Separate cache files for each heightmap LOD (#3200)

* Added separate caches for LOD0 Signed-off-by: William Lew <WilliamMilesLew@gmail.com> * Fix HeightmapCache test Signed-off-by: Steve Peters <scpeters@openrobotics.org> Co-authored-by: Steve Peters <scpeters@openrobotics.org>
gazebosim · Mar 28, 2022 · 212fae8 · 212fae8
1 parent 9747cc1
commit 212fae8
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Showing 2 changed files with 12 additions and 3 deletions.
diff --git a/gazebo/rendering/Heightmap.cc b/gazebo/rendering/Heightmap.cc
@@ -518,12 +518,20 @@ void Heightmap::Load()
     }
   }
 
+  std::string terrainNameSuffix = "";
+  if (this->LOD() == 0)
+  {
+    terrainNameSuffix = "_LOD0";
+  }
+
   // If the paging is enabled we modify the number of subterrains
   if (this->dataPtr->useTerrainPaging)
   {
     this->dataPtr->splitTerrain = true;
     nTerrains = this->dataPtr->numTerrainSubdivisions;
-    prefix = terrainDirPath / "gazebo_terrain_cache";
+    std::string terrainName = "gazebo_terrain_cache" +
+        terrainNameSuffix;
+    prefix = terrainDirPath / terrainName.c_str();
   }
   else
   {
@@ -542,7 +550,8 @@ void Heightmap::Load()
       gzmsg << "Large heightmap used with LOD. It will be subdivided into " <<
           this->dataPtr->numTerrainSubdivisions << " terrains." << std::endl;
     }
-    prefix = terrainDirPath / "gazebo_terrain";
+    std::string terrainName = "gazebo_terrain" + terrainNameSuffix;
+    prefix = terrainDirPath / terrainName.c_str();
   }
 
   double sqrtN = sqrt(nTerrains);

diff --git a/test/integration/heightmap.cc b/test/integration/heightmap.cc
@@ -761,7 +761,7 @@ void HeightmapTest::HeightmapCache()
       + "/paging");
   std::string shaPath = heightmapDir + "/" + heightmapName + "/gzterrain.SHA1";
   std::string cachePath = heightmapDir +
-      "/" + heightmapName + "/gazebo_terrain_00000000.dat";
+      "/" + heightmapName + "/gazebo_terrain_LOD0_00000000.dat";
 
   // temporary backup files for testing if cache files exist.
   std::string shaPathBk = shaPath + ".bk";