def __init__()

in gym/envs/box2d/car_dynamics.py [0:0]

• 86 lines of code
• 8 McCabe index (conditional complexity)

    def __init__(self, world, init_angle, init_x, init_y):
        self.world: Box2D.b2World = world
        self.hull: Box2D.b2Body = self.world.CreateDynamicBody(
            position=(init_x, init_y),
            angle=init_angle,
            fixtures=[
                fixtureDef(
                    shape=polygonShape(
                        vertices=[(x * SIZE, y * SIZE) for x, y in HULL_POLY1]
                    ),
                    density=1.0,
                ),
                fixtureDef(
                    shape=polygonShape(
                        vertices=[(x * SIZE, y * SIZE) for x, y in HULL_POLY2]
                    ),
                    density=1.0,
                ),
                fixtureDef(
                    shape=polygonShape(
                        vertices=[(x * SIZE, y * SIZE) for x, y in HULL_POLY3]
                    ),
                    density=1.0,
                ),
                fixtureDef(
                    shape=polygonShape(
                        vertices=[(x * SIZE, y * SIZE) for x, y in HULL_POLY4]
                    ),
                    density=1.0,
                ),
            ],
        )
        self.hull.color = (0.8, 0.0, 0.0)
        self.wheels = []
        self.fuel_spent = 0.0
        WHEEL_POLY = [
            (-WHEEL_W, +WHEEL_R),
            (+WHEEL_W, +WHEEL_R),
            (+WHEEL_W, -WHEEL_R),
            (-WHEEL_W, -WHEEL_R),
        ]
        for wx, wy in WHEELPOS:
            front_k = 1.0 if wy > 0 else 1.0
            w = self.world.CreateDynamicBody(
                position=(init_x + wx * SIZE, init_y + wy * SIZE),
                angle=init_angle,
                fixtures=fixtureDef(
                    shape=polygonShape(
                        vertices=[
                            (x * front_k * SIZE, y * front_k * SIZE)
                            for x, y in WHEEL_POLY
                        ]
                    ),
                    density=0.1,
                    categoryBits=0x0020,
                    maskBits=0x001,
                    restitution=0.0,
                ),
            )
            w.wheel_rad = front_k * WHEEL_R * SIZE
            w.color = WHEEL_COLOR
            w.gas = 0.0
            w.brake = 0.0
            w.steer = 0.0
            w.phase = 0.0  # wheel angle
            w.omega = 0.0  # angular velocity
            w.skid_start = None
            w.skid_particle = None
            rjd = revoluteJointDef(
                bodyA=self.hull,
                bodyB=w,
                localAnchorA=(wx * SIZE, wy * SIZE),
                localAnchorB=(0, 0),
                enableMotor=True,
                enableLimit=True,
                maxMotorTorque=180 * 900 * SIZE * SIZE,
                motorSpeed=0,
                lowerAngle=-0.4,
                upperAngle=+0.4,
            )
            w.joint = self.world.CreateJoint(rjd)
            w.tiles = set()
            w.userData = w
            self.wheels.append(w)
        self.drawlist = self.wheels + [self.hull]
        self.particles = []