worked on 3D display

some ui changes refactoring new icons
2018-02-03 23:30:55 +01:00
parent e5e19779d5
commit 3b62f23c0e
21 changed files with 1054 additions and 765 deletions
--- a/IndoorMap.pro
+++ b/IndoorMap.pro
@@ -17,168 +17,164 @@ DEFINES += WITH_ASSERTIONS
 DEFINES += WITH_DEBUG_LOG

 INCLUDEPATH += \
-    ../
+	../



 SOURCES += \
-    lib/gpc/gpc.cpp \
-    main.cpp \
-    MainWindow.cpp \
-    MainController.cpp \
-    mapview/2D/tools/ToolSelector.cpp \
-    mapview/2D/tools/Tool.cpp \
-    params/ElementParamWidget.cpp \
-    params/LayerParamWidget.cpp \
-    params/ActionWidget.cpp \
-    params/ToolBox.cpp \
-    mapview/model/MapModel.cpp \
-    tree/MapTreeModel.cpp \
-    mapview/3D/MapView3D.cpp \
-    params/StairBuilder.cpp \
-    mapview/2D/tools/Tools.cpp \
-    params/LayerTree.cpp \
-    mapview/2D/tools/ToolMeasure.cpp \
-    params/MetaEditWidget.cpp \
-    params/MetaEditModel.cpp \
-    mapview/2D/MapView2D.cpp \
-    misc/LINTView.cpp \
-    mapview/3DNavMesh/QNavMeshSettings.cpp \
-    mapview/3D/misc/Cube.cpp \
-    mapview/3D/misc/Shader.cpp \
-	mapview/3D/misc/Window.cpp
+	lib/gpc/gpc.cpp \
+	main.cpp \
+	MainWindow.cpp \
+	MainController.cpp \
+	mapview/2D/tools/ToolSelector.cpp \
+	mapview/2D/tools/Tool.cpp \
+	params/ElementParamWidget.cpp \
+	params/LayerParamWidget.cpp \
+	params/ActionWidget.cpp \
+	params/ToolBox.cpp \
+	mapview/model/MapModel.cpp \
+	tree/MapTreeModel.cpp \
+	mapview/3D/MapView3D.cpp \
+	params/StairBuilder.cpp \
+	mapview/2D/tools/Tools.cpp \
+	params/LayerTree.cpp \
+	mapview/2D/tools/ToolMeasure.cpp \
+	params/MetaEditWidget.cpp \
+	params/MetaEditModel.cpp \
+	mapview/2D/MapView2D.cpp \
+	misc/LINTView.cpp \
+	mapview/3DNavMesh/QNavMeshSettings.cpp \
+	mapview/3D/misc/Cube.cpp \
+	mapview/3D/misc/Shader.cpp \
+	mapview/3D/misc/Window.cpp \
+    mapview/3D/misc/Outline.cpp \
+    mapview/3D/misc/Handrail.cpp


 HEADERS  += MainWindow.h \
-    mapview/model/MapLayer.h \
-    mapview/model/MapModel.h \
-    tree/MapTreeModel.h \
-    MainController.h \
-    mapview/model/MapLayers.h \
-    params/ElementParamWidget.h \
-    params/LayerParamWidget.h \
-    params/ActionWidget.h \
-    params/ToolBoxWidget.h \
-    UIHelper.h \
-    mapview/model/MapModelElement.h \
-    mapview/model/IHasAttributes.h \
-    mapview/model/IHasMAC.h \
-    mapview/model/IHasMaterial.h \
-    mapview/model/IHasName.h \
-    mapview/model/IHasObstacleType.h \
-    mapview/model/IHasPosition3D.h \
-    mapview/2D/MV2DElementFloorObstacleLine.h \
-    mapview/2D/MV2DElement.h \
-    mapview/2D/MV2DElementFloorOutlinePolygon.h \
-    mapview/2D/MV2DElementBeacon.h \
-    mapview/2D/MV2DElementAccessPoint.h \
-    mapview/2D/MV2DElementFloorObstacleCircle.h \
-    mapview/2D/MV2DElementFloorObstacleDoor.h \
-    mapview/2D/MapViewElementHelper.h \
-    mapview/2D/MV2DElementFloorUnderlay.h \
-    mapview/2D/MV2DElementPOI.h \
-    mapview/2D/MV2DElementStair.h \
-    mapview/2D/tools/ToolMoveMap.h \
-    mapview/2D/tools/Tools.h \
-    mapview/2D/tools/ToolRuler.h \
-    mapview/2D/tools/ToolMapZoom.h \
-    mapview/2D/tools/ToolSelector.h \
-    mapview/2D/tools/ToolMapGrid.h \
-    mapview/2D/tools/Tool.h \
-    mapview/model/MMFloorObstacleCircle.h \
-    mapview/model/MMFloorObstacleLine.h \
-    mapview/model/MMFloorOutlinePolygon.h \
-    mapview/model/MMFloor.h \
-    mapview/model/MMFloors.h \
-    mapview/model/MMFloorObstacles.h \
-    mapview/model/MMFloorOutline.h \
-    mapview/model/MMRoot.h \
-    mapview/model/MMFloorAccessPoint.h \
-    mapview/model/MMFloorBeacon.h \
-    mapview/model/MMFloorAccessPoints.h \
-    mapview/model/MMFloorBeacons.h \
-    mapview/model/IHasFile.h \
-    mapview/model/MMFloorUnderlayImage.h \
-    mapview/model/IHasParams.h \
-    mapview/model/MMFloorUnderlays.h \
-    mapview/model/MMFloorPOIs.h \
-    mapview/model/MMFloorPOI.h \
-    mapview/3D/MapView3D.h \
-    mapview/3D/MV3DElement.h \
-    mapview/3D/MV3DElementFloorObstacleWall.h \
-    mapview/3D/MV3DElementFloorObstaclePillar.h \
-    mapview/3D/MV3DElementAccessPoint.h \
-    mapview/3D/misc/Cube.h \
-    mapview/3D/MV3DElementFloorOutlinePolygon.h \
-    mapview/3D/MV3DElementFloorOutline.h \
-    mapview/3D/misc/Polygon.h \
-    mapview/grid/MapView3DGrid.h \
-    mapview/grid/MapModelGrid.h \
-    mapview/3DGrid/GridModel.h \
-    mapview/3DGrid/GridRenderer.h \
-    mapview/3DGrid/MyNode.h \
-    mapview/3D/MV3DElementStair.h \
-    mapview/model/MMFloorStair.h \
-    mapview/model/MMFloorStairs.h \
-    params/StairBuilder.h \
-    misc/GnuplotExport.h \
-    exp.h \
-    ray.h \
-    mapview/model/MMFloorObstacleDoor.h \
-    mapview/elements/MV2DElementFloorObstacleDoor.h \
-    mapview/model/IHasDoorType.h \
-    mapview/3D/MV3DElementFloorObstacleDoor.h \
-    mapview/3D/misc/Plane.h \
-    mapview/elements/HasMoveableNodes.h \
-    mapview/2D/MapView2D.h \
-    mapview/2D/Painter.h \
-    mapview/2D/Scaler.h \
-    mapview/2D/MV2DElementElevator.h \
-    mapview/model/MMFloorElevators.h \
-    mapview/model/MMFloorElevator.h \
-    params/LayerTree.h \
-    params/EditFields.h \
-    mapview/2D/ClickDist.h \
-    mapview/2D/tools/ToolMeasure.h \
-    mapview/model/IHasEditableMeta.h \
-    params/MetaEditWidget.h \
-    params/MetaEditModel.h \
-    mapview/model/MapLayerListener.h \
-    mapview/model/MapModelListener.h \
-    mapview/model/MMFloorOutlinePolygonCombined.h \
-    mapview/model/MMFloorFingerprints.h \
-    mapview/model/MMFloorFingerprintLocation.h \
-    mapview/2D/MV2DElementFingerprintLocation.h \
+	mapview/model/MapLayer.h \
+	mapview/model/MapModel.h \
+	tree/MapTreeModel.h \
+	MainController.h \
+	mapview/model/MapLayers.h \
+	params/ElementParamWidget.h \
+	params/LayerParamWidget.h \
+	params/ActionWidget.h \
+	params/ToolBoxWidget.h \
+	UIHelper.h \
+	mapview/model/MapModelElement.h \
+	mapview/model/IHasAttributes.h \
+	mapview/model/IHasMAC.h \
+	mapview/model/IHasMaterial.h \
+	mapview/model/IHasName.h \
+	mapview/model/IHasObstacleType.h \
+	mapview/model/IHasPosition3D.h \
+	mapview/2D/MV2DElementFloorObstacleLine.h \
+	mapview/2D/MV2DElement.h \
+	mapview/2D/MV2DElementFloorOutlinePolygon.h \
+	mapview/2D/MV2DElementBeacon.h \
+	mapview/2D/MV2DElementAccessPoint.h \
+	mapview/2D/MV2DElementFloorObstacleCircle.h \
+	mapview/2D/MV2DElementFloorObstacleDoor.h \
+	mapview/2D/MapViewElementHelper.h \
+	mapview/2D/MV2DElementFloorUnderlay.h \
+	mapview/2D/MV2DElementPOI.h \
+	mapview/2D/MV2DElementStair.h \
+	mapview/2D/tools/ToolMoveMap.h \
+	mapview/2D/tools/Tools.h \
+	mapview/2D/tools/ToolRuler.h \
+	mapview/2D/tools/ToolMapZoom.h \
+	mapview/2D/tools/ToolSelector.h \
+	mapview/2D/tools/ToolMapGrid.h \
+	mapview/2D/tools/Tool.h \
+	mapview/model/MMFloorObstacleCircle.h \
+	mapview/model/MMFloorObstacleLine.h \
+	mapview/model/MMFloorOutlinePolygon.h \
+	mapview/model/MMFloor.h \
+	mapview/model/MMFloors.h \
+	mapview/model/MMFloorObstacles.h \
+	mapview/model/MMFloorOutline.h \
+	mapview/model/MMRoot.h \
+	mapview/model/MMFloorAccessPoint.h \
+	mapview/model/MMFloorBeacon.h \
+	mapview/model/MMFloorAccessPoints.h \
+	mapview/model/MMFloorBeacons.h \
+	mapview/model/IHasFile.h \
+	mapview/model/MMFloorUnderlayImage.h \
+	mapview/model/IHasParams.h \
+	mapview/model/MMFloorUnderlays.h \
+	mapview/model/MMFloorPOIs.h \
+	mapview/model/MMFloorPOI.h \
+	mapview/3D/MapView3D.h \
+	mapview/3D/MV3DElement.h \
+	mapview/3D/MV3DElementFloorObstacleWall.h \
+	mapview/3D/MV3DElementFloorObstaclePillar.h \
+	mapview/3D/MV3DElementAccessPoint.h \
+	mapview/3D/misc/Cube.h \
+	mapview/3D/MV3DElementFloorOutlinePolygon.h \
+	mapview/3D/MV3DElementFloorOutline.h \
+	mapview/3D/misc/Polygon.h \
+	mapview/3DGrid/GridModel.h \
+	mapview/3DGrid/GridRenderer.h \
+	mapview/3DGrid/MyNode.h \
+	mapview/3D/MV3DElementStair.h \
+	mapview/model/MMFloorStair.h \
+	mapview/model/MMFloorStairs.h \
+	params/StairBuilder.h \
+	misc/GnuplotExport.h \
+	mapview/model/MMFloorObstacleDoor.h \
+	mapview/model/IHasDoorType.h \
+	mapview/3D/MV3DElementFloorObstacleDoor.h \
+	mapview/3D/misc/Plane.h \	mapview/2D/MapView2D.h \
+	mapview/2D/Painter.h \
+	mapview/2D/Scaler.h \
+	mapview/2D/MV2DElementElevator.h \
+	mapview/model/MMFloorElevators.h \
+	mapview/model/MMFloorElevator.h \
+	params/LayerTree.h \
+	params/EditFields.h \
+	mapview/2D/ClickDist.h \
+	mapview/2D/tools/ToolMeasure.h \
+	mapview/model/IHasEditableMeta.h \
+	params/MetaEditWidget.h \
+	params/MetaEditModel.h \
+	mapview/model/MapLayerListener.h \
+	mapview/model/MapModelListener.h \
+	mapview/model/MMFloorOutlinePolygonCombined.h \
+	mapview/model/MMFloorFingerprints.h \
+	mapview/model/MMFloorFingerprintLocation.h \
+	mapview/2D/MV2DElementFingerprintLocation.h \
 	mapview/3D/MV3DElementFingerprintLocation.h \
-    mapview/model/MMFloorGroundTruthPoints.h \
-    mapview/model/MMFloorGroundTruthPoint.h \
-    mapview/2D/MV2DElementGroundTruthPoint.h \
-    misc/LINTView.h \
-    mapview/2D/tools/ToolNewElement.h \
-    mapview/2D/tools/ToolNewDoor.h \
-    mapview/2D/tools/ToolNewWall.h \
-    mapview/2D/tools/ToolNewStair.h \
-    mapview/2D/tools/ToolNewElevator.h \
-    mapview/2D/tools/ToolNewOutline.h \
-    mapview/model/MMRegistration.h \
-    mapview/model/MMRegistrationPoint.h \
-    mapview/2D/MV2DElementRegistrationPoint.h \
-    mapview/3D/MV3DElementRegistrationPoint.h \
-    mapview/2D/tools/ToolNewFingerprint.h \
-    mapview/2D/tools/ToolNewAccessPoint.h \
-    mapview/2D/tools/ToolNewBeacon.h \
-    mapview/2D/tools/ToolNewGroundTruth.h \
-    mapview/2D/tools/ToolNewPOI.h \
-    mapview/3D/MV3DElementElevator.h \
-    mapview/3DNavMesh/NavMeshView.h \
-    mapview/3DNavMesh/NavMeshRenderer.h \
-    mapview/3DNavMesh/NavMeshModel.h \
-    mapview/3DNavMesh/QNavMeshSettings.h \
-    fixC11.h \
-    mapview/3D/misc/Shader.h \
-    mapview/3D/misc/Camera.h \
-    mapview/3D/misc/Renderable3D.h \
-	mapview/3D/misc/Window.h
+	mapview/model/MMFloorGroundTruthPoints.h \
+	mapview/model/MMFloorGroundTruthPoint.h \
+	mapview/2D/MV2DElementGroundTruthPoint.h \
+	misc/LINTView.h \
+	mapview/2D/tools/ToolNewElement.h \
+	mapview/2D/tools/ToolNewDoor.h \
+	mapview/2D/tools/ToolNewWall.h \
+	mapview/2D/tools/ToolNewStair.h \
+	mapview/2D/tools/ToolNewElevator.h \
+	mapview/2D/tools/ToolNewOutline.h \
+	mapview/model/MMRegistration.h \
+	mapview/model/MMRegistrationPoint.h \
+	mapview/2D/MV2DElementRegistrationPoint.h \
+	mapview/3D/MV3DElementRegistrationPoint.h \
+	mapview/2D/tools/ToolNewFingerprint.h \
+	mapview/2D/tools/ToolNewAccessPoint.h \
+	mapview/2D/tools/ToolNewBeacon.h \
+	mapview/2D/tools/ToolNewGroundTruth.h \
+	mapview/2D/tools/ToolNewPOI.h \
+	mapview/3D/MV3DElementElevator.h \
+	mapview/3DNavMesh/NavMeshRenderer.h \
+	mapview/3DNavMesh/NavMeshModel.h \
+	mapview/3DNavMesh/QNavMeshSettings.h \
+	fixC11.h \
+	mapview/3D/misc/Shader.h \
+	mapview/3D/misc/Camera.h \
+	mapview/3D/misc/Renderable3D.h \
+	mapview/3D/misc/Window.h \
+    mapview/3D/misc/Outline.h \
+    mapview/3D/misc/Handrail.h


 FORMS    += MainWindow.ui
@@ -188,8 +184,8 @@ SOURCES += \
 	../Indoor/lib/Recast/*.cpp

 RESOURCES += \
-    res.qrc
+	res.qrc

 DISTFILES += \
-    res/icons/polygon.svg
+	res/icons/polygon.svg

--- a/MainController.cpp
+++ b/MainController.cpp
@@ -93,6 +93,10 @@ MainController::MainController() {
 	connect(mw, SIGNAL(onShow3DGrid(bool)), this, SLOT(onSetShow3DGrid(bool)));
 	connect(mw, SIGNAL(onShow3DNavMesh(bool)), this, SLOT(onSetShow3DNavMesh(bool)));

+	connect(mapView3D, SIGNAL(onShow3DFloorplan(bool)), this, SLOT(onSetShow3DFloorplan(bool)));
+	connect(mapView3D, SIGNAL(onShow3DGrid(bool)), this, SLOT(onSetShow3DGrid(bool)));
+	connect(mapView3D, SIGNAL(onShow3DNavMesh(bool)), this, SLOT(onSetShow3DNavMesh(bool)));
+
 	// 3D grid view config
 	connect(mw, &MainWindow::onGridNodeColorImp, [&] () {mw->getMapView3D()->getGridRenderer()->setNodeColorMode(GridRendererColorMode::SHOW_NODE_IMPORTANCE);} );
 	connect(mw, &MainWindow::onGridNodeColorType, [&] () {mw->getMapView3D()->getGridRenderer()->setNodeColorMode(GridRendererColorMode::SHOW_NODE_TYPE);} );
@@ -104,8 +108,8 @@ MainController::MainController() {
 	//mapModel->load("/apps/map24b.xml");
 	//mapModel->load("/apps/SHL41.xml");

-	//mapModel->load("/mnt/vm/paper/diss/data/maps/SHL41_nm.xml");
-	mapModel->load("/apps/paper/diss/data/maps/SHL41_nm.xml");
+	mapModel->load("/mnt/vm/paper/diss/data/maps/SHL41_nm.xml");
+	//mapModel->load("/apps/paper/diss/data/maps/SHL41_nm.xml");

 	//mapModel->load("/apps/paper/diss/data/maps/map_elevator2.xml");
 	//mapModel->load("/apps/paper/diss/data/maps/map_issue6.xml");
@@ -117,7 +121,7 @@ MainController::MainController() {
 	//mapModel->load("../IndoorMap/maps/APs.xml");

 	//mapModel->load("/mnt/data/workspaces/IPIN2016/IPIN2016/competition/maps/CAR/CAR9.xml");
-    //mapModel->load("/mnt/data/workspaces/IPIN2016/IPIN2016/competition/maps/UAH/UAH9.xml");
+	//mapModel->load("/mnt/data/workspaces/IPIN2016/IPIN2016/competition/maps/UAH/UAH9.xml");
 	//mapModel->load("/mnt/data/workspaces/IPIN2016/IPIN2016/competition/maps/UJI-TI/UJI-TI4.xml");
 	//mapModel->load("/mnt/data/workspaces/IPIN2016/IPIN2016/competition/maps/UJI-UB/UJI-UB4.xml");
 	//mapModel->load("/mnt/data/workspaces/Indoor/tests/data/WalkHeadingMap.xml");
@@ -128,26 +132,26 @@ MainController::MainController() {
 }

 void MainController::onLayerChanged(MapLayer* layer) {
-    (void) layer;
-    mw->getMapView2D()->update();
-    mw->getMapView3D()->update();
+	(void) layer;
+	mw->getMapView2D()->update();
+	mw->getMapView3D()->update();
 	mw->getLINT()->update(mapModel->getMap());
 }

 void MainController::onLayerElementAdded(MapLayer* layer, MapModelElement* elem) {
-    (void) layer;
-    mapSelector->focus(mw->getMapView2D(), elem);
+	(void) layer;
+	mapSelector->focus(mw->getMapView2D(), elem);
 	mw->getLINT()->update(mapModel->getMap());
 }

 void MainController::onLayerElementRemoved(MapLayer* layer, const MapModelElement* elem) {
-    (void) layer;
-    (void) elem;
+	(void) layer;
+	(void) elem;
 }

 void MainController::onLayerVisibilityChanged(MapLayer *layer, const bool visible) {
-    (void) layer;
-    (void) visible;
+	(void) layer;
+	(void) visible;
 }

 void MainController::onSetShow3DFloorplan(bool show) {
@@ -163,40 +167,40 @@ void MainController::onSetShow3DNavMesh(bool show) {
 }

 void MainController::layerSelected(QModelIndex idx) {
-    mw->getMapView2D()->layerChange();
-    MapLayer* ml = static_cast<MapLayer*>(idx.internalPointer());
-    mapModel->setSelectedLayer(ml);
-    mw->getMapView2D()->layerChange();
-    mw->getMapView3D()->layerChange();
-    mw->getLayerParamWidget()->setElement(ml);
-    mw->getToolBoxWidget()->setSelectedLayer(ml);
+	mw->getMapView2D()->layerChange();
+	MapLayer* ml = static_cast<MapLayer*>(idx.internalPointer());
+	mapModel->setSelectedLayer(ml);
+	mw->getMapView2D()->layerChange();
+	mw->getMapView3D()->layerChange();
+	mw->getLayerParamWidget()->setElement(ml);
+	mw->getToolBoxWidget()->setSelectedLayer(ml);
 	mw->getLINT()->update(mapModel->getMap());
 }
 void MainController::curMapElementChanged() {
-    mw->getElementParamWidget()->refresh();
+	mw->getElementParamWidget()->refresh();
 	mw->getLINT()->update(mapModel->getMap());
 }

 void MainController::mapElementSelected(MapModelElement* el) {
-    mw->getElementParamWidget()->setElement(el);
+	mw->getElementParamWidget()->setElement(el);
 	mw->getLINT()->update(mapModel->getMap());
 }

 void MainController::onMapModelAboutToReset() {
-    mw->getLayerParamWidget()->setElement(nullptr);
-    mw->getToolBoxWidget()->setSelectedLayer(nullptr);
-    mw->getMapView2D()->update();
+	mw->getLayerParamWidget()->setElement(nullptr);
+	mw->getToolBoxWidget()->setSelectedLayer(nullptr);
+	mw->getMapView2D()->update();
 	mw->getMapView3D()->update();
 	//mw->getToolBoxWidget()->
 }

 void MainController::onMapModelNeedsRepaint() {
-    mw->getMapView2D()->update();
+	mw->getMapView2D()->update();
 	mw->getLINT()->update(mapModel->getMap());
 }

 void MainController::onMapModelReset() {
-    mw->getTree()->expandAll();
+	mw->getTree()->expandAll();
 	mw->getLINT()->update(mapModel->getMap());
 }

@@ -209,16 +213,16 @@ void MainController::onNew() {
 }

 void MainController::onLoad() {
-    QString file = QFileDialog::getOpenFileName(mw, "open a map");
-    if (file != "") {
-        mapModel->load(file.toStdString());
+	QString file = QFileDialog::getOpenFileName(mw, "open a map");
+	if (file != "") {
+		mapModel->load(file.toStdString());
 		mw->getLINT()->update(mapModel->getMap());
-    }
+	}
 }

 void MainController::onSave() {
-    QString file = QFileDialog::getSaveFileName(mw, "save the map");
-    if (file != "") {
-        mapModel->save(file.toStdString());
-    }
+	QString file = QFileDialog::getSaveFileName(mw, "save the map");
+	if (file != "") {
+		mapModel->save(file.toStdString());
+	}
 }
--- a/MainWindow.ui
+++ b/MainWindow.ui
@@ -17,47 +17,6 @@
   <layout class="QGridLayout" name="gridLayout_2"/>
  </widget>
  <widget class="QStatusBar" name="statusBar"/>
-  <widget class="QMenuBar" name="menuBar">
-   <property name="geometry">
-    <rect>
-     <x>0</x>
-     <y>0</y>
-     <width>777</width>
-     <height>30</height>
-    </rect>
-   </property>
-   <widget class="QMenu" name="menuView">
-    <property name="title">
-     <string>&amp;View</string>
-    </property>
-    <widget class="QMenu" name="menu3D">
-     <property name="title">
-      <string>&amp;3D</string>
-     </property>
-     <addaction name="actShow3DFloorplan"/>
-     <addaction name="actShow3DGrid"/>
-     <addaction name="actShow3DNavMesh"/>
-    </widget>
-    <addaction name="actShow2D"/>
-    <addaction name="menu3D"/>
-   </widget>
-   <widget class="QMenu" name="menuGridf">
-    <property name="title">
-     <string>&amp;Grid</string>
-    </property>
-    <widget class="QMenu" name="menuNode_color">
-     <property name="title">
-      <string>&amp;node color</string>
-     </property>
-     <addaction name="actGridNodeColorType"/>
-     <addaction name="actGridNodeColorImportance"/>
-    </widget>
-    <addaction name="actGridShowEdges"/>
-    <addaction name="menuNode_color"/>
-   </widget>
-   <addaction name="menuView"/>
-   <addaction name="menuGridf"/>
-  </widget>
  <action name="actShow2D">
   <property name="checkable">
    <bool>true</bool>
--- a/mapview/3D/MV3DElementFloorObstacleWall.h
+++ b/mapview/3D/MV3DElementFloorObstacleWall.h
@@ -6,11 +6,10 @@

 #include "misc/Cube.h"
 #include "misc/Window.h"
+#include "misc/Handrail.h"

 #include "MV3DElement.h"

-
-
 class MV3DElementFloorObstacleWall : public MV3DElement {

 	Floorplan::Floor* f;
@@ -52,9 +51,10 @@ protected:
 			const Point3 pos(cen2.x, cen2.y, atHeight + height/2);

 			// div by 2.01 to prevent overlapps and z-fi
-			const float sx = from.getDistance(to) / 2.02f;
-			const float sy = thickness_m / 2.02f;
-			const float sz = height / 2.02f;				// prevent overlaps
+			const float div = 2.015f;						// prevent overlaps
+			const float sx = from.getDistance(to) / div;
+			const float sy = thickness_m / div;
+			const float sz = height / div;
 			const Point3 size(sx, sy, sz);
 			const Point3 rot(0,0,deg);

@@ -72,71 +72,6 @@ protected:

 	};

-	struct Handrail : public Renderable3D {
-
-		Point2 from;
-		Point2 to;
-		float atHeight;
-		float height;
-
-		Handrail(const Point2 from, const Point2 to, float atHeight, float height) :
-			from(from), to(to), atHeight(atHeight), height(height) {;}
-
-		void render(const RenderSettings& rs) override {
-
-			float y1 = atHeight;
-			float y2 = atHeight + height;
-
-			// polygon edges
-			Point3 p1 = Point3(from.x, y1, from.y);
-			Point3 p2 = Point3(to.x, y1, to.y);
-
-			Point3 p3 = Point3(from.x, y2, from.y);
-			Point3 p4 = Point3(to.x, y2, to.y);
-
-			/*
-
-			TODO_GL
-
-			glDisable(GL_LIGHTING);
-			glBegin(GL_LINES);
-
-				glColor3f(0.9, 0.9, 0.9);
-
-				// top
-				glVertex3f(p3.x, p3.y, p3.z);
-				glVertex3f(p4.x, p4.y, p4.z);
-
-				// start bar
-				glVertex3f(p1.x, p1.y, p1.z);
-				glVertex3f(p3.x, p3.y, p3.z);
-
-				// end bar
-				glVertex3f(p2.x, p2.y, p2.z);
-				glVertex3f(p4.x, p4.y, p4.z);
-
-				glColor3f(0.6, 0.6, 0.6);
-
-				// intermediate bars
-				const Point3 d1 = p2-p1;
-				const Point3 d2 = p4-p3;
-				const int numBars = d2.length() / 1;
-				for (int i = 1; i < numBars; ++i) {
-					const Point3 s = p1 + d1 * i / numBars;
-					const Point3 e = p3 + d2 * i / numBars;
-					glVertex3f(s.x, s.y, s.z);
-					glVertex3f(e.x, e.y, e.z);
-				}
-
-			glEnd();
-			glEnable(GL_LIGHTING);
-
-			*/
-
-		}
-
-	};
-
 	/** repaint me */
 	void render(const RenderSettings& rs) override {

--- a/mapview/3D/MV3DElementFloorOutline.h
+++ b/mapview/3D/MV3DElementFloorOutline.h
@@ -8,114 +8,44 @@

 #include "../../lib/gpc/gpc.h"
 #include "misc/Polygon.h"
-
-#include "misc/Shader.h"
+#include "misc/Outline.h"

 class MV3DElementFloorOutline : public MV3DElement {

 	Floorplan::Floor* f;
 	Floorplan::FloorOutline* out;

-	struct ToRender {
+	struct Temp {
 		Point2 cacheSum;
 		Polygon* pol = nullptr;
 		std::vector<std::vector<Point3>> trias;
 	};

-	std::unordered_map<std::string, ToRender*> elements;
+	Temp tempIndoor;
+	Temp tempOutdoor;
+
+	Outline outlineIndoor;
+	Outline outlineOutdoor;

 public:

 	/** ctor */
 	MV3DElementFloorOutline(Floorplan::Floor* f, Floorplan::FloorOutline* out) : f(f), out(out) {
-		;
+
+		outlineOutdoor.setColor(0.0, 0.5, 0.0);
+		outlineIndoor.setColor(0.2, 0.2, 0.2);
+
 	}

 protected:

-
-
-
-
 	/** repaint me */
 	void render(const RenderSettings& rs) override {

 		rebuildIfNeeded();

-		rs.shader->bind();
-
-		glDisable(GL_CULL_FACE);
-
-		QMatrix4x4 mat;
-		rs.shader->setModelMatrix(mat);
-
-		for (auto& it : elements) {
-
-			//Polygon& pol = it.second->pol;
-			std::vector<std::vector<Point3>>& trias = it.second->trias;
-
-			if (it.first == "outdoor") {
-				rs.shader->setColor(0.0, 0.5, 0.0);
-			} else {
-				rs.shader->setColor(0.2, 0.2, 0.2);
-			}
-
-			std::vector<float> values;
-			std::vector<float> normals;
-
-			for (const std::vector<Point3>& tria : trias) {
-				for (int i = 2; i < tria.size(); ++i) {
-
-					const Point3 p1 = tria[i-2];
-					const Point3 p2 = tria[i-1];
-					const Point3 p3 = tria[i-0];
-
-					values.push_back(p1.x);		values.push_back(p1.y);		values.push_back(p1.z);
-					values.push_back(p2.x);		values.push_back(p2.y);		values.push_back(p2.z);
-					values.push_back(p3.x);		values.push_back(p3.y);		values.push_back(p3.z);
-
-					normals.push_back(0);		normals.push_back(1);		normals.push_back(0);
-					normals.push_back(0);		normals.push_back(1);		normals.push_back(0);
-					normals.push_back(0);		normals.push_back(1);		normals.push_back(0);
-
-				}
-			}
-
-			rs.shader->setVertices(values.data());
-			rs.shader->setNormals(normals.data());
-
-			glDrawArrays(GL_TRIANGLES, 0, values.size() / 3);
-			rs.shader->unsetVertices();
-			rs.shader->unsetNormals();
-
-			/*
-
-			TODO_GL
-
-			if (it.first == "outdoor") {
-				glColor3f(0.0, 0.5, 0.0);
-			} else {
-				glColor3f(0.2, 0.2, 0.2);
-			}
-
-			glDisable(GL_CULL_FACE);
-			for (const std::vector<Point3>& tria : trias) {
-				glNormal3f(0, 1, 0);
-				glBegin(GL_TRIANGLE_STRIP);
-				for (const Point3& p3 : tria) {
-					glVertex3f(p3.x, p3.z, p3.y);
-				}
-				glEnd();
-			}
-			glEnable(GL_CULL_FACE);
-
-			*/
-
-		}
-
-		glEnable(GL_CULL_FACE);
-
-		rs.shader->release();
+		outlineIndoor.render(rs);
+		outlineOutdoor.render(rs);

 	}

@@ -124,17 +54,12 @@ protected:
 		auto filterIndoor = [] (const Floorplan::FloorOutlinePolygon* p) {return p->outdoor == false;};
 		auto filterOutdoor = [] (const Floorplan::FloorOutlinePolygon* p) {return p->outdoor == true;};

-		if (elements.empty()) {
-			elements["indoor"] = new ToRender();
-			elements["outdoor"] = new ToRender();
-		}
-
-		rebuildIfNeeded(filterIndoor, elements["indoor"]);
-		rebuildIfNeeded(filterOutdoor, elements["outdoor"]);
+		rebuildIfNeeded(filterIndoor, outlineIndoor, tempIndoor);
+		rebuildIfNeeded(filterOutdoor, outlineOutdoor, tempOutdoor);

 	}

-	template <typename Filter> void rebuildIfNeeded(Filter include, ToRender* dst) {
+	template <typename Filter> void rebuildIfNeeded(Filter include, Outline& dst, Temp& tmp) {

 		const std::vector<Floorplan::FloorOutlinePolygon*>& polys = *out;

@@ -148,25 +73,28 @@ protected:
 		}

 		// already up to date?
-		if (cacheSum == dst->cacheSum) {return;}
-		dst->cacheSum = cacheSum;
+		if (cacheSum == tmp.cacheSum) {return;}
+		tmp.cacheSum = cacheSum;

 		// rebuild
 		std::vector<gpc_polygon> add;
 		std::vector<gpc_polygon> rem;
-		if (dst->pol) {delete dst->pol;}
-		dst->pol = new Polygon();
+		if (tmp.pol) {delete tmp.pol;}
+		tmp.pol = new Polygon();

 		for (Floorplan::FloorOutlinePolygon* poly : polys) {
 			if (!include(poly)) {continue;}
 			switch (poly->method) {
-			case Floorplan::OutlineMethod::ADD:		dst->pol->add(poly->poly);		break;
-			case Floorplan::OutlineMethod::REMOVE:	dst->pol->remove(poly->poly);	break;
+			case Floorplan::OutlineMethod::ADD:		tmp.pol->add(poly->poly);		break;
+			case Floorplan::OutlineMethod::REMOVE:	tmp.pol->remove(poly->poly);	break;
 			default:								throw 1;
 			}
 		}

-		dst->trias = dst->pol->get(f->atHeight);
+		//dst->trias = dst->pol->get(f->atHeight);
+		std::vector<std::vector<Point3>> trias = tmp.pol->get(f->atHeight);
+		dst.clear();
+		dst.add(trias);

 	}

--- a/mapview/3D/MV3DElementStair.h
+++ b/mapview/3D/MV3DElementStair.h
@@ -5,6 +5,7 @@

 #include "misc/Cube.h"
 #include "MV3DElement.h"
+#include "misc/Shader.h"

 class MV3DElementStair : public MV3DElement {

@@ -24,7 +25,54 @@ protected:
 	/** repaint me */
 	void render(const RenderSettings& rs) override {

-		glDisable(GL_CULL_FACE);
+		//glDisable(GL_CULL_FACE);
+
+
+		std::vector<float> vertices;
+		std::vector<float> normals;
+
+		const std::vector<Floorplan::StairPart> parts = stair->getParts();
+		const std::vector<Floorplan::Quad3> quads = Floorplan::getQuads(parts, floor);
+
+		for (int i = 0; i < (int) parts.size(); ++i) {
+
+			//const Floorplan::StairPart& part = parts[i];
+			const Floorplan::Quad3& quad = quads[i];
+
+			//const Floorplan::Quad3 quad = part.getQuad(floor);
+			const Point3 p1 = quad.p2-quad.p1;
+			const Point3 p2 = quad.p4-quad.p1;
+
+			Point3 n = Math::normal(p1,p2);
+			if (n.z < 0) {n = -n;}
+
+			vertices.insert(vertices.end(), {quad.p1.x, quad.p1.y, quad.p1.z});
+			vertices.insert(vertices.end(), {quad.p2.x, quad.p2.y, quad.p2.z});
+			vertices.insert(vertices.end(), {quad.p3.x, quad.p3.y, quad.p3.z});
+
+			vertices.insert(vertices.end(), {quad.p3.x, quad.p3.y, quad.p3.z});
+			vertices.insert(vertices.end(), {quad.p4.x, quad.p4.y, quad.p4.z});
+			vertices.insert(vertices.end(), {quad.p1.x, quad.p1.y, quad.p1.z});
+
+			normals.insert(normals.end(), {n.x, n.y, n.z});
+			normals.insert(normals.end(), {n.x, n.y, n.z});
+			normals.insert(normals.end(), {n.x, n.y, n.z});
+
+			normals.insert(normals.end(), {n.x, n.y, n.z});
+			normals.insert(normals.end(), {n.x, n.y, n.z});
+			normals.insert(normals.end(), {n.x, n.y, n.z});
+
+		}
+
+		rs.shader->bind();
+		rs.shader->setModelMatrix(QMatrix4x4());
+		rs.shader->setColor(1.0, 0.55, 0.55);
+		rs.shader->setVertices(vertices.data());
+		rs.shader->setNormals(normals.data());
+		glDrawArrays(GL_TRIANGLES, 0, vertices.size()/3);
+		rs.shader->unsetVertices();
+		rs.shader->unsetNormals();
+		rs.shader->release();

 		/*
 		TODO_GL
--- a/mapview/3D/MapView3D.cpp
+++ b/mapview/3D/MapView3D.cpp
@@ -11,6 +11,8 @@
 #include "../3DNavMesh/NavMeshModel.h"
 #include "../3DNavMesh/NavMeshRenderer.h"

+#include <QPushButton>
+
 MapView3D::MapView3D(QWidget *parent) : QOpenGLWidget(parent) {

 	rot.x = 0;
@@ -21,12 +23,51 @@ MapView3D::MapView3D(QWidget *parent) : QOpenGLWidget(parent) {
 	center.y = 0;
 	center.z = 0;

-	scale.x = 0.05f;
-	scale.y = 0.05f;
-	scale.z = 0.05f;
+	scale.x = 1.0f;
+	scale.y = 1.0f;
+	scale.z = 1.0f;

 	gridRenderer = new GridRenderer();

+	QString style = "QPushButton:checked{\
+			background-color: rgb(200, 200, 230);\
+			border: none; \
+		}";
+
+	QPushButton* btnFloorplan = new QPushButton(UIHelper::getIcon("floorplan"), "", this);
+	btnFloorplan->setGeometry(16, 16, 32, 32);
+	btnFloorplan->setCheckable(true);
+	btnFloorplan->setChecked(true);
+	btnFloorplan->setStyleSheet(style);
+	connect(btnFloorplan, &QPushButton::toggled, [btnFloorplan,this] () {
+		emit onShow3DFloorplan(btnFloorplan->isChecked());
+	});
+
+	QPushButton* btnPerspective = new QPushButton(UIHelper::getIcon("perspective"), "", this);
+	btnPerspective->setGeometry(16, 16+8+32, 32, 32);
+	connect(btnPerspective, &QPushButton::clicked, [this] () {
+		usePerspectiveProjection = !usePerspectiveProjection;
+		emit update();
+	});
+
+	QPushButton* btnGrid = new QPushButton(UIHelper::getIcon("grid"), "", this);
+	btnGrid->setCheckable(true);
+	btnGrid->setChecked(false);
+	btnGrid->setGeometry(16+16+32, 16, 32, 32);
+	btnGrid->setStyleSheet(style);
+	connect(btnGrid, &QPushButton::toggled, [btnGrid, this] () {
+		emit onShow3DGrid(btnGrid->isChecked());
+	});
+
+	QPushButton* btnNavMesh = new QPushButton(UIHelper::getIcon("mesh"), "", this);
+	btnNavMesh->setCheckable(true);
+	btnNavMesh->setChecked(false);
+	btnNavMesh->setGeometry(16+16+32+16+32, 16, 32, 32);
+	btnNavMesh->setStyleSheet(style);
+	connect(btnNavMesh, &QPushButton::toggled, [btnNavMesh, this] () {
+		emit onShow3DNavMesh(btnNavMesh->isChecked());
+	});
+
 }


@@ -36,53 +77,13 @@ void MapView3D::initializeGL() {

 	QOpenGLWidget::initializeGL();

-	glCullFace(GL_FRONT);
+	// this should be the default!!
+	glCullFace(GL_BACK);
 	glFrontFace(GL_CCW);
-	//glDisable(GL_CULL_FACE);
 	glEnable(GL_CULL_FACE);

-	// culling, lighting, depth-test, ...
+	// additional settings
 	glEnable(GL_DEPTH_TEST);
-	//glShadeModel(GL_SMOOTH);
-
-//	glEnable(GL_MULTISAMPLE);
-//	glEnable(GL_LINE_SMOOTH);
-
-	/*
-
-	TODO_GL
-
-	glEnable(GL_LIGHTING);
-	glEnable(GL_LIGHT0);
-	glEnable(GL_LIGHT1);
-
-
-//	GLfloat light0_position [] = {+50, 50, +50, 1};
-//	GLfloat light1_position [] = {-50, 50, -50, 1};
-
-//	glLightfv ( GL_LIGHT0, GL_POSITION, light0_position );
-//	glLightfv ( GL_LIGHT1, GL_POSITION, light1_position );
-
-	GLfloat light_diffuse []={ 0.7, 0.7, 0.7, 1.0 };
-	glLightfv ( GL_LIGHT0, GL_DIFFUSE, light_diffuse );
-	glLightfv ( GL_LIGHT1, GL_DIFFUSE, light_diffuse );
-
-
-	// otherwise scaling the scene kills lighting normals!
-	glEnable(GL_NORMALIZE);
-
-	// allow using glColor3(r,g,b)
-	glEnable(GL_COLOR_MATERIAL);
-
-//	GLfloat mat_specular[] = { 1.0, 1.0, 1.0, 1.0 };
-//	GLfloat mat_shininess[] = { 50.0 };
-//	glMaterialfv(GL_FRONT, GL_SPECULAR, mat_specular);
-//	glMaterialfv(GL_FRONT, GL_SHININESS, mat_shininess);
-
-	*/
-
-	// background color
-	//glClearColor(Qt::white);
 	glClearColor(1,1,1,1);

 }
@@ -91,71 +92,13 @@ void MapView3D::paintGL() {

 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

-	/*
-
-	TODO_GL
-
-	glLoadIdentity();
-
-	glScalef(+1, -1, +1);
-
-	// 3) scale
-	glScalef(scale.x, scale.y, scale.z);	
-
-	// 2) rotate around center
-	glRotatef(rot.x, 1.0, 0.0, 0.0);
-	glRotatef(rot.z, 0.0, 1.0, 0.0);
-	glRotatef(rot.y, 0.0, 0.0, 1.0);
-
-	// 1) post translate (mouse moving)
-	glTranslatef(center.x, center.z, center.y);
-
-	// 0) swap the y axis
-	//glScalef(+1, -1, +1);
-
-	GLfloat light0_position [] = {100, 50, 100,	1};
-	glLightfv ( GL_LIGHT0, GL_POSITION, light0_position );
-	GLfloat light1_position [] = {0, 50, 0, 1};
-	glLightfv ( GL_LIGHT1, GL_POSITION, light1_position );
-
-
-//	// 1) translate into center
-//	glTranslatef(tra.x, tra.y, tra.z);
-
-	*/
-
 	draw();

-
 }

 void MapView3D::resizeGL(int width, int height) {

-	//int side = qMin(width, height);
-	//glViewport((width - side) / 2, (height - side) / 2, side, side);
-
-
-
-	//glViewport(0, 0, width, height);
-
-	/*
-	TODO_GL
-
-	glMatrixMode(GL_PROJECTION);
-	glLoadIdentity();
-	//glOrtho(-2, +2, -2, +2, 1.0, 25.0);
-	//glFrustum(-1,1, -1,1, 0.1,20);
-	viewport.size.x = 2.0f;
-	viewport.size.y = 2.0f * height / width;
-	const float w = viewport.size.x;
-	const float h = viewport.size.y;
-	glOrtho(-w, +w, -h, +h, -20, +20);
-	//glScalef(1,-1,1);
-
-	//glFrustum(+w, -w, -h, +h, -20, +20);
-
-	glMatrixMode(GL_MODELVIEW);
-	*/
+	glViewport(0, 0, width, height);

 }

@@ -175,9 +118,9 @@ void MapView3D::mouseMoveEvent(QMouseEvent* e) {
 		rot.x -= dy/2.0f;
 	} else if (mouse.btn == 4) {
 		//Point3 vec(-dx / width() * 2 * viewport.size.x, 0, +dy / height() * 2 * viewport.size.y);
-		Point3 vec(-dx / width() * 2 * viewport.size.x, 0, +dy / height() * 2 * viewport.size.y);
+		Point3 vec(-dx / width() * 2 * viewport.size.x, +dy / height() * 2 * viewport.size.y, 0);
 		//Point3 vec(-dx * 2 / width() , 0, +dy * 2 / height());
-		vec = vec.rot(rot.x/180*M_PI, rot.y/180*M_PI, rot.z/180*M_PI);
+		vec = vec.rot(-rot.x/180*M_PI, -rot.y/180*M_PI, -rot.z/180*M_PI);
 		vec /= scale;
 		center += vec;
 	}
@@ -256,45 +199,44 @@ void MapView3D::draw() {

 	static RenderSettings rs = RenderSettings(new Shader());

-	glViewport(0, 0, width(), height());
-
-	//glCullFace(GL_FRONT);
-	//glFrontFace(GL_CCW);
-	glEnable(GL_CULL_FACE);
-	glEnable(GL_DEPTH_TEST);


 	// view
 	QMatrix4x4 V;
+
+	V.translate(0,0,-30);
 	V.scale(scale.x, scale.y, scale.z);
 	V.rotate(rot.x, 1.0, 0.0, 0.0);
 	V.rotate(rot.y, 0.0, 1.0, 0.0);
 	V.rotate(rot.z, 0.0, 0.0, 1.0);
-	V.translate(center.x, center.z, center.y);
-	V.translate(0,0,-50);
+	V.translate(center.x, center.y, center.z);
+
 //	V.lookAt(QVector3D(30,-25,25), QVector3D(30,10,0), QVector3D(0,1,0));


 	// projection
 	QMatrix4x4 P;
 	float aspect = (float) width() / (float) height();
-	float w = 2.0f;
-	float h = 2.0f * height() / width();
-	viewport.size.x = w;
-	viewport.size.y = h;
-	//P.ortho(-w, +w, +h, -h, 0.1f, +30);			// glOrtho(-w, +w, -h, +h, -20, +20);
-	P.perspective(45.0f, aspect, 0.01, 100);

+	if (usePerspectiveProjection) {
+		float w = width() / 30;
+		float h = height() / 30;
+		viewport.size.x = w;
+		viewport.size.y = h;
+		P.perspective(45.0f, aspect, 0.01, 100);
+	} else {
+		// default size: 50 * 50/aspect meters
+		float w = 50.0f;
+		float h = 50.0f * height() / width();
+		viewport.size.x = w;
+		viewport.size.y = h;
+		P.ortho(-w, +w, -h, +h, 0.1f, +100);
+	}

 	rs.shader->bind();
 	rs.shader->setViewMatrix(V);
 	rs.shader->setProjectionMatrix(P);

-	Cube cube(Point3(0,0,0), 1);
-	cube.setColor(1,0,0);
-	cube.render(rs);
-
-	/*
 	// solid floorplan parts
 	if (showFloorplan) {

@@ -305,12 +247,12 @@ void MapView3D::draw() {

 	}

-	if (showGrid && gridModel) {
-		gridRenderer->paintGL(gridModel->getGrid());
-	}
+//	if (showGrid && gridModel) {
+//		gridRenderer->paintGL(gridModel->getGrid());
+//	}

 	if (showNavMesh && navMeshModel) {
-		navMeshRenderer->paintGL(navMeshModel->getNavMesh(), this);
+		navMeshRenderer->render(rs, navMeshModel->getNavMesh(), this);
 	}

 	// transparant floorplan parts
@@ -322,7 +264,7 @@ void MapView3D::draw() {
 		}

 	}
-	*/
+


 }
--- a/mapview/3D/MapView3D.h
+++ b/mapview/3D/MapView3D.h
@@ -18,6 +18,8 @@ class MapView3D : public QOpenGLWidget {

 	Q_OBJECT

+	bool usePerspectiveProjection = false;
+
 public:

 	MapView3D(QWidget* parent = 0);
@@ -102,6 +104,12 @@ protected:
 	void mouseReleaseEvent(QMouseEvent* e);
 	void wheelEvent(QWheelEvent* e);

+signals:
+
+	void onShow3DFloorplan(bool show);
+	void onShow3DGrid(bool show);
+	void onShow3DNavMesh(bool show);
+
 private:
 	void draw();

--- a/mapview/3D/misc/Cube.cpp
+++ b/mapview/3D/misc/Cube.cpp
@@ -2,217 +2,52 @@
 #include "Shader.h"
 #include <QtOpenGL>

-//static float cube_vertices[] = {
-//1	-1.0000, -1.0000, -1.0000,
-//2	-1.0000, 1.0000, -1.0000,
-//3	1.0000, 1.0000, -1.0000,
-//4	1.0000, -1.0000, -1.0000,
-//5	-1.0000, -1.0000, 1.0000,
-//6	1.0000, -1.0000, 1.0000,
-//7	1.0000, 1.0000, 1.0000,
-//8	-1.0000, 1.0000, 1.0000,
-//};
-
-//static int cube_vertex_indices[] = {
-//	1, 2, 3,
-//	3, 4, 1,
-//	5, 6, 7,
-//	7, 8, 5,
-//	1, 4, 6,
-//	6, 5, 1,
-//	4, 3, 7,
-//	7, 6, 4,
-//	3, 2, 8,
-//	8, 7, 3,
-
-//	2, 1, 5,
-//	5, 8, 2,
-//};
-
 static float cube_vertices[] = {

+	-1, -1, -1,		-1, +1, -1,		+1, +1, -1,
+	+1, +1, -1,		+1, -1, -1,		-1, -1, -1,

-	-1, -1, 0,
-	+1, -1, 0,
-	 0, +1, 0,
+	-1, -1, +1,		+1, -1, +1,		+1, +1, +1,
+	+1, +1, +1,		-1, +1, +1,		-1, -1, +1,

-//	-1.0000, -1.0000, -1.0000,		-1.0000, 1.0000, -1.0000,	1.0000, 1.0000, -1.0000,
-//	1.0000, 1.0000, -1.0000,		1.0000, -1.0000, -1.0000,	-1.0000, -1.0000, -1.0000,
+	-1, -1, -1,		+1, -1, -1,		+1, -1, +1,
+	+1, -1, +1,		-1, -1, +1,		-1, -1, -1,

-//	-1.0000, -1.0000, 1.0000,		1.0000, -1.0000, 1.0000,	1.0000, 1.0000, 1.0000,
-//	1.0000, 1.0000, 1.0000,			-1.0000, 1.0000, 1.0000,	-1.0000, -1.0000, 1.0000,
+	+1, -1, -1,		+1, +1, -1,		+1, +1, +1,
+	+1, +1, +1,		+1, -1, +1,		+1, -1, -1,

-//	-1.0000, -1.0000, -1.0000,		1.0000, -1.0000, -1.0000,	1.0000, -1.0000, 1.0000,
-//	1.0000, -1.0000, 1.0000,		-1.0000, -1.0000, 1.0000,	-1.0000, -1.0000, -1.0000,
+	+1, +1, -1,		-1, +1, -1,		-1, +1, +1,
+	-1, +1, +1,		+1, +1, +1,		+1, +1, -1,

-//	1.0000, -1.0000, -1.0000,		1.0000, 1.0000, -1.0000,	1.0000, 1.0000, 1.0000,
-//	1.0000, 1.0000, 1.0000,			1.0000, -1.0000, 1.0000,	1.0000, -1.0000, -1.0000,
-
-//	1.0000, 1.0000, -1.0000,		-1.0000, 1.0000, -1.0000,	-1.0000, 1.0000, 1.0000,
-//	-1.0000, 1.0000, 1.0000,		1.0000, 1.0000, 1.0000,		1.0000, 1.0000, -1.0000,
-
-//	-1.0000, 1.0000, -1.0000,		-1.0000, -1.0000, -1.0000,	-1.0000, -1.0000, 1.0000,
-//	-1.0000, -1.0000, 1.0000,		-1.0000, 1.0000, 1.0000,	-1.0000, 1.0000, -1.0000,
+	-1, +1, -1,		-1, -1, -1,		-1, -1, +1,
+	-1, -1, +1,		-1, +1, +1,		-1, +1, -1,

 };

-//static float cube_normals[] = {
-//	0.0000, 0.0000, -1.0000,
-//	0.0000, 0.0000, 1.0000,
-//	0.0000, -1.0000, 0.0000,
-//	1.0000, 0.0000, 0.0000,
-//	0.0000, 1.0000, 0.0000,
-//	-1.0000, 0.0000, 0.0000,
-//};
-
 static float cube_normals[] = {
-	0.0000, 0.0000, -1.0000,	0.0000, 0.0000, -1.0000,	0.0000, 0.0000, -1.0000,
-	0.0000, 0.0000, -1.0000,	0.0000, 0.0000, -1.0000,	0.0000, 0.0000, -1.0000,

-	0.0000, 0.0000, 1.0000,	0.0000, 0.0000, 1.0000,	0.0000, 0.0000, 1.0000,
-	0.0000, 0.0000, 1.0000,	0.0000, 0.0000, 1.0000,	0.0000, 0.0000, 1.0000,
+	0, 0, -1,	0, 0, -1,	0, 0, -1,
+	0, 0, -1,	0, 0, -1,	0, 0, -1,

-	0.0000, -1.0000, 0.0000,	0.0000, -1.0000, 0.0000,	0.0000, -1.0000, 0.0000,
-	0.0000, -1.0000, 0.0000,	0.0000, -1.0000, 0.0000,	0.0000, -1.0000, 0.0000,
+	0, 0, +1,	0, 0, +1,	0, 0, +1,
+	0, 0, +1,	0, 0, +1,	0, 0, +1,

-	1.0000, 0.0000, 0.0000,	1.0000, 0.0000, 0.0000,	1.0000, 0.0000, 0.0000,
-		1.0000, 0.0000, 0.0000,	1.0000, 0.0000, 0.0000,	1.0000, 0.0000, 0.0000,
+	0, -1, 0,	0, -1, 0,	0, -1, 0,
+	0, -1, 0,	0, -1, 0,	0, -1, 0,

-	0.0000, 1.0000, 0.0000,0.0000, 1.0000, 0.0000,0.0000, 1.0000, 0.0000,
-	0.0000, 1.0000, 0.0000,0.0000, 1.0000, 0.0000,0.0000, 1.0000, 0.0000,
+	1, 0, 0,	1, 0, 0,	1, 0, 0,
+	1, 0, 0,	1, 0, 0,	1, 0, 0,
+
+	0, +1, 0,	0, +1, 0,	0, +1, 0,
+	0, +1, 0,	0, +1, 0,	0, +1, 0,
+
+	-1, 0, 0,	-1, 0, 0,	-1, 0, 0,
+	-1, 0, 0,	-1, 0, 0,	-1, 0, 0,

-	-1.0000, 0.0000, 0.0000,-1.0000, 0.0000, 0.0000,-1.0000, 0.0000, 0.0000,
-	-1.0000, 0.0000, 0.0000,-1.0000, 0.0000, 0.0000,-1.0000, 0.0000, 0.0000,
 };

-//static int cube_normal_indices[] = {
-//	1, 1, 1,
-//	1, 1, 1,
-//	2, 2, 2,
-//	2, 2, 2,
-//	3, 3, 3,
-//	3, 3, 3,
-//	4, 4, 4,
-//	4, 4, 4,
-//	5, 5, 5,
-//	5, 5, 5,
-//	6, 6, 6,
-//	6, 6, 6,
-//};

-
-
-//static float cube_vertices[] = {
-
-//	// bottom
-//	+1, -1, -1,
-//	+1, -1, +1,
-//	-1, -1, +1,
-
-//	-1, -1, +1,
-//	-1, -1, -1,
-//	+1, -1, -1,
-
-//	// top
-//	-1, +1, -1,
-//	-1, +1, +1,
-//	+1, +1, +1,
-
-//	+1, +1, +1,
-//	+1, +1, -1,
-//	-1, +1, -1,
-
-//	// left
-//	-1, -1, -1,
-//	-1, -1, +1,
-//	-1, +1, +1,
-
-//	-1, +1, +1,
-//	-1, +1, -1,
-//	-1, -1, -1,
-
-//	// right
-//	+1, +1, -1,
-//	+1, +1, +1,
-//	+1, -1, +1,
-
-//	+1, -1, +1,
-//	+1, -1, -1,
-//	+1, +1, -1,
-
-//	// front
-//	+1, +1, +1,
-//	-1, +1, +1,
-//	-1, -1, +1,
-
-//	-1, -1, +1,
-//	+1, -1, +1,
-//	+1, +1, +1,
-
-//	// rear
-//	+1, -1, -1,
-//	-1, -1, -1,
-//	-1, +1, -1,
-
-//	-1, +1, -1,
-//	+1, +1, -1,
-//	+1, -1, -1,
-
-//};
-
-//static float cube_normals[] = {
-
-//	// bottom
-//	0,-1,0,
-//	0,-1,0,
-//	0,-1,0,
-//	0,-1,0,
-//	0,-1,0,
-//	0,-1,0,
-
-//	// top
-//	0,+1,0,
-//	0,+1,0,
-//	0,+1,0,
-//	0,+1,0,
-//	0,+1,0,
-//	0,+1,0,
-
-//	// left
-//	-1,0,0,
-//	-1,0,0,
-//	-1,0,0,
-//	-1,0,0,
-//	-1,0,0,
-//	-1,0,0,
-
-//	// right
-//	+1,0,0,
-//	+1,0,0,
-//	+1,0,0,
-//	+1,0,0,
-//	+1,0,0,
-//	+1,0,0,
-
-//	// front
-//	0,0,+1,
-//	0,0,+1,
-//	0,0,+1,
-//	0,0,+1,
-//	0,0,+1,
-//	0,0,+1,
-
-//	// rear
-//	0,0,-1,
-//	0,0,-1,
-//	0,0,-1,
-//	0,0,-1,
-//	0,0,-1,
-//	0,0,-1,
-
-//};
-
-static Shader* shader = nullptr;
+//static Shader* shader = nullptr;

 Cube::Cube(Point3 pos, float size) : pos(pos), size(size,size,size), rot(0,0,0) {

@@ -228,29 +63,23 @@ void Cube::setColor(float r, float g, float b) {

 void Cube::render(const RenderSettings& rs) {

-
-
 	rs.shader->bind();

 	QMatrix4x4 mat;
 	mat.translate(pos.x, pos.y, pos.z);
-	mat.rotate(rot.x, 1, 0, 0);
-	mat.rotate(rot.y, 0, 1, 0);
-	mat.rotate(rot.z, 0, 0, 1);
+	mat.rotate(rot.x, +1, 0, 0);
+	mat.rotate(rot.y, 0, +1, 0);
+	mat.rotate(rot.z, 0, 0, +1);
 	mat.scale(size.x, size.y, size.z);


-//	mat.scale(0.1, 0.1, 0.1);
 	rs.shader->setModelMatrix(mat);
-//	shader->setViewMatrix(V);
-//	shader->setProjectionMatrix(P);
-
 	rs.shader->setColor(color.x, color.y, color.z);

 	rs.shader->setVertices(cube_vertices);
 	rs.shader->setNormals(cube_normals);
-	glDrawArrays(GL_TRIANGLES, 0, 1*3);
-	//glDrawElements(GL_TRIANGLES, 12, GL_INT, cube_vertex_indices);
+	glDrawArrays(GL_TRIANGLES, 0, 12*3);
+	//glDrawElements(GL_TRIANGLES, +12, GL_INT, cube_vertex_indices);
 	rs.shader->unsetVertices();
 	rs.shader->unsetNormals();

--- a/mapview/3D/misc/Handrail.cpp
+++ b/mapview/3D/misc/Handrail.cpp
@@ -0,0 +1,101 @@
+#include "Handrail.h"
+
+#include <Indoor/geo/Point3.h>
+#include "Shader.h"
+
+Handrail::Handrail(const Point2 from, const Point2 to, float atHeight, float height) :
+	from(from), to(to), atHeight(atHeight), height(height) {
+
+	;
+
+}
+
+void Handrail::render(const RenderSettings& rs) {
+
+	rs.shader->bind();
+	rs.shader->setColor(0.8, 0.8, 0.8);
+	rs.shader->setModelMatrix(QMatrix4x4());
+
+	const float z1 = atHeight;
+	const float z2 = atHeight + height;
+
+	// polygon edges
+	Point3 p1 = Point3(from.x, from.y, z1);
+	Point3 p2 = Point3(to.x, to.y, z1);
+
+	Point3 p3 = Point3(from.x, from.y, z2);
+	Point3 p4 = Point3(to.x, to.y, z2);
+
+	std::vector<float> vertices;
+
+	// top
+	vertices.insert( vertices.end(), {p3.x, p3.y, p3.z} );
+	vertices.insert( vertices.end(), {p4.x, p4.y, p4.z} );
+
+	// start bar
+	vertices.insert( vertices.end(), {p1.x, p1.y, p1.z} );
+	vertices.insert( vertices.end(), {p3.x, p3.y, p3.z} );
+
+	// end bar
+	vertices.insert( vertices.end(), {p2.x, p2.y, p2.z} );
+	vertices.insert( vertices.end(), {p4.x, p4.y, p4.z} );
+
+	// intermediate bars
+	const Point3 d1 = p2-p1;
+	const Point3 d2 = p4-p3;
+	const int numBars = d2.length() / 1;
+	for (int i = 1; i < numBars; ++i) {
+		const Point3 s = p1 + d1 * i / numBars;
+		const Point3 e = p3 + d2 * i / numBars;
+		vertices.insert( vertices.end(), {s.x, s.y, s.z} );
+		vertices.insert( vertices.end(), {e.x, e.y, e.z} );
+	}
+
+	rs.shader->setVertices(vertices.data());
+	glDrawArrays(GL_LINES, 0, vertices.size() / 3);
+	rs.shader->unsetVertices();
+
+	rs.shader->release();
+
+	/*
+
+	TODO_GL
+
+	glDisable(GL_LIGHTING);
+	glBegin(GL_LINES);
+
+		glColor3f(0.9, 0.9, 0.9);
+
+		// top
+		glVertex3f(p3.x, p3.y, p3.z);
+		glVertex3f(p4.x, p4.y, p4.z);
+
+		// start bar
+		glVertex3f(p1.x, p1.y, p1.z);
+		glVertex3f(p3.x, p3.y, p3.z);
+
+		// end bar
+		glVertex3f(p2.x, p2.y, p2.z);
+		glVertex3f(p4.x, p4.y, p4.z);
+
+		glColor3f(0.6, 0.6, 0.6);
+
+		// intermediate bars
+		const Point3 d1 = p2-p1;
+		const Point3 d2 = p4-p3;
+		const int numBars = d2.length() / 1;
+		for (int i = 1; i < numBars; ++i) {
+			const Point3 s = p1 + d1 * i / numBars;
+			const Point3 e = p3 + d2 * i / numBars;
+			glVertex3f(s.x, s.y, s.z);
+			glVertex3f(e.x, e.y, e.z);
+		}
+
+	glEnd();
+	glEnable(GL_LIGHTING);
+
+	*/
+
+
+
+}
--- a/mapview/3D/misc/Handrail.h
+++ b/mapview/3D/misc/Handrail.h
@@ -0,0 +1,25 @@
+#ifndef HANDRAIL_H
+#define HANDRAIL_H
+
+
+#include "Renderable3D.h"
+#include <Indoor/geo/Point2.h>
+
+class Handrail : public Renderable3D {
+
+private:
+
+	Point2 from;
+	Point2 to;
+	float atHeight;
+	float height;
+
+public:
+
+	Handrail(const Point2 from, const Point2 to, float atHeight, float height);
+
+	void render(const RenderSettings& rs) override;
+
+};
+
+#endif // HANDRAIL_H
--- a/mapview/3D/misc/Outline.cpp
+++ b/mapview/3D/misc/Outline.cpp
@@ -0,0 +1,73 @@
+#include "Outline.h"
+
+#include <QMatrix4x4>
+#include <Indoor/geo/Point3.h>
+#include <QOpenGLWidget>
+#include "Shader.h"
+
+Outline::Outline() {
+
+}
+
+void Outline::render(const RenderSettings& rs) {
+
+	rs.shader->bind();
+
+	// identity
+	QMatrix4x4 mat;
+	rs.shader->setModelMatrix(mat);
+
+	// show both sides
+	//glDisable(GL_CULL_FACE);
+	glEnable(GL_CULL_FACE);
+
+	rs.shader->setColor(color.x, color.y, color.z);
+	rs.shader->setVertices(vertices.data());
+	rs.shader->setNormals(normals.data());
+	glDrawArrays(GL_TRIANGLES, 0, vertices.size() / 3);
+	rs.shader->unsetVertices();
+	rs.shader->unsetNormals();
+
+
+
+	rs.shader->release();
+
+}
+
+void Outline::setColor(float r, float g, float b) {
+	color = Point3(r,g,b);
+}
+
+void Outline::clear() {
+	normals.clear();
+	vertices.clear();
+}
+
+void Outline::add(std::vector<std::vector<Point3>>& triangles) {
+
+	for (const std::vector<Point3>& tria : triangles) {
+		for (size_t i = 2; i < tria.size(); ++i) {
+
+			const Point3 p1 = tria[i-2];
+			const Point3 p2 = tria[i-1];
+			const Point3 p3 = tria[i-0];
+
+			const Point3 n = cross(p2-p1, p3-p1);
+			if (n.z < 0) {
+				vertices.push_back(p1.x);	vertices.push_back(p1.y);	vertices.push_back(p1.z);
+				vertices.push_back(p3.x);	vertices.push_back(p3.y);	vertices.push_back(p3.z);
+				vertices.push_back(p2.x);	vertices.push_back(p2.y);	vertices.push_back(p2.z);
+			} else {
+				vertices.push_back(p1.x);	vertices.push_back(p1.y);	vertices.push_back(p1.z);
+				vertices.push_back(p2.x);	vertices.push_back(p2.y);	vertices.push_back(p2.z);
+				vertices.push_back(p3.x);	vertices.push_back(p3.y);	vertices.push_back(p3.z);
+			}
+
+			normals.push_back(0);		normals.push_back(0);		normals.push_back(1);
+			normals.push_back(0);		normals.push_back(0);		normals.push_back(1);
+			normals.push_back(0);		normals.push_back(0);		normals.push_back(1);
+
+		}
+	}
+
+}
--- a/mapview/3D/misc/Outline.h
+++ b/mapview/3D/misc/Outline.h
@@ -0,0 +1,33 @@
+#ifndef OUTLINE_H
+#define OUTLINE_H
+
+
+#include "Renderable3D.h"
+#include <vector>
+#include <Indoor/geo/Point3.h>
+
+class Outline : public Renderable3D {
+
+private:
+
+	std::vector<float> vertices;
+	std::vector<float> normals;
+	Point3 color;
+
+public:
+
+	Outline();
+
+
+
+	virtual void render(const RenderSettings& rs) override;
+
+	void setColor(float r, float g, float b);
+
+	void clear();
+
+	void add(std::vector<std::vector<Point3>>&);
+
+};
+
+#endif // OUTLINE_H
--- a/mapview/3D/misc/Shader.cpp
+++ b/mapview/3D/misc/Shader.cpp
@@ -6,27 +6,41 @@ Shader::Shader() {
 	addCacheableShaderFromSourceCode(QOpenGLShader::Vertex, R"(
 		attribute highp vec3 a_vertex;
 		attribute highp vec3 a_normal;
+		attribute lowp vec4 a_color;
 		uniform highp mat4 M;
 		uniform highp mat4 V;
 		uniform highp mat4 P;
-		varying highp vec3 normal;
+		varying highp vec3 v_normal;
+		varying lowp vec4 v_color;
+		varying lowp vec4 v_vertex;
 		void main() {
-			gl_Position = vec4(a_vertex, 1.0);
-			normal = normalize( V*M*vec4(a_normal, 0.0) );
+			gl_Position = P * V * M * vec4(a_vertex, 1.0);
+			v_normal = (V * M * vec4(a_normal, 0.0)).xyz;
+			v_color = a_color;
+			v_vertex = V * M * vec4(a_vertex, 1.0);
 		}
 	)");

 	addCacheableShaderFromSourceCode(QOpenGLShader::Fragment, R"(
 		uniform vec4 color;
-		varying highp vec3 normal;
+		uniform bool useNormal;
+		uniform bool useVertexColor;
+		varying highp vec3 v_normal;
+		varying lowp vec4 v_color;
+		varying lowp vec4 v_vertex;
 		void main() {
-			float intensity = dot( normal, normalize(vec3(-1,-1,-3)) );
-			gl_FragColor.rgb = color.rgb * intensity;
-			gl_FragColor.a = color.a;
+			vec3 lightPos = vec3(0,0,0);	// camera
+			//vec3 lightVec = normalize(vec3(0,0,1));
+			vec3 lightVec = normalize(lightPos - v_vertex.xyz);
+			float intensity = useNormal ? 0.3 + 0.7 * dot( normalize(v_normal), lightVec ) : 1.0;		// light at camera pos
+			vec4 col = useVertexColor ? v_color : color;
+			gl_FragColor.rgb = col.rgb * intensity;
+			gl_FragColor.a = col.a;
 		}
 	)");

 	//bindAttributeLocation("vertices", 0);
+
 	if (!link()) {
 		std::cout << log().toStdString() << std::endl;
 		throw std::runtime_error("shader link error");
@@ -36,15 +50,25 @@ Shader::Shader() {


 void Shader::setModelMatrix(const QMatrix4x4& m) {
-	//setUniformValue(getUniform("M"), m);
+	setUniformValue(getUniform("M"), m);
 }

 void Shader::setViewMatrix(const QMatrix4x4& m) {
-	//setUniformValue(getUniform("V"), m);
+	setUniformValue(getUniform("V"), m);
 }

 void Shader::setProjectionMatrix(const QMatrix4x4& m) {
-	//setUniformValue(getUniform("P"), m);
+	setUniformValue(getUniform("P"), m);
+}
+
+void Shader::setUseNormals(bool use) {
+	int loc = getUniform("useNormal");
+	setUniformValue(loc, use);
+}
+
+void Shader::setUseVertexColor(bool use) {
+	int loc = getUniform("useVertexColor");
+	setUniformValue(loc, use);
 }

 int Shader::getUniform(const char* name) {
@@ -52,7 +76,6 @@ int Shader::getUniform(const char* name) {
 	if (loc == -1) {throw std::runtime_error("error");}
 	return loc;
 }
-
 int Shader::getAttribute(const char* name) {
 	int loc = attributeLocation(name);
 	if (loc == -1) {throw std::runtime_error("error");}
@@ -78,11 +101,25 @@ void Shader::unsetVertices() {
 }

 void Shader::setNormals(const float* values) {
+	setUseNormals(true);
 	const int loc = getAttribute("a_normal");
 	enableAttributeArray(loc);
 	setAttributeArray(loc, GL_FLOAT, values, 3);
 }
 void Shader::unsetNormals() {
+	setUseNormals(false);
 	const int loc = getAttribute("a_normal");
 	disableAttributeArray(loc);
 }
+
+void Shader::setVertexColor(const float* values) {
+	setUseVertexColor(true);
+	const int loc = getAttribute("a_color");
+	enableAttributeArray(loc);
+	setAttributeArray(loc, GL_FLOAT, values, 4);	// RGBA!!!
+}
+void Shader::unsetVertexColor() {
+	setUseVertexColor(false);
+	const int loc = getAttribute("a_color");
+	disableAttributeArray(loc);
+}
--- a/mapview/3D/misc/Shader.h
+++ b/mapview/3D/misc/Shader.h
@@ -21,9 +21,14 @@ public:
 	void setVertices(const float*);
 	void unsetVertices();

+	void setUseNormals(bool use);
 	void setNormals(const float*);
 	void unsetNormals();

+	void setVertexColor(const float*);
+	void unsetVertexColor();
+	void setUseVertexColor(bool use);
+
 	int getUniform(const char*);
 	int getAttribute(const char*);

--- a/mapview/3DNavMesh/NavMeshRenderer.h
+++ b/mapview/3DNavMesh/NavMeshRenderer.h
@@ -9,12 +9,10 @@
 #include <Indoor/navMesh/NavMeshType.h>

 #include <QPainter>
-#include <QGLWidget>
+#include <QOpenGLWidget>

-//enum class GridRendererColorMode {
-//	SHOW_NODE_TYPE,
-//	SHOW_NODE_IMPORTANCE,
-//};
+#include "../3D/misc/Renderable3D.h"
+#include "../3D/misc/Shader.h"

 class NavMeshRenderer {

@@ -53,10 +51,88 @@ public:


 	/** render the given grid using GL commands */
-	void paintGL(NM::NavMesh<NM::NavMeshTriangle>* navMesh, QGLWidget* dst) {
+	void render(const RenderSettings& rs, NM::NavMesh<NM::NavMeshTriangle>* navMesh, QOpenGLWidget* dst) {

 		if (navMesh == nullptr) {return;}

+
+		rs.shader->bind();
+		rs.shader->setModelMatrix(QMatrix4x4());
+
+		std::vector<float> vertices;
+		std::vector<float> colors;
+
+		for (const NM::NavMeshTriangle* tria : *navMesh) {
+
+			Point3 color;
+
+			switch (tria->getType()) {
+				case (int) NM::NavMeshType::FLOOR_INDOOR:	color = Point3(0.8, 0.8, 0.8); break;
+				case (int) NM::NavMeshType::FLOOR_OUTDOOR:	color = Point3(0.1, 0.8, 0.1); break;
+				case (int) NM::NavMeshType::DOOR:			color = Point3(0.7, 0.7, 0.8); break;
+				case (int) NM::NavMeshType::STAIR_LEVELED:	color = Point3(0.5, 0.5, 0.5); break;
+				case (int) NM::NavMeshType::STAIR_SKEWED:	color = Point3(0.6, 0.6, 0.6); break;
+			}
+
+			vertices.insert(vertices.end(), {tria->getP1().x, tria->getP1().y, tria->getP1().z});
+			vertices.insert(vertices.end(), {tria->getP3().x, tria->getP3().y, tria->getP3().z});
+			vertices.insert(vertices.end(), {tria->getP2().x, tria->getP2().y, tria->getP2().z});
+
+			colors.insert(colors.end(), {color.x, color.y, color.z, 1});
+			colors.insert(colors.end(), {color.x, color.y, color.z, 1});
+			colors.insert(colors.end(), {color.x, color.y, color.z, 1});
+
+		}
+
+		rs.shader->setVertices(vertices.data());
+		rs.shader->setVertexColor(colors.data());
+		glDrawArrays(GL_TRIANGLES, 0, vertices.size()/3);
+		rs.shader->unsetVertices();
+		rs.shader->unsetVertexColor();
+
+		vertices.clear();
+		colors.clear();
+
+		for (const NM::NavMeshTriangle* tria : *navMesh) {
+
+			Point3 color;
+
+			switch (tria->getType()) {
+				case (int) NM::NavMeshType::FLOOR_INDOOR:	color = Point3(0.6, 0.6, 0.6); break;
+				case (int) NM::NavMeshType::FLOOR_OUTDOOR:	color = Point3(0.0, 0.6, 0.0); break;
+				case (int) NM::NavMeshType::DOOR:			color = Point3(0.5, 0.5, 0.6); break;
+				case (int) NM::NavMeshType::STAIR_LEVELED:	color = Point3(0.4, 0.4, 0.4); break;
+				case (int) NM::NavMeshType::STAIR_SKEWED:	color = Point3(0.4, 0.4, 0.4); break;
+			}
+
+			const float o = 0.001f;
+			vertices.insert(vertices.end(), {tria->getP1().x, tria->getP1().y, tria->getP1().z+o});
+			vertices.insert(vertices.end(), {tria->getP2().x, tria->getP2().y, tria->getP2().z+o});
+
+			vertices.insert(vertices.end(), {tria->getP2().x, tria->getP2().y, tria->getP2().z+o});
+			vertices.insert(vertices.end(), {tria->getP3().x, tria->getP3().y, tria->getP3().z+o});
+
+			vertices.insert(vertices.end(), {tria->getP3().x, tria->getP3().y, tria->getP3().z+o});
+			vertices.insert(vertices.end(), {tria->getP1().x, tria->getP1().y, tria->getP1().z+o});
+
+			colors.insert(colors.end(), {color.x, color.y, color.z, 1});
+			colors.insert(colors.end(), {color.x, color.y, color.z, 1});
+			colors.insert(colors.end(), {color.x, color.y, color.z, 1});
+			colors.insert(colors.end(), {color.x, color.y, color.z, 1});
+			colors.insert(colors.end(), {color.x, color.y, color.z, 1});
+			colors.insert(colors.end(), {color.x, color.y, color.z, 1});
+
+		}
+
+		rs.shader->setVertices(vertices.data());
+		rs.shader->setVertexColor(colors.data());
+		glDrawArrays(GL_LINES, 0, vertices.size()/3);
+		rs.shader->unsetVertices();
+		rs.shader->unsetVertexColor();
+
+		rs.shader->release();
+
+
 		/*

 		TODO_GL
@@ -68,21 +144,7 @@ public:
 		glBegin(GL_TRIANGLES);
 			for (const NM::NavMeshTriangle* tria : *navMesh) {

-//				// get the color to use
-//				switch(colorMode) {
-//				case GridRendererColorMode::SHOW_NODE_TYPE: {
-//					const Color c = colors[n.getType()];
-//					glColor3f(c.r, c.g, c.b);
-//					break;
-//				}

-//				case GridRendererColorMode::SHOW_NODE_IMPORTANCE: {
-//					const float xx = n.navImportance - 0.6;
-//					glColor3f(xx, xx, xx);
-//					break;
-//				}
-
-//				}

 				switch (tria->getType()) {
 					case (int) NM::NavMeshType::FLOOR_INDOOR:	glColor3f(0.8, 0.8, 0.8); break;
--- a/res.qrc
+++ b/res.qrc
@@ -20,5 +20,9 @@
        <file>res/icons/fingerprint.svg</file>
        <file>res/icons/gtp.svg</file>
        <file>res/icons/registration.svg</file>
+        <file>res/icons/mesh.svg</file>
+        <file>res/icons/perspective.svg</file>
+        <file>res/icons/floorplan.svg</file>
+        <file>res/icons/grid.svg</file>
    </qresource>
 </RCC>
--- a/res/icons/floorplan.svg
+++ b/res/icons/floorplan.svg
@@ -0,0 +1,107 @@
+<?xml version="1.0" encoding="iso-8859-1"?>
+<!-- Generator: Adobe Illustrator 19.0.0, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+<svg version="1.1" id="Capa_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
+	 viewBox="0 0 59 59" style="enable-background:new 0 0 59 59;" xml:space="preserve">
+<g>
+	<path d="M14,7c0-3.859-3.141-7-7-7S0,3.141,0,7v45h0.003C0.003,52.02,0,52.04,0,52.06C0,55.887,3.113,59,6.94,59H59V7H14z M2,7
+		c0-2.421,1.731-4.444,4.02-4.901C6.072,2.603,6.483,3,7,3s0.928-0.397,0.98-0.901C10.269,2.556,12,4.579,12,7v40.105
+		C10.729,45.807,8.957,45,7,45c-0.243,0-0.482,0.013-0.719,0.037c-0.106,0.011-0.21,0.032-0.315,0.048
+		c-0.128,0.019-0.257,0.034-0.383,0.06c-0.138,0.028-0.271,0.068-0.405,0.104C5.09,45.273,5,45.291,4.913,45.318
+		c-0.167,0.053-0.329,0.116-0.491,0.181c-0.049,0.02-0.101,0.035-0.15,0.056c-0.199,0.084-0.392,0.18-0.582,0.282
+		c-0.008,0.004-0.017,0.008-0.025,0.012C3.049,46.184,2.487,46.608,2,47.105V7z M57,57H6.94C4.216,57,2,54.784,2,52
+		c0-2.757,2.243-5,5-5s5,2.243,5,5h2V9h43V57z"/>
+	<path d="M46.017,21.001c0.176,0.123,0.377,0.183,0.576,0.183c0.314,0,0.623-0.147,0.818-0.423c0.318-0.451,0.211-1.075-0.24-1.395
+		l-1.634-1.153c-0.453-0.317-1.075-0.21-1.395,0.24c-0.318,0.451-0.211,1.075,0.24,1.395L46.017,21.001z"/>
+	<path d="M50.92,24.461c0.175,0.123,0.376,0.183,0.575,0.183c0.314,0,0.623-0.147,0.818-0.424c0.318-0.451,0.21-1.075-0.241-1.394
+		l-1.635-1.153c-0.451-0.317-1.074-0.21-1.394,0.241c-0.318,0.451-0.21,1.075,0.241,1.394L50.92,24.461z"/>
+	<path d="M37,41c0,0.553,0.447,1,1,1h2c0.553,0,1-0.447,1-1s-0.447-1-1-1h-2C37.447,40,37,40.447,37,41z"/>
+	<path d="M51,27.383v2c0,0.553,0.447,1,1,1s1-0.447,1-1v-2c0-0.553-0.447-1-1-1S51,26.83,51,27.383z"/>
+	<path d="M41.115,17.541c0.176,0.123,0.377,0.183,0.576,0.183c0.314,0,0.623-0.147,0.818-0.423c0.318-0.451,0.211-1.075-0.24-1.395
+		l-1.634-1.153c-0.453-0.317-1.075-0.21-1.395,0.24c-0.318,0.451-0.211,1.075,0.24,1.395L41.115,17.541z"/>
+	<path d="M43,41c0,0.553,0.447,1,1,1h2c0.553,0,1-0.447,1-1s-0.447-1-1-1h-2C43.447,40,43,40.447,43,41z"/>
+	<path d="M29,41c0-0.553-0.447-1-1-1h-2c-0.553,0-1,0.447-1,1s0.447,1,1,1h2C28.553,42,29,41.553,29,41z"/>
+	<path d="M52,36.383c0.553,0,1-0.447,1-1v-2c0-0.553-0.447-1-1-1s-1,0.447-1,1v2C51,35.936,51.447,36.383,52,36.383z"/>
+	<path d="M36.213,14.081c0.176,0.123,0.377,0.183,0.576,0.183c0.314,0,0.623-0.147,0.818-0.423c0.318-0.451,0.211-1.075-0.24-1.395
+		l-1.634-1.153c-0.453-0.316-1.075-0.209-1.395,0.24c-0.318,0.451-0.211,1.075,0.24,1.395L36.213,14.081z"/>
+	<path d="M51,40h-1c-0.553,0-1,0.447-1,1s0.447,1,1,1h3v-2.617c0-0.553-0.447-1-1-1s-1,0.447-1,1V40z"/>
+	<path d="M20,42h2c0.553,0,1-0.447,1-1s-0.447-1-1-1h-2c-0.553,0-1,0.447-1,1S19.447,42,20,42z"/>
+	<path d="M18,28c0.553,0,1-0.447,1-1v-2c0-0.553-0.447-1-1-1s-1,0.447-1,1v2C17,27.553,17.447,28,18,28z"/>
+	<path d="M20.452,23.27c0.199,0,0.4-0.06,0.576-0.183l1.634-1.153c0.451-0.319,0.559-0.943,0.24-1.395
+		c-0.318-0.45-0.941-0.558-1.395-0.24l-1.634,1.153c-0.451,0.319-0.559,0.943-0.24,1.395C19.829,23.122,20.138,23.27,20.452,23.27z"
+		/>
+	<path d="M25.354,19.81c0.199,0,0.4-0.06,0.576-0.183l1.634-1.153c0.451-0.319,0.559-0.943,0.24-1.395
+		c-0.319-0.449-0.941-0.557-1.395-0.24l-1.634,1.153c-0.451,0.319-0.559,0.943-0.24,1.395C24.73,19.662,25.039,19.81,25.354,19.81z"
+		/>
+	<path d="M18,34c0.553,0,1-0.447,1-1v-2c0-0.553-0.447-1-1-1s-1,0.447-1,1v2C17,33.553,17.447,34,18,34z"/>
+	<path d="M30.256,16.35c0.199,0,0.4-0.06,0.576-0.183l1.634-1.153c0.451-0.319,0.559-0.943,0.24-1.395
+		c-0.319-0.449-0.94-0.559-1.395-0.24l-1.634,1.153c-0.451,0.319-0.559,0.943-0.24,1.395C29.633,16.202,29.941,16.35,30.256,16.35z"
+		/>
+	<path d="M31,41c0,0.553,0.447,1,1,1h2c0.553,0,1-0.447,1-1s-0.447-1-1-1h-2C31.447,40,31,40.447,31,41z"/>
+	<path d="M18,40c0.553,0,1-0.447,1-1v-2c0-0.553-0.447-1-1-1s-1,0.447-1,1v2C17,39.553,17.447,40,18,40z"/>
+	<path d="M41,54h13v-8H41V54z M43,48h9v4h-9V48z"/>
+	<path d="M22,30v2c0,0.553,0.447,1,1,1s1-0.447,1-1v-2c0-0.553-0.447-1-1-1S22,29.447,22,30z"/>
+	<path d="M31,27c-0.553,0-1,0.447-1,1v2c0,0.553,0.447,1,1,1s1-0.447,1-1v-2C32,27.447,31.553,27,31,27z"/>
+	<path d="M25,29h2c0.553,0,1-0.447,1-1s-0.447-1-1-1h-2c-0.553,0-1,0.447-1,1S24.447,29,25,29z"/>
+	<path d="M26,36c0-0.553-0.447-1-1-1h-2c-0.553,0-1,0.447-1,1s0.447,1,1,1h2C25.553,37,26,36.553,26,36z"/>
+	<path d="M29,37h2c0.553,0,1-0.447,1-1v-2c0-0.553-0.447-1-1-1s-1,0.447-1,1v1h-1c-0.553,0-1,0.447-1,1S28.447,37,29,37z"/>
+	<path d="M40,28c0,0.553,0.447,1,1,1h2c0.553,0,1-0.447,1-1s-0.447-1-1-1h-2C40.447,27,40,27.447,40,28z"/>
+	<path d="M46,28v2c0,0.553,0.447,1,1,1s1-0.447,1-1v-2c0-0.553-0.447-1-1-1S46,27.447,46,28z"/>
+	<path d="M47,37c0.553,0,1-0.447,1-1v-2c0-0.553-0.447-1-1-1s-1,0.447-1,1v1h-1c-0.553,0-1,0.447-1,1s0.447,1,1,1H47z"/>
+	<path d="M39,33c0.553,0,1-0.447,1-1v-2c0-0.553-0.447-1-1-1s-1,0.447-1,1v2C38,32.553,38.447,33,39,33z"/>
+	<path d="M39,37h2c0.553,0,1-0.447,1-1s-0.447-1-1-1h-2c-0.553,0-1,0.447-1,1S38.447,37,39,37z"/>
+	<path d="M38,46h-5c-0.553,0-1,0.447-1,1s0.447,1,1,1h5c0.553,0,1-0.447,1-1S38.553,46,38,46z"/>
+	<path d="M38,49h-7c-0.553,0-1,0.447-1,1s0.447,1,1,1h7c0.553,0,1-0.447,1-1S38.553,49,38,49z"/>
+	<path d="M38,52H28c-0.553,0-1,0.447-1,1s0.447,1,1,1h10c0.553,0,1-0.447,1-1S38.553,52,38,52z"/>
+	<circle cx="4" cy="5" r="1"/>
+	<circle cx="10" cy="5" r="1"/>
+	<circle cx="7" cy="8" r="1"/>
+	<circle cx="4" cy="11" r="1"/>
+	<circle cx="10" cy="11" r="1"/>
+	<circle cx="4" cy="17" r="1"/>
+	<circle cx="10" cy="17" r="1"/>
+	<circle cx="7" cy="14" r="1"/>
+	<circle cx="7" cy="20" r="1"/>
+	<circle cx="4" cy="23" r="1"/>
+	<circle cx="10" cy="23" r="1"/>
+	<circle cx="4" cy="29" r="1"/>
+	<circle cx="10" cy="29" r="1"/>
+	<circle cx="7" cy="26" r="1"/>
+	<circle cx="7" cy="32" r="1"/>
+	<circle cx="4" cy="35" r="1"/>
+	<circle cx="10" cy="35" r="1"/>
+	<circle cx="4" cy="41" r="1"/>
+	<circle cx="10" cy="41" r="1"/>
+	<circle cx="7" cy="38" r="1"/>
+	<circle cx="7" cy="44" r="1"/>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+</svg>
--- a/res/icons/grid.svg
+++ b/res/icons/grid.svg
@@ -0,0 +1,45 @@
+<?xml version="1.0" encoding="iso-8859-1"?>
+<!-- Generator: Adobe Illustrator 19.0.0, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+<svg version="1.1" id="Capa_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
+	 viewBox="0 0 512 512" style="enable-background:new 0 0 512 512;" xml:space="preserve">
+<g>
+	<g>
+		<g>
+			<polygon points="32,32 64,32 64,0 0,0 0,64 32,64 			"/>
+			<path d="M96,0v32h64v128H32V96H0v416h512V0H96z M160,480H32V352h128V480z M160,320H32V192h128V320z M320,480H192V352h128V480z
+				 M320,320H192V192h128V320z M320,160H192V32h128V160z M480,480H352V352h128V480z M480,320H352V192h128V320z M480,160H352V32h128
+				V160z"/>
+		</g>
+	</g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+</svg>
--- a/res/icons/mesh.svg
+++ b/res/icons/mesh.svg
@@ -0,0 +1,95 @@
+<?xml version="1.0" encoding="iso-8859-1"?>
+<!-- Generator: Adobe Illustrator 19.0.0, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+<svg version="1.1" id="Capa_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
+	 viewBox="0 0 512.001 512.001" style="enable-background:new 0 0 512.001 512.001;" xml:space="preserve">
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