From ebb27a3b3022a0b9260a215fa7ef5b3e08c17a04 Mon Sep 17 00:00:00 2001
From: Alexis Duburcq <alexis.duburcq@gmail.com>
Date: Mon, 15 Jul 2024 16:13:12 +0200
Subject: [PATCH] WIP: Further speedup.
---
.../viewer/panda3d/panda3d_visualizer.py | 34 +++++++++++++------
1 file changed, 24 insertions(+), 10 deletions(-)
diff --git a/python/jiminy_py/src/jiminy_py/viewer/panda3d/panda3d_visualizer.py b/python/jiminy_py/src/jiminy_py/viewer/panda3d/panda3d_visualizer.py
index ae9c63645..a58ed32cc 100644
--- a/python/jiminy_py/src/jiminy_py/viewer/panda3d/panda3d_visualizer.py
+++ b/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: