Migration from sapien 1.x.x to 2.x.x
Light
renderer_scene
variable in Scene
class is no longer used. All renderer_scene.add_xxx_light
functions have been moved the Scene
class directly. For example, scene.renderer_scene.add_point_light
should now be replaced by scene.add_point_light
. The return value is now inherited from the Entity
class, which is similar to Actor
and allows setting poses and names directly.
Camera
Cameras in SAPIEN no longer requires mounts. In fact, they now also inherit from
the Entity
class. Cameras can be directly added to the scene by
Scene.add_camera
. Cameras can mount actors after they are added by calling
Camera.set_parent
and Camera.set_local_pose
. When the camera is not
mounted, Camera.set_local_pose
sets its global pose.
Now, fovx
parameter has been removed from Scene.add_mounted_camera
.
However, code that provides fovx
will still work with a deprecation warning.
Functions related to Mounted Camera are removed or replaced.
Scene.remove_mounted_camera
has been replaced by Scene.remove_camera
.
Scene.find_camera_by_mount
has been removed.
Cameras now support full camera parameters through camera.near
,
camera.far
, camera.set_fovx
, camera.set_fovy
,
camera.set_focal_lengths
, camera.set_principal_point
, camera.skew
,
and the all-in-one method camera.set_perspective_parameters
.