Everything can now be drawn

src/Car.java

@@ -4,6 +4,7 @@ import static java.lang.Math.PI;
 import static processing.core.PApplet.degrees;
 import static processing.core.PApplet.radians;
 
+import Graph.*;
 import Vector.Vector;
 import processing.core.PApplet;
 
@@ -37,17 +38,17 @@ public class Car{
     }
 
     //draw the car and its views
-    public void drawCar(ArrayList<Wall> walls){
+    public void drawCar(PointGraph g){
         proc.stroke(255);
         proc.ellipse(pose.x, pose.y, carWidth, carLength);
-        this.updateScan(walls);
+        this.updateScan(g);
 //        this.slam.drawLines();
     }
 
     //With all the views that the car has, get their point list
-    void updateScan(ArrayList<Wall> walls){
+    void updateScan(PointGraph map){
         for(View view : views){
-            view.look(walls);
+            view.look(map);
         }
 
         for(View view : views){

src/Graph/LineEdge.java

@@ -5,6 +5,8 @@ import processing.core.PApplet;
 
 import java.awt.*;
 
+import static java.lang.Math.PI;
+
 public class LineEdge extends Edge implements LineInterface{
     protected PointVertex vStart;
     protected PointVertex vEnd;
@@ -41,5 +43,12 @@ public class LineEdge extends Edge implements LineInterface{
 
     public void draw(PApplet proc){
         line.draw(proc);
+        Vector leftFlange = line.getDirection().rotate2D((float)(-3*PI/4)).normalize().mul(20);
+        Vector rightFlange = line.getDirection().rotate2D((float) (3*PI/4)).normalize().mul(20);
+        Line l1 = new Line(line.endPoint(), line.endPoint().add(leftFlange));
+        Line l2 = new Line(line.endPoint(), line.endPoint().add(rightFlange));
+        l1.draw(proc);
+        l2.draw(proc);
     }
+
 }

src/Graph/PointGraph.java

@@ -11,7 +11,7 @@ import java.util.ArrayList;
 
 public class PointGraph extends Graph {
     PointVertex selectedVertex;
-    PointGraph(){
+    public PointGraph(){
         super();
     }
 
@@ -26,6 +26,21 @@ public class PointGraph extends Graph {
         }
     }
 
+    public void addEdge(PointVertex vStart, PointVertex vEnd){
+        addVertex(vStart);
+
+        // don't add the edge if it is already added
+        for(Edge e : adjList.get(vStart)){
+            if(e.getEndVertex() == (Vertex) vEnd){
+                return;
+            }
+        }
+
+        addVertex(vEnd);
+        LineEdge edge = new LineEdge(vStart, vEnd);
+        adjList.get((Vertex) vStart).add(new LineEdge(vStart, vEnd));
+    }
+
     /**
      * @param v set this vertex as the selected vertex in the graph
      */

src/Graph/PointVertex.java

@@ -10,7 +10,7 @@ public class PointVertex extends Vertex {
      * @param xPos the x position of the vertex
      * @param yPos the y posiiton of the vertex
      */
-    PointVertex(float xPos, float yPos){
+    public PointVertex(float xPos, float yPos){
         super();
         this.position = new Vector(xPos, yPos);
     }

src/Processing.java

@@ -1,14 +1,14 @@
-import Vector.Vector;
+import Graph.*;
 import processing.core.PApplet;
 
-import java.util.ArrayList;
 
 public class Processing extends PApplet {
 
     Car car;
-    ArrayList<Wall> objects = new ArrayList<>();
     public static PApplet processing;
 
+    PointGraph map = new PointGraph();
+
     public static void main(String[] args) {
         PApplet.main("Processing");
     }
@@ -18,23 +18,18 @@ public class Processing extends PApplet {
         car = new Car(processing, 100,100,50,40);
         size(1000, 1000);
         car.addView(360,180);
-        for(int i = 0; i < 15; i++){
-            Wall wall = new Wall(processing, new Vector((int)random(50, 950), (int)random(50, 950)), new Vector((int)random(50, 950), (int)random(50, 950)));
-            objects.add(wall);
+
+        for(int i = 0; i < 10; i++){
+            PointVertex vStart = new PointVertex(random(50, 950), random(50, 950));
+            PointVertex vEnd = new PointVertex(random(50, 950), random(50, 950));
+            map.addEdge(vStart, vEnd);
         }
+
     }
     public void draw(){
         background(0);
-//        for(Wall object : objects){
-//            object.drawWall();
-//        }
-        car.drawCar(objects);
-        View view = car.views.get(0);
-        view.look(objects);
-        ArrayList<Vector> points = view.getPoints();
-        for(Vector point: points){
-            circle(point.x, point.y, 5);
-        }
+        map.draw(processing);
+        car.drawCar(map);
         strokeWeight(2);
         stroke(255);
         //car.drive(new int[] {0, 0});

src/Ray.java

@@ -1,3 +1,4 @@
+import Graph.*;
 import Vector.*;
 
 import processing.core.PApplet;
@@ -26,10 +27,10 @@ public class Ray extends Line {
 
 
     //checks to see at what coordinate the ray will collide with an object and sets the ray length to meet that point.
-    public void castRay(ArrayList<Wall> walls){
+    public void castRay(PointGraph map){
         float shortestWallDistance = maxRayDistance;
-        int[] newColor = new int[]{255, 255, 255};
-        for(Wall wall : walls){
+        ArrayList<LineEdge> walls = map.getAllEdges();
+        for(LineEdge wall : walls){
 
             // get the necessary vectors for two parameterized lines
             // parameterized lines are of the form L = d*t + p
@@ -51,7 +52,6 @@ public class Ray extends Line {
             float distance = d1.mul(t).add(p1).sub(this.position).mag();
             if(distance < shortestWallDistance){
                 shortestWallDistance = distance;
-                newColor = new int[]{wall.r, wall.g, wall.b};
             }
 
         }
@@ -59,11 +59,9 @@ public class Ray extends Line {
         // if we collided with a wall, set the ray's length to the distance from it to the collision
         if(shortestWallDistance != maxRayDistance){
             this.direction = this.direction.normalize().mul(shortestWallDistance);
-            this.color = newColor;
         }
         else{
             this.direction = this.direction.normalize().mul(maxRayDistance);
-            this.color = new int[]{255, 255, 255};
         }
     }
 
@@ -92,8 +90,8 @@ public class Ray extends Line {
     public void setRayLength(int rayLength){this.direction = this.direction.normalize().mul(rayLength);}
 
     public void setAngle(float angle){
-        float distance = this.direction.mag();
-        this.direction = new Vector(cos(angle), sin(angle)).mul(distance);
+        float currentAngle = direction.angle();
+        this.direction = direction.rotate2D(angle - currentAngle);
     }
 
 }

src/Vector/Vector.java

@@ -1,6 +1,8 @@
 package Vector;
 
 import static java.lang.Math.*;
+import static processing.core.PApplet.cos;
+import static processing.core.PApplet.sin;
 
 public class Vector {
     public float x = 0;
@@ -82,4 +84,10 @@ public class Vector {
     public float angle(){
         return (float) atan2(y, x);
     }
+
+    public Vector rotate2D(float angle){
+        float distance = mag();
+        float currentAngle = this.angle();
+        return new Vector(cos(currentAngle + angle), sin(currentAngle + angle)).mul(distance);
+    }
 }

src/View.java

@@ -1,3 +1,4 @@
+import Graph.PointGraph;
 import Vector.Vector;
 import processing.core.*;
 import java.util.ArrayList;
@@ -30,9 +31,9 @@ public class View {
     }
 
     //sees if the ray will collide with the walls in the wall list
-    public void look(ArrayList<Wall> walls) {
+    public void look(PointGraph map) {
         for (Ray ray : rays) {
-            ray.castRay(walls);
+            ray.castRay(map);
             if(ray.hasCollided()){
                 ray.drawRay(proc);
             }

src/Wall.java

@@ -1,40 +0,0 @@
-import Vector.*;
-import processing.core.*;
-
-import static processing.core.PApplet.*;
-
-public class Wall extends Line {
-    int r;
-    int g;
-    int b;
-
-    private final PApplet proc;
-
-    Wall(PApplet proc, Vector pos, float angle, int wallLength){
-        super(pos, (new Vector(cos(angle), sin(angle)).mul(wallLength)).add(pos));
-        this.proc = proc;
-        r = (int)proc.random(50, 255);
-        g = (int)proc.random(50, 255);
-        b = (int)proc.random(50, 255);
-    }
-
-    Wall(PApplet proc, Vector startPos, Vector endPos){
-        super(startPos, endPos);
-        this.proc = proc;
-        r = (int)proc.random(50, 255);
-        g = (int)proc.random(50, 255);
-        b = (int)proc.random(50, 255);
-    }
-
-    void drawWall(){
-        proc.stroke(r,g,b);
-        proc.strokeWeight(10);
-        proc.circle(position.x, position.y, 10);
-        proc.strokeWeight(2);
-        proc.line(position.x, position.y, position.x + direction.x, position.y + direction.y);
-    }
-
-    Vector getPos(){
-        return position;
-    }
-}