def ray()

in mujoco_py/mjsim.pyx [0:0]
17 lines of code
4 McCabe index (conditional complexity)

    def ray(self, pnt, vec, include_static_geoms=True, exclude_body=-1, group_filter=None):
        """
        Cast a ray into the scene, and return the first valid geom it intersects.
            pnt - origin point of the ray in world coordinates (X Y Z)
            vec - direction of the ray in world coordinates (X Y Z)
            include_static_geoms - if False, we exclude geoms that are children of worldbody.
            exclude_body - if this is a body ID, we exclude all children geoms of this body.
            group_filter - a vector of booleans of length const.NGROUP
                           which specifies what geom groups (stored in model.geom_group)
                           to enable or disable.  If none, all groups are used
        Returns (distance, geomid) where
            distance - distance along ray until first collision with geom
            geomid - id of the geom the ray collided with
        If no collision was found in the scene, return (-1, None)

        NOTE: sometimes self.forward() needs to be called before self.ray().

        See self.ray_fast_group() and self.ray_fast_nogroup() for versions of this call
        with more stringent type requirements.
        """
        cdef mjtNum distance
        cdef mjtNum[::view.contiguous] pnt_view = pnt
        cdef mjtNum[::view.contiguous] vec_view = vec

        if group_filter is None:
            return self.ray_fast_nogroup(
                np.asarray(pnt, dtype=np.float64),
                np.asarray(vec, dtype=np.float64),
                1 if include_static_geoms else 0,
                exclude_body)
        else:
            return self.ray_fast_group(
                np.asarray(pnt, dtype=np.float64),
                np.asarray(vec, dtype=np.float64),
                np.asarray(group_filter, dtype=np.uint8),
                1 if include_static_geoms else 0,
                exclude_body)