Merge 027c5a7 into f80f9c3

gazebosim · Feb 24, 2023 · ebd366e · ebd366e
2 parents f80f9c3 + 027c5a7
commit ebd366e
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Showing 2 changed files with 22 additions and 0 deletions.
diff --git a/ogre/src/OgreNode.cc b/ogre/src/OgreNode.cc
@@ -17,6 +17,7 @@
 
 #include <gz/common/Console.hh>
 
+#include "gz/rendering/ogre/OgreCamera.hh"
 #include "gz/rendering/ogre/OgreNode.hh"
 #include "gz/rendering/ogre/OgreConversions.hh"
 #include "gz/rendering/ogre/OgreIncludes.hh"
@@ -99,6 +100,16 @@ void OgreNode::SetRawLocalPosition(const math::Vector3d &_position)
   if (nullptr == this->ogreNode)
     return;
 
+  // ogre crashes in the shadow (PSSM) render pass with an
+  // Ogre::AxisAlignedBox::setExtents assertion error when the camera scene node
+  // position has large values. Added a workaround that places a max limit on
+  // the length of the position vector.
+  if (dynamic_cast<OgreCamera *>(this) && _position.Length() > 1e8)
+  {
+    ignerr << "Unable to set camera node position to a distance larger than "
+           << "1e8 from origin" << std::endl;
+    return;
+  }
   this->ogreNode->setPosition(OgreConversions::Convert(_position));
 }
 

diff --git a/ogre2/src/Ogre2Node.cc b/ogre2/src/Ogre2Node.cc
@@ -17,6 +17,7 @@
 
 #include <gz/common/Console.hh>
 
+#include "gz/rendering/ogre2/Ogre2Camera.hh"
 #include "gz/rendering/ogre2/Ogre2Node.hh"
 #include "gz/rendering/ogre2/Ogre2Conversions.hh"
 #include "gz/rendering/ogre2/Ogre2Scene.hh"
@@ -109,6 +110,16 @@ void Ogre2Node::SetRawLocalPosition(const math::Vector3d &_position)
   if (nullptr == this->ogreNode)
     return;
 
+  // ogre crashes in the compositor shadow pass with an
+  // Ogre::AxisAlignedBox::setExtents assertion error when the camera scene node
+  // position has large values. Added a workaround that places a max limit on
+  // the length of the position vector.
+  if (dynamic_cast<Ogre2Camera *>(this) && _position.Length() > 1e10)
+  {
+    ignerr << "Unable to set camera node position to a distance larger than "
+           << "1e10 from origin" << std::endl;
+    return;
+  }
   this->ogreNode->setPosition(Ogre2Conversions::Convert(_position));
 }