constructor() {

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

    this.dir = createVector(1, 0)

    this.vel = 0

    this.maxVel = 5

    this.angleVel = 0

    this.maxAngleVel = 0.1

    this.directions = { up: false, down: false, right: false, left: false }

    this.rays = []

    let rays = 1000

    let angle = 80

    for (let a = -angle/2; a < angle/2; a += 360 / rays) {

      this.rays.push(new Ray(this.pos, this.dir, radians(a)))

    }

    this.shape = []

  }

  go(direction, boolean) { this.directions[direction] = boolean }

  update() {

    // Get vel

    if      (this.directions.up)   { this.vel =   this.maxVel }

    else if (this.directions.down) { this.vel = - this.maxVel }

    else                           { this.vel = 0 }

    // Get angleVel

    if      (this.directions.right)   { this.angleVel =   this.maxAngleVel }

    else if (this.directions.left)    { this.angleVel = - this.maxAngleVel }

    else                              { this.angleVel = 0 }

    // Update pos and dir

    this.dir.rotate(this.angleVel)

    const step = this.dir.copy().mult(this.vel)

    this.pos.add(step)

    for (let ray of this.rays) { ray.update() }

  }

  look(walls) {

    this.shape = []

    for (let ray of this.rays) {

      let closest = null

      let record = Infinity

      let wallHitId = null

      for (let wall of walls) {

        let pt = ray.cast(wall)

        if (pt) {

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

          if (d < record) {

            closest = pt

            wallHitId = wall.id

            record = d

          }

        }

      }

      if (closest) {

        this.shape.push({createVector(closest.x, closest.y)})

      }

    }

  }

  show() {

    // Draw the vision

    noStroke()

    fill(100)

    beginShape()

    vertex(this.pos.x, this.pos.y)

    for (let v of this.shape) { vertex(v.x, v.y) }

    vertex(this.pos.x, this.pos.y)

    endShape()

    // Draw the end of the rays

//     stroke(255)

//     noFill()

//     beginShape()

//     for (let v of this.shape) { vertex(v.x, v.y) }

//     endShape()

    // Draw the particle

    noStroke()

    fill(255)

    ellipse(this.pos.x, this.pos.y, 16)

  }

}