constructor(pos,vec,length,offSet){

    this.unit = createVector(-1,0);

    this.vec = vec;

    this.length = length;

    this.offSet = radians(offSet);

    this.angle = this.unit.angleBetween(this.vec);

    //this.angle += this.offSet;

    this.pos = pos;

    this.dir = p5.Vector.fromAngle(this.angle);

  }

  lookAt(){

    this.dir.x = this.vec.x - this.pos.x;

    this.dir.y = this.vec.y - this.pos.y; 

    this.dir.normalize();

  }

​

​

  cast(wall) {

    const x1 = wall.a.x;

    const y1 = wall.a.y;

    const x2 = wall.b.x;

    const y2 = wall.b.y;

​

    const x3 = this.pos.x;

    const y3 = this.pos.y;

    const x4 = this.pos.x + this.dir.x;

    const y4 = this.pos.y + this.dir.y;

​

    const den = (x1 - x2) * (y3 - y4) - (y1 - y2) * (x3 - x4);

    if (den == 0) {

      return;

    }

​

    let t = ((x1 - x3) * (y3 - y4) - (y1 - y3) * (x3 - x4)) / den;

    let u = -((x1 - x2) * (y1 - y3) - (y1 - y2) * (x1 - x3)) / den;

    if (t > 0 && t < 1 && u > 0) {

      const pt = createVector();

      pt.x = x1 + t * (x2 - x1);

      pt.y = y1 + t * (y2 - y1);

      return pt;

    } else {

      return;

    }

  }

}