current revision

ui/map/3D/FloorRenderer.h

@@ -0,0 +1,222 @@
+#ifndef FLOORRENDERER_H
+#define FLOORRENDERER_H
+
+#include <QOpenGLFunctions>
+#include <QOpenGLShaderProgram>
+#include <QOpenGLBuffer>
+#include <Indoor/floorplan/v2/Floorplan.h>
+#include "GL.h"
+
+
+class FloorRenderer : protected QOpenGLFunctions {
+
+private:
+
+	Floorplan::Floor* floor;
+
+	QOpenGLBuffer arrayBuf;
+	QOpenGLBuffer indexBuf;
+	QOpenGLTexture* texture = nullptr;
+
+	std::vector<VertNormTex> vertices;
+	std::vector<GLushort> indices;
+
+
+public:
+
+	/** ctor */
+	FloorRenderer(Floorplan::Floor* floor) : floor(floor), arrayBuf(QOpenGLBuffer::VertexBuffer), indexBuf(QOpenGLBuffer::IndexBuffer) {
+		;
+	}
+
+	/** dctor */
+	~FloorRenderer() {
+		arrayBuf.destroy();
+		indexBuf.destroy();
+		delete texture;
+	}
+
+	/** render the floor */
+	void render(QOpenGLShaderProgram *program) {
+
+		// Tell OpenGL which VBOs to use
+		arrayBuf.bind();
+		indexBuf.bind();
+		texture->bind();
+
+		// vertices
+		int vertLoc = program->attributeLocation("a_position");
+		program->enableAttributeArray(vertLoc);
+		program->setAttributeBuffer(vertLoc, GL_FLOAT, vertices[0].getVertOffset(), 3, sizeof(vertices[0]));
+
+		// Tell OpenGL programmable pipeline how to locate vertex texture coordinate data
+		int normLoc = program->attributeLocation("a_normal");
+		program->enableAttributeArray(normLoc);
+		program->setAttributeBuffer(normLoc, GL_FLOAT, vertices[0].getNormOffset(), 3, sizeof(vertices[0]));
+
+		int texcoordLocation = program->attributeLocation("a_texcoord");
+		program->enableAttributeArray(texcoordLocation);
+		program->setAttributeBuffer(texcoordLocation, GL_FLOAT, vertices[0].getTexOffset(), 2, sizeof(vertices[0]));
+
+		// texture
+		program->setUniformValue("texture", 0);
+
+		// Draw cube geometry using indices from VBO 1
+		glDrawElements(GL_QUADS, indices.size(), GL_UNSIGNED_SHORT, 0);
+
+	}
+
+	void initGL() {
+		initializeOpenGLFunctions();
+		build();
+	}
+
+private:
+
+	void build() {
+
+		QImage img(":/res/gl/tex/wall1.jpg");
+		texture = new QOpenGLTexture(img);
+		texture->setMinificationFilter(QOpenGLTexture::Nearest);
+		texture->setMagnificationFilter(QOpenGLTexture::Linear);
+		texture->setWrapMode(QOpenGLTexture::Repeat);
+
+		// build array of vertices and indices
+		for (Floorplan::FloorObstacle* obstacle : floor->obstacles) {
+			add(floor, obstacle, vertices, indices);
+		}
+
+		// Transfer vertex data to VBO 0
+		arrayBuf.create();
+		arrayBuf.bind();
+		arrayBuf.allocate(vertices.data(), vertices.size() * sizeof(vertices[0]));
+
+		// Transfer index data to VBO 1
+		indexBuf.create();
+		indexBuf.bind();
+		indexBuf.allocate(indices.data(), indices.size() * sizeof(indices[0]));
+
+	}
+
+	void add(Floorplan::Floor* floor, Floorplan::FloorObstacle* obstacle, std::vector<VertNormTex>& vertices, std::vector<GLushort>& indices) {
+
+		if (dynamic_cast<Floorplan::FloorObstacleLine*>(obstacle)) {
+
+			Floorplan::FloorObstacleLine* line = dynamic_cast<Floorplan::FloorObstacleLine*>(obstacle);
+			if (line->type != Floorplan::ObstacleType::WALL) {return;}
+
+//			QVector3D p1(line->from.x, floor->getStartingZ(), line->from.y);
+//			QVector3D p2(line->to.x, floor->getStartingZ(), line->to.y);
+//			QVector3D p3(line->to.x, floor->getEndingZ(), line->to.y);
+//			QVector3D p4(line->from.x, floor->getEndingZ(), line->from.y);
+
+//			addFace(p1,p2,p3,p4, vertices, indices);
+
+
+			addFace(line->from, line->to, floor->getStartingZ(), floor->getEndingZ(), vertices, indices);
+			addFace(line->to, line->from, floor->getStartingZ(), floor->getEndingZ(), vertices, indices);
+
+		}
+
+	}
+
+	void addFace(const Point2 from, const Point2 to, const float h1, const float h2, std::vector<VertNormTex>& vertices, std::vector<GLushort>& indices) {
+
+		// unit-face with unit normal (facing the camera)
+		QVector3D p1(-0.5, -0.0, 0);
+		QVector3D p2(+0.5, -0.0, 0);
+		QVector3D p3(+0.5, +1.0, 0);
+		QVector3D p4(-0.5, +1.0, 0);
+		QVector3D norm(0, 0, 1);
+
+		// how to scale the unit-face to match the wall
+		const float h = h2-h1;
+		const float s = from.getDistance(to);
+		QMatrix4x4 scale; scale.scale(s, h, 1);
+
+		// how to rotate the unit-face to match the wall
+		const float angle = std::atan2(to.y - from.y, to.x - from.x);
+		const float deg = angle * 180 / M_PI;
+		QMatrix4x4 rot; rot.rotate(deg, QVector3D(0,1,0));
+
+		// how to translate the unit-face to match the wall
+		const Point2 center = (from + to) / 2;
+		QMatrix4x4 move; move.translate(center.x, h1, center.y);
+
+		// final matrix
+		QMatrix4x4 mat = move * rot * scale;
+
+		// texture coordinates (scale only)
+		const QVector2D tex1 = (scale * p1).toVector2D() / 5;
+		const QVector2D tex2 = (scale * p2).toVector2D() / 5;
+		const QVector2D tex3 = (scale * p3).toVector2D() / 5;
+		const QVector2D tex4 = (scale * p4).toVector2D() / 5;
+
+		// modify vertices
+		p1 = mat * p1;
+		p2 = mat * p2;
+		p3 = mat * p3;
+		p4 = mat * p4;
+		norm = (rot * norm).normalized();
+
+		const int start = vertices.size();
+		vertices.push_back(VertNormTex(p1, norm, tex1));
+		vertices.push_back(VertNormTex(p2, norm, tex2));
+		vertices.push_back(VertNormTex(p3, norm, tex3));
+		vertices.push_back(VertNormTex(p4, norm, tex4));
+
+		indices.push_back(start+0);
+		indices.push_back(start+1);
+		indices.push_back(start+2);
+		indices.push_back(start+3);
+
+	}
+
+//	void addFace(QVector3D p1, QVector3D p2, QVector3D p3, QVector3D p4, std::vector<VertNorm>& vertices, std::vector<GLushort>& indices) {
+
+//		const float s = 50;
+
+//		// ensure camera facing (for culling)
+//		if (p1.x() != p2.x()) {
+//			if (p1.x() > p2.x()) {std::swap(p1, p2), std::swap(p3, p4);}
+//		} else {
+//			if (p1.z() > p2.z()) {std::swap(p1, p2), std::swap(p3, p4);}
+//		}
+
+//		// corresponding normal vector
+//		QVector3D norm = QVector3D::crossProduct((p2-p1), (p3-p1)).normalized();
+
+//		// orient towards the viewport
+//		const QVector3D view(-99,-99,-99);
+//		if ((view-norm).length() > (view+norm).length()) {norm = -norm;}
+
+
+//		const int start = vertices.size();
+
+//		indices.push_back(start+0);
+//		indices.push_back(start+1);
+//		indices.push_back(start+2);
+//		indices.push_back(start+3);
+
+//		vertices.push_back(VertNorm(p1/s, norm));
+//		vertices.push_back(VertNorm(p2/s, norm));
+//		vertices.push_back(VertNorm(p3/s, norm));
+//		vertices.push_back(VertNorm(p4/s, norm));
+
+//		// and the other side (clockwise, negated normal)
+
+//		indices.push_back(start+0);
+//		indices.push_back(start+3);
+//		indices.push_back(start+2);
+//		indices.push_back(start+1);
+
+//		vertices.push_back(VertNorm(p1/s, -norm));
+//		vertices.push_back(VertNorm(p2/s, -norm));
+//		vertices.push_back(VertNorm(p3/s, -norm));
+//		vertices.push_back(VertNorm(p4/s, -norm));
+
+//	}
+
+};
+
+#endif // FLOORRENDERER_H

ui/map/3D/MapView3D.cpp

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+#include "MapView3D.h"
+
+#include <QMouseEvent>
+#include <QGLShaderProgram>
+
+#include "elements/Walls.h"
+#include "elements/Ground.h"
+#include "elements/Handrails.h"
+#include "elements/Stairs.h"
+#include "elements/Doors.h"
+#include "elements/Path.h"
+#include "elements/ColorPoints.h"
+#include "elements/Object.h"
+
+#include "../Settings.h"
+
+#include <Indoor/data/Timestamp.h>
+#include <QDebug>
+
+/**
+ * before adding elements to the MapView via setMap(),
+ * the MapViews openGL context must be initialized
+ * that means: the MapView must have been added to a window,
+ * which is already visible!
+ */
+
+MapView3D::MapView3D(QWidget* parent) : QOpenGLWidget(parent) {
+
+
+
+};
+
+void MapView3D::clear() {
+
+	for (Renderable* r : elements) {delete r;}
+	elements.clear();
+
+}
+
+void MapView3D::setMap(Floorplan::IndoorMap* map) {
+
+	clear();
+
+	if (!isGLInitialized) {throw Exception("openGL is not yet initialized. add mapView to a visible window!");}
+
+	// first to be rendered -> the colored debug points
+	this->colorPoints = new ColorPoints();
+	elements.push_back(this->colorPoints);
+
+	// 2nd is the path to the destination (if any)
+	this->pathToDest = new Path();
+	elements.push_back(this->pathToDest);
+
+	this->pathWalked = new Path();
+	this->pathWalked->setWidth(0.3);
+	this->pathWalked->setColor(Qt::yellow);
+	elements.push_back(this->pathWalked);
+
+
+
+	// 3rd is the dude, walking along the path
+	//leDude = new Object("/mnt/firma/tmp/3D/minion/minion.obj", "/mnt/firma/tmp/3D/minion/minion.png", "", 0.35);
+	//leDude = new Object("/mnt/firma/tmp/3D/gnome/gnome.obj", "/mnt/firma/tmp/3D/gnome/gnome_diffuse.jpg", "/mnt/firma/tmp/3D/gnome/gnome_normal.jpg", 0.033);
+	//leDude = new Object("/mnt/firma/tmp/3D/squirrel/squirrel.obj", "/mnt/firma/tmp/3D/squirrel/squirrel.jpg", "/mnt/firma/tmp/3D/squirrel/squirrel_normal.jpg", 0.033);
+	//elements.push_back(leDude);
+
+	// hereafter follows the floorplan (floors, doors, walls, stairs, ..)
+	for (Floorplan::Floor* floor : map->floors) {
+		elements.push_back(new Ground(floor));
+		elements.push_back(new Walls(floor));
+		elements.push_back(new Handrails(floor));
+		elements.push_back(new Stairs(floor));
+		elements.push_back(new Doors(floor));
+	}
+
+
+
+
+
+	// initialize the OpenGL context of all contained elements
+	for (Renderable* r : elements) {
+		r->initGL();
+	}
+
+	// i want the focus! needed for key-events
+	setFocusPolicy(Qt::StrongFocus);
+
+}
+
+void MapView3D::setPathToDestination(const std::vector<Point3>& path) {
+	this->pathToDest->set(path);
+}
+
+void MapView3D::setPathWalked(const std::vector<Point3>& path) {
+	this->pathWalked->set(path);
+}
+
+
+void MapView3D::timerEvent(QTimerEvent *) {
+	update();
+}
+
+void MapView3D::initializeGL() {
+
+	initializeOpenGLFunctions();
+
+	// basic config
+	glEnable(GL_DEPTH_TEST);
+	glEnable(GL_CULL_FACE);
+
+	// start background update timer
+	timer.start(Settings::MapView::msPerFrame.ms(), this);
+
+	// OpenGL is now initialized
+	isGLInitialized = true;
+
+}
+
+void MapView3D::paintGL() {
+	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+	draw();
+}
+
+void MapView3D::resizeGL(int w, int h) {
+
+	// Calculate aspect ratio
+	qreal aspect = qreal(w) / qreal(h ? h : 1);
+
+	// viewing frustrum [0:50] meter
+	const qreal zNear = 0.02, zFar = 50, fov = 50.0;
+
+	// Reset projection
+	matProject.setToIdentity();
+	matProject.scale(-1, 1, 1);
+	glCullFace(GL_FRONT);
+	//matProject.scale(0.05, 0.05, 0.05);
+	matProject.perspective(fov, aspect, zNear, zFar);
+	//matProject.scale(-0.01, 0.01, 0.01);
+
+}
+
+void MapView3D::rebuildLookat() {
+//	QVector3D qDir(lookAt.dir.x, lookAt.dir.z, lookAt.dir.y);
+//	QVector3D at = QVector3D(lookAt.pos.x, lookAt.pos.z, lookAt.pos.y);
+//	QVector3D eye = at + qDir * 0.1;
+//	QVector3D up = QVector3D(0,1,0);
+//	matView.setToIdentity();
+//	//matView.scale(0.01, 0.01, 0.01);
+//	matView.lookAt(eye, at, up);
+//	//matView.scale(0.99, 1, 1);
+//	//matView.translate(0.7, 0, 0);
+//	lightPos = eye + QVector3D(0.0, 4.0, 0.0);
+//	eyePos = eye;
+
+	const QVector3D qDir = lookAt.getDir();
+
+	//QVector3D qDir(dir.x, dir.z, dir.y);
+	const QVector3D eye = lookAt.eye_m;//(lookAt.eye_m.x, lookAt.eye_m.z, lookAt.eye_m.y);
+	const QVector3D at = eye + qDir * 0.5;
+	const QVector3D up = QVector3D(0,1,0);
+	matView.setToIdentity();
+	matView.lookAt(eye, at, up);
+	lightPos = eye + QVector3D(0.0, 0.5, 0.0) + qDir * 1.2;
+	eyePos = eye;
+
+
+
+}
+
+void MapView3D::setCurrentEstimation(const Point3 pos, const Point3 dir) {
+	const float angle = std::atan2(dir.y, dir.x) * 180 / M_PI;
+	if (leDude) {
+		leDude->setPosition(pos.x, pos.y, pos.z);
+		leDude->setRotation(0, 0, -angle + 90);
+	}
+}
+
+void MapView3D::setLookAt(const Point3 pos_m, const Point3 dir) {
+	lookAt.eye_m = QVector3D(pos_m.x, pos_m.z, pos_m.y) + QVector3D(dir.x, dir.z, dir.y) * 0.1;
+	lookAt.dir = QVector3D(dir.x, dir.z, dir.y);
+	rebuildLookat();
+}
+
+void MapView3D::setLookDir(const Point3 dir) {
+	lookAt.dir = QVector3D(dir.x, dir.z, dir.y);
+	rebuildLookat();
+}
+
+void MapView3D::setLookEye(const Point3 eye_m) {
+	lookAt.eye_m = QVector3D(eye_m.x, eye_m.z, eye_m.y);
+	rebuildLookat();
+}
+
+
+
+void MapView3D::mousePressEvent(QMouseEvent* evt) {
+	mouseState.down = true;
+	mouseState.x = evt->x();
+	mouseState.y = evt->y();
+}
+
+void MapView3D::mouseMoveEvent(QMouseEvent* evt) {
+
+	const float dx = evt->x() - mouseState.x;
+	const float dy = evt->y() - mouseState.y;
+	mouseState.x = evt->x();
+	mouseState.y = evt->y();
+
+	// PI*0.3 head movement left/right and up/down
+	//const float yFac = (this->height() / 2) / (M_PI * 0.3);
+	//const float xFac = (this->width() / 2) / (M_PI * 0.3);
+
+
+	const float angleX = dx/3.0f;
+	const float angleY = dy/3.0f;
+	lookAt.ax += angleX;
+	lookAt.ay += angleY;
+	lookAt.dirRot.setToIdentity();
+	lookAt.dirRot.rotate(lookAt.ax, QVector3D(0,1,0));
+	lookAt.dirRot.rotate(lookAt.ay, QVector3D(0,0,1));
+
+	//lookAt.dirRot.rotate(angleX, QVector3D(0,1,0));
+	//lookAt.dirRot.rotate(angleY, QVector3D(0,0,1));
+
+	rebuildLookat();
+
+}
+
+void MapView3D::mouseReleaseEvent(QMouseEvent* evt) {
+	(void) evt;
+	mouseState.down = false;
+}
+
+
+void MapView3D::keyPressEvent(QKeyEvent* evt) {
+
+	const QVector3D dir = lookAt.getDir() * 0.5;
+	const QVector3D side(-dir.z(), 0, dir.x());
+
+	if (evt->key() == Qt::Key_W) {lookAt.eye_m += dir; rebuildLookat();}
+	if (evt->key() == Qt::Key_S) {lookAt.eye_m -= dir; rebuildLookat();}
+
+	if (evt->key() == Qt::Key_A) {lookAt.eye_m += side; rebuildLookat();}
+	if (evt->key() == Qt::Key_D) {lookAt.eye_m -= side; rebuildLookat();}
+
+}
+
+void MapView3D::toggleRenderMode() {
+
+	renderMode = (RenderMode) (((int)renderMode + 1) % 2);		// normally %3 but lines crash the smartphone
+
+	for (Renderable* r : elements) {
+		switch (renderMode) {
+			case RenderMode::OUTLINE:
+				r->setOutlineOnly(true);
+				r->setTransparent(false);
+				break;
+			case RenderMode::TRANSPARENT:
+				r->setOutlineOnly(false);
+				r->setTransparent(true);
+				break;
+			case RenderMode::NORMAL:
+				r->setOutlineOnly(false);
+				r->setTransparent(false);
+				break;
+		}
+	}
+
+}
+
+void MapView3D::draw() {
+
+	//const Timestamp ts1 = Timestamp::fromUnixTime();
+
+	// clear everything
+	glClearColor(0,0,0,1);
+	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+	glBlendEquationSeparate(GL_FUNC_ADD, GL_FUNC_ADD);
+	glBlendFuncSeparate(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA, GL_ONE, GL_ZERO);
+
+	for (Renderable* r : elements) {
+
+		QOpenGLShaderProgram& program = r->getProgram();
+		program.bind();
+
+		// set the matrices
+		program.setUniformValue("m_matrix", r->modelMatrix.mat);
+		program.setUniformValue("mv_matrix", matView * r->modelMatrix.mat);
+		program.setUniformValue("mvp_matrix", matProject * matView * r->modelMatrix.mat);
+		program.setUniformValue("lightWorldPos", lightPos);
+		program.setUniformValue("eyeWorldPos", eyePos);
+
+		r->render(renderParams);
+
+	}
+
+	//const Timestamp ts2 = Timestamp::fromUnixTime();
+	//qDebug("%d ms", (ts2-ts1).ms());
+
+
+}

ui/map/3D/MapView3D.h

@@ -0,0 +1,169 @@
+#ifndef MAPVIEW_H
+#define MAPVIEW_H
+
+#include <../misc/fixc11.h>
+
+
+#include <QOpenGLWidget>
+#include <QOpenGLFunctions>
+#include <QOpenGLShaderProgram>
+#include <QBasicTimer>
+
+#include <Indoor/geo/Point3.h>
+#include <Indoor/nav/dijkstra/DijkstraPath.h>
+
+#include "elements/Path.h"
+#include "elements/ColorPoints.h"
+#include "elements/Object.h"
+
+#include "../nav/State.h"
+
+namespace Floorplan {
+	class IndoorMap;
+}
+
+class Renderable;
+class Path;
+
+
+class MapView3D : public QOpenGLWidget, protected QOpenGLFunctions {
+
+	Q_OBJECT
+
+private:
+
+	QMatrix4x4 matProject;
+	QMatrix4x4 matView;
+
+	QVector3D lightPos;
+	QVector3D eyePos;
+
+	RenderParams renderParams;
+
+	QBasicTimer timer;
+
+	std::vector<Renderable*> elements;
+	Path* pathToDest = nullptr;
+	Path* pathWalked = nullptr;
+	ColorPoints* colorPoints = nullptr;
+	Object* leDude = nullptr;
+
+	struct LookAt {
+		QVector3D eye_m = QVector3D(0,0,1);
+		QVector3D dir = QVector3D(1,0,-0.1);
+		float ax = 0;
+		float ay = 0;
+		QMatrix4x4 dirRot;
+		QVector3D getDir() const {return this->dirRot * this->dir;}
+		LookAt() {
+			dirRot.setToIdentity();
+		}
+	} lookAt;
+
+	struct MouseState {
+		float x = 0;
+		float y = 0;
+		bool down = false;
+	} mouseState;
+
+	void rebuildLookat();
+
+	void clear();
+
+
+public:
+
+	MapView3D(QWidget* parent = 0);
+
+	/** set the map to display */
+	void setMap(Floorplan::IndoorMap* map);
+
+	/** the position to look at + looking direction */
+	void setLookAt(const Point3 pos, const Point3 dir = Point3(1, 0, -0.1));
+
+	/** set the eye's looking direction (looking from eye into this direction) */
+	void setLookDir(const Point3 dir);
+
+	/** set the eye's position (looking from here) */
+	void setLookEye(const Point3 eye_m);
+
+	/** do not render elements higher than the given height */
+	void setClipAbove(const float height_m) {renderParams.clipAboveHeight_m = height_m;}
+
+
+	/** set the currently estimated position */
+	void setCurrentEstimation(const Point3 pos, const Point3 dir);
+
+
+	/** set the path to the destination MUST BE CALLED FROM THE MAIN THREAD */
+	void setPathToDestination(const std::vector<Point3>& path);
+
+	/** set the path to disply. MUST BE CALLED FROM THE MAIN THREAD */
+	template <typename Node> void setPathToDestination(const DijkstraPath<Node>* path) {this->pathToDest->set(*path);}
+
+	/** set the path to disply. MUST BE CALLED FROM THE MAIN THREAD*/
+	Q_INVOKABLE void setPathToDestination(const void* path) { setPathToDestination( (const DijkstraPath<MyGridNode>*) path); }
+
+
+	/** set the walked path. MUST BE CALLED FROM THE MAIN THREAD */
+	void setPathWalked(const std::vector<Point3>& path);
+
+	/** set the walked path. MUST BE CALLED FROM THE MAIN THREAD */
+	Q_INVOKABLE void setPathWalked(const void* path) { this->pathWalked->set( *((const std::vector<Point3>*) path)); }
+
+
+
+
+
+	/** NOTE: must be called from Qt's main thread! */
+	void showGridImportance(Grid<MyGridNode>* grid) {
+		this->colorPoints->setFromGridImportance(grid);
+	}
+
+	/** NOTE: must be called from Qt's main thread! */
+	Q_INVOKABLE void showParticles(const void* particles) {
+		showParticles((const std::vector<K::Particle<MyState>>*) particles);
+	}
+
+	/** NOTE: must be called from Qt's main thread! */
+	void showParticles(const std::vector<K::Particle<MyState>>* particles) {
+		this->colorPoints->setFromParticles(*particles);
+	}
+
+	enum RenderMode {
+		NORMAL,
+		TRANSPARENT,
+		OUTLINE,
+	};
+
+	RenderMode renderMode = RenderMode::NORMAL;
+
+	void toggleRenderMode();
+
+public slots:
+
+	void mousePressEvent(QMouseEvent*);
+	void mouseMoveEvent(QMouseEvent*);
+	void mouseReleaseEvent(QMouseEvent*);
+
+	void keyPressEvent(QKeyEvent*);
+
+protected:
+
+	void timerEvent(QTimerEvent *e) Q_DECL_OVERRIDE;
+
+	void initializeGL();
+
+	void paintGL();
+
+	void resizeGL(int width, int height);
+
+private:
+
+	bool isGLInitialized = false;
+
+	void draw();
+
+};
+
+#endif // MAPVIEW_H

ui/map/3D/RenderParams.h

@@ -0,0 +1,11 @@
+#ifndef RENDERPARAMS_H
+#define RENDERPARAMS_H
+
+struct RenderParams {
+
+	/** clip (do not render) everything above this height */
+	float clipAboveHeight_m = 99999;
+
+};
+
+#endif // RENDERPARAMS_H

ui/map/3D/Renderable.h

@@ -0,0 +1,79 @@
+#ifndef RENDERABLE_H
+#define RENDERABLE_H
+
+#include <QOpenGLShaderProgram>
+#include "RenderParams.h"
+
+class Renderable {
+
+protected:
+
+	QOpenGLShaderProgram program;
+
+public:
+
+	/** dtor */
+	virtual ~Renderable() {;}
+
+	/** get the renderable's shader */
+	QOpenGLShaderProgram& getProgram() {return program;}
+
+	/** render the renderable */
+	void render(const RenderParams& params) {
+		program.bind();
+		_render(params);
+	}
+
+	struct ModelMatrix {
+		QVector3D pos = QVector3D(0,0,0);
+		QVector3D rot = QVector3D(0,0,0);
+		QVector3D scale = QVector3D(1,1,1);
+		QMatrix4x4 mat;
+		ModelMatrix() {mat.setToIdentity();}
+		void update() {
+			const QVector3D _rot = rot.normalized();
+			const float rotDeg = rot.length();
+			mat.setToIdentity();
+			mat.scale(scale.x(), scale.y(), scale.z());
+			mat.translate(pos.x(), pos.y(), pos.z());
+			mat.rotate(rotDeg, _rot.x(), _rot.y(), _rot.z());
+		}
+	} modelMatrix;
+
+	void setPosition(QVector3D vec) {
+		modelMatrix.pos = vec * 0.99;
+		modelMatrix.update();
+	}
+
+	void setPosition(const float x, const float y, const float z) {
+		setPosition(QVector3D(x,z,y));
+	}
+
+	/** in degrees! */
+	void setRotation(const float x, const float y, const float z) {
+		modelMatrix.rot = QVector3D(x,z,y);
+		modelMatrix.update();
+	}
+
+	virtual void setOutlineOnly(const bool outline) { (void) outline; }
+
+	virtual void setTransparent(const bool transparent) { (void) transparent; }
+
+	virtual void initGL() = 0;
+
+	virtual void _render(const RenderParams& params) = 0;
+
+protected:
+
+	/** helper method to build the shader */
+	void loadShader(const QString& vertex, const QString& fragment) {
+		program.removeAllShaders();
+		if (!program.addShaderFromSourceFile(QOpenGLShader::Vertex, vertex)) {throw "1";}
+		if (!program.addShaderFromSourceFile(QOpenGLShader::Fragment, fragment)) {throw "2";}
+		if (!program.link()) {throw "3";}
+		if (!program.bind()) {throw "4";}
+	}
+
+};
+
+#endif // RENDERABLE_H

ui/map/3D/elements/ColorPoints.h

@@ -0,0 +1,141 @@
+#ifndef GL_PARTICLES_H
+#define GL_PARTICLES_H
+
+
+#include <Indoor/floorplan/v2/Floorplan.h>
+#include <KLib/math/filter/particles/ParticleFilter.h>
+
+#include "../gl/GLHelper.h"
+#include "../gl/GLPoints.h"
+//#include "../gl/GLTriangles.h"
+#include "../Renderable.h"
+
+#include "../../../../nav/Node.h"
+
+class ColorPoints : public Renderable {
+
+private:
+
+	GLPoints points;
+	float size = 3.0f;
+
+public:
+
+	/** ctor */
+	ColorPoints() {
+
+	}
+
+	/** NOTE: must be called from Qt's main thread! */
+	void setFromGridImportance(Grid<MyGridNode>* grid) {
+
+		points.clear();
+
+		float min = +INFINITY;
+		float max = -INFINITY;
+
+		for (const MyGridNode& n : *grid) {
+			const float f = n.getWalkImportance();
+			if (f < min) {min = f;}
+			if (f > max) {max = f;}
+		}
+
+		max = 1.2;
+
+		for (const MyGridNode& n : *grid) {
+			const QVector3D pt(n.x_cm/100.0f, n.z_cm/100.0f + 0.1f, n.y_cm/100.0f);		// swap z and y
+			const float f = n.getWalkImportance();
+			float h = 0.66 - ((f-min)/(max-min)) * 0.66;				// 0.66 is blue on the HSV-scale
+			if (h < 0) {h = 0;}
+			if (h > 1) {h = 1;}
+			const QColor color = QColor::fromHsvF(h, 1, 1);
+			points.addPoint(pt, color);
+		}
+
+		size = 8.0f;
+		points.rebuild();
+
+	}
+
+	/** NOTE: must be called from Qt's main thread! */
+	template <typename T> void setFromParticles(const std::vector<K::Particle<T>>& particles) {
+
+		points.clear();
+
+		// group particles by grid-point
+		std::unordered_map<GridPoint, float> weights;
+		for (const K::Particle<T>& p : particles) {
+			const GridPoint gp = p.state.position;
+			if (weights.find(gp) != weights.end()) {continue;}
+			weights[gp] += p.weight;
+		}
+
+		// find min/max
+		float min = +INFINITY;
+		float max = -INFINITY;
+		for (auto it : weights) {
+			if (it.second > max) {max = it.second;}
+			if (it.second < min) {min = it.second;}
+		}
+
+		// draw colored
+		for (auto it : weights) {
+			const GridPoint gp = it.first;
+			const float w = it.second;
+			const float p = (w-min) / (max-min);		// [0:1]
+			const QVector3D pt(gp.x_cm/100.0f, gp.z_cm/100.0f + 0.1f, gp.y_cm/100.0f);		// swap z and y
+			float h = 0.66 - (p*0.66);				// 0.66 is blue on the HSV-scale
+			const QColor color = QColor::fromHsvF(h, 1, 1);
+			points.addPoint(pt, color);
+		}
+
+
+//		for (const K::Particle<T>& p : particles) {
+//			const GridPoint gp = p.state.position;
+//			const QVector3D pt(gp.x_cm/100.0f, gp.z_cm/100.0f + 0.1f, gp.y_cm/100.0f);		// swap z and y
+//			const QColor color = Qt::blue;
+//			points.addPoint(pt, color);
+//		}
+
+		size = 8.0f;
+		points.rebuild();
+
+	}
+
+//	void addPoint(const QVector3D pt, const QColor color) {
+
+//		const float s = 5 / 100.0f;
+//		const QVector3D col(color.redF(), color.greenF(), color.blueF());
+//		const VertColor vc1(pt + QVector3D(-s, -s, 0), col);
+//		const VertColor vc2(pt + QVector3D(+s, -s, 0), col);
+//		const VertColor vc3(pt + QVector3D(+s, +s, 0), col);
+//		const VertColor vc4(pt + QVector3D(-s, +s, 0), col);
+
+//		points.addQuad(vc1, vc2, vc3, vc4);
+
+//	}
+
+	void initGL() override {
+		loadShader(":/res/gl/vertex1.glsl", ":/res/gl/fragmentColorPoint.glsl");
+		//program.setUniformValue("color", QVector4D(0.5, 0.5, 0.5, 1.0));
+		points.initGL();
+	}
+
+	/** render the floor */
+	void _render(const RenderParams& params) override {
+
+		(void) params;
+		//glDisable(GL_DEPTH_TEST);
+
+#ifndef ANDROID
+		glPointSize(size);
+#endif
+		points.render(&program);
+		//glEnable(GL_DEPTH_TEST);
+	}
+
+
+};
+
+
+#endif // GL_PARTICLES_H

ui/map/3D/elements/Doors.h

@@ -0,0 +1,106 @@
+#ifndef DOORS_H
+#define DOORS_H
+
+#include <Indoor/floorplan/v2/Floorplan.h>
+#include "../gl/GLHelper.h"
+#include "../gl/GLTriangles.h"
+#include "../Renderable.h"
+
+class Doors : public Renderable {
+
+private:
+
+	Floorplan::Floor* floor;
+
+	GLTriangles<VertNormTexTan> doors;
+
+public:
+
+	/** ctor */
+	Doors(Floorplan::Floor* floor) : floor(floor) {
+		;
+	}
+
+
+	void initGL() override {
+
+		build();
+		doors.setDiffuse(":/res/gl/tex/door2.jpg");
+		doors.setNormalMap(":/res/gl/tex/door2_normal.jpg");
+
+		doors.build();
+
+		loadShader(":/res/gl/vertex1.glsl", ":/res/gl/fragmentTex.glsl");
+		program.setUniformValue("texDiffuse", 0);
+		program.setUniformValue("texNormalMap", 1);
+
+	}
+
+	/** render the floor */
+	void _render(const RenderParams& params) override {
+
+		// skip me?
+		if (params.clipAboveHeight_m < floor->atHeight) {return;}
+
+		doors.render(&program);
+
+	}
+
+
+
+private:
+
+	void build() {
+
+		for (Floorplan::FloorObstacle* obstacle : floor->obstacles) {
+
+			if (dynamic_cast<Floorplan::FloorObstacleDoor*>(obstacle)) {
+				Floorplan::FloorObstacleDoor* door = dynamic_cast<Floorplan::FloorObstacleDoor*>(obstacle);
+				addFace(door->from, door->to, floor->getStartingZ(), floor->getStartingZ() + door->height, door->swap);
+			}
+
+		}
+
+	}
+
+	void addFace(const Point2 from, Point2 to, const float h1, const float h2, const bool swap) {
+
+		to = from + (to-from).rotated(60/180.0f*M_PI * ((swap)?(-1):(+1)) );
+
+		const QVector3D vert1(from.x, h1, from.y);
+		const QVector3D vert2(to.x, h1, to.y);
+		const QVector3D vert3(to.x, h2, to.y);
+		const QVector3D vert4(from.x, h2, from.y);
+
+		const QVector3D n1 = GLHelper::getNormal(vert1, vert2, vert3);
+		const QVector3D n2 = -n1;
+
+		QVector3D tan = (vert1-vert2).normalized();
+		tan = GLHelper::isCCW(vert1, vert2, vert3) ? (tan) : (-tan);
+
+		const QVector2D tex1(0, 0);
+		const QVector2D tex2(1, 0);
+		const QVector2D tex3(1, 1);
+		const QVector2D tex4(0, 1);
+
+		{
+			const VertNormTexTan vnt1(vert1, n1, tex1, tan);
+			const VertNormTexTan vnt2(vert2, n1, tex2, tan);
+			const VertNormTexTan vnt3(vert3, n1, tex3, tan);
+			const VertNormTexTan vnt4(vert4, n1, tex4, tan);
+			doors.addQuadCCW(vnt1, vnt2, vnt3, vnt4);
+		} {
+			const VertNormTexTan vnt1(vert1, n2, tex1, -tan);
+			const VertNormTexTan vnt2(vert2, n2, tex2, -tan);
+			const VertNormTexTan vnt3(vert3, n2, tex3, -tan);
+			const VertNormTexTan vnt4(vert4, n2, tex4, -tan);
+			doors.addQuadCW(vnt1, vnt2, vnt3, vnt4);
+		}
+
+	}
+
+
+
+};
+
+#endif // DOORS_H

ui/map/3D/elements/Ground.h

@@ -0,0 +1,178 @@
+#ifndef GROUND_H
+#define GROUND_H
+
+#include <Indoor/floorplan/v2/Floorplan.h>
+#include "../gl/GLHelper.h"
+#include "../gl/GLTriangles.h"
+#include "../gl/GLLines.h"
+#include "../Renderable.h"
+
+#include "../../../../lib/gpc/Polygon.h"
+
+class Ground : public Renderable {
+
+private:
+
+	Floorplan::Floor* floor;
+
+	GLTriangles<VertNormTexTan> flooring;
+	GLTriangles<VertNormTexTan> ceiling;
+
+	GLLines outline;
+
+	bool outlineOnly = false;
+	bool transparent = false;
+
+public:
+
+	/** ctor */
+	Ground(Floorplan::Floor* floor) : floor(floor) {	
+		setOutlineOnly(false);
+	}
+
+
+	void initGL() override {
+
+		build();
+
+		flooring.setDiffuse(":/res/gl/tex/floor4.jpg");
+		flooring.setNormalMap(":/res/gl/tex/floor4_normal.jpg");
+
+		ceiling.setDiffuse(":/res/gl/tex/floor4.jpg");
+		ceiling.setNormalMap(":/res/gl/tex/floor4_normal.jpg");
+
+		flooring.build();
+		ceiling.build();
+		outline.build();
+
+		//loadShader(":/res/gl/vertex1.glsl", ":/res/gl/fragmentTex.glsl");
+		//program.setUniformValue("texDiffuse", 0);
+		//program.setUniformValue("texNormalMap", 1);
+
+	}
+
+	/** render the floor */
+	void _render(const RenderParams& params) override {
+
+		// skip me?
+		if (params.clipAboveHeight_m < floor->atHeight) {return;}
+
+		if (transparent) {
+			program.setUniformValue("alpha", 0.5f);
+			glEnable(GL_BLEND);
+		} else {
+			program.setUniformValue("alpha", 1.0f);
+			glDisable(GL_BLEND);
+		}
+
+		if (outlineOnly) {
+			glLineWidth(5);
+			outline.render(&program);
+		} else {
+			flooring.render(&program);
+			ceiling.render(&program);
+		}
+
+		glDisable(GL_BLEND);
+
+	}
+
+	/** render only the outline? */
+	void setOutlineOnly(const bool outline) override {
+		(void) outline;
+//		this->outlineOnly = outline;
+//		if (outlineOnly) {
+//			loadShader(":/res/gl/vertex1.glsl", ":/res/gl/fragmentLine.glsl");
+//			program.setUniformValue("color", QVector4D(0.0, 0.0, 0.4, 1.0));
+//		} else {
+			loadShader(":/res/gl/vertex1.glsl", ":/res/gl/fragmentTex.glsl");
+			program.setUniformValue("texDiffuse", 0);
+			program.setUniformValue("texNormalMap", 1);
+//		}
+	}
+
+	void setTransparent(const bool transparent) override {
+		this->transparent = transparent;
+	}
+
+
+
+private:
+
+	void build() {
+
+		std::vector<gpc_polygon> add;
+		std::vector<gpc_polygon> rem;
+
+		const std::vector<Floorplan::FloorOutlinePolygon*>& polys = floor->outline;
+
+		Polygon pol;
+
+		for (Floorplan::FloorOutlinePolygon* poly : polys) {
+			switch (poly->method) {
+			case Floorplan::OutlineMethod::ADD:		pol.add(poly->poly);	break;
+			case Floorplan::OutlineMethod::REMOVE:	pol.remove(poly->poly);	break;
+			default:								throw 1;
+			}
+		}
+
+		std::vector<std::vector<Point3>> trias = pol.get(floor->atHeight);
+
+
+		// is stored as TRIANGLE_STRIP
+		// => triangle might have more than 3 points
+		for (const std::vector<Point3>& tria : trias) {
+
+
+			const QVector3D normFloor(0, +1, 0);
+			const QVector3D normCeil(0, -1, 0);
+			const QVector3D t(1,0,0);
+
+			const float s = 0.6;
+
+			// add vertices
+			for (int i = 2; i < (int) tria.size(); i+=1) {
+
+				const Point3 p1 = tria[i-2];
+				const Point3 p2 = tria[i-1];
+				const Point3 p3 = tria[i-0];
+
+				const QVector3D vert1(p1.x, p1.z, p1.y);
+				const QVector3D vert2(p2.x, p2.z, p2.y);
+				const QVector3D vert3(p3.x, p3.z, p3.y);
+
+				{
+					const VertNormTexTan vnt1(vert1, normFloor, tex(vert1*s), t);
+					const VertNormTexTan vnt2(vert2, normFloor, tex(vert2*s), t);
+					const VertNormTexTan vnt3(vert3, normFloor, tex(vert3*s), t);
+					flooring.addFaceCCW(vnt1, vnt2, vnt3);
+				} {
+					const VertNormTexTan vnt1(vert1, normCeil, tex(vert1*s), t);
+					const VertNormTexTan vnt2(vert2, normCeil, tex(vert2*s), t);
+					const VertNormTexTan vnt3(vert3, normCeil, tex(vert3*s), t);
+					ceiling.addFaceCW(vnt1, vnt2, vnt3);
+				}
+
+				outline.addLine(vert1, vert2);
+				outline.addLine(vert2, vert3);
+				outline.addLine(vert3, vert1);
+
+			}
+
+		}
+
+	}
+
+
+private:
+
+	QVector2D tex(const QVector3D vert) {
+		return QVector2D(vert.x(), vert.z());
+	}
+
+
+
+
+};
+
+#endif // GROUND_H

ui/map/3D/elements/Handrails.h

@@ -0,0 +1,90 @@
+#ifndef HANDRAIL_H
+#define HANDRAIL_H
+
+
+#include <Indoor/floorplan/v2/Floorplan.h>
+#include "../gl/GLHelper.h"
+#include "../gl/GLLines.h"
+#include "../Renderable.h"
+
+
+class Handrails : public Renderable {
+
+private:
+
+	Floorplan::Floor* floor;
+
+	GLLines lines;
+
+public:
+
+	/** ctor */
+	Handrails(Floorplan::Floor* floor) : floor(floor) {
+		;
+	}
+
+
+	void initGL() override {
+		build();
+		lines.build();
+		loadShader(":/res/gl/vertex1.glsl", ":/res/gl/fragmentLine.glsl");
+		program.setUniformValue("color", QVector4D(0.5, 0.5, 0.5, 1.0));
+	}
+
+	/** render the floor */
+	void _render(const RenderParams& params) override {
+		if (params.clipAboveHeight_m < floor->atHeight) {return;}
+		glLineWidth(2);
+		lines.render(&program);
+	}
+
+
+
+private:
+
+	void build() {
+
+		for (Floorplan::FloorObstacle* obstacle : floor->obstacles) {
+
+			if (dynamic_cast<Floorplan::FloorObstacleLine*>(obstacle)) {
+				Floorplan::FloorObstacleLine* line = dynamic_cast<Floorplan::FloorObstacleLine*>(obstacle);
+				if (line->type != Floorplan::ObstacleType::HANDRAIL) {continue;}
+				add(line->from, line->to, floor->getStartingZ());
+			}
+
+		}
+
+	}
+
+	void add(const Point2 from, const Point2 to, const float h1) {
+
+		// handrail height
+		const float h2 = h1 + 0.8;
+
+		const QVector3D v1(to.x, h2, to.y);
+		const QVector3D v2(from.x, h2, from.y);
+
+		// upper
+		lines.addLine(v1, v2);
+
+		const float stepSize = 0.5;
+		const float len = from.getDistance(to);
+		const float steps = std::round(len / stepSize);
+
+		for (int i = 0; i <= steps; ++i) {
+			const float percent = (float) i / (float) steps;
+			const Point2 pos = from + (to-from) * percent;
+			const QVector3D v1(pos.x, h1, pos.y);
+			const QVector3D v2(pos.x, h2, pos.y);
+			lines.addLine(v1, v2);
+		}
+
+
+	}
+
+
+};
+
+
+
+#endif // HANDRAIL_H

ui/map/3D/elements/Object.h

@@ -0,0 +1,85 @@
+#ifndef OBJECT_H
+#define OBJECT_H
+
+
+#include <Indoor/floorplan/v2/Floorplan.h>
+#include "../gl/GLHelper.h"
+#include "../gl/GLTriangles.h"
+#include "../Renderable.h"
+
+#include <KLib/data/obj/ObjectFile.h>
+
+
+class Object : public Renderable {
+
+private:
+
+	GLTriangles<VertNormTex> triangles;
+
+public:
+
+	/** ctor */
+	Object(const std::string& file, const std::string& colorTexture, std::string normalsTexture, const float scale = 1.0) {
+
+		K::ObjFileReader reader(file, false);
+
+
+		if (normalsTexture.empty()) {normalsTexture = ":/res/gl/tex/empty_normals.jpg";}
+
+		triangles.setDiffuse(colorTexture.c_str());
+		triangles.setNormalMap(normalsTexture.c_str());
+
+		for (const K::ObjFileReader::Face& face : reader.getData().faces) {
+
+			const QVector3D vertex1(face.vnt[0].vertex.x, face.vnt[0].vertex.y, face.vnt[0].vertex.z);
+			const QVector3D vertex2(face.vnt[1].vertex.x, face.vnt[1].vertex.y, face.vnt[1].vertex.z);
+			const QVector3D vertex3(face.vnt[2].vertex.x, face.vnt[2].vertex.y, face.vnt[2].vertex.z);
+
+			const QVector3D normal1(face.vnt[0].normal.x, face.vnt[0].normal.y, face.vnt[0].normal.z);
+			const QVector3D normal2(face.vnt[1].normal.x, face.vnt[1].normal.y, face.vnt[1].normal.z);
+			const QVector3D normal3(face.vnt[2].normal.x, face.vnt[2].normal.y, face.vnt[2].normal.z);
+
+			const QVector2D texture1(face.vnt[0].texture.x, face.vnt[0].texture.y);
+			const QVector2D texture2(face.vnt[1].texture.x, face.vnt[1].texture.y);
+			const QVector2D texture3(face.vnt[2].texture.x, face.vnt[2].texture.y);
+
+			const QVector3D o(0, 0.0, 0);
+
+			const VertNormTex vnt1(vertex1*scale+o, normal1, texture1);
+			const VertNormTex vnt2(vertex2*scale+o, normal2, texture2);
+			const VertNormTex vnt3(vertex3*scale+o, normal3, texture3);
+
+			triangles.addFace(vnt1, vnt2, vnt3);
+
+		}
+
+	}
+
+
+
+	void initGL() override {
+		build();
+		triangles.build();
+		loadShader(":/res/gl/vertex1.glsl", ":/res/gl/fragmentTex.glsl");
+		program.setUniformValue("texDiffuse", 0);
+		program.setUniformValue("texNormalMap", 1);
+	}
+
+	/** render the floor */
+	void _render(const RenderParams& params) override {
+		(void) params;
+		triangles.render(&program);
+	}
+
+
+
+private:
+
+	void build() {
+		triangles.build();
+	}
+
+};
+
+
+#endif // OBJECT_H

ui/map/3D/elements/Path.h

@@ -0,0 +1,220 @@
+#ifndef PATH_H
+#define PATH_H
+
+#include <Indoor/floorplan/v2/Floorplan.h>
+#include <Indoor/nav/dijkstra/DijkstraPath.h>
+
+
+#include "../gl/GLHelper.h"
+#include "../gl/GLTriangles.h"
+#include "../Renderable.h"
+
+
+class Path : public Renderable {
+
+private:
+
+	GLTriangles<VertNormTex> lines;
+
+	/** path's width (in meter) */
+	float width;
+
+	/** the path's color */
+	QVector4D color;
+
+public:
+
+	/** ctor */
+	Path() {
+		setColor(QVector4D(0.0, 0.4, 1.0, 0.6));
+		setWidth(0.8);
+	}
+
+
+	void initGL() override {
+
+		loadShader(":/res/gl/vertex1.glsl", ":/res/gl/fragmentLine.glsl");
+		//loadShader(":/res/gl/vertex1.glsl", ":/res/gl/fragmentTexSimple.glsl");
+
+		lines.setDiffuse(":/res/gl/tex/arrows.png");
+		program.setUniformValue("texNormalMap", 0);
+
+	}
+
+	/** set the path's color */
+	void setColor(const QVector4D& color) {
+		this->color = color;
+	}
+
+	/** set the path's color */
+	void setColor(const QColor& color) {
+		setColor(QVector4D(color.redF(), color.greenF(), color.blueF(), color.alphaF()));
+	}
+
+	/** set the path's width (in meter) */
+	void setWidth(const float width) {
+		this->width = width;
+	}
+
+	/** render the floor */
+	void _render(const RenderParams& params) override {
+
+		(void) params;
+		program.setUniformValue("color", color);
+
+		//glEnable(GL_BLEND);
+		glDisable(GL_CULL_FACE);
+		//glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+		lines.render(&program);
+		//glDisable(GL_BLEND);
+		glEnable(GL_CULL_FACE);
+
+	}
+
+
+	template <typename Node> void set(const DijkstraPath<Node>& path) {
+
+		std::vector<Point3> out;
+		for (const DijkstraNode<Node>* node : path.getVector()) {
+			if (!node) {break;}
+			const Node* elem = node->element;
+			out.push_back(Point3(elem->x_cm/100.0f, elem->y_cm/100.0f, elem->z_cm/100.0f));
+		}
+
+		set(out);
+
+	}
+
+	/** combine nodes while the direction stays the same (many small quads -> one large quad) */
+	std::vector<Point3> simplify(const std::vector<Point3>& path) {
+
+		// copy
+		std::vector<Point3> out = path;
+
+		// remove unneccesary nodes
+		for (int i = 1; i < (int) out.size() - 1; ++i) {
+
+			const Point3 pa = out[i-1];
+			const Point3 pb = out[i-0];
+			const Point3 pc = out[i+1];
+
+			// same direction as last segment? combine segments!
+			const float dir1 = std::atan2(pb.y-pa.y, pb.x-pa.x);			// last edge
+			const float dir2 = std::atan2(pc.y-pb.y, pc.x-pb.x);			// next edge
+			const bool isSameDir = std::abs(dir1-dir2) < 0.03;				// last-edge and next-edge have (approx) the same direction?
+			if (isSameDir) {out.erase(out.begin()+i); --i; continue;}		// no additional information! remove the center node
+
+			// too many changes in a small space? -> remove some!
+			const float d1 = pb.getDistance(pa);							// distance to last node
+			const float d2 = pb.getDistance(pc);							// distance to next node
+			const float min = 0.8;
+			const bool isPackedChange = d1 < min && d2 < min;				// both distances below a threshold?
+			if (isPackedChange) {out.erase(out.begin()+i); --i; continue;}	// -> many changes in a small area -> remove current node!
+
+		}
+
+		return out;
+
+	}
+
+	/** MUST BE CALLED FROM THE MAIN THREAD */
+	void set(const std::vector<Point3>& _path) {
+
+		std::vector<Point3> path = simplify(_path);
+
+		// reset
+		lines.clear();
+
+		// half the width of the path
+		const float s = this->width * 0.5;
+		std::vector<Floorplan::Quad3> quads;
+
+		for (int i = 1; i < (int) path.size(); ++i) {
+
+			Point3 pa = path[i-1];
+			Point3 pb = path[i-0];
+			const Point3 pc(0, 0, 1);
+			Point3 dir = (pb - pa).normalized();
+
+			// produce a small gap between path-segments
+			// those segments will be smoothly connected using another quad
+			pa += dir * 0.35;
+			pb -= dir * 0.35;
+
+			const Point3 perb = cross(pa-pb, pc).normalized();
+
+			// quad's edges
+			const Point3 p1 = pa - perb*s;
+			const Point3 p2 = pa + perb*s;
+			const Point3 p3 = pb + perb*s;
+			const Point3 p4 = pb - perb*s;
+
+			// add
+			quads.push_back(Floorplan::Quad3(p1,p2,p3,p4));
+
+		}
+
+		float l1 = 0;
+		float l2 = 0;
+
+		for (int i = 0; i < (int) quads.size(); ++i) {
+
+			// add the line-segment
+			const Floorplan::Quad3 q1 = quads[i];
+			l2 += ((q1.p1 + q1.p2) / 2).getDistance( (q1.p3 + q1.p4) / 2 );
+			addQuad(q1, l1, l2);
+			l1 = l2;
+
+			// done?
+			if (i == (int) quads.size() - 1) {break;}
+
+			// construct the quad between adjacent segments
+			const Floorplan::Quad3 q2 = quads[i+1];
+			const Floorplan::Quad3 q3(q1.p4, q1.p3, q2.p2, q2.p1);
+			l2 += ((q3.p1 + q3.p2) / 2).getDistance( (q3.p3 + q3.p4) / 2 );
+			addQuad(q3, l1, l2);
+			l1 = l2;
+
+		}
+
+		lines.rebuild();
+
+	}
+
+private:
+
+	void addQuad(const Floorplan::Quad3& q, const float l1, const float l2) {
+
+		// move the path upwards (slightly above the ground)
+		const float h = 0.40;
+
+		const QVector3D v1(q.p1.x, q.p1.z+h, q.p1.y);
+		const QVector3D v2(q.p2.x, q.p2.z+h, q.p2.y);
+		const QVector3D v3(q.p3.x, q.p3.z+h, q.p3.y);
+		const QVector3D v4(q.p4.x, q.p4.z+h, q.p4.y);
+
+		const QVector3D n(0,1,0);
+
+		const QVector2D tex1(0, l1);
+		const QVector2D tex2(1, l1);
+		const QVector2D tex3(1, l2);
+		const QVector2D tex4(0, l2);
+
+//		const QVector2D tex1(q.p1.x, q.p1.y);
+//		const QVector2D tex2(q.p2.x, q.p2.y);
+//		const QVector2D tex3(q.p3.x, q.p3.y);
+//		const QVector2D tex4(q.p4.x, q.p4.y);
+
+		const VertNormTex vnt1(v1, n, tex1);
+		const VertNormTex vnt2(v2, n, tex2);
+		const VertNormTex vnt3(v3, n, tex3);
+		const VertNormTex vnt4(v4, n, tex4);
+
+		lines.addQuadCCW(vnt1, vnt2, vnt3, vnt4);
+
+	}
+
+
+};
+
+#endif // PATH_H

ui/map/3D/elements/Stairs.h

@@ -0,0 +1,154 @@
+#ifndef STAIRS_H
+#define STAIRS_H
+
+
+#include <Indoor/floorplan/v2/Floorplan.h>
+#include "../gl/GLHelper.h"
+#include "../gl/GLTriangles.h"
+#include "../Renderable.h"
+
+
+class Stairs : public Renderable {
+
+private:
+
+	Floorplan::Floor* floor;
+
+	GLTriangles<VertNormTex> parts;
+
+public:
+
+	/** ctor */
+	Stairs(Floorplan::Floor* floor) : floor(floor) {
+		;
+	}
+
+
+	void initGL() override {
+
+		build();
+//		parts.setDiffuse(":/res/gl/tex/granite1.jpg");
+//		parts.setNormalMap(":/res/gl/tex/granite1_normal.jpg");
+		parts.setDiffuse(":/res/gl/tex/floor4.jpg");
+		parts.setNormalMap(":/res/gl/tex/floor4_normal.jpg");
+		parts.build();
+
+		loadShader(":/res/gl/vertex1.glsl", ":/res/gl/fragmentTex.glsl");
+		program.setUniformValue("texDiffuse", 0);
+		program.setUniformValue("texNormalMap", 1);
+
+	}
+
+	/** render the floor */
+	void _render(const RenderParams& params) override {
+		(void) params;
+		parts.render(&program);
+	}
+
+
+
+private:
+
+	void build() {
+
+		for (Floorplan::Stair* stair : floor->stairs) {
+
+			if (dynamic_cast<Floorplan::Stair*>(stair)) {
+				Floorplan::StairFreeform* freeform = dynamic_cast<Floorplan::StairFreeform*>(stair);
+				add(Floorplan::getQuads(freeform->getParts(), floor));
+			}
+
+		}
+
+	}
+
+	void add(const std::vector<Floorplan::Quad3>& quads) {
+
+		for (const Floorplan::Quad3& quad : quads) {
+
+			//void addQuad(quad);
+
+			stepify(quad);
+
+		}
+
+	}
+
+	void stepify(const Floorplan::Quad3& quad) {
+
+		const float len = (quad.p4 - quad.p1).length();
+		const float stepLen = 0.3;
+		const int steps = std::round(len / stepLen);
+
+		for (int i = 0; i < steps; ++i) {
+			const float per1 = (float) (i+0) / (float) steps;
+			const float per2 = (float) (i+1) / (float) steps;
+
+			const Point3 p1 = quad.p1 + (quad.p4 - quad.p1) * per1;
+			const Point3 p2 = quad.p2 + (quad.p3 - quad.p2) * per1;
+			const Point3 p5 = quad.p2 + (quad.p3 - quad.p2) * per2;
+			const Point3 p6 = quad.p1 + (quad.p4 - quad.p1) * per2;
+			Point3 p3 = p5; p3.z = p2.z;
+			Point3 p4 = p6; p4.z = p1.z;
+
+
+			addQuad(Floorplan::Quad3(p1, p2, p3, p4));
+			addQuad(Floorplan::Quad3(p3, p4, p6, p5));
+
+		}
+
+	}
+
+	void addQuad(const Floorplan::Quad3& quad) {
+
+		const QVector3D vert1(quad.p1.x, quad.p1.z, quad.p1.y);
+		const QVector3D vert2(quad.p2.x, quad.p2.z, quad.p2.y);
+		const QVector3D vert3(quad.p3.x, quad.p3.z, quad.p3.y);
+		const QVector3D vert4(quad.p4.x, quad.p4.z, quad.p4.y);
+
+		const QVector3D n1 = GLHelper::getNormal(vert1, vert2, vert3);
+		const QVector3D n2 = -n1;
+
+//		const float o =
+
+//		const QVector2D tex1(quad.p1.length(), quad.p1.y);
+//		const QVector2D tex2(quad.p2.x, quad.p2.y+quad.p2.z);
+//		const QVector2D tex3(quad.p3.x, quad.p3.y+quad.p3.z);
+//		const QVector2D tex4(quad.p4.x, quad.p4.y+quad.p4.z);
+
+		const float h = quad.p4.getDistance(quad.p1);
+		const float l = quad.p1.getDistance(quad.p2);
+		const float o = quad.p1.length();
+		const float s = 1.1;	// 0.5;
+
+		const QVector2D tex1(o+0, h);		// start texturing at the ceiling so above-door-sections and walls have the same textre
+		const QVector2D tex2(o+l, h);
+		const QVector2D tex3(o+l, 0);
+		const QVector2D tex4(o+0, 0);
+
+//		const VertNormTex vnt1(vert1, n1, tex1*s);
+//		const VertNormTex vnt2(vert2, n1, tex2*s);
+//		const VertNormTex vnt3(vert3, n1, tex3*s);
+//		const VertNormTex vnt4(vert4, n1, tex4*s);
+
+		{
+			const VertNormTex vnt1(vert1, n1, tex1*s);
+			const VertNormTex vnt2(vert2, n1, tex2*s);
+			const VertNormTex vnt3(vert3, n1, tex3*s);
+			const VertNormTex vnt4(vert4, n1, tex4*s);
+			parts.addQuadCCW(vnt1, vnt2, vnt3, vnt4);
+		} {
+			const VertNormTex vnt1(vert1, n2, tex1*s);
+			const VertNormTex vnt2(vert2, n2, tex2*s);
+			const VertNormTex vnt3(vert3, n2, tex3*s);
+			const VertNormTex vnt4(vert4, n2, tex4*s);
+			parts.addQuadCW(vnt1, vnt2, vnt3, vnt4);
+		}
+
+	}
+
+
+};
+
+
+#endif // STAIRS_H

ui/map/3D/elements/Walls.h

@@ -0,0 +1,163 @@
+#ifndef WALLS_H
+#define WALLS_H
+
+#include <Indoor/floorplan/v2/Floorplan.h>
+#include "../gl/GLHelper.h"
+#include "../gl/GLTriangles.h"
+#include "../gl/GLLines.h"
+#include "../Renderable.h"
+#include "../gl/Shader.h"
+
+
+class Walls : public Renderable {
+
+private:
+
+	Floorplan::Floor* floor;
+
+	GLTriangles<VertNormTexTan> triangles;
+	GLLines outlines;
+
+	bool outlineOnly = false;
+	bool transparent = false;
+
+public:
+
+	/** ctor */
+	Walls(Floorplan::Floor* floor) : floor(floor) {
+		setOutlineOnly(false);
+	}
+
+
+	void initGL() override {
+
+		build();
+
+		triangles.build();
+		triangles.setDiffuse(":/res/gl/tex/wall3.jpg");
+		triangles.setNormalMap(":/res/gl/tex/wall3_normal.jpg");
+
+		outlines.build();
+
+	}
+
+	/** render the floor */
+	void _render(const RenderParams& params) override {
+
+		// skip me?
+		if (params.clipAboveHeight_m < floor->atHeight) {return;}
+
+		if (transparent) {
+			program.setUniformValue("alpha", 0.5f);
+			glEnable(GL_BLEND);
+		} else {
+			program.setUniformValue("alpha", 1.0f);
+			glDisable(GL_BLEND);
+		}
+
+		if (outlineOnly) {
+			glLineWidth(1);
+			outlines.render(&program);
+		} else {
+			triangles.render(&program);
+		}
+
+		glDisable(GL_BLEND);
+
+	}
+
+	/** render only the outline? */
+	void setOutlineOnly(const bool outline) override {
+		this->outlineOnly = outline;
+		if (outlineOnly) {
+			loadShader(":/res/gl/vertex1.glsl", ":/res/gl/fragmentLine.glsl");
+			program.setUniformValue("color", QVector4D(0.9, 0.9, 0.9, 1.0));
+		} else {
+			loadShader(":/res/gl/vertex1.glsl", ":/res/gl/fragmentTex.glsl");
+			program.setUniformValue("texDiffuse", 0);
+			program.setUniformValue("texNormalMap", 1);
+		}
+	}
+
+	void setTransparent(const bool transparent) override {
+		this->transparent = transparent;
+	}
+
+
+private:
+
+	void build() {
+
+		for (Floorplan::FloorObstacle* obstacle : floor->obstacles) {
+
+			if (dynamic_cast<Floorplan::FloorObstacleLine*>(obstacle)) {
+				Floorplan::FloorObstacleLine* line = dynamic_cast<Floorplan::FloorObstacleLine*>(obstacle);
+				if (line->type != Floorplan::ObstacleType::WALL) {continue;}
+				addFace(line->from, line->to, floor->getStartingZ(), floor->getEndingZ());
+			} else if (dynamic_cast<Floorplan::FloorObstacleDoor*>(obstacle)) {
+				Floorplan::FloorObstacleDoor* door = dynamic_cast<Floorplan::FloorObstacleDoor*>(obstacle);
+				addFace(door->from, door->to, floor->getStartingZ() + door->height, floor->getEndingZ());
+			}
+
+		}
+
+	}
+
+	void addFace(const Point2 from, const Point2 to, const float h1, const float h2) {
+
+		const QVector3D vert1(from.x, h1, from.y);
+		const QVector3D vert2(to.x, h1, to.y);
+		const QVector3D vert3(to.x, h2, to.y);
+		const QVector3D vert4(from.x, h2, from.y);
+
+		const QVector3D n1 = GLHelper::getNormal(vert1, vert2, vert3);
+		const QVector3D n2 = -n1;
+
+
+
+		QVector3D tan = (vert1-vert2).normalized();
+		tan = GLHelper::isCCW(vert1, vert2, vert3) ? (tan) : (-tan);
+
+		const float l = from.getDistance(to);
+		const float h = h2-h1;
+		const float o = std::min(from.length(), to.length());
+
+		const QVector2D tex1(o+0, h);		// start texturing at the ceiling so above-door-sections and walls have the same textre
+		const QVector2D tex2(o+l, h);
+		const QVector2D tex3(o+l, 0);
+		const QVector2D tex4(o+0, 0);
+
+		const float s = 0.65;
+
+
+
+		{
+			const VertNormTexTan vnt1(vert1, n1, tex1*s, tan);
+			const VertNormTexTan vnt2(vert2, n1, tex2*s, tan);
+			const VertNormTexTan vnt3(vert3, n1, tex3*s, tan);
+			const VertNormTexTan vnt4(vert4, n1, tex4*s, tan);
+			triangles.addQuadCCW(vnt1, vnt2, vnt3, vnt4);
+		} {
+			const VertNormTexTan vnt1(vert1, n2, tex1*s, -tan);
+			const VertNormTexTan vnt2(vert2, n2, tex2*s, -tan);
+			const VertNormTexTan vnt3(vert3, n2, tex3*s, -tan);
+			const VertNormTexTan vnt4(vert4, n2, tex4*s, -tan);
+			triangles.addQuadCW(vnt1, vnt2, vnt3, vnt4);
+		}
+
+		outlines.addLine(vert1, vert2);
+		outlines.addLine(vert2, vert3);
+		outlines.addLine(vert3, vert4);
+		outlines.addLine(vert4, vert1);
+
+	}
+
+//private:
+//
+//	QVector2D tex(const QVector3D vert) {
+//		return QVector2D(vert.x(), vert.y());
+//	}
+
+};
+
+#endif // WALLS_H

ui/map/3D/gl/GL.h

@@ -0,0 +1,82 @@
+#ifndef HELPER_GL_H
+#define HELPER_GL_H
+
+#include <QOpenGLFunctions>
+#include <QOpenGLShaderProgram>
+#include <QOpenGLBuffer>
+#include <QOpenGLTexture>
+
+struct Vert {
+	QVector3D vert;
+	Vert(QVector3D vert) : vert(vert) {;}
+	int getVertOffset() const {return 0;}
+	bool operator == (const Vert& o) const {return (vert == o.vert);}
+};
+
+struct VertColor {
+	QVector3D vert;
+	QVector3D color;
+	VertColor(QVector3D vert, QVector3D color) : vert(vert), color(color) {;}
+	int getVertOffset() const {return 0;}
+	int getColorOffset() const {return sizeof(QVector3D);}
+	int getTanOffset() const {throw "error";}
+	int getNormOffset() const {throw "error";}
+	int getTexOffset() const {throw "error";}
+	bool operator == (const VertColor& o) const {return (vert == o.vert) && (color == o.color);}
+	static bool hasTangent() {return false;}
+	static bool hasColor() {return true;}
+	static bool hasNormal() {return false;}
+	static bool hasTexCoord() {return false;}
+};
+
+struct VertNorm {
+	QVector3D vert;
+	QVector3D norm;
+	VertNorm(QVector3D vert, QVector3D norm) : vert(vert), norm(norm) {;}
+	int getVertOffset() const {return 0;}
+	int getNormOffset() const {return sizeof(QVector3D);}
+	int getTanOffset() const {throw "error";}
+	int getColorOffset() const {throw "error";}
+	bool operator == (const VertNorm& o) const {return (vert == o.vert) && (norm == o.norm);}
+	static bool hasTangent() {return false;}
+	static bool hasNormal() {return true;}
+	static bool hasTexCoord() {return false;}
+	static bool hasColor() {return false;}
+};
+
+struct VertNormTex {
+	QVector3D vert;
+	QVector3D norm;
+	QVector2D tex;
+	VertNormTex(QVector3D vert, QVector3D norm, QVector3D tex) : vert(vert), norm(norm), tex(tex) {;}
+	int getVertOffset() const {return 0;}
+	int getNormOffset() const {return sizeof(QVector3D);}
+	int getTexOffset() const {return sizeof(QVector3D)*2;}
+	int getTanOffset() const {throw "error";}
+	int getColorOffset() const {throw "error";}
+	bool operator == (const VertNormTex& o) const {return (vert == o.vert) && (norm == o.norm) && (tex == o.tex);}
+	static bool hasTangent() {return false;}
+	static bool hasNormal() {return true;}
+	static bool hasTexCoord() {return true;}
+	static bool hasColor() {return false;}
+};
+
+struct VertNormTexTan {
+	QVector3D vert;
+	QVector3D norm;
+	QVector2D tex;
+	QVector3D tan;
+	VertNormTexTan(QVector3D vert, QVector3D norm, QVector3D tex, QVector3D tan) : vert(vert), norm(norm), tex(tex), tan(tan) {;}
+	int getVertOffset() const {return 0;}
+	int getNormOffset() const {return sizeof(QVector3D);}
+	int getTexOffset() const {return sizeof(QVector3D)*2;}
+	int getTanOffset() const {return sizeof(QVector3D)*2 + sizeof(QVector2D);}
+	int getColorOffset() const {throw "error";}
+	bool operator == (const VertNormTexTan& o) const {return (vert == o.vert) && (norm == o.norm) && (tex == o.tex) && (tan == o.tan);}
+	static bool hasTangent() {return true;}
+	static bool hasNormal() {return true;}
+	static bool hasTexCoord() {return true;}
+	static bool hasColor() {return false;}
+};
+
+#endif // HELPER_GL_H

ui/map/3D/gl/GLHelper.h

@@ -0,0 +1,67 @@
+#ifndef MAP_HELPER_H
+#define MAP_HELPER_H
+
+#include <Indoor/geo/Point3.h>
+#include <QOpenGLFunctions>
+
+class GLHelper {
+
+public:
+
+	static QVector3D getNormal(const QVector3D& v1, const QVector3D& v2, const QVector3D& v3) {
+
+		// get two of the triangle's edges
+		const QVector4D v21 = v2-v1;
+		const QVector4D v31 = v3-v1;
+
+		const QVector3D n = QVector3D::crossProduct(v21.toVector3D(), v31.toVector3D()).normalized();
+
+		return isCCW(v1, v2, v3) ? (n) : (-n);
+
+	}
+
+	/**
+	 * is the triangle given by p1,p2,p3 CCW?
+	 * NOTE: uses OUR coordinate system (x,y,z) where z is the floor-height
+	 */
+	static bool isCCW(const Point3 p1, const Point3 p2, const Point3 p3) {
+		const QVector3D v1(p1.x, p1.z, p1.y);
+		const QVector3D v2(p2.x, p2.z, p2.y);
+		const QVector3D v3(p3.x, p3.z, p3.y);
+		return isCCW(v1, v2, v3);
+	}
+
+	/**
+	 * is the triangle given by p1,p2,p3 CCW?
+	 * NOTE: uses OpenGL coordinate system (x,z,y) (our z is the floor-height)
+	 */
+	static bool isCCW(const QVector3D& p1, const QVector3D& p2, const QVector3D& p3) {
+
+		// camera position
+		QMatrix4x4 proj; proj.lookAt(QVector3D(-1,20,-1), QVector3D(0,0,0), QVector3D(0,1,0));
+
+		// to camera space
+		QVector4D v1(p1.x(), p1.y(), p1.z(), 1);
+		QVector4D v2(p2.x(), p2.y(), p2.z(), 1);
+		QVector4D v3(p3.x(), p3.y(), p3.z(), 1);
+		v1 = proj * v1;
+		v2 = proj * v2;
+		v3 = proj * v3;
+
+		// get two of the triangle's edges
+		const QVector4D v21 = v2-v1;
+		const QVector4D v31 = v3-v1;
+
+		// check the angle between both
+		const float angle = QVector2D::dotProduct(v21.toVector2D(), v31.toVector2D());
+		return angle > 0;
+
+//		const QVector3D n = QVector3D::crossProduct(v21.toVector3D(), v31.toVector3D());
+//		return n.z() > 0;
+
+	}
+
+
+};
+
+#endif // MAP_HELPER_H

ui/map/3D/gl/GLLines.h

@@ -0,0 +1,126 @@
+#ifndef GLLINES_H
+#define GLLINES_H
+
+#include <QOpenGLFunctions>
+#include "GL.h"
+#include "GLHelper.h"
+
+#include <Indoor/geo/Point3.h>
+
+class GLLines : protected QOpenGLFunctions {
+
+private:
+
+	QOpenGLBuffer arrayBuf;
+	QOpenGLBuffer indexBuf;
+
+	std::vector<Vert> vertices;
+	std::vector<GLushort> indices;
+
+	int mode = GL_LINES;
+
+public:
+
+	/** ctor */
+	GLLines() : arrayBuf(QOpenGLBuffer::VertexBuffer), indexBuf(QOpenGLBuffer::IndexBuffer) {
+		;
+	}
+
+	/** dtor */
+	~GLLines() {
+		arrayBuf.destroy();
+		indexBuf.destroy();
+	}
+
+	/** add a new face to this element */
+	void addLine(const QVector3D& p1, const QVector3D& p2) {
+
+		// add vertices (remove duplicates!)
+		const int i1 = addOnce(p1);
+		const int i2 = addOnce(p2);
+
+		// add indices
+		indices.push_back(i1);
+		indices.push_back(i2);
+
+	}
+
+	void addVertex(const QVector3D& p1) {
+		const int i1 = addOnce(p1);
+		indices.push_back(i1);
+	}
+
+
+	/** build the underlying buffers */
+	void build() {
+
+		initializeOpenGLFunctions();
+
+		// Transfer vertex data to VBO 0
+		arrayBuf.create();
+		arrayBuf.bind();
+		arrayBuf.allocate(vertices.data(), vertices.size() * sizeof(vertices[0]));
+
+		// Transfer index data to VBO 1
+		indexBuf.create();
+		indexBuf.bind();
+		indexBuf.allocate(indices.data(), indices.size() * sizeof(indices[0]));
+
+	}
+
+	void rebuild() {
+		if (indexBuf.isCreated()) {indexBuf.destroy();}
+		if (arrayBuf.isCreated()) {arrayBuf.destroy();}
+		build();
+	}
+
+	void clear() {
+		indices.clear();
+		vertices.clear();
+	}
+
+	void setMode(const int mode) {
+		this->mode = mode;
+	}
+
+	/** render the element */
+	void render(QOpenGLShaderProgram *program) {
+
+		// Tell OpenGL which VBOs to use
+		arrayBuf.bind();
+		indexBuf.bind();
+
+		// vertices
+		int vertLoc = program->attributeLocation("a_position");
+		program->enableAttributeArray(vertLoc);
+		program->setAttributeBuffer(vertLoc, GL_FLOAT, vertices[0].getVertOffset(), 3, sizeof(vertices[0]));
+
+		// Draw cube geometry using indices from VBO 1
+		glDrawElements(mode, indices.size(), GL_UNSIGNED_SHORT, 0);
+
+	}
+
+private:
+
+	/** to conserve memory, avoid duplicate VNTs! */
+	int addOnce(const Vert& vnt) {
+
+		const auto it = std::find(vertices.begin(), vertices.end(), vnt);
+
+		if (it == vertices.end()) {
+			const int idx = vertices.size();
+			vertices.push_back(vnt);
+			return idx;
+		} else {
+			const int idx = it - vertices.begin();
+			return idx;
+		}
+
+	}
+
+
+
+
+};
+
+#endif // GLLINES_H

ui/map/3D/gl/GLPoints.h

@@ -0,0 +1,134 @@
+#ifndef GLPOINTS_H
+#define GLPOINTS_H
+
+
+#include <QOpenGLFunctions>
+#include "GL.h"
+#include "GLHelper.h"
+
+#include <Indoor/geo/Point3.h>
+
+class GLPoints : protected QOpenGLFunctions {
+
+private:
+
+	QOpenGLBuffer arrayBuf;
+	QOpenGLBuffer indexBuf;
+
+	std::vector<VertColor> vertices;
+	std::vector<GLuint> indices;
+
+	// use rectangles instead of GL_POINTS
+	int mode = GL_TRIANGLES;
+	bool initOnce = true;
+
+public:
+
+	/** ctor */
+	GLPoints() : arrayBuf(QOpenGLBuffer::VertexBuffer), indexBuf(QOpenGLBuffer::IndexBuffer) {
+		alloc();
+	}
+
+	/** dtor */
+	~GLPoints() {
+		destroy();
+	}
+
+	/** add a new face to this element */
+	void addPoint(const QVector3D& pt, const QColor& color) {
+
+		const QVector3D c(color.redF(), color.greenF(), color.blueF());
+
+		float s = 10 / 100.0f;
+
+		const VertColor vc1(pt + QVector3D(-s, 0, -s), c);
+		const VertColor vc2(pt + QVector3D(+s, 0, -s), c);
+		const VertColor vc3(pt + QVector3D(+s, 0, +s), c);
+		const VertColor vc4(pt + QVector3D(-s, 0, +s), c);
+
+		const int start = vertices.size();
+
+		vertices.push_back(vc1);
+		vertices.push_back(vc2);
+		vertices.push_back(vc3);
+		vertices.push_back(vc4);
+
+		indices.push_back(start + 3);
+		indices.push_back(start + 2);
+		indices.push_back(start + 1);
+
+		indices.push_back(start + 3);
+		indices.push_back(start + 1);
+		indices.push_back(start + 0);
+
+	}
+
+
+	void alloc() {
+		if (!indexBuf.isCreated()) {indexBuf.create();}
+		if (!arrayBuf.isCreated()) {arrayBuf.create();}
+	}
+
+	void destroy() {
+		if (indexBuf.isCreated()) {indexBuf.destroy();}
+		if (arrayBuf.isCreated()) {arrayBuf.destroy();}
+	}
+
+	/** build the underlying buffers */
+	void build() {
+
+		// Transfer vertex data to VBO 0
+		arrayBuf.bind();
+		arrayBuf.allocate(vertices.data(), vertices.size() * sizeof(vertices[0]));
+
+		// Transfer index data to VBO 1
+		indexBuf.bind();
+		indexBuf.allocate(indices.data(), indices.size() * sizeof(indices[0]));
+
+	}
+
+	void initGL() {
+		initializeOpenGLFunctions();
+	}
+
+	void rebuild() {
+		build();
+	}
+
+	void clear() {
+		indices.clear();
+		vertices.clear();
+	}
+
+	void setMode(const int mode) {
+		this->mode = mode;
+	}
+
+	/** render the element */
+	void render(QOpenGLShaderProgram *program) {
+
+		if (indices.empty()) {return;}
+
+		// Tell OpenGL which VBOs to use
+		arrayBuf.bind();
+		indexBuf.bind();
+
+		// vertices
+		int vertLoc = program->attributeLocation("a_position");
+		program->enableAttributeArray(vertLoc);
+		program->setAttributeBuffer(vertLoc, GL_FLOAT, vertices[0].getVertOffset(), 3, sizeof(vertices[0]));
+
+		// colors
+		int colorLoc = program->attributeLocation("a_color");
+		program->enableAttributeArray(colorLoc);
+		program->setAttributeBuffer(colorLoc, GL_FLOAT, vertices[0].getColorOffset(), 3, sizeof(vertices[0]));
+
+		// Draw cube geometry using indices from VBO 1
+		glDrawElements(mode, indices.size(), GL_UNSIGNED_INT, 0);
+
+	}
+
+
+};
+
+#endif // GLPOINTS_H

ui/map/3D/gl/GLTriangles.h

@@ -0,0 +1,223 @@
+#ifndef GLTRIANGLES_H
+#define GLTRIANGLES_H
+
+#include <QOpenGLFunctions>
+#include "GL.h"
+#include "GLHelper.h"
+
+#include <type_traits>
+#include <Indoor/geo/Point3.h>
+
+template <typename T> class GLTriangles : protected QOpenGLFunctions {
+
+private:
+
+	QOpenGLBuffer arrayBuf;
+	QOpenGLBuffer indexBuf;
+	QOpenGLTexture* textures[4];
+
+	std::vector<T> vertices;
+	std::vector<GLuint> indices;
+
+public:
+
+	/** ctor */
+	GLTriangles() : arrayBuf(QOpenGLBuffer::VertexBuffer), indexBuf(QOpenGLBuffer::IndexBuffer), textures() {
+		;
+	}
+
+	/** dtor */
+	~GLTriangles() {
+
+		arrayBuf.destroy();
+		indexBuf.destroy();
+
+		for (int i = 0; i < 4; ++i) {delete textures[i];}
+
+	}
+
+	/** set the to-be-used texture */
+	void setTexture(const int slot, const QString& textureFile) {
+
+		const QImage img(textureFile);
+		if (img.width() <= 0) {throw "error";}
+
+		QOpenGLTexture* texture = new QOpenGLTexture(img);
+		texture->setMinificationFilter(QOpenGLTexture::Linear);
+		texture->setMagnificationFilter(QOpenGLTexture::Linear);
+		texture->setWrapMode(QOpenGLTexture::Repeat);
+		texture->generateMipMaps();
+		textures[slot] = texture;
+
+	}
+
+	void setDiffuse(const QString& textureFile) {
+		setTexture(0, textureFile);
+	}
+
+	void setNormalMap(const QString& textureFile) {
+		setTexture(1, textureFile);
+	}
+
+	/** add a new face to this element */
+	void addFace(const T& vnt1, const T& vnt2, const T& vnt3) {
+		addFace(vnt1, vnt2, vnt3, 0);
+	}
+
+	/** add a new face to this element */
+	void addFaceCCW(const T& vnt1, const T& vnt2, const T& vnt3) {
+		addFace(vnt1, vnt2, vnt3, 1);
+	}
+
+	/** add a new face to this element */
+	void addFaceCW(const T& vnt1, const T& vnt2, const T& vnt3) {
+		addFace(vnt1, vnt2, vnt3, 2);
+	}
+
+	/** add a new quad to this element */
+	void addQuadCCW(const T& vnt1, const T& vnt2, const T& vnt3, const T& vnt4) {
+		addFace(vnt1, vnt2, vnt3, 1);
+		addFace(vnt3, vnt4, vnt1, 1);
+	}
+
+	/** add a new quad to this element */
+	void addQuadCW(const T& vnt1, const T& vnt2, const T& vnt3, const T& vnt4) {
+		addFace(vnt1, vnt2, vnt3, 2);
+		addFace(vnt3, vnt4, vnt1, 2);
+	}
+
+	/** add a new quad to this element */
+	void addQuad(const T& vnt1, const T& vnt2, const T& vnt3, const T& vnt4) {
+		addFace(vnt1, vnt2, vnt3, 0);
+		addFace(vnt3, vnt4, vnt1, 0);
+	}
+
+	/** build the underlying buffers */
+	void build() {
+
+		initializeOpenGLFunctions();
+
+		// Transfer vertex data to VBO 0
+		arrayBuf.create();
+		arrayBuf.bind();
+		arrayBuf.allocate(vertices.data(), vertices.size() * sizeof(vertices[0]));
+
+		// Transfer index data to VBO 1
+		indexBuf.create();
+		indexBuf.bind();
+		indexBuf.allocate(indices.data(), indices.size() * sizeof(indices[0]));
+
+	}
+
+	void rebuild() {
+		if (indexBuf.isCreated()) {indexBuf.destroy();}
+		if (arrayBuf.isCreated()) {arrayBuf.destroy();}
+		build();
+	}
+
+	void clear() {
+		indices.clear();
+		vertices.clear();
+	}
+
+	/** render the element */
+	void render(QOpenGLShaderProgram* program) {
+
+		// nothing to-do?
+		if (indices.empty()) {return;}
+
+		// Tell OpenGL which VBOs to use
+		arrayBuf.bind();
+		indexBuf.bind();
+
+		for (int i = 0; i < 4; ++i) {
+			if (textures[i]) { textures[i]->bind(i); }
+		}
+
+		// vertices
+		int vertLoc = program->attributeLocation("a_position");
+		program->enableAttributeArray(vertLoc);
+		program->setAttributeBuffer(vertLoc, GL_FLOAT, vertices[0].getVertOffset(), 3, sizeof(vertices[0]));
+
+		// Tell OpenGL programmable pipeline how to locate vertex texture coordinate data
+		if (T::hasNormal()) {
+			int normLoc = program->attributeLocation("a_normal");
+			program->enableAttributeArray(normLoc);
+			program->setAttributeBuffer(normLoc, GL_FLOAT, vertices[0].getNormOffset(), 3, sizeof(vertices[0]));
+		}
+
+		if (T::hasTexCoord()) {
+			int texcoordLocation = program->attributeLocation("a_texcoord");
+			program->enableAttributeArray(texcoordLocation);
+			program->setAttributeBuffer(texcoordLocation, GL_FLOAT, vertices[0].getTexOffset(), 2, sizeof(vertices[0]));
+		}
+
+		// bind tangent data?
+		if (T::hasTangent()) {
+			int tanLocation = program->attributeLocation("a_tangent");
+			program->enableAttributeArray(tanLocation);
+			program->setAttributeBuffer(tanLocation, GL_FLOAT, vertices[0].getTanOffset(), 3, sizeof(vertices[0]));
+		}
+
+		// bind color data?
+		if (T::hasColor()) {
+			int colorLoc = program->attributeLocation("a_color");
+			program->enableAttributeArray(colorLoc);
+			program->setAttributeBuffer(colorLoc, GL_FLOAT, vertices[0].getColorOffset(), 3, sizeof(vertices[0]));
+		}
+
+		// texture
+		program->setUniformValue("texture", 0);
+
+		// Draw cube geometry using indices from VBO 1
+		glDrawElements(GL_TRIANGLES, indices.size(), GL_UNSIGNED_INT, 0);
+
+	}
+
+private:
+
+	void addFace(const T& vnt1, const T& vnt2, const T& vnt3, const int mode) {
+
+		// add vertices (remove duplicates!)
+		const int i1 = addOnce(vnt1);
+		const int i2 = addOnce(vnt2);
+		const int i3 = addOnce(vnt3);
+
+		// get current orientation
+		const bool ccw = GLHelper::isCCW(vnt1.vert, vnt2.vert, vnt3.vert);
+
+		// create indices
+		if (mode == 0 || (mode == 1 && ccw) || (mode == 2 && !ccw) ) {
+			indices.push_back(i1);
+			indices.push_back(i2);
+			indices.push_back(i3);
+		} else {
+			indices.push_back(i3);
+			indices.push_back(i2);
+			indices.push_back(i1);
+		}
+
+	}
+
+	/** to conserve memory, avoid duplicate VNTs! */
+	int addOnce(const T& vnt) {
+
+		const auto it = std::find(vertices.begin(), vertices.end(), vnt);
+
+		if (it == vertices.end()) {
+			const int idx = vertices.size();
+			vertices.push_back(vnt);
+			return idx;
+		} else {
+			const int idx = it - vertices.begin();
+			return idx;
+		}
+
+	}
+
+
+
+
+};
+
+#endif // GLTRIANGLES_H

ui/map/3D/gl/Shader.h

@@ -0,0 +1,31 @@
+#ifndef SHADER_H
+#define SHADER_H
+
+#include <QOpenGLShaderProgram>
+
+/**
+ * just some helper methods
+ */
+class Shader {
+
+private:
+
+	QOpenGLShaderProgram program;
+
+public:
+
+	/** get the underlying program */
+	QOpenGLShaderProgram* getProgram() {return &program;}
+
+	/** helper method to build the shader */
+	void loadShaderFromFile(const QString& vertex, const QString& fragment) {
+		if (!program.addShaderFromSourceFile(QOpenGLShader::Vertex, vertex)) {throw "1";}
+		if (!program.addShaderFromSourceFile(QOpenGLShader::Fragment, fragment)) {throw "2";}
+		if (!program.link()) {throw "3";}
+		if (!program.bind()) {throw "4";}
+	}
+
+
+};
+
+#endif // SHADER_H