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class Sensor{ |
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constructor(){ |
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this.rayCount=5; |
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this.rayLength=150; |
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this.raySpread=Math.PI/4; |
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this.rays=[]; |
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this.readings=[]; |
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} |
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update(x,y,angle,roadBorders,traffic){ |
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this.#castRays(x,y,angle); |
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this.readings=[]; |
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for(let i=0;i<this.rays.length;i++){ |
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this.readings.push( |
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this.#getReading(this.rays[i],roadBorders,traffic) |
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); |
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} |
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} |
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#getReading(ray,roadBorders,traffic){ |
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let touches=[]; |
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roadBorders.forEach(border => { |
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for(let i=1;i<border.length;i++){ |
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const touch=getIntersection( |
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ray[0], |
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ray[1], |
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border[i-1], |
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border[i] |
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); |
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if(touch){ |
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touches.push(touch); |
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} |
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} |
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}); |
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for(let i=0;i<traffic.length;i++){ |
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const poly=traffic[i].polygon; |
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for(let j=0;j<poly.length;j++){ |
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const value=getIntersection( |
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ray[0], |
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ray[1], |
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poly[j], |
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poly[(j+1)%poly.length] |
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); |
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if(value){ |
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touches.push(value); |
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} |
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} |
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} |
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if(touches.length==0){ |
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return null; |
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}else{ |
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const offsets=touches.map(e=>e.offset); |
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const minOffset=Math.min(...offsets); |
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return touches.find(e=>e.offset==minOffset); |
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} |
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} |
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#castRays(x,y,angle){ |
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this.rays=[]; |
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for(let i=0;i<this.rayCount;i++){ |
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const rayAngle=lerp( |
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this.raySpread/2, |
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-this.raySpread/2, |
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this.rayCount==1?0.5:i/(this.rayCount-1) |
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)+angle; |
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const start={x,y}; |
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const end={ |
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x:x-Math.sin(rayAngle)*this.rayLength, |
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y:y-Math.cos(rayAngle)*this.rayLength |
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}; |
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this.rays.push([start,end]); |
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} |
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} |
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draw(ctx){ |
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for(let i=0;i<this.rayCount;i++){ |
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let end=this.rays[i][1]; |
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if(this.readings[i]){ |
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end=this.readings[i]; |
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} |
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ctx.beginPath(); |
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ctx.lineWidth=2; |
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ctx.strokeStyle="yellow"; |
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ctx.moveTo( |
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this.rays[i][0].x, |
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this.rays[i][0].y |
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); |
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ctx.lineTo( |
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end.x, |
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end.y |
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); |
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ctx.stroke(); |
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} |
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} |
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} |
