Shot from the hip. It takes some practice. The 20mm Voillander lens captures a wide range so it's one of the best lens for this kind of application in my opinion. No autofocus; so it's a bit of challenge to use it in action scenes. I'm spoiled by current technology. But if the Magnum Photographers have done it, then there should't be much of an excuse.
The Voigtländer 20mm f/3.5 is a manual-focus lens, and has an on-board computer to work with the meters and electronics. The Canon version, which I use, has CPU contacts for what should be complete compatibility with metering and exposure automation on any of the Canon EOS 35mm and digital cameras made from 1987 through today. It's really old school. Dig it!