107 lines
3.2 KiB
JavaScript
107 lines
3.2 KiB
JavaScript
export class Sensor {
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constructor(robot, offsetAngle, offsetDistance) {
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this.robot = robot
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this.value = null; // Last recorded value
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this.offsetAngle = offsetAngle;
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this.offsetDistance = offsetDistance;
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}
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updatePosition() {
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const robotAngle = this.robot.angle * (Math.PI / 180);
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const offsetAngleRad = this.offsetAngle * (Math.PI / 180);
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this.startX = this.robot.x + this.offsetDistance * Math.cos(robotAngle + offsetAngleRad);
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this.startY = this.robot.y + this.offsetDistance * Math.sin(robotAngle + offsetAngleRad);
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}
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read(robot, gameWorld) {
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throw new Error("read() must be implemented in subclasses");
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}
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draw(ctx) {
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// Default empty draw, can be overridden
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}
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}
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export class RaycastSensor extends Sensor {
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constructor(robot, offsetAngle, offsetDistance, angle, distance) {
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super(robot, offsetAngle, offsetDistance); // Call the parent class constructor
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this.angle = angle;
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this.distance = distance;
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this.range = 100;
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}
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updatePosition() {
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const robotAngle = this.robot.angle * (Math.PI / 180);
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const offsetAngleRad = this.offsetAngle * (Math.PI / 180);
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this.startX = this.robot.x + this.offsetDistance * Math.cos(robotAngle + offsetAngleRad);
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this.startY = this.robot.y + this.offsetDistance * Math.sin(robotAngle + offsetAngleRad);
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const sensorAngle = robotAngle + (this.angle * (Math.PI / 180));
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this.endX = this.startX + Math.cos(sensorAngle) * this.range;
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this.endY = this.startY + Math.sin(sensorAngle) * this.range;
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}
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read(robot, gameWorld) {
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//console.log(robot);
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//console.log(gameWorld);
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const angleInRadians = (this.robot.direction + this.angle) * Math.PI / 180;
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const x = this.robot.x + Math.cos(angleInRadians) * this.distance;
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const y = this.robot.y + Math.sin(angleInRadians) * this.distance;
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// Ensure gameWorld is available and properly passed to the sensor
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if (gameWorld.isObstacle(x, y)) {
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//console.log("Obstacle detected!");
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} else {
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//console.log("Clear path!");
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}
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}
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draw(ctx) {
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this.updatePosition();
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ctx.strokeStyle = "lime";
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ctx.fillStyle = "green"
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ctx.beginPath();
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ctx.arc(this.startX, this.startY, 2, 0, 2 * Math.PI);
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ctx.fillStyle = "red";
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ctx.fill();
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ctx.stroke();
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ctx.strokeStyle = "yellow";
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ctx.beginPath();
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ctx.lineWidth = 2;
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ctx.moveTo(this.startX, this.startY);
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ctx.lineTo(this.endX, this.endY);
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ctx.stroke();
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}
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}
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export class FloorColorSensor extends Sensor {
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constructor(robot, offsetAngle, offsetDistance) {
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super(robot, offsetAngle, offsetDistance); // No angle offset, directly below robot
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}
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read(robot, gameWorld) {
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this.value = gameWorld.getFloorColor(robot.x, robot.y);
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return this.value;
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}
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draw(ctx) {
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this.updatePosition();
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ctx.strokeStyle = "purple";
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ctx.fillStyle = "green"
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ctx.beginPath();
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ctx.arc(this.startX, this.startY, 2, 0, 2 * Math.PI);
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ctx.fillStyle = "red";
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ctx.fill();
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ctx.stroke();
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}
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}
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