QkoSad
96 lines
2.2 KiB
JavaScript
96 lines
2.2 KiB
JavaScript
class Sensor {
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constructor(car) {
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this.car = car;
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this.rayCount = 5;
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this.rayLength = 150;
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this.raySpread = Math.PI / 2;
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this.rays = [];
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this.readings = [];
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}
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update(roadBorders, traffic) {
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this.#castRays();
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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(
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this.rays[i],
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roadBorders,
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traffic
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)
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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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for (let i = 0; i < roadBorders.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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roadBorders[i][0],
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roadBorders[i][1]
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);
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if (touch) touches.push(touch);
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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) touches.push(value);
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}
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}
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if (touches.length == 0) return null;
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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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#castRays() {
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this.rays = [];
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for (let i = 0; i < this.rayCount; i++) {
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const rayAngle =
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lerp(
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this.raySpread / 2,
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-this.raySpread / 2,
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this.rayCount == 1
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? 0.5
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: i / (this.rayCount - 1)
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) + this.car.angle;
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const start = { x: this.car.x, y: this.car.y };
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const end = {
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x:
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this.car.x -
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Math.sin(rayAngle) * this.rayLength,
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y:
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this.car.y -
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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]) end = this.readings[i];
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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(this.rays[i][0].x, this.rays[i][0].y);
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ctx.lineTo(end.x, end.y);
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ctx.stroke();
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ctx.beginPath();
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ctx.lineWidth = 2;
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ctx.strokeStyle = "black";
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ctx.moveTo(this.rays[i][1].x, this.rays[i][1].y);
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ctx.lineTo(end.x, end.y);
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ctx.stroke();
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}
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}
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}
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