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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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13 changes: 11 additions & 2 deletions gazebo/rendering/Heightmap.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -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
{
Expand All @@ -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);
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2 changes: 1 addition & 1 deletion test/integration/heightmap.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -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";
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