WIP: Further speedup.

python/jiminy_py/src/jiminy_py/viewer/panda3d/panda3d_visualizer.py

@@ -406,7 +406,8 @@ def __init__(self,  # pylint: disable=super-init-not-called
             config = ViewerConfig()
         config.set_window_size(*WINDOW_SIZE_DEFAULT)
         config.set_window_fixed(False)
-        config.enable_antialiasing(True, multisamples=4)
+        config.enable_antialiasing(False, multisamples=0)
+        # config.set_value('want-pstats', True)
         config.set_value('framebuffer-software', False)
         config.set_value('framebuffer-hardware', False)
         config.set_value('load-display', 'pandagl')
@@ -418,6 +419,7 @@ def __init__(self,  # pylint: disable=super-init-not-called
         config.set_value('sync-video', False)
         config.set_value('default-near', 0.1)
         config.set_value('gl-version', '3 1')
+        config.set_value('gl-check-errors', '#t')
         config.set_value('notify-level', 'fatal')
         config.set_value('notify-level-x11display', 'fatal')
         config.set_value('notify-level-device', 'fatal')
@@ -606,16 +608,20 @@ def open_window(self) -> None:
         if self.has_gui():
             raise RuntimeError("Only one graphical window can be opened.")
 
+        # Force enabling multi-sampling for onscreen graphical window
+        fbprops = FrameBufferProperties(FrameBufferProperties.getDefault())
+        fbprops.set_multisamples(4)
+
         # Replace the original offscreen window by an onscreen one if possible
         is_success = True
         size = self.win.get_size()
         try:
             self.windowType = 'onscreen'
-            self.open_main_window(size=size)
+            self.open_main_window(size=size, fbprops=fbprops)
         except Exception:   # pylint: disable=broad-except
             is_success = False
             self.windowType = 'offscreen'
-            self.open_main_window(size=size)
+            self.open_main_window(size=size, fbprops=fbprops)
 
         # Enable Physics-based rendering
         enable_pbr_shader(self.cam.node())
@@ -791,6 +797,7 @@ def add_camera(self,
         if is_depthmap:
             fbprops.set_depth_bits(32)
             fbprops.set_float_depth(True)
+            fbprops.set_multisamples(0)
         else:
             fbprops.set_rgba_bits(8, 8, 8, 8)
             fbprops.set_float_color(False)
@@ -1019,9 +1026,9 @@ def move_orbital_camera_task(self,
     def _make_light_ambient(self, color: Tuple3FType) -> NodePath:
         """Patched to fix wrong color alpha.
         """
-        node = super()._make_light_ambient(color)
-        node.get_node(0).set_color((*color, 1.0))
-        return node
+        light = super()._make_light_ambient(color)
+        light.node().set_color((*color, 1.0))
+        return light
 
     def _make_light_direct(self,
                            index: int,
@@ -1031,9 +1038,9 @@ def _make_light_direct(self,
                            ) -> NodePath:
         """Patched to fix wrong color alpha.
         """
-        light_path = super()._make_light_direct(index, color, pos, target)
-        light_path.get_node(0).set_color((*color, 1.0))
-        return light_path
+        light = super()._make_light_direct(index, color, pos, target)
+        light.node().set_color((*color, 1.0))
+        return light
 
     def _make_axes(self) -> NodePath:
         model = GeomNode('axes')
@@ -1094,7 +1101,7 @@ def _make_floor(self,
         # Adjust frustum of the lights to project shadow over the whole scene
         for light_path in self._lights[1:]:
             bmin, bmax = node.get_tight_bounds(light_path)
-            lens = light_path.get_node(0).get_lens()
+            lens = light_path.node().get_lens()
             lens.set_film_offset((bmin.xz + bmax.xz) * 0.5)
             lens.set_film_size(bmax.xz - bmin.xz)
             lens.set_near_far(bmin.y, bmax.y)
@@ -1719,8 +1726,8 @@ def get_camera_transform(self) -> Tuple[np.ndarray, np.ndarray]:
                   representation of the orientation (X, Y, Z, W) as a
                   pair of `np.ndarray`.
         """
-        return (np.array(self.camera.get_pos()),
-                np.array(self.camera.get_quat()))
+        return (np.array(self.camera.get_pos(), dtype=np.float64),
+                np.array(self.camera.get_quat(), dtype=np.float64))
 
     def set_camera_transform(self,
                              pos: Tuple3FType,
@@ -1856,16 +1863,30 @@ def get_screenshot(self,
         else:
             buffer = self._user_buffers[camera_name]
 
+        # Get frame as raw texture
+        texture = buffer.get_texture()
+        is_depth_map = texture.format == Texture.F_depth_component32
+
+        # Disable shadow casting for depth map computation since it is useless
+        shadow_buffers = []
+        if is_depth_map:
+            for light in self._lights:
+                if not light.node().is_ambient_light():
+                    shadow_buffer = light.node().getShadowBuffer(self.win.gsg)
+                    if shadow_buffer is not None:
+                        shadow_buffer.active = False
+                        shadow_buffers.append(shadow_buffer)
+
         # Refresh the scene
         buffer.trigger_copy()
         buffer.set_one_shot(True)
         self.graphics_engine.render_frame()
 
-        # Get frame as raw texture
-        texture = buffer.get_texture()
+        # Restore shadow casting
+        for shadow_buffer in shadow_buffers:
+            shadow_buffer.active = True
 
         # Extract raw array buffer from texture
-        is_depth_map = texture.format == Texture.F_depth_component32
         if is_depth_map:
             image = texture.get_ram_image()
         else: