Ogre2 CPU implementation of RayQuery skips over geometry whose AABB contains the origin of the ray

[sissow2]

Environment

• OS Version: Ubuntu 22.04
• Source or binary build? Binary, from apt for my version of Ubuntu
• If this is a GUI or sensor rendering bug, describe your GPU and rendering system. Otherwise delete this section.
  • Rendering plugin: ogre2.
    • running in Docker/Singularity

Omitting some details since the bug is within the CPU code

Description

This is specifically when using the CPU implementation of Ogre2RayQuery

In Ogre2RayQuery , ThreadedTriRay::execute will skip over any object whose intersection distance is <= 0. Unfortunately, in OgreMath.cpp which OGRE's ray-scene code uses under the hood, Math::intersects(ray, box) will return 0 when the origin of the ray is within the bounding box. The interaction of these two systems leads to the described bug: if the object's AABB contains the origin of the ray, it is skipped for consideration within the CPU implementation of Ogre2RayQuery.

I think this check should just be < 0 instead of <= 0 on ThreadedTriRay::execute, but I'm not sure what considerations were at play when this code was written (and I have not been able to successfully build gazebo, so I only have access to the binary versions).

Best I can tell, this bug affects my version (7) all the way through the version on master.

Steps to reproduce

Use the CPU implementation of RayQuery within OGRE2, command a query that should intersect valid geometry, but starts within the AABB of that geometry, observe that it does not.