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lib/AI/Pathfinding/SMAstar/PriorityQueue.pm  view on Meta::CPAN

	while(1){

	    while($least_depth == 0){
		$avltree = $cost_hash_ref->{$highest_cost_key};  #tree with highest cost
		
		# get the deepest queue in the tree
		# so we can use it to step backward to the smallest non-zero 
		# depth in the following loop
		my $queue_at_largest_depth = $$avltree->largest(); 
		$least_depth = $queue_at_largest_depth->key();
		$depth_keys_iterator = $$avltree->get_keys_iterator();
		

		# get lowest non-zero key of tree (smallest non-zero depth)
		while (defined(my $key = $depth_keys_iterator->())){
		    #########################################################################
		    #
		    # Does this need to be a non-zero depth element? yes. (example: test68.lst)
		    # 
		    #########################################################################		  
		    if($key != 0){
			$least_depth = $key;
			last;
		    }
		}

		# if no non-zero depths, find the next highest key and loop back
		my $next_highest_cost_key;
		if($least_depth == 0){
		    $next_highest_cost_key = next_largest_element(\@cost_keys, $highest_cost_key);
		    $highest_cost_key = $next_highest_cost_key;
		    if(!$highest_cost_key){
			print "no highest_cost_key found\n";
			exit;
		    }
		}
		else{ # least depth is non-zero, so it's good
		    last;
		}
		
	    }  # Now have a good highest_cost_key, with a tree that has a good non-zero key queue somewhere in it.
	    

	    my $queue = $$avltree->get_queue($least_depth);  # get the queue at least_depth	    

	    my $queue_keys_iterator = $queue->get_keys_iterator();
	    my $queue_key = $queue_keys_iterator->(); # burn the first value from the iterator since we're getting first object on next line.	    
	    $obj = $$avltree->oldest_at($least_depth); # get the shallowest one that is not at zero depth
	    
	    my $i = 1;

	    while($compare_func->($obj, $best) || $compare_func->($obj, $succ) || $obj->has_descendants_in_memory()){		
		
		if($queue_key = $queue_keys_iterator->()){					    
		    $obj = $queue->lookup_by_key($queue_key);		
	       
		}
		else{
		    # need a new least_depth.  check if there are any more queues with non-zero depth in this tree.
		    # if not, need a new highest_cost_key.
		    $obj = undef;

		    my $next_smallest = $depth_keys_iterator->();
		    if(!defined($next_smallest)){
			last;
		    }
		    else{
			$least_depth = $next_smallest;
			$queue = $$avltree->get_queue($least_depth);  # get the queue at least_depth		
			$queue_keys_iterator = $queue->get_keys_iterator();
			$queue_key = $queue_keys_iterator->(); # burn the first value from the iterator		
			$obj = $$avltree->oldest_at($least_depth); # get the shallowest one that is not at zero depth			
			$i = 1;		
			next;
		    }
		}
		
		$i++;
	    } # end while($compare_func->($obj, $best) || $compare_func->($obj, $succ) || $obj->has_descendants_in_memory())
	    	    
	    # done loop on last highest_cost_key.  if obj is not found, get another highest_cost_key, and loop back again.
	    if(!$obj){
		$least_depth = 0;
		$highest_cost_key = next_largest_element(\@cost_keys, $highest_cost_key);		
	    }
	    else{
		last;
	    }
	    
	} # end while(1)

	my $obj_str = $str_function->($obj);
	$$avltree->remove($obj, $cmp_func->($obj_str));

	if($obj){
	    $self->{_size} = $self->{_size} - 1;
	    
	    my $antecedent = $obj->{_antecedent};
	    if($antecedent){
		$antecedent->{_descendants_on_queue} = $antecedent->{_descendants_on_queue} - 1;
	    }
	    $obj->is_on_queue(0);
	    if($$avltree->is_empty()){
		delete $cost_hash_ref->{$highest_cost_key}; 
	

		$cost_min_max_tree->remove($highest_cost_key);
	    }		
	    return $obj;   
	}
	else{	
	    return;
	}
    }
}


sub largest_element
{
    my ($array) = @_;