current revision

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