added nav-mesh support to indoor-map

some fixes/changes

IndoorMap.pro

@@ -42,7 +42,8 @@ SOURCES += \
     params/MetaEditWidget.cpp \
     params/MetaEditModel.cpp \
     mapview/2D/MapView2D.cpp \
-    misc/LINTView.cpp
+    misc/LINTView.cpp \
+    mapview/3DNavMesh/QNavMeshSettings.cpp
 
 
 HEADERS  += MainWindow.h \
@@ -165,13 +166,18 @@ HEADERS  += MainWindow.h \
     mapview/2D/tools/ToolNewBeacon.h \
     mapview/2D/tools/ToolNewGroundTruth.h \
     mapview/2D/tools/ToolNewPOI.h \
-    mapview/3D/MV3DElementElevator.h
+    mapview/3D/MV3DElementElevator.h \
+    mapview/3DNavMesh/NavMeshView.h \
+    mapview/3DNavMesh/NavMeshRenderer.h \
+    mapview/3DNavMesh/NavMeshModel.h \
+    mapview/3DNavMesh/QNavMeshSettings.h
 
 
 FORMS    += MainWindow.ui
 
 SOURCES += \
-   ../Indoor/lib/tinyxml/tinyxml2.cpp
+	../Indoor/lib/tinyxml/tinyxml2.cpp \
+	../Indoor/lib/Recast/*.cpp
 
 RESOURCES += \
     res.qrc

MainController.cpp

@@ -87,8 +87,9 @@ MainController::MainController() {
 	connect(mw->getActionWidget(), SIGNAL(onSave()), this, SLOT(onSave()));
 
 	// 3D view change
-	connect(mw, SIGNAL(onShow3DFloorplan()), this, SLOT(onShow3DFloorplan()));
+	connect(mw, SIGNAL(onShow3DFloorplan(bool)), this, SLOT(onSetShow3DFloorplan(bool)));
-	connect(mw, SIGNAL(onShow3DGrid()), this, SLOT(onShow3DGrid()));
+	connect(mw, SIGNAL(onShow3DGrid(bool)), this, SLOT(onSetShow3DGrid(bool)));
+	connect(mw, SIGNAL(onShow3DNavMesh(bool)), this, SLOT(onSetShow3DNavMesh(bool)));
 
 	// 3D grid view config
 	connect(mw, &MainWindow::onGridNodeColorImp, [&] () {mw->getMapView3D()->getGridRenderer()->setNodeColorMode(GridRendererColorMode::SHOW_NODE_IMPORTANCE);} );
@@ -99,8 +100,9 @@ MainController::MainController() {
 	//mapModel->load("../IndoorMap/maps/SHL38_no_elev.xml");
 	//mapModel->load("/apps/testmap.xml");
 	//mapModel->load("/apps/map24b.xml");
+	//mapModel->load("/apps/SHL41.xml");
 
-	mapModel->load("/apps/SHL41.xml");
+	mapModel->load("/mnt/vm/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");
@@ -145,12 +147,16 @@ void MainController::onLayerVisibilityChanged(MapLayer *layer, const bool visibl
     (void) visible;
 }
 
-void MainController::onShow3DFloorplan() {
+void MainController::onSetShow3DFloorplan(bool show) {
-    mw->getMapView3D()->showFloorplan();
+	mw->getMapView3D()->setShowFloorplan(show);
 }
 
-void MainController::onShow3DGrid() {
+void MainController::onSetShow3DGrid(bool show) {
-    mw->getMapView3D()->showGrid();
+	mw->getMapView3D()->setShowGrid(show);
+}
+
+void MainController::onSetShow3DNavMesh(bool show) {
+	mw->getMapView3D()->setShowNavMesh(show);
 }
 
 void MainController::layerSelected(QModelIndex idx) {

MainController.h

@@ -65,8 +65,9 @@ public slots:
 
 private slots:
 
-	void onShow3DFloorplan();
+	void onSetShow3DFloorplan(bool show);
-	void onShow3DGrid();
+	void onSetShow3DGrid(bool show);
+	void onSetShow3DNavMesh(bool show);
 
 
 private:

MainWindow.cpp

@@ -114,14 +114,16 @@ MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent), ui(new Ui::MainWi
 //	ui->layTree->addWidget(actionWidget);
 
 
-	// show mode
+//	// show mode (radio buttons)
-	QActionGroup* grpMode = new QActionGroup(this);
+//	QActionGroup* grpMode = new QActionGroup(this);
-	grpMode->addAction(ui->actShow3DFloorplan);
+//	grpMode->addAction(ui->actShow3DFloorplan);
-	grpMode->addAction(ui->actShow3DGrid);
+//	grpMode->addAction(ui->actShow3DGrid);
+//	grpMode->addAction(ui->actShow3DNavMesh);
 
 	connect(ui->actShow2D, SIGNAL(triggered(bool)), this, SIGNAL(onShow2D()));
-	connect(ui->actShow3DGrid, SIGNAL(triggered(bool)), this, SIGNAL(onShow3DGrid()));
+	connect(ui->actShow3DGrid, SIGNAL(triggered(bool)), this, SIGNAL(onShow3DGrid(bool)));
-	connect(ui->actShow3DFloorplan, SIGNAL(triggered(bool)), this, SIGNAL(onShow3DFloorplan()));
+	connect(ui->actShow3DFloorplan, SIGNAL(triggered(bool)), this, SIGNAL(onShow3DFloorplan(bool)));
+	connect(ui->actShow3DNavMesh, SIGNAL(triggered(bool)), this, SIGNAL(onShow3DNavMesh(bool)));
 
 
 	// node coloring

MainWindow.h

@@ -40,8 +40,9 @@ public:
 signals:
 
 	void onShow2D();
-	void onShow3DFloorplan();
+	void onShow3DFloorplan(bool show);
-	void onShow3DGrid();
+	void onShow3DGrid(bool show);
+	void onShow3DNavMesh(bool show);
 	void onGridShowEdges(bool);
 	void onGridNodeColorImp();
 	void onGridNodeColorType();

MainWindow.ui

@@ -23,30 +23,31 @@
      <x>0</x>
      <y>0</y>
      <width>777</width>
-     <height>26</height>
+     <height>30</height>
     </rect>
    </property>
    <widget class="QMenu" name="menuView">
     <property name="title">
-     <string>View</string>
+     <string>&amp;View</string>
     </property>
     <widget class="QMenu" name="menu3D">
      <property name="title">
-      <string>3D</string>
+      <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>Grid</string>
+     <string>&amp;Grid</string>
     </property>
     <widget class="QMenu" name="menuNode_color">
      <property name="title">
-      <string>node color</string>
+      <string>&amp;node color</string>
      </property>
      <addaction name="actGridNodeColorType"/>
      <addaction name="actGridNodeColorImportance"/>
@@ -62,15 +63,18 @@
     <bool>true</bool>
    </property>
    <property name="text">
-    <string>2D</string>
+    <string>&amp;2D</string>
    </property>
   </action>
   <action name="actShow3DFloorplan">
    <property name="checkable">
     <bool>true</bool>
    </property>
+   <property name="checked">
+    <bool>true</bool>
+   </property>
    <property name="text">
-    <string>Floorplan</string>
+    <string>&amp;Floorplan</string>
    </property>
   </action>
   <action name="actGridShowEdges">
@@ -78,7 +82,7 @@
     <bool>true</bool>
    </property>
    <property name="text">
-    <string>show edges</string>
+    <string>&amp;show edges</string>
    </property>
   </action>
   <action name="actGridNodeColorType">
@@ -86,7 +90,7 @@
     <bool>true</bool>
    </property>
    <property name="text">
-    <string>node type</string>
+    <string>&amp;node type</string>
    </property>
   </action>
   <action name="actGridNodeColorImportance">
@@ -94,7 +98,7 @@
     <bool>true</bool>
    </property>
    <property name="text">
-    <string>node importance</string>
+    <string>node &amp;importance</string>
    </property>
   </action>
   <action name="actShow3DGrid">
@@ -102,7 +106,20 @@
     <bool>true</bool>
    </property>
    <property name="text">
-    <string>Grid</string>
+    <string>&amp;Grid</string>
+   </property>
+  </action>
+  <action name="actionNavMesh">
+   <property name="text">
+    <string>NavMesh</string>
+   </property>
+  </action>
+  <action name="actShow3DNavMesh">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>&amp;NavMesh</string>
    </property>
   </action>
  </widget>

mapview/2D/MV2DElementStair.h

@@ -104,8 +104,8 @@ public:
 			QLinearGradient gradient(p.s.xms(part.start.x), p.s.yms(part.start.y),	p.s.xms(part.end.x), p.s.yms(part.end.y));
 			const float p1 = 0.1 + clamp01( part.start.z / floor->height) * 0.8;
 			const float p2 = 0.1 + clamp01( part.end.z / floor->height) * 0.8;
-			gradient.setColorAt(0, QColor(p1*255, p1*255, p1*255, 128));
+			gradient.setColorAt(0, QColor(p1*128, p1*128, p1*255, 128));
-			gradient.setColorAt(1, QColor(p2*255, p2*255, p2*255, 128));
+			gradient.setColorAt(1, QColor(p2*128, p2*128, p2*255, 128));
 			p.setBrush(gradient);
 			p.setPen(QColor(0,0,0,128));
 

mapview/3D/MV3DElementStair.h

@@ -26,7 +26,8 @@ protected:
 
 		glDisable(GL_CULL_FACE);
 
-		glColor3f(1.0, 0.55, 0.55);
+		//glColor3f(1.0, 0.55, 0.55);
+		glColor3f(0.3, 0.3, 0.3);
 		glBegin(GL_QUADS);
 
 			const std::vector<Floorplan::StairPart> parts = stair->getParts();

mapview/3D/MapView3D.cpp

@@ -7,6 +7,9 @@
 #include "../3DGrid/GridModel.h"
 #include "../3DGrid/GridRenderer.h"
 
+#include "../3DNavMesh/NavMeshModel.h"
+#include "../3DNavMesh/NavMeshRenderer.h"
+
 MapView3D::MapView3D(QWidget *parent) : QGLWidget(parent) {
 
 	rot.x = 45;
@@ -180,12 +183,20 @@ void MapView3D::wheelEvent(QWheelEvent* e) {
 }
 
 
-void MapView3D::showFloorplan() {
+void MapView3D::setShowFloorplan(bool show) {
-	if (gridModel) {delete gridModel; gridModel = nullptr;}
+
+	this->showFloorplan = show;
+
+	//if (gridModel) {delete gridModel; gridModel = nullptr;}
+	//if (navMeshModel) {delete navMeshModel; navMeshModel = nullptr;}
 	update();
+
 }
 
-void MapView3D::showGrid() {
+void MapView3D::setShowGrid(bool show) {
+
+	this->showGrid = show;
+	if (!show) {update(); return;}
 
 	// delete the previous grid (if any)
 	if (gridModel) {delete gridModel; gridModel = nullptr;}
@@ -203,31 +214,53 @@ void MapView3D::showGrid() {
 
 }
 
+void MapView3D::setShowNavMesh(bool show) {
+
+	this->showNavMesh = show;
+	if (!show) {update(); return;}
+
+	// delete the previous grid (if any)
+	if (navMeshModel) {delete navMeshModel; navMeshModel = nullptr;}
+
+	// build a new model
+	NavMeshModel* nm = new NavMeshModel();
+	Floorplan::IndoorMap* im = getModel()->getMap();
+	nm->rebuild(im);
+
+	// remember
+	this->navMeshModel = nm;
+
+	// update UI
+	update();
+
+}
+
 void MapView3D::draw() {
 
-	if (gridModel) {
+	// solid floorplan parts
-
+	if (showFloorplan) {
-		// show grid
-		gridRenderer->paintGL(gridModel->getGrid());
-
-	} else {
 
 		std::vector<MapModelElement*> elements = getModel()->getVisibleElements();
-
-		// order: transparent last
-		auto func = [] (const MapModelElement* e1, const MapModelElement* e2) {
-			if (e1->getMV3D() == nullptr) {return false;}
-			if (e2->getMV3D() == nullptr) {return true;}
-			const bool e1t = e1->getMV3D()->isTransparent();
-			const bool e2t = e2->getMV3D()->isTransparent();
-			return e1t < e2t;
-		};
-
-		std::sort(elements.begin(), elements.end(), func);
-
-		// show floorplan
 		for (MapModelElement* el : elements) {
-			if (el->getMV3D()) {el->getMV3D()->paintGL();}
+			if (el->getMV3D() && !el->getMV3D()->isTransparent()) {el->getMV3D()->paintGL();}
+		}
+
+	}
+
+	if (showGrid) {
+		gridRenderer->paintGL(gridModel->getGrid());
+	}
+
+	if (showNavMesh) {
+		navMeshRenderer->paintGL(navMeshModel->getNavMesh(), this);
+	}
+
+	// transparant floorplan parts
+	if (showFloorplan) {
+
+		std::vector<MapModelElement*> elements = getModel()->getVisibleElements();
+		for (MapModelElement* el : elements) {
+			if (el->getMV3D() && el->getMV3D()->isTransparent()) {el->getMV3D()->paintGL();}
 		}
 
 	}

mapview/3D/MapView3D.h

@@ -9,6 +9,8 @@
 class MapModel;
 class GridModel;
 class GridRenderer;
+class NavMeshRenderer;
+class NavMeshModel;
 
 class MapView3D : public QGLWidget {
 
@@ -34,13 +36,27 @@ public:
 	/** get the renderer to use for the grid */
 	GridRenderer* getGridRenderer() {return gridRenderer;}
 
+	/** get the renderer to use for the NavMesh */
+	NavMeshRenderer* getNavMeshRenderer() {return navMeshRenderer;}
+
+
+//	/** show 3D rendered floorplan */
+//	void showFloorplan();
+
+//	/** show 3D rendered grid derived from the floorplan */
+//	void showGrid();
+
+//	/** show 3D rendered NavMesh derived from the floorplan */
+//	void showNavMesh();
 
 	/** show 3D rendered floorplan */
-	void showFloorplan();
+	void setShowFloorplan(bool show);
 
 	/** show 3D rendered grid derived from the floorplan */
-	void showGrid();
+	void setShowGrid(bool show);
 
+	/** show 3D rendered NavMesh derived from the floorplan */
+	void setShowNavMesh(bool show);
 
 private:
 
@@ -50,6 +66,13 @@ private:
 	GridModel* gridModel = nullptr;
 	GridRenderer* gridRenderer = nullptr;
 
+	NavMeshModel* navMeshModel = nullptr;
+	NavMeshRenderer* navMeshRenderer = nullptr;
+
+	bool showFloorplan = true;
+	bool showGrid = false;
+	bool showNavMesh = false;
+
 	Point3 rot;
 	Point3 center;
 	Point3 scale;
@@ -67,6 +90,7 @@ private:
 
 
 protected:
+
 	void initializeGL();
 	void paintGL();
 	void resizeGL(int width, int height);

mapview/3DNavMesh/NavMeshModel.h

@@ -0,0 +1,85 @@
+#ifndef NAVMESHMODEL_H
+#define NAVMESHMODEL_H
+
+
+#include <Indoor/floorplan/v2/Floorplan.h>
+#include <Indoor/navMesh/NavMesh.h>
+#include <Indoor/navMesh/NavMeshFactory.h>
+#include <Indoor/navMesh/NavMeshFactoryListener.h>
+
+#include <QProgressDialog>
+#include <QApplication>
+#include <QVBoxLayout>
+#include <QLabel>
+#include <QProgressBar>
+#include "QNavMeshSettings.h"
+
+/**
+ * used for 3D NavMesh rendering
+ */
+class NavMeshModel {
+
+private:
+
+	NM::NavMesh<NM::NavMeshTriangle> navMesh;
+	NM::NavMeshSettings settings;
+	Floorplan::IndoorMap* im;
+
+public:
+
+	NavMeshModel() : navMesh() {
+		;
+	}
+
+	NM::NavMesh<NM::NavMeshTriangle>* getNavMesh() {return &navMesh;}
+
+
+	class Listener : public NM::NavMeshFactoryListener {
+
+	private:
+		QDialog dlg;
+		QLabel* lbl1;
+		QProgressBar* bar1;
+
+	public:
+		Listener() {
+			QVBoxLayout* lay = new QVBoxLayout(&dlg);
+			lbl1 = new QLabel();		lay->addWidget(lbl1);
+			bar1 = new QProgressBar();	lay->addWidget(bar1);
+			dlg.resize(350, 90);
+			dlg.setWindowTitle("NavMesh building");
+			dlg.show();
+		}
+		~Listener() {
+			dlg.close();
+		}
+
+		void onNavMeshBuildUpdateMajor(const std::string& what) override {
+			lbl1->setText(what.c_str());
+			QApplication::processEvents();
+		}
+		void onNavMeshBuildUpdateMajor(const int cnt, const int cur) override {
+			bar1->setValue(cur*100/cnt);
+			QApplication::processEvents();
+		}
+
+	};
+
+	void rebuild(Floorplan::IndoorMap* im) {
+
+		Listener l;
+
+		QNavMeshSettings qs(&settings);
+		qs.exec();
+
+		if (qs.ok) {
+			NM::NavMeshFactory<NM::NavMeshTriangle> fac(&navMesh, settings);
+			fac.build(im, &l);
+		}
+
+	}
+
+};
+
+
+#endif // NAVMESHMODEL_H

mapview/3DNavMesh/NavMeshRenderer.h

@@ -0,0 +1,172 @@
+#ifndef NAVMESHRENDERER_H
+#define NAVMESHRENDERER_H
+
+
+
+#include <unordered_set>
+#include <Indoor/navMesh/NavMesh.h>
+#include <Indoor/navMesh/NavMeshTriangle.h>
+#include <Indoor/navMesh/NavMeshType.h>
+
+#include <QPainter>
+#include <QGLWidget>
+
+//enum class GridRendererColorMode {
+//	SHOW_NODE_TYPE,
+//	SHOW_NODE_IMPORTANCE,
+//};
+
+class NavMeshRenderer {
+
+private:
+
+	// settings
+	//GridRendererColorMode colorMode = GridRendererColorMode::SHOW_NODE_IMPORTANCE;
+	bool showEdges = false;
+
+	struct Color {
+		float r,g,b;
+		Color() : r(1), g(0), b(0) {;}
+		Color(float r, float g, float b) : r(r), g(g), b(b) {;}
+	};
+
+	/** node color depending on the node's type. see ctor */
+	Color colors[200];
+
+public:
+
+	/** ctor */
+	NavMeshRenderer()  {
+
+		colors[GridNode::TYPE_FLOOR] = Color(0.4, 0.4, 0.4);
+		colors[GridNode::TYPE_STAIR] = Color(0,0,1);
+		colors[GridNode::TYPE_ELEVATOR] = Color(0,0,1);
+		colors[GridNode::TYPE_DOOR] = Color(0.0, 0.0, 0.0);
+
+		colors[GridNode::TYPE_OUTDOOR] = Color(0.0, 0.5, 0.0);
+
+	}
+
+
+//	void setNodeColorMode(const GridRendererColorMode mode) {this->colorMode = mode;}
+	void setShowEdges(const bool show) {this->showEdges = show;}
+
+
+	/** render the given grid using GL commands */
+	void paintGL(NM::NavMesh<NM::NavMeshTriangle>* navMesh, QGLWidget* dst) {
+
+		if (navMesh == nullptr) {return;}
+
+//		QPainter qp;
+//		qp.begin(dst);
+
+		glDisable(GL_LIGHTING);
+
+		const float s = 2;
+
+
+
+		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;
+					case (int) NM::NavMeshType::FLOOR_OUTDOOR:	glColor3f(0.1, 0.8, 0.1); break;
+					case (int) NM::NavMeshType::DOOR:			glColor3f(0.7, 0.7, 0.8); break;
+					case (int) NM::NavMeshType::STAIR_LEVELED:	glColor3f(0.5, 0.5, 0.5); break;
+					case (int) NM::NavMeshType::STAIR_SKEWED:	glColor3f(0.6, 0.6, 0.6); break;
+				}
+
+				glVertex3f(tria->getP1().x, tria->getP1().z, tria->getP1().y);
+				glVertex3f(tria->getP2().x, tria->getP2().z, tria->getP2().y);
+				glVertex3f(tria->getP3().x, tria->getP3().z, tria->getP3().y);
+
+			}
+		glEnd();
+
+
+		glEnable(GL_MULTISAMPLE);
+		//glEnable(GL_LINE_SMOOTH);
+
+		glBegin(GL_LINES);
+			//glColor3f(0.2,0.2,0.2);
+			for (const NM::NavMeshTriangle* tria : *navMesh) {
+
+				switch (tria->getType()) {
+					case (int) NM::NavMeshType::FLOOR_INDOOR:	glColor3f(0.6, 0.6, 0.6); break;
+					case (int) NM::NavMeshType::FLOOR_OUTDOOR:	glColor3f(0.0, 0.6, 0.0); break;
+					case (int) NM::NavMeshType::DOOR:			glColor3f(0.5, 0.5, 0.6); break;
+					case (int) NM::NavMeshType::STAIR_LEVELED:	glColor3f(0.4, 0.4, 0.4); break;
+					case (int) NM::NavMeshType::STAIR_SKEWED:	glColor3f(0.4, 0.4, 0.4); break;
+				}
+
+				glVertex3f(tria->getP1().x, tria->getP1().z+0.01, tria->getP1().y);
+				glVertex3f(tria->getP2().x, tria->getP2().z+0.01, tria->getP2().y);
+
+				glVertex3f(tria->getP2().x, tria->getP2().z+0.01, tria->getP2().y);
+				glVertex3f(tria->getP3().x, tria->getP3().z+0.01, tria->getP3().y);
+
+				glVertex3f(tria->getP3().x, tria->getP3().z+0.01, tria->getP3().y);
+				glVertex3f(tria->getP1().x, tria->getP1().z+0.01, tria->getP1().y);
+
+//				glBegin(GL_LINE_LOOP);
+//				glVertex3f(tria->getP1().x, tria->getP1().z+0.01, tria->getP1().y);
+//				glVertex3f(tria->getP2().x, tria->getP2().z+0.01, tria->getP2().y);
+//				glVertex3f(tria->getP3().x, tria->getP3().z+0.01, tria->getP3().y);
+//				glEnd();
+			}
+
+		glEnd();
+
+		glEnable(GL_LIGHTING);
+
+
+//		qp.drawText(20,20, "sdfsdkflsdfjasfklsdklfsdklfsdf");
+//		qp.drawText(20,-20, "sdfsdkflsdfjasfklsdklfsdklfsdf");
+//		qp.drawText(0.5,0.5, "sdfsdkflsdfjasfklsdklfsdklfsdf");
+//		qp.end();
+
+//		renderText(1,1,1, "123");
+
+		const QString str1 = "Triangles: " + QString::number(navMesh->getNumTriangles());
+		const QString str2 = "Size:      ~" + QString::number(navMesh->getNumTriangles() * sizeof(NM::NavMeshTriangle) / 1024) + " kB";
+
+		glColor3f(0.0, 0.0, 0.0);
+		dst->renderText(20,20, str1);
+		dst->renderText(20,35, str2);
+
+	//	dst->renderText(0,0, "2342342342342423423423423423423432");
+	//	dst->renderText(0.1, 0.1, 0.1, "lsdfsdfsdfsdfsdfsdfsdfol");
+	}
+
+//	std::vector<MyNode> lint() {
+//		std::vector<MyNode> vec;
+//		lintStair(vec);
+//		return vec;
+//	}
+
+//	void lintStair(std::vector<MyNode>& vec) {
+//		for (MyNode& n1 : *grid) {
+//			if (n1.getNumNeighbors() <= 5) { vec.push_back(n1);}
+//		}
+//	}
+
+};
+
+#endif // NAVMESHRENDERER_H

mapview/3DNavMesh/QNavMeshSettings.cpp

@@ -0,0 +1,87 @@
+#include "QNavMeshSettings.h"
+
+#include <Indoor/navMesh/NavMeshSettings.h>
+
+#include <QGridLayout>
+#include <QLabel>
+#include <QSlider>
+#include <QSlider>
+#include <QDialogButtonBox>
+
+QNavMeshSettings::QNavMeshSettings(NM::NavMeshSettings* settings, QWidget* parent) : QDialog(parent) {
+
+	QGridLayout* lay = new QGridLayout(this);
+	this->setLayout(lay);
+	int row = 0;
+
+	this->setWindowTitle("NavMesh Settings");
+	this->setMinimumWidth(350);
+
+	// MAX QUALITY
+	{
+		lay->addWidget(new QLabel("smallest element"), row, 0);
+		QLabel* lblQuality = new QLabel("");
+		lay->addWidget(lblQuality, row, 2);
+		QSlider* sldQuality = new QSlider(Qt::Orientation::Horizontal); sldQuality->setMinimum(10); sldQuality->setMaximum(30);
+		connect(sldQuality, &QSlider::valueChanged, [settings, sldQuality, lblQuality] () {
+			settings->maxQuality_m = sldQuality->value() / 100.0f;
+			lblQuality->setText(QString("%1 m").arg(settings->maxQuality_m, 5, 'f', 2, 0));
+		});
+		sldQuality->setValue(settings->maxQuality_m * 100.0f);
+		lay->addWidget(sldQuality, row, 1);
+		++row;
+	}
+
+	// AGENT HEIGHT
+	{
+		lay->addWidget(new QLabel("agent height"), row, 0);
+		QLabel* lblHeight = new QLabel("");
+		lay->addWidget(lblHeight, row, 2);
+		QSlider* sldHeight = new QSlider(Qt::Orientation::Horizontal); sldHeight->setMinimum(10); sldHeight->setMaximum(200);
+		connect(sldHeight, &QSlider::valueChanged, [settings, sldHeight, lblHeight] () {
+			settings->agentHeight = sldHeight->value() / 100.0f;
+			lblHeight->setText(QString("%1 m").arg(settings->agentHeight, 5, 'f', 2, 0));
+		});
+		sldHeight->setValue(settings->agentHeight * 100.0f);
+		lay->addWidget(sldHeight, row, 1);
+		++row;
+	}
+
+	// AGENT RADIUS
+	{
+		lay->addWidget(new QLabel("agent radius"), row, 0);
+		QLabel* lblRadius = new QLabel("");
+		lay->addWidget(lblRadius, row, 2);
+		QSlider* sldRadius = new QSlider(Qt::Orientation::Horizontal); sldRadius->setMinimum(5); sldRadius->setMaximum(60);
+		connect(sldRadius, &QSlider::valueChanged, [settings, sldRadius, lblRadius] () {
+			settings->agentRadius = sldRadius->value() / 100.0f;
+			lblRadius->setText(QString("%1 m").arg(settings->agentRadius, 5, 'f', 2, 0));
+		});
+		sldRadius->setValue(settings->agentRadius * 100.0f);
+		lay->addWidget(sldRadius, row, 1);
+		++row;
+	}
+
+
+	// MAX EDGE LENGTH
+	{
+		lay->addWidget(new QLabel("max edge length"), row, 0);
+		QLabel* lblMaxEdgeLength = new QLabel("");
+		lay->addWidget(lblMaxEdgeLength, row, 2);
+		QSlider* sdlMaxEdgeLength = new QSlider(Qt::Orientation::Horizontal); sdlMaxEdgeLength->setMinimum(300); sdlMaxEdgeLength->setMaximum(2000);
+		connect(sdlMaxEdgeLength, &QSlider::valueChanged, [settings, sdlMaxEdgeLength, lblMaxEdgeLength] () {
+			settings->edgeMaxLen = sdlMaxEdgeLength->value() / 100.0f;
+			lblMaxEdgeLength->setText(QString("%1 m").arg(settings->edgeMaxLen, 5, 'f', 2, 0));
+		});
+		sdlMaxEdgeLength->setValue(settings->edgeMaxLen * 100.0f);
+		lay->addWidget(sdlMaxEdgeLength, row, 1);
+		++row;
+	}
+
+	QDialogButtonBox* box = new QDialogButtonBox(QDialogButtonBox::StandardButton::Ok | QDialogButtonBox::StandardButton::Close);
+	lay->addWidget(box, row, 0, 1, 3);
+
+	connect(box, &QDialogButtonBox::accepted, [&] () {ok = true; close();});
+	connect(box, &QDialogButtonBox::rejected, [&] () {ok = false; close();});
+
+}

mapview/3DNavMesh/QNavMeshSettings.h

@@ -0,0 +1,24 @@
+#ifndef QNAVMESHSETTINGS_H
+#define QNAVMESHSETTINGS_H
+
+#include <QObject>
+#include <QDialog>
+
+namespace NM {
+	class NavMeshSettings;
+}
+
+class QNavMeshSettings : public QDialog {
+
+	Q_OBJECT
+
+
+public:
+
+	QNavMeshSettings(NM::NavMeshSettings* settings, QWidget* parent = nullptr);
+
+	bool ok = false;
+
+};
+
+#endif // QNAVMESHSETTINGS_H

mapview/model/MMFloor.h

@@ -58,6 +58,11 @@ public:
 	/** get the underlying model */
 	Floorplan::Floor& getFloor() {return *floor;}
 
+	virtual void setVisible(const bool visible) override {
+		floor->enabled = visible;
+		MapLayer::setVisible(visible);
+	}
+
 
 	std::string getLayerName() const override {return floor->name;}
 

mapview/model/MapLayer.h

@@ -107,7 +107,7 @@ public:
 	bool isVisible() const {return visible;}
 
 	/** make this layer visible */
-	void setVisible(const bool visible) {
+	virtual void setVisible(const bool visible) {
 		this->visible = visible;
 		onVisibilityChanged(visible);
 	}