Add version guards and replace deprecated OGRE API usages (prepare ogre-1.12)

ogre/include/gz/rendering/ogre/OgreIncludes.hh

@@ -43,7 +43,11 @@
 #include <OgreRoot.h>
 #include <OgreSceneManager.h>
 #include <OgreSceneNode.h>
+#ifdef OGRE_VERSION_LT_1_12_0
 #include <OgreVector3.h>
+#else
+#include <OgreVector.h>
+#endif
 #include <OgreManualObject.h>
 #include <OgreMaterialManager.h>
 #include <OgreMatrix4.h>

ogre/src/CMakeLists.txt

@@ -15,12 +15,18 @@ set(engine_name "ogre")
 
 gz_add_component(${engine_name} SOURCES ${sources} GET_TARGET_NAME ogre_target)
 
+if(OGRE_VERSION VERSION_LESS 1.10.0)
+  add_definitions(-DOGRE_VERSION_LT_1_10_0)
+endif()
 if(OGRE_VERSION VERSION_LESS 1.11.0)
   add_definitions(-DOGRE_VERSION_LT_1_11_0)
 endif()
 if(OGRE_VERSION VERSION_LESS 1.12.0)
   add_definitions(-DOGRE_VERSION_LT_1_12_0)
 endif()
+if(OGRE_VERSION VERSION_LESS 1.12.9)
+  add_definitions(-DOGRE_VERSION_LT_1_12_9)
+endif()
 
 find_package(OpenGL)
 

ogre/src/OgreCompat.hh

@@ -0,0 +1,37 @@
+/*
+ * Copyright (C) 2026 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+#ifndef GZ_RENDERING_OGRE_OGRECOMPAT_HH_
+#define GZ_RENDERING_OGRE_OGRECOMPAT_HH_
+
+// Internal-only header (not installed). Provides forward-compatible aliases
+// for OGRE 1.12.9+ APIs so the gz-rendering OGRE-1 backend can keep building
+// against the older 1.9.x system package without scattering #if-blocks at
+// every call site. The aliases shadow what 1.12.9+ already provides natively.
+
+#include "gz/rendering/ogre/OgreIncludes.hh"
+
+#ifdef OGRE_VERSION_LT_1_12_9
+namespace Ogre
+{
+  // Modern (1.12.9+) free-scope buffer-usage enum names map to the
+  // deprecated nested-scope HardwareBuffer::Usage values on older OGRE.
+  constexpr auto HBU_GPU_ONLY    = HardwareBuffer::HBU_STATIC_WRITE_ONLY;
+  constexpr auto HBU_CPU_TO_GPU  = HardwareBuffer::HBU_DYNAMIC_WRITE_ONLY;
+}
+#endif
+
+#endif

ogre/src/OgreDistortionPass.cc

@@ -88,8 +88,7 @@ namespace gz
             setTexture(distortionTexture);
 
         // @todo Explore more efficent implementations as it is run every frame
-        Ogre::GpuProgramParametersSharedPtr params =
-            _mat->getTechnique(0)->getPass(_passId)
+        auto params = _mat->getTechnique(0)->getPass(_passId)
                      ->getFragmentProgramParameters();
         params->setNamedConstant("scale",
             Ogre::Vector3(

ogre/src/OgreDynamicRenderable.cc

@@ -19,6 +19,7 @@
 #include <gz/common/Profiler.hh>
 
 #include "gz/rendering/ogre/OgreDynamicRenderable.hh"
+#include "OgreCompat.hh"
 
 using namespace gz;
 using namespace rendering;
@@ -175,13 +176,13 @@ void OgreDynamicRenderable::PrepareHardwareBuffers(size_t vertexCount,
       Ogre::HardwareBufferManager::getSingleton().createVertexBuffer(
         this->mRenderOp.vertexData->vertexDeclaration->getVertexSize(0),
         this->vertexBufferCapacity,
-        Ogre::HardwareBuffer::HBU_DYNAMIC_WRITE_ONLY);
+        Ogre::HBU_CPU_TO_GPU);
 
     Ogre::HardwareVertexBufferSharedPtr cbuf =
       Ogre::HardwareBufferManager::getSingleton().createVertexBuffer(
         Ogre::VertexElement::getTypeSize(Ogre::VET_COLOUR),
         this->vertexBufferCapacity,
-        Ogre::HardwareBuffer::HBU_DYNAMIC_WRITE_ONLY);
+        Ogre::HBU_CPU_TO_GPU);
 
     // TODO(anyone): Custom HBU_?
 
@@ -231,7 +232,7 @@ void OgreDynamicRenderable::PrepareHardwareBuffers(size_t vertexCount,
         Ogre::HardwareBufferManager::getSingleton().createIndexBuffer(
           Ogre::HardwareIndexBuffer::IT_16BIT,
           this->indexBufferCapacity,
-          Ogre::HardwareBuffer::HBU_DYNAMIC_WRITE_ONLY);
+          Ogre::HBU_CPU_TO_GPU);
       // TODO(anyone): Custom HBU_?
     }
 

ogre/src/OgreGaussianNoisePass.cc

@@ -67,8 +67,7 @@ namespace gz
         GZ_ASSERT(technique, "Null OGRE material technique");
         Ogre::Pass *pass = technique->getPass(_passId);
         GZ_ASSERT(pass, "Null OGRE material pass");
-        Ogre::GpuProgramParametersSharedPtr params =
-            pass->getFragmentProgramParameters();
+        auto params = pass->getFragmentProgramParameters();
 #if OGRE_VERSION_LT_1_11_0
         GZ_ASSERT(!params.isNull(), "Null OGRE material GPU parameters");
 #else

ogre/src/OgreHeightmap.cc

@@ -1050,7 +1050,12 @@ void OgreHeightmap::SetupShadows(bool _enableShadows)
   matProfile = static_cast<GzTerrainMatGen::SM2Profile *>(
       matGen->getActiveProfile());
 #else
-  matProfile = static_cast<Ogre::TerrainMaterialGeneratorA::SM2Profile *>(
+  // Since OGRE 1.11 the custom GzTerrainMatGen path is disabled and
+  // CreateMaterial() installs our TerrainMaterial generator whose Profile is
+  // not an SM2Profile. Use dynamic_cast so the nullptr guard below skips the
+  // SM2Profile-only setters and avoids writing past the real Profile object
+  // (the static_cast path led to heap corruption during loadAllTerrains).
+  matProfile = dynamic_cast<Ogre::TerrainMaterialGeneratorA::SM2Profile *>(
       matGen->getActiveProfile());
 #endif
 
@@ -1508,7 +1513,7 @@ GzTerrainMatGen::SM2Profile::ShaderHelperGLSL::generateFragmentProgram(
 
   this->defaultFpParams(_prof, _terrain, _tt, ret);
 
-  Ogre::GpuProgramParametersSharedPtr params = ret->getDefaultParameters();
+  auto params = ret->getDefaultParameters();
   params->setIgnoreMissingParams(false);
 
   Ogre::uint maxLayers = _prof->getMaxLayers(_terrain);
@@ -1892,7 +1897,7 @@ void GzTerrainMatGen::SM2Profile::ShaderHelperGLSL::defaultVpParams(
     const SM2Profile *_prof, const Ogre::Terrain *_terrain,
     TechniqueType _tt, const Ogre::HighLevelGpuProgramPtr &_prog)
 {
-  Ogre::GpuProgramParametersSharedPtr params = _prog->getDefaultParameters();
+  auto params = _prog->getDefaultParameters();
   params->setIgnoreMissingParams(true);
 
   params->setNamedAutoConstant("worldMatrix",
@@ -2768,9 +2773,12 @@ Ogre::MaterialPtr TerrainMaterial::Profile::generate(
       if (!pass->hasFragmentProgram())
         continue;
 
-      Ogre::GpuProgramParametersSharedPtr params =
-          pass->getFragmentProgramParameters();
+      auto params = pass->getFragmentProgramParameters();
+#if OGRE_VERSION_LT_1_11_0
       if (params.isNull())
+#else
+      if (!params)
+#endif
         continue;
 
       // set up shadow split points in a way that is consistent with the

ogre/src/OgreLensFlarePass.cc

@@ -34,7 +34,11 @@
 #include <OgreGpuProgram.h>
 #include <OgrePass.h>
 #include <OgreTechnique.h>
+#ifdef OGRE_VERSION_LT_1_12_0
 #include <OgreVector3.h>
+#else
+#include <OgreVector.h>
+#endif
 #ifdef _MSC_VER
 #  pragma warning(pop)
 #endif
@@ -375,8 +379,7 @@ void OgreLensFlareCompositorListenerPrivate::notifyMaterialRender(
   GZ_ASSERT(technique, "Null OGRE material technique");
   Ogre::Pass *pass = technique->getPass(static_cast<uint16_t>(_passId));
   GZ_ASSERT(pass, "Null OGRE material pass");
-  Ogre::GpuProgramParametersSharedPtr params =
-    pass->getFragmentProgramParameters();
+  auto params = pass->getFragmentProgramParameters();
 
   const Ogre::Camera *camera;
 
@@ -424,7 +427,7 @@ void OgreLensFlareCompositorListenerPrivate::notifyMaterialRender(
 
   ++this->owner.dataPtr->currentFaceIdx;
 
-  GpuProgramParametersSharedPtr psParams = pass->getFragmentProgramParameters();
+  auto psParams = pass->getFragmentProgramParameters();
 
   psParams->setNamedConstant("vpAspectRatio", camera->getAspectRatio());
   psParams->setNamedConstant("lightPos", lightPos);

ogre/src/OgreMaterial.cc

@@ -390,15 +390,13 @@ void OgreMaterial::UpdateShaderParams()
   GZ_PROFILE("OgreMaterial::UpdateShaderParams");
   if (this->vertexShaderParams && this->vertexShaderParams->IsDirty())
   {
-    Ogre::GpuProgramParametersSharedPtr ogreParams;
-    ogreParams = this->ogrePass->getVertexProgramParameters();
+    auto ogreParams = this->ogrePass->getVertexProgramParameters();
     this->UpdateShaderParams(this->vertexShaderParams, ogreParams);
     this->vertexShaderParams->ClearDirty();
   }
   if (this->fragmentShaderParams && this->fragmentShaderParams->IsDirty())
   {
-    Ogre::GpuProgramParametersSharedPtr ogreParams;
-    ogreParams = this->ogrePass->getFragmentProgramParameters();
+    auto ogreParams = this->ogrePass->getFragmentProgramParameters();
     this->UpdateShaderParams(this->fragmentShaderParams, ogreParams);
     this->fragmentShaderParams->ClearDirty();
   }

ogre/src/OgreMesh.cc

@@ -155,12 +155,19 @@ void OgreMesh::SetSkeletonAnimationEnabled(const std::string &_name,
   if (_enabled)
   {
     Ogre::SkeletonInstance *skel = this->ogreEntity->getSkeleton();
+#ifdef OGRE_VERSION_LT_1_11_0
     Ogre::Skeleton::BoneIterator iter = skel->getBoneIterator();
     while (iter.hasMoreElements())
     {
       Ogre::Bone* bone = iter.getNext();
       bone->setManuallyControlled(false);
     }
+#else
+    for (Ogre::Bone* bone : skel->getBones())
+    {
+      bone->setManuallyControlled(false);
+    }
+#endif
   }
 
   // update animation state
@@ -192,13 +199,21 @@ std::unordered_map<std::string, float> OgreMesh::SkeletonWeights() const
     if (!anim->hasBlendMask())
       anim->createBlendMask(skel->getNumBones());
 
+#ifdef OGRE_VERSION_LT_1_11_0
     Ogre::Skeleton::BoneIterator iter = skel->getBoneIterator();
     while (iter.hasMoreElements())
     {
       Ogre::Bone* bone = iter.getNext();
       mapWeights[bone->getName()] =
           anim->getBlendMaskEntry(bone->getHandle());
     }
+#else
+    for (Ogre::Bone* bone : skel->getBones())
+    {
+      mapWeights[bone->getName()] =
+          anim->getBlendMaskEntry(bone->getHandle());
+    }
+#endif
   }
 
   return mapWeights;

ogre/src/OgreMeshFactory.cc

@@ -29,6 +29,7 @@
 
 #include "gz/rendering/ogre/OgreConversions.hh"
 #include "gz/rendering/ogre/OgreIncludes.hh"
+#include "OgreCompat.hh"
 #include "gz/rendering/ogre/OgreMesh.hh"
 #include "gz/rendering/ogre/OgreMeshFactory.hh"
 #include "gz/rendering/ogre/OgreRenderEngine.hh"
@@ -335,15 +336,15 @@ bool OgreMeshFactory::LoadImpl(const MeshDescriptor &_desc)
       vBuf = Ogre::HardwareBufferManager::getSingleton().createVertexBuffer(
                  vertexDecl->getVertexSize(0),
                  vertexData->vertexCount,
-                 Ogre::HardwareBuffer::HBU_STATIC_WRITE_ONLY,
+                 Ogre::HBU_GPU_ONLY,
                  false);
 
       if (subMesh.TexCoordCountBySet(0) > 0)
       {
         texBuf = Ogre::HardwareBufferManager::getSingleton().createVertexBuffer(
             vertexDecl->getVertexSize(1),
             vertexData->vertexCount,
-            Ogre::HardwareBuffer::HBU_STATIC_WRITE_ONLY,
+            Ogre::HBU_GPU_ONLY,
             false);
       }
 
@@ -396,7 +397,7 @@ bool OgreMeshFactory::LoadImpl(const MeshDescriptor &_desc)
         Ogre::HardwareBufferManager::getSingleton().createIndexBuffer(
             Ogre::HardwareIndexBuffer::IT_32BIT,
             ogreSubMesh->indexData->indexCount,
-            Ogre::HardwareBuffer::HBU_STATIC_WRITE_ONLY,
+            Ogre::HBU_GPU_ONLY,
             false);
 
       iBuf = ogreSubMesh->indexData->indexBuffer;

ogre/src/OgreRTShaderSystem.cc

@@ -351,8 +351,12 @@ void OgreRTShaderSystem::RemoveShaders(OgreSubMesh *_subMesh)
         }
       }
 
-      this->dataPtr->shaderGenerator->removeShaderBasedTechnique(srcTechnique,
-          s->Name() + Ogre::RTShader::ShaderGenerator::DEFAULT_SCHEME_NAME);
+      if (srcTechnique)
+      {
+        this->dataPtr->shaderGenerator->removeShaderBasedTechnique(
+            srcTechnique,
+            s->Name() + Ogre::RTShader::ShaderGenerator::DEFAULT_SCHEME_NAME);
+      }
 #endif
     }
     catch(const Ogre::Exception &e)
@@ -612,7 +616,8 @@ void OgreRTShaderSystem::ApplyShadows(OgreScenePtr _scene)
   sceneMgr->setShadowTextureCasterMaterial("PSSM/shadow_caster");
 #else
   Ogre::MaterialPtr mat =
-    Ogre::MaterialManager::getSingleton().getByName("PSSM/shadow_caster");
+    Ogre::MaterialManager::getSingleton().getByName(
+      "PSSM/shadow_caster", Ogre::RGN_DEFAULT);
   sceneMgr->setShadowTextureCasterMaterial(mat);
 #endif
 

ogre/src/OgreRenderTarget.cc

@@ -15,23 +15,6 @@
  *
  */
 
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wunused-parameter"
-#else
-# pragma warning(push)
-# pragma warning(disable: 4005)
-# pragma warning(disable: 4275)
-#endif
-// leave this out of OgreIncludes as it conflicts with other files requiring
-// gl.h
-#include <OgreGLFBORenderTexture.h>
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#else
-# pragma warning(pop)
-#endif
-
 
 #include <gz/common/Console.hh>
 #include <gz/common/Profiler.hh>
@@ -440,10 +423,10 @@ unsigned int OgreRenderTexture::GLId() const
   if (!this->ogreTexture)
     return 0u;
 
-  GLuint texId;
+  unsigned int texId = 0u;
   this->ogreTexture->getCustomAttribute("GLID", &texId);
 
-  return static_cast<unsigned int>(texId);
+  return texId;
 }
 
 //////////////////////////////////////////////////

ogre/src/OgreScene.cc

@@ -33,6 +33,7 @@
 #include "gz/rendering/ogre/OgreGrid.hh"
 #include "gz/rendering/ogre/OgreHeightmap.hh"
 #include "gz/rendering/ogre/OgreIncludes.hh"
+#include "OgreCompat.hh"
 #include "gz/rendering/ogre/OgreInertiaVisual.hh"
 #include "gz/rendering/ogre/OgreJointVisual.hh"
 #include "gz/rendering/ogre/OgreLidarVisual.hh"
@@ -85,7 +86,7 @@ namespace gz
           Ogre::HardwareBufferManager::getSingleton().createVertexBuffer(
             decl->getVertexSize(this->kColorBinding),
             mRenderOp.vertexData->vertexCount,
-            Ogre::HardwareBuffer::HBU_STATIC_WRITE_ONLY);
+            Ogre::HBU_GPU_ONLY);
 
         // Bind buffer
         bind->setBinding(this->kColorBinding, vbuf);
@@ -718,7 +719,7 @@ bool OgreScene::InitObject(OgreObjectPtr _object, unsigned int _id,
 void OgreScene::CreateContext()
 {
   Ogre::Root *root = OgreRenderEngine::Instance()->OgreRoot();
-  this->ogreSceneManager = root->createSceneManager(Ogre::ST_GENERIC);
+  this->ogreSceneManager = root->createSceneManager("DefaultSceneManager");
 
 #if (OGRE_VERSION >= ((1 << 16) | (9 << 8) | 0))
   this->ogreSceneManager->addRenderQueueListener(