WIP: Further speedup.

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

@@ -1019,9 +1019,9 @@ 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 +1031,9 @@ 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 +1094,7 @@ 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)
@@ -1856,16 +1856,30 @@ 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: