sensor.js

class Sensor {
constructor (car) {
    this.car=car
    this.rayCount=5;
    this.rayLength=150;
    this.raySpread=Math.PI/2;
    this.rays=[];
    this.readings = [];

}





update(roadBorders) {
    this.#castRays();
    this.readings = [];
    for(let i = 0; i < this.rays.length; i++) {
        const ray = this.rays[i];
        console.log(ray)
        const reading = this.#getReading(ray, roadBorders);
        this.readings.push(reading);
        console.log(this.readings)
    }
}

#getReading(ray, roadBorders) {
    
    // console.log(ray.y)
    // console.log(roadBorders);
        let touches =  []
        for (let i =0 ; i < roadBorders.length; i++) {
            console.log(ray)
            var touch = getIntersection(
                 ray[0],
                 ray[1],
                 roadBorders[i][0],
                 roadBorders[i][1]
            )
             if(touch) {
                 touches.push(touch);
             }

        }
             if(touches.length==0) {
                 return null;
             } else {
                 const offset = touches.map(e => e.offset);
                 const minOffset = Math.min(...offset);
                 return touches.find(e => e.offset == minOffset);
        }

}

#castRays() {
    this.rays=[];
    for (let i=0; i<this.rayCount; i++) {
        const rayAgle = lerp(
            this.raySpread/2,
            -this.raySpread/2,
            this.rayCount == 1? 0.5 : i / (this.rayCount - 1) 
        )+ this.car.angle;

        const start = {x : this.car.x, y:this.car.y};
        const end = {
            x: this.car.x-Math.sin(rayAgle) * this.rayLength,
            y: this.car.y-Math.cos(rayAgle) * this.rayLength
        };
        this.rays.push([start, end]);

    }

}

    draw(ctx) {
        console.log(this.rays);
        console.log(ctx);
        for(let i = 0; i < this.rayCount; i++) {
                ctx.beginPath();
                console.log(this.rays[i]);
                console.log(this.rays[i]);

                let end = this.rays[i][1];
                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(); 
                ctx.beginPath()
                ctx.lineWidth=2;
                ctx.strokeStyle="black";
                ctx.moveTo(
                    this.rays[i][1].x,
                    this.rays[i][1].y
                    );
                    console.log(this.rays[i][1].y)

               ctx.lineTo(
                    end.x,
                    end.y
                    );

                ctx.stroke();

                
            }
    }
}