H
 #define NAV_MESH_FACTORY_H
 
+#include <vector>
+
 #include "../floorplan/v2/Floorplan.h"
 #include "../floorplan/v2/FloorplanHelper.h"
 
+#include "../geo/ConvexHull2.h"
+#include "../wifi/estimate/ray3/OBJPool.h"
+
 #include "NavMesh.h"
 #include "NavMeshTriangle.h"
 #include "NavMeshFactoryListener.h"
@@ -240,10 +245,19 @@ namespace NM {
 
 					// get all obstacles of this floor and remove them from the polygon as well (many will be outside of the added polygon)
 					for (Floorplan::FloorObstacle* obs : floor->obstacles) {
+
+						// line-obstacles
 						Floorplan::FloorObstacleLine* line = dynamic_cast<Floorplan::FloorObstacleLine*>(obs);
 						if (line != nullptr) {
 							nmPoly.remove(getPolygon(line));
 						}
+
+						// object-obstacles
+						Floorplan::FloorObstacleObject* obj = dynamic_cast<Floorplan::FloorObstacleObject*>(obs);
+						if (obj != nullptr) {
+							nmPoly.remove(getPolygon(obj));
+						}
+
 					}
 
 					// construct and add
@@ -721,6 +735,23 @@ namespace NM {
 			return res;
 		}
 
+		/** convert the given 3D object to a polygon outline */
+		Floorplan::Polygon2 getPolygon(const Floorplan::FloorObstacleObject* obj) const {
+
+			Floorplan::Polygon2 res;
+
+			std::vector<Point2> src;
+			Ray3D::Obstacle3D obs = Ray3D::OBJPool::get().getObject(obj->file).rotated_deg(obj->rot).translated(obj->pos);
+			for (const Triangle3& tria : obs.triangles) {
+				src.push_back(tria.p1.xy());
+				src.push_back(tria.p2.xy());
+				src.push_back(tria.p3.xy());
+			}
+			res.points = ConvexHull2::get(src);
+			return res;
+
+		}
+
 		/** as line-obstacles have a thickness, we need 4 lines for the intersection test! */
 		Floorplan::Polygon2 getPolygon(const Floorplan::FloorObstacleDoor* door) const {
 			const float thickness_m = std::max(0.3f, settings.maxQuality_m);	// wall's thickness (make thin walls big enough to be detected)
diff --git a/navMesh/NavMeshTriangle.h b/navMesh/NavMeshTriangle.h
index f7c98fb..33972e7 100644
--- a/navMesh/NavMeshTriangle.h
+++ b/navMesh/NavMeshTriangle.h
@@ -241,8 +241,8 @@ namespace NM {
 			getUV(p, u, v);
 
 			const Point3 res = getPoint(u,v);
-			Assert::isNear(res.x, p.x, 1.0f, "TODO: high difference while mapping from 2D to 3D");
-			Assert::isNear(res.y, p.y, 1.0f, "TODO: high difference while mapping from 2D to 3D");
+			Assert::isNear<float>(res.x, p.x, 1.0f, "TODO: high difference while mapping from 2D to 3D");
+			Assert::isNear<float>(res.y, p.y, 1.0f, "TODO: high difference while mapping from 2D to 3D");
 
 			//return res;
 			return Point3(p.x, p.y, res.z);	// only use the new z, keep input as-is
diff --git a/wifi/estimate/ray3/FloorplanMesh.h b/wifi/estimate/ray3/FloorplanMesh.h
index 38af565..a8de51c 100644
--- a/wifi/estimate/ray3/FloorplanMesh.h
+++ b/wifi/estimate/ray3/FloorplanMesh.h
@@ -2,6 +2,7 @@
 #define FLOORPLANMESH_H
 
 #include "Obstacle3.h"
+#include <fstream>
 
 namespace Ray3D {
 
@@ -12,11 +13,35 @@ namespace Ray3D {
 
 		std::vector<Obstacle3D> elements;
 
+		/** export as OBJ file */
+		void exportOBJsimple(const std::string& file) {
+			std::ofstream out(file.c_str());
+			out << toOBJsimple();
+			out.close();
+		}
+
+		/** export as OBJ file */
+		void exportOBJcomplex(const std::string& file, const std::string& nameOnly) {
+			std::ofstream outOBJ((file+".obj").c_str());
+			std::ofstream outMTL((file+".mtl").c_str());
+			OBJData data = toOBJ(nameOnly);
+			outOBJ << data.obj;
+			outMTL << data.mtl;
+			outOBJ.close();
+			outMTL.close();
+		}
+
+		/** export as PLY file */
+		void exportPLY(const std::string& file) {
+			std::ofstream out(file.c_str());
+			out << toPLY();
+			out.close();
+		}
+
 		/** DEBUG: convert to .obj file code for exporting */
-		std::string toOBJ() {
+		std::string toOBJsimple() {
 
 			int nVerts = 1;
-			int nObjs = 0;
 			std::string res;
 
 			// write each obstacle
@@ -29,12 +54,87 @@ namespace Ray3D {
 					res += "v " + std::to_string(t.p3.x) + " " + std::to_string(t.p3.y) + " " + std::to_string(t.p3.z) + "\n";
 				}
 
+			}
+
+			// write each obstacle
+			for (const Obstacle3D& o : elements) {
+
+				// write the faces
+				for (size_t i = 0; i < o.triangles.size(); ++i) {
+					res += "f " + std::to_string(nVerts+0) + " " + std::to_string(nVerts+1) + " " + std::to_string(nVerts+2) + "\n";
+					nVerts += 3;
+				}
+
+			}
+
+			// done
+			return res;
+
+		}
+
+		struct OBJData {
+			std::string obj;
+			std::string mtl;
+		};
+
+		/** DEBUG: convert to .obj file code for exporting */
+		OBJData toOBJ(const std::string& name) {
+
+			bool swapYZ = true;
+			int nVerts = 1;
+			int nObjs = 0;
+			OBJData res;
+
+			// write material file
+			for (size_t idx = 0; idx < mats.size(); ++idx) {
+				const Material& mat = mats[idx];
+				res.mtl += "newmtl mat_" + std::to_string(idx) + "\n";
+				res.mtl += "Ka 0.000 0.000 0.000 \n";								// ambient
+				res.mtl += "Kd " + std::to_string(mat.r/255.0f) + " " + std::to_string(mat.g/255.0f) + " " + std::to_string(mat.b/255.0f) + "\n";
+				res.mtl += "Ks 0.000 0.000 0.000 \n";
+				res.mtl += "d " + std::to_string(mat.a/255.0f) + "\n";				// alpha
+				res.mtl += "Tr " + std::to_string(1.0f-mat.a/255.0f) + "\n";		// inv-alpha
+				res.mtl += "illum 2 \n";
+				res.mtl += "\n";
+			}
+
+
+			// use material file
+			res.obj += "mtllib " + name + ".mtl" + "\n";
+
+			// write each obstacle
+			for (const Obstacle3D& o : elements) {
+
+				// write the vertices
+				for (const Triangle3& t : o.triangles) {
+					if (!swapYZ) {
+						res.obj += "v " + std::to_string(t.p1.x) + " " + std::to_string(t.p1.y) + " " + std::to_string(t.p1.z) + "\n";
+						res.obj += "v " + std::to_string(t.p2.x) + " " + std::to_string(t.p2.y) + " " + std::to_string(t.p2.z) + "\n";
+						res.obj += "v " + std::to_string(t.p3.x) + " " + std::to_string(t.p3.y) + " " + std::to_string(t.p3.z) + "\n";
+					} else {
+						res.obj += "v " + std::to_string(t.p1.x) + " " + std::to_string(t.p1.z) + " " + std::to_string(t.p1.y) + "\n";
+						res.obj += "v " + std::to_string(t.p2.x) + " " + std::to_string(t.p2.z) + " " + std::to_string(t.p2.y) + "\n";
+						res.obj += "v " + std::to_string(t.p3.x) + " " + std::to_string(t.p3.z) + " " + std::to_string(t.p3.y) + "\n";
+					}
+				}
+
+			}
+
+			// write each obstacle
+			for (const Obstacle3D& o : elements) {
+
 				// create a new group
-				res += "g elem_" + std::to_string(++nObjs) + "\n";
+				//res.obj += "g elem_" + std::to_string(++nObjs) + "\n";
+
+				// create a new object
+				res.obj += "o elem_" + std::to_string(++nObjs) + "\n";
+
+				// group's material
+				res.obj += "usemtl mat_" + std::to_string(getMaterial(o)) + "\n";
 
 				// write the group's faces
 				for (size_t i = 0; i < o.triangles.size(); ++i) {
-					res += "f " + std::to_string(nVerts+0) + " " + std::to_string(nVerts+1) + " " + std::to_string(nVerts+2) + "\n";
+					res.obj += "f " + std::to_string(nVerts+0) + " " + std::to_string(nVerts+1) + " " + std::to_string(nVerts+2) + "\n";
 					nVerts += 3;
 				}
 
@@ -59,18 +159,6 @@ namespace Ray3D {
 				faces += obs.triangles.size();
 			}
 
-			// material
-			std::vector<Material> mats = {
-
-				Material(0,128,0,255),		// ground outdoor
-				Material(64,64,64,255),		// ground outdoor
-				Material(255,96,96,255),	// stair
-
-				Material(128,128,128,255),	// concrete
-				Material(64,128,255,64),	// glass
-				Material(200,200,200,255),	// default
-
-			};
 
 			res << "element material " << mats.size() << "\n";
 			res << "property uchar red\n";
@@ -85,11 +173,11 @@ namespace Ray3D {
 			res << "property float nx\n";
 			res << "property float ny\n";
 			res << "property float nz\n";
-			res << "property int material_index\n";
 			res << "property uchar red\n";
 			res << "property uchar green\n";
 			res << "property uchar blue\n";
 			res << "property uchar alpha\n";
+			res << "property int material_index\n";
 
 			res << "element face " << faces << "\n";
 			res << "property list uchar int vertex_indices\n";
@@ -107,9 +195,9 @@ namespace Ray3D {
 				const Material& mat = mats[matIdx];
 				for (const Triangle3& tria : obs.triangles) {
 					const Point3 n = cross(tria.p2-tria.p1, tria.p3-tria.p1).normalized();
-					res << tria.p1.x << " " << tria.p1.y << " " << tria.p1.z << " " << n.x << " " << n.y << " " << n.z << " " << matIdx << " " << mat.r << " " << mat.g << " " << mat.b << " " << mat.a << "\n";
-					res << tria.p2.x << " " << tria.p2.y << " " << tria.p2.z << " " << n.x << " " << n.y << " " << n.z << " " << matIdx << " " << mat.r << " " << mat.g << " " << mat.b << " " << mat.a <<"\n";
-					res << tria.p3.x << " " << tria.p3.y << " " << tria.p3.z << " " << n.x << " " << n.y << " " << n.z << " " << matIdx << " " << mat.r << " " << mat.g << " " << mat.b << " " << mat.a <<"\n";
+					res << tria.p1.x << " " << tria.p1.y << " " << tria.p1.z << " " << n.x << " " << n.y << " " << n.z << " " << mat.r << " " << mat.g << " " << mat.b << " " << mat.a << " " << matIdx << "\n";
+					res << tria.p2.x << " " << tria.p2.y << " " << tria.p2.z << " " << n.x << " " << n.y << " " << n.z << " " << mat.r << " " << mat.g << " " << mat.b << " " << mat.a << " " << matIdx << "\n";
+					res << tria.p3.x << " " << tria.p3.y << " " << tria.p3.z << " " << n.x << " " << n.y << " " << n.z << " " << mat.r << " " << mat.g << " " << mat.b << " " << mat.a << " " << matIdx << "\n";
 				}
 			}
 
@@ -131,6 +219,20 @@ namespace Ray3D {
 			Material(int r, int g, int b, int a) : r(r), g(g), b(b), a(a) {;}
 		};
 
+
+		// material
+		std::vector<Material> mats = {
+
+			Material(0,128,0,255),		// ground outdoor
+			Material(64,64,64,255),		// ground outdoor
+			Material(255,96,96,255),	// stair
+
+			Material(128,128,128,255),	// concrete
+			Material(64,128,255,64),	// glass
+			Material(200,200,200,255),	// default
+
+		};
+
 		int getMaterial(const Obstacle3D& o) const {
 			if (o.type == Obstacle3D::Type::GROUND_OUTDOOR)	{return 0;}
 			if (o.type == Obstacle3D::Type::GROUND_INDOOR)	{return 1;}
diff --git a/wifi/estimate/ray3/ModelFactory.h b/wifi/estimate/ray3/ModelFactory.h
index 1e4b4d4..acce398 100644
--- a/wifi/estimate/ray3/ModelFactory.h
+++ b/wifi/estimate/ray3/ModelFactory.h
@@ -9,6 +9,8 @@
 #include "Tube.h"
 #include "FloorplanMesh.h"
 
+#include "OBJPool.h"
+
 namespace Ray3D {
 
 	/**
@@ -25,6 +27,7 @@ namespace Ray3D {
 		bool exportHandrails = true;
 		bool exportDoors = true;
 		bool doorsOpen = true;
+		bool exportObjects = true;
 		bool exportWallTops = false;
 		std::vector<Floorplan::Floor*> exportFloors;
 
@@ -114,6 +117,8 @@ namespace Ray3D {
 		/** convert a floor (floor/ceiling) into triangles */
 		std::vector<Obstacle3D> getFloor(const Floorplan::Floor* f) {
 
+			FloorPos fpos(f);
+
 			std::vector<Obstacle3D> res;
 			if (!f->enabled) {return res;}
 			if (!f->outline.enabled) {return res;}
@@ -157,20 +162,22 @@ namespace Ray3D {
 				Obstacle3D obs(type, Floorplan::Material::CONCRETE);
 
 				// convert them into polygons
-				std::vector<std::vector<Point3>> polys = it.second.get(f->getStartingZ());
+				std::vector<std::vector<Point3>> polys = it.second.get(fpos.z1);
 
 				// convert polygons (GL_TRIANGLE_STRIP) to triangles
 				for (const std::vector<Point3>& pts : polys) {
 					for (int i = 0; i < (int)pts.size() - 2; ++i) {
 
-						// floor must be double-sided for reflection to work with the correct normals
+						// floor must be double-sided
 						Triangle3 tria1 (pts[i+0], pts[i+1], pts[i+2]);
 						Triangle3 tria2 (pts[i+2], pts[i+1], pts[i+0]);
 
 						// ensure the triangle with the normal pointing downwards (towards bulding's cellar)
 						// is below the triangle that points upwards (towards the sky)
-						if (tria1.getNormal().z < 0) {tria1 = tria1 - Point3(0,0,0.02);}
-						if (tria2.getNormal().z < 0) {tria2 = tria2 - Point3(0,0,0.02);}
+						if (tria1.getNormal().z < 0) {std::swap(tria1, tria2);}
+
+						// tria2 = ceiling of previous floor
+						tria2 -= Point3(0,0,fpos.fh);
 
 						// add both
 						obs.triangles.push_back(tria1);
@@ -208,6 +215,16 @@ namespace Ray3D {
 				}
 			}
 
+			// handle object obstacles
+			const Floorplan::FloorObstacleObject* foo = dynamic_cast<const Floorplan::FloorObstacleObject*>(fo);
+			if (foo) {
+				if (exportObjects) {
+					if (!foo->file.empty()) {
+						res.push_back(getObject(f, foo));
+					}
+				}
+			}
+
 			const Floorplan::FloorObstacleDoor* door = dynamic_cast<const Floorplan::FloorObstacleDoor*>(fo);
 			if (door) {
 				if (exportObstacles) {
@@ -246,6 +263,8 @@ namespace Ray3D {
 
 		Obstacle3D getWall(const Floorplan::Floor* f, const Floorplan::FloorObstacleLine* fol, const Floorplan::FloorObstacleDoor* aboveDoor) const {
 
+			FloorPos fpos(f);
+
 			const float thickness_m = fol->thickness_m;
 			const Point2 from = (!aboveDoor) ? (fol->from) :	(aboveDoor->from);
 			const Point2 to =	(!aboveDoor) ? (fol->to) :		(aboveDoor->to);
@@ -255,8 +274,8 @@ namespace Ray3D {
 			const float deg = rad * 180 / M_PI;
 
 			// cube's destination center
-			const float cenZ =		(!aboveDoor) ? (f->atHeight + f->height/2) :	(f->getEndingZ() - (f->height - aboveDoor->height) / 2);
-			const float height =	(!aboveDoor) ? (f->height) :					(f->height - aboveDoor->height);
+			const float cenZ =		(!aboveDoor) ? (fpos.z1 + fpos.height/2) :	(fpos.z2 - (fpos.height - aboveDoor->height) / 2);
+			const float height =	(!aboveDoor) ? (fpos.height) :					(fpos.height - aboveDoor->height);
 			const Point3 pos(cen2.x, cen2.y, cenZ);
 
 			// div by 2.01 to prevent overlapps and z-fighting
@@ -276,8 +295,44 @@ namespace Ray3D {
 
 		}
 
+		/** 3D Obstacle from .obj 3D mesh */
+		Obstacle3D getObject(const Floorplan::Floor* f, const Floorplan::FloorObstacleObject* foo) const {
+
+			FloorPos fpos(f);
+
+			const std::string& name = foo->file;
+			Obstacle3D obs = OBJPool::get().getObject(name);
+			obs = obs.rotated_deg( Point3(foo->rot.x, foo->rot.y, foo->rot.z) );
+			obs = obs.translated(foo->pos + Point3(0,0,fpos.z1));
+
+//			std::vector<Triangle3> trias;
+//			for (const OBJReader::Face& face : reader.getData().faces) {
+//				Point3 p1 = face.vnt[0].vertex;
+//				Point3 p2 = face.vnt[1].vertex;
+//				Point3 p3 = face.vnt[2].vertex;
+//				p1 = p1.rot(foo->rot.x/180.0f*M_PI, foo->rot.y/180.0f*M_PI, foo->rot.z/180.0f*M_PI);
+//				p2 = p2.rot(foo->rot.x/180.0f*M_PI, foo->rot.y/180.0f*M_PI, foo->rot.z/180.0f*M_PI);
+//				p3 = p3.rot(foo->rot.x/180.0f*M_PI, foo->rot.y/180.0f*M_PI, foo->rot.z/180.0f*M_PI);
+//				p1 += foo->pos; p1.z += fpos.z1;
+//				p2 += foo->pos; p2.z += fpos.z1;
+//				p3 += foo->pos; p3.z += fpos.z1;
+//				const Triangle3 tria(p1, p2, p3);
+//				trias.push_back(tria);
+//			}
+
+//			// done
+//			Obstacle3D res(Obstacle3D::Type::OBJECT, Floorplan::Material::WOOD);
+//			res.triangles = trias;
+//			return res;
+
+			return obs;
+
+		}
+
 		Obstacle3D getDoor(const Floorplan::Floor* f, const Floorplan::FloorObstacleDoor* door) const {
 
+			FloorPos fpos(f);
+
 			const float thickness_m = 0.10;	// TODO??
 			const Point2 from = door->from;
 			const Point2 to = door->to;
@@ -297,7 +352,7 @@ namespace Ray3D {
 
 				if (doorsOpen) {deg += (door->swap) ? (-90) : (+90);}
 				mat = Matrix4::getTranslation(1,0,0); // cube's edge located at 0,0,0
-				pos = Point3(from.x, from.y, f->atHeight + door->height/2);
+				pos = Point3(from.x, from.y, fpos.z1 + door->height/2);
 
 				const float sx = from.getDistance(to) / 2;
 				const float sy = thickness_m / 2;
@@ -312,7 +367,7 @@ namespace Ray3D {
 			} else if (Floorplan::DoorType::REVOLVING == door->type) {
 
 				const Point2 cen2 = (from+to)/2;
-				const Point3 pos(cen2.x, cen2.y, f->atHeight + door->height/2);
+				const Point3 pos(cen2.x, cen2.y, fpos.z1 + door->height/2);
 
 				// outer and inner radius
 				const float rOuter = from.getDistance(to) / 2;
@@ -350,11 +405,6 @@ namespace Ray3D {
 
 			}
 
-
-
-
-
-
 			return res;
 
 		}
@@ -383,6 +433,8 @@ namespace Ray3D {
 
 		Obstacle3D getHandrail(const Floorplan::Floor* f, const Floorplan::FloorObstacleLine* fol) const {
 
+			FloorPos fpos(f);
+
 			// target
 			Obstacle3D res(getType(fol), fol->material);
 			if (!exportHandrails) {return res;}
@@ -393,8 +445,8 @@ namespace Ray3D {
 			const Point2 cen2 = (from+to)/2;
 
 			// edges
-			const float z1 = f->atHeight;
-			const float z2 = f->atHeight + 1.0;
+			const float z1 = fpos.z1;
+			const float z2 = fpos.z1 + 1.0;
 			Point3 p1 = Point3(from.x, from.y, z1);
 			Point3 p2 = Point3(to.x, to.y, z1);
 			Point3 p3 = Point3(from.x, from.y, z2);
@@ -576,6 +628,15 @@ namespace Ray3D {
 			}
 		}
 
+		/** used to model ceiling thickness */
+		struct FloorPos {
+			float fh;
+			float z1;
+			float z2;
+			float height;
+			FloorPos(const Floorplan::Floor* f) : fh(0.01), z1(f->getStartingZ()), z2(f->getEndingZ()-fh), height(z2-z1) {;}
+		};
+
 	};
 
 }
diff --git a/wifi/estimate/ray3/OBJPool.h b/wifi/estimate/ray3/OBJPool.h
new file mode 100644
index 0000000..c8eea61
--- /dev/null
+++ b/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
diff --git a/wifi/estimate/ray3/OBJReader.h b/wifi/estimate/ray3/OBJReader.h
new file mode 100644
index 0000000..c5b7316
--- /dev/null
+++ b/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
diff --git a/wifi/estimate/ray3/Obstacle3.h b/wifi/estimate/ray3/Obstacle3.h
index 14cea1a..d9e3bcd 100644
--- a/wifi/estimate/ray3/Obstacle3.h
+++ b/wifi/estimate/ray3/Obstacle3.h
@@ -25,6 +25,7 @@ namespace Ray3D {
 			DOOR,
 			WALL,
 			WINDOW,
+			OBJECT,
 		};
 
 		Type type;
@@ -37,6 +38,27 @@ namespace Ray3D {
 		/** ctor */
 		Obstacle3D(Type type, Floorplan::Material mat) : type(type), mat(mat) {;}
 
+
+		/** translated copy */
+		Obstacle3D translated(const Point3 pos) const {
+			Obstacle3D copy = *this;
+			for (Triangle3& tria : copy.triangles) {
+				tria += pos;
+			}
+			return copy;
+		}
+
+		/** rotated [around (0,0,0)] copy */
+		Obstacle3D rotated_deg(const Point3 rot) const {
+			Obstacle3D copy = *this;
+			for (Triangle3& tria : copy.triangles) {
+				tria.p1 = tria.p1.rot(rot.x/180.0f*M_PI, rot.y/180.0f*M_PI, rot.z/180.0f*M_PI);
+				tria.p2 = tria.p2.rot(rot.x/180.0f*M_PI, rot.y/180.0f*M_PI, rot.z/180.0f*M_PI);
+				tria.p3 = tria.p3.rot(rot.x/180.0f*M_PI, rot.y/180.0f*M_PI, rot.z/180.0f*M_PI);
+			}
+			return copy;
+		}
+
 	};
 
 }