Better edge detection and avoidance

1 files changed, 69 insertions, 21 deletions

diff --git a/resources/js/component.js b/resources/js/component.js
index 6d74e93..ec81489 100644
--- a/resources/js/component.js
+++ b/resources/js/component.js
@@ -1,49 +1,98 @@
 class Component {
 
     constructor(radius, color, x, y, direction) {
-        this.perceptionDistance = 20;
-        this.turnStepAmount = 5;
-        this.collisionTurnStepAmount = 20;
-        this.stepAmount = 1;
+        this.rayLength = 100;
+        this.turnStepAmount = 0;
+        this.stepAmount = 5;
         this.radius = radius;
         this.x = x;
         this.y = y;
         this.direction = direction;
         this.color = color;
+        this.fieldOfView = 180;
     }
 
     move(context) {
-        this.direction += Math.random() * (2 * this.turnStepAmount) - this.turnStepAmount
-        var localDirection = this.direction;
-        // first we need to work out if we detect any walls
-        var perceptionVector = this.detectionPoint(this.x, this.y, this.perceptionDistance, localDirection);
-
-        while (perceptionVector.x < 0 || perceptionVector.y < 0 || perceptionVector.x > context.canvas.width || perceptionVector.y > context.canvas.height) {
-            localDirection += Math.random() * (2 * this.collisionTurnStepAmount) - this.collisionTurnStepAmount
-            perceptionVector = this.detectionPoint(this.x, this.y, this.perceptionDistance, localDirection);
-        }
+        // this.direction += Math.random() * (2 * this.turnStepAmount) - this.turnStepAmount
 
-        // Here we should now have a new vector that's not clipping
-        this.direction = localDirection;
-        var vector = this.detectionPoint(this.x, this.y, this.stepAmount, this.direction);
+        this.direction = this.findNextRay(context);
 
+        var vector = this.detectionPoint(this.x, this.y, this.stepAmount, this.direction);
 
         this.x = vector.x;
         this.y = vector.y;
         this.update(context);
     }
 
+    buildRays() {
+        let rays = new Array();
+
+        let rayInteval = 10;
+        let noOfSteps = this.fieldOfView / rayInteval;
+        for (let i = 0; i < noOfSteps / 2; i++) {
+            if (i != 0) {
+                rays.push(rayInteval * -i);
+            }
+            rays.push(rayInteval * i);
+        }
+
+        return rays;
+    }
+
+    findNextRay(context) {
+        let rays = this.buildRays();
+
+        for (let i = 0; i < rays.length; i++) {
+
+            let tweakAngle = 0;
+            if (i == 0 && Math.random() > 0.95) {
+                tweakAngle = this.turnStepAmount * Math.random() * 5;
+            } else {
+                tweakAngle = rays[i] * Math.random() * 3;
+            }
+
+            let rayAngle = tweakAngle + this.direction + rays[i];
+
+            if (this.detectBox(context, context.canvas.width, context.canvas.height, rayAngle)) {
+                continue;
+            }
+
+            return rayAngle;
+        }
+
+        throw new Exception();
+    }
+
+    detectBox(context, width, height, direction) {
+        let perceptionVector = this.detectionPoint(this.x, this.y, this.rayLength, direction);
+
+        if (perceptionVector.x < 0 || perceptionVector.y < 0 || perceptionVector.x > width || perceptionVector.y > height) {
+            this.drawRay(context, perceptionVector.x, perceptionVector.y, this.perceptionDistance, direction)
+            return true;
+        }
+
+        return false;
+    }
+
     update(context) {
+        this.updateBoid(context);
+        this.drawRay(context, this.x, this.y, this.rayLength, this.direction);
+    }
+
+    updateBoid(context) {
         context.beginPath();
         context.fillStyle = "blue";
         context.arc(this.x, this.y, this.radius, 0, 2 * Math.PI);
         context.stroke();
-
         context.restore();
-        context.beginPath();
-        this.lineToAngle(context, this.x, this.y, this.perceptionDistance, this.direction);
+    }
+
+    drawRay(context, x, y, perceptionDistance, direction) {
         context.lineWidth = 1;
-        // context.stroke();
+
+        context.beginPath();
+        // this.lineToAngle(context, x, y, perceptionDistance, direction);
+        context.stroke();
 
         context.restore();
     }
@@ -65,7 +114,6 @@ class Component {
     }
 
     detectionPoint(x1, y1, length, angle) {
-
         angle *= Math.PI / 180;
 
         var x2 = x1 + length * Math.cos(angle),