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 );