diff --git a/README.md b/README.md
index afe77b5d196648ceea60330424120638cd468425..a26734a596a38e30948de3e8f47c51554dc0548e 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,33 @@
-# Flocking Simulator
+# **Flocking Simulator**
-## Description
+## **Contacts**
+
+* Étudiant : [Antoine NOLLET](mailto:antoine.nollet.etu@univ-lille.fr)
+* Encadrant : [Jean-Christophe ROUTIER](mailto:jean-christophe.routier@univ-lille.fr)
+* Responsable : [Cédric DUMOULIN](mailto:cedric.dumoulin@univ-lille.fr)
+
+## **Résumé**
+
+Il s'agit ici du dépôt [Gitlab](https://gitlab.univ-lille.fr/) du Projet Individuel d'[Antoine NOLLET](mailto:antoine.nollet.etu@univ-lille.fr) encadré par [Jean-Christophe ROUTIER](mailto:jean-christophe.routier@univ-lille.fr).
+
+Le Projet Individuel est effectué dans le cadre de l'Unité d'Enseignement Projet Individuel (UE PJI) du [Master 1 Sciences et Technologies mention Informatique](https://portail.fil.univ-lille1.fr/portail/index.php?dipl=MInfo&label=Pr%C3%A9sentation) (M1 INFO) de l'Université de Lille. Le responsable de cette UE PJI est [Cédric DUMOULIN](mailto:cedric.dumoulin@univ-lille.fr).
+
+L'étudiant [Antoine NOLLET](mailto:antoine.nollet.etu@univ-lille.fr) est ainsi inscrit au [M1 INFO parcours Réalité Virtuelle et Augmentée](https://portail.fil.univ-lille1.fr/portail/index.php?dipl=MInfo&sem=RVA&ue=ACCUEIL&label=Pr%C3%A9sentation) durant l'année 2021-2022.
+
+L'objectif du projet est d'accompagner un mémoire qui étudie le modèle de flocking des BOIDS initialement défini par [C. Reynolds](http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.480.9232&rep=rep1&type=pdf). Après avoir reproduit ce modèle à travers une simulation 2D et 3D, il s'agira de vérifier l'extension de ce modèle présenté dans un [article scientifique](http://diposit.ub.edu/dspace/bitstream/2445/34511/1/577311.pdf) en vérifiant expérimentalement les résultats qui sont présentés.
+
+## **Contenu**
+
+* [**./src**](./src/) : dossier contenant le code du projet
+* [**./comptes-rendus**](./comptes-rendus/) : dossier contenant les comptes-rendus du projet
+* [**README.md**](README.md) : le document que vous lisez
+
+## **Journal de Bord**
+
+Vous pouvez consulter le journal de bord en cliquant [ici](./comptes-rendus/journal-de-bord/menu.md).
+
+## **Documentation Technique**
+
+Vous pouvez consulter la documentation technique du projet en cliquant [ici](./comptes-rendus/documentation-technique/doc.md).
diff --git a/comptes-rendus/documentation-technique/doc.md b/comptes-rendus/documentation-technique/doc.md
new file mode 100755
index 0000000000000000000000000000000000000000..39ce662ad3e460a1b74fad18092be77b0f3fd1c2
--- /dev/null
+++ b/comptes-rendus/documentation-technique/doc.md
@@ -0,0 +1,3 @@
+# Documentation Technique : Flocking Simulator
+
+[**↩️ Retour à l'accueil**](../../README.md)
\ No newline at end of file
diff --git a/comptes-rendus/journal-de-bord/final/lundi.md b/comptes-rendus/journal-de-bord/final/lundi.md
new file mode 100755
index 0000000000000000000000000000000000000000..25ad51ff7b051e66e92bcd89b7ffabe0c4fc864a
--- /dev/null
+++ b/comptes-rendus/journal-de-bord/final/lundi.md
@@ -0,0 +1,13 @@
+# Journal de Bord - Jour 21
+
+[↩️ Retour au Journal de Bord de la Semaine](./menu.md)
+
+Voici ici le descriptif du travail effectué lors de la journée du 13/06/2022.
+
+## De 8h30 à 10h
+
+## de 10h à 12h
+
+## de 14h à 16h
+
+## de 16h à 18h
\ No newline at end of file
diff --git a/comptes-rendus/journal-de-bord/final/mardi.md b/comptes-rendus/journal-de-bord/final/mardi.md
new file mode 100755
index 0000000000000000000000000000000000000000..05cd4af8fa7f9aec9ef174427cefc38d2598b5da
--- /dev/null
+++ b/comptes-rendus/journal-de-bord/final/mardi.md
@@ -0,0 +1,13 @@
+# Journal de Bord - Jour 22 - Jour Final
+
+[↩️ Retour au Journal de Bord de la Semaine](./menu.md)
+
+Voici ici le descriptif du travail effectué lors de la journée du 14/06/2022.
+
+## De 8h30 à 10h
+
+## de 10h à 12h
+
+## de 14h à 16h
+
+## de 16h à 18h
\ No newline at end of file
diff --git a/comptes-rendus/journal-de-bord/final/menu.md b/comptes-rendus/journal-de-bord/final/menu.md
new file mode 100755
index 0000000000000000000000000000000000000000..51c59181c290c0abb3b6bc10c1fe67390c70d380
--- /dev/null
+++ b/comptes-rendus/journal-de-bord/final/menu.md
@@ -0,0 +1,11 @@
+# Journal de Bord - Semaine Fin
+
+[↩️ Retour au Journal de Bord](../menu.md)
+
+La fin du Projet a eu lieu du 13/06/2022 au 14/06/2022.
+
+Vous pouvez ici accéder aux comptes rendus de chaque jour.
+
+* [Lundi 13 Juin 2022](lundi.md)
+* [Mardi 14 Juin 2022](mardi.md)
+
diff --git a/comptes-rendus/journal-de-bord/menu.md b/comptes-rendus/journal-de-bord/menu.md
new file mode 100755
index 0000000000000000000000000000000000000000..9dcfad4b01624e1fdd348119370940ad754e4289
--- /dev/null
+++ b/comptes-rendus/journal-de-bord/menu.md
@@ -0,0 +1,13 @@
+# Journal de Bord
+
+[↩️ Retour à l'accueil](../../README.md)
+
+Le PJI a eu lieu du 16/05/2022 au 14/06/2022.
+
+Vous pouvez ici accéder aux comptes rendus de chaque semaine.
+
+* [Semaine 1](./semaine1/menu.md) : du 16/05/2022 au 20/05/2022
+* [Semaine 2](./semaine2/menu.md) : du 23/05/2022 au 27/05/2022
+* [Semaine 3](./semaine3/menu.md) : du 30/05/2022 au 03/06/2022
+* [Semaine 4](./semaine4/menu.md) : du 06/06/2022 au 10/06/2022
+* [Fin du Projet](./final/menu.md) : du 13/06/2022 au 14/06/2022
\ No newline at end of file
diff --git a/comptes-rendus/journal-de-bord/semaine1/jeudi.md b/comptes-rendus/journal-de-bord/semaine1/jeudi.md
new file mode 100755
index 0000000000000000000000000000000000000000..732997bb94ddf21d65c6b5b25eff9bed86355f34
--- /dev/null
+++ b/comptes-rendus/journal-de-bord/semaine1/jeudi.md
@@ -0,0 +1,13 @@
+# Journal de Bord - Jour 4
+
+[↩️ Retour au Journal de Bord de la Semaine](./menu.md)
+
+Voici ici le descriptif du travail effectué lors de la journée du 19/05/2022.
+
+## De 8h30 à 10h
+
+## de 10h à 12h
+
+## de 14h à 16h
+
+## de 16h à 18h
\ No newline at end of file
diff --git a/comptes-rendus/journal-de-bord/semaine1/lundi.md b/comptes-rendus/journal-de-bord/semaine1/lundi.md
new file mode 100755
index 0000000000000000000000000000000000000000..3427f570b3ae47bf715647968a9f85a1bd09ad5e
--- /dev/null
+++ b/comptes-rendus/journal-de-bord/semaine1/lundi.md
@@ -0,0 +1,23 @@
+# Journal de Bord - Jour 1
+
+[↩️ Retour au Journal de Bord de la Semaine](./menu.md)
+
+Voici ici le descriptif du travail effectué lors de la journée du 16/05/2022.
+
+## De 8h30 à 10h
+
+* Relecture de l'[article scientifique](../../../media/paper.pdf) qu'on voudra tester
+
+## de 10h à 12h
+
+* Écriture résumé de l'[article scientifique](../../../media/paper.pdf)
+* Organisation de la structure du dépôt Git du projet (création des .md)
+
+## de 14h à 16h
+
+* Lecture des particularités du langage c# pour faire de l'orienté objet
+* Écriture du code (voir la v0 de la scène)
+
+## de 16h à 18h
+
+* Écriture du code
\ No newline at end of file
diff --git a/comptes-rendus/journal-de-bord/semaine1/mardi.md b/comptes-rendus/journal-de-bord/semaine1/mardi.md
new file mode 100755
index 0000000000000000000000000000000000000000..5614fe18c2b670d9b8e2d813a3fbb5a620168285
--- /dev/null
+++ b/comptes-rendus/journal-de-bord/semaine1/mardi.md
@@ -0,0 +1,17 @@
+# Journal de Bord - Jour 2
+
+[↩️ Retour au Journal de Bord de la Semaine](./menu.md)
+
+Voici ici le descriptif du travail effectué lors de la journée du 17/05/2022.
+
+## De 8h30 à 10h
+
+* Écriture du code, compréhension des particularités unity-c#
+
+## de 10h à 12h
+
+* Écriture du code, compréhension des particularités unity-c#
+
+## de 14h à 16h
+
+## de 16h à 18h
\ No newline at end of file
diff --git a/comptes-rendus/journal-de-bord/semaine1/menu.md b/comptes-rendus/journal-de-bord/semaine1/menu.md
new file mode 100755
index 0000000000000000000000000000000000000000..3f57f1894a4d871940f3ba3e9f8f557b651c1030
--- /dev/null
+++ b/comptes-rendus/journal-de-bord/semaine1/menu.md
@@ -0,0 +1,14 @@
+# Journal de Bord - Semaine 1
+
+[↩️ Retour au Journal de Bord](../menu.md)
+
+La Semaine 1 a eu lieu du 16/05/2022 au 20/05/2022
+
+Vous pouvez ici accéder aux comptes rendus de chaque jour.
+
+* [Lundi 16 Mai 2022](lundi.md)
+* [Mardi 17 Mai 2022](mardi.md)
+* [Mercredi 18 Mai 2022](mercredi.md)
+* [Jeudi 19 Mai 2022](jeudi.md)
+* [Vendredi 20 Mai 2022](vendredi.md)
+
diff --git a/comptes-rendus/journal-de-bord/semaine1/mercredi.md b/comptes-rendus/journal-de-bord/semaine1/mercredi.md
new file mode 100755
index 0000000000000000000000000000000000000000..d753f1af20d01f311f3df14bbb26554ddcf3c31f
--- /dev/null
+++ b/comptes-rendus/journal-de-bord/semaine1/mercredi.md
@@ -0,0 +1,13 @@
+# Journal de Bord - Jour 3
+
+[↩️ Retour au Journal de Bord de la Semaine](./menu.md)
+
+Voici ici le descriptif du travail effectué lors de la journée du 18/05/2022.
+
+## De 8h30 à 10h
+
+## de 10h à 12h
+
+## de 14h à 16h
+
+## de 16h à 18h
\ No newline at end of file
diff --git a/comptes-rendus/journal-de-bord/semaine1/vendredi.md b/comptes-rendus/journal-de-bord/semaine1/vendredi.md
new file mode 100755
index 0000000000000000000000000000000000000000..b5dde3638021f6f4173577e009530b4c8777b01b
--- /dev/null
+++ b/comptes-rendus/journal-de-bord/semaine1/vendredi.md
@@ -0,0 +1,13 @@
+# Journal de Bord - Jour 5
+
+[↩️ Retour au Journal de Bord de la Semaine](./menu.md)
+
+Voici ici le descriptif du travail effectué lors de la journée du 20/05/2022.
+
+## De 8h30 à 10h
+
+## de 10h à 12h
+
+## de 14h à 16h
+
+## de 16h à 18h
\ No newline at end of file
diff --git a/comptes-rendus/journal-de-bord/semaine2/jeudi.md b/comptes-rendus/journal-de-bord/semaine2/jeudi.md
new file mode 100755
index 0000000000000000000000000000000000000000..e6a965df249871d12fdb1326d660aa5ac66638e9
--- /dev/null
+++ b/comptes-rendus/journal-de-bord/semaine2/jeudi.md
@@ -0,0 +1,13 @@
+# Journal de Bord - Jour 9
+
+[↩️ Retour au Journal de Bord de la Semaine](./menu.md)
+
+Voici ici le descriptif du travail effectué lors de la journée du 26/05/2022.
+
+## De 8h30 à 10h
+
+## de 10h à 12h
+
+## de 14h à 16h
+
+## de 16h à 18h
\ No newline at end of file
diff --git a/comptes-rendus/journal-de-bord/semaine2/lundi.md b/comptes-rendus/journal-de-bord/semaine2/lundi.md
new file mode 100755
index 0000000000000000000000000000000000000000..569cde4528ff429d81feb1447e44efc54220cedb
--- /dev/null
+++ b/comptes-rendus/journal-de-bord/semaine2/lundi.md
@@ -0,0 +1,13 @@
+# Journal de Bord - Jour 6
+
+[↩️ Retour au Journal de Bord de la Semaine](./menu.md)
+
+Voici ici le descriptif du travail effectué lors de la journée du 23/05/2022.
+
+## De 8h30 à 10h
+
+## de 10h à 12h
+
+## de 14h à 16h
+
+## de 16h à 18h
\ No newline at end of file
diff --git a/comptes-rendus/journal-de-bord/semaine2/mardi.md b/comptes-rendus/journal-de-bord/semaine2/mardi.md
new file mode 100755
index 0000000000000000000000000000000000000000..2251e5e6124c7f07afa884417dab1347467decc5
--- /dev/null
+++ b/comptes-rendus/journal-de-bord/semaine2/mardi.md
@@ -0,0 +1,13 @@
+# Journal de Bord - Jour 7
+
+[↩️ Retour au Journal de Bord de la Semaine](./menu.md)
+
+Voici ici le descriptif du travail effectué lors de la journée du 24/05/2022.
+
+## De 8h30 à 10h
+
+## de 10h à 12h
+
+## de 14h à 16h
+
+## de 16h à 18h
\ No newline at end of file
diff --git a/comptes-rendus/journal-de-bord/semaine2/menu.md b/comptes-rendus/journal-de-bord/semaine2/menu.md
new file mode 100755
index 0000000000000000000000000000000000000000..374bd85e25b5410963bef6bfde0d853e6d264ec4
--- /dev/null
+++ b/comptes-rendus/journal-de-bord/semaine2/menu.md
@@ -0,0 +1,14 @@
+# Journal de Bord - Semaine 2
+
+[↩️ Retour au Journal de Bord](../menu.md)
+
+La Semaine 2 a eu lieu du 23/05/2022 au 27/05/2022
+
+Vous pouvez ici accéder aux comptes rendus de chaque jour.
+
+* [Lundi 23 Mai 2022](lundi.md)
+* [Mardi 24 Mai 2022](mardi.md)
+* [Mercredi 25 Mai 2022](mercredi.md)
+* [Jeudi 26 Mai 2022](jeudi.md)
+* [Vendredi 27 Mai 2022](vendredi.md)
+
diff --git a/comptes-rendus/journal-de-bord/semaine2/mercredi.md b/comptes-rendus/journal-de-bord/semaine2/mercredi.md
new file mode 100755
index 0000000000000000000000000000000000000000..39ad556ce3908167df27909207c6a48dbc055e51
--- /dev/null
+++ b/comptes-rendus/journal-de-bord/semaine2/mercredi.md
@@ -0,0 +1,13 @@
+# Journal de Bord - Jour 8
+
+[↩️ Retour au Journal de Bord de la Semaine](./menu.md)
+
+Voici ici le descriptif du travail effectué lors de la journée du 25/05/2022.
+
+## De 8h30 à 10h
+
+## de 10h à 12h
+
+## de 14h à 16h
+
+## de 16h à 18h
\ No newline at end of file
diff --git a/comptes-rendus/journal-de-bord/semaine2/vendredi.md b/comptes-rendus/journal-de-bord/semaine2/vendredi.md
new file mode 100755
index 0000000000000000000000000000000000000000..64b0be8145ce7b15b6d460ca4246994bc5255fe7
--- /dev/null
+++ b/comptes-rendus/journal-de-bord/semaine2/vendredi.md
@@ -0,0 +1,13 @@
+# Journal de Bord - Jour 10
+
+[↩️ Retour au Journal de Bord de la Semaine](./menu.md)
+
+Voici ici le descriptif du travail effectué lors de la journée du 27/05/2022.
+
+## De 8h30 à 10h
+
+## de 10h à 12h
+
+## de 14h à 16h
+
+## de 16h à 18h
\ No newline at end of file
diff --git a/comptes-rendus/journal-de-bord/semaine3/jeudi.md b/comptes-rendus/journal-de-bord/semaine3/jeudi.md
new file mode 100755
index 0000000000000000000000000000000000000000..af087466a4c04070b1d232fd753cc49063be7b24
--- /dev/null
+++ b/comptes-rendus/journal-de-bord/semaine3/jeudi.md
@@ -0,0 +1,13 @@
+# Journal de Bord - Jour 14
+
+[↩️ Retour au Journal de Bord de la Semaine](./menu.md)
+
+Voici ici le descriptif du travail effectué lors de la journée du 02/06/2022.
+
+## De 8h30 à 10h
+
+## de 10h à 12h
+
+## de 14h à 16h
+
+## de 16h à 18h
\ No newline at end of file
diff --git a/comptes-rendus/journal-de-bord/semaine3/lundi.md b/comptes-rendus/journal-de-bord/semaine3/lundi.md
new file mode 100755
index 0000000000000000000000000000000000000000..9f059a608fdf58446c01e942e53e7d507d45c760
--- /dev/null
+++ b/comptes-rendus/journal-de-bord/semaine3/lundi.md
@@ -0,0 +1,13 @@
+# Journal de Bord - Jour 11
+
+[↩️ Retour au Journal de Bord de la Semaine](./menu.md)
+
+Voici ici le descriptif du travail effectué lors de la journée du 30/05/2022.
+
+## De 8h30 à 10h
+
+## de 10h à 12h
+
+## de 14h à 16h
+
+## de 16h à 18h
\ No newline at end of file
diff --git a/comptes-rendus/journal-de-bord/semaine3/mardi.md b/comptes-rendus/journal-de-bord/semaine3/mardi.md
new file mode 100755
index 0000000000000000000000000000000000000000..eec52e93c5c4e4a53b0aa70fdd623814afa92e5b
--- /dev/null
+++ b/comptes-rendus/journal-de-bord/semaine3/mardi.md
@@ -0,0 +1,13 @@
+# Journal de Bord - Jour 12
+
+[↩️ Retour au Journal de Bord de la Semaine](./menu.md)
+
+Voici ici le descriptif du travail effectué lors de la journée du 31/05/2022.
+
+## De 8h30 à 10h
+
+## de 10h à 12h
+
+## de 14h à 16h
+
+## de 16h à 18h
\ No newline at end of file
diff --git a/comptes-rendus/journal-de-bord/semaine3/menu.md b/comptes-rendus/journal-de-bord/semaine3/menu.md
new file mode 100755
index 0000000000000000000000000000000000000000..78cc071d9ecb18905b53b3b08dc55b3fe26e13ee
--- /dev/null
+++ b/comptes-rendus/journal-de-bord/semaine3/menu.md
@@ -0,0 +1,14 @@
+# Journal de Bord - Semaine 3
+
+[↩️ Retour au Journal de Bord](../menu.md)
+
+La Semaine 3 a eu lieu du 30/05/2022 au 03/06/2022
+
+Vous pouvez ici accéder aux comptes rendus de chaque jour.
+
+* [Lundi 30 Mai 2022](lundi.md)
+* [Mardi 31 Mai 2022](mardi.md)
+* [Mercredi 01 Juin 2022](mercredi.md)
+* [Jeudi 02 Juin 2022](jeudi.md)
+* [Vendredi 03 Juin 2022](vendredi.md)
+
diff --git a/comptes-rendus/journal-de-bord/semaine3/mercredi.md b/comptes-rendus/journal-de-bord/semaine3/mercredi.md
new file mode 100755
index 0000000000000000000000000000000000000000..c40abd58995cdd21eca5d16e5ec8a3fc211ac1e8
--- /dev/null
+++ b/comptes-rendus/journal-de-bord/semaine3/mercredi.md
@@ -0,0 +1,13 @@
+# Journal de Bord - Jour 13
+
+[↩️ Retour au Journal de Bord de la Semaine](./menu.md)
+
+Voici ici le descriptif du travail effectué lors de la journée du 01/06/2022.
+
+## De 8h30 à 10h
+
+## de 10h à 12h
+
+## de 14h à 16h
+
+## de 16h à 18h
\ No newline at end of file
diff --git a/comptes-rendus/journal-de-bord/semaine3/vendredi.md b/comptes-rendus/journal-de-bord/semaine3/vendredi.md
new file mode 100755
index 0000000000000000000000000000000000000000..cb8d9d13f5ee8d83bb403154b8c4e02ee713f87e
--- /dev/null
+++ b/comptes-rendus/journal-de-bord/semaine3/vendredi.md
@@ -0,0 +1,13 @@
+# Journal de Bord - Jour 15
+
+[↩️ Retour au Journal de Bord de la Semaine](./menu.md)
+
+Voici ici le descriptif du travail effectué lors de la journée du 03/06/2022.
+
+## De 8h30 à 10h
+
+## de 10h à 12h
+
+## de 14h à 16h
+
+## de 16h à 18h
\ No newline at end of file
diff --git a/comptes-rendus/journal-de-bord/semaine4/jeudi.md b/comptes-rendus/journal-de-bord/semaine4/jeudi.md
new file mode 100755
index 0000000000000000000000000000000000000000..fcdc29ee15d0bcf005d774f1f0695d701a4fedfe
--- /dev/null
+++ b/comptes-rendus/journal-de-bord/semaine4/jeudi.md
@@ -0,0 +1,13 @@
+# Journal de Bord - Jour 19
+
+[↩️ Retour au Journal de Bord de la Semaine](./menu.md)
+
+Voici ici le descriptif du travail effectué lors de la journée du 09/05/2022.
+
+## De 8h30 à 10h
+
+## de 10h à 12h
+
+## de 14h à 16h
+
+## de 16h à 18h
\ No newline at end of file
diff --git a/comptes-rendus/journal-de-bord/semaine4/lundi.md b/comptes-rendus/journal-de-bord/semaine4/lundi.md
new file mode 100755
index 0000000000000000000000000000000000000000..29384113d9729970e40491dd2d44be9ad89c77c9
--- /dev/null
+++ b/comptes-rendus/journal-de-bord/semaine4/lundi.md
@@ -0,0 +1,13 @@
+# Journal de Bord - Jour 16
+
+[↩️ Retour au Journal de Bord de la Semaine](./menu.md)
+
+Voici ici le descriptif du travail effectué lors de la journée du 06/06/2022.
+
+## De 8h30 à 10h
+
+## de 10h à 12h
+
+## de 14h à 16h
+
+## de 16h à 18h
\ No newline at end of file
diff --git a/comptes-rendus/journal-de-bord/semaine4/mardi.md b/comptes-rendus/journal-de-bord/semaine4/mardi.md
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@@ -0,0 +1,13 @@
+# Journal de Bord - Jour 17
+
+[↩️ Retour au Journal de Bord de la Semaine](./menu.md)
+
+Voici ici le descriptif du travail effectué lors de la journée du 07/06/2022.
+
+## De 8h30 à 10h
+
+## de 10h à 12h
+
+## de 14h à 16h
+
+## de 16h à 18h
\ No newline at end of file
diff --git a/comptes-rendus/journal-de-bord/semaine4/menu.md b/comptes-rendus/journal-de-bord/semaine4/menu.md
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index 0000000000000000000000000000000000000000..bb66494b7bd02f925ed52394ed60adaa88f727f7
--- /dev/null
+++ b/comptes-rendus/journal-de-bord/semaine4/menu.md
@@ -0,0 +1,14 @@
+# Journal de Bord - Semaine 4
+
+[↩️ Retour au Journal de Bord](../menu.md)
+
+La Semaine 1 a eu lieu du 06/06/2022 au 10/06/2022
+
+Vous pouvez ici accéder aux comptes rendus de chaque jour.
+
+* [Lundi 06 Juin 2022](lundi.md)
+* [Mardi 07 Juin 2022](mardi.md)
+* [Mercredi 08 Juin 2022](mercredi.md)
+* [Jeudi 09 Juin 2022](jeudi.md)
+* [Vendredi 10 Juin 2022](vendredi.md)
+
diff --git a/comptes-rendus/journal-de-bord/semaine4/mercredi.md b/comptes-rendus/journal-de-bord/semaine4/mercredi.md
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index 0000000000000000000000000000000000000000..4050f5539f39726feebe714f1e2f09ec66d66ea6
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+++ b/comptes-rendus/journal-de-bord/semaine4/mercredi.md
@@ -0,0 +1,13 @@
+# Journal de Bord - Jour 18
+
+[↩️ Retour au Journal de Bord de la Semaine](./menu.md)
+
+Voici ici le descriptif du travail effectué lors de la journée du 08/06/2022.
+
+## De 8h30 à 10h
+
+## de 10h à 12h
+
+## de 14h à 16h
+
+## de 16h à 18h
\ No newline at end of file
diff --git a/comptes-rendus/journal-de-bord/semaine4/vendredi.md b/comptes-rendus/journal-de-bord/semaine4/vendredi.md
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@@ -0,0 +1,13 @@
+# Journal de Bord - Jour 20
+
+[↩️ Retour au Journal de Bord de la Semaine](./menu.md)
+
+Voici ici le descriptif du travail effectué lors de la journée du 10/06/2022.
+
+## De 8h30 à 10h
+
+## de 10h à 12h
+
+## de 14h à 16h
+
+## de 16h à 18h
\ No newline at end of file
diff --git a/media/lecture-article.txt b/media/lecture-article.txt
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+Citation :
+
+2010 Leadership in Flocking
+[Vicenç Quera, Francesc S. Beltran, Ruth Dolado ]
+
+Lien :
+
+http://diposit.ub.edu/dspace/bitstream/2445/34511/1/577311.pdf
+
+Mots clés :
+
+ - Flocking Behaviour
+ - Hierarchical Leadership
+ - Agent-Based Simulation
+ - Social Dynamics
+
+Structure :
+
+ 1. Abstract
+ Étude de l'émergence de meneur comme résultat d'interactions inter-agents
+ Il est supposé que les meneurs seraient une conséquence d'interactions entre agents basées sur des règles dyadic.
+ Utilisation du comportement de nuée, exemple de comportement de groupe, dont les propriétés observés peuvent expliquer quelques unes
+ des dynamiques et organisations humaines
+ Generation de nué, on récolte les indices des agents pour interpreter le mouvement du groupe et interpréter s'il y a un leader actuel
+ Plusieurs tests, afin de tester le model, et voir comment la définition de l'agent et les conditions du monde
+ influent sur les fluctuations des indices.
+ Identification des agents, propriété monde, paramètre de modèle, qui rende stable la nuée et qui
+ rende possible l'analyse des propriétés d'environnements qui prédictent la probabilité d'emergence de meneur.
+ 2. Introduction
+ - Sociologie, sciences po, management, psycologie
+ - le but est d'étudier l'émergence de leader comme conséquence d'interactions entre agents, qui
+ ont les mêmes propriétés (aucun est prédominant)
+ Seuls les interactions entre agents mènent à la nuée et au meneur
+ - Explication du comportement de nuée, Reynold cité
+ - Nuée est comportement de group auto-organisé, provoqué par règles simple entre agent
+ Parallèle avec certains comportements de groupes humains (basées sur observation et analyse, non sur anticipation et croyance)
+ - implementation de nuée, différent de Reynold, résulte de dyadic interactions rules.
+ 2 types indices, nuée globale et nuée menée
+ Tests du comportement du modèle, des propriétés agents et environnement + model param qui favorise floacking
+ Description de l'emergence de meneur et tentative de lien avec les prop d'environnement et la situation du meneur (position)
+ Description probabilité de l'agent de devenir meneur
+ 3. Modelling Flock Emergence
+ - mouvement de coordonnées, Utilisation de P-Flock 2.0 (C et Delphi) et dyadic rule
+ a. World and Agents
+ world : 2D discret, cases capacité 1 agent
+ agent : a des coordonnées de position et un vecteur direction
+ l'agent a un champ de perception centré par sa direction.
+ ses mouvements sont contraints par son voisinages
+ (Moor et Von Neumann à plusieurs diametre possibles)
+ b. Ideal Distances and Dissatisfaction
+ définission de la distance idéal entre les agents qui peut changer selon le contexte,
+ l'agent voudra se déplacer avec son voisinage
+ l'agent pourra quantifier son mécontentement dans une situation selon un voisinage donnée,
+ il voudra faire le mouvement qui minimisera son mécontentement futur
+ Les agents qui n'ont pas de cases spécifique pour réduire leur mécontentement, bougeront aléatoirement après que ceux
+ qui avaient l'occasion de faire baisser leur mécontentement aient bougé
+ c. Flock Synthesis Rules
+ Distance idéale varie selon les interactions entre agents, interactions basées sur des règles, les régles de synthèse de nuée
+ les règles :
+ - se déplacement intialement de manière aléatoire
+ - quand un agent croise un autre et que leurs distances est inférieur ou égale à une certaine valeur,
+ alors il détermine une distance idéale qui les rapproche de manière aléatoire
+ - 2 manières de déterminer le futur déplacement :
+ - douce : s'adapter au déplacement de l'autre, il se déplacera selon son voisinage pour minimiser son mécontentement
+ et considéra le déplacement qui le rapprochera de la distance idéal avec l'autre, en considérant qu'il ne bougera pas
+ L'agent s'eloignera donc ou s'approchera, selon la distance réelle et la distance idéal determinée.
+ Si après mouvement on a un mécontentement supérieure à celui prévu, on parle de sous-adaptage. S'il est inférieur à celui prévu, sur-adaptage. Si égale, parfaitement adapté
+ 2 cas : a. approcher et sousadapté, b. éloigner et suradapté
+ a. augmenter la distance idéal est pénalité
+ b. augmenter la distance idéal est récompense
+
+ En gros, si overadapted le mouvement est cool et on continue, sinon pas cool on continue pas
+ - brut : si trop de stagnation ou trop d'isolation
+ Des paramètres
+ les agents intéragissent avec d'autre si dans le champ de perception, l'autre agent n'interagit pas forcément si ne voit pas le premier agent
+ si l'agent considère plusieurs agents, alors il déterminera la distance idéale de manière indépendante pour chaque agent
+ Démo sur le site, on peut pause, play, slow down... On enregistre les positions, les directions, les distances idéales etles indices de nuée et de menage
+ 4. Quantifying Floacking
+ - indice nué : analyse des positions dans le temps
+ - nué grande si headings en communs et distances assez proches, sinon petite
+ - on observe le tout et determine l'indice globale de nué selon les nuées observés
+ 5. An Index of Hierarchical Flock Leadership
+ - lorsqu'il y a nué, on observe souvent un leader. Leader qui donne sa direction aux autres
+ (il ne voit pas les autres mais les autres le voit et le suit)
+ - matrice sociale : un graph où les agents sont des noeuds et avec arêtes orientés selon les autres agents perçues
+ - leader vu et suivi par certains qui eux sont suivi par certains qui eux ... Le leader n'a pas forcément le plus haut degré
+ Avoir un degré nul ne suffit pas pour être leader, il faut être suivi...
+ - rang de prestige : notre prestige augmente si on est suivi par d'autre plus ou moins prestige
+ - si boucle, utiliser des substitue de valeurs
+ - le poids est le dyadic indice de nuée, ainsi l'indice de menage correspond au degré de mouvement coordonné de la nué. Si nué compact avec même heading,
+ l'indice de menage sera haut. Quand désordonné, pas beaucoup de nué, alors pas beaucoup de menage.
+ - différence avec effective leadership (effective explique le mouvement, le Hierarchical est une observation extérieur)
+ Avoir un meneur n'explique pas le mouvement, c'est les règles des agents qui le définisse
+ a. An Example
+ - 8 agents positionnés, on voit leur direction et qui ils perçoivent
+ - analyse des indices de nué (matrice avec des 1 si même direction entre 2 agents)
+ - on constate le leader
+ 6. Method
+ - Les tests. 2 series de simulations :
+ - identifier conditions environnements (taille), conditions agent (champ de vision) et
+ paramètre des interactions qui font émerger le mouvement de nué.
+ - analyse des leaders et essaie de déterminer la probabilité selon position initiale de devenir leader
+ a. Flock Emergence
+ - diverses tailles de mondes, 20 agents, perception entre 3pi/2 et 60 et utilisation
+ du voisinage de Moore de diametre 3. Dispersé équitablement dans l'espace et même direction,
+ Simulation fait 20000 itérations. On répéte 4 fois la simulation selon la taille
+ - Résultats : grand monde, pas de nué. trop petit monde, trop d'interactions, nué pas stable.
+ Une taille relativement petite (150x120) est vu comme optimal pour 20 agents.
+ - On change la perception, on garde le reste, on fait tourner tout pareil qu'avant, (60, 6π/4) and (80, 5π/4) sont les meilleurs perceptions.
+ En relançant les simulations avec ces perceptions et le reste des critères sauf qu'on affecte aléatoirement les positions et les directions, la nuée est stable
+ - Simulations pour obtenir les paramètres des interactions
+ - Avec les résultats obtenue, on effectue 100 simulations qui tourne 20000 étapes avec affectation aléatoire des positions et directions, 72% de chance d'obtenir la nuée.
+ - lorsque nué stable, pas de patron général de comportement de la nuée stable
+ b. Flock Leadership
+ - le leader sera celui avec l'indice le plus grand, même s'il y a plusieurs nuées.
+ Un seul leader stable à la fois.
+ - deux ensembles de simulations, les stables (72%) et pas stables (28%)
+ On observe les affectations de meneur et lorsque la nué est stable, le leader l'est aussi. Sinon, le leader change beaucoup de fois
+ c. Centrality and Leadership
+ - hypothèse de la centralité qui cause le meneur
+ - centralité : à partir d'un agent, somme des vecteurs menants aux autres, si somme nulle, agent centré
+ - après tests avec 292 leaders observés, la position n'influe pas le leader
+ 7. Discussion and Conclusions
+ - Le modèle crée une nuée comme celui de Reynold sans utiliser le même principe. Ici, adaptation aux agents rencontrés, pénalité et récompense,
+ minimisation du mécontentement produisent le mouvement de nuée. Les règles des agents ne le prévoient pas, c'est une conséquence de celles ci.
+ - Lorsque le mouvement de nué est produit, on constate des leaders stables. Les règles des agents ne le prévoient pas non plus, c'est également un phénomène emergeant.
+ - Indices de nuée et de meneur avec utilisation de graphes sociaux.
+ - Beaucoup de variations de paramètres possibles, l'objectif était de trouver lesquels favorisaient l'émergence de nué. 3 conclusions :
+ - monde grand, quand nuée, la nuée est stable
+ - les nuées les plus compactes et stables sont apparus lorsque grande vision et petit objectif,
+ - avec les paramètres optimaux trouvé, 72% de chance d'avoir une nuée
+ - lorsque nuée stable, le leader le sera aussi. la position de l'agent leader n'a pas d'incidence apparente dans le fait de devenir leader.
+ - Possibilité de suite en 3D, possibilité de suite dans l'analyse d'émergeance de leaders
+
+Commentaires :
+
+Intéressant comme phénomène !
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diff --git a/src/Assets/Boid.prefab.meta b/src/Assets/Boid.prefab.meta
deleted file mode 100755
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diff --git a/src/Assets/Environnement.cs b/src/Assets/Environnement.cs
deleted file mode 100755
index e6e09d5731b17ce20094feb531997afdd4a7ccda..0000000000000000000000000000000000000000
--- a/src/Assets/Environnement.cs
+++ /dev/null
@@ -1,49 +0,0 @@
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-
-public class Environnement : MonoBehaviour
-{
-
- public int minX;
- public int minY;
- public int minZ;
- public int maxX;
- public int maxY;
- public int maxZ;
- public bool _3D;
- public bool globalSpeed;
- public float speed;
- public bool RaynoldEscape;
- public int RaynoldEscapeTresh;
- public bool RaynoldTogether;
- public int RaynoldTogetherTresh;
- public bool RaynoldFollow;
- public int RaynoldFollowTresh;
-
- // Start is called before the first frame update
- void Start()
- {
- _3D = true;
- globalSpeed = true;
- speed = 1.2f;
- minX = -30;
- minY = 0;
- minZ = -15;
- maxX = 30;
- maxY = 50;
- maxZ = 15;
- RaynoldEscape = false ;
- RaynoldEscapeTresh = 1;
- RaynoldTogether = false ;
- RaynoldTogetherTresh = 3;
- RaynoldFollow = false ;
- RaynoldFollowTresh = 5;
- }
-
- // Update is called once per frame
- void Update()
- {
-
- }
-}
\ No newline at end of file
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diff --git a/src/Assets/Flocking.cs b/src/Assets/Flocking.cs
deleted file mode 100755
index 63084fc76a25195b3f2dad75891567fb7b2cfd11..0000000000000000000000000000000000000000
--- a/src/Assets/Flocking.cs
+++ /dev/null
@@ -1,161 +0,0 @@
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-using System;
-
-public class Flocking : MonoBehaviour
-{
-
- private Environnement env;
- public Vector3 direction;
- public float speed;
- private bool _3D;
- public Component[] birds;
- private List<Vector3> nextDirections = new List<Vector3>();
-
- // Start is called before the first frame update
- void Start()
- {
- env = GameObject.Find("SMA").GetComponent<Environnement>();
- direction = randomDirection();
- speed = 1.2f;
- _3D = env._3D;
- birds = env.GetComponentsInChildren<Flocking>();
- }
-
- // Update is called once per frame
- void Update()
- {
- if(env._3D != _3D) {
- _3D = env._3D;
- direction = randomDirection();
- }
- setDirection();
- move();
- }
-
- Vector3 randomDirection() {
-
- float x = 0.0f;
- float y = 0.0f;
- float z = 0.0f;
- int r;
- if(env._3D) {
- for(int i = 0; i<10; i++) {
- r = UnityEngine.Random.Range(0,3);
- if (r == 0) x += 1.0f;
- else if (r == 1) y += 1.0f;
- else z += 1.0f;
- }
- }
- else {
- for(int i = 0; i<10; i++) {
- r = UnityEngine.Random.Range(0,2);
- if (r == 0) x += 1.0f;
- else y += 1.0f;
- }
- }
- if(UnityEngine.Random.Range(1,3) > 1) x = -x;
- if(UnityEngine.Random.Range(1,3) > 1) y = -y;
- if(UnityEngine.Random.Range(1,3) > 1) z = -z;
-
- return normalizedVector(x,y,z);
- }
-
- Vector3 normalizedVector(float x, float y, float z) {
- return (new Vector3(x,y,z)).normalized;
- }
-
- Vector3 meanVector(List<Vector3> vectors) {
- Vector3 res = Vector3.zero;
- for(int i = 0; i<vectors.Count; i++) {
- res += vectors[i];
- }
- res = res/vectors.Count;
- return res.normalized;
- }
-
- void setDirection() {
- nextDirections.Clear();
- environnement();
- List<Component> neighbours = neighbourhood();
- if(env.RaynoldEscape) raynoldEscape(neighbours);
- if(env.RaynoldFollow) raynoldFollow(neighbours);
- if(env.RaynoldTogether) raynoldTogether(neighbours);
- direction = meanVector(nextDirections);
- }
-
- List<Component> neighbourhood() {
- List<Component> neighbours = new List<Component>();
- float dist;
- Vector3 link;
- Flocking bird;
- for(int i=0; i<birds.Length; i++) {
- bird = (Flocking) birds[i];
- link = bird.transform.position - transform.position;
- dist = (float) Math.Sqrt(Math.Pow(link.x,2) + Math.Pow(link.y,2) + Math.Pow(link.z,2));
- if(bird != this && dist < env.RaynoldFollowTresh) neighbours.Add(birds[i]);
- }
- return neighbours;
- }
-
- void raynoldEscape(List<Component> neighbours) {
- Vector3 res = Vector3.zero;
- float dist;
- Vector3 link;
- Flocking bird;
- for(int i=0; i<neighbours.Count; i++) {
- bird = (Flocking) neighbours[i];
- link = bird.transform.position - transform.position;
- dist = (float) Math.Sqrt(Math.Pow(link.x,2) + Math.Pow(link.y,2) + Math.Pow(link.z,2));
- if(bird != this && dist < env.RaynoldEscapeTresh) res -= link;
- }
- nextDirections.Add(normalizedVector(res.x,res.y,res.z));
- }
-
- void raynoldFollow(List<Component> neighbours) {
- Vector3 res = Vector3.zero;
- float dist;
- Vector3 link;
- Flocking bird;
- for(int i=0; i<neighbours.Count; i++) {
- bird = (Flocking) neighbours[i];
- link = bird.transform.position - transform.position;
- dist = (float) Math.Sqrt(Math.Pow(link.x,2) + Math.Pow(link.y,2) + Math.Pow(link.z,2));
- if(bird != this && dist < env.RaynoldFollowTresh && dist >= env.RaynoldTogetherTresh) res += link;
- }
- nextDirections.Add(normalizedVector(res.x,res.y,res.z));
- }
-
- void raynoldTogether(List<Component> neighbours) {
- Vector3 res = Vector3.zero;
- float dist;
- Vector3 link;
- Flocking bird;
- for(int i=0; i<neighbours.Count; i++) {
- bird = (Flocking) neighbours[i];
- link = bird.transform.position - transform.position;
- dist = (float) Math.Sqrt(Math.Pow(link.x,2) + Math.Pow(link.y,2) + Math.Pow(link.z,2));
- if(bird != this && dist < env.RaynoldTogetherTresh && dist >= env.RaynoldEscapeTresh) res += bird.direction;
- }
- nextDirections.Add(normalizedVector(res.x,res.y,res.z));
- }
-
- void environnement() {
- Vector3 res = Vector3.zero;
- res += direction;
- if(transform.position.x < env.minX || transform.position.x > env.maxX) res.x = -direction.x;
- if(transform.position.y < env.minY || transform.position.y > env.maxY) res.y = -direction.y;
- if(transform.position.z < env.minZ || transform.position.z > env.maxZ) res.z = -direction.z;
- nextDirections.Add(res);
- }
-
- void move() {
- float s;
- if(env.globalSpeed) s = env.speed; else s = speed;
- transform.position += s*direction;
- transform.LookAt(transform.position + s*direction);
- }
-
-
-}
diff --git a/src/Assets/Flocking.cs.meta b/src/Assets/Flocking.cs.meta
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deleted file mode 100755
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diff --git a/src/Assets/Scenes/SampleScene.unity.meta b/src/Assets/Scenes/SampleScene.unity.meta
deleted file mode 100755
index 952bd1e9e110583d94b471a30ff4ddd69f4aee7d..0000000000000000000000000000000000000000
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@@ -1,7 +0,0 @@
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diff --git a/src/boids.unitypackage b/src/Packages/v0.unitypackage
similarity index 100%
rename from src/boids.unitypackage
rename to src/Packages/v0.unitypackage
diff --git a/src/Packages/v1.unitypackage b/src/Packages/v1.unitypackage
new file mode 100755
index 0000000000000000000000000000000000000000..b871ac21ce230a5f6cfc4a9c0bb1bdb534297209
Binary files /dev/null and b/src/Packages/v1.unitypackage differ
diff --git a/src/Scripts/Agent.cs b/src/Scripts/Agent.cs
new file mode 100755
index 0000000000000000000000000000000000000000..f77a515c831bcbae0bfc27669329eff85c3376ac
--- /dev/null
+++ b/src/Scripts/Agent.cs
@@ -0,0 +1,56 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+
+public class Agent : MonoBehaviour, Visible
+{
+
+ public SMA system;
+ private Comportement comportement;
+ private Perception perception;
+ public Vector3 direction;
+ public float speed;
+ public List<Vector3> oldDirections;
+ private int Taille_Memoire = 5;
+
+
+ // Start is called before the first frame update
+ void Start()
+ {
+ system = GameObject.Find("SMA").GetComponent<SMA>();
+ comportement = new Reynolds(this);
+ perception = new Perception360(this, 15);
+ //perception = new Perception(this,20.0f,180.0f);
+ direction = Utils.randomDirection();
+ //speed = UnityEngine.Random.Range(0.8f,1.2f);
+ speed = 0.7f;
+ oldDirections = new List<Vector3>();
+ oldDirections.Add(direction);
+ }
+
+ // Update is called once per frame
+ void Update()
+ {
+ reagir(voir());
+ memoire();
+ }
+
+ public List<Observation> voir() { return perception.voir(); }
+
+ public void reagir(List<Observation> observation) {direction = comportement.reagir(observation); move(); }
+
+ void move() {
+ transform.position += speed*direction;
+ transform.LookAt(transform.position + speed*direction);
+ }
+
+ void memoire() {
+ oldDirections.Add(direction);
+ if (oldDirections.Count > Taille_Memoire) oldDirections.RemoveAt(0);
+ }
+
+ public bool isAlive() { return true; }
+
+}
diff --git a/src/Scripts/Comportement/Aleatoire.cs b/src/Scripts/Comportement/Aleatoire.cs
new file mode 100755
index 0000000000000000000000000000000000000000..aa349820c13862a26b36347fbb9b0456baf01c53
--- /dev/null
+++ b/src/Scripts/Comportement/Aleatoire.cs
@@ -0,0 +1,15 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class Aleatoire : Comportement
+{
+
+ public Aleatoire(Agent proprietaire) : base(proprietaire) {}
+
+ public override Vector3 reagir(List<Observation> observation) {
+ //int bruit = UnityEngine.Random.Range(1,5);
+ return proprietaire.oldDirections[0].normalized;
+ }
+
+}
diff --git a/src/Scripts/Comportement/Comportement.cs b/src/Scripts/Comportement/Comportement.cs
new file mode 100755
index 0000000000000000000000000000000000000000..c1728d8de44448aabffc1667c2a49e8d68990c43
--- /dev/null
+++ b/src/Scripts/Comportement/Comportement.cs
@@ -0,0 +1,23 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public abstract class Comportement
+{
+
+ protected Agent proprietaire;
+
+ protected int nbBruit = 5;
+ protected float bruit = 0.01f;
+
+ public Comportement(Agent a) {
+ proprietaire = a;
+ }
+
+ public abstract Vector3 reagir(List<Observation> observation) ;
+ /*{
+ return Utils.noiseVector(proprietaire.direction,nbBruit,bruit);
+ //return Vector3.zero;
+ }*/
+
+}
diff --git a/src/Scripts/Comportement/Reynolds.cs b/src/Scripts/Comportement/Reynolds.cs
new file mode 100755
index 0000000000000000000000000000000000000000..f5fac296e83a3cb7e59073b72129ef1e4a1750f3
--- /dev/null
+++ b/src/Scripts/Comportement/Reynolds.cs
@@ -0,0 +1,53 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class Reynolds : Comportement
+{
+
+ static public float Escape = 5.0f;
+ static public float Together = 10.0f;
+ static public float Follow = 15.0f;
+
+ public Reynolds(Agent proprietaire) : base(proprietaire) {}
+
+ public override Vector3 reagir(List<Observation> observation) {
+ List<Vector3> vectors = new List<Vector3>();
+ vectors.Add(proprietaire.direction);
+ foreach(Observation o in observation) {
+ if (o.objet.isAlive()) {
+ if(danger(o)) vectors.Add(fuir(o.distance));
+ else if(normal(o)) vectors.Add(suivre(o.objet));
+ else if(isolement(o)) vectors.Add(rapprocher(o.distance));
+ }
+ else {
+ if(danger(o)) for(int i=0;i<5;i++) vectors.Add(fuir(o.distance));
+ }
+ }
+ Vector3 res = Utils.meanVector(vectors);
+ //return proprietaire.direction;
+ return Utils.noiseVector(res,nbBruit,bruit);
+ }
+
+ private bool danger(Observation o) {
+ return (Utils.normVector(o.distance) < Escape);
+ }
+
+ private Vector3 fuir(Vector3 d) { return -d; }
+
+ private bool normal(Observation o) {
+ return Utils.normVector(o.distance) < Together;
+ }
+
+ private Vector3 suivre(Visible a) {
+ Agent agent = (Agent) a;
+ return agent.direction;
+ }
+
+ private bool isolement(Observation o) {
+ return Utils.normVector(o.distance) <= Follow;
+ }
+
+ private Vector3 rapprocher(Vector3 d) { return d; }
+
+}
diff --git a/src/Scripts/Environnement/Environnement.cs b/src/Scripts/Environnement/Environnement.cs
new file mode 100755
index 0000000000000000000000000000000000000000..e024985ce60a846a662c5fb933cc4b94bbda29ff
--- /dev/null
+++ b/src/Scripts/Environnement/Environnement.cs
@@ -0,0 +1,70 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class Environnement : MonoBehaviour
+{
+
+ private SMA system;
+ public GameObject topologie;
+ public float minX;
+ public float maxX;
+ public float minY;
+ public float maxY;
+ public float minZ;
+ public float maxZ;
+
+ // Start is called before the first frame update
+ void Start()
+ {
+ system = GameObject.Find("SMA").GetComponent<SMA>();
+ Instantiate(topologie, Vector3.zero, Quaternion.identity,transform);
+ float scaleX = topologie.transform.localScale.x;
+ float scaleY = topologie.transform.localScale.y;
+ float scaleZ = topologie.transform.localScale.z;
+ minX = -scaleX/2.0f;maxX = scaleX/2.0f;
+ minY = -scaleY/2.0f;maxY = scaleY/2.0f;
+ minZ = -scaleZ/2.0f;maxZ = scaleZ/2.0f;
+ }
+
+ public Observation detectEnv(Agent current) {
+ Vector3 pos = current.transform.position;
+ List<Vector3> p = new List<Vector3>
+ {
+ new Vector3(minX,pos.y,pos.z), new Vector3(maxX,pos.y,pos.z),
+ new Vector3(pos.x,minY,pos.z), new Vector3(pos.x,maxY,pos.z),
+ new Vector3(pos.x,pos.y,minZ), new Vector3(pos.x,pos.y,maxZ),
+ };
+ float dist = Utils.normVector(p[0] - pos);
+ float d; Vector3 res = p[0];
+ for(int i=1;i<p.Count;i++) {
+ d = Utils.normVector(p[i] - pos);
+ if(d<dist) {
+ dist = d;
+ res = p[i];
+ }
+ }
+ return new Observation(new Obstacle(res),res-pos);
+ }
+
+ public List<Observation> voisinage(Agent current, float rayon, float angle) {
+ Vector3 dist; float l; float a;
+ List<Observation> res = new List<Observation>();
+ for(int i = 0; i<system.agents.Count;i++) {
+ dist = system.agents[i].transform.position - current.transform.position;
+ l = Utils.normVector(dist);
+ a = Vector3.Angle(current.direction,dist);
+ if (system.agents[i] != current && l <= rayon && a <= angle/2.0f) res.Add(new Observation(system.agents[i],dist));
+ }
+ Observation bord = detectEnv(current);
+ l = Utils.normVector(bord.distance); a = Vector3.Angle(current.direction,bord.distance);
+ if(l <= rayon && a <= angle/2.0f) res.Add(bord);
+ return res;
+ }
+
+ // Update is called once per frame
+ void Update()
+ {
+
+ }
+}
diff --git a/src/Scripts/Environnement/Obstacle.cs b/src/Scripts/Environnement/Obstacle.cs
new file mode 100755
index 0000000000000000000000000000000000000000..8e63bc1295a382e858d8128538a036455958d86d
--- /dev/null
+++ b/src/Scripts/Environnement/Obstacle.cs
@@ -0,0 +1,15 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class Obstacle : Visible
+{
+
+ Vector3 position;
+
+ public bool isAlive() { return false; }
+
+ public Obstacle(Vector3 p) {
+ position = p;
+ }
+}
diff --git a/src/Scripts/Perception/Perception.cs b/src/Scripts/Perception/Perception.cs
new file mode 100755
index 0000000000000000000000000000000000000000..0cf080e1deb9b0ba1a22002974448aa4bf951d19
--- /dev/null
+++ b/src/Scripts/Perception/Perception.cs
@@ -0,0 +1,33 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class Perception
+{
+
+ protected Agent proprietaire;
+ protected float rayon;
+ protected float angle;
+
+ public Perception(Agent agent, float r, float a) {
+ proprietaire = agent;
+ rayon = r;
+ angle = a;
+ }
+
+ public List<Observation> voir() {
+ return proprietaire.system.environnement.voisinage(proprietaire, rayon, angle);
+ }
+
+ // Start is called before the first frame update
+ void Start()
+ {
+
+ }
+
+ // Update is called once per frame
+ void Update()
+ {
+
+ }
+}
diff --git a/src/Scripts/Perception/Perception360.cs b/src/Scripts/Perception/Perception360.cs
new file mode 100755
index 0000000000000000000000000000000000000000..d650015890a123ebbf261f2b1fd4c52cb4c36179
--- /dev/null
+++ b/src/Scripts/Perception/Perception360.cs
@@ -0,0 +1,21 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class Perception360 : Perception
+{
+
+ public Perception360(Agent agent, float r) : base(agent, r, 360.0f) {}
+
+ // Start is called before the first frame update
+ void Start()
+ {
+
+ }
+
+ // Update is called once per frame
+ void Update()
+ {
+
+ }
+}
diff --git a/src/Scripts/SMA.cs b/src/Scripts/SMA.cs
new file mode 100755
index 0000000000000000000000000000000000000000..98d32dba5256db550e5f8b03896ac0950c804e6c
--- /dev/null
+++ b/src/Scripts/SMA.cs
@@ -0,0 +1,44 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class SMA : MonoBehaviour
+{
+ public List<Agent> agents;
+ public Environnement environnement;
+ public int population = 50;
+ public GameObject boid;
+
+
+ // Start is called before the first frame update
+ void Start()
+ {
+ createEnvironnement();
+ createAgents();
+ }
+
+ // Update is called once per frame
+ void Update()
+ {
+
+ }
+
+ void createEnvironnement() {
+ //environnement = new Environnement();
+ //environnement = gameObject.AddComponent<Environnement>() as Environnement;
+ environnement = GameObject.Find("Environnement").GetComponent<Environnement>();
+ }
+
+ void createAgents() {
+ GameObject a;
+ for(int i=0; i<population; i++) {
+ a = Instantiate(boid,
+ Utils.randomVector(environnement.minX, environnement.maxX,
+ environnement.minY, environnement.maxY,
+ environnement.minZ, environnement.maxZ), Quaternion.identity,environnement.transform) as GameObject;
+ agents.Add(a.GetComponent<Agent>());
+ }
+
+ }
+
+}
\ No newline at end of file
diff --git a/src/Scripts/Utils.cs b/src/Scripts/Utils.cs
new file mode 100755
index 0000000000000000000000000000000000000000..3efaabdb3c7421cc2379ea80abc66910d2200e85
--- /dev/null
+++ b/src/Scripts/Utils.cs
@@ -0,0 +1,105 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class Utils
+{
+
+ // Start is called before the first frame update
+ void Start()
+ {
+
+ }
+
+ // Update is called once per frame
+ void Update()
+ {
+
+ }
+ public static Vector3 randomDirection() {
+
+ float x = 0.0f;
+ float y = 0.0f;
+ float z = 0.0f;
+ int r;
+ for(int i = 0; i<10; i++) {
+ r = UnityEngine.Random.Range(0,3);
+ if (r == 0) x += 1.0f;
+ else if (r == 1) y += 1.0f;
+ else z += 1.0f;
+ }
+ if(UnityEngine.Random.Range(1,3) > 1) x = -x;
+ if(UnityEngine.Random.Range(1,3) > 1) y = -y;
+ if(UnityEngine.Random.Range(1,3) > 1) z = -z;
+
+ return normalizedVector(x,y,z);
+ }
+
+ public static Vector3 normalizedVector(float x, float y, float z) {
+ return (new Vector3(x,y,z)).normalized;
+ }
+
+ public static Vector3 meanVector(List<Vector3> vectors) {
+ Vector3 res = Vector3.zero;
+ for(int i = 0; i<vectors.Count; i++) {
+ res += vectors[i];
+ }
+ res = res/vectors.Count;
+ return res.normalized;
+ }
+
+ public static Vector3 randomVector(float minX, float maxX, float minY, float maxY, float minZ, float maxZ) {
+ return new Vector3(UnityEngine.Random.Range(minX,maxX),
+ UnityEngine.Random.Range(minY,maxY),
+ UnityEngine.Random.Range(minZ,maxZ));
+ }
+
+ public static float normVector(Vector3 v) {
+ return (float) Math.Sqrt(Math.Pow(v.x,2) + Math.Pow(v.y,2) + Math.Pow(v.z,2));
+ }
+
+ public static Vector3 noiseVector(Vector3 v, int nbBruit, float bruit ) {
+ int coin1; int coin2; float x = v.x; float y = v.y; float z = v.z;
+ for(int i=0;i<nbBruit;i++) {
+ coin1 = UnityEngine.Random.Range(1,3);
+ coin2 = UnityEngine.Random.Range(1,4);
+ if(coin2 == 1) {
+ if(coin1 == 1) x+=bruit;
+ else x-= bruit;
+ }
+ else if(coin2 == 2) {
+ if(coin1 == 1) y+=bruit;
+ else y-= bruit;
+ }
+ else {
+ if(coin1 == 1) z+=bruit;
+ else z-= bruit;
+ }
+ }
+ return normalizedVector(x,y,z);
+ }
+
+ /* List<Component> neighbourhood() {
+ List<Component> neighbours = new List<Component>();
+ float dist;
+ Vector3 link;
+ Agent bird;
+ for(int i=0; i<birds.Length; i++) {
+ bird = (Agent) birds[i];
+ link = bird.transform.position - transform.position;
+ dist = (float) Math.Sqrt(Math.Pow(link.x,2) + Math.Pow(link.y,2) + Math.Pow(link.z,2));
+ if(bird != this && dist < system.RaynoldFollowTresh) neighbours.Add(birds[i]);
+ }
+ return neighbours;
+ }
+
+ void SMA() {
+ Vector3 res = Vector3.zero;
+ res += direction;
+ if(transform.position.x < system.minX || transform.position.x > system.maxX) res.x = -direction.x;
+ if(transform.position.y < system.minY || transform.position.y > system.maxY) res.y = -direction.y;
+ if(transform.position.z < system.minZ || transform.position.z > system.maxZ) res.z = -direction.z;
+ nextDirections.Add(res);
+ }*/
+}
diff --git a/src/Scripts/Vision/Observation.cs b/src/Scripts/Vision/Observation.cs
new file mode 100755
index 0000000000000000000000000000000000000000..bb1dc10f3d8938f7f679089f9b7d796e4d652021
--- /dev/null
+++ b/src/Scripts/Vision/Observation.cs
@@ -0,0 +1,30 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class Observation
+{
+
+ public Visible objet;
+
+ public Vector3 distance;
+
+
+ public Observation(Visible o, Vector3 d) {
+ objet = o;
+ distance = d;
+ }
+
+
+ // Start is called before the first frame update
+ void Start()
+ {
+
+ }
+
+ // Update is called once per frame
+ void Update()
+ {
+
+ }
+}
diff --git a/src/Scripts/Vision/Visible.cs b/src/Scripts/Vision/Visible.cs
new file mode 100755
index 0000000000000000000000000000000000000000..8b2a211f98402a7de51cfa70fdb7c22d203a3a59
--- /dev/null
+++ b/src/Scripts/Vision/Visible.cs
@@ -0,0 +1,5 @@
+public interface Visible {
+
+ public bool isAlive();
+
+}
\ No newline at end of file