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