def _render()

in gym/gym/envs/box2d/bipedal_walker.py [0:0]
49 lines of code
17 McCabe index (conditional complexity)

    def _render(self, mode='human', close=False):
        if close:
            if self.viewer is not None:
                self.viewer.close()
                self.viewer = None
            return

        from gym.envs.classic_control import rendering
        if self.viewer is None:
            self.viewer = rendering.Viewer(VIEWPORT_W, VIEWPORT_H)
        self.viewer.set_bounds(self.scroll, VIEWPORT_W/SCALE + self.scroll, 0, VIEWPORT_H/SCALE)

        self.viewer.draw_polygon( [
            (self.scroll,                  0),
            (self.scroll+VIEWPORT_W/SCALE, 0),
            (self.scroll+VIEWPORT_W/SCALE, VIEWPORT_H/SCALE),
            (self.scroll,                  VIEWPORT_H/SCALE),
            ], color=(0.9, 0.9, 1.0) )
        for poly,x1,x2 in self.cloud_poly:
            if x2 < self.scroll/2: continue
            if x1 > self.scroll/2 + VIEWPORT_W/SCALE: continue
            self.viewer.draw_polygon( [(p[0]+self.scroll/2, p[1]) for p in poly], color=(1,1,1))
        for poly, color in self.terrain_poly:
            if poly[1][0] < self.scroll: continue
            if poly[0][0] > self.scroll + VIEWPORT_W/SCALE: continue
            self.viewer.draw_polygon(poly, color=color)

        self.lidar_render = (self.lidar_render+1) % 100
        i = self.lidar_render
        if i < 2*len(self.lidar):
            l = self.lidar[i] if i < len(self.lidar) else self.lidar[len(self.lidar)-i-1]
            self.viewer.draw_polyline( [l.p1, l.p2], color=(1,0,0), linewidth=1 )

        for obj in self.drawlist:
            for f in obj.fixtures:
                trans = f.body.transform
                if type(f.shape) is circleShape:
                    t = rendering.Transform(translation=trans*f.shape.pos)
                    self.viewer.draw_circle(f.shape.radius, 30, color=obj.color1).add_attr(t)
                    self.viewer.draw_circle(f.shape.radius, 30, color=obj.color2, filled=False, linewidth=2).add_attr(t)
                else:
                    path = [trans*v for v in f.shape.vertices]
                    self.viewer.draw_polygon(path, color=obj.color1)
                    path.append(path[0])
                    self.viewer.draw_polyline(path, color=obj.color2, linewidth=2)

        flagy1 = TERRAIN_HEIGHT
        flagy2 = flagy1 + 50/SCALE
        x = TERRAIN_STEP*3
        self.viewer.draw_polyline( [(x, flagy1), (x, flagy2)], color=(0,0,0), linewidth=2 )
        f = [(x, flagy2), (x, flagy2-10/SCALE), (x+25/SCALE, flagy2-5/SCALE)]
        self.viewer.draw_polygon(f, color=(0.9,0.2,0) )
        self.viewer.draw_polyline(f + [f[0]], color=(0,0,0), linewidth=2 )

        return self.viewer.render(return_rgb_array = mode=='rgb_array')