WeightedSteering.h

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#pragma once

#include "Steering.h"

namespace ai {
namespace movement {

struct WeightedData {
    SteeringPtr steering;
    const float weight;

    WeightedData(const SteeringPtr& _steering, float _weight = 1.0f) :
            steering(_steering), weight(_weight) {
        ai_assert(weight > 0.0001f, "Weight is too small");
    }
};
typedef std::vector<WeightedData> WeightedSteerings;
typedef WeightedSteerings::const_iterator WeightedSteeringsIter;

class WeightedSteering {
private:
    WeightedSteerings _steerings;
public:
    explicit WeightedSteering(const WeightedSteerings& steerings) :
            _steerings(steerings) {
    }

    MoveVector execute (const AIPtr& ai, float speed) const {
        float totalWeight = 0.0f;
        glm::vec3 vecBlended(0.0f);
        float angularBlended = 0.0f;
        for (const WeightedData& wd : _steerings) {
            const float weight = wd.weight;
            const MoveVector& mv = wd.steering->execute(ai, speed);
            if (isInfinite(mv.getVector())) {
                continue;
            }

            vecBlended += mv.getVector() * weight;
            angularBlended += mv.getRotation() * weight;
            totalWeight += weight;
        }

        if (totalWeight <= 0.0000001f) {
            return MoveVector(VEC3_INFINITE, 0.0f);
        }

        const float scale = 1.0f / totalWeight;
        return MoveVector(vecBlended * scale, fmodf(angularBlended * scale, glm::two_pi<float>()));
    }
};

}
}