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Separate cache files for each heightmap LOD #3200

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merged 3 commits into from
Mar 28, 2022
Merged

Separate cache files for each heightmap LOD #3200

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1cb4677
Added separate caches for each LOD
WilliamLewww Mar 24, 2022
7002427
Added code suggestions
WilliamLewww Mar 24, 2022
6305665
Fix HeightmapCache test
scpeters Mar 25, 2022
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7 changes: 5 additions & 2 deletions gazebo/rendering/Heightmap.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -523,7 +523,9 @@ void Heightmap::Load()
{
this->dataPtr->splitTerrain = true;
nTerrains = this->dataPtr->numTerrainSubdivisions;
prefix = terrainDirPath / "gazebo_terrain_cache";
std::string terrainName = "gazebo_terrain_cache" +
std::to_string(this->LOD());
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prefix = terrainDirPath / terrainName.c_str();
}
else
{
Expand All @@ -542,7 +544,8 @@ 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_" + std::to_string(this->LOD());
prefix = terrainDirPath / terrainName.c_str();
}

double sqrtN = sqrt(nTerrains);
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