def render_joint()

in bullet/bullet_render.py [0:0]
57 lines of code
11 McCabe index (conditional complexity)

def render_joint(joint, option):
    glPushAttrib(GL_LIGHTING)
    if option.lighting:
        glEnable(GL_LIGHTING)
    else:
        glDisable(GL_LIGHTING)
    j_type = joint.type()
    T0 = joint.child_bodynode.transform()
    T1 = joint.transform_from_child_body_node()
    T = T0.dot(T1)
    R, p = conversions.T2Rp(T)

    scale = option.scale

    if option.render_pos:
        gl_render.render_point(p,
                               color=option.color_pos,
                               scale=scale,
                               radius=0.1)

    if option.render_ori:
        if j_type == "WeldJoint":
            pass
        elif j_type == "RevoluteJoint":
            axis1 = joint.axis_in_world_frame()
            gl_render.render_line(p,
                                  p + scale * axis1,
                                  color=option.color_ori[0])
        elif j_type == "UniversalJoint":
            axis1 = joint.axis1_in_world_frame()
            axis2 = joint.axis2_in_world_frame()
            gl_render.render_line(p,
                                  p + scale * axis1,
                                  color=option.color_ori[0])
            gl_render.render_line(p,
                                  p + scale * axis2,
                                  color=option.color_ori[1])
        elif j_type == "EulerJoint":
            gl_render.render_transform(T,
                                       scale=scale,
                                       color_pos=option.color_pos,
                                       color_ori=option.color_ori)
        elif j_type == "BallJoint":
            gl_render.render_transform(T,
                                       scale=scale,
                                       color_pos=option.color_pos,
                                       color_ori=option.color_ori)
        elif j_type == "TranslationalJoint":
            gl_render.render_transform(T,
                                       scale=scale,
                                       color_pos=option.color_pos,
                                       color_ori=option.color_ori)
        elif j_type == "FreeJoint":
            gl_render.render_transform(T,
                                       scale=scale,
                                       color_pos=option.color_pos,
                                       color_ori=option.color_ori)
        else:
            raise NotImplementedError("Not Implemented")
    glPopAttrib(GL_LIGHTING)