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Minor optimizations
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- Removed high-level functions for important performance improvements.
- Added commenting for better understanding.
- Simplified calcCost method.
- Changed for statements for foreachs for better readability.
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@psfer07
psfer07 committed Aug 26, 2024
1 parent 0e2afdd commit 55f80ac
Showing 1 changed file with 81 additions and 41 deletions.
122 changes: 81 additions & 41 deletions script.js
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Original file line number Diff line number Diff line change
Expand Up @@ -6,12 +6,14 @@ window.onload = function () {
const cellSize = 4;
let start;
let hasStarted = false;
let grid = Array.from({ length: gridWidth }, () =>
Array.from({ length: gridHeight }, () => ({ // Each cell will have these properties by default
color: "#ccc",
pheromone: 1.0
}))
);
let grid = [];
for (let x = 0; x < gridWidth; x++) {
let cols = [];
for (let y = 0; y < gridHeight; y++) {
cols.push({ ...properties });
}
grid.push(cols);
}
const walls = {
color: "#2d2d2d",
horz: {
Expand Down Expand Up @@ -99,7 +101,7 @@ window.onload = function () {
this.alpha = alpha;
this.beta = beta;
this.deposit = deposit;
this.directions = [
this.directions = [ // Directions are set clockwise
{ x: 0, y: -1 }, // Up
{ x: 1, y: -1 }, // Up-right
{ x: 1, y: 0 }, // Right
Expand All @@ -113,22 +115,23 @@ window.onload = function () {
_calcCost(pheromone, directions) {
let weighs = [];

// Generic cost calculation formula for Ant Colony Systems
for (let i = 0; i < directions.length; i++) {
const distance = (Math.abs(directions[i].x) + Math.abs(directions[i].y)) === 2 ? Math.sqrt(2) : 1;
const weigh = Math.pow(pheromone[i], this.alpha) * Math.pow(1 / distance, this.beta);
weighs.push(weigh);
}

const lastCellVisitedIndex = this.directions.findIndex(direction =>
const lastVisitedCellIndex = this.directions.findIndex(direction =>
this.visited[this.visited.length - 1].x === this.x - direction.x &&
this.visited[this.visited.length - 1].y === this.y - direction.y
);

if (lastCellVisitedIndex > 0) { weighs[lastCellVisitedIndex - 1] = weighs[lastCellVisitedIndex - 1] / 2; }
if (lastCellVisitedIndex < weighs.length - 1) { weighs[lastCellVisitedIndex + 1] = weighs[lastCellVisitedIndex + 1] / 2; }
if (lastVisitedCellIndex > 0) { weighs[lastVisitedCellIndex - 1] /= 2; }
if (lastVisitedCellIndex < weighs.length - 1) { weighs[lastVisitedCellIndex + 1] /= 2; }


const probabilities = weighs.map(weigh => weigh / weighs.reduce((sum, value) => sum + value, 0));
const probabilities = this._calcProbabilities(weighs);
const rand = Math.random();
let cumulative = 0;
for (let i = 0; i < probabilities.length; i++) {
Expand All @@ -138,27 +141,51 @@ window.onload = function () {
}
}
}
_calcProbabilities(weighs) {
let sum = 0;
for (let i = 0; i < weighs.length; i++) { sum += weighs[i]; }
const probabilities = [];
for (let i = 0; i < weighs.length; i++) { probabilities[i] = weighs[i] / sum; }
return probabilities; // Current case by all possible cases

}
getDirs(x, y, avoid) {
if (!(x && y)) {
x = this.x;
y = this.y;
}
return this.directions.filter(direction => {
let availableDirections = [];
for (const direction of this.directions) {
const newX = x + direction.x;
const newY = y + direction.y;
const isObject = this.objects.some(object => newX === object.x && newY === object.y);
const isVisited = this.visited.some(visit => newX === visit.x && newY === visit.y);
const isAvoided = avoid && avoid.some(deadEnd => deadEnd.x === newX && deadEnd.y === newY);

return !isObject && !isVisited && !isAvoided;
});
let isObject = false;
for (let i = 0; i < this.objects.length; i++) {
if (newX === this.objects[i].x && newY === this.objects[i].y) { isObject = true; break; }
}

let isVisited = false;
for (let i = 0; i < this.visited.length; i++) {
if (newX === this.visited[i].x && newY === this.visited[i].y) { isVisited = true; break; }
}

let isAvoided = false;
if (avoid) {
for (let i = 0; i < avoid.length; i++) {
if (newX === avoid[i].x && newY === avoid[i].y) { isAvoided = true; break; }
}
}
if (!(isObject && isVisited && isAvoided)) availableDirections.push(direction);
}
return availableDirections;
}
move(grid, directions) {
const total_pheromone = directions.map(direction => {
let total_pheromone = [];
for (const direction of directions) {
const inX = this.x + direction.x;
const inY = this.y + direction.y;
return grid[inX][inY].pheromone;
});
total_pheromone.push(grid[inX][inY].pheromone)
}

const index = this._calcCost(total_pheromone, directions);
const newX = this.x + directions[index].x;
Expand All @@ -178,11 +205,16 @@ window.onload = function () {
}
checkExit(grid, state) {
const color = state ? "#02b200" : "red";
return this.directions.some(direction => {
let isExit = false;
for (const direction of this.directions) {
const exitX = this.x + direction.x;
const exitY = this.y + direction.y;
return grid[exitX][exitY].color === color;
});
if (grid[exitX][exitY].color === color) {
isExit = true;
break;
}
}
return isExit;
}
}

Expand All @@ -203,22 +235,22 @@ window.onload = function () {
// Floor
setColor([2, gridWidth - 3], [2, gridHeight - 3], "#ccc");
// Walls
walls.horz.positions.forEach(wall => {
for (const wall of walls.horz.positions) {
setColor([wall.x, wall.x + walls.horz.width - 1], [wall.y, wall.y + walls.horz.height - 1], walls.color);
});
walls.vert.positions.forEach(wall => {
}
for (const wall of walls.vert.positions) {
setColor([wall.x, wall.x + walls.vert.width - 1], [wall.y, wall.y + walls.vert.height - 1], walls.color);
});
}
// Windows
windows.positions.forEach(window => {
for (const window of windows.positions) {
setColor([window.x, window.x + windows.width - 1], [window.y, window.y + windows.height - 1], windows.color);
});
}
// Door
setColor([door.x, door.x + door.width - 1], [door.y, door.y + door.height - 1], door.color);
// Pillars
obstacles.pillars.positions.forEach(pillar => {
for (const pillar of obstacles.pillars.positions) {
setColor([pillar.x, pillar.x + obstacles.pillars.width - 1], [pillar.y, pillar.y + obstacles.pillars.height - 1], obstacles.pillars.color);
});
}
// Teacher's table
const Ttable = obstacles.teacher_table
setColor([Ttable.x, Ttable.x + Ttable.width - 1], [Ttable.y, Ttable.y + Ttable.height - 1], Ttable.color);
Expand Down Expand Up @@ -264,17 +296,18 @@ window.onload = function () {
x = revert.x;
y = revert.y;
newdirs = ant.getDirs(x, y, deadEnds);
} while (newdirs.length < 1);
} while (newdirs.length < 1); // Reverts its position until it has more than one available direction to move
dirs = newdirs;
}

const [movedTo, distance] = ant.move(grid, dirs);

// Evaporate pheromones every 15 moves
if (moveCount % 15 === 0) {
for (let row = 0; row < gridWidth; row++) {
for (let col = 0; col < gridHeight; col++) {
grid[row][col].pheromone = (1 - rho) * grid[row][col].pheromone;
for (let i = 0; i < gridWidth; i++) {
for (let j = 0; j < gridHeight; j++) {
grid[i][j].pheromone *= (1 - rho); // Applying evaporation
if (grid[i][j].pheromone < 0.1) grid[i][j].pheromone = 0; // Avoid floating-point precision issues
}
}
}
Expand All @@ -290,7 +323,7 @@ window.onload = function () {
if (bestDistance < distanceCumulative) {
console.log("Cumulative distance exceeded best distance. Restarting ant.");
drawCells();
oldVisited.forEach(visit => setColor(visit.x, visit.y, !state ? "green" : "darkgreen"));
for (const visit of oldVisited) { setColor(visit.x, visit.y, !state ? "green" : "darkgreen") }
drawCells(1);

// Reset variables for retry
Expand Down Expand Up @@ -336,14 +369,18 @@ window.onload = function () {

for (let i = 0; i < gridWidth; i++) {
for (let j = 0; j < gridHeight; j++) {
if (!freespaces.some(freespace => grid[i][j].color === freespace)) { objects.push({ x: i, y: j }); }
for (const freespace of freespaces) {
if (grid[i][j].color === freespace[i]) {
objects.push({ x: i, y: j });
}
}
}
}

[currentPoint, newDistance, newVisited] = await antStart(1, start, currentPoint, alpha, beta, rho, deposit, objects, oldDistance, oldVisited);
if (newDistance < oldDistance || oldDistance === undefined) {
oldDistance = newDistance;
newVisited.forEach(visit => setColor(visit.x, visit.y, "green"));
for (const visit of newVisited) { setColor(visit.x, visit.y, "green") }
}
oldVisited = newVisited;
newVisited = [];
Expand All @@ -352,16 +389,18 @@ window.onload = function () {

for (let i = 0; i < gridWidth; i++) {
for (let j = 0; j < gridHeight; j++) {
if (!freespaces.some(freespace => grid[i][j].color === freespace)) {
objects.push({ x: i, y: j });
for (const freespace of freespaces) {
if (grid[i][j].color === freespace[i]) {
objects.push({ x: i, y: j });
}
}
}
}

[currentPoint, newDistance, newVisited] = await antStart(0, start, currentPoint, alpha, beta, rho, deposit, objects, oldDistance, oldVisited);
if (newDistance < oldDistance) {
oldDistance = newDistance;
newVisited.forEach(visit => setColor(visit.x, visit.y, "darkgreen"));
for (const visit of newVisited) { setColor(visit.x, visit.y, "darkgreen") }
}
oldVisited = newVisited;
newVisited = [];
Expand All @@ -388,6 +427,7 @@ window.onload = function () {
for (let j = start.y - 1; j <= start.y + 1; j++) {
if (grid[i][j].color != "#ccc") {
state = false;
break;
}
}
}
Expand Down

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