def ray_fast_group()

in mujoco_py/mjsim.pyx [0:0]

• 20 lines of code
• 1 McCabe index (conditional complexity)

    def ray_fast_group(self,
            np.ndarray[np.float64_t, mode="c", ndim=1] pnt,
            np.ndarray[np.float64_t, mode="c", ndim=1] vec,
            np.ndarray[np.uint8_t, mode="c", ndim=1] geomgroup,
            mjtByte flg_static=1,
            int bodyexclude=-1):
        """
        Faster version of sim.ray(), which avoids extra copies,
        but needs to be given all the correct type arrays.

        See self.ray() for explanation of arguments
        """
        cdef int geomid
        cdef mjtNum distance
        cdef mjtNum[::view.contiguous] pnt_view = pnt
        cdef mjtNum[::view.contiguous] vec_view = vec
        cdef mjtByte[::view.contiguous] geomgroup_view = geomgroup

        distance = mj_ray(self.model.ptr,
                          self.data.ptr,
                          &pnt_view[0],
                          &vec_view[0],
                          &geomgroup_view[0],
                          flg_static,
                          bodyexclude,
                          &geomid)
        return (distance, geomid)