5 #ifndef CNOID_COLDET_MODEL_SHARED_DATA_SET_H_INCLUDED
6 #define CNOID_COLDET_MODEL_SHARED_DATA_SET_H_INCLUDED
9 #include "Opcode/Opcode.h"
13 using namespace cnoid;
35 return AABBTreeMaxDepth;
38 return numBBMap.at(depth);
41 if(AABBTreeMaxDepth>0){
42 return numBBMap.at(AABBTreeMaxDepth-1);
51 std::vector<int> numBBMap;
52 std::vector<int> numLeafMap;
53 int computeDepth(
const Opcode::AABBCollisionNode* node,
int currentDepth,
int max );
int getAABBTreeDepth()
Definition: ColdetModelSharedDataSet.h:34
int getmaxNumofBB()
Definition: ColdetModelSharedDataSet.h:40
PrimitiveType
Definition: ColdetModel.h:25
Opcode::Model model
Definition: ColdetModelSharedDataSet.h:25
vector< IceMaths::IndexedTriangle > triangles
Definition: ColdetModelSharedDataSet.h:29
Definition: ColdetModel.h:22
ColdetModel::PrimitiveType pType
Definition: ColdetModelSharedDataSet.h:31
Definition: EasyScanner.h:16
vector< IceMaths::Point > vertices
Definition: ColdetModelSharedDataSet.h:28
Definition: ColdetModelSharedDataSet.h:17
Opcode::MeshInterface iMesh
Definition: ColdetModelSharedDataSet.h:26
std::vector< float > pParams
Definition: ColdetModelSharedDataSet.h:32
int getNumofBB(int depth)
Definition: ColdetModelSharedDataSet.h:37