FPS lowered to 20 FPS when 13 sensors are used

[lukeharwood11]

Fix description:

Masks take up a lot of time to generate, so cache all the possible masks and place them in the correct location.

[lukeharwood11]

Possible Solution

mask_index = int(car_v.angle) - 180 + self.angle
if mask_index < 0:
    mask_index += 360
mask = ...

[lukeharwood11]

Update:
Cached 359 masks for each angle. Current implementation calculates the offset of the new angle and grabs the corresponding mask from the SensorBuilder class. An (x, y) offset is calculated (the position of the car) and the mask is moved into position.

[lukeharwood11]

Current implementation maintains ~55-60 fps

[lukeharwood11]

Using numpy arrays instead of masks (for sensors) allows for 100-120fps (when using 10 sensors)