constructor(walls) {

    this.pos = createVector(width / 2, height / 2);

    this.walls = walls;

    this.rays = [];

    this.target = width / 2, height / 2;

  }

​

  update(x, y) {

    this.pos.set(x, y);

  }

​

  calcRays() {

    this.rays.splice(0);

    for (let wall of this.walls) {

      const rayA = new Ray(this.pos);

      rayA.lookAt(wall.a);

      const rayB = new Ray(this.pos);

      rayB.lookAt(wall.b);

      this.rays.push(rayA);

      this.rays.push(rayB);

    }

  }

  look() {

    const ends = [];

    for (let i = 0; i < this.rays.length; i++) {

      const ray = this.rays[i];

      let closest = null;

      let record = Infinity;

      for (let wall of this.walls) {

        const pt = ray.cast(wall);

        if (pt) {

          const d = p5.Vector.dist(this.pos, pt);

          if (d < record) {

            record = d;

            closest = pt;

          }

        }

      }

      if (closest) {

        // colorMode(HSB);

        // stroke((i + frameCount * 2) % 360, 255, 255, 50);

        ends.push(closest);

        stroke(255, 165, 0);

        line(this.pos.x, this.pos.y, closest.x, closest.y);

      }

    }

    ends.sort((_a, _b) => {

      const a = p5.Vector.sub(_a, this.pos);

      const b = p5.Vector.sub(_b, this.pos);

      return a.heading() - b.heading();

    });

    fill(255, 255, 0, 102);

    noStroke();

    beginShape();

    for (let pt of ends) {

      vertex(pt.x, pt.y);

    }

    endShape(CLOSE);

  }

​

  // show() {

  //   for (let ray of this.rays) {

  //     ray.show();

  //   }

  //   fill(0);

  //   ellipse(this.pos.x, this.pos.y, 4);

  // }

}

​