Shadow rendering problem, Ogre assertion failing

asked 2020-11-23 06:51:42 -0600

klebioda gravatar image

updated 2020-11-24 03:05:47 -0600


I've encountered this assertion failing when loading one of our worlds from an sdf file:

gzclient: /build/ogre-1.9-kiU5_5/ogre-1.9-1.9.0+dfsg1/OgreMain/include/OgreAxisAlignedBox.h:251: void Ogre::AxisAlignedBox::setExtents(const Ogre::Vector3&, const Ogre::Vector3&): Assertion `(min.x <= max.x && min.y <= max.y && min.z <= max.z) && "The minimum corner of the box must be less than or equal to maximum corner"' failed.

After some debugging, I realized that it's easy to reproduce:

  1. Launch gazebo with an empty world
  2. Set direction of the sun to (0, 0, -1)

It seems to be related to rendering of shadows - when I disable cast_shadow in the sdf file, the assertion doesn't fail.


  • gazebo version 11.2.0
  • libogre-1.9.0v5

Has anyone experienced this? Is this a bug (or a feature)?

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I was not able to reproduce this in an empty world and with the given sun direction. There are a few instances of that error reported before and that's usually to do with inf pose of models, e.g.when a model falls off the ground and continue to fall to infinity, which results in an inf ogre bounding box.

iche033 gravatar imageiche033 ( 2020-12-18 14:02:55 -0600 )edit