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 //
 // G4Navigator
 //
 // Class description:
 //
 // A class for use by the tracking management, able to obtain/calculate
 // dynamic tracking time information such as the distance to the next volume,
 // or to find the physical volume containing a given point in the world
 // reference system. The navigator maintains a transformation history and
 // other information to optimise the tracking time performance.
 
 // - Created.                                  Paul Kent,     Jul 95/96
 // - Made Navigator Abstract                   G. Cosmo,      Nov  2003
 // - Added check mode                          G. Cosmo,      Mar  2004
 // - Zero step protections                     J.A. / G.C.,   Nov  2004
 // --------------------------------------------------------------------
 #ifndef G4NAVIGATOR_HH
 #define G4NAVIGATOR_HH 1
 
 #include "geomdefs.hh"
 
 #include "G4ThreeVector.hh"
 #include "G4AffineTransform.hh"
 #include "G4RotationMatrix.hh"
 
 #include "G4LogicalVolume.hh"             // Used in inline methods
 #include "G4TouchableHandle.hh"           //    "         "
 
 #include "G4NavigationHistory.hh"
 #include "G4NormalNavigation.hh"
 #include "G4VoxelNavigation.hh"
 #include "G4ParameterisedNavigation.hh"
 #include "G4ReplicaNavigation.hh"
 #include "G4RegularNavigation.hh"
 #include "G4VExternalNavigation.hh"
 
 #include <iostream>
 
 class G4VPhysicalVolume;
 class G4SafetyCalculator;
 
 class G4Navigator
 {
   public:
 
     friend std::ostream& operator << (std::ostream &os, const G4Navigator &n);
 
     G4Navigator();
       // Constructor - initialisers and setup.
 
     G4Navigator(const G4Navigator&) = delete;
     G4Navigator& operator=(const G4Navigator&) = delete;
       // Copy constructor & assignment operator not allowed.
 
     virtual ~G4Navigator();
       // Destructor. No actions.
 
     virtual G4double ComputeStep(const G4ThreeVector& pGlobalPoint,
                                  const G4ThreeVector& pDirection,
                                  const G4double pCurrentProposedStepLength,
                                        G4double& pNewSafety);
       // Calculate the distance to the next boundary intersected
       // along the specified NORMALISED vector direction and
       // from the specified point in the global coordinate
       // system. LocateGlobalPointAndSetup or LocateGlobalPointWithinVolume 
       // must have been called with the same global point prior to this call.
       // The isotropic distance to the nearest boundary is also
       // calculated (usually an underestimate). The current
       // proposed Step length is used to avoid intersection
       // calculations: if it can be determined that the nearest
       // boundary is >pCurrentProposedStepLength away, kInfinity
       // is returned together with the computed isotropic safety
       // distance. Geometry must be closed.
 
     G4double CheckNextStep(const G4ThreeVector& pGlobalPoint,
                            const G4ThreeVector& pDirection,
                            const G4double pCurrentProposedStepLength,
                                  G4double& pNewSafety); 
       // Same as above, but do not disturb the state of the Navigator.
 
     virtual
     G4VPhysicalVolume* ResetHierarchyAndLocate(const G4ThreeVector& point,
                                                const G4ThreeVector& direction,
                                                const G4TouchableHistory& h);
 
       // Resets the geometrical hierarchy and search for the volumes deepest
       // in the hierarchy containing the point in the global coordinate space.
       // The direction is used to check if a volume is entered.
       // The search begin is the geometrical hierarchy at the location of the
       // last located point, or the endpoint of the previous Step if
       // SetGeometricallyLimitedStep() has been called immediately before.
       // 
       // Important Note: In order to call this the geometry MUST be closed.
 
     virtual
     G4VPhysicalVolume* LocateGlobalPointAndSetup(const G4ThreeVector& point,
                                        const G4ThreeVector* direction = nullptr,
                                        const G4bool pRelativeSearch = true,
                                        const G4bool ignoreDirection = true);
       // Search the geometrical hierarchy for the volumes deepest in hierarchy
       // containing the point in the global coordinate space. Two main cases
       // are:
       //  i) If pRelativeSearch=false it makes use of no previous/state
       //     information. Returns the physical volume containing the point, 
       //     with all previous mothers correctly set up.
       // ii) If pRelativeSearch is set to true, the search begin is the
       //     geometrical hierarchy at the location of the last located point,
       //     or the endpoint of previous Step if SetGeometricallyLimitedStep()
       //     has been called immediately before.
       // The direction is used (to check if a volume is entered) if either
       //   - the argument ignoreDirection is false, or
       //   - the Navigator has determined that it is on an edge shared by two
       //     or more volumes.  (This is state information.)
       // 
       // Important Note: In order to call this the geometry MUST be closed.
 
     virtual
     void LocateGlobalPointWithinVolume(const G4ThreeVector& position);
       // Notify the Navigator that a track has moved to the new Global point
       // 'position', that is known to be within the current safety.
       // No check is performed to ensure that it is within  the volume. 
       // This method can be called instead of LocateGlobalPointAndSetup ONLY if
       // the caller is certain that the new global point (position) is inside
       // the same volume as the previous position.
       // Usually this can be guaranteed only if the point is within safety.
 
     inline void LocateGlobalPointAndUpdateTouchableHandle(
                   const G4ThreeVector&       position,
                   const G4ThreeVector&       direction,
                         G4TouchableHandle&   oldTouchableToUpdate,
                   const G4bool               RelativeSearch = true);
       // First, search the geometrical hierarchy like the above method
       // LocateGlobalPointAndSetup(). Then use the volume found and its
       // navigation history to update the touchable.
 
     inline void LocateGlobalPointAndUpdateTouchable(
                   const G4ThreeVector&       position,
                   const G4ThreeVector&       direction,
                         G4VTouchable*        touchableToUpdate,
                   const G4bool               RelativeSearch = true);
       // First, search the geometrical hierarchy like the above method
       // LocateGlobalPointAndSetup(). Then use the volume found and its
       // navigation history to update the touchable.
 
     inline void LocateGlobalPointAndUpdateTouchable(
                   const G4ThreeVector&       position,
                         G4VTouchable*        touchableToUpdate,
                   const G4bool               RelativeSearch = true);
       // Same as the method above but missing direction.
 
     inline void SetGeometricallyLimitedStep();
       // Inform the navigator that the previous Step calculated
       // by the geometry was taken in its entirety.
 
     virtual G4double ComputeSafety(const G4ThreeVector& globalpoint,
                                    const G4double pProposedMaxLength = DBL_MAX,
                                    const G4bool keepState = true);
       // Calculate the isotropic distance to the nearest boundary from the
       // specified point in the global coordinate system. 
       // The globalpoint utilised must be within the current volume.
       // The value returned is usually an underestimate.  
       // The proposed maximum length is used to avoid volume safety
       // calculations.  The geometry must be closed.
       // To ensure minimum side effects from the call, keepState must be true.
 
     inline G4VPhysicalVolume* GetWorldVolume() const;
       // Return the current  world (`topmost') volume.
 
     inline void SetWorldVolume(G4VPhysicalVolume* pWorld);
       // Set the world (`topmost') volume. This must be positioned at
       // origin (0,0,0) and unrotated.
 
     inline G4TouchableHistory* CreateTouchableHistory() const;
     inline G4TouchableHistory* CreateTouchableHistory(const G4NavigationHistory*) const;
       // `Touchable' creation methods: caller has deletion responsibility.
 
     virtual G4TouchableHandle CreateTouchableHistoryHandle() const;
       // Returns a reference counted handle to a touchable history.
 
     virtual G4ThreeVector GetLocalExitNormal(G4bool* valid);
     virtual G4ThreeVector GetLocalExitNormalAndCheck(const G4ThreeVector& point,
                                                            G4bool* valid);
     virtual G4ThreeVector GetGlobalExitNormal(const G4ThreeVector& point,
                                                     G4bool* valid);
       // Return Exit Surface Normal and validity too.
       // Can only be called if the Navigator's last Step has crossed a
       // volume geometrical boundary.
       // It returns the Normal to the surface pointing out of the volume that
       // was left behind and/or into the volume that was entered.
       // Convention:
       //   The *local* normal is in the coordinate system of the *final* volume.
       // Restriction:
       //   Normals are not available for replica volumes (returns valid= false)
       // These methods takes full care about how to calculate this normal,
       // but if the surfaces are not convex it will return valid=false.
 
     inline G4int GetVerboseLevel() const;
     inline void  SetVerboseLevel(G4int level);
       // Get/Set Verbose(ness) level.
       // [if level>0 && G4VERBOSE, printout can occur]
 
     inline G4bool IsActive() const;
       // Verify if the navigator is active.
     inline void  Activate(G4bool flag);
       // Activate/inactivate the navigator.
 
     inline G4bool EnteredDaughterVolume() const;
       // The purpose of this function is to inform the caller if the track is
       // entering a daughter volume while exiting from the current volume.
       // This method returns 
       // - True only in case 1) above, that is when the Step has caused
       //   the track to arrive at a boundary of a daughter.
       // - False in cases 2), 3) and 4), i.e. in all other cases.
       // This function is not guaranteed to work if SetGeometricallyLimitedStep()
       // was not called when it should have been called.
     inline G4bool ExitedMotherVolume() const;
       // Verify if the step has exited the mother volume.
 
     inline void CheckMode(G4bool mode);
       // Run navigation in "check-mode", therefore using additional
       // verifications and more strict correctness conditions.
       // Is effective only with G4VERBOSE set.
     inline G4bool IsCheckModeActive() const;
     inline void SetPushVerbosity(G4bool mode);
       // Set/unset verbosity for pushed tracks (default is true).
 
     void PrintState() const;
       // Print the internal state of the Navigator (for debugging).
       // The level of detail is according to the verbosity.
 
     inline const G4AffineTransform& GetGlobalToLocalTransform() const;
     inline const G4AffineTransform  GetLocalToGlobalTransform() const;
       // Obtain the transformations Global/Local (and inverse).
       // Clients of these methods must copy the data if they need to keep it.
 
     G4AffineTransform GetMotherToDaughterTransform(G4VPhysicalVolume* dVolume, 
                                                    G4int dReplicaNo,
                                                    EVolume dVolumeType );
       // Obtain mother to daughter transformation.
 
     inline void ResetStackAndState();
       // Reset stack and minimum or navigator state machine necessary for reset
       // as needed by LocalGlobalPointAndSetup.
       // Does not perform clears, resizes, or reset fLastLocatedPointLocal.
 
     inline G4int SeverityOfZeroStepping( G4int* noZeroSteps ) const; 
       // Report on severity of error and number of zero steps,
       // in case Navigator is stuck and is returning zero steps.
       // Values: 1 (small problem),  5 (correcting), 
       //         9 (ready to abandon), 10 (abandoned)
 
     inline G4ThreeVector GetCurrentLocalCoordinate() const;
       // Return the local coordinate of the point in the reference system
       // of its containing volume that was found by LocalGlobalPointAndSetup.
       // The local coordinate of the last located track.
 
     inline G4ThreeVector NetTranslation() const;
     inline G4RotationMatrix NetRotation() const;
       // Compute+return the local->global translation/rotation of current volume.
 
     inline void EnableBestSafety( G4bool value = false );
       // Enable best-possible evaluation of isotropic safety.
 
     inline G4VExternalNavigation* GetExternalNavigation() const;
     void SetExternalNavigation(G4VExternalNavigation* externalNav);
       // Accessor & modifier for custom external navigation.
    
     inline G4VoxelNavigation& GetVoxelNavigator();
     void SetVoxelNavigation(G4VoxelNavigation* voxelNav);
       // Alternative navigator for voxel volumes.
 
     inline G4Navigator* Clone() const;
       // Cloning feature for use in MT applications to clone
       // navigator, including external sub-navigator.
       // Client has responsibility for ownership of returned allocated pointer.
 
     inline G4ThreeVector GetLastStepEndPoint() const { return fStepEndPoint;}
       // Get endpoint of last step.
 
     void InformLastStep(G4double lastStep,
                         G4bool entersDaughtVol,
                         G4bool exitsMotherVol );
       // Derived navigators which rely on LocateGlobalPointAndSetup() need to
       // inform size of step, to maintain logic about arriving on boundary
       // for challenging cases.
       // Required in order to cope with multiple trials at boundaries
       // => Locate with use direction rather than simple, fast logic.
 
   protected:
 
     void SetSavedState();
       // ( fValidExitNormal, fExitNormal, fExiting, fEntering,
       //   fBlockedPhysicalVolume, fBlockedReplicaNo, fLastStepWasZero);
       // Extended to include:
       // ( fLastLocatedPointLocal, fLocatedOutsideWorld;
       //   fEnteredDaughter, fExitedMother
       //   fPreviousSftOrigin, sPreviousSafety)  Safety Sphere.
 
     void RestoreSavedState();
       // Copy aspects of the state, to enable a non-state changing
       // call to ComputeStep().
   
     virtual void ResetState();
       // Utility method to reset the navigator state machine.
 
     inline G4ThreeVector ComputeLocalPoint(const G4ThreeVector& rGlobPoint) const;
       // Return position vector in local coordinate system, given a position
       // vector in world coordinate system.
 
     inline G4ThreeVector ComputeLocalAxis(const G4ThreeVector& pVec) const;
       // Return the local direction of the specified vector in the reference
       // system of the volume that was found by LocalGlobalPointAndSetup.
       // The Local Coordinates of point in world coordinate system.
 
     inline EVolume VolumeType(const G4VPhysicalVolume *pVol) const;
       // Characterise `type' of volume - normal/replicated/parameterised.
 
     inline EVolume CharacteriseDaughters(const G4LogicalVolume *pLog) const;
       // Characterise daughter of logical volume.
 
     inline G4int GetDaughtersRegularStructureId(const G4LogicalVolume *pLv) const;
       // Get regular structure ID of first daughter.
 
     virtual void SetupHierarchy();
       // Renavigate & reset hierarchy described by current history:
       // o Reset volumes and recompute transforms and/or solids of
       // replicated/parameterised volumes.
 
     G4bool CheckOverlapsIterative(G4VPhysicalVolume* vol);
       // Utility method to trigger overlaps check on a volume with reported
       // overlaps ordered by relevance. Used in ComputeStep() when loopings
       // with zero step are detected.
 
   private:
 
     void ComputeStepLog(const G4ThreeVector& pGlobalpoint,
                               G4double moveLenSq) const;
       // Log and checks for steps larger than the tolerance.
 
   protected:
 
     G4double kCarTolerance, fMinStep, fSqTol;
       // Cached tolerances.
 
     //
     // BEGIN State information
     //
 
     G4NavigationHistory fHistory;
       // Transformation and history of the current path
       // through the geometrical hierarchy.
 
     G4ThreeVector fStepEndPoint;
       // Endpoint of last ComputeStep 
       // can be used for optimisation (e.g. when computing safety).
     G4ThreeVector fLastStepEndPointLocal; 
       // Position of the end-point of the last call to ComputeStep 
       // in last Local coordinates.
 
     G4int fVerbose = 0;
       // Verbose(ness) level  [if > 0, printout can occur].
    
     G4bool fEnteredDaughter;
       // A memory of whether in this Step a daughter volume is entered 
       // (set in Compute & Locate).
       // After Compute: it expects to enter a daughter
       // After Locate:  it has entered a daughter.
 
     G4bool fExitedMother;
       // A similar memory whether the Step exited current "mother" volume
       // completely, not entering daughter.
 
     G4bool fWasLimitedByGeometry = false;
       // Set true if last Step was limited by geometry.
 
   private:
 
     G4ThreeVector fLastLocatedPointLocal;
       // Position of the last located point relative to its containing volume.
       //  This is coupled with the bool member fLocatedOutsideWorld;
 
     G4ThreeVector fExitNormal;
       // Leaving volume normal, in the volume containing the exited
       // volume's coordinate system.
       // This is closely coupled with fValidExitNormal, which signals whether
       // we have a (valid) normal for volume we're leaving.
    
     G4ThreeVector fGrandMotherExitNormal;
       // Leaving volume normal, in its own coordinate system.
     G4ThreeVector fExitNormalGlobalFrame;
       // Leaving volume normal, in the global coordinate system.
 
     G4ThreeVector fPreviousSftOrigin;
     G4double fPreviousSafety; 
       // Memory of last safety origin & value. Used in ComputeStep() to ensure
       // that origin of current Step is in the same volume as the point of the
       // last relocation.
 
     G4VPhysicalVolume* fLastMotherPhys = nullptr;
       // Memory of the mother volume during previous step.
       // Intended use: inform user in case of stuck track.
    
     G4VPhysicalVolume* fBlockedPhysicalVolume;
     G4int fBlockedReplicaNo;
       // Identifies the volume and copy / replica number that is blocked
       // (after exiting -- because the exit direction is along the exit normal)
       // or a candidate for entry (after compute step).
    
     G4int fNumberZeroSteps;
       // Count zero steps, as one or two can occur due to changing momentum at
       // a boundary or at an edge common between volumes; several zero steps
       // are likely a problem in the geometry description or in the navigation.
       // Number of preceding moves that were Zero. Reset to 0 after finite step.
     G4int fActionThreshold_NoZeroSteps = 10;  
       // After this many failed/zero steps, act (push etc).
     G4int fAbandonThreshold_NoZeroSteps = 25; 
       // After this many failed/zero steps, abandon track.
 
     G4bool fActive = false;
       // States if the navigator is activated or not.
 
     G4bool fLastTriedStepComputation = false; 
       // Whether ComputeStep() was called since the last call to a Locate().
       // Uses: distinguish parts of state which differ before/after calls
       // to ComputeStep() or one of the Locate() methods; avoid two consecutive
       // calls to compute-step (illegal).
 
     G4bool fEntering, fExiting;
       // Entering/Exiting volumes blocking/setup.
       // o If exiting, volume ptr & replica number (set & used by Locate..())
       //   used for blocking on redescent of geometry;
       // o If entering, volume ptr & replica number (set by ComputeStep(),
       //   used by Locate..()) of volume for 'automatic' entry.
    
     G4bool fValidExitNormal;
       // Set true if have leaving volume normal.
     G4bool fLastStepWasZero;
       // Whether the last ComputeStep moved Zero. Used to check for edges.
     G4bool fLocatedOnEdge;       
       // Whether the Navigator has detected an edge.
     G4bool fLocatedOutsideWorld;
       // Whether the last call to Locate methods left the world.
    
     G4bool  fChangedGrandMotherRefFrame;
       // Whether frame is changed.
     G4bool  fCalculatedExitNormal;
       // Has it been computed since the last call to ComputeStep().
       // Covers both Global and GrandMother.
 
     // END State information
     //
 
     // Optional State information (created/used as needed)
     // 
    
     // Save key state information (NOT the navigation history stack)
     //
     struct G4SaveNavigatorState
     { 
        G4ThreeVector sExitNormal;  
        G4bool sValidExitNormal;    
        G4bool sEntering, sExiting;
        G4VPhysicalVolume* spBlockedPhysicalVolume;
        G4int sBlockedReplicaNo;  
        G4int sLastStepWasZero; 
        G4bool sWasLimitedByGeometry;
 
        //  Potentially relevant
        //
        G4bool sLocatedOutsideWorld;
        G4ThreeVector sLastLocatedPointLocal; 
        G4bool sEnteredDaughter, sExitedMother;
        G4ThreeVector sPreviousSftOrigin;
        G4double sPreviousSafety; 
     } fSaveState; 
 
     // BEGIN -- Tracking Invariants
     // ===========================================
 
     G4VPhysicalVolume* fTopPhysical = nullptr;
       // A link to the topmost physical volume in the detector.
       // Must be positioned at the origin and unrotated.
 
     // Helpers/Utility classes
     //
     G4NormalNavigation fnormalNav;
     G4VoxelNavigation* fpvoxelNav;
     G4ParameterisedNavigation fparamNav;
     G4ReplicaNavigation freplicaNav;
     G4RegularNavigation fregularNav;
     G4VExternalNavigation* fpExternalNav = nullptr;
     G4VoxelSafety* fpVoxelSafety;
     G4SafetyCalculator* fpSafetyCalculator = nullptr;
 
     // Utility information
     //
     G4bool fCheck = false;
       // Check-mode flag  [if true, more strict checks are performed].
     G4bool fPushed = false, fWarnPush = true;
       // Push flags  [if true, means a stuck particle has been pushed].
 
     // End -- Tracking Invariants
 };
 
 #include "G4Navigator.icc"
 
 #endif
 
 
 // NOTES:
 //
 // The following methods provide detailed information when a Step has
 // arrived at a geometrical boundary.  They distinguish between the different
 // causes that can result in the track leaving its current volume.
 //
 // Four cases are possible:
 //
 // 1) The particle has reached a boundary of a daughter of the current volume:
 //     (this could cause the relocation to enter the daughter itself
 //     or a potential granddaughter or further descendant)
 //     
 // 2) The particle has reached a boundary of the current
 //     volume, exiting into a mother (regardless the level
 //     at which it is located in the tree):
 //
 // 3) The particle has reached a boundary of the current
 //     volume, exiting into a volume which is not in its
 //     parental hierarchy:
 //
 // 4) The particle is not on a boundary between volumes:
 //     the function returns an exception, and the caller is
 //     reccomended to compare the G4touchables associated
 //     to the preStepPoint and postStepPoint to handle this case.
 //
 //   G4bool        EnteredDaughterVolume()
 //   G4bool        IsExitNormalValid()
 //   G4ThreeVector GetLocalExitNormal()
 //
 // The expected usefulness of these methods is to allow the caller to
 // determine how to compute the surface normal at the volume boundary. The two
 // possibilities are to obtain the normal from:
 //
 //   i) the solid associated with the volume of the initial point of the Step.
 //      This is valid for cases 2 and 3.  
 //      (Note that the initial point is generally the PreStepPoint of a Step).
 //   or
 // 
 //  ii) the solid of the final point, ie of the volume after the relocation.
 //      This is valid for case 1.
 //      (Note that the final point is generally the PreStepPoint of a Step).
 //
 // This way the caller can always get a valid normal, pointing outside
 // the solid for which it is computed, that can be used at his own
 // discretion.

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