def _cache_checker_matrices()

in mujoco_py/modder.py [0:0]

• 19 lines of code
• 5 McCabe index (conditional complexity)

    def _cache_checker_matrices(self):
        """
        Cache two matrices of the form [[1, 0, 1, ...],
                                        [0, 1, 0, ...],
                                        ...]
        and                            [[0, 1, 0, ...],
                                        [1, 0, 1, ...],
                                        ...]
        for each texture. To use for fast creation of checkerboard patterns
        """
        self._geom_checker_mats = []
        for geom_id in range(self.model.ngeom):
            mat_id = self.model.geom_matid[geom_id]
            tex_id = self.model.mat_texid[mat_id]
            texture = self.textures[tex_id]
            h, w = texture.bitmap.shape[:2]
            self._geom_checker_mats.append(self._make_checker_matrices(h, w))

        # add skybox
        skybox_tex_id = -1
        for tex_id in range(self.model.ntex):
            skybox_textype = 2
            if self.model.tex_type[tex_id] == skybox_textype:
                skybox_tex_id = tex_id
        if skybox_tex_id >= 0:
            texture = self.textures[skybox_tex_id]
            h, w = texture.bitmap.shape[:2]
            self._skybox_checker_mat = self._make_checker_matrices(h, w)
        else:
            self._skybox_checker_mat = None