5 #ifndef CNOID_COLDET_MODEL_INTERNAL_MODEL_H_INCLUDED 6 #define CNOID_COLDET_MODEL_INTERNAL_MODEL_H_INCLUDED 9 #include "Opcode/Opcode.h" 20 neighbors[0] = neighbors[1] = neighbors[2] = -1;
23 for(
int i=0; i < 3; ++i){
25 neighbors[i] = neighbor;
31 for(
int i=0; i<3; i++){
32 if(neighbors[i]==neighbor){
33 for(
int j=i+1; j<3; j++){
34 neighbors[j-1] = neighbors[j];
41 int operator[](
int index)
const {
return neighbors[index]; }
60 return AABBTreeMaxDepth;
63 return numBBMap.at(depth);
66 if(AABBTreeMaxDepth>0){
67 return numBBMap.at(AABBTreeMaxDepth-1);
76 std::vector<int> numBBMap;
77 std::vector<int> numLeafMap;
79 void extractNeghiborTriangles();
80 int computeDepth(
const Opcode::AABBCollisionNode* node,
int currentDepth,
int max );
NeighborTriangleSetArray neighbors
Definition: ColdetModelInternalModel.h:55
PrimitiveType
Definition: ColdetModel.h:28
void addNeighbor(int neighbor)
Definition: ColdetModelInternalModel.h:22
int operator[](int index) const
Definition: ColdetModelInternalModel.h:41
Definition: ColdetModelInternalModel.h:14
bool build()
Definition: ColdetModel.cpp:254
Opcode::MeshInterface iMesh
Definition: ColdetModelInternalModel.h:52
Definition: ColdetModelInternalModel.h:17
NeighborTriangleSet()
Definition: ColdetModelInternalModel.h:19
Definition: ColdetModel.h:25
std::vector< IceMaths::IndexedTriangle > triangles
Definition: ColdetModelInternalModel.h:54
ColdetModelInternalModel()
Definition: ColdetModel.cpp:101
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
void deleteNeighbor(int neighbor)
Definition: ColdetModelInternalModel.h:30
int getmaxNumofBB()
Definition: ColdetModelInternalModel.h:65
int getAABBTreeDepth()
Definition: ColdetModelInternalModel.h:59
std::vector< float > pParams
Definition: ColdetModelInternalModel.h:57
std::vector< IceMaths::Point > vertices
Definition: ColdetModelInternalModel.h:53
Opcode::Model model
Definition: ColdetModelInternalModel.h:51
int neighbors[3]
Definition: ColdetModelInternalModel.h:18
ColdetModel::PrimitiveType pType
Definition: ColdetModelInternalModel.h:56
int getNumofBB(int depth)
Definition: ColdetModelInternalModel.h:62
std::vector< NeighborTriangleSet > NeighborTriangleSetArray
Definition: ColdetModelInternalModel.h:44