What is the communication norm?
The answers as to whether this was offensive or not depends completely on the culture of your locale / industry.
Even within the same country there are industries where a more confrontational communication is the accepted norm. For example, within a front office envrionment in a financial firm one can expect the F word to be thrown around discussing people's and system's F-ups all the time. A person that does not fit in to this culture will not last.
At the same time, in the same country, the norms for communications within a government organization will be such that people will have to undergo sensitivity training (and potentially get fired) for the same behaviour that is acceptable, and indeed expected, in finance.
You need to figure out what the norm in your company culture is.
What to do now that you know the norm?
If it was you that was out of touch with the culture and the norm, then you should apologize to all parties, and make sure to not make the same mistake again.
If it was the manager that was out of touch with the culture, then you should still apologize for offending anyone but keep doing what you are doing. I have seen people get pulled over and told that they are being 'too soft' and not 'pushy enough', which ultimately limited their career.
In summary, there is a danger in being 'too soft' as well as in being 'too offensive'. Your manager may dictate the company culture to some extent, but they are not necessarily the authoritative figure that define culture (and I've seen managers get pulled out for 'not fitting in').