From 1473cee7986c8987960d0c9bb729a43fb406a9c0 Mon Sep 17 00:00:00 2001
From: linbo <1034003879@qq.com>
Date: Thu, 24 Sep 2026 15:04:42 +0800
Subject: [PATCH] Fix Qt 5.12 Windows and Linux compatibility

---
 src/configeditorwidget.cpp |  2 +-
 src/urdfviewerwidget.cpp   | 10 ++++++++++
 2 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/src/configeditorwidget.cpp b/src/configeditorwidget.cpp
index 1219a39..9035e71 100644
--- a/src/configeditorwidget.cpp
+++ b/src/configeditorwidget.cpp
@@ -1800,7 +1800,7 @@ bool ConfigEditorWidget::prepareOverviewSave(QString *error)
 
     m_overviewSaveContents.clear();
     m_overviewSaveRevisions.clear();
-    for (const QString &path : std::as_const(affectedPaths)) {
+    for (const QString &path : qAsConst(affectedPaths)) {
         if (path.isEmpty())
             continue;
         if (!m_overviewContents.contains(path) || !m_overviewRevisions.contains(path)) {
diff --git a/src/urdfviewerwidget.cpp b/src/urdfviewerwidget.cpp
index 6889282..9e06915 100644
--- a/src/urdfviewerwidget.cpp
+++ b/src/urdfviewerwidget.cpp
@@ -32,6 +32,16 @@
 #include <Qt3DRender/QScreenRayCaster>
 #include <Qt3DRender/QViewport>
 
+// Windows headers define legacy near/far macros, while urdfdom uses those
+// names as Camera data members.  Keep the compatibility workaround local to
+// this translation unit instead of patching the vendored urdfdom headers.
+#ifdef near
+#undef near
+#endif
+#ifdef far
+#undef far
+#endif
+
 #include <urdf_model/joint.h>
 #include <urdf_model/link.h>
 #include <urdf_model/model.h>