@hatiolab/things-scene 10.0.0-beta.92 → 10.0.0-beta.94

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

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

@@ -28,8 +28,14 @@ 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';
@@ -50,4 +56,6 @@ export { default as TransitionEffect } from '../transition/transition-effect.js'
 export * from '../placement/index.js';
 export * from '../search/index.js';
 export * from '../threed/index.js';
+export * from '../types/polygon-path.js';
+export * from '../types/polygon-path-arc.js';
 //# sourceMappingURL=index.d.ts.map

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

@@ -1 +1 @@
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+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../../src/things-scene/index.ts"],"names":[],"mappings":"AAIA,OAAO,mBAAmB,CAAA;AAE1B,OAAO,QAAQ,MAAM,qBAAqB,CAAA;AAC1C,OAAO,UAAU,MAAM,uBAAuB,CAAA;AAC9C,OAAO,EAAE,MAAM,IAAI,OAAO,EAAE,KAAK,IAAI,MAAM,EAAE,MAAM,sBAAsB,CAAA;AAEzE,OAAO,EAAE,OAAO,IAAI,MAAM,EAAE,MAAM,aAAa,CAAA;AAC/C,YAAY,EAAE,kBAAkB,EAAE,MAAM,aAAa,CAAA;AAErD,MAAM,WAAW,KAAK;IACpB,IAAI,CAAC,EAAE,MAAM,CAAA;IACb,CAAC,GAAG,EAAE,MAAM,GAAG,GAAG,CAAA;CACnB;AAED,yBAAiB,KAAK,CAAC;IACd,MAAM,OAAO,iBAAW,CAAA;IACxB,MAAM,SAAS,mBAAa,CAAA;IAC5B,MAAM,MAAM,gBAAU,CAAA;IACtB,MAAM,KAAK,eAAS,CAAA;CAC5B;AAED,OAAO,EAAE,OAAO,IAAI,KAAK,EAAE,MAAM,mBAAmB,CAAA;AACpD,OAAO,EAAE,OAAO,IAAI,QAAQ,EAAE,MAAM,2BAA2B,CAAA;AAC/D,YAAY,EAAE,iBAAiB,EAAE,MAAM,mBAAmB,CAAA;AAE1D,cAAc,aAAa,CAAA;AAE3B,cAAc,uBAAuB,CAAA;AACrC,cAAc,wBAAwB,CAAA;AACtC,cAAc,oBAAoB,CAAA;AAClC,cAAc,mBAAmB,CAAA;AAGjC,YAAY,EACV,KAAK,EAAE,KAAK,EAAE,SAAS,EAAE,QAAQ,EAAE,QAAQ,EAAE,QAAQ,EAAE,SAAS,EAAE,MAAM,EAAE,KAAK,EAC/E,OAAO,EAAE,eAAe,EAAE,MAAM,EAAE,aAAa,EAAE,cAAc,EAAE,OAAO,EACxE,SAAS,EAAE,YAAY,EAAE,cAAc,EAAE,KAAK,EAAE,UAAU,EAAE,KAAK,EAAE,KAAK,EACzE,MAAM,wBAAwB,CAAA;AAC/B,YAAY,EAAE,iBAAiB,EAAE,wBAAwB,EAAE,qBAAqB,EAAE,MAAM,4BAA4B,CAAA;AACpH,YAAY,EACV,kBAAkB,EAAE,WAAW,EAAE,YAAY,EAAE,SAAS,EAAE,WAAW,EAAE,SAAS,EAAE,MAAM,EACxF,WAAW,EAAE,aAAa,EAAE,WAAW,EAAE,cAAc,EAAE,YAAY,EACtE,MAAM,4BAA4B,CAAA;AACnC,YAAY,EAAE,OAAO,EAAE,MAAM,2CAA2C,CAAA;AACxE,YAAY,EAAE,MAAM,EAAE,cAAc,EAAE,MAAM,yBAAyB,CAAA;AACrE,YAAY,EAAE,WAAW,EAAE,MAAM,8BAA8B,CAAA;AAG/D,YAAY,EACV,IAAI,EACJ,KAAK,EACL,OAAO,EACP,eAAe,EACf,SAAS,EACT,OAAO,EACP,cAAc,EACd,eAAe,EACf,YAAY,EACZ,aAAa,EACb,aAAa,EACb,gBAAgB,EAChB,IAAI,EACJ,iBAAiB,EACjB,aAAa,EACb,kBAAkB,EAClB,mBAAmB,EACnB,YAAY,EACZ,gBAAgB,EAChB,iBAAiB,EACjB,OAAO,EACP,qBAAqB,EACrB,aAAa,EACb,cAAc,EACd,eAAe,EACf,WAAW,EACX,UAAU,EACV,SAAS,EACT,eAAe,EAEf,aAAa,EACb,gBAAgB,EAChB,eAAe,EACf,mBAAmB,EACnB,gBAAgB,EAChB,cAAc,EACd,YAAY,EAEZ,QAAQ,EACR,cAAc,EACd,WAAW,EACX,eAAe,EACf,QAAQ,EACR,2BAA2B,EAC3B,kBAAkB,EACnB,MAAM,sBAAsB,CAAA;AAC7B,OAAO,EACL,iBAAiB,EACjB,qBAAqB,EACrB,iBAAiB,EACjB,iBAAiB,EACjB,cAAc,EAEd,QAAQ,EACR,WAAW,EACX,aAAa,EAEb,WAAW,EACX,0BAA0B,EAC1B,gBAAgB,EAChB,gBAAgB,EAChB,wBAAwB,EACzB,MAAM,sBAAsB,CAAA;AAI7B,OAAO,EAAE,QAAQ,EAAE,OAAO,EAAE,YAAY,EAAE,OAAO,EAAE,YAAY,EAAE,MAAM,kBAAkB,CAAA;AACzF,YAAY,EAAE,QAAQ,EAAE,MAAM,kBAAkB,CAAA;AAIhD,OAAO,EACL,gBAAgB,EAChB,gBAAgB,EAChB,mBAAmB,EACnB,QAAQ,EACR,aAAa,EACb,aAAa,EACb,kBAAkB,EACnB,MAAM,wBAAwB,CAAA;AAC/B,YAAY,EACV,YAAY,EACZ,IAAI,EACJ,YAAY,EACZ,YAAY,EACZ,UAAU,EACV,QAAQ,EACR,UAAU,EACV,WAAW,EACX,YAAY,EACZ,WAAW,EACX,QAAQ,EACR,eAAe,EACf,SAAS,EACT,aAAa,EACb,WAAW,EACX,gBAAgB,EAChB,SAAS,EACT,QAAQ,EACR,cAAc,EACd,OAAO,EACP,OAAO,EACP,oBAAoB,EACrB,MAAM,wBAAwB,CAAA;AAG/B,OAAO,EAAE,sBAAsB,EAAE,wBAAwB,EAAE,MAAM,sCAAsC,CAAA;AACvG,YAAY,EAAE,iBAAiB,EAAE,yBAAyB,EAAE,kBAAkB,EAAE,MAAM,sCAAsC,CAAA;AAG5H,OAAO,EAAE,UAAU,EAAE,MAAM,mBAAmB,CAAA;AAC9C,YAAY,EACV,UAAU,EACV,WAAW,EACX,WAAW,EACX,gBAAgB,EAChB,gBAAgB,EAChB,kBAAkB,EAClB,qBAAqB,EACrB,uBAAuB,EACxB,MAAM,mBAAmB,CAAA;AAE1B,OAAO,EAAE,OAAO,IAAI,YAAY,EAAE,MAAM,0BAA0B,CAAA;AAClE,OAAO,EAAE,OAAO,IAAI,YAAY,EAAE,MAAM,0BAA0B,CAAA;AAElE,cAAc,mBAAmB,CAAA;AAEjC,OAAO,EAAE,OAAO,IAAI,KAAK,EAAE,MAAM,YAAY,CAAA;AAE7C,OAAO,EAAE,OAAO,IAAI,OAAO,EAAE,MAAM,cAAc,CAAA;AACjD,OAAO,EAAE,OAAO,IAAI,GAAG,EAAE,cAAc,EAAE,MAAM,UAAU,CAAA;AACzD,OAAO,EAAE,OAAO,EAAE,MAAM,2BAA2B,CAAA;AACnD,OAAO,EAAE,SAAS,EAAE,MAAM,6BAA6B,CAAA;AACvD,OAAO,EAAE,WAAW,EAAE,MAAM,gCAAgC,CAAA;AAC5D,YAAY,EAAE,SAAS,EAAE,SAAS,EAAE,cAAc,EAAE,SAAS,EAAE,WAAW,EAAE,MAAM,gCAAgC,CAAA;AAClH,OAAO,EAAE,cAAc,EAAE,MAAM,oCAAoC,CAAA;AACnE,YAAY,EAAE,gBAAgB,EAAE,QAAQ,EAAE,QAAQ,EAAE,QAAQ,EAAE,MAAM,oCAAoC,CAAA;AACxG,OAAO,EAAE,cAAc,EAAE,MAAM,mCAAmC,CAAA;AAElE,OAAO,EAAE,OAAO,IAAI,UAAU,EAAE,MAAM,0BAA0B,CAAA;AAChE,OAAO,EAAE,OAAO,IAAI,gBAAgB,EAAE,MAAM,oCAAoC,CAAA;AAGhF,cAAc,uBAAuB,CAAA;AAGrC,cAAc,oBAAoB,CAAA;AAGlC,cAAc,oBAAoB,CAAA;AAGlC,cAAc,0BAA0B,CAAA;AACxC,cAAc,8BAA8B,CAAA"}

package/dist-types/threed/factories/polygon.d.ts

@@ -1,5 +1,13 @@
 import * as THREE from 'three';
 import { RealObjectExtrude } from '../real-object-extrude.js';
+/**
+ * 호(bulge) 가 chord 한쪽으로 부풀면 ExtrudeGeometry 의 mesh BBox center 가
+ * 그 쪽으로 이동한다. RealObjectExtrude.createGeometry 의 `geometry.center()` 가
+ * 그 이동된 BBox center 를 (0,0) 으로 시프트 → polygon 통째가 호 반대편으로 어긋남.
+ *
+ * 여기서는 path vertex 만의 BBox center 로 정렬되도록 createGeometry 를 오버라이드.
+ * 핸들 위치(보드 좌표 = path vertex 좌표) 와 mesh 위치가 일치한다.
+ */
 export declare class PolygonExtrude extends RealObjectExtrude {
     _minMax?: {
         minX?: number;
@@ -8,6 +16,17 @@ export declare class PolygonExtrude extends RealObjectExtrude {
         maxY?: number;
     };
     get shape(): THREE.Shape;
+    /**
+     * super.build() 와 거의 동일하지만 BoundUVGenerator 의 BBox 를 호 포함 shape
+     * 이 아닌 path vertex 만의 BBox 로 설정. 패턴 텍스처가 vertex BBox 기준
+     * (= component bounds) 으로 매핑되어 Rect 와 동일한 시각이 나온다.
+     */
+    build(): void;
+    /**
+     * mesh BBox center 가 아닌 path vertex BBox center 로 정렬한다.
+     * 호 영역이 chord 한쪽으로 부풀어도 polygon 통째 위치가 어긋나지 않도록.
+     */
+    createGeometry(shape: THREE.Shape): THREE.BufferGeometry;
     get minMax(): {
         minX?: number;
         minY?: number;

package/dist-types/threed/factories/polygon.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"polygon.d.ts","sourceRoot":"","sources":["../../../src/threed/factories/polygon.ts"],"names":[],"mappings":"AAKA,OAAO,KAAK,KAAK,MAAM,OAAO,CAAA;AAC9B,OAAO,EAAE,iBAAiB,EAAE,MAAM,2BAA2B,CAAA;AAS7D;;;;;;;GAOG;AAEH,qBAAa,cAAe,SAAQ,iBAAiB;IACnD,OAAO,CAAC,EAAE;QACR,IAAI,CAAC,EAAE,MAAM,CAAA;QACb,IAAI,CAAC,EAAE,MAAM,CAAA;QACb,IAAI,CAAC,EAAE,MAAM,CAAA;QACb,IAAI,CAAC,EAAE,MAAM,CAAA;KACd,CAAA;IAED,IAAI,KAAK,gBAoER;IAED;;;;OAIG;IACH,KAAK;IAiDL;;;OAGG;IACH,cAAc,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,GAAG,KAAK,CAAC,cAAc;IAsCxD,IAAI,MAAM;eA5KD,MAAM;eACN,MAAM;eACN,MAAM;eACN,MAAM;MAwMd;CACF"}

package/dist-types/threed/managers/vertex-gizmo-manager.d.ts

@@ -20,8 +20,14 @@ export declare class VertexGizmoManager {
     private _activeComponent?;
     private _activeVertexHandles;
     private _activeHandleIndex;
+    private _activeKind;
+    private _activeHandle?;
     private _isDragging;
     private _isExtending;
+    private _isPending;
+    private _pendingHit?;
+    private _pendingHandleType?;
+    private _pendingScreenStart;
     private _dragPlane;
     private _dragOffset;
     private _raycaster;
@@ -50,6 +56,8 @@ export declare class VertexGizmoManager {
     private _rebuildComponentHandles;
     private _createVertexHandle;
     private _createMidpointHandle;
+    private _createCornerHandle;
+    private _createBulgeHandle;
     /**
      * 3D 핸들 위치 → 2D path 포인트 역변환
      */
@@ -63,10 +71,33 @@ export declare class VertexGizmoManager {
     /** 컴포넌트에 속하는 ComponentHandles를 찾는다 */
     private _findComponentHandles;
     /**
-     * 마우스 다운: vertex/midpoint 핸들 raycast hit 감지 → 드래그 시작.
+     * 마우스 다운: 핸들 raycast hit 감지 → **pending 상태 진입** (드래그 시작 X).
+     *
+     * 2D `ua-event-handler.ts` 와 동일 컨벤션: mousedown 만으로 path mutation 을 일으키지
+     * 않고, mousemove 가 DRAG_THRESHOLD_PX2 를 넘는 순간 dragstart 처리.
+     * 이전엔 midpoint 핸들 클릭만 해도 vertex 가 즉시 추가되었고, vertex 클릭만 해도
+     * mouseup 에서 no-op CommandChange 가 쌓였다 — 두 케이스 모두 2D 와 다른 거동.
+     *
+     * vertex/midpoint 우선 raycast — corner/bulge 는 vertex 가 hit 안 될 때만 검사.
+     * 같은 ray 위에 vertex 와 corner 가 겹칠 때 vertex 가 우선되도록.
+     *
      * @returns true이면 이벤트를 소비
      */
     onPointerDown(ndc: THREE.Vector2, camera: THREE.Camera, event: MouseEvent): boolean;
+    /**
+     * pending 상태에서 임계값 통과 시점에 호출 — kind 별 dragstart 처리.
+     * `_startMidpointDrag` 는 vertex 를 splice 하므로 이 시점까지 path mutation 이 미뤄진다.
+     */
+    private _beginDrag;
+    /**
+     * corner radius 핸들 드래그 시작 — 보드 평면 ray-cast 로 드래그 좌표를 받아
+     * cornerRadiusFromDrag 으로 새 radius 계산.
+     */
+    private _startCornerDrag;
+    /**
+     * bulge 핸들 드래그 시작.
+     */
+    private _startBulgeDrag;
     /**
      * midpoint 핸들 드래그 시작: 세그먼트 중간에 새 vertex를 삽입
      */
@@ -80,20 +111,35 @@ export declare class VertexGizmoManager {
      */
     private _setupDragPlane;
     /**
-     * 마우스 이동: 드래그 중이면 핸들 이동.
+     * 마우스 이동: pending 인 경우 임계값 검사 후 dragstart, 그 후 dragmove 처리.
+     *
+     * 첫 mousemove 가 임계값을 넘는 순간 `_beginDrag` 호출 — 이 함수가 _setupDragPlane 까지
+     * 처리하므로 같은 mousemove 내에서 fallthrough 로 dragmove 까지 이어지면 된다.
      */
     onPointerMove(ndc: THREE.Vector2, camera: THREE.Camera, event: MouseEvent): boolean;
+    /** corner 드래그 라이브 갱신 — 보드 좌표 변환 후 cornerRadiusFromDrag */
+    private _dragCornerLive;
+    /** bulge 드래그 라이브 갱신 */
+    private _dragBulgeLive;
     /**
      * 현재 활성 컴포넌트의 vertex 핸들 위치로부터 Line2 geometry를 실시간 업데이트한다.
      */
     private _updateLinePreview;
     /**
      * 마우스 업: 드래그 종료 → component.mutatePath() 호출.
+     *
+     * pending 만 있고 드래그가 시작 안 된 경우 = 클릭만. mutation 없이 정리만 한다
+     * (2D 와 동일 — 클릭은 path 를 더럽히지 않음). dblclick 은 별개 이벤트라 정리해도 무방.
      */
     onPointerUp(): boolean;
     /**
-     * 더블클릭: vertex 핸들 위에서 더블클릭하면 해당 vertex 삭제.
-     * @returns true이면 이벤트를 소비
+     * 더블클릭:
+     *   - vertex 핸들 → vertex 삭제 (기존)
+     *   - corner 핸들 → radius 제거 (직각 복귀)
+     *   - bulge 핸들 → bulge 제거 (직선 복귀)
+     *
+     * vertex 우선 raycast — corner/bulge 는 vertex 가 hit 안 될 때만 검사.
+     * onPointerDown 과 동일 컨벤션 (vertex 위 클릭이 corner 로 떨어지지 않도록).
      */
     onDblClick(ndc: THREE.Vector2, camera: THREE.Camera): boolean;
     /**

package/dist-types/threed/managers/vertex-gizmo-manager.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"vertex-gizmo-manager.d.ts","sourceRoot":"","sources":["../../../src/threed/managers/vertex-gizmo-manager.ts"],"names":[],"mappings":"AAIA,OAAO,KAAK,KAAK,MAAM,OAAO,CAAA;AAE9B,OAAO,KAAK,SAAS,MAAM,+BAA+B,CAAA;AA2B1D;;;;;;;;;;;GAWG;AACH,qBAAa,kBAAkB;IAC7B,OAAO,CAAC,iBAAiB,CAAyB;IAClD,OAAO,CAAC,YAAY,CAAC,CAAa;IAClC,OAAO,CAAC,QAAQ,CAAC,CAAa;IAC9B,OAAO,CAAC,UAAU,CAAC,CAAK;IAGxB,OAAO,CAAC,gBAAgB,CAAC,CAAW;IACpC,OAAO,CAAC,oBAAoB,CAAmB;IAC/C,OAAO,CAAC,kBAAkB,CAAK;IAC/B,OAAO,CAAC,WAAW,CAAQ;IAC3B,OAAO,CAAC,YAAY,CAAQ;IAC5B,OAAO,CAAC,UAAU,CAAoB;IACtC,OAAO,CAAC,WAAW,CAAsB;IACzC,OAAO,CAAC,UAAU,CAAwB;IAC1C,OAAO,CAAC,aAAa,CAAsB;IAE3C,IAAI,UAAU,YAA8B;IAC5C,IAAI,UAAU,YAA+C;IAE7D,gCAAgC;IAChC,UAAU,CAAC,OAAO,EAAE,OAAO,GAAG,IAAI;IAMlC;;OAEG;IACH,cAAc,CAAC,UAAU,EAAE,SAAS,EAAE,EAAE,KAAK,EAAE,KAAK,CAAC,KAAK,EAAE,SAAS,CAAC,EAAE,GAAG,GAAG,IAAI;IAqBlF,4BAA4B;IAC5B,MAAM,CAAC,SAAS,EAAE,SAAS,EAAE,KAAK,EAAE,KAAK,CAAC,KAAK,EAAE,SAAS,CAAC,EAAE,GAAG,GAAG,IAAI;IAIvE;;OAEG;IACH,MAAM,IAAI,IAAI;IAiBd;;OAEG;IACH,OAAO,CAAC,sBAAsB;IA2C9B;;OAEG;IACH,OAAO,CAAC,wBAAwB;IAmBhC,OAAO,CAAC,mBAAmB;IAiB3B,OAAO,CAAC,qBAAqB;IAiB7B;;OAEG;IACH,OAAO,CAAC,iBAAiB;IAgBzB;;OAEG;IACH,OAAO,CAAC,eAAe;IAWvB,yBAAyB;IACzB,OAAO,CAAC,cAAc;IAQtB,sCAAsC;IACtC,OAAO,CAAC,qBAAqB;IAI7B;;;OAGG;IACH,aAAa,CAAC,GAAG,EAAE,KAAK,CAAC,OAAO,EAAE,MAAM,EAAE,KAAK,CAAC,MAAM,EAAE,KAAK,EAAE,UAAU,GAAG,OAAO;IAgDnF;;OAEG;IACH,OAAO,CAAC,kBAAkB;IA0B1B;;OAEG;IACH,OAAO,CAAC,oBAAoB;IA2B5B;;OAEG;IACH,OAAO,CAAC,eAAe;IASvB;;OAEG;IACH,aAAa,CAAC,GAAG,EAAE,KAAK,CAAC,OAAO,EAAE,MAAM,EAAE,KAAK,CAAC,MAAM,EAAE,KAAK,EAAE,UAAU,GAAG,OAAO;IA6BnF;;OAEG;IACH,OAAO,CAAC,kBAAkB;IAwB1B;;OAEG;IACH,WAAW,IAAI,OAAO;IA+BtB;;;OAGG;IACH,UAAU,CAAC,GAAG,EAAE,KAAK,CAAC,OAAO,EAAE,MAAM,EAAE,KAAK,CAAC,MAAM,GAAG,OAAO;IA8B7D;;OAEG;IACH,WAAW,IAAI,IAAI;IAMnB;;OAEG;IACH,kBAAkB,CAAC,MAAM,EAAE,KAAK,CAAC,MAAM,GAAG,IAAI;IAuB9C,OAAO,IAAI,IAAI;CAGhB"}
+{"version":3,"file":"vertex-gizmo-manager.d.ts","sourceRoot":"","sources":["../../../src/threed/managers/vertex-gizmo-manager.ts"],"names":[],"mappings":"AAIA,OAAO,KAAK,KAAK,MAAM,OAAO,CAAA;AAE9B,OAAO,KAAK,SAAS,MAAM,+BAA+B,CAAA;AA4D1D;;;;;;;;;;;GAWG;AACH,qBAAa,kBAAkB;IAC7B,OAAO,CAAC,iBAAiB,CAAyB;IAClD,OAAO,CAAC,YAAY,CAAC,CAAa;IAClC,OAAO,CAAC,QAAQ,CAAC,CAAa;IAC9B,OAAO,CAAC,UAAU,CAAC,CAAK;IAGxB,OAAO,CAAC,gBAAgB,CAAC,CAAW;IACpC,OAAO,CAAC,oBAAoB,CAAmB;IAC/C,OAAO,CAAC,kBAAkB,CAAK;IAC/B,OAAO,CAAC,WAAW,CAAuB;IAC1C,OAAO,CAAC,aAAa,CAAC,CAAY;IAClC,OAAO,CAAC,WAAW,CAAQ;IAC3B,OAAO,CAAC,YAAY,CAAQ;IAE5B,OAAO,CAAC,UAAU,CAAQ;IAC1B,OAAO,CAAC,WAAW,CAAC,CAAY;IAChC,OAAO,CAAC,kBAAkB,CAAC,CAAY;IACvC,OAAO,CAAC,mBAAmB,CAAiB;IAC5C,OAAO,CAAC,UAAU,CAAoB;IACtC,OAAO,CAAC,WAAW,CAAsB;IACzC,OAAO,CAAC,UAAU,CAAwB;IAC1C,OAAO,CAAC,aAAa,CAAsB;IAE3C,IAAI,UAAU,YAA8B;IAC5C,IAAI,UAAU,YAA+C;IAE7D,gCAAgC;IAChC,UAAU,CAAC,OAAO,EAAE,OAAO,GAAG,IAAI;IAMlC;;OAEG;IACH,cAAc,CAAC,UAAU,EAAE,SAAS,EAAE,EAAE,KAAK,EAAE,KAAK,CAAC,KAAK,EAAE,SAAS,CAAC,EAAE,GAAG,GAAG,IAAI;IAqBlF,4BAA4B;IAC5B,MAAM,CAAC,SAAS,EAAE,SAAS,EAAE,KAAK,EAAE,KAAK,CAAC,KAAK,EAAE,SAAS,CAAC,EAAE,GAAG,GAAG,IAAI;IAIvE;;OAEG;IACH,MAAM,IAAI,IAAI;IAsBd;;OAEG;IACH,OAAO,CAAC,sBAAsB;IAqF9B;;OAEG;IACH,OAAO,CAAC,wBAAwB;IAwBhC,OAAO,CAAC,mBAAmB;IAiB3B,OAAO,CAAC,qBAAqB;IAiB7B,OAAO,CAAC,mBAAmB;IAkB3B,OAAO,CAAC,kBAAkB;IAkB1B;;OAEG;IACH,OAAO,CAAC,iBAAiB;IAgBzB;;OAEG;IACH,OAAO,CAAC,eAAe;IAWvB,yBAAyB;IACzB,OAAO,CAAC,cAAc;IAatB,sCAAsC;IACtC,OAAO,CAAC,qBAAqB;IAI7B;;;;;;;;;;;;OAYG;IACH,aAAa,CAAC,GAAG,EAAE,KAAK,CAAC,OAAO,EAAE,MAAM,EAAE,KAAK,CAAC,MAAM,EAAE,KAAK,EAAE,UAAU,GAAG,OAAO;IAyDnF;;;OAGG;IACH,OAAO,CAAC,UAAU;IAuClB;;;OAGG;IACH,OAAO,CAAC,gBAAgB;IAkBxB;;OAEG;IACH,OAAO,CAAC,eAAe;IAiBvB;;OAEG;IACH,OAAO,CAAC,kBAAkB;IA0B1B;;OAEG;IACH,OAAO,CAAC,oBAAoB;IA2B5B;;OAEG;IACH,OAAO,CAAC,eAAe;IASvB;;;;;OAKG;IACH,aAAa,CAAC,GAAG,EAAE,KAAK,CAAC,OAAO,EAAE,MAAM,EAAE,KAAK,CAAC,MAAM,EAAE,KAAK,EAAE,UAAU,GAAG,OAAO;IAkEnF,0DAA0D;IAC1D,OAAO,CAAC,eAAe;IAwCvB,uBAAuB;IACvB,OAAO,CAAC,cAAc;IA0CtB;;OAEG;IACH,OAAO,CAAC,kBAAkB;IAwB1B;;;;;OAKG;IACH,WAAW,IAAI,OAAO;IA+DtB;;;;;;;;OAQG;IACH,UAAU,CAAC,GAAG,EAAE,KAAK,CAAC,OAAO,EAAE,MAAM,EAAE,KAAK,CAAC,MAAM,GAAG,OAAO;IAuE7D;;OAEG;IACH,WAAW,IAAI,IAAI;IAMnB;;OAEG;IACH,kBAAkB,CAAC,MAAM,EAAE,KAAK,CAAC,MAAM,GAAG,IAAI;IA2B9C,OAAO,IAAI,IAAI;CAGhB"}

package/dist-types/threed/real-object-extrude.d.ts

@@ -14,7 +14,7 @@ import { BoundUVGenerator } from './utils/bound-uv-generator.js';
  */
 export declare class RealObjectExtrude extends RealObject {
     _boundUVGenerator?: BoundUVGenerator;
-    private _mesh?;
+    protected _mesh?: THREE.Mesh;
     clear(): THREE.Object3D<THREE.Object3DEventMap>;
     get shape(): any;
     get boundUVGenerator(): BoundUVGenerator;
@@ -34,5 +34,14 @@ export declare class RealObjectExtrude extends RealObject {
      */
     private _applyCapTexture;
     updateDimension(): void;
+    /**
+     * path 변경 시 geometry 만 교체 (material/texture 보존).
+     *
+     * 이전엔 `update()` (clear + build) 호출했는데, 그러면 build 가 새 materials 를
+     * 만들고 updateFillStyle → 패턴인 경우 patternTextTexture 비동기 이미지 로드를
+     * 매번 다시 시작 → drag 중 race 로 패턴 깜빡임/누락. geometry 만 교체하면
+     * material/CanvasTexture 가 그대로 보존되어 안정.
+     */
+    onchange(after: any, before: any): void;
 }
 //# sourceMappingURL=real-object-extrude.d.ts.map

package/dist-types/threed/real-object-extrude.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"real-object-extrude.d.ts","sourceRoot":"","sources":["../../src/threed/real-object-extrude.ts"],"names":[],"mappings":"AAIA,OAAO,KAAK,KAAK,MAAM,OAAO,CAAA;AAE9B,OAAO,EAAE,UAAU,EAAE,MAAM,kBAAkB,CAAA;AAE7C,OAAO,EAAE,gBAAgB,EAAE,MAAM,+BAA+B,CAAA;AAOhE;;;;;;;;;;GAUG;AACH,qBAAa,iBAAkB,SAAQ,UAAU;IAC/C,iBAAiB,CAAC,EAAE,gBAAgB,CAAA;IACpC,OAAO,CAAC,KAAK,CAAC,CAAY;IAE1B,KAAK;IAKL,IAAI,KAAK,IAAI,GAAG,CAEf;IAED,IAAI,gBAAgB,qBAInB;IAED,KAAK;IAoCL,cAAc,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,GAAG,KAAK,CAAC,cAAc;IAoBxD,eAAe,IAAI,KAAK,CAAC,QAAQ,EAAE;IAcnC,aAAa;IAqBb,OAAO,CAAC,YAAY;IAMpB,gBAAgB;IAYhB,WAAW;IAUX,iBAAiB;IAQjB,eAAe;IAIf,UAAU;IAIV;;;OAGG;IACH,OAAO,CAAC,gBAAgB;IA+DxB,eAAe;CAMhB"}
+{"version":3,"file":"real-object-extrude.d.ts","sourceRoot":"","sources":["../../src/threed/real-object-extrude.ts"],"names":[],"mappings":"AAIA,OAAO,KAAK,KAAK,MAAM,OAAO,CAAA;AAE9B,OAAO,EAAE,UAAU,EAAE,MAAM,kBAAkB,CAAA;AAE7C,OAAO,EAAE,gBAAgB,EAAE,MAAM,+BAA+B,CAAA;AAOhE;;;;;;;;;;GAUG;AACH,qBAAa,iBAAkB,SAAQ,UAAU;IAC/C,iBAAiB,CAAC,EAAE,gBAAgB,CAAA;IACpC,SAAS,CAAC,KAAK,CAAC,EAAE,KAAK,CAAC,IAAI,CAAA;IAE5B,KAAK;IAKL,IAAI,KAAK,IAAI,GAAG,CAEf;IAED,IAAI,gBAAgB,qBAInB;IAED,KAAK;IAoCL,cAAc,CAAC,KAAK,EAAE,KAAK,CAAC,KAAK,GAAG,KAAK,CAAC,cAAc;IAoBxD,eAAe,IAAI,KAAK,CAAC,QAAQ,EAAE;IAcnC,aAAa;IAqBb,OAAO,CAAC,YAAY;IAMpB,gBAAgB;IAYhB,WAAW;IAUX,iBAAiB;IAQjB,eAAe;IAIf,UAAU;IAIV;;;OAGG;IACH,OAAO,CAAC,gBAAgB;IA+DxB,eAAe;IAMf;;;;;;;OAOG;IACH,QAAQ,CAAC,KAAK,EAAE,GAAG,EAAE,MAAM,EAAE,GAAG;CAajC"}

package/dist-types/threed/texture/fillstyle-texture.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"fillstyle-texture.d.ts","sourceRoot":"","sources":["../../../src/threed/texture/fillstyle-texture.ts"],"names":[],"mappings":"AAIA,OAAO,KAAK,KAAK,MAAM,OAAO,CAAA;AAC9B,OAAO,KAAK,SAAS,MAAM,+BAA+B,CAAA;AAG1D;;;GAGG;AACH,wBAAgB,kBAAkB,CAChC,SAAS,EAAE;IACT,YAAY,CAAC,EAAE,MAAM,CAAA;IACrB,QAAQ,CAAC,EAAE,MAAM,CAAA;IACjB,MAAM,CAAC,EAAE,MAAM,CAAA;IACf,UAAU,CAAC,EAAE;QAAE,QAAQ,EAAE,MAAM,CAAC;QAAC,KAAK,EAAE,MAAM,CAAA;KAAE,EAAE,CAAA;IAClD,uDAAuD;IACvD,aAAa,CAAC,EAAE;QAAE,QAAQ,EAAE,MAAM,CAAC;QAAC,KAAK,EAAE,MAAM,CAAA;KAAE,EAAE,CAAA;CACtD,EACD,CAAC,EAAE,MAAM,EACT,CAAC,EAAE,MAAM,GACR,iBAAiB,GAAG,IAAI,CAyC1B;AAED;;;GAGG;AACH,wBAAgB,mBAAmB,CAAC,SAAS,EAAE,SAAS,EAAE,SAAS,EAAE,GAAG,GAAG,KAAK,CAAC,OAAO,CAqGvF;AAED;;GAEG;AACH,wBAAgB,oBAAoB,CAClC,SAAS,EAAE;IAAE,YAAY,CAAC,EAAE,MAAM,CAAC;IAAC,QAAQ,CAAC,EAAE,MAAM,CAAC;IAAC,MAAM,CAAC,EAAE,MAAM,CAAC;IAAC,UAAU,EAAE;QAAE,QAAQ,EAAE,MAAM,CAAC;QAAC,KAAK,EAAE,MAAM,CAAA;KAAE,EAAE,CAAA;CAAE,GAC1H,KAAK,CAAC,aAAa,GAAG,SAAS,CASjC;AAED;;;;;;GAMG;AACH,wBAAgB,qBAAqB,CACnC,SAAS,EAAE,SAAS,EACpB,iBAAiB,CAAC,EAAE,OAAO,GAC1B,KAAK,CAAC,OAAO,GAAG,SAAS,CAkB3B"}
+{"version":3,"file":"fillstyle-texture.d.ts","sourceRoot":"","sources":["../../../src/threed/texture/fillstyle-texture.ts"],"names":[],"mappings":"AAIA,OAAO,KAAK,KAAK,MAAM,OAAO,CAAA;AAC9B,OAAO,KAAK,SAAS,MAAM,+BAA+B,CAAA;AAG1D;;;GAGG;AACH,wBAAgB,kBAAkB,CAChC,SAAS,EAAE;IACT,YAAY,CAAC,EAAE,MAAM,CAAA;IACrB,QAAQ,CAAC,EAAE,MAAM,CAAA;IACjB,MAAM,CAAC,EAAE,MAAM,CAAA;IACf,UAAU,CAAC,EAAE;QAAE,QAAQ,EAAE,MAAM,CAAC;QAAC,KAAK,EAAE,MAAM,CAAA;KAAE,EAAE,CAAA;IAClD,uDAAuD;IACvD,aAAa,CAAC,EAAE;QAAE,QAAQ,EAAE,MAAM,CAAC;QAAC,KAAK,EAAE,MAAM,CAAA;KAAE,EAAE,CAAA;CACtD,EACD,CAAC,EAAE,MAAM,EACT,CAAC,EAAE,MAAM,GACR,iBAAiB,GAAG,IAAI,CAyC1B;AAED;;;GAGG;AACH,wBAAgB,mBAAmB,CAAC,SAAS,EAAE,SAAS,EAAE,SAAS,EAAE,GAAG,GAAG,KAAK,CAAC,OAAO,CAsJvF;AAED;;GAEG;AACH,wBAAgB,oBAAoB,CAClC,SAAS,EAAE;IAAE,YAAY,CAAC,EAAE,MAAM,CAAC;IAAC,QAAQ,CAAC,EAAE,MAAM,CAAC;IAAC,MAAM,CAAC,EAAE,MAAM,CAAC;IAAC,UAAU,EAAE;QAAE,QAAQ,EAAE,MAAM,CAAC;QAAC,KAAK,EAAE,MAAM,CAAA;KAAE,EAAE,CAAA;CAAE,GAC1H,KAAK,CAAC,aAAa,GAAG,SAAS,CASjC;AAED;;;;;;GAMG;AACH,wBAAgB,qBAAqB,CACnC,SAAS,EAAE,SAAS,EACpB,iBAAiB,CAAC,EAAE,OAAO,GAC1B,KAAK,CAAC,OAAO,GAAG,SAAS,CAkB3B"}

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

@@ -34,6 +34,78 @@ export declare function ContainerCapacity<TBase extends Constructor<Component>>(
          * Fires 'transfer-rejected'; subclasses may trigger fallback routing.
          */
         rejectRoute(component: any, reason?: string): void;
+        /**
+         * carrier 의 받아들일 회전 (parent-local quaternion). 기본 identity.
+         * 회전이 필요한 holder (induct = belt 진행 방향, rack cell = grid 정렬 등)
+         * 는 이 메소드만 override 하면 receive() 가 atomic 하게 적용한다.
+         *
+         * 반환값은 plain object {x,y,z,w} — THREE.Quaternion 도 그 인터페이스 만족.
+         */
+        acceptanceRotation(_carrier: any, _slot?: SlotDef): {
+            x: number;
+            y: number;
+            z: number;
+            w: number;
+        } | undefined;
+        /**
+         * canReceive 의 풍부한 버전. ok 면 slot 동봉, 아니면 reason 명시.
+         * drag-over UI 가 사유 표시하기 위함. canReceive 와 동일 결정 사용.
+         */
+        canAccept(component: any): {
+            ok: true;
+            slot: SlotDef;
+        } | {
+            ok: false;
+            reason: string;
+        };
+        /**
+         * receive 의 alias — Phase G2 contract 의 명시적 이름. 기존 receive 호출자도
+         * 그대로 작동.
+         */
+        accept(component: any, options?: TransferOptions): Promise<void>;
+        /**
+         * Phase G5 — physical mover (robot-arm, AGV docking 등) 가 query 하는
+         * delivery world rotation. carrier 가 holder 에 도달했을 때 가져야 할
+         * world quaternion.
+         *
+         *   delivery.world = holder.world.quat × acceptanceRotation_local
+         *
+         * source 가 이걸 미리 알면 TCP yaw 를 점진적으로 맞춰 carrier 가
+         * acceptance pose 에 도달한 채로 release → handoff 시 zero-delta → 시각적
+         * 점프 없음.
+         *
+         * acceptanceRotation 미정의 OR _realObject 미빌드 시 undefined.
+         */
+        deliveryWorldRotation(carrier: any): {
+            x: number;
+            y: number;
+            z: number;
+            w: number;
+        } | undefined;
+        /**
+         * Phase G9 — physical mover 가 query 하는 delivery world position.
+         *
+         * carrier 가 holder 에 도달했을 때 가져야 할 world XYZ. position 만 — rotation
+         * 은 deliveryWorldRotation 이 별도로 제공. 두 결과를 합치면 source 의 trajectory
+         * endpoint 가 됨.
+         *
+         * 기본 구현 — receivingSurfaceY 가 있으면 belt 표면 위, 없으면 slot.localPosition,
+         * 둘 다 없으면 holder object3d 원점.
+         *
+         *   surface_world_y = holder.localToWorld((0, receivingSurfaceY - geometricOffsetY, 0)).y
+         *   surface_world_xz = holder.world.xz
+         *
+         * receivingSurfaceY 의 정의가 cz-formula-tuned (= beltTopY + parent.geometricOffsetY)
+         * 라 그 차분 (- parent.geometricOffsetY) 으로 raw local 표면 Y 를 뽑아낸다.
+         *
+         * 호출 전제: holder 의 _realObject 가 빌드돼 있고 obj3d.matrixWorld 가 최신.
+         * 빌드 안 된 상태면 undefined → 호출자가 fallback (예: 2D bounds 기반).
+         */
+        deliveryWorldPosition(_carrier: any): {
+            x: number;
+            y: number;
+            z: number;
+        } | undefined;
         attachPointFor(component: any): CarrierAttachPoint | null;
         /** Count children currently assigned to `slotId`. */
         _countOccupied(slotId: string): number;

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

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

@@ -1,7 +1,15 @@
-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 } from './types.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, QuatLike, PoseSerialized, PickupFrame, PickupRequester, Pickable } from './types.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 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 } from './transfer.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';
 //# sourceMappingURL=index.d.ts.map

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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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