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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/Definitions/Algebra.hpp"
 #include "Acts/Definitions/Common.hpp"
 #include "Acts/Detector/Portal.hpp"
 #include "Acts/Navigation/NavigationDelegates.hpp"
 #include "Acts/Navigation/NavigationState.hpp"
 #include "Acts/Surfaces/Surface.hpp"
 #include "Acts/Utilities/AxisDefinitions.hpp"
 #include "Acts/Utilities/Enumerate.hpp"
 #include "Acts/Utilities/GridAccessHelpers.hpp"
 #include "Acts/Utilities/IAxis.hpp"
 #include "Acts/Utilities/VectorHelpers.hpp"
 
 #include <algorithm>
 #include <array>
 #include <memory>
 
 namespace Acts::Experimental {
 
 /// Helper method to update the candidates (portals/surfaces),
 /// this can be called for initial surface/portal estimation,
 /// but also during the navigation to update the current list
 /// of candidates.
 ///
 /// @param gctx is the Geometry context of this call
 /// @param nState [in,out] is the navigation state to be updated
 ///
 /// @todo for surfaces skip the non-reached ones, while keep for portals
 inline void intitializeCandidates(const GeometryContext& gctx,
                                   NavigationState& nState) {
   const auto& position = nState.position;
   const auto& direction = nState.direction;
 
   nState.surfaceCandidateIndex = 0;
 
   NavigationState::SurfaceCandidates confirmedCandidates;
   confirmedCandidates.reserve(nState.surfaceCandidates.size());
 
   for (auto& sc : nState.surfaceCandidates) {
     // Get the surface representation: either native surface of portal
     const Surface& surface =
         sc.surface != nullptr ? *sc.surface : sc.portal->surface();
     // Only allow overstepping if it's not a portal
     double overstepTolerance =
         sc.portal != nullptr ? s_onSurfaceTolerance : nState.overstepTolerance;
     // Boundary tolerance is forced to 0 for portals
     BoundaryTolerance boundaryTolerance =
         sc.portal != nullptr ? BoundaryTolerance::None() : sc.boundaryTolerance;
     // Check the surface intersection
     auto sIntersection = surface.intersect(
         gctx, position, direction, boundaryTolerance, s_onSurfaceTolerance);
     for (auto& si : sIntersection.split()) {
       if (si.isValid() && si.pathLength() > overstepTolerance) {
         confirmedCandidates.emplace_back(NavigationState::SurfaceCandidate{
             si, sc.surface, sc.portal, boundaryTolerance});
       }
     }
   }
 
   std::ranges::sort(confirmedCandidates, {}, [](const auto& c) {
     return c.objectIntersection.pathLength();
   });
 
   nState.surfaceCandidates = std::move(confirmedCandidates);
   nState.surfaceCandidateIndex = 0;
 }
 
 /// @brief This sets a single object, e.g. single surface or single volume
 /// into the navigation state
 ///
 /// @tparam navigation_type distinguishes between internal and external navigation
 /// @tparam object_type the type of the object to be filled
 /// @tparam filler_type is the helper to fill the object into nState
 ///
 template <typename navigation_type, typename object_type, typename filler_type>
 class SingleObjectNavigation : public navigation_type {
  public:
   /// Convenience constructor
   /// @param so the single object
   SingleObjectNavigation(const object_type* so) : m_object(so) {
     if (so == nullptr) {
       throw std::invalid_argument("SingleObjectNavigation: object is nullptr");
     }
   }
 
   /// @brief Fill the navigation state with a single object that it holds
   ///
   /// @param gctx is the Geometry context of this call
   /// @param nState the navigation state to which the surfaces are attached
   ///
   /// @note this is attaching objects without intersecting nor checking
   void fill([[maybe_unused]] const GeometryContext& gctx,
             NavigationState& nState) const {
     filler_type::fill(nState, m_object);
   }
 
   /// @brief Update the navigation state with a single object that it holds
   ///
   /// @note it calls fill and then initializes the candidates (including intersection)
   ///
   /// @param gctx is the Geometry context of this call
   /// @param nState the navigation state to which the surfaces are attached
   ///
   /// @note this is attaching objects and will perform a check
   void update([[maybe_unused]] const GeometryContext& gctx,
               NavigationState& nState) const {
     fill(gctx, nState);
     // If the delegate type is of type IInternalNavigation
     if constexpr (std::is_base_of_v<IInternalNavigation, navigation_type>) {
       intitializeCandidates(gctx, nState);
     }
   }
 
   /// Const Access to the object
   const object_type* object() const { return m_object; }
 
  private:
   // The object to be filled in
   const object_type* m_object = nullptr;
 };
 
 /// @brief This uses stateless extractor and fillers to manipulate
 /// the navigation state
 ///
 /// @tparam navigation_type distinguishes between internal and external navigation
 /// @tparam extractor_type the helper to extract the objects from
 /// @tparam filler_type is the helper to fill the object into nState
 ///
 template <typename navigation_type, typename extractor_type,
           typename filler_type>
 class StaticAccessNavigation : public navigation_type {
  public:
   /// @brief fills the navigation state with extracted objects
   ///
   /// @param gctx is the Geometry context of this call
   /// @param nState the navigation state to which the surfaces are attached
   ///
   /// @note this is attaching objects without intersecting nor checking
   void fill([[maybe_unused]] const GeometryContext& gctx,
             NavigationState& nState) const {
     auto extracted = extractor_type::extract(gctx, nState);
     filler_type::fill(nState, extracted);
   }
 
   /// @brief Update the navigation state with extracted objects
   ///
   /// @note it calls fill and then initializes the candidates (including intersection)
   ///
   /// @param gctx is the Geometry context of this call
   /// @param nState the navigation state to which the surfaces are attached
   ///
   /// @note this will perform the intersection test
   void update([[maybe_unused]] const GeometryContext& gctx,
               NavigationState& nState) const {
     fill(gctx, nState);
     // If the delegate type is of type IInternalNavigation
     if constexpr (std::is_base_of_v<IInternalNavigation, navigation_type>) {
       intitializeCandidates(gctx, nState);
     }
   }
 };
 
 /// @brief  This is an index grid based navigation state updator, it uses
 /// an extractor type and a filler type to handle the navigation state
 ///
 /// @note a transform is applied `p3l = transform * p3` in order to allow
 /// shifted, transformed grids
 ///
 /// It can be used for volumes, surfaces at convenience
 ///
 /// @tparam navigation_type distinguishes between internal and external navigation
 /// @tparam grid_t is the type of the grid
 /// @tparam extractor_type is the helper to extract the object
 /// @tparam filler_type is the helper to fill the object into the nState
 template <typename navigation_type, typename grid_t, typename extractor_type,
           typename filler_type>
 class IndexedGridNavigation : public navigation_type {
  public:
   /// Broadcast the grid type
   using grid_type = grid_t;
 
   /// An extractor helper to get the object(s) from the volume
   extractor_type extractor;
 
   /// The grid where the indices are stored
   grid_type grid;
 
   /// These are the cast parameters - copied from constructor
   std::array<AxisDirection, grid_type::DIM> casts{};
 
   /// A transform to be applied to the position
   Transform3 transform = Transform3::Identity();
 
   /// @brief  Constructor for a grid based surface attacher
   /// @param igrid the grid that is moved into this attacher
   /// @param icasts is the cast values array
   /// @param itr a transform applied to the global position
   IndexedGridNavigation(grid_type&& igrid,
                         const std::array<AxisDirection, grid_type::DIM>& icasts,
                         const Transform3& itr = Transform3::Identity())
       : grid(std::move(igrid)), casts(icasts), transform(itr) {}
 
   IndexedGridNavigation() = delete;
 
   /// @brief fill the navigation state with objects from the grid entries
   /// AFTER applying `p3loc = transform * p3` and casting to subsbpace
   ///
   /// @param gctx is the Geometry context of this call
   /// @param nState the navigation state to which the surfaces are attached
   ///
   /// @note this will only fill the state without intersecting
   void fill(const GeometryContext& gctx, NavigationState& nState) const {
     // Extract the index grid entry a
     const auto& entry =
         grid.atPosition(GridAccessHelpers::castPosition<grid_type>(
             transform * nState.position, casts));
     auto extracted = extractor.extract(gctx, nState, entry);
     filler_type::fill(nState, extracted);
   }
 
   /// @brief Update the navigation state with objects from the entries
   /// AFTER applying `p3loc = transform * p3` and casting to subsbpace
   ///
   /// @note it calls fill and then initializes the candidates (including intersection)
   ///
   /// @param gctx is the Geometry context of this call
   /// @param nState the navigation state to which the surfaces are attached
   ///
   /// @note this will perform the intersection test for internal navigation paths
   void update(const GeometryContext& gctx, NavigationState& nState) const {
     fill(gctx, nState);
     // If the delegate type is of type IInternalNavigation
     if constexpr (std::is_base_of_v<IInternalNavigation, navigation_type>) {
       // Update the candidates: initial update
       intitializeCandidates(gctx, nState);
     }
   }
 };
 
 /// This is a chained updated, which can either performed a chained filling,
 /// or a chaine update (which included intersection test)
 ///
 /// @tparam navigation_type distinguishes between internal and external navigation
 /// @tparam updators_t the updators that will be called in sequence
 ///
 template <typename navigation_type, typename... updators_t>
 class ChainedNavigation : public navigation_type {
  public:
   /// The stored updators
   std::tuple<updators_t...> updators;
 
   /// Constructor for chained updators in a tuple, this will unroll
   /// the tuple and call them in sequence
   ///
   /// @param upts the updators to be called in chain
   ChainedNavigation(const std::tuple<updators_t...>&& upts)
       : updators(std::move(upts)) {}
 
   /// A combined navigation state updated to fill the candidates from
   /// a sequence of pre-defined updators
   ///
   /// @param gctx is the Geometry context of this call
   /// @param nState the navigation state to which the objects are attached
   ///
   void fill(const GeometryContext& gctx, NavigationState& nState) const {
     // Unfold the tuple and add the attachers
     std::apply([&](auto&&... updator) { ((updator.fill(gctx, nState)), ...); },
                updators);
   }
 
   /// A combined navigation state to fill & update the candidatesthe candidates
   ///
   /// @param gctx is the Geometry context of this call
   /// @param nState the navigation state to which the objects are attached
   ///
   /// @note It will call the chained filling and then perform a single update on
   /// the candidates to avoid copying and multiple intersection tests
   void update(const GeometryContext& gctx, NavigationState& nState) const {
     // Unfold the tuple and add the attachers
     fill(gctx, nState);
     // Update the candidates: initial update
     intitializeCandidates(gctx, nState);
   }
 };
 
 }  // namespace Acts::Experimental

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