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 // This file is part of the ACTS project.
 //
 // Copyright (C) 2016 CERN for the benefit of the ACTS project
 //
 // This Source Code Form is subject to the terms of the Mozilla Public
 // License, v. 2.0. If a copy of the MPL was not distributed with this
 // file, You can obtain one at https://mozilla.org/MPL/2.0/.
 
 #pragma once
 
 #include "Acts/Detector/Detector.hpp"
 #include "Acts/Detector/DetectorVolume.hpp"
 #include "Acts/Detector/Portal.hpp"
 #include "Acts/Geometry/GeometryIdentifier.hpp"
 #include "Acts/Geometry/Layer.hpp"
 #include "Acts/Navigation/NavigationState.hpp"
 #include "Acts/Propagator/NavigationTarget.hpp"
 #include "Acts/Propagator/NavigatorOptions.hpp"
 #include "Acts/Propagator/NavigatorStatistics.hpp"
 #include "Acts/Surfaces/BoundaryTolerance.hpp"
 #include "Acts/Surfaces/Surface.hpp"
 #include "Acts/Utilities/Logger.hpp"
 
 #include <algorithm>
 #include <sstream>
 #include <string>
 
 #include <boost/algorithm/string.hpp>
 #include <boost/container/small_vector.hpp>
 
 namespace Acts::Experimental {
 
 class DetectorNavigator {
  public:
   struct Config {
     /// Detector for this Navigation
     const Detector* detector = nullptr;
 
     /// Configuration for this Navigator
     /// stop at every sensitive surface (whether it has material or not)
     bool resolveSensitive = true;
     /// stop at every material surface (whether it is passive or not)
     bool resolveMaterial = true;
     /// stop at every surface regardless what it is
     bool resolvePassive = false;
   };
 
   struct Options : public NavigatorPlainOptions {
     explicit Options(const GeometryContext& gctx)
         : NavigatorPlainOptions(gctx) {}
 
     void setPlainOptions(const NavigatorPlainOptions& options) {
       static_cast<NavigatorPlainOptions&>(*this) = options;
     }
   };
 
   /// Nested State struct
   ///
   /// It acts as an internal state which is
   /// created for every propagation/extrapolation step
   /// and keep thread-local navigation information
   struct State : public NavigationState {
     explicit State(const Options& options_) : options(options_) {}
 
     Options options;
 
     /// Navigation state - external state: the current surface
     const Surface* currentSurface = nullptr;
     /// Navigation state : a break has been detected
     bool navigationBreak = false;
 
     /// Navigation statistics
     NavigatorStatistics statistics;
   };
 
   /// Constructor with configuration object
   ///
   /// @param cfg The navigator configuration
   /// @param _logger a logger instance
   explicit DetectorNavigator(Config cfg,
                              std::shared_ptr<const Logger> _logger =
                                  getDefaultLogger("DetectorNavigator",
                                                   Logging::Level::INFO))
       : m_cfg{cfg}, m_logger{std::move(_logger)} {}
 
   State makeState(const Options& options) const {
     State state(options);
     return state;
   }
 
   const Surface* currentSurface(const State& state) const {
     return state.currentSurface;
   }
 
   const DetectorVolume* currentVolume(const State& state) const {
     return state.currentVolume;
   }
 
   const IVolumeMaterial* currentVolumeMaterial(const State& state) const {
     return state.currentVolume->volumeMaterial();
   }
 
   const Surface* startSurface(const State& state) const {
     return state.options.startSurface;
   }
 
   const Surface* targetSurface(const State& state) const {
     return state.options.targetSurface;
   }
 
   bool endOfWorldReached(State& state) const {
     return state.currentVolume == nullptr;
   }
 
   bool navigationBreak(const State& state) const {
     return state.navigationBreak;
   }
 
   [[nodiscard]] Result<void> initialize(State& state, const Vector3& position,
                                         const Vector3& direction,
                                         Direction propagationDirection) const {
     (void)propagationDirection;
 
     ACTS_VERBOSE(volInfo(state) << posInfo(state, position) << "initialize");
 
     if (state.currentDetector == nullptr) {
       ACTS_VERBOSE("Assigning detector from the config.");
       state.currentDetector = m_cfg.detector;
     }
     if (state.currentDetector == nullptr) {
       throw std::invalid_argument("DetectorNavigator: no detector assigned");
     }
 
     fillNavigationState(position, direction, state);
     if (state.currentVolume == nullptr) {
       state.currentVolume = state.currentDetector->findDetectorVolume(
           state.options.geoContext, state.position);
     }
     if (state.currentVolume == nullptr) {
       throw std::invalid_argument("DetectorNavigator: no current volume found");
     }
     updateCandidateSurfaces(state, position);
 
     return Result<void>::success();
   }
 
   NavigationTarget nextTarget(State& state, const Vector3& position,
                               const Vector3& direction) const {
     ACTS_VERBOSE(volInfo(state)
                  << posInfo(state, position) << "Entering navigator::preStep.");
 
     if (inactive()) {
       ACTS_VERBOSE(volInfo(state)
                    << posInfo(state, position) << "navigator inactive");
       return NavigationTarget::None();
     }
 
     fillNavigationState(position, direction, state);
 
     if (state.currentSurface != nullptr) {
       ACTS_VERBOSE(volInfo(state)
                    << posInfo(state, position) << "stepping through surface");
     }
     ++state.surfaceCandidateIndex;
 
     if (state.surfaceCandidateIndex ==
         static_cast<int>(state.surfaceCandidates.size())) {
       ACTS_VERBOSE(volInfo(state)
                    << posInfo(state, position) << "no surface candidates");
       // we run out of surfaces and we are in a portal - try to reinitialize the
       // navigation state
       if (state.currentPortal == nullptr) {
         updateCandidateSurfaces(state, position);
         state.surfaceCandidateIndex = 0;
       } else {
         return NavigationTarget::None();
       }
     }
 
     // Screen output how much is left to try
     ACTS_VERBOSE(volInfo(state) << posInfo(state, position)
                                 << (state.surfaceCandidates.size() -
                                     state.surfaceCandidateIndex)
                                 << " out of " << state.surfaceCandidates.size()
                                 << " surfaces remain to try.");
 
     // Take the surface
     const auto& candidate = state.surfaceCandidate();
     const auto& surface = (candidate.surface != nullptr)
                               ? (*candidate.surface)
                               : (candidate.portal->surface());
     // Screen output which surface you are on
     ACTS_VERBOSE(volInfo(state)
                  << posInfo(state, position)
                  << "next surface candidate will be " << surface.geometryId()
                  << " (" << surface.center(state.options.geoContext).transpose()
                  << ")");
 
     state.currentSurface = nullptr;
     state.currentPortal = nullptr;
     return NavigationTarget(surface, candidate.objectIntersection.index(),
                             candidate.boundaryTolerance);
   }
 
   bool checkTargetValid(const State& state, const Vector3& position,
                         const Vector3& direction) const {
     (void)state;
     (void)position;
     (void)direction;
 
     return true;
   }
 
   void handleSurfaceReached(State& state, const Vector3& position,
                             const Vector3& direction,
                             const Surface& surface) const {
     (void)surface;
 
     ACTS_VERBOSE(volInfo(state) << posInfo(state, position)
                                 << "Entering navigator::handleSurfaceReached.");
 
     fillNavigationState(position, direction, state);
 
     if (inactive()) {
       ACTS_VERBOSE(volInfo(state)
                    << posInfo(state, position) << "navigator inactive");
       return;
     }
 
     if (state.surfaceCandidateIndex ==
         static_cast<int>(state.surfaceCandidates.size())) {
       ACTS_VERBOSE(volInfo(state)
                    << posInfo(state, position)
                    << "no surface candidates - waiting for target call");
       return;
     }
 
     const Portal* nextPortal = nullptr;
     const Surface* nextSurface = nullptr;
     bool isPortal = false;
 
     if (state.surfaceCandidate().surface != nullptr) {
       nextSurface = state.surfaceCandidate().surface;
     } else if (state.surfaceCandidate().portal != nullptr) {
       nextPortal = state.surfaceCandidate().portal;
       nextSurface = &nextPortal->surface();
       isPortal = true;
     } else {
       std::string msg = "DetectorNavigator: " + volInfo(state) +
                         posInfo(state, position) +
                         "panic: not a surface not a portal - what is it?";
       throw std::runtime_error(msg);
     }
 
     ACTS_VERBOSE(volInfo(state)
                  << posInfo(state, position) << "landed on surface");
 
     if (isPortal) {
       ACTS_VERBOSE(volInfo(state)
                    << posInfo(state, position)
                    << "this is a portal, updating to new volume.");
       state.currentPortal = nextPortal;
       state.currentSurface = &nextPortal->surface();
       state.surfaceCandidates.clear();
       state.surfaceCandidateIndex = -1;
 
       state.currentPortal->updateDetectorVolume(state.options.geoContext,
                                                 state);
 
       // If no Volume is found, we are at the end of the world
       if (state.currentVolume == nullptr) {
         ACTS_VERBOSE(volInfo(state)
                      << posInfo(state, position)
                      << "no volume after Portal update, end of world.");
         state.navigationBreak = true;
         return;
       }
 
       // Switched to a new volume
       // Update candidate surfaces
       updateCandidateSurfaces(state, position);
 
       ACTS_VERBOSE(volInfo(state)
                    << posInfo(state, position) << "current portal set to "
                    << state.currentPortal->surface().geometryId());
     } else {
       ACTS_VERBOSE(volInfo(state) << posInfo(state, position)
                                   << "this is a surface, storing it.");
 
       // If we are on the surface pointed at by the iterator, we can make
       // it the current one to pass it to the other actors
       state.currentSurface = nextSurface;
       ACTS_VERBOSE(volInfo(state)
                    << posInfo(state, position) << "current surface set to "
                    << state.currentSurface->geometryId());
     }
   }
 
  private:
   Config m_cfg;
 
   std::shared_ptr<const Logger> m_logger;
 
   std::string volInfo(const State& state) const {
     return (state.currentVolume != nullptr ? state.currentVolume->name()
                                            : "No Volume") +
            " | ";
   }
 
   std::string posInfo(const State& /*state*/, const Vector3& position) const {
     std::stringstream ss;
     ss << position.transpose();
     ss << " | ";
     return ss.str();
   }
 
   const Logger& logger() const { return *m_logger; }
 
   /// This checks if a navigation break had been triggered or navigator
   /// is misconfigured
   ///
   /// @return true if the navigator is inactive
   bool inactive() const {
     if (m_cfg.detector == nullptr) {
       return true;
     }
 
     if (!m_cfg.resolveSensitive && !m_cfg.resolveMaterial &&
         !m_cfg.resolvePassive) {
       return true;
     }
 
     return false;
   }
 
   /// @brief Navigation (re-)initialisation for the target
   ///
   /// @note This is only called a few times every propagation/extrapolation
   ///
   /// As a straight line estimate can lead you to the wrong destination
   /// Volume, this will be called at:
   /// - initialization
   /// - attempted volume switch
   /// Target finding by association will not be done again
   ///
   /// @param [in,out] state is the propagation state object
   /// @param [in] position is the current position
   void updateCandidateSurfaces(State& state, const Vector3& position) const {
     ACTS_VERBOSE(volInfo(state)
                  << posInfo(state, position) << "initialize target");
 
     // Here we get the candidate surfaces
     state.currentVolume->updateNavigationState(state.options.geoContext, state);
 
     // Sort properly the surface candidates
     auto& nCandidates = state.surfaceCandidates;
     std::ranges::sort(nCandidates, {}, [](const auto& c) {
       return c.objectIntersection.pathLength();
     });
     state.surfaceCandidateIndex = -1;
   }
 
   void fillNavigationState(const Vector3& position, const Vector3& direction,
                            State& state) const {
     state.position = position;
     state.direction = direction;
   }
 };
 
 }  // namespace Acts::Experimental

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