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              // create a field of sugar concentrations
var sugar = new field2D(256);

// fill it:
function reset_sugar() {
	// fill with uniform noise
	sugar.set(function(x, y) { return random(); });
	// smoothen it out by long-range diffusion:
	sugar.diffuse(sugar.clone(), sugar.width, 100);
	// make it vary between 0 and 1:
	sugar.normalize();
}
reset_sugar();

// click to reset environment:
function mouse(e, pt) {
	if (e == "down") reset_sugar();
}

var agents = [];
for (var i=0; i<40; i++) {
	agents.push({
		pos: new vec2(random(), random()),
		vel: vec2.random(0.001),
		size: 0.02,
    // stored recollection of previous sense
		sense_memory: 0.5,
	});
}

function update() {
	for (var a of agents) {
    // get the sugar level at this location:
		var sense = sugar.sample(a.pos);
    // compare to the previous one:
    var change = sense / a.sense_memory;
		if (change > 1) {
      // getting better
      // forward swimming behavior:
			a.vel
        .rotate(srandom()*0.1)
        .len(0.005);
		} else {
      // getting worse
      // tumbling behavior:
			a.vel
        .rotate(srandom())
        .len(0.0005);
		}	
		// remember for the next time:
		a.sense_memory = sense;
		
		// locomotion
		a.pos.add(a.vel).wrap(1);
	}
}
  
function draw() {
  // draw field
  sugar.draw();
  // draw agents
  for (var a of agents) {
  	draw2D.push().translate(a.pos).rotate(a.vel).scale(a.size);
  	// body
    draw2D.color("darkred")
  		.circle([0.3, 0]).circle([-0.3, 0]);
    // sensor (shows current state by color)
    draw2D.color(1-a.sense_memory, a.sense_memory, 0.5)
  	  .circle([0.3, 0.], 0.7);
  	draw2D.pop();
  }
}
            
          
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