Ant Colony Simulation - OpenProcessing

mySketch
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const antsNum = 500;
const sensorOffset = 16;
const clockwise =  Math.PI / 4;
const counter   = -Math.PI / 4;
let maxDistSq;
​
setup = () => {
  createCanvas(1112, 834);
  pixelDensity(1);
  background(0); // Initialize trail
  maxDistSq = (width / 2)**2;
  ants.init();
};
​
mousePressed = () => ants.init();
​
draw = () => {
  background(0, 12); // Update trail
  loadPixels();
  for (let i = 5; i--; ) {
    ants.updateAngle();
    ants.updatePosition();
  }
  updatePixels();
};
​
const ant = () => ({
  x: 0,
  y: 0,
  angle: random(TWO_PI),
});
​
const ants = {
  ants: [],
​
  init() {
    this.ants.length = 0;
    for (let i = antsNum ; i--; ) this.ants.push(ant());
  },
​
  smell(a, d) {
    const aim = a.angle + d,
          x = a.x + sensorOffset * cos(aim),
          y = a.y + sensorOffset * sin(aim);
    if (a.x ** 2 + a.y ** 2 > maxDistSq) return 0;
    
    const index = ((0 | x + width / 2) + (0 | y + height / 2) * width) * 4;
    return pixels[index];
  },
​
  updateAngle() {
    for (const a of this.ants) {
      const right  = this.smell(a, clockwise),
            center = this.smell(a, 0),
            left   = this.smell(a, counter);
​
      if (center > left && center > right){ /* Carry on straight */ }
      else if (left < right) a.angle += clockwise;
      else if (left > right) a.angle += counter;
    }
  },
​
  updatePosition() {
    for (const a of this.ants) {
      a.x += cos(a.angle);
      a.y += sin(a.angle);
      if (a.x ** 2 + a.y ** 2 > maxDistSq) a.x = a.y = 0;
      
      let index = ((0 | a.x + width / 2) + (0 | a.y + height / 2) * width) * 4;
      pixels[index] = pixels[++index] = pixels[++index] = 255;
    }
  },
};