Don't know what to do

I was leaving work today and I was thinking about the time I was eating and watching youtube. As I was thinking my mood got so bad that I just left and sat in my car for I don't know how long and I don't know why. I haven't felt depressed like this in a long time. I wish I had more people to talk to than I do now. Especially people I can trust to not judge me on what I say. My social anxiety makes it really tough for me to talk to people openly. Because of that I feel as though I have very few friends to hang out with and that leads me back to why I am so depressed tonight. I Feel Like I Have No Friends To Talk To And Nobody To Hang Out with. People at work tell me I can open up to them and that I can talk to them. But j just can't because of my social anxiety I'm too scared to be judged by my Co workers to open to them. They seem to care about me the most besides my family. Jinda today said I shouldn't ever hang out with coworkers because it never works out. I fell in love with one of my managers a long time ago and I haven't known what to do about it. We hung out for a little bit but then she found another guy and she chose him over me. Dealing with that hurt me a lot socially and it has made it a lot harder to open to people about my problems especially since she is one of the people that is always asking me what's wrong in my life. I can tell they are trying a lot to help me be happy but it just isn't working for me and it's because I fell like I can't open up to the in feet of being embarrassed and them never talking to me again.