RustX/Autonomous_Driving_Simulation

1class Sensor{2    constructor(){3        this.rayCount=5;4        this.rayLength=150;5        this.raySpread=Math.PI/4;6 7        this.rays=[];8        this.readings=[];9    }10 11    update(x,y,angle,roadBorders,traffic){12        this.#castRays(x,y,angle);13        this.readings=[];14        for(let i=0;i<this.rays.length;i++){15            this.readings.push(16                this.#getReading(this.rays[i],roadBorders,traffic)17            );18        }19    }20 21    #getReading(ray,roadBorders,traffic){22        let touches=[];23 24        roadBorders.forEach(border => {25            for(let i=1;i<border.length;i++){26                const touch=getIntersection(27                    ray[0],28                    ray[1],29                    border[i-1],30                    border[i]31                );32                if(touch){33                    touches.push(touch);34                }35            }36        });37 38        for(let i=0;i<traffic.length;i++){39            const poly=traffic[i].polygon;40            for(let j=0;j<poly.length;j++){41                const value=getIntersection(42                    ray[0],43                    ray[1],44                    poly[j],45                    poly[(j+1)%poly.length]46                );47                if(value){48                    touches.push(value);49                }50            }51        }52 53        if(touches.length==0){54            return null;55        }else{56            const offsets=touches.map(e=>e.offset);57            const minOffset=Math.min(...offsets);58            return touches.find(e=>e.offset==minOffset);59        }60    }61 62    #castRays(x,y,angle){63        this.rays=[];64        for(let i=0;i<this.rayCount;i++){65            const rayAngle=lerp(66                this.raySpread/2,67                -this.raySpread/2,68                this.rayCount==1?0.5:i/(this.rayCount-1)69            )+angle;70 71            const start={x,y};72            const end={73                x:x-Math.sin(rayAngle)*this.rayLength,74                y:y-Math.cos(rayAngle)*this.rayLength75            };76            this.rays.push([start,end]);77        }78    }79 80    draw(ctx){81        for(let i=0;i<this.rayCount;i++){82            let end=this.rays[i][1];83            if(this.readings[i]){84                end=this.readings[i];85            }86            ctx.beginPath();87            ctx.lineWidth=2;88            ctx.strokeStyle="yellow";89            ctx.moveTo(90                this.rays[i][0].x,91                this.rays[i][0].y92            );93            ctx.lineTo(94                end.x,95                end.y96            );97            ctx.stroke();98            /*99            ctx.strokeStyle="black";100            ctx.moveTo(101                this.rays[i][1].x,102                this.rays[i][1].y103            );104            ctx.lineTo(105                end.x,106                end.y107            );108            ctx.stroke();*/109        }110    }111}