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core/include/detray/navigation/detail/navigation_helpers.hpp
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| /** Detray library, part of the ACTS project (R&D line) | ||
| * | ||
| * (c) 2025 CERN for the benefit of the ACTS project | ||
| * | ||
| * Mozilla Public License Version 2.0 | ||
| */ | ||
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| #pragma once | ||
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| // Project include(s) | ||
| #include "detray/definitions/detail/qualifiers.hpp" | ||
| #include "detray/definitions/units.hpp" | ||
| #include "detray/navigation/detail/intersection_kernel.hpp" | ||
| #include "detray/navigation/detail/ray.hpp" | ||
| #include "detray/navigation/intersection/ray_intersector.hpp" | ||
| #include "detray/navigation/navigation_config.hpp" | ||
| #include "detray/navigation/navigation_state.hpp" | ||
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| namespace detray::navigation { | ||
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| /// A functor that fills the navigation candidates cache by intersecting | ||
| /// the surfaces in the volume neighborhood | ||
| struct candidate_search { | ||
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| /// Test the volume links | ||
| template <typename track_t, typename detector_t, | ||
| typename navigation_state_t> | ||
| DETRAY_HOST_DEVICE void operator()( | ||
| const typename detector_t::surface_type &sf_descr, | ||
| const detector_t &det, const typename detector_t::geometry_context &ctx, | ||
| const track_t &track, navigation_state_t &nav_state, | ||
| const darray<typename detector_t::scalar_type, 2> mask_tol, | ||
| const typename detector_t::scalar_type mask_tol_scalor, | ||
| const typename detector_t::scalar_type overstep_tol) const { | ||
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| using algebra_t = typename detector_t::algebra_type; | ||
| using scalar_t = dscalar<algebra_t>; | ||
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| const auto sf = tracking_surface{det, sf_descr}; | ||
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| sf.template visit_mask<intersection_initialize<ray_intersector>>( | ||
| nav_state, | ||
| detail::ray<algebra_t>( | ||
| track.pos(), | ||
| static_cast<scalar_t>(nav_state.direction()) * track.dir()), | ||
| sf_descr, det.transform_store(), ctx, | ||
| sf.is_portal() ? darray<scalar_t, 2>{0.f, 0.f} : mask_tol, | ||
| mask_tol_scalor, overstep_tol); | ||
| } | ||
| }; | ||
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| /// @brief Helper method that re-establishes the navigation state after an | ||
| /// update. | ||
| /// | ||
| /// It checks wether the track has reached a surface or is still moving | ||
| /// towards the next surface candidate. If no new next candidate can be | ||
| // found, it flags 'no trust' in order to trigger a volume initialization. | ||
| /// | ||
| /// @param state the current navigation state | ||
| /// @param cfg the navigation configuration | ||
| template <typename navigation_state_t> | ||
| DETRAY_HOST_DEVICE inline void update_navigation_state( | ||
| navigation_state_t &navigation, const navigation::config &cfg) { | ||
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| // Check whether the track reached the current candidate. Might be a | ||
| // portal, in which case the navigation needs to be re-initialized | ||
| if (navigation.target_reachable() && | ||
| navigation.has_reached_surface(navigation.target(), cfg)) { | ||
| // Set the next object that we want to reach (this function is only | ||
| // called once the cache has been updated to a full trust state). | ||
| // Might lead to exhausted cache. | ||
| navigation.advance(); | ||
| navigation.status((navigation.current().sf_desc.is_portal()) | ||
| ? navigation::status::e_on_portal | ||
| : navigation::status::e_on_object); | ||
| } else { | ||
| // Otherwise the track is moving towards a surface | ||
| navigation.status(navigation::status::e_towards_object); | ||
| } | ||
| // Exhaustion happens when after an update no next candidate in the | ||
| // cache is reachable anymore -> triggers init of [new] volume | ||
| // In backwards navigation or with strongly bent tracks, the cache may | ||
| // not be exhausted when trying to exit the volume (the ray is seeing | ||
| // the opposite side of the volume) | ||
| navigation.trust_level(!navigation.target_reachable() || | ||
| navigation.is_on_portal() | ||
| ? navigation::trust_level::e_no_trust | ||
| : navigation::trust_level::e_full); | ||
| } | ||
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| /// @brief Helper method to initialize a navigation state in a given volume. | ||
| /// | ||
| /// Calls the volumes accelerator structure for local navigation, then tests | ||
| /// the surfaces for intersection and keeps the clostest one(s). | ||
| /// The closest candidate is set as 'next candidate' or 'target'. | ||
| /// | ||
| /// @tparam track_t type of track, needs to provide pos() and dir() methods | ||
| /// | ||
| /// @param track access to the track parameters | ||
| /// @param state the current navigation state | ||
| /// @param cfg the navigation configuration | ||
| template <typename track_t, typename navigation_state_t> | ||
| DETRAY_HOST_DEVICE inline void local_navigation(const track_t &track, | ||
| navigation_state_t &navigation, | ||
| const navigation::config &cfg, | ||
| const context_type &ctx) { | ||
| const auto &det = navigation.detector(); | ||
| const auto volume = tracking_volume{det, navigation.volume()}; | ||
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| // Clean up state | ||
| navigation.clear(); | ||
| navigation.heartbeat(true); | ||
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| // Search for neighboring surfaces and fill candidates into cache | ||
| volume.template visit_neighborhood<candidate_search>( | ||
| track, cfg, ctx, det, ctx, track, navigation, | ||
| darray<scalar_type, 2u>{cfg.min_mask_tolerance, cfg.max_mask_tolerance}, | ||
| static_cast<scalar_type>(cfg.mask_tolerance_scalor), | ||
| static_cast<scalar_type>(cfg.overstep_tolerance)); | ||
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| // Determine overall state of the navigation after updating the cache | ||
| update_navigation_state(navigation, cfg); | ||
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| // If init was not successful, the propagation setup is broken | ||
| if (navigation.trust_level() != navigation::trust_level::e_full) { | ||
| navigation.heartbeat(false); | ||
| } | ||
| } | ||
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| /// @brief Complete update of the navigation flow. | ||
| /// | ||
| /// Restores 'full trust' state to the cadidates cache and checks whether | ||
| /// the track stepped onto a portal and a volume switch is due. If so, or | ||
| /// when the previous update according to the given trust level | ||
| /// failed to restore trust, it performs a complete reinitialization of the | ||
| /// navigation. | ||
| /// | ||
| /// @tparam track_t type of track, needs to provide pos() and dir() methods | ||
| /// | ||
| /// @param track access to the track parameters | ||
| /// @param state the current navigation state | ||
| /// @param cfg the navigation configuration | ||
| /// | ||
| /// @returns a boolean that indicates wheather the volume was (re-)initialized | ||
| template <typename track_t, typename navigation_state_t> | ||
| DETRAY_HOST_DEVICE inline bool volume_switch(const track_t &track, | ||
| navigation_state_t &navigation, | ||
| const navigation::config &cfg, | ||
| const context_type &ctx = {}) { | ||
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| // Set volume index to the next volume provided by the portal | ||
| navigation.set_volume(navigation.current().volume_link); | ||
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| // Either end of world or valid volume index | ||
| assert(detail::is_invalid_value(navigation.volume()) || | ||
| navigation.volume() < navigation.detector().volumes().size()); | ||
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| // Navigation reached the end of the detector world | ||
| if (detail::is_invalid_value(navigation.volume())) { | ||
| navigation.exit(); | ||
| return false; | ||
| } | ||
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| // Run inspection when needed (keep for debugging) | ||
| // navigation.run_inspector(cfg, track.pos(), track.dir(), "Volume | ||
| // switch: "); | ||
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| // Local navigation in the new volume | ||
| navigation::local_navigation(track, navigation, cfg, ctx); | ||
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| // Fresh initialization, reset trust and hearbeat even though we are | ||
| // on inner portal | ||
| navigation.trust_level(navigation::trust_level::e_full); | ||
| navigation.heartbeat(navigation.target_reachable()); | ||
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| return true; | ||
| } | ||
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| /// @brief Helper method that updates the intersection of a single candidate | ||
| /// and checks reachability | ||
| /// | ||
| /// @tparam candidate_t type of navigation candidate (intersection result) | ||
| /// @tparam track_t type of track, needs to provide pos() and dir() methods | ||
| /// @tparam context_t type of geometry context | ||
| /// | ||
| /// @param candidate the candidate intersection to be updated | ||
| /// @param track access to the track parameters | ||
| /// @param det access to the detector (geometry) | ||
| /// @param cfg the navigation configuration | ||
| /// | ||
| /// @returns whether the track can reach this candidate. | ||
| template <typename candidate_t, typename track_t, typename detector_t, | ||
| typename context_t> | ||
| DETRAY_HOST_DEVICE inline bool update_candidate( | ||
| const navigation::direction nav_dir, candidate_t &candidate, | ||
| const track_t &track, const detector_t &det, const navigation::config &cfg, | ||
| const context_t &ctx) { | ||
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| using algebra_t = typename detector_t::algebra_type; | ||
| using scalar_t = dscalar<algebra_t>; | ||
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| if (candidate.sf_desc.barcode().is_invalid()) { | ||
| return false; | ||
| } | ||
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| const auto sf = tracking_surface{det, candidate.sf_desc}; | ||
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| // Check whether this candidate is reachable by the track | ||
| return sf.template visit_mask<intersection_update<ray_intersector>>( | ||
| detail::ray<algebra_t>(track.pos(), | ||
| static_cast<scalar_t>(nav_dir) * track.dir()), | ||
| candidate, det.transform_store(), ctx, | ||
| sf.is_portal() ? darray<scalar_t, 2>{0.f, 0.f} | ||
| : darray<scalar_t, 2>{cfg.min_mask_tolerance, | ||
| cfg.max_mask_tolerance}, | ||
| static_cast<scalar_t>(cfg.mask_tolerance_scalor), | ||
| static_cast<scalar_t>(cfg.overstep_tolerance)); | ||
| } | ||
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| } // namespace detray::navigation |
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