def ray_fast_nogroup()

in mujoco_py/mjsim.pyx [0:0]

• 18 lines of code
• 2 McCabe index (conditional complexity)

    def ray_fast_nogroup(self,
            np.ndarray[np.float64_t, mode="c", ndim=1] pnt,
            np.ndarray[np.float64_t, mode="c", ndim=1] vec,
            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.

        This version hardcodes the geomgroup to NULL.
        (Can't easily express a signature that is "numpy array of specific type or None")

        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

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