The propagation of electromagnetic waves is modeled by time-dependent Maxwell's equations coupled with constitutive laws that describe the responses of the media. In this work, we consider a nonlinear model that describes the electromagnetic wave in an optical medium with the linear Lorentz effect and the cubic nonlinear instantaneous Kerr and delayed Raman effects. Mathematically this model obeys an energy conservative/dissipative law. Though there have been active efforts in designing numerical methods (e.g. of finite difference / finite element /discontinuous Galerkin type) to simulate this model, the methods proposed here are distinctive in that they are free of any nonlinear algebraic solvers. Moreover, in the absence of the Raman effect, our methods also enjoy a provable discrete energy law, and optimal a priori error estimates are further established when the exact solutions are sufficiently smooth. The key ingredients of the new methods include some novel treatment in time discretizations and nodal discontinuous Galerkin spatial discretization for the specific nonlinearities, and they also render a local nature of the methods and hence their suitability for parallel implementation with great efficiency. Numerical experiments are performed to illustrate the accuracy, stability, computational efficiency and parallel scalability of the proposed methods. We further apply the methods to simulate some physically relevant problems in one, two, and three dimensions.