@hatiolab/things-scene 10.0.0-beta.13 → 10.0.0-beta.130

package/dist-types/threed/z-priority.d.ts

@@ -0,0 +1,27 @@
+import * as THREE from 'three';
+/** Z-layer 우선순위 enum. 숫자 크기 = 뒤로. */
+export declare const Z_PRIORITY: {
+    readonly BACKDROP: 4;
+    readonly FLOOR: 2;
+    readonly OBJECTS: 0;
+    readonly DECAL: -1;
+    readonly OUTLINE: -4;
+};
+export type ZPriorityValue = number;
+/**
+ * 주어진 priority 값에 해당하는 polygonOffset 파라미터.
+ * factor / units 동일 부호. priority 0 (= OBJECTS) → 0 (offset 안 적용).
+ */
+export declare function polygonOffsetForPriority(priority: number): {
+    enabled: boolean;
+    factor: number;
+    units: number;
+};
+/**
+ * Object3D 트리 순회하며 모든 material 에 priority 기반 polygonOffset 설정.
+ *
+ * - priority 0 → enabled=false (적용 안 함)
+ * - 그 외 → factor=units=priority. material 의 needsUpdate 강제 (이미 컴파일된 경우 갱신).
+ */
+export declare function applyZPriorityToMaterials(root: THREE.Object3D, priority: number): void;
+//# sourceMappingURL=z-priority.d.ts.map

package/dist-types/threed/z-priority.d.ts.map

@@ -0,0 +1 @@
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package/dist-types/tracker/tracker.d.ts

@@ -0,0 +1,57 @@
+import type Component from '../components/component.js';
+export interface TrackerOptions {
+    /** 원본 대상 deco-border color. CSS hex (예: '#00aaff7f'). 3D outline 색에도 동기화 (RGB 만). */
+    color?: string;
+    /** polling 간격 (ms). 기본 1000. wall-clock 기준 (simulation paused 와 무관). */
+    intervalMs?: number;
+    /**
+     * 원본이 트리에 없을 때 대신 highlight 할 컴포넌트를 application 정책으로 결정.
+     * polling 매 tick 에 원본 미발견 시 호출. null/undefined 반환 시 highlight 없이
+     * 추적만 유지. 원본이 다시 등장하면 polling 이 원본으로 즉시 복귀하고 fallback 해제.
+     */
+    fallback?: (id: string, scene: any) => Component | null | undefined;
+    /** fallback 컴포넌트 deco-border 색. 미지정 시 color 와 동일. */
+    fallbackColor?: string;
+}
+/**
+ * 특정 id 의 컴포넌트를 영구 추적해서 시각적으로 highlight.
+ *
+ * - 단일 추적: start() 는 이전 추적을 자동 stop.
+ * - polling: wall-clock 기준 throttle. simulation paused 와 무관.
+ * - 자동 재부착: 컴포넌트가 dispose/재등장 사이클을 타도 polling 이 새 인스턴스에
+ *   다시 부착. carrier 등 동적 컴포넌트에 적합.
+ * - 2D/3D 일관성: 2D 는 deco-border (SVG overlay), 3D 는 things-scene 의
+ *   OutlinePass 가 같은 컴포넌트를 자동 outline. outline 색은 옵션 color 로 동기화.
+ * - fallback: 원본이 없는 동안 application 이 결정한 대체 컴포넌트를 highlight.
+ *   원본 등장 시 fallback 자동 해제 후 원본으로 복귀.
+ */
+export declare class Tracker {
+    private _scene;
+    private _id;
+    private _target;
+    private _fallback;
+    private _unsubscribe?;
+    private _lastCheckMs;
+    private _options;
+    constructor(scene: any);
+    get trackingId(): string | null;
+    /**
+     * 추적 시작. id 가 트리에 없어도 등록 — 나중에 등장하면 자동 부착.
+     * fallback 옵션 지정 시 원본이 없는 동안 fallback 으로 결정된 컴포넌트를 highlight.
+     */
+    start(id: string, options?: TrackerOptions): void;
+    /**
+     * 추적 종료. deco-border 해제 + watcher 정지 + 3D outline 색 복원.
+     */
+    stop(): void;
+    dispose(): void;
+    /** polling 1회 (또는 start 시 즉시 부착). */
+    private _tickOnce;
+    private _findTarget;
+    private _clearTarget;
+    private _clearFallback;
+    private _decoOptions;
+    private _setOutlineColorFromHex;
+    private _setOutlineColor;
+}
+//# sourceMappingURL=tracker.d.ts.map

package/dist-types/tracker/tracker.d.ts.map

@@ -0,0 +1 @@
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package/dist-types/transfer/carrier-line-capability.d.ts

@@ -0,0 +1,95 @@
+import type { Pose6DOF } from '../math/index.js';
+/**
+ * Carrier slot reservation — source 가 carrier 를 *어디* 에 *어떤 자세* 로 놓을
+ * 지에 대한 *확정 가능한 약속*. capability 가 source 에게 발급, source 가 commit
+ * 시 carrier 가 그 slot 에 attach.
+ */
+export interface CarrierReservation {
+    /** Capability 내부의 carrier slot 식별자 — opaque (source 는 의미 모름). */
+    readonly carrierIndex: number;
+    /** Carrier 가 commit 시 가져야 할 *world pose* (= 시각 위치/자세). */
+    readonly pose: Pose6DOF;
+    /** Capability 가 자기 식별 용으로 사용 — opaque token. */
+    readonly token: symbol;
+}
+/**
+ * Carrier slot 의 *현재 상태* — read 용. carrier 가 carrying 중 / empty / divert 위
+ * 등의 정보. carrierMap 의 values.
+ */
+export interface CarrierSlotState {
+    readonly carrierIndex: number;
+    /** Carrying 중인 component (= 박스). null = empty. */
+    readonly carrier: unknown;
+    /** Carrier slot 의 현재 world pose. capability 의 sim 이 매 frame 갱신. */
+    readonly pose: Pose6DOF;
+}
+/**
+ * Join point — capability 와 외부 source/target 의 *합류 지점*. 예:
+ *   - induct station 이 sorter 의 polyline 옆에 합류 → induct = joinPoint
+ *   - chute 가 sorter 의 polyline 의 한 점에서 divert → chute = joinPoint
+ *
+ * join point 자체는 *Component* — 자기 world position / rotation 노출. capability
+ * 가 그 위치 기반 *carrier slot 의 진입/이탈 지점* 자동 계산.
+ */
+export interface JoinPoint {
+    /**
+     * Component state — index-signature 형태로 받음. things-scene 의 모든 컴포넌트
+     * state 가 `State` 를 extend (`[key: string]: any`) 하므로, 특정 state 타입
+     * (예: InductStationState) 도 자동 호환. `state.id` 는 runtime lookup.
+     */
+    readonly state?: Record<string, unknown>;
+    readonly id?: unknown;
+    readonly center?: {
+        x: number;
+        y: number;
+        z?: number;
+    };
+}
+/**
+ * CarrierLine capability contract.
+ *
+ * Implementer (sorter 등) 가 자기 sim 의 detail (carrier index 결정, slot proxy
+ * attach, frame-by-frame position 갱신) 모두 *내부 구현* 으로 캡슐화. source 는
+ * 이 interface 만 사용.
+ */
+export interface CarrierLine {
+    /**
+     * Side-effect-free check — 지금 reserveAtJoinPoint 가 성공할 가능성. source 가
+     * Transfer protocol 시작 *전* 호출 → false 면 Transfer 생성 자체 skip 가능 →
+     * panel 의 *rolled-back 폭주* 방지. true 시 reserveAtJoinPoint 호출 성공 *보장*.
+     *
+     * ContainerCapacity 의 canReceive / canAccept 와 동등 — capability contract
+     * 의 표준 check 패턴.
+     */
+    canReserveAtJoinPoint(joinPoint: JoinPoint): boolean;
+    /**
+     * Source 가 carrier 를 *join point* 에 도달 시점에 받을 carrier slot 의
+     * reservation 을 요청. null = 현재 free slot 없음 (= source 가 다음 frame 재시도).
+     *
+     * Side-effect-free 가 권장 — 단 reservation 자체 가 *생성* 되니 capability 가
+     * *예약 슬롯 마크* 가능. 단 carrier attach 는 *아직* 일어나지 않음.
+     */
+    reserveAtJoinPoint(joinPoint: JoinPoint, carrier: unknown): CarrierReservation | null;
+    /**
+     * Reservation 확정 — carrier 가 reserved slot 에 attach. capability 가 자기 sim
+     * 에 carrier 등록 + slot proxy 의 자식으로 reparent. 호출 후 carrier 는 그 slot
+     * 의 *carrying 상태*.
+     */
+    commitReservation(reservation: CarrierReservation, carrier: unknown): void;
+    /**
+     * Reservation 취소 — Transfer rollback / abort 시 호출. 마크된 slot 해제.
+     * commit 후 호출 시 noop (idempotent).
+     */
+    releaseReservation(reservation: CarrierReservation): void;
+    /**
+     * 모든 carrier slot 의 현재 상태 — read-only. 외부 진단/시각화 (monitor panel)
+     * 가 generic 하게 활용. 향후 *write 가능* 확장 plan — 시뮬 state 복원 등.
+     */
+    readonly carrierMap: ReadonlyMap<number, CarrierSlotState>;
+}
+/**
+ * Duck typing — target 이 CarrierLine 노출 했는지 check. capability registry 없이
+ * runtime 매칭. 새 sorter type 추가 시 *이 함수 외 다른 코드 변경 없음*.
+ */
+export declare function isCarrierLine(target: unknown): target is CarrierLine;
+//# sourceMappingURL=carrier-line-capability.d.ts.map

package/dist-types/transfer/carrier-line-capability.d.ts.map

@@ -0,0 +1 @@
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package/dist-types/transfer/centering-slot-strategy.d.ts

@@ -0,0 +1,8 @@
+import type { ArrangementStrategy, SlotDef, Vec3 } from './types.js';
+export declare class CenteringSlotStrategy implements ArrangementStrategy {
+    private readonly owner;
+    constructor(owner: any);
+    positionAt(index: number, slotDef: SlotDef, _occupantCount: number, component?: any): Vec3 | null;
+    capacity(slotDef: SlotDef): number;
+}
+//# sourceMappingURL=centering-slot-strategy.d.ts.map

package/dist-types/transfer/centering-slot-strategy.d.ts.map

@@ -0,0 +1 @@
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package/dist-types/transfer/container-capacity-helpers.d.ts

@@ -0,0 +1,18 @@
+export declare function _carrierSummary(carrier: any): {
+    id: any;
+    type: any;
+};
+/**
+ * Phase PS P3a — holder-local quaternion → state rotation 필드 매핑.
+ * (rotationX, -rotation, rotationY) 컨벤션 — RealObject.rotation getter 의 역.
+ * receive 의 contract 경로 / legacy 경로가 공유하는 단일 매핑 지점.
+ */
+export declare function applySeatingRotation(update: Record<string, number>, q: {
+    x: number;
+    y: number;
+    z: number;
+    w: number;
+}): void;
+/** Key used to store the current slot assignment on a child component. */
+export declare const TRANSFER_SLOT_KEY = "_transferSlotId";
+//# sourceMappingURL=container-capacity-helpers.d.ts.map

package/dist-types/transfer/container-capacity-helpers.d.ts.map

@@ -0,0 +1 @@
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package/dist-types/transfer/container-capacity.d.ts

@@ -0,0 +1,11 @@
+import type Component from '../components/component.js';
+export { TRANSFER_SLOT_KEY } from './container-capacity-helpers.js';
+export { Capacity } from '../items/capacity-mixin.js';
+export { Transferable } from './transferable-mixin.js';
+type Constructor<T = object> = new (...args: any[]) => T;
+/**
+ * Mixin that adds Transferable capacity to any ContainerAbstract subclass.
+ * = Transferable(Capacity(Base)). subclass 는 `get slots()` 만 override.
+ */
+export declare function ContainerCapacity<TBase extends Constructor<Component>>(Base: TBase): any;
+//# sourceMappingURL=container-capacity.d.ts.map

package/dist-types/transfer/container-capacity.d.ts.map

@@ -0,0 +1 @@
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package/dist-types/transfer/fixed-slot-strategy.d.ts

@@ -0,0 +1,8 @@
+import type { ArrangementStrategy, SlotDef, Vec3 } from './types.js';
+export declare class FixedSlotStrategy implements ArrangementStrategy {
+    positionAt(index: number, slotDef: SlotDef, _occupantCount: number): Vec3 | null;
+    capacity(_slotDef: SlotDef): number;
+}
+/** Singleton — FixedSlotStrategy is stateless. */
+export declare const fixedSlotStrategy: FixedSlotStrategy;
+//# sourceMappingURL=fixed-slot-strategy.d.ts.map

package/dist-types/transfer/fixed-slot-strategy.d.ts.map

@@ -0,0 +1 @@
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package/dist-types/transfer/index.d.ts

@@ -0,0 +1,25 @@
+export type { Vec3, Size3, Bounds3, SlotArrangement, GridShape, SlotDef, SlotAssignment, TransferOptions, StaticPolicy, DynamicPolicy, PendingPolicy, ConnectionPolicy, Port, TransferEventType, TransferEvent, CarrierAttachPoint, ArrangementStrategy, Transferable, NavigationTarget, NavigationOptions, Movable, ArticulatedCapability, MissionStatus, VehicleMission, MissionExecutor, SensorPoint, SpawnPoint, SinkPoint, QuatLike, PoseSerialized, PickupFrame, PickupRequester, Pickable, CarrierDims, PlacementContext, SeatingPose } from './types.js';
+export { capability, registerCapabilityMeta, getCapabilityMeta, getAllCapabilityMeta } from '../types/capability.js';
+export type { CapabilityMeta, CapabilityDescription } from '../types/capability.js';
+export { quatFromYaw, rectangularFootprintFrames, topApproachFrame, filterByToolType, chooseNearestPickupFrame } from './pickup-helpers.js';
+export type { RectangularFootprintOptions, TopApproachOptions } from './pickup-helpers.js';
+export { FixedSlotStrategy, fixedSlotStrategy } from './fixed-slot-strategy.js';
+export { CenteringSlotStrategy } from './centering-slot-strategy.js';
+export { ContainerCapacity, TRANSFER_SLOT_KEY } from './container-capacity.js';
+export { applySeatingRotation } from './container-capacity-helpers.js';
+export type { SimulationClock } from './simulation-clock.js';
+export { globalSimClock } from './simulation-clock.js';
+export { Transfer, transferLog, receiptToJSON } from './transfer.js';
+export type { TransferPhase, TransferTimeline, TransferReceipt, TransferReceiptJSON, TransferLogStats, PhysicalRunner, TransferInit, TransferTraceEvent } from './transfer.js';
+export { transferTracer } from './tracer.js';
+export type { TraceLogInput } from './tracer.js';
+export { isCarrierLine } from './carrier-line-capability.js';
+export type { CarrierLine, CarrierReservation, CarrierSlotState, JoinPoint } from './carrier-line-capability.js';
+export { ReservationTable, reservationTable, standardYieldPolicy, NavGraph, buildNavGraph, planPathAStar, planToReservations } from '../navigation/index.js';
+export type { LaneGeometry, Lane, ConflictPair, Intersection, NavPolygon, OpenZone, TimeWindow, Reservation, SpeedProfile, PathSegment, PathPlan, PathPlanOptions, Navigable, YieldDecision, YieldPolicy, ReservationEvent, AddResult, Conflict, ConflictRecord, NavNode, NavEdge, BuildNavGraphOptions } from '../navigation/index.js';
+export * from '../types/polygon-path.js';
+export * from '../types/polygon-path-arc.js';
+export * from '../items/index.js';
+export * from '../flow/index.js';
+export { default as Holdable } from '../components/mixins/holdable.js';
+//# sourceMappingURL=index.d.ts.map

package/dist-types/transfer/index.d.ts.map

@@ -0,0 +1 @@
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package/dist-types/transfer/pickup-helpers.d.ts

@@ -0,0 +1,65 @@
+import type { PickupFrame, PickupRequester, Vec3, QuatLike, PoseSerialized } from './types.js';
+/**
+ * Y 축 (3D vertical) 회전을 quaternion 으로. Three.js 없이 직접 계산 (cross-package
+ * 호환성).
+ *
+ *   q = (0, sin(θ/2), 0, cos(θ/2))
+ */
+export declare function quatFromYaw(yawRad: number): QuatLike;
+export interface RectangularFootprintOptions {
+    /** carrier 의 world pose — entry 들이 이 frame 기준으로 회전/병진된다. */
+    carrierWorld: PoseSerialized;
+    /** carrier 의 가로 (X 방향). */
+    width: number;
+    /** carrier 의 세로 (Z 방향). */
+    depth: number;
+    /** entry 가 carrier 의 어느 높이에 있는가 (carrier-local Y). */
+    entryHeight: number;
+    /** approach 가 engage 에서 얼마나 떨어진 거리. */
+    approachDistance: number;
+    /** 어느 면에 entry 를 둘지. 'east'+'west' = 2-way, 4 개 다 = 4-way. */
+    sides: ReadonlyArray<'east' | 'west' | 'north' | 'south'>;
+    /** entry 의 toolType. 모두 동일하면 string, 면별 다르면 map. */
+    toolType: string | Partial<Record<'east' | 'west' | 'north' | 'south', string>>;
+    /** entry 의 tolerance. */
+    tolerance?: PickupFrame['tolerance'];
+    /** entry 의 priority. */
+    priority?: number;
+}
+/**
+ * 직사각형 carrier 의 N-면 진입 entry 들을 한꺼번에 생성.
+ *
+ * 각 entry 의 engage 는 carrier 의 해당 면 중심 (carrier-local), approach 는
+ * 그 외부 approachDistance 만큼 떨어진 점. 도구는 carrier 쪽을 향한 채 (yaw)
+ * 다가오는 자세.
+ */
+export declare function rectangularFootprintFrames(options: RectangularFootprintOptions): PickupFrame[];
+export interface TopApproachOptions {
+    carrierWorld: PoseSerialized;
+    /** carrier 의 top 표면 Y (carrier-local). */
+    topY: number;
+    /** approach 가 top 에서 얼마나 위에 있는가. */
+    approachDistance: number;
+    toolType: string;
+    tolerance?: PickupFrame['tolerance'];
+    priority?: number;
+    id?: string;
+}
+/**
+ * 위쪽 한 점 진입 (예: vacuum gripper 로 box 집기, 자석으로 철판 들기).
+ *
+ * engage 는 carrier 의 top 표면 중심, approach 는 그 위 approachDistance.
+ * 도구는 carrier 위에서 수직 하강 — yaw 보존 (도구가 회전하지 않음).
+ */
+export declare function topApproachFrame(options: TopApproachOptions): PickupFrame;
+/**
+ * Pickable.pickupFramesFor 의 기본 구현. 도구 type 일치하는 entry 만 통과.
+ * tool footprint 까지 검사하고 싶으면 carrier 가 자체 override.
+ */
+export declare function filterByToolType(frames: PickupFrame[], requester: PickupRequester): PickupFrame[];
+/**
+ * 두 entry 중 source 위치에 더 가까운 것을 고르는 helper. distance 는 approach
+ * pose 위치 기준. priority 가 다르면 priority 우선.
+ */
+export declare function chooseNearestPickupFrame(frames: PickupFrame[], fromWorldPosition: Vec3): PickupFrame | null;
+//# sourceMappingURL=pickup-helpers.d.ts.map

package/dist-types/transfer/pickup-helpers.d.ts.map

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package/dist-types/transfer/simulation-clock.d.ts

@@ -0,0 +1,45 @@
+export interface SimulationClock {
+    /**
+     * Simulated time elapsed since clock creation (ms).
+     * Advances only when speed > 0 and the clock is running.
+     */
+    readonly now: number;
+    /**
+     * Time scale factor.
+     *   1.0 = real-time
+     *   2.0 = double speed
+     *   0   = paused (tick() returns 0, now stays fixed)
+     * Setting speed resumes a paused clock.
+     */
+    speed: number;
+    readonly isPaused: boolean;
+    pause(): void;
+    resume(): void;
+    /**
+     * Called from a requestAnimationFrame loop with the real wall-clock delta.
+     * Returns the scaled simulation delta that components should use for physics.
+     *
+     * If paused (speed === 0), returns 0 and does not advance `now`.
+     * Clamps realDeltaMs to 200 ms to prevent spiral-of-death on tab resume.
+     */
+    tick(realDeltaMs: number): number;
+    /**
+     * Advance the clock by exactly `dt` simulation milliseconds, bypassing speed.
+     * Intended for unit tests and deterministic replay — do NOT call from RAF.
+     */
+    step(dt: number): void;
+    /** Register a listener called after each tick / step with the scaled delta. */
+    onTick(listener: (dt: number) => void): () => void;
+}
+/**
+ * The scene-wide SimulationClock instance.
+ *
+ * ConveyanceContainer, Mover and all time-dependent mixins call:
+ *   const dt = globalSimClock.tick(realDeltaMs)
+ *
+ * Tests use:
+ *   globalSimClock.step(100) // advance 100 ms deterministically
+ *   globalSimClock.speed = 5 // run at 5× for the next tick
+ */
+export declare const globalSimClock: SimulationClock;
+//# sourceMappingURL=simulation-clock.d.ts.map

package/dist-types/transfer/simulation-clock.d.ts.map

@@ -0,0 +1 @@
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package/dist-types/transfer/tracer.d.ts

@@ -0,0 +1,35 @@
+import type { Transfer, TransferTraceEvent } from './transfer.js';
+/**
+ * tracer.log 의 호출자가 채우는 정보. atSimMs 는 자동.
+ * component 인자는 *componentId/componentType 추출* 위해. 직접 안 채워도 됨.
+ */
+export interface TraceLogInput {
+    role: 'source' | 'target' | 'carrier' | 'transfer';
+    contract: string;
+    component?: any;
+    componentId?: string;
+    componentType?: string;
+    args?: any;
+    result?: any;
+    error?: string;
+}
+export declare const transferTracer: {
+    /** Transfer 시작 시 호출 — 이후 log 호출은 *그 Transfer 의 trace 에 push*. */
+    beginContext(transfer: Transfer): void;
+    /** Transfer 완료/거부 시 호출 — standalone mode 로 복귀. */
+    endContext(): void;
+    /** 현재 active transfer (있다면). 디버깅용. */
+    current(): Transfer | null;
+    /**
+     * Contract 호출 시점 트레이스. ContainerCapacity 의 각 method 안에서 호출.
+     * active Transfer 가 있으면 그 trace 에, 없으면 standalone stream 에 push.
+     */
+    log(input: TraceLogInput): void;
+    /** Standalone trace events (Transfer 우회 호출의 누적). */
+    standaloneEvents(): readonly TransferTraceEvent[];
+    /** Standalone listener 등록. */
+    onStandalone(listener: (event: TransferTraceEvent) => void): () => void;
+    /** standalone stream 초기화. */
+    clearStandalone(): void;
+};
+//# sourceMappingURL=tracer.d.ts.map

package/dist-types/transfer/tracer.d.ts.map

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