@hatiolab/things-scene 10.0.0-beta.91 → 10.0.0-beta.93

package/dist-types/math/pose6dof.d.ts

@@ -0,0 +1,93 @@
+import * as THREE from 'three';
+export interface PoseLike {
+    position: {
+        x: number;
+        y: number;
+        z: number;
+    };
+    rotation: {
+        x: number;
+        y: number;
+        z: number;
+        w: number;
+    };
+}
+export declare class Pose6DOF {
+    /**
+     * Position in the implied coordinate system. World, parent-local, etc — Pose6DOF
+     * 자체는 좌표계를 알지 않는다. 호출자가 어떤 frame 의 값인지 명시할 책임.
+     */
+    readonly position: THREE.Vector3;
+    /**
+     * Orientation as unit quaternion in the implied coordinate system.
+     */
+    readonly rotation: THREE.Quaternion;
+    constructor(position?: THREE.Vector3 | {
+        x: number;
+        y: number;
+        z: number;
+    }, rotation?: THREE.Quaternion | {
+        x: number;
+        y: number;
+        z: number;
+        w: number;
+    });
+    /**
+     * Compose: this 의 frame "안" 에서 child 를 적용. 합성된 결과는 부모(this)의
+     * 좌표계 기준이다.
+     *
+     *   result.position = this.position + this.rotation × child.position
+     *   result.rotation = this.rotation × child.rotation
+     *
+     * 예: holder.worldPose.compose(carrier.localPose) = carrier.worldPose
+     */
+    compose(child: Pose6DOF): Pose6DOF;
+    /**
+     * Inverse: this 가 적용 전으로 되돌리는 변환.
+     *
+     *   inv.rotation = this.rotation⁻¹
+     *   inv.position = -inv.rotation × this.position
+     *
+     * 항등식: this.compose(this.inverse()) = identity = this.inverse().compose(this).
+     */
+    inverse(): Pose6DOF;
+    /**
+     * Transform a point: p' = this.rotation × p + this.position.
+     * 입력은 변경하지 않는다 — 새 Vector3 반환.
+     */
+    transformPoint(p: THREE.Vector3): THREE.Vector3;
+    /**
+     * Transform a pose. compose 의 의미상 동치.
+     *   parent.transformPose(child_local) = child_world
+     */
+    transformPose(child: Pose6DOF): Pose6DOF;
+    toMatrix4(out?: THREE.Matrix4): THREE.Matrix4;
+    /**
+     * Matrix4 의 translation + rotation 만 추출. scale 은 무시 (rigid).
+     * scale 이 1 이 아닌 행렬을 넣으면 scale 분해 후 폐기.
+     */
+    static fromMatrix4(m: THREE.Matrix4): Pose6DOF;
+    /**
+     * Object3D 의 pose 를 캡처. world=true 이면 world matrix (부모 chain 통과)
+     * 를, 아니면 local position/quaternion 을 사용.
+     *
+     * world=true 호출 전에 객체의 worldMatrix 가 최신이어야 한다 (호출자가
+     * `obj.updateWorldMatrix(true, false)` 보장).
+     */
+    static fromObject3D(obj: THREE.Object3D, world?: boolean): Pose6DOF;
+    /**
+     * Object3D 의 local position/quaternion 에 이 pose 를 적용. scale 은 건드리지
+     * 않는다.
+     */
+    applyToObject3D(obj: THREE.Object3D): void;
+    static identity(): Pose6DOF;
+    /**
+     * Numerical equality 검사. position 은 component-wise abs diff, rotation 은
+     * dot product (둘은 sign 다른 같은 회전 — abs(dot) ≈ 1).
+     */
+    equals(other: Pose6DOF, tol?: number): boolean;
+    clone(): Pose6DOF;
+    toJSON(): PoseLike;
+    static fromJSON(j: PoseLike): Pose6DOF;
+}
+//# sourceMappingURL=pose6dof.d.ts.map

package/dist-types/math/pose6dof.d.ts.map

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

@@ -0,0 +1,7 @@
+export type { LaneGeometry, Lane, ConflictPair, Intersection, NavPolygon, OpenZone, TimeWindow, Reservation, SpeedProfile, PathSegment, PathPlan, PathPlanOptions, Navigable, YieldDecision, YieldPolicy } from './types.js';
+export { ReservationTable, reservationTable, standardYieldPolicy } from './reservation-table.js';
+export type { ReservationEvent, AddResult, Conflict, ConflictRecord } from './reservation-table.js';
+export { NavGraph, buildNavGraph } from './nav-graph.js';
+export type { NavNode, NavEdge, BuildNavGraphOptions } from './nav-graph.js';
+export { planPathAStar, planToReservations } from './path-planner.js';
+//# sourceMappingURL=index.d.ts.map

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

@@ -0,0 +1 @@
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package/dist-types/navigation/nav-graph.d.ts

@@ -0,0 +1,55 @@
+import type { Lane, Intersection } from './types.js';
+import type { Vec3 } from '../transfer/types.js';
+export interface NavNode {
+    id: string;
+    position: Vec3;
+    /** 'lane-start' | 'lane-end' | 'intersection' | 'goal' (planner 가 임시 추가). */
+    type: string;
+}
+export interface NavEdge {
+    fromNode: string;
+    toNode: string;
+    /** 통과하는 resource id (충돌 검사용). lane id 또는 intersection id. */
+    resource: string;
+    /** 거리 (scene unit). cost 의 기본 단위. */
+    distance: number;
+    /** 통과 sim time (ms). speed 가 결정. lane.speedLimit 또는 vehicle.maxSpeed 기준. */
+    durationMs: number;
+    /** 이 edge 의 통과 방향이 lane 의 정방향과 같으면 true. twoway 의 역방향이면 false. */
+    forward: boolean;
+}
+export declare class NavGraph {
+    readonly nodes: Map<string, NavNode>;
+    /** adjacency list — fromNode → outgoing edges. */
+    readonly edges: Map<string, NavEdge[]>;
+    /** Lane 별 endpoint node id 매핑. graph augmentation (start/goal 추가) 시 유용. */
+    readonly laneEndpoints: Map<string, {
+        startNodeId: string;
+        endNodeId: string;
+    }>;
+    addNode(node: NavNode): void;
+    addEdge(edge: NavEdge): void;
+    edgesFrom(nodeId: string): NavEdge[];
+    /** 가장 가까운 node 찾기 (start/goal 진입용). bruteforce — 큰 그래프엔 spatial index 권장. */
+    findNearestNode(pos: Vec3): NavNode | null;
+}
+export interface BuildNavGraphOptions {
+    /** Lane 별 default speed (없으면 lane.speedLimit, 그것도 없으면 fallback 100). */
+    defaultSpeed?: number;
+}
+/**
+ * Lane / Intersection 으로부터 NavGraph 를 빌드.
+ *
+ * 노드 명명 규약:
+ *   - lane endpoint: `${lane.id}:start`, `${lane.id}:end`
+ *   - intersection: `${intersection.id}` (intersection 자체가 단일 노드 — 통과 cost 는
+ *     intersection.crossingTimeMs 로 모델링)
+ *
+ * Edge 종류:
+ *   - lane traversal: lane.id 가 resource. oneway 면 start→end 만, twoway 면
+ *     양방향 두 edge. distance = lane.geometry.centerPoints 누적.
+ *   - intersection crossing: intersection.id 가 resource. 만나는 lane 들의
+ *     endpoint 간 edge (직선 거리 + crossingTimeMs).
+ */
+export declare function buildNavGraph(lanes: Lane[], intersections: Intersection[], options?: BuildNavGraphOptions): NavGraph;
+//# sourceMappingURL=nav-graph.d.ts.map

package/dist-types/navigation/nav-graph.d.ts.map

@@ -0,0 +1 @@
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package/dist-types/navigation/path-planner.d.ts

@@ -0,0 +1,29 @@
+import type { NavGraph } from './nav-graph.js';
+import type { PathPlan, PathPlanOptions } from './types.js';
+/**
+ * A* 경로 계획.
+ *
+ * @param graph        navigation graph
+ * @param startNodeId  출발 node id
+ * @param goalNodeId   도착 node id
+ * @param options      vehicle 의 speed / priority / startSimMs / deadline
+ * @returns PathPlan 또는 null (도달 불가 / deadline 초과)
+ */
+export declare function planPathAStar(graph: NavGraph, startNodeId: string, goalNodeId: string, options?: PathPlanOptions): PathPlan | null;
+/**
+ * PathPlan 의 segments 를 ReservationTable 의 add 입력 형태로 변환.
+ *
+ * 호출자가 ReservationTable.add 를 segment 별로 시도하고, 실패 시 rollback
+ * (이미 add 된 것들 release) 책임. helper 는 단순 매핑.
+ */
+export declare function planToReservations(plan: PathPlan, reserverId: string, priority?: number, metadata?: Record<string, any>): Array<{
+    resource: string;
+    timeWindow: {
+        startSimMs: number;
+        endSimMs: number;
+    };
+    reserverId: string;
+    priority: number;
+    metadata?: Record<string, any>;
+}>;
+//# sourceMappingURL=path-planner.d.ts.map

package/dist-types/navigation/path-planner.d.ts.map

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package/dist-types/navigation/reservation-table.d.ts

@@ -0,0 +1,103 @@
+import type { Reservation, TimeWindow, YieldDecision, YieldPolicy } from './types.js';
+/** 기본 yield policy: priority 낮은(수치 높은) 쪽이 양보, 같으면 fifo. */
+export declare const standardYieldPolicy: YieldPolicy;
+/**
+ * Conflict — 두 reservation 의 충돌 정보. yield policy 가 어느 쪽이 양보할지 결정.
+ */
+export interface Conflict {
+    a: Reservation;
+    b: Reservation;
+    decision: YieldDecision;
+}
+/**
+ * Phase K — 충돌 발생 기록. observability 의 입력 — Atlas 의 Conflicts mode 가
+ * 활용. 시간순 누적 (ring buffer 로 maxEntries 제한).
+ */
+export interface ConflictRecord {
+    /** 충돌 발생 sim time (proposed reservation 의 시작 시간으로 추정). */
+    simTime: number;
+    resource: string;
+    /** 시도된 reservation (table 에 안 들어감). */
+    proposed: Omit<Reservation, 'id'>;
+    /** 충돌한 기존 reservations. */
+    existing: Reservation[];
+    /** 결과 — 'rejected' (proposed 가 양보) | 'preempted' (기존이 evict 됨). */
+    outcome: 'rejected' | 'preempted';
+}
+export declare class ReservationTable {
+    private readonly _byResource;
+    private readonly _byReserver;
+    private readonly _yieldPolicy;
+    private readonly _listeners;
+    private readonly _conflictLog;
+    private _maxConflictLog;
+    constructor(yieldPolicy?: YieldPolicy);
+    /**
+     * Reservation 을 추가. 같은 resource + 겹치는 window 에 다른 reservation 이
+     * 있으면 yield policy 가 어느 쪽이 양보할지 결정.
+     *
+     * 반환:
+     *   - { ok: true, reservation }                   충돌 없음
+     *   - { ok: false, conflicts }                    이 reservation 이 양보 (추가 안 됨)
+     *   - { ok: 'preempted', reservation, evicted }   기존 reservation 들이 양보 (제거됨)
+     *
+     * preempted 케이스는 호출자가 evicted reservation 의 reserver 들에게
+     * notification 하고 reroute 하도록 함.
+     */
+    add(input: Omit<Reservation, 'id'>): AddResult;
+    /** Phase K — 충돌 로그 (rejected / preempted). 시간순 누적. */
+    conflictLog(): readonly ConflictRecord[];
+    /** maxEntries 설정 (테스트용). */
+    setMaxConflictLog(n: number): void;
+    private _appendConflictLog;
+    /**
+     * 미리 충돌 가능성 검사 (add 안 함). plan 단계에서 reservation 을 사전 검증할 때.
+     */
+    conflicts(resource: string, window: TimeWindow): Reservation[];
+    /** 한 reservation 회수. 도착 완료 또는 cancel 시. */
+    release(reservation: Reservation): void;
+    /** 같은 reserver 의 모든 reservation 일괄 해제. */
+    releaseAllOf(reserverId: string): Reservation[];
+    /** 특정 resource 의 모든 reservation (read-only 사본). */
+    forResource(resource: string): readonly Reservation[];
+    /** 특정 reserver 의 모든 reservation. */
+    forReserver(reserverId: string): readonly Reservation[];
+    /** 모든 reservation. */
+    all(): readonly Reservation[];
+    /** 청소 (테스트용). */
+    clear(): void;
+    /**
+     * Listener 등록. observability (Atlas extension 등) 를 위함.
+     */
+    subscribe(listener: (event: ReservationEvent) => void): () => void;
+    private _insert;
+    private _remove;
+    private _emit;
+}
+export type ReservationEvent = {
+    kind: 'added';
+    reservation: Reservation;
+} | {
+    kind: 'released';
+    reservation: Reservation;
+} | {
+    kind: 'evicted';
+    reservation: Reservation;
+    by: Reservation;
+};
+export type AddResult = {
+    ok: true;
+    reservation: Reservation;
+} | {
+    ok: 'preempted';
+    reservation: Reservation;
+    evicted: Reservation[];
+} | {
+    ok: false;
+    conflicts: Conflict[];
+};
+/**
+ * Singleton — 단일 시뮬레이션 instance 내 공유. 테스트는 자체 인스턴스 만드는 걸 권장.
+ */
+export declare const reservationTable: ReservationTable;
+//# sourceMappingURL=reservation-table.d.ts.map

package/dist-types/navigation/reservation-table.d.ts.map

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

@@ -0,0 +1,145 @@
+import type { Vec3 } from '../transfer/types.js';
+export interface LaneGeometry {
+    /** 중앙선의 점들 (시작 → 끝). */
+    centerPoints: Vec3[];
+    /** lane 의 폭 (vehicle 이 이 안에 들어가야 함). */
+    width: number;
+}
+export interface Lane {
+    id: string;
+    geometry: LaneGeometry;
+    /** oneway 면 centerPoints 의 시작→끝 방향만, twoway 면 양방향 허용. */
+    direction: 'oneway' | 'twoway';
+    /** 속도 제한 (scene units / sim sec). undefined = 무제한. */
+    speedLimit?: number;
+    /** 통과 가능한 도구 type (Pickable.toolType 과 같은 축). 빈 배열 = 모두 허용. */
+    allowedToolTypes?: string[];
+    /** 동시에 들어갈 수 있는 vehicle 수. 1 = 단독 점유 (1차원 큐). */
+    capacity: number;
+}
+/**
+ * 두 lane 의 진입쌍이 충돌하는지 표현. e.g. north→south 와 east→west 는 직각
+ * 교차로에서 충돌하지만 north→east 와 south→east 는 충돌 안 함 (병행).
+ */
+export interface ConflictPair {
+    fromLane: string;
+    toLane: string;
+    /** 어떤 우선순위 정책을 적용할지. */
+    resolveBy: 'fifo' | 'priority' | 'roundrobin';
+}
+export interface Intersection {
+    id: string;
+    lanes: string[];
+    conflicts: ConflictPair[];
+    /** 통과 시간 (vehicle 이 교차로 안에 머무는 sim ms). 보수적으로 추정. */
+    crossingTimeMs: number;
+}
+export interface NavPolygon {
+    vertices: Vec3[];
+}
+/**
+ * lane 으로 표현하기 어려운 넓은 영역 (open warehouse floor, dock plaza 등).
+ * 시공간 격자로 점유권을 관리.
+ */
+export interface OpenZone {
+    id: string;
+    boundary: NavPolygon;
+    /** 점유 격자의 cell 한 변 크기 (scene unit). 작을수록 정확하지만 reservation 많아짐. */
+    cellSize: number;
+}
+export interface TimeWindow {
+    /** sim time milliseconds. */
+    startSimMs: number;
+    endSimMs: number;
+}
+/**
+ * 어떤 resource 를 어떤 시간 window 동안 누가 점유하는가.
+ *
+ * resource 는 lane id / intersection id / open-zone cell key 등 resource 의
+ * 단일 식별자. cell 의 경우 e.g. `${zoneId}:cell:${i},${j}`.
+ */
+export interface Reservation {
+    id: string;
+    resource: string;
+    timeWindow: TimeWindow;
+    reserverId: string;
+    /** 낮을수록 우선. emergency = -1, task-bound = 0, idle = 10 등. */
+    priority: number;
+    /** 부수 메타 (어떤 task 의 일부인지, 어떤 carrier 를 운반 중인지 등). */
+    metadata?: Record<string, any>;
+}
+export interface SpeedProfile {
+    /** 최대 속도 (scene units / sim sec). */
+    max: number;
+    /** 가속도 (scene units / sim sec²). */
+    accel: number;
+    /** 감속도 (scene units / sim sec²). */
+    decel: number;
+}
+export interface PathSegment {
+    resource: string;
+    /** 이 segment 를 통과하는 sim time. */
+    timeWindow: TimeWindow;
+    /** segment 시작 / 끝 좌표 (시각화용). */
+    fromPos: Vec3;
+    toPos: Vec3;
+}
+export interface PathPlan {
+    segments: PathSegment[];
+    /** 전체 경로의 sim time 길이. */
+    totalDurationMs: number;
+    /** 전체 경로 길이 (scene unit). */
+    totalDistance: number;
+}
+export interface PathPlanOptions {
+    /** sim time 시작점. 미지정 시 현재 globalSimClock.now. */
+    startSimMs?: number;
+    /** vehicle 의 toolType — lane.allowedToolTypes 검사용. */
+    toolType?: string;
+    /** vehicle 의 speed profile. */
+    speed?: SpeedProfile;
+    /** 우선순위 (충돌 시 양보 결정용). */
+    priority?: number;
+    /** deadline (sim ms) — 이 시간 안에 도착 못 하면 null 반환. */
+    deadlineSimMs?: number;
+}
+/**
+ * Vehicle 이 navigation 능력을 노출하는 인터페이스. Mover 의 sub-trait.
+ *
+ * lifecycle:
+ *   1. planPath(target) → PathPlan | null     (lookup, 부수효과 없음)
+ *   2. reservePath(plan) → Reservation[] | null (table 에 add, 충돌 시 null)
+ *   3. followReservation(rs) → Promise<void>   (sim time 진행)
+ *   4. releaseReservation(rs)                  (도착 후 또는 cancel)
+ *
+ * 단계 분리로 충돌 감지가 commit 직전, replay 가 결정적, 디버깅이 가능.
+ */
+export interface Navigable {
+    toolType: string;
+    speedProfile: SpeedProfile;
+    /**
+     * 경로 계획. 시간-공간 reservation 가능성 검증 포함 (단, table 에 commit 안 함).
+     * null 반환 = 도달 가능 경로 없음 (deadline 초과 / 모든 lane 점유 등).
+     */
+    planPath(target: Vec3, options?: PathPlanOptions): PathPlan | null;
+    /**
+     * 계획된 경로를 reservation table 에 commit. 다른 vehicle 이 이미 점유한
+     * window 와 충돌 시 null — 호출자가 reroute 하든 대기하든 결정.
+     */
+    reservePath(plan: PathPlan, priority?: number): Reservation[] | null;
+    /**
+     * commit 된 reservation 따라 sim time 진행. resolve = 마지막 segment 도착.
+     */
+    followReservation(reservations: Reservation[]): Promise<void>;
+    /** 점유 해제. 도착 완료 또는 cancel 시 호출. */
+    releaseReservation(reservations: Reservation[]): void;
+}
+export type YieldDecision = 'a-yields' | 'b-yields' | 'replan-both';
+export interface YieldPolicy {
+    /**
+     * 두 reservation 이 시간-공간 충돌할 때 누가 양보하는가.
+     * 기본: priority 낮은 (수치 높은) 쪽이 양보. 같으면 fifo (먼저 만든 게 우선).
+     */
+    resolveConflict(a: Reservation, b: Reservation): YieldDecision;
+}
+//# sourceMappingURL=types.d.ts.map

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

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

@@ -0,0 +1,3 @@
+export type { Placement, PlacementPolicy } from './placement.js';
+export { DEFAULT_PLACEMENT, isStateDriven } from './placement.js';
+//# sourceMappingURL=index.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../../src/placement/index.ts"],"names":[],"mappings":"AAMA,YAAY,EAAE,SAAS,EAAE,eAAe,EAAE,MAAM,gBAAgB,CAAA;AAChE,OAAO,EAAE,iBAAiB,EAAE,aAAa,EAAE,MAAM,gBAAgB,CAAA"}

package/dist-types/placement/placement.d.ts

@@ -0,0 +1,53 @@
+/**
+ * 컴포넌트의 placement 결정 정책.
+ *
+ * - **state-driven** (default): state.left/top/zPos/rotation/... 이 obj3d 에 반영.
+ *   현재 things-scene 의 모든 컴포넌트가 묵시적으로 따르는 정책.
+ *
+ * - **carried**: 다른 holder 의 attach frame 에 부착. holder 의 movement 를
+ *   scene-graph 통해 자동 추종. carrier policy (world-preserve / belt-aligned /
+ *   world-fixed 등) 는 holder 가 결정. 예: AGV 위 박스, sorter carrier 위 파레트.
+ *
+ * - **animated**: animation system 이 일시적으로 obj3d 를 override. animation
+ *   종료 시 다른 정책으로 복귀.
+ *
+ * - **fixed**: world 좌표 고정 (parent 변경 무관). HUD / screenFixed 컴포넌트.
+ *
+ * - **transitioning**: reparent 중 TransitionEffect 가 보간 제어. transition
+ *   완료 시 keepSuppressed 면 carried 또는 manual, 아니면 state-driven 으로 복귀.
+ *
+ * - **manual**: 컴포넌트 코드가 직접 obj3d.position/quaternion 을 매 frame
+ *   조작. framework 는 개입 안 함. 예: cross-belt-line 의 _tickSim, IK
+ *   smoothing, URDF physics.
+ */
+export type PlacementPolicy = 'state-driven' | 'carried' | 'animated' | 'fixed' | 'transitioning' | 'manual';
+/**
+ * Placement 선언. 컴포넌트의 RealObject 가 이 객체를 반환하면 framework 가
+ * 정책에 따라 동작.
+ *
+ * Step 1 에선 policy 만 정의. 후속 step 에서 정책별 metadata (예: carried 의
+ * carryPolicy 'world-preserve' / 'belt-aligned', transitioning 의 transition 객체)
+ * 를 추가.
+ */
+export interface Placement {
+    policy: PlacementPolicy;
+    /**
+     * 정책별 metadata. 선언 시점에 정책에 따라 추가 정보를 담음.
+     * Step 1 에선 미사용. 향후 정책 별로 타입 좁히기 (discriminated union) 적용.
+     */
+    meta?: Record<string, unknown>;
+}
+/** 기본 placement = 현재 동작 = state pipeline 이 obj3d 를 결정. */
+export declare const DEFAULT_PLACEMENT: Placement;
+/**
+ * Placement 정책이 state pipeline 적용을 허용하는가.
+ *
+ * - state-driven: ✓ 적용
+ * - 그 외: framework 가 obj3d 를 건드리지 않음 (다른 시스템 또는 컴포넌트가 책임).
+ *
+ * 현재 RealObject 의 `suppressTransform` 플래그와 의미가 겹침. 마이그레이션
+ * 단계 (Step 2~7) 에서 suppressTransform 이 점진적으로 `placement.policy !==
+ * 'state-driven'` 으로 흡수됨. 호환성 위해 두 메커니즘 일정 기간 병존.
+ */
+export declare function isStateDriven(placement: Placement): boolean;
+//# sourceMappingURL=placement.d.ts.map

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

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

@@ -16,6 +16,7 @@ export declare namespace Model {
 }
 export { default as Layer } from '../layer/layer.js';
 export { default as EventMap } from '../event-map/event-map.js';
+export type { ComponentEventMap } from '../types/event.js';
 export * from '../const.js';
 export * from '../animation/index.js';
 export * from '../components/index.js';
@@ -27,8 +28,16 @@ export type { SceneRenderContext, DrawOptions, StyleOptions, FillStyle, StrokeSt
 export type { LinkEnd } from '../decorator/decorators/link-decorator.js';
 export type { LAYOUT, LayoutRegistry } from '../interfaces/layout.js';
 export type { IRealObject } from '../interfaces/real-object.js';
-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, SimulationClock } from '../transfer/index.js';
-export { FixedSlotStrategy, CenteringSlotStrategy, ContainerCapacity, TRANSFER_SLOT_KEY, globalSimClock } from '../transfer/index.js';
+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, SimulationClock, TransferPhase, TransferTimeline, TransferReceipt, TransferReceiptJSON, TransferLogStats, PhysicalRunner, TransferInit, QuatLike, PoseSerialized, PickupFrame, PickupRequester, Pickable, RectangularFootprintOptions, TopApproachOptions } from '../transfer/index.js';
+export { FixedSlotStrategy, CenteringSlotStrategy, ContainerCapacity, TRANSFER_SLOT_KEY, globalSimClock, Transfer, transferLog, receiptToJSON, quatFromYaw, rectangularFootprintFrames, topApproachFrame, filterByToolType, chooseNearestPickupFrame } from '../transfer/index.js';
+export { Pose6DOF, getPose, getWorldPose, setPose, setWorldPose } from '../math/index.js';
+export type { PoseLike } from '../math/index.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 { buildContractInspector, installContractInspector } from '../diagnostics/contract-inspector.js';
+export type { ContractInspector, InspectorComponentSummary, InspectorSimStatus } from '../diagnostics/contract-inspector.js';
+export { frameClock } from '../clock/index.js';
+export type { FrameClock, TickHandler, Unsubscribe, SubscribeOptions, SubscriptionInfo, FrameClockSnapshot, ExternalAnimationInfo, ExternalAnimationHandle } from '../clock/index.js';
 export { default as ReferenceMap } from '../core/reference-map.js';
 export { default as ScriptLoader } from '../core/script-loader.js';
 export * from '../core/logger.js';
@@ -44,6 +53,7 @@ export type { LagMonitorConfig, LagTrend, LagLevel, LagStats } from '../diagnost
 export { LoadingOverlay } from '../diagnostics/loading-overlay.js';
 export { default as ScenePopup } from '../layer/action/popup.js';
 export { default as TransitionEffect } from '../transition/transition-effect.js';
+export * from '../placement/index.js';
 export * from '../search/index.js';
 export * from '../threed/index.js';
 //# sourceMappingURL=index.d.ts.map

package/dist-types/things-scene/index.d.ts.map

@@ -1 +1 @@
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