Merge pull request #1027 from gazebosim/merge_7_8_20240801

Merge 7 -> 8
gazebosim · Aug 2, 2024 · f606a32 · f606a32
2 parents 6a2217f + 1cc9d51
commit f606a32
Show file tree

Hide file tree

Showing 3 changed files with 21 additions and 9 deletions.
diff --git a/ogre/src/OgreDistortionPass.cc b/ogre/src/OgreDistortionPass.cc
@@ -196,8 +196,8 @@ void OgreDistortionPass::CreateRenderPass()
       distortedLocation,
       newDistortedCoordinates,
       currDistortedCoordinates;
-  unsigned int distortedIdx,
-      distortedCol,
+  unsigned int distortedIdx;
+  int distortedCol,
       distortedRow;
   double normalizedColLocation, normalizedRowLocation;
 
@@ -223,9 +223,9 @@ void OgreDistortionPass::CreateRenderPass()
           focalLength);
 
       // compute the index in the distortion map
-      distortedCol = static_cast<unsigned int>(round(distortedLocation.X() *
+      distortedCol = static_cast<int>(round(distortedLocation.X() *
         this->dataPtr->distortionTexWidth));
-      distortedRow = static_cast<unsigned int>(round(distortedLocation.Y() *
+      distortedRow = static_cast<int>(round(distortedLocation.Y() *
         this->dataPtr->distortionTexHeight));
 
       // Note that the following makes sure that, for significant distortions,
@@ -235,8 +235,11 @@ void OgreDistortionPass::CreateRenderPass()
       // nonlegacy distortion modes.
 
       // Make sure the distorted pixel is within the texture dimensions
-      if (distortedCol < this->dataPtr->distortionTexWidth &&
-          distortedRow < this->dataPtr->distortionTexHeight)
+      if (distortedCol >= 0 && distortedRow >= 0 &&
+          static_cast<unsigned int>(distortedCol) <
+            this->dataPtr->distortionTexWidth &&
+          static_cast<unsigned int>(distortedRow) <
+            this->dataPtr->distortionTexHeight)
       {
         distortedIdx = distortedRow * this->dataPtr->distortionTexWidth +
           distortedCol;

diff --git a/ogre2/src/CMakeLists.txt b/ogre2/src/CMakeLists.txt
@@ -17,7 +17,13 @@ set(engine_name "ogre2")
 gz_add_component(${engine_name} SOURCES ${sources} GET_TARGET_NAME ogre2_target)
 
 set(OGRE2_RESOURCE_PATH_STR "${OGRE2_RESOURCE_PATH}")
-string(REPLACE ";" ":" OGRE2_RESOURCE_PATH_STR "${OGRE2_RESOURCE_PATH}")
+# On non-Windows, we need to convert the CMake list delimited (;) to the 
+# list delimiter used in list of paths in code (:)
+# On Windows, the list delimiter in code is already ;, not need to change it to :
+if(NOT WIN32)
+  string(REPLACE ";" ":" OGRE2_RESOURCE_PATH_STR "${OGRE2_RESOURCE_PATH}")
+endif()
+
 set_property(
   SOURCE Ogre2RenderEngine.cc
   PROPERTY COMPILE_DEFINITIONS

diff --git a/ogre2/src/Ogre2RenderEngine.cc b/ogre2/src/Ogre2RenderEngine.cc
@@ -22,6 +22,8 @@
 #endif
 #include <gz/common/Console.hh>
 #include <gz/common/Filesystem.hh>
+#include <gz/common/StringUtils.hh>
+#include <gz/common/SystemPaths.hh>
 #include <gz/common/Util.hh>
 
 #include <gz/plugin/Register.hh>
@@ -153,14 +155,15 @@ Ogre2RenderEngine::Ogre2RenderEngine() :
   this->dummyWindowId = 0;
 
   std::string ogrePath = std::string(OGRE2_RESOURCE_PATH);
-  std::vector<std::string> paths = common::split(ogrePath, ":");
+  std::vector<std::string> paths = common::Split(ogrePath,
+      common::SystemPaths::Delimiter());
   for (const auto &path : paths)
     this->ogrePaths.push_back(path);
 
   const char *env = std::getenv("OGRE2_RESOURCE_PATH");
   if (env)
   {
-    paths = common::split(std::string(env), ":");
+    paths = common::Split(std::string(env), common::SystemPaths::Delimiter());
     for (const auto &path : paths)
       this->ogrePaths.push_back(path);
   }